CN105277918B - A kind of radio frequency relative attitude sensor test device and its method of testing - Google Patents
A kind of radio frequency relative attitude sensor test device and its method of testing Download PDFInfo
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- CN105277918B CN105277918B CN201510789511.0A CN201510789511A CN105277918B CN 105277918 B CN105277918 B CN 105277918B CN 201510789511 A CN201510789511 A CN 201510789511A CN 105277918 B CN105277918 B CN 105277918B
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- antenna
- sensor
- relative attitude
- radio frequency
- planes
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/021—Calibration, monitoring or correction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0247—Determining attitude
Abstract
The invention discloses a kind of radio frequency relative attitude sensor test device and its method of testing, the device includes two flat boards, guide rail and antenna；This method comprises the following steps：1) antenna on sensor is separately mounted in two planes；2) relativeness between two planes is calculated by geometrical relationship；3) initial distance between transmitting and reception antenna is calculated；4) after mobile a certain plane, by the increment of the incremental computations antenna movement of planar movement, whether the increment for the antenna movement that checking sensor measures is correct；5) the relative attitude relation between two planes is calculated by ranging amount between antenna, and with the Comparative result in step 2).The relative attitude measurement that radio frequency relative attitude sensor is used between aircraft, this method is implemented simply, easy to use, without sensor installation can be carried out to the test at initial stage to sensor on board the aircraft.
Description
Technical field
It is relative more particularly to a kind of radio frequency the present invention relates to the technical field of the test device of radionavigation locator
Attitude sensor test device and its method of testing.
Background technology
Radio frequency relative attitude sensor is to be realized based on space intersection and tellurometer survey principle between any pair of aircraft
Position and orientation parameters measurement, it is by multiple transmitting antennas, reception antenna, radio frequency sending set and radio-frequency transmitter and base band
Processing unit forms.Radio frequency relative attitude measurement sensor is used for when the autonomous relative attitude of aircraft measures, it is necessary to each fly
A set of autonomous relative attitude measurement apparatus is installed on device, each carry-on device from its multiple emitter by hair antennas to
Other vehicle launch distance measuring signals, the device of each aircraft are simultaneously other using its reception antenna and radio-frequency transmitter collection
The distance measuring signal that aircraft is sent, and give the processing that baseband processing unit carries out distance measuring signal.Distance measuring signal is by pseudo noise code
Sequence modulation is formed on radio-frequency carrier, and device can measure to obtain the phase and load of pseudo-code sequence after receiving distance measuring signal
The phase of ripple signal, in order to realize that high-precision ranging must use carrier signal phase as ranging information source, due to every
Individual transmitting antenna uses unique pseudo-random code sequence, and reception antenna can be identified from different transmittings with pseudo-random code sequence
The distance measuring signal of antenna.The distance measuring signal that each carry-on device is received using it, it can resolve to obtain its and each connect
The distance between antenna and each transmitting antenna of other aircraft are received, can be according to space intersection's method using these range informations
Principle, the relative position between each dual-mode antenna is determined, can be with using the relative position bonding position cosine formula of dual-mode antenna
Extrapolate the relative attitude between each aircraft.The measurement distance of this radio frequency relative attitude measurement sensor is on 200 meters of left sides
The right side, the remote upper absolute position passed through between two aircraft of GPS location are closely upper to be surveyed by this radio frequency relative attitude
Amount sensor can measure the relative attitude between two aircraft.
It is to measure two from the time received is transmitted into by measurement signal in radio frequency relative attitude measurement sensor
The distance between antenna, but delay and radio frequency of the signal between base band to radio frequency are to measure to the delay between antenna
, so the initial distance between transmitting and reception antenna needs artificial give.Sensor can measure the increment of antenna movement,
After antenna movement, by the initial distance between artificially given antenna, plus the increment of antenna movement, you can it is determined that working as the day before yesterday
The distance between line.Clock correction be present additionally, due between two devices, between the antenna measured by transmitting and reception signal
Distance is pseudorange, is not the actual distance between transmitting and reception antenna.And radio frequency relative attitude measurement sensor is to be used for
The position between aircraft and posture are measured, it is necessary to which each antenna of the sensor is fixed on aircraft.It is so this is quick
Sensor be arranged on aircraft on carry out initial stage test when, it is necessary to man power and material's cost can be very high.
The content of the invention
It is an object of the invention to provide a kind of economy, the radio frequency relative attitude sensor test device of fast-type, without by means of
The optical instrument such as laser tracker, theodolite of costliness are helped, and without sensor is installed on board the aircraft, you can to radio frequency
Relative attitude sensor carries out the test at initial stage, has largely saved cost.
The technical solution adopted by the present invention is：A kind of radio frequency relative attitude sensor test device, including two flat boards, lead
Rail and antenna, one of flat board are located on plane ABCD, and another flat board is located on plane EFGH, and two flat boards are used for placing
Antenna, guide rail is placed in the Y-axis intersected with plane ABCD and plane EFGH, the flat board on plane ABCD is fixed on guide rail
One end, the flat board on plane EFGH can move along guide rail.
Wherein, the device antenna arrangement：Antenna is installed in two planes, the installation site of antenna can not be conllinear.
Wherein, the initial relativeness between two coordinate systems is determined by the particular point in plane：It is flat with one of them
Face is body coordinate system, and another plane is moving coordinate system.
In addition, the present invention also provides a kind of radio frequency relative attitude sensor test method, comprise the following steps：
Antenna on sensor is separately mounted in two planes by step 1)；
Step 2) calculates the relativeness between two planes by geometrical relationship；
Step 3) calculates the initial distance between transmitting and reception antenna；
After the mobile a certain plane of step 4), by the increment of the incremental computations antenna movement of planar movement, sensor is verified
Whether the increment of the antenna movement measured is correct；
Step 5) calculates the relative attitude relation between two planes by ranging amount between antenna, and with step 2)
Comparative result.
Beneficial effects of the present invention：
1. apparatus of the present invention can be by the relative position that measures the distance between particular point to calculate between two coordinate systems
Put relation, then by measure position of the antenna under respective coordinate system calculate send and receive between antenna it is initial away from
From.
2. the present invention need to can be only calculated in the plane after mobile one of plane by the increment of planar movement
Coordinate of the antenna under coordinate system where another plane, so as to calculate the increment of antenna movement, checking sensor measures
Whether the increment of antenna movement is correct.
3. the present invention brings formula (2) into according to the ranging amount between antenna and calculates relative attitude between two aircraft
Parameter, and the attitude parameter drawn with the 1st step contrasts, whether the attitude parameter that the 3rd step of checking is measured by sensor is correct.
Brief description of the drawings
Fig. 1 is radio frequency relative attitude sensor system configuration diagram；
Fig. 2 is three kinds of situations of primitive rotation, i.e., is rotated around x-axis, around y-axis, around z-axis；
Fig. 3 is the simple diagram of device；
Fig. 4 is antenna arrangement diagram；
Fig. 5 is the relativeness diagram of two planes；
Fig. 6 is determination and the conversion process figure of Two coordinate system relative position relation；
Fig. 7 is integrated testability flow chart of the present invention.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment further illustrates the present invention.
Radio frequency relative attitude measures sensor, as shown in figure 1, including three transmitting antennas T1, T2, T3, three reception days
Line R1, R2, R3, three radio frequency transmitting channels, three radio frequency reception channels, three auxiliary radio-frequency channels, a Base-Band Processing list
Member, and the part such as high steady time-based unit form.Radio frequency relative attitude measurement sensor realizes positioning using space intersection's principle
With determine appearance, that is, measure carry-on each transmitting antenna between another carry-on each reception antenna away from
From utilization space intersection principle determines position of each dual-mode antenna under relative coordinate system, finally determines day by aerial position
The posture of aircraft where line.To determine the relative attitude of two aircraft, it is necessary to install at least three on each aircraft
Transmitting or reception antenna, and the installation site of these antenna can not be conllinear.
The description as described in relative attitude：Description main tool to relative attitude have direction cosine matrix, Euler's axle/turn
Angle, Eulerian angles and quaternary counting method.Eulerian angles are also known as attitude angle (roll angle, the angle of pitch and yaw angle), in space
Any two coordinate system for, one of coordinate system is at most rotated into 3 cans and another coordinate around its reference axis
It is that direction is identical, the relation between Two coordinate system is represented by the size of these three corners.
Eulerian angles：For any two right-handed coordinate system in space can by primitive several times rotate realize come
Make their direction identical, so-called primitive rotation is exactly that coordinate system rotates a certain angle around its one of axle.Fig. 2 is shown
Three kinds of situations of primitive rotation, i.e., rotate around x-axis, around y-axis, around z-axis.
Assuming that a coordinate system Oxyz, rotates an angle φ around its x-axis and becomes coordinate system Oxy'z', then from coordinate system
Oxyz to coordinate system Oxy'z' transformation matrix is exactly to turn over φ angles basis element change matrix around x-axis：
Equally, the basis element change matrix for θ angles being turned over around y-axis is：
The primitive spin matrix at ψ angles is turned over around z-axis is：
Assuming that a coordinate system A in space first turns over ψ angles around its z-axis, θ angles are turned over further around the y-axis of first coordinate system, finally
Turning over φ angles around x-axis turns into coordinate system B, then is by coordinate system A to B transformation matrices：
Lba=Lx(φ)Ly(θ)Lz(ψ)
Above formula is deployed：
Pass through spin matrix (attitude matrix) Aba, you can obtain between two aircraft relative attitude angle φ, θ, ψ (
Referred to as roll angle, the angle of pitch and yaw angle).
The radio frequency relative attitude measurement simple diagram of sensor test device of the present invention is as shown in figure 3, two planes represent
Two aircraft, by antenna installation on two planar.The relativeness between two planes is determined first, then passes through measurement
Position of the antenna under respective coordinate system, you can calculate the initial distance sent and received between antenna.Again by one of them
After aircraft moves a segment distance, the increment of antenna movement is calculated by geometrical relationship, the antenna that checking sensor measures moves
Whether correct (the note of dynamic increment：Moved during planar movement only along a certain reference axis, and when mobile two planes relative appearance
State relation keeps constant.If relative attitude relationship change during planar movement between plane, need between multiple coordinate
Conversion can just obtain the distance of antenna movement.Because the invention is only intended to the test at initial stage, so being calculated to simplify, flat
When face is moved, the relative attitude relation between two planes keeps constant).
By the pseudorange between transmitting and reception antenna after planar movement, calculate when the relative appearance between the first two plane
State.3 ranging amounts can be obtained between three reception antennas on any transmitting antenna to another plane in one plane, often
Individual device has three transmitting antennas, therefore can obtain 9 ranging amounts, and opposite other any members are between the device of this member
There can be 9 ranging amounts, 18 ranging amounts can be obtained between so any a pair of members.The relative attitude measurement of aircraft needs
Measure X-axis coordinate, Y-axis coordinate, Z axis coordinate, three Eulerian angles and aircraft under relative coordinate system between aircraft
Between 7 unknown parameters such as clock correction.Each above-mentioned ranging amount is determined by 7 unknown parameters, you can with list by
The equation group of 18 equation compositions, each equation is the equation on above-mentioned 7 unknown parameters.I.e. each equation can represent
For：
Ri=RGi+Rτ=(ri Tri)1/2+c(τR-τT) (2)
Wherein Ri, i=1,2 ..., 18 be 18 ranging amounts, RGi=(ri Tri)1/2, i=1,2 ..., 18 be signal in space
Actual distance between distance corresponding to the true propagation time, i.e. antenna, ri, i=1,2 ..., 18 are under relative coordinate system
The vector that the location point of a pair of dual-mode antennas is formed, Rτ=c (τR-τT) be two members device between clock correction, c is light
Speed, τTAt the time of when launching for signal, τRAt the time of during to receive the signal.And wherein riIt can be expressed as again：
ri=[PR+Q(ψR,θR,φR)μR]-[PT+Q(ψT,θT,φT)μT] (3)
Wherein PRCoordinate vector of the cluster member under relative coordinate system where some reception antenna, three of the member
Attitude angle uses ψ respectivelyR、θR、φRRepresent, PTFor coordinate of the cluster member where some transmitting antenna under relative coordinate system to
Amount, three attitude angles of the member use ψ respectivelyT、θT、φTRepresent, Q is function representation symbol, is herein the letter on attitude angle
Number.Because relative measurement is to determine the relative coordinate of above-mentioned two member, thus the relative coordinate of one of member be, it is known that
And another is unknown, the relative coordinate of member is, it is known that then unknown quantity is exactly P where might as well assuming certain transmitting antennaR、ψR、
θR、φR, wherein vectorial PRIt is made up of three unknown elements, and μRBody for some reception antenna relative to the member where it
Coordinate, is known quantity, same μTBody coordinate for some transmitting antenna relative to member where it, is also known quantity.To sum up
Described, the equation shown in formula (2) illustrates the relation between 7 unknown parameters and each ranging amount, any a pair of members it
Between can obtain 18 ranging amounts, it is possible to obtain the equation group of 18 equations composition, solved using the principle of least square above-mentioned
Equation is the value that can obtain 7 unknown parameters, that is, obtains the relative attitude between current two aircraft.Due to 7 unknown numbers
It can be calculated by 10 equations, so for simplicity, present apparatus one end is only connect using 3 transmitting antennas 1 therein
Antenna is received, the other end uses 3 reception antennas and 1 transmitting antenna, so can obtain 10 ranging amounts, is brought into above-mentioned side
This 7 unknown numbers can be calculated in journey.
A kind of structure of better embodiment of apparatus of the present invention is as shown in figure 3, including part groups such as two planes, guide rails
Into its midplane ABCD and plane EFGH are used for placing antenna, and Y-axis is guide rail, and plane ABCD is fixed on one end of guide rail, plane
EFGH can move along guide rail.Realize that apparatus of the present invention need to realize the design of plane, the layout of antenna, plane heaven in plane
Measurement of distance etc. between particular point in the measurement of line position, two planes.As shown in fig. 7, integrated testability flow of the present invention is such as
Under：
1. device antenna arrangement：Antenna is installed in two planes, the installation site of these antenna can not be conllinear.Such as figure
Shown in 4, wherein a reception antenna is in planar central (point A on plane ABCD4), three transmitting antennas are located at plane ABCD
Other three points (point A1、A2、A3)；Transmitting antenna is located at center (the point B of plane on another plane EFGH4), three reception days
Line is located at other 3 points (point B of plane EFGH1、B2、B3)。
2. the initial relativeness between two coordinate systems is determined by the particular point in plane：Using one of plane as
Body coordinate system, another plane are moving coordinate system, as shown in figure 5, the coordinate system where plane 1 (plane ABCD) is set to this
Body coordinate system Oxyz, the coordinate system where plane 2 (plane EFGH) are moving coordinate system Ox'y'z'.In body coordinate system Oxyz
It is middle selection three particular point O (0,0,0), M (1,0,0), N (0,0,1), in moving coordinate system Ox'y'z' choose three point I,
J, K, wherein I are moving coordinate system Ox'y'z' origin, and point J, K are respectively on moving coordinate system Ox'y'z' X' and Z' axles.
Then point M, O, N is measured respectively to point K distance r1、r2、r3, pass through the distance between two coordinate points formulaSeats of the point K under body coordinate system Oxyz can be obtained by establishing three equation groups
Mark K (kx,ky,kz), similarly obtain coordinate I (Is of point I, the J under body coordinate system Oxyzx,Iy,Iz) and J (Jx,Jy,Jz).VectorWithAs moving coordinate system Ox'y'z' X' and Z' axles, by being mutually perpendicular to relation between reference axis and can obtain Y'
Axial vector, it is then expressions of the moving coordinate system Ox'y'z' under body coordinate system Oxyz by vector normalization, thus may be used
Draw spin matrix Aba, spin matrix, which is brought into formula (1), can obtain Eulerian angles.Posture now is also two planes
Between initial attitude.Fig. 6 is determination and the conversion process figure of Two coordinate system relative position relation.
It is determined that during initial relativeness between two coordinate systems, the distance between particular point can pass through in two planes
Meter ruler is measured roughly or accurately measured by laser range finder, in addition coordinate of the antenna under coordinate system where respective plane
It can be measured by graduated scale.
3. the distance between reception antenna on transmitting antenna to plane 2 on Calculation Plane 1, such as antenna A1And B3It
Between distance, measure A with graduated scale first1Coordinate under coordinate system Oxyz, then measures B3Under coordinate system Ox'y'z'
Coordinate, by B3Coordinate under coordinate system Ox'y'z' is multiplied by spin matrix AbaInverse matrix Aba -1As B3Under coordinate system Oxyz
Coordinate B3(b3x,b3y,b3z), pass through formulaAntenna A can be drawn1And B3It
Between distance LA1B3.The distance between other antennas, and this actual distance of distance between antenna can similarly be obtained.
4. calculate the increment of antenna movement, plane EFGH is moved into a certain distance, delta y (plane EFGH when mobile along Y-axis
Posture keeps constant), then now antenna B in plane 23Coordinate under coordinate system Oxyz is changed into B3(b3x,b3y+Δy,b3z), so
Pass through formula again afterwardsObtain mobile aft antenna A1And B3The distance between L'A1B3, L
=L'A1B3-LA1B3The as increment of antenna movement, can similarly obtain the increment moved between other antennas, and measure with sensor
Antenna movement incremental raio compared with whether the data that measure of checking sensor correct.
5. whether the relative attitude that checking sensor measures is correct.10 ranging amounts that sensor is measured, bring equation into
(2) relative attitude between two planes is calculated in, compared with the attitude parameter obtained in embodiment 2, verifies sensor
Whether the attitude parameter measured is correct.
Claims (1)
- A kind of 1. radio frequency relative attitude sensor test method, it is characterised in that：Comprise the following steps：Antenna on sensor is separately mounted in two planes by step 1)；Step 2) calculates the relativeness between two planes by geometrical relationship；Step 3) calculates the initial distance between transmitting and reception antenna；After the mobile a certain plane of step 4), by the increment of the incremental computations antenna movement of planar movement, checking sensor measures Antenna movement increment it is whether correct；Step 5) calculates the relative attitude relation between two planes by ranging amount between antenna, and with the knot in step 2) Fruit contrasts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510789511.0A CN105277918B (en) | 2015-11-17 | 2015-11-17 | A kind of radio frequency relative attitude sensor test device and its method of testing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510789511.0A CN105277918B (en) | 2015-11-17 | 2015-11-17 | A kind of radio frequency relative attitude sensor test device and its method of testing |
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| Publication Number | Publication Date |
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| CN105277918A CN105277918A (en) | 2016-01-27 |
| CN105277918B true CN105277918B (en) | 2017-11-28 |
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| CA2824680A1 (en) * | 2011-04-18 | 2012-10-26 | Instituto Presbiteriano Mackenzie | Process and system to determine temporal changes in retransmission and propagation of signals used to measure distances, syncronize actuators and georeference applications |
| ES2532529T3 (en) * | 2011-07-15 | 2015-03-27 | Airbus Ds Gmbh | Platform related navigation using range measurements |
| US8983492B2 (en) * | 2012-06-21 | 2015-03-17 | Qualcomm Incorporated | Methods and apparatuses for affecting a motion model within a mobile device |
| CN104569914B (en) * | 2014-12-29 | 2018-06-26 | 南京航空航天大学 | Athletic posture cognitive method based on polarization of ele three-dimensional electro magnetic signal stationary nature |
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