CN104807435B - Attitude measurement system and method for base station antenna - Google Patents
Attitude measurement system and method for base station antenna Download PDFInfo
- Publication number
- CN104807435B CN104807435B CN201510166955.9A CN201510166955A CN104807435B CN 104807435 B CN104807435 B CN 104807435B CN 201510166955 A CN201510166955 A CN 201510166955A CN 104807435 B CN104807435 B CN 104807435B
- Authority
- CN
- China
- Prior art keywords
- base station
- station antenna
- information
- distance sensor
- attitude information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000005259 measurement Methods 0.000 title claims abstract description 81
- 238000000034 method Methods 0.000 title abstract description 37
- 238000012545 processing Methods 0.000 claims abstract description 57
- 230000005389 magnetism Effects 0.000 claims description 18
- 230000002093 peripheral effect Effects 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 9
- 239000000523 sample Substances 0.000 claims description 4
- 238000012423 maintenance Methods 0.000 abstract description 5
- 230000008859 change Effects 0.000 description 45
- 230000008569 process Effects 0.000 description 23
- 238000010586 diagram Methods 0.000 description 19
- 238000000691 measurement method Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 5
- 230000005484 gravity Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a system and a method for measuring the attitude of a base station antenna. Wherein, this system includes: at least one distance sensor for measuring distance information between the corresponding distance sensor and the base station antenna; the chip is used for obtaining absolute attitude information of a plane where at least one distance sensor is located or determined relative to the geomagnetism and the stars; and the data processing module is used for obtaining corresponding distance information from at least one distance sensor, receiving absolute attitude information from the chip and obtaining attitude information of the base station antenna based on the distance information and the absolute attitude information, wherein the attitude information of the base station antenna comprises relative attitude information of the base station antenna and/or absolute attitude information of the base station antenna. The attitude measurement system and method of the base station antenna provided by the embodiment of the invention can accurately obtain the attitude information of the base station antenna, can reduce the measurement implementation difficulty of technicians and greatly reduce the maintenance cost.
Description
Technical Field
The invention relates to the technical field of measurement, in particular to a system and a method for measuring the attitude of a base station antenna.
Background
The electromagnetic coverage of the base station is closely related to the parameters of the base station antenna such as pitch angle, azimuth angle, roll angle, antenna hanging height, antenna diversity distance and isolation distance. Because the base station is arranged outdoors for a long time, parameters such as a pitch angle, an azimuth angle and the like of the base station antenna are easily influenced by external factors to change, and the change of the parameters can influence the expected electromagnetic coverage range of the base station, so that signal blind areas can be generated at partial positions and serious frequency interference in the system can be caused.
In order to avoid the above situation, the attitude of the antenna of the base station needs to be measured periodically and adjusted in time after the antenna parameters change. Currently, technicians often use contact attitude measurement equipment to measure the attitude of a base station antenna. The process of measuring the antenna attitude by the technician is as follows: firstly, calibrating attitude measurement equipment at a place which is far away from a measured base station antenna and is not interfered by other places, then measuring and recording the azimuth angle and the pitch angle of an initial state, then pasting the attitude measurement equipment on the measured base station antenna, measuring and recording the related data of the whole change process of the attitude measurement equipment from the initial state to the measured state, and calculating the azimuth angle and the pitch angle of the measured base station antenna through the related data.
However, the above-mentioned base station antenna attitude measurement method has the following problems: 1) the attitude measurement equipment is arranged on the antenna of the measured base station for measurement, and is easily interfered by nearby metal pieces or other external factors, so that the measurement precision is reduced; 2) the installation of attitude measurement equipment on the base station antenna has high requirements and difficulty, technicians need to work high above the ground, the danger coefficient is high, and the maintenance cost of the base station antenna is high.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first objective of the present invention is to provide an attitude measurement system for a base station antenna, which can accurately obtain attitude information of the base station antenna, and can reduce measurement implementation difficulty for technicians, thereby greatly reducing maintenance cost.
The second objective of the present invention is to provide an attitude measurement system for a base station antenna.
To achieve the above object, an embodiment of a first aspect of the present invention provides an attitude measurement system for a base station antenna, including: at least one distance sensor for measuring distance information between a corresponding distance sensor and the base station antenna; the chip is used for obtaining the absolute attitude information of the plane where the at least one distance sensor is located or determined relative to the geomagnetism and the star; and the data processing module is used for obtaining corresponding distance information from the at least one distance sensor, receiving absolute attitude information from the chip, and obtaining attitude information of the base station antenna based on the distance information and the absolute attitude information, wherein the attitude information of the base station antenna comprises relative attitude information of the base station antenna and/or absolute attitude information of the base station antenna.
The attitude measurement system of the base station antenna of the embodiment of the invention measures the distance information between the distance sensor and the base station antenna through the at least one distance sensor, then the chip obtains the absolute angle information of the base station antenna relative to the earth magnetism and the star, the data processing module obtains the corresponding distance information and the attitude information obtained by the receiving chip from the at least one distance sensor, and obtains the relative attitude information of the base station antenna and/or the absolute attitude information of the base station antenna based on the distance information and the absolute attitude information of the plane where the distance sensor is located or determined, thereby enabling technicians to obtain the accurate attitude information of the base station antenna from the data processing module, the attitude information of the base station antenna is measured through a non-contact mode by the device, the accuracy of the measured data is improved, and the high-altitude operation of the technicians is avoided, the maintenance cost is reduced.
In order to achieve the above object, a second aspect of the present invention provides an attitude measurement method for a base station antenna, including: obtaining distance information between at least one distance sensor and the base station antenna; obtaining absolute attitude information of a plane where the at least one distance sensor is located or determined relative to the earth magnetism and the fixed star; and obtaining attitude information of the base station antenna based on the distance information and the absolute attitude information, wherein the attitude information of the base station antenna comprises relative attitude information and/or absolute attitude information of the base station antenna.
According to the attitude measurement method of the base station antenna, the distance information between the corresponding distance sensor and the base station antenna is obtained through the at least one distance sensor, then the absolute attitude information of the plane where the at least one distance sensor is located or determined relative to the earth magnetism and the fixed star is obtained, and the relative attitude information and/or the absolute attitude information of the base station antenna are obtained based on the distance information and the absolute attitude information, so that the angle change information of the base station antenna can be accurately obtained.
Drawings
Fig. 1 is a schematic structural diagram of an attitude measurement system of a base station antenna according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of an attitude measurement apparatus of a base station antenna according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of an attitude measurement system of a base station antenna according to another embodiment of the present invention.
Fig. 4 is a schematic structural diagram of an attitude measurement apparatus of a base station antenna according to another embodiment of the present invention.
Fig. 5 is a schematic structural diagram of an attitude measurement apparatus of a base station antenna according to still another embodiment of the present invention.
Fig. 6 is a first schematic space diagram between a distance sensor and a base station antenna according to an embodiment of the present invention.
Fig. 7 is a schematic space diagram ii between the distance sensor and the base station antenna according to an embodiment of the present invention.
FIG. 8 is a schematic spatial view of a datum plane in accordance with one embodiment of the present invention.
Fig. 9 is a schematic view of the space obtained after the base station antenna is rotated around the Y axis or a straight line parallel to the Y axis.
Fig. 10 is a schematic view of the space obtained after the base station antenna is rotated around the Z axis or a straight line parallel to the Z axis.
Fig. 11 is a schematic view of the space obtained after rotation of the base station antenna about a line in the Z-Y plane that is not coincident with or parallel to the Z-axis and the Y-axis.
Fig. 12 is a flowchart of an attitude measurement method of a base station antenna according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
An attitude measurement system and method of a base station antenna according to an embodiment of the present invention will be described with reference to the drawings.
Fig. 1 is a schematic structural diagram of an attitude measurement system of a base station antenna according to an embodiment of the present invention.
As shown in fig. 1, the attitude measurement system of the base station antenna includes at least one distance sensor 10, a chip 20 and a data processing module 30, wherein:
at least one distance sensor 10 for measuring distance information between the corresponding distance sensor 10 and a base station antenna; the chip 20 is used for obtaining absolute attitude information of a plane where the at least one distance sensor 10 is located or determined relative to the earth magnetism and the stars; and the data processing module 30 is configured to obtain corresponding distance information from the at least one distance sensor 10, receive attitude information from the chip, and obtain attitude information of the base station antenna based on the distance information and the absolute attitude information, where the attitude information of the base station antenna may include relative attitude information of the base station antenna and/or absolute attitude information of the base station antenna, and the absolute attitude information of the base station antenna refers to absolute attitude information of the base station antenna with respect to a plane where the distance sensor 10 is located or determined.
The chip 20 may include, but is not limited to, a gyroscope, a gravity accelerometer, and a magneto-resistive sensitive device.
Specifically, the data processing module 30 obtains the distance information obtained by the distance sensor 10, processes the distance information, calculates the relative attitude information of the base station antenna according to the processed distance information, and then calculates the absolute attitude information of the base station antenna relative to the plane where the distance sensor 10 is located or determined by combining the absolute attitude information of the plane where the distance sensor 10 is located or determined, which is obtained by the chip 20. The relative attitude information of the base station antenna may be relative angle change information of the base station antenna, that is, a relative pitch angle and an azimuth angle change value of the base station antenna. The absolute attitude information of the base station antenna may be absolute angle change information of the base station antenna with respect to a plane where the distance sensor 10 is located or determined, that is, absolute pitch angle and azimuth angle change values.
The at least one distance sensor 10 may include, but is not limited to, one or more of an infrared ray, an acoustic wave, a probe pin, and a stick distance sensor, that is, the distance sensors 10 in the system may include multiple types, and when measuring the attitude information of the base station antenna in different measurement environments, a user may adjust the type of the used distance sensor 10 as needed to obtain accurate measurement data.
In an embodiment of the present invention, at least one distance sensor 10, the chip 20 and the data processing module 30 in the system may be integrated in the same device, or at least one distance sensor 10 and the chip 20 may be integrated in the same device, and the data processing module 30 is disposed in another device, or the distance sensor 10 may be disposed in one device, and the chip 20 and the data processing module 30 are disposed in another device.
For example, the data processing module 30 in the system may be disposed in a device such as a mobile phone, a server, and the like, so as to facilitate a technician to process the obtained relevant data of the base station antenna through the mobile phone, the server, and the like, so as to reduce the cost of measuring the attitude information of the base station antenna.
As shown in fig. 2, when at least one of the distance sensor 10, the chip 20 and the data processing module 30 is integrated into a same device, the device may be located on a measurement carrier, where the measurement carrier may be a measurement technician, that is, the measurement technician may hold the attitude measurement device to perform attitude measurement of the base station antenna on site, and view a measurement result of the measured base station antenna on an interface of the attitude measurement device. In addition, above-mentioned measurement carrier also can be equipment such as unmanned aerial vehicle, can install gesture measuring device on unmanned aerial vehicle, and measurement technical staff accomplishes measurement work through peripheral equipment such as the gesture measuring device on the cell-phone control unmanned aerial vehicle, from this, can need not technical staff and install gesture measuring device on the base station antenna, has avoided technical staff high altitude construction, has reduced the measurement and has implemented the degree of difficulty.
It should be noted that the chip 20 of this embodiment may be integrated with at least one distance sensor 10 and the data processing module 30 in the attitude measurement device of the base station antenna, or may not be included in the attitude measurement device of the base station antenna. For example, the chip 20 may be installed in a terminal device such as a mobile phone or a tablet computer, or the chip 20 in the terminal device such as the mobile phone or the tablet computer may be directly used to obtain absolute angle information of the base station antenna, so that the cost of measuring the attitude information of the base station antenna may be reduced.
In addition, as shown in fig. 3, the system may further include a camera 40, where the camera 40 is configured to obtain position information of the base station antenna, and correct the position of the at least one distance sensor according to the position information.
Specifically, in the process of measuring the base station antenna, if an error occurs in the installation of the measured base station antenna (i.e. the horizontal side of the base station antenna is not completely parallel to the ground), in order to reduce the measurement error, the measurement system may obtain the position information of the base station antenna, such as an edge, through the camera 40, and correct the position of the distance sensor 10 according to the position information of the base station antenna, so as to improve the measurement accuracy.
It should be noted that the camera 40 in this embodiment may be integrated with at least one distance sensor 10, the chip 20 and the data processing module 30 in an attitude measurement device (as shown in fig. 4) of the same base station antenna, or may not be included in the attitude measurement device. For example, in the measurement process, if the attitude measurement device does not include the camera 40, in this case, the technician may obtain the position information of the base station antenna through the camera 40 in the terminal device, for example, a mobile phone, and then correct the position of the distance sensor 10 in the measurement device according to the corresponding position information.
In the embodiment of the present invention, as shown in fig. 3, the system may further include a data communication module 50, where the data communication module 50 is configured to send the attitude information of the base station antenna obtained by the data processing module 30 to the peripheral device, so that the peripheral device performs corresponding control according to the attitude information; and/or receiving an instruction sent by the peripheral equipment, and carrying out corresponding operation according to the instruction. Therefore, technicians can gather and analyze the measurement data of the base station antenna conveniently.
In addition, in the embodiment of the present invention, in addition to directly transmitting the attitude information obtained by the data processing module 30 to the peripheral device, the data communication module 50 may also transmit the distance information obtained by the at least one distance sensor 10 and the absolute attitude information of the plane where the distance sensor 10 is located or determined, which is obtained by the chip 20, to the peripheral device, so that the peripheral device processes the distance information, and calculates the attitude information of the base station antenna according to the processed distance information and absolute attitude information.
Wherein the data communication module 50 and at least one distance sensor 10, the chip 20, the data processing module 30 and the camera 40 can be integrated in the attitude measurement device (as shown in fig. 5) of the same base station antenna.
For example, an attitude measurement device integrating at least one distance sensor 10, a chip 20, a data processing module 30, a camera 40 and a data communication module 50 may be installed on the drone, and when the base station antenna attitude is measured by the drone, a technician may control the attitude measurement device on the drone through a mobile phone or other terminal equipment on site. Specifically, after the unmanned aerial vehicle flies above the base station antenna, the camera 30 in the controllable attitude measurement device identifies the position information of the base station antenna, and after the position information of the base station antenna is identified, the position of the distance sensor 10 is adjusted according to the position information, so that the measurement accuracy is improved. After the position of the distance sensor 10 is adjusted, a technician can send a control instruction for starting measurement to the measuring device through a mobile phone, the attitude measuring device receives the control instruction of the technician and controls the distance sensor 10 to measure the base station antenna according to the control instruction, the corresponding data processing module 30 obtains distance information from the distance sensor 10 and the receiving chip 20 obtains absolute attitude information of the plane where the distance sensor 10 is located or determined relative to the earth magnetism and the stars, processes the distance information to obtain relative attitude information of the base station antenna, then the absolute attitude information of the base station antenna is calculated by combining the absolute attitude information of the plane relative to the earth magnetism and the stars, and then the data communication module 50 can send the relative attitude information and/or the absolute attitude information of the base station antenna obtained by the data processing module 30 to the mobile phone of the technician, so as to facilitate the user to obtain the measurement result of the measuring device.
In the embodiment of the present invention, the distance sensor 10 in the system may be rotatable or may be fixed (i.e. not rotatable), and the process of obtaining the relative attitude information of the base station antenna by the data processing module 30 is different for the two cases, and the way of obtaining the relative attitude information of the base station antenna by the data processing module 30 will be described below separately for the two cases.
In one embodiment of the present invention, when the distance sensor 10 in the system can rotate, the data processing module 30 obtains the relative angle change information of the base station antenna by: the distance information before the rotation of the corresponding distance sensor 10, the distance information after the rotation, and the corresponding rotation angle are acquired, and the relative attitude information of the base station antenna is calculated according to the distance information before the rotation, the distance information after the rotation, and the rotation angle.
The at least one distance sensor 10 may be rotated in a vertical direction or in a horizontal direction. Further, the distance sensor 10 may be rotated upward or downward in a vertical direction, or may be rotated leftward or rightward in a horizontal direction, and an angle by which the distance sensor 10 is rotatable (i.e., a rotation angle) may be preset.
Specifically, the data processing module 30 may calculate a relative pitch angle change value and an azimuth angle change value of the base station antenna according to the distance information before and after the rotation of the corresponding distance sensor 10 and the corresponding rotation angle.
For example, assuming that the initial pitch angle of the currently measured base station antenna is 60 °, if the measurement is performed by the rotatable distance sensor 10, the data processing module 30 may obtain distance information before and after the rotation from the distance sensor 10, and calculate the pitch angle of the base station antenna to be 62 ° according to the distance information and the rotation angle corresponding to the distance sensor 10. Thus, the data processing module 30 may determine that the relative pitch angle of the base station antenna has changed, i.e. the relative pitch angle of the base station antenna has changed by 2 °.
In addition, in order to improve the accuracy of the calculation result, when the measured base station antenna is measured, the measured base station antenna may be measured by the plurality of distance sensors 10, and the data processing module 30 may calculate the average value of the relative pitch angle variation value and/or the azimuth angle variation value of the base station antenna according to the distance information and the rotation angle measured by the plurality of distance sensors 10.
In addition, when the measured base station antenna is measured, the measured base station antenna may also be measured multiple times by one distance sensor 10, and the data processing module 30 calculates the average value of the relative pitch angle change value and/or the azimuth angle change value of the base station antenna according to the data of the multiple measurements.
The following illustrates a process of calculating the relative angle change information of the base station antenna by the data processing module 30.
For example, the base station antenna is measured by the rotatable distance sensor 10, it is assumed that the distance sensor 10 is rotated upward in the vertical direction by an angle γ and the initial pitch angle of the base station antenna is 0 °. during the measurement, the schematic space formed between the distance sensor 10 and the base station antenna is shown in fig. 6, a in fig. 6 represents the position where the distance sensor 10 is located, AC represents the distance information between the distance sensor 10 and the base station antenna measured by the distance sensor 10 in the horizontal direction, AB represents the distance information between the distance sensor 10 and the base station antenna measured after the distance sensor 10 is rotated by the angle γ, the data processing module 30 obtains the distance information measured by the distance sensor 10 and calculates the pitch angle of the base station antenna by a trigonometric relationship, ∠ BCD in fig. 6 is the pitch angle of the base station antenna, the data processing module 30 can calculate the distance of BD from the trigonometric relationship, BD is sin γ · AB, and CD is AC-AD in △ CBD, AD is AD-AD2＝AB2-BD2Further, the pitch angle ∠ BCD of the base station antenna in the measurement is calculated as arctan (BD/CD), and the change value of the relative pitch angle of the base station antenna is calculated as ∠ BCD as arctan (BD/CD) according to the initial pitch angle of the base station antenna.
It should be noted that when the distance sensor 10 rotates to the right in the horizontal direction, the form of the schematic space diagram formed between the distance sensor 10 and the base station antenna is as shown in fig. 6, that is, if the rotation angles of the distance sensor 10 to the right in the horizontal direction and to the up in the vertical direction are the same, the calculation process of the data processing module 30 for calculating the relative pitch angle and the azimuth angle change value of the base station antenna is the same.
As another example, the system may measure the base station antenna via a rotatable distance sensor 10, assuming that the distance sensor 10 is rotated downward in a vertical direction and by an angle that may be rotatedγ, and the initial pitch angle of the base station antenna is 0 °. during the measurement, the space between the distance sensor 10 and the base station antenna is schematically illustrated in fig. 7, a in fig. 7 indicates the position of the distance sensor 10, AB indicates the distance information between the distance sensor 10 and the base station antenna measured by the distance sensor 10 in the horizontal direction, and AC indicates the distance information between the distance sensor 10 and the base station antenna measured after the distance sensor 10 is rotated by the angle γ, the data processing module 30 obtains the distance information measured by the distance sensor 10, and calculates the pitch angle of the base station antenna by a trigonometric relationship, assuming that θ indicates the pitch angle of the base station antenna, θ is 180 ° - ∠ ACB is 180 °, the data processing module 30 can calculate the distance of CD from the trigonometric relationship, CD is sin γ AC, and BD is AB-AD in cb △ d, and AD is AD-AB-AD2＝AC2-CD2The pitch angle theta of the corresponding base station antenna is 180- ∠ ACB 180-arctan (BD/CD) + (90-gamma)]And the corresponding pitch angle theta is also the relative pitch angle change value of the base station antenna.
It should be noted that, when the distance sensor 10 rotates to the left in the horizontal direction, the form of the schematic space diagram formed between the distance sensor 10 and the base station antenna is also as shown in fig. 7, that is, if the rotation angles of the distance sensor 10 to the left in the horizontal direction and to the bottom in the vertical direction are the same, the calculation process of the data processing module 30 for calculating the relative pitch angle and the azimuth angle of the base station antenna is the same.
In addition, after the data processing module 30 calculates the relative angular attitude information of the base station antenna according to the distance information in the rotatable distance sensor 10, the data processing module 30 may obtain the absolute attitude information of the plane where the distance sensor 10 is located with respect to the earth-magnetism, and the stars from the chip 20, and calculate the absolute attitude information of the base station antenna with respect to the plane where the distance sensor 10 is located with reference to the calculated relative attitude information.
It should be noted that the plane in which the distance sensor 10 is located may be determined according to actual situations, for example, the plane in which the distance sensor 10 is located may be a horizontal plane in which the distance sensor 10 is located.
In another embodiment of the present invention, when the distance sensor 10 in the system cannot rotate, the data processing module 30 obtains the relative angle change information of the base station antenna by: and determining a reference plane, and acquiring relative attitude information of the base station antenna deviating from the reference plane based on the distance information and the position relation between the base station antenna and the reference plane.
Specifically, when the attitude information of the base station antenna is measured in this way, at least three distance sensors 10 need to be used, and in the measurement process, a plane in which the at least three distance sensors 10 are located or a plane parallel to the plane may be determined as a reference plane.
For example, the distance sensor 10, the chip 20, the data processing module 30, the camera 40 and the data communication module 50 are integrated in a measuring device of one base station antenna, during initial measurement, a space schematic diagram of a reference plane of the attitude measuring device of the base station antenna is shown in fig. 8, A, B, C in fig. 8 respectively shows positions where three non-rotatable distance sensors 10 in the measuring device are located, EB 'C' in the drawing shows a measured base station antenna, during initial measurement, the measured base station antenna EB 'C' and a plane where the three distance sensors 10 are located can be adjusted to be parallel planes by the camera 40, and all the planes are reference planes, for convenience of calculation, a point D can be selected on the BC side, and distances between ADs can be calculated in advance.
After determining the reference plane, the base station antenna EB ' C ' may be rotated around the Y axis or a straight line parallel to the Y axis, and assuming that a space diagram obtained after the rotation is as shown in fig. 9, the distance between the rotated base station antenna and the distance sensor 10 may be measured by the distance sensor 10 disposed at a point a, where a ' is a point on the plane where the base station antenna is located.
After obtaining the data measured by the distance sensors 10, the data processing module 30 may determine a corresponding relationship between the rotated base station antenna and the reference plane, and since the measurement directions of the three distance sensors 10 are all perpendicular to the reference plane, it may be determined that AD ', DD ', BB ', CC ', AE, AA ' are perpendicular to the reference plane, i.e., AE is perpendicular to the reference plane, △ a ' ED ' in fig. 9 may be determined as a right triangle by the spatial relationship, and the corresponding ∠ ED ' a ' is an included angle formed by the rotated base station antenna around the Y axis and the reference plane, and the data processing module 30 may calculate a relative angle change value of the base station antenna as ∠ ED ' a ', arctan (EA '/ED ') -arctan [ (AA ' -AE ') ]accordingto the trigonometric relationship.
After the data processing module 30 calculates the relative angle change information of the base station antenna according to the distance information in the non-rotatable distance sensor 10, the data processing module 30 can obtain the absolute attitude information of the reference plane (the plane determined by the distance sensor 10) relative to the earth magnetism and the fixed star from the chip 20, and calculate the absolute attitude information of the base station antenna by combining the calculated relative attitude information.
The attitude measurement system of the base station antenna of the embodiment of the invention measures the distance information between the distance sensor and the base station antenna through the at least one distance sensor, then the chip obtains the absolute angle information of the base station antenna relative to the earth magnetism and the star, the data processing module obtains the corresponding distance information and the attitude information obtained by the receiving chip from the at least one distance sensor, and obtains the relative attitude information of the base station antenna and/or the absolute attitude information of the base station antenna based on the distance information and the absolute attitude information of the plane where the distance sensor is located or determined, thereby enabling technicians to obtain the accurate attitude information of the base station antenna from the data processing module, the attitude information of the base station antenna is measured through a non-contact mode by the device, the accuracy of the measured data is improved, and the high-altitude operation of the technicians is avoided, the maintenance cost is reduced.
Fig. 10 is a schematic view of the space obtained after the base station antenna is rotated around the Z axis or a straight line parallel to the Z axis.
Assuming that a technician holds a measuring device comprising the distance sensor 10, the chip 20 and the data processing module 30 to measure absolute change angle information of the base station antenna, wherein A, B, C in fig. 10 indicates the corresponding positions of the three distance sensors 10 in the device respectively, wherein none of the corresponding three distance sensors 10 can rotate, △ ABC is formed by the three distance sensors 10, i.e., the plane in which △ ABC is located is the reference plane, which can be obtained by the chip 20, assuming that at the time of initialization, the plane in which the base station antenna is located is parallel to the reference plane, i.e., the plane in which △ a 'B' C 'is located in fig. 10 is also the reference plane, a', B ', C' are three points on the plane in which the base station antenna is located, assuming that the base station antenna rotates around the Z axis, and the point C 'is the set point (i.e., the base station antenna can rotate around the point C'), the distance of BF can be obtained by the distance sensor 10 set at the point B after rotation, wherein F is a point on the base station antenna, since the measuring direction of the distance sensor 10 is perpendicular to the reference plane, the base station antenna is perpendicular to the base station antenna, the base station antenna is obtained by processing, and the absolute change angle information of the base station antenna is calculated by looking at the angle of the base station antenna, which is calculated by the angular point of the angular information of the FC '/C', which is calculated by the base station antenna 675A ', which is calculated by the angular information of the base station antenna, which is calculated by the absolute change angle of the base station antenna, which is calculated by the absolute change angle of the absolute change of the angular information of the absolute change of the base station antenna, which is calculated by the absolute angle of the base station antenna 675A', which is calculated by the base station antenna, which is calculated by the absolute change angle of the base station antenna, which is shown by the angular information.
Therefore, the attitude measurement system of the base station antenna of the embodiment can also accurately calculate the included angle formed by the base station antenna after rotating around the Z axis or the straight line parallel to the Z axis through the similar calculation process.
It should be noted that the attitude measurement system of the base station antenna in this embodiment can not only accurately calculate the included angle formed by the rotation of the base station antenna around the X-axis or X-axis parallel straight line, the Y-axis or Y-axis parallel straight line, and the Z-axis or Z-axis parallel straight line, but also calculate the included angle formed by the rotation of the base station antenna around the X-Z plane, the X-Y plane, or the Z-Y plane which is not parallel to the X-axis, the Y-axis, and the Z-axis. The calculation process of the attitude measurement system of the base station antenna of this embodiment will be described below taking as an example a straight line that surrounds the base station antenna in the Z-Y plane and is not coincident with or parallel to the Z axis and the Y axis.
For example, assuming that the distance sensor 10, the chip 20 and the data processing module 30 are integrated into a measuring device, and a technician holds the measuring device to measure the base station antenna, assuming that during initial measurement, the spatial schematic diagram of the reference plane of the attitude measuring device of the base station antenna is shown in fig. 8, the point C ' of the plane of the base station antenna is a set point, the spatial schematic diagram obtained after the base station antenna rotates around a straight line which is not coincident with or parallel to the Z axis and the Y axis in the Z-Y plane is shown in fig. 11, the distance sensor 10 arranged at the point a can measure the distance between the distance sensor 10 and the base station antenna as AA ', the distance sensor 10 arranged at the point B can measure the distance between the distance sensor 10 and the base station antenna as BF, wherein a ' and F are both points on the plane of the rotated base station antenna, the data processing module 30 obtains distance data sent by the distance sensor 10, and the included angle formed by the plane where the base station antenna rotates and the reference plane can be calculated according to the distance data and the geometric relation between the plane where the base station antenna rotates and the reference plane, that is, it can be calculated that the angle of the change of the base station antenna around the Y axis is equal to arctan (AA ' -CC ' -GD ')/ED '), the angle of the change around the Z axis is equal to arctan (FB '/B ' C '), the angle is the relative attitude information of the base station antenna, then the data processing module 30 can calculate the absolute attitude information of the base station antenna according to the relative attitude information of the base station antenna and the absolute attitude information of the reference plane obtained by the chip 20, and the relative attitude information of the base station antenna and/or the absolute attitude information of the base station antenna are displayed on the interface of the attitude measurement device, so that technicians can conveniently check and record the attitude information of the base station antenna. .
Therefore, the attitude measurement system of the base station antenna of the embodiment can also accurately calculate the included angle formed by the base station antenna after rotating around the straight line which is not superposed with or parallel to the Z axis and the Y axis in the Z-Y plane through the similar calculation process.
In order to implement the above embodiments, the present invention further provides an attitude measurement method for a base station antenna.
Fig. 12 is a flowchart of an attitude measurement method of a base station antenna according to an embodiment of the present invention.
As shown in fig. 12, the method for measuring the attitude of the base station antenna includes:
s1201, obtaining distance information between at least one distance sensor and a base station antenna.
Specifically, when measuring the attitude of the base station antenna, different types of distance sensors may be selected to measure the attitude of the base station antenna in different measurement environments. Wherein, the at least one distance sensor may include but is not limited to one or more of infrared ray, sound wave, probe pin and probe rod distance sensor.
And S1202, obtaining absolute attitude information of the plane where the at least one distance sensor is located or determined relative to the earth magnetism and the stars.
Specifically, in the process of measuring the attitude of the base station antenna, the absolute attitude information of the plane where the distance sensor is located or determined relative to the earth magnetism and the stars can be obtained through the chip. The chip may include, but is not limited to, a gyroscope, a gravity accelerometer, and a magneto-resistive sensitive device.
For example, absolute angle information of the plane in which the at least one distance sensor is located or determined with respect to the earth magnetism, the stars may be obtained by the patch.
S1203, attitude information of the base station antenna is obtained based on the distance information and the absolute attitude information.
The attitude information of the base station antenna comprises relative attitude information and/or absolute attitude information of the base station antenna. The absolute attitude information of the base station antenna refers to absolute attitude information of the base station antenna with respect to a plane on which the distance sensor 10 is located or which is determined.
Specifically, the relative attitude information of the base station antenna may be relative angle change information of the base station antenna, that is, a relative pitch angle and an azimuth angle change value of the base station antenna; the absolute attitude information of the base station antenna may be absolute angle change information of the base station antenna with respect to a plane where the distance sensor is located or determined, that is, absolute pitch angle and azimuth angle change values.
In the embodiment of the present invention, the distance sensor may be rotatable or may be fixed (i.e., not rotatable), and the process of obtaining the attitude information of the base station antenna is described below with respect to these two cases.
In an embodiment of the present invention, when the distance sensor can rotate, the specific process of obtaining the attitude of the base station antenna is as follows: the method comprises the steps of obtaining distance information before rotation, distance information after rotation and corresponding rotation angle of a corresponding distance sensor, calculating relative attitude information of a base station antenna according to the distance information before rotation, the distance information after rotation and the rotation angle, and calculating absolute attitude information of the base station antenna according to the relative attitude information and the absolute attitude information of a plane where the distance sensor is located relative to the earth magnetism and the star.
The distance sensor may be rotated in a vertical direction or in a horizontal direction. Further, the corresponding distance sensor may be rotated upward or downward in the vertical direction, or may be rotated leftward or rightward in the horizontal direction. Wherein the rotation angle is preset.
Specifically, a relative pitch angle change value and/or an azimuth angle change value of the base station antenna can be calculated according to distance information before and after the corresponding distance sensor rotates and the corresponding rotation angle, and an absolute pitch angle change value and/or an azimuth angle change value of the base station antenna relative to a plane where the distance sensor is located is calculated according to an absolute pitch angle and/or an azimuth angle of the plane where the distance sensor is located, which is obtained from a chip, relative to the earth magnetism and a star.
For example, assume that the distance sensor is rotated upward in the vertical direction by an angle γ, and the initial pitch angle of the base station antenna is 0 °. The schematic diagram of the space formed between the distance sensor and the base station antenna during the measurement is shown in fig. 6, in which fig. 6After obtaining the distance information measured by the distance sensor, the pitch angle of the base station antenna can be calculated by a trigonometric relationship, ∠ BCD in fig. 6 is the pitch angle of the base station antenna, the distance of BD can be calculated from the trigonometric relationship, BD is sin γ AB, and CD is AC-AD in △ CBD, and AD is AC-AD2＝AB2-BD2Further, the pitch angle ∠ BCD of the base station antenna in the measurement is calculated as arctan (BD/CD), the relative pitch angle change value ∠ BCD of the base station antenna is calculated as arctan (BD/CD) according to the initial pitch angle of the base station antenna, and the absolute pitch angle change value of the base station antenna relative to the plane where the distance sensor is located (horizontal plane) relative to the geomagnetism and the absolute pitch angle of the star can be calculated according to the obtained absolute pitch angle of the plane where the distance sensor is located.
It should be noted that when the distance sensor is rotated to the right in the horizontal direction, the form of the schematic space diagram formed between the distance sensor and the base station antenna is as shown in fig. 6, that is, if the angles of the distance sensor rotated to the right in the horizontal direction and the angles of the distance sensor rotated to the up in the vertical direction are the same, the process of calculating the attitude information of the base station antenna is the same.
Further, for example, assuming that the distance sensor is rotated downward in the vertical direction by an angle γ and the initial pitch angle of the base station antenna is 0 °, in the measurement process, a schematic diagram of a space formed between the distance sensor and the base station antenna is shown in fig. 7, a in fig. 7 represents a position where the distance sensor is located, AC represents distance information between the distance sensor and the base station antenna measured in the horizontal direction by the distance sensor, AB represents distance information between the distance sensor and the base station antenna measured after the rotation angle γ of the distance sensor is obtained, after the distance information measured by the distance sensor is obtained, the pitch angle of the base station antenna may be calculated by a trigonometric relationship, and assuming that the pitch angle of the base station antenna is represented by θ, θ is 180 ° to ∠ ACB is 180 °, and the base station antenna may be calculated based on the trigonometric relationshipThe distance of CD, CD sin gamma AC, BD AB-AD in △ CBD, and AD are calculated2＝AC2-CD2The pitch angle theta of the corresponding base station antenna is 180- ∠ ACB 180-arctan (BD/CD) + (90-gamma)]And then, calculating the absolute pitch angle change value of the base station antenna relative to the plane of the distance sensor according to the obtained absolute pitch angle of the plane (horizontal plane) of the distance sensor relative to the geomagnetism and the star.
Note that, when the distance sensor is rotated to the left in the horizontal direction, the form of the schematic space diagram formed between the distance sensor and the base station antenna is also as shown in fig. 7, that is, if the rotation angles of the distance sensor to the left in the horizontal direction and to the bottom in the vertical direction are the same, the procedure of calculating the attitude information of the base station antenna is the same.
In another embodiment of the present invention, when the distance sensor is not rotatable, after obtaining the corresponding distance information from the corresponding distance sensor, the reference plane may be determined, relative attitude information of the base station antenna from the reference plane may be obtained based on the distance information and a positional relationship between the base station antenna and the reference plane, and absolute attitude information of the base station antenna may be calculated based on the relative angular attitude information and the absolute attitude information of the reference plane with respect to the earth magnetism and the stars.
Specifically, a plane or a plane parallel to the plane in which the at least three distance sensors are located may be determined as the reference plane.
For example, as shown in fig. 8, A, B, C in fig. 8 respectively indicates positions of three non-rotatable distance sensors, EB 'C' in the figure indicates a measured base station antenna, and at the time of initial measurement, the measured base station antenna EB 'C' and a plane where the distance sensor A, B, C is located are parallel planes, and are all reference planes, and absolute attitude information of the reference planes with respect to the earth magnetism and the star can be obtained by a gyroscope and a gravity accelerometer. For ease of calculation, a point D may be selected on the BC edge, and the distance between ADs may be pre-calculated.
After determining the reference plane, the base station antenna EB 'C' may be rotated around the Y axis or a straight line parallel to the Y axis, assuming that the space diagram obtained after the rotation is as shown in fig. 9, and assuming that the distance sensor a measures the distance from the rotated base station antenna to the distance sensor a as AA ', where a' is a point on the plane where the base station antenna is located.
After obtaining the distance information measured by the distance sensor, according to the corresponding relationship between the rotated antenna of the base station and the reference plane, since the measuring direction of the distance sensor is perpendicular to the reference plane, it can be found that AD ', DD', BB ', CC', AE, AA 'are perpendicular to the reference plane, i.e. AE is perpendicular to the reference plane, △ a' ED 'in fig. 9 can be determined as a right triangle by the spatial relationship, and corresponding ∠ ED' a 'is the included angle formed by the rotated antenna of the base station around the Y axis and the reference plane, the relative angle change value of the antenna of the base station can be calculated as ∠ ED' a ', arctan (EA'/ED): arctan [ (AA '-AE)/ED' ], then the absolute attitude information of the reference plane relative to the earth magnetism and the star is obtained, and the absolute angle change value of the antenna of the base station relative to the reference plane is calculated by combining the calculated relative angle change value and the absolute attitude information.
According to the attitude measurement method of the base station antenna, the distance information between the corresponding distance sensor and the base station antenna is obtained through the at least one distance sensor, then the absolute attitude information of the plane where the at least one distance sensor is located or determined relative to the earth magnetism and the fixed star is obtained, and the relative attitude information and/or the absolute attitude information of the base station antenna are obtained based on the distance information and the absolute attitude information, so that the angle change information of the base station antenna can be accurately obtained.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (5)
1. An attitude measurement system of a base station antenna, comprising:
at least one distance sensor for measuring distance information between a corresponding distance sensor and the base station antenna;
the chip is used for obtaining the absolute attitude information of the plane where the at least one distance sensor is located or determined relative to the geomagnetism and the star; and
the data processing module is used for obtaining corresponding distance information from the at least one distance sensor, receiving absolute attitude information from the chip, and obtaining attitude information of the base station antenna based on the distance information and the absolute attitude information, wherein the attitude information of the base station antenna comprises relative attitude information of the base station antenna and/or absolute attitude information of the base station antenna;
when the at least three distance sensors are fixed, the data processing module is specifically configured to:
determining a reference surface, obtaining relative attitude information of the base station antenna deviating from the reference surface based on the distance information and the position relation between the base station antenna and the reference surface, and calculating absolute attitude information of the base station antenna according to the relative attitude information and the absolute attitude information of the reference surface relative to the earth magnetism and the fixed star;
the data processing module is specifically configured to: determining a plane where the at least three distance sensors are located or a parallel plane of the plane as the reference plane;
and the camera is used for obtaining the position information of the base station antenna and correcting the position of the at least one distance sensor according to the position information.
2. The system of claim 1, wherein the at least one distance sensor comprises one or more of an infrared, sonic, probe and rod distance sensor.
3. The system according to claim 1, characterized in that said data processing module is integrated in the same device with said at least one distance sensor and said chip, and said device is located on a measurement carrier; or
The at least one distance sensor and the chip are integrated in the same device, and the data processing module is arranged in another device.
4. The system of claim 2, further comprising:
and the data communication module is used for sending the attitude information of the base station antenna acquired by the data processing module to peripheral equipment so that the peripheral equipment can carry out corresponding control according to the attitude information, and/or receiving an instruction sent by the peripheral equipment and carrying out corresponding operation according to the instruction.
5. The system of claim 4, wherein the data communication module is further configured to: and sending the distance information obtained by the at least one distance sensor and the absolute attitude information obtained by the chip to the peripheral equipment so that the peripheral equipment can calculate the attitude information of the base station antenna according to the distance information and the absolute attitude information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510166955.9A CN104807435B (en) | 2015-04-09 | 2015-04-09 | Attitude measurement system and method for base station antenna |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510166955.9A CN104807435B (en) | 2015-04-09 | 2015-04-09 | Attitude measurement system and method for base station antenna |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104807435A CN104807435A (en) | 2015-07-29 |
| CN104807435B true CN104807435B (en) | 2020-02-18 |
Family
ID=53692477
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510166955.9A Expired - Fee Related CN104807435B (en) | 2015-04-09 | 2015-04-09 | Attitude measurement system and method for base station antenna |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104807435B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106705931B (en) * | 2015-11-16 | 2019-06-25 | 中国移动通信集团公司 | It is a kind of to obtain the azimuthal method, apparatus of antenna for base station and system automatically |
| CN107270864A (en) * | 2016-04-06 | 2017-10-20 | 中国移动通信有限公司研究院 | A kind of data measurin system, part and method |
| CN107664491B (en) * | 2016-07-28 | 2020-06-05 | 中国电信股份有限公司 | Method, device and system for measuring downward inclination angle of base station antenna |
| CN106454879A (en) * | 2016-10-28 | 2017-02-22 | 中睿通信规划设计有限公司 | Method and system for determining working parameters of wireless base station based on unmanned aerial vehicle aerial shots |
| CN107346013B (en) * | 2017-06-01 | 2019-12-03 | 上海乐相科技有限公司 | A kind of method and device for calibrating locating base station coordinate system |
| CN107328361B (en) * | 2017-07-19 | 2023-07-25 | 苏州经贸职业技术学院 | System and method for measuring and calculating base station antenna parameters |
| CN107991694B (en) * | 2017-11-24 | 2022-02-18 | 上海华测导航技术股份有限公司 | RTK-based reference station attitude monitoring system and monitoring method thereof |
| CN110006392A (en) * | 2018-01-05 | 2019-07-12 | 中国移动通信有限公司研究院 | A kind of antenna for base station work ginseng measurement method, device and measuring device |
| CN108614587A (en) * | 2018-06-14 | 2018-10-02 | 上海卫星工程研究所 | Satellite remote sensing instrument optical axis is directed toward in-orbit method of adjustment and system |
| CN112801432B (en) * | 2019-10-25 | 2024-05-10 | 北京国电思达科技有限公司 | Intelligent inspection system for fan set blades and inspection method for fan set blades |
| CN111337017A (en) * | 2020-04-20 | 2020-06-26 | 杭州微萤科技有限公司 | Automatic measurement method and device for AOA base station installation attitude |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100358760C (en) * | 2005-12-02 | 2008-01-02 | 济南蓝动激光技术有限公司 | Electrification railway contact net measuring aiming method based on camera |
| CN101652629A (en) * | 2007-04-02 | 2010-02-17 | Nxp股份有限公司 | Method and system for orientation sensing |
| CN201402140Y (en) * | 2009-05-08 | 2010-02-10 | 陕西瑞特测控技术有限公司 | Flight attitude assembly measuring device |
| CN102322857B (en) * | 2011-05-24 | 2013-04-17 | 武汉理工大学 | Position and posture measuring system and method for mechanical equipment |
| CN103822613A (en) * | 2013-12-13 | 2014-05-28 | 中国矿业大学 | Non-contact measurement method for open-pit mine slope angle |
| CN103955272B (en) * | 2014-04-16 | 2017-08-29 | 北京智产科技咨询有限公司 | A kind of terminal user's attitude detection system |
-
2015
- 2015-04-09 CN CN201510166955.9A patent/CN104807435B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN104807435A (en) | 2015-07-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104807435B (en) | Attitude measurement system and method for base station antenna | |
| US20190317532A1 (en) | Gimbal control method, control system, gimbal, and unmanned aircraft | |
| US8539685B2 (en) | Integrated surveying and leveling | |
| CN103748901B (en) | Autonomous wireless antenna sensing system | |
| CN108051835B (en) | Inclination measuring device based on double antennas and measuring and lofting method | |
| CN104792300A (en) | Attitude measurement system and method for base station antennae | |
| CN108802672B (en) | Pose estimation using radio frequency identification (RFID) tags | |
| CN103148848A (en) | Mobile terminal device for positioning system based on magnetic field map and method thereof | |
| JP6602176B2 (en) | Building damage assessment method | |
| JP2018100929A (en) | Position estimating system, position estimating device, data processing method thereof, and program | |
| US10705225B2 (en) | Preparation system for surveying operation | |
| CN104776826A (en) | Attitude measurement system and attitude measurement method | |
| CN110907709A (en) | Method and measuring system for aerial measurement | |
| US20230184962A1 (en) | Underground Line Locator System With Real Time Kinematic And Global Satellite Positioning | |
| WO2019119227A1 (en) | Position detection method and device, rotary radar system, and unmanned aerial vehicle | |
| US11057737B2 (en) | Indoor positioning for mobile devices | |
| CN112433101B (en) | Vehicle testing system and vehicle testing method | |
| KR101527211B1 (en) | Method and system for constructing map of magnetic field | |
| CN112946606A (en) | Laser radar calibration method, device, equipment, system and storage medium | |
| US20220077939A1 (en) | System and method for alignment measurement of an array antenna system | |
| CN107917693B (en) | Inclination measuring device and method based on optical ranging | |
| US20150160329A1 (en) | Determining location and orientation of directional tranceivers | |
| EP2196817B1 (en) | An antenna measurement system and method thereof | |
| JP2019027988A (en) | Surveying device | |
| CN108489513B (en) | System and method for calibrating scanning point cloud azimuth of underground space |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: Hanzhoung Road, Gulou District of Nanjing city in Jiangsu province 210029 No. 180 Xinghan building 20 floor B block Applicant after: JIANGSU EAST CENTURY NETWORK INFORMATION Co.,Ltd. Address before: Shuige road Jiangning Economic Development Zone in Nanjing City, Jiangsu Province, No. 30 211106 Applicant before: JIANGSU EAST CENTURY NETWORK INFORMATION Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200218 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |