CN106229605A - A kind of massive phased array accurate installation method of antenna based on mathematical modeling - Google Patents

A kind of massive phased array accurate installation method of antenna based on mathematical modeling Download PDF

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Publication number
CN106229605A
CN106229605A CN201610509674.3A CN201610509674A CN106229605A CN 106229605 A CN106229605 A CN 106229605A CN 201610509674 A CN201610509674 A CN 201610509674A CN 106229605 A CN106229605 A CN 106229605A
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antenna
celestial body
point
phased array
axis
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CN106229605B (en
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蔡亚宁
刘杰
何德华
张君刚
肖刚
肖鹏飞
张妍
陈恩涛
马健
王涛
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Beijing Institute of Spacecraft System Engineering
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Beijing Institute of Spacecraft System Engineering
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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/12—Supports; Mounting means
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Z—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS, NOT OTHERWISE PROVIDED FOR
    • G16Z99/00—Subject matter not provided for in other main groups of this subclass

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Abstract

The invention discloses a kind of massive phased array accurate installation method of antenna based on mathematical modeling, it is adaptable to large scale, installation accuracy require that high single-blade or double-vane massive phased array antenna are precisely installed and commissioning, belong to microwave remote sensing overall general assembly design field.The method comprising the steps of: (1) sets up celestial body coordinate system；(2), accurate adjustment celestial body attitude；(3) coordinate of mount point on antenna and celestial body is measured；(4) founding mathematical models, calculates and adjusts pad；(5) add pad according to result of calculation and antenna is installed；(6) measure plane comprehensively to point to, revise pad.Present invention, avoiding massive phased array antenna to repeat to try to gather to debug to affect sky traditional thread binding star precision and the problem of efficiency, have that engineering exploitativeness is strong, installation accuracy easily ensures, reduce and debug and accurate measurement number of times, improve the advantages such as installation effectiveness.

Description

A kind of massive phased array accurate installation method of antenna based on mathematical modeling
Technical field
The invention belongs to microwave remote sensing overall general assembly design field, be specifically related to a kind of based on mathematical modeling large-scale phased Array antenna accurate mounting technique implementation method, main application direction is that large scale, installation accuracy require high massive phased array sky Line is precisely installed and commissioning.
Background technology
Recently as developing rapidly of spacecraft payload technology, (single-blade length is more than 5 to massive phased array antenna Rice, double-vane length is the parabola antenna more than 10 meters more than the Planar Phased Array Antenna of 10 meters or diameter) due to its high-resolution, The characteristic such as multipolarization, multiple-working mode, has obtained increasing application in microwave remote sensing field, but, defending of high-quality Star picture quality also installation accuracy to massive phased array antenna proposes higher requirement.
The installation accuracy of massive phased array antenna mainly includes launching comprehensive flatness R (unit: mm) and comprehensively pointing to N (vector, including three orientation angles), the realization of these two precision indexs, not only rely on aerial radiation front self to debug precision Debug precision with antenna deployment mechanism self, also rely on the commissioning precision during antenna and celestial body general assembly, the most only pass through The general assembly link span whole to massive phased array antenna open state carries out accurate commissioning, just can obtain the comprehensive flatness of expansion needed And specific comprehensive pointing accuracy.
At present, during satellite assembly, the satellite borne equipment having installation accuracy to require is debug process and is typically used traditional Manually try to gather pattern.Its main flow is: first installs equipment, tighten installation screw, then utilizes accurate measurement equipment (theodolite Deng) measure equipment installation site, angle precision, if being unsatisfactory for required precision, accurate measurement personnel according to measure experience in established angle position Putting increase and adjust pad, recycling accurate measurement equipment remeasures, and after commissioning repeatedly, wants until precision of equipment installation meets Ask.This kind of method has the disadvantage in that
1) this type of method is debug just for the mini-plant (length or the radius equipment less than 5 meters) having installation accuracy to require Process, its installed surface needs single, and established angle increases the position of adjustment pad to be needed simple to operation, and currently for complicated installed surface The dress star method of massive phased array antenna there is no referential experience at home；
2) if this type of method is once assembled not in place, on the one hand trial and adjustment repeatedly can cause equipment mounting interface Deformation and the reduction of interface precision, on the other hand also result in the reduction of equipment installation effectiveness, for there being the comprehensive plane of expansion For the large-scale Planar Phased Array Antenna of degree and comprehensive pointing accuracy requirement, examination the most repeatedly is gathered, and all can bring bigger Workload, and gather only with artificial experience examination, the accurate installation accuracy of requirement may not necessarily be reached.
Patent name has pertained only to large scale plane for " satellite large scale planar array SAR days line automation accurate measurement method " Automatization's accurate measurement of array SAR antenna, including antenna array flatness and the fitting algorithm of plane normal, but this patent simply reason Opinion calculates, it is impossible to accurately instruct the installation of large-scale Planar Phased Array Antenna according to measure of precision data.
Summary of the invention
The technology of the present invention solves problem: overcomes Traditional Man to gather through test, repeat commissioning equipment Installation Modes not Foot, it is provided that a kind of accurate installation method of massive phased array antenna being suitable for having complicated installed surface, the method is accurate measurement before dress star On the basis of data, the commissioning process of massive phased array antenna is converted into mathematical model, calculates adjustment pad and add scheme, Pad is added, it is to avoid massive phased array antenna repeats to try to gather to debug affects sky traditional thread binding star precision and efficiency according to result of calculation Problem.
The technical solution of the present invention is: a kind of massive phased array accurate installation method of antenna based on mathematical modeling, The method comprises the following steps:
(1), setting up celestial body coordinate system, described celestial body coordinate system zero O is the central point of satellite and the rocket parting surface, and X-axis is just Direction is satellite flight direction, and Z axis positive direction is that direction, Y-axis positive direction and X0Z plane meet right-hand law over the ground；
(2), by the installed surface on celestial body go to dock with phased array antenna orientation, accurate adjustment celestial body attitude, make bowing of celestial body Face upward, rock, three direction attitudes of going off course and celestial body coordinate system X-axis, Y-axis, Z axis angular error less than 0.1, three peaces on celestial body Decorate the Y-axis coordinate figure deviation with system requirements less than 0.1mm；
(3) three mount points, are built on three mount points of antenna and celestial body at celestial body installed surface and antenna installed surface The projected triangle of public vertical plane, the method using plane geometry, Analytic triangular function solves the tune that each mount point position need to increase Whole spacer thickness；
(4) result of calculation obtained according to step (3) adds corresponding adjustment at three mount points of massive phased array antenna Antenna is arranged on celestial body by pad；
(5) measure the antenna array plane after being arranged on celestial body by antenna and comprehensively point to Nt0, solve antenna array method Line and celestial body coordinate system X-axis, Y-axis and the angle of Z axis, it is judged that the absolute value of the difference of the angle that three angles reach with system requirements Whether it is entirely below the thresholding preset, is entirely below, then terminates antenna installation process, otherwise, proceed to step (6)；
(6) difference of the angle reached with system requirements with corresponding celestial body coordinate system coordinate axes angle when antenna array normal For+Δ, Δ is positive number, reduces corresponding mount point spacer thickness, and the difference of angle is-Δ, and Δ is positive number, increases corresponding mount point pad Sheet thickness；
(7) step (5)～step (6) are repeated until antenna array normal and celestial body coordinate system X-axis, Y-axis and the angle of Z axis The absolute value of the difference of the angle reached with system requirements is entirely below the thresholding preset.
Described phased array antenna docking orientation is positioned at satellite flight direction, i.e. X-axis positive direction or X-axis negative direction.
When installing two phased array antenna on celestial body, when antenna docking orientation is respectively X-axis positive direction and X-axis negative direction, The method comprises the steps:
First, according to above-mentioned steps (1)～step (7), respectively the phased array antenna in step (2) is docked orientation and replace For X-axis positive direction and X-axis negative direction, two phased array antenna of positive for X-axis negative direction are arranged on celestial body；
Then, measure whole wing antenna array plane and comprehensively point to Nt and comprehensive flatness Rt of whole wing antenna；
Finally, it is judged that whether comprehensive flatness Rt that whole wing antenna array plane comprehensively points to Nt or whole wing antenna is less than The deviation range of system requirements, any one is unsatisfactory for requirement, then continue to adjust both sides and install the height of pad, the while of until two Meet requirement, i.e. complete the dress star work of double side wings antenna.
In three mount points of above-mentioned steps (3) structure antenna and celestial body, three mount points are pacified at celestial body installed surface and antenna The projected triangle of the public vertical plane in dress face, the method using plane geometry, Analytic triangular function solves each mount point position and needs to increase The detailed process adjusting spacer thickness added is:
(3.1), measure without three mount points of antenna coordinate figure under celestial body coordinate system under adjusting pad sheet state A1(xa1,ya1,za1)、B1(xb1,yb1,zb1)、C1(xc1,yc1,zc1) and fit Plane sensing N1 (cos α 1, cos β 1, Cos γ 1) and celestial body on corresponding mount point coordinate figure A2 (xa2,ya2,za2)、B2(xb2,yb2,zb2)、C2(xc2,yc2,zc2) and Its fit Plane points to N2 (cos α 2, cos β 2, cos γ 2)；
(3.2), by antenna installed surface and celestial body install and project towards its public vertical plane M, antenna mount point A1, B1, C1 Projection in plane M obtains subpoint A1', B1', C1' and celestial body mount point subpoint in the plane, by celestial body mount point Subpoint translation in the plane obtains A2', B2', C2', and making closest two mount point A2' overlap with A1' is one Point, eliminates A1 Yu A2, B1 Yu B2 and the public difference in height of C1 Yu C2, obtains projected triangle A1'C1'C2'；
(3.3), the mount point that definition antenna installed surface spacing is maximum is that C1, C1 point interpolation adjustment spacer thickness is: hC= 0, it is not necessary to add pad；
(3.4), calculate value α of ∠ C1'A1'C2' of projected triangle ', α '=α, α be celestial body mounting plane point to N1 and Antenna mounting plane points to the vector angle of N2, and its computing formula is:
α = a r c c o s ( | N 1 × N 2 | | N 1 | · | N 2 | ) ;
(3.5), according to the coordinate figure of three mount points of celestial body, linear vector A2B2, A2C2 are calculated；Wherein, A2B2 vector ForA2C2 vector is
(3.6) angle theta between A2B2 and A2C2 and public vertical plane M, is calculated1And θ2, vector angle formula obtain:
θ 1 = a r c c o s ( | A 2 B 2 × N 2 | | A 2 B 2 | · | N 2 | ) ,
θ 2 = a r c ( c o s | A 2 C 2 × N 2 | | A 2 C 2 | · | N 2 | ) ;
(3.7) mount point linear vector A2B2 on definition celestial body installed surface, A2C2 projected length S on public vertical plane M1With S2, calculate according to the following formula in projected triangle | A2'B2' | and | A2'C2' |:
|A2'B2' |=S1=| A2B2|×sinθ1, | A2'C2' |=S2=| A2C2|×sinθ2；
(3.8) calculating A1 point interpolation adjustment spacer thickness is: d1=hA=| A2'C2' | × tg α ', B1 point adds adjusting pad Sheet thickness is: hB=hA-h1=(| A2'C2'|-|A2'B2'|)×tgα'。
The described controlled mount point of above-mentioned steps (7) is determined by following principle: when B1, C1 are for being simultaneously attached to antenna array Face mount point time, the difference of the angle reached with system requirements when the angle of antenna array normal Yu celestial body coordinate system X-axis When absolute value exceedes pre-determined threshold, then adjust the antenna mount point at A1；Folder when antenna array normal Yu celestial body coordinate system Z axis When the absolute value of the difference of the angle that angle and system requirements reach exceedes pre-determined threshold, then adjust the antenna mount point at B1 or C1.
The spacer thickness adjustment amount h being increased or decreased described in above-mentioned steps (7)Adjustment amountFor:
hAdjustment amount=tg (Δ) × L
When being adjusted mount point and being A1, L is the distance of A1D1, when being adjusted mount point and being B1 or C1, L be B1D1 or The distance of C1D1；D1 is that A1 makees the intersection point of vertical line to B1C1.
Above-mentioned massive phased array antenna is parked on air floating table (5) by gas foot (6), by gas foot (6) and air floating table (5) Realize phased array antenna zero gravity to install.
The present invention compared with prior art provides the benefit that:
1) engineering exploitativeness of the present invention is strong, it is possible to use accurate measurement instrument test and the trend of data analysis dress star result, Adjust pad by mathematical model computational analysis and add scheme, compare artificial experience examination and gather the directivity having more adjustment with effective Property.
2) inventive antenna installation accuracy easily ensures, utilizes the computational analysis of mathematical model, and can make to fill star precision is having Reach the soonest or close to desired value, according to verification experimental verification, the large-scale planar phased array of double side wings of length 15m in the commissioning number of times of limit Antenna, can once debug and put in place, and it launches comprehensive flatness and reaches 3mm, and comprehensive pointing accuracy reaches 0.02 °.
3) inventive antenna installation effectiveness is high, and according to reality dress satellite experiment checking, the adjustment spacer thickness of calculating the soonest may be used Antenna is once debug and puts in place, decrease and debug number of times, improve dress star efficiency.If it addition, antenna is once debug not in place, can The amendment scheme utilizing the present invention is adjusted pad correction and adjustment amount and calculates, it is to avoid the blindness that artificial examination is gathered, and makes dress Tune trend quickly restrains to anticipated orientation.
4) present invention realizes the installation of phased array antenna zero gravity by gas foot and air floating table, and gas foot and air floating table realize antenna Its advantage of the mount scheme of zero gravity is succinct easily operation, as long as air floating table plane precision is adjusted to 80 μm/below 10m, Meet antenna zero gravity installation requirement；It addition, because of antenna array also with the connection cable that need to enter in celestial body cabin, and air supporting is put down On platform, degasification foot is outer without other auxiliary equipment, it is to avoid as launched the cable hooking equivalent risk that hanger zero gravity mode is brought, right The installation of phased array antenna and expansion provide important equipment guarantee.
5) double-vane antenna is needed the comprehensive flatness of waveguide front reached also to include in evaluation variable by the present invention, is also suitable The dress star of double side wings massive phased array antenna.
Accompanying drawing explanation
Fig. 1 (a) is embodiment of the present invention single-blade massive phased array antenna accurate installation method flow chart
Fig. 1 (b) is embodiment of the present invention double-vane massive phased array antenna accurate installation method flow chart；
Fig. 2 is embodiment of the present invention celestial body and aerial position graph of a relation；
Fig. 3 is embodiment of the present invention front target point paste position schematic diagram；
Fig. 4 (a) is the embodiment of the present invention two installed surface intersection L and two installed surface normal vector location diagrams；
Fig. 4 (b) is that embodiment of the present invention celestial body is installed towards public vertical plane M projected position graph of a relation；
Fig. 4 (c) is that the embodiment of the present invention two installed surface projects location diagram on public vertical plane M；
Fig. 4 (d) is embodiment of the present invention antenna mount point to respective coordinates wheelbase from calculating schematic diagram.
Detailed description of the invention
The present invention will be further described with specific embodiment below in conjunction with the accompanying drawings.
As a example by certain satellite system massive phased array antenna installation process, it is known that corresponding three installed surface central points on celestial body The coordinate position of system requirements is A (xa, ya, za), B (xb, yb, zb), C (xc, yc, zc), this system massive phased array antenna Comprehensive flatness R0 (unit: mm) that precisely installation requirement reaches and comprehensive point to N0={cos α, cos β, cos γ, described exhibition Open comprehensive flatness and refer to the target point by accurate measurement device scan antenna array such as laser radars, the fit Plane degree obtained； The comprehensive three angular separation groups pointing to the target point referring to scanning antenna front, the fit Plane normal obtained and celestial body coordinate system The vectorial N0={cos α, cos β, cos γ become }, it is desirable to meet after the traditional thread binding star in sky: α=0 ° ± 0.1 °；β=90 ° ± 0.1 °；γ =90 ° ± 0.1 °.
Fig. 1 is the present invention accurate installation method flow chart of phased array antenna based on mathematical modeling, and wherein, Fig. 1 (a) is single Wing massive phased array antenna accurate installation method flow chart, Fig. 1 (b) is double-vane massive phased array antenna accurate installation method flow process Figure.
One, the specifically comprising the following steps that of the accurate installation method of single-blade massive phased array antenna
Step 1, setting up celestial body coordinate system, described celestial body coordinate system zero O is the central point (load of satellite and the rocket parting surface The central point of cylinder lower end frame), X-direction is satellite flight direction, and Z-direction is that direction, Y-direction and X0Z face meet the right hand calmly over the ground Rule.
For the mount point coordinate, comprehensive flatness under celestial body coordinate system and comprehensively refer on accurate measurement celestial body and on antenna To etc., need according to the known massive phased array antenna 1 theoretical installation site under celestial body coordinate system, celestial body benchmark essence is installed Survey cross prism square 4, antenna frame accurate measurement cross prism square 2, antenna target point 8 and public target ball point 7, and set up laser radar Transformational relation between coordinate system, laser tracker coordinate system and co-ordinates of satellite system.
Coordinate transformation relation to set up process as follows:
(1) as shown in Figure 2, massive phased array antenna 1 is parked on air floating table 5 by gas foot 6, by gas foot 6 and gas Floating platform 5 realizes phased array antenna zero gravity and installs.
(2) celestial body benchmark accurate measurement cross prism square, antenna frame accurate measurement cross prism square, antenna target point and public are installed Target ball point.
A, celestial body benchmark accurate measurement cross prism square is installed on the position that accurate measurement is convenient, be not susceptible to celestial body deformation, is used for Reflection celestial body attitude.
Such as: position near the loaded cylinder lower end frame as shown in sequence number 4 in accompanying drawing 2, structure is unlikely to deform herein, also will not Produce block because of the installation of antenna.
B, that antenna frame accurate measurement cross prism square is installed on accurate measurement is convenient, is not susceptible to the position of antenna deformation, can profit Measuring before and after the traditional thread binding star in sky with theodolite, the sensing change before and after the qualitative rack-mounted star of reflection antenna frame, to laser The accurate measurement data of radar play the effect of auxiliary interpretation.
Such as: the antenna frame lower end position as shown in sequence number 2 in accompanying drawing 2, it is unlikely to deform for antenna and not by star herein The position that body blocks.
C, on antenna array, uniformly paste antenna target point, the abundant flatness with reflection antenna array of quantity and combining Close pointing accuracy.
Such as: as shown in sequence number 8 in accompanying drawing 3, for ensureing the accuracy of antenna target point reflection antenna plane degree, paste close Degree is not less than 18/m2。
D, on air floating table and ground, paste public target ball point, common by theodolite, laser radar and laser tracker Obtain public target ball's dead center three-dimensional point coordinate under celestial body coordinate system, set up laser radar coordinate system, laser tracker seat Transformational relation between mark system and celestial body coordinate system.
Such as: as shown in sequence number 7 in accompanying drawing 2, air floating table is pasted public target ball point at 3, has pasted on the ground at 2 Public target ball point, for ensureing the accuracy of coordinate system conversion, should paste the public target ball point at no less than 4, and 4 can not be positioned at On same plane.
(3) in the present invention, all accurate measurement data will be unified to be converted to the data relative under celestial body coordinate system.Concrete seat Mark conversion is realized by following steps:
1) set up 3 theodolites, the prism square (sequence number 4 in accompanying drawing 2) that satellite characterizes celestial body coordinate system measured, And the target ball on public target ball pedestal is measured, obtain public target ball's dead center three-dimensional point under celestial body coordinate system and sit Mark；
2) set up and fixed laser radar measurement system at air floating table dead ahead correct position, make the target on all fronts Point in the range of the measurement of laser radar, can utilize the target ball of laser radar to measure function to measure the target on public target ball pedestal Ball, obtains the public target ball's dead center three-dimensional point coordinate in laser radar coordinate system；
3) laser radar side set up and fixed laser tracker, make celestial body installed surface and antenna installed surface laser with In the range of track instrument is measured, utilize the target ball measurement function of laser tracker to measure the target ball on public target ball pedestal, obtain public affairs Target ball's dead center is at the three-dimensional point coordinate of laser tracker coordinate system altogether；
4) changed by public target ball point, set up laser radar coordinate system, laser tracker coordinate system and co-ordinates of satellite system Transformational relation.
Celestial body attitude accurate adjustment before step 2, installation:
Before massive phased array antenna is installed, carry out celestial body attitude accurate adjustment, the installed surface on celestial body is gone to and phased array Antenna docking orientation, utilizes theodolite accurate adjustment celestial body attitude, make celestial body pitching, rock, three direction attitudes of going off course and celestial body are sat Mark system X-axis, Y-axis, the angular error of Z axis are less than 0.1 °, it is desirable on celestial body, three mount point height (Y-direction coordinate figure) are wanted with system Ask height (Y-direction coordinate figure) less than 0.1mm.
Step 3, installed surface measure of precision:
Before massive phased array antenna is installed (without under adjusting pad sheet state), it is utilized respectively laser tracker and takes a little The method coordinate figure A1 (xa to tri-mount points of A1, B1, C1 on antenna1,ya1,za1)、B1(xb1,yb1,zb1)、C2(xc1, yc1,zc1) and fit Plane point to corresponding A 2, the coordinate figure A2 (xa of B2, C2 mount point on (N1) and celestial body2,ya2,za2)、 B2(xb2,yb2,zb2)、C2(xc2,yc2,zc2) and fit Plane point to (N2) and carry out measure of precision, and utilize public target ball point It is scaled to celestial body coordinate system, obtains two vectors and be respectively α 1, β 1, γ 1 with each coordinate axes angle of celestial body coordinate system；α 2, β 2, γ2。
A2, B2, C2 corresponding on three mount points A1, B1, C1 and celestial body on antenna really installs in engineering Face, for the massive phased array antenna of more than 5 meters, the installed surface of overall dimensions 10mm～20mm may be considered installation Point, and each installed surface is all by machine tooling molding, flatness is all at below 0.1mm, therefore, for the letter measured and calculate Change, each installed surface is replaced by a certain screw mounting hole central point near the central point in respective face, it is desirable to antenna installed surface With the mount point position consistency chosen on celestial body.
At this point it is possible to utilize transit survey antenna frame accurate measurement cross prism square to point to data record, it is used for and sky Prism square after traditional thread binding star points to and carries out Data Comparison.
Step 4, the calculating of adjustment pad:
As shown in Figure 3, three mount points of definition antenna are physical location, and on celestial body, corresponding mount point is target position Put, obtained position mount point coordinate figure A1 (xa to be adjusted the most in step 31,ya1,za1)、B1(xb1,yb1,zb1)、C2 (xc1,yc1,zc1) and target location mount point coordinate figure A2 (xa2,ya2,za2)、B2(xb2,yb2,zb2)、C2(xc2,yc2, zc2), use plane geometry method, build target location and the physical location projected triangle at its public vertical plane, by triangle letter Number relation solves the adjustment pad thickness h that each installed surface position need to increaseA、hB、hC, concrete calculating process is as follows:
(1) supposing in celestial body installed surface A2B2C2, A2 point is minimum point, is translated by celestial body installed surface A2B2C2, makes A2 Point overlaps with A1 point, and is moved to by the normal vector N2 of the normal vector N1 of antenna installed surface Yu celestial body installed surface at A2 point, then sky The intersection of line installed surface A1B1C1 and celestial body installed surface A2B2C2 was A2 point the straight line L being perpendicular to N1 and N2, such as accompanying drawing 4 Shown in (a)；Antenna installed surface normal vector N1 and celestial body installed surface normal vector N2 constitutes plane M, and plane M is antenna installed surface A1B1C1 and the public vertical plane of celestial body installed surface A2B2C2.Antenna installed surface and celestial body are installed and project towards its public vertical plane M, Projection in antenna mount point A1, B1, C1 plane M obtains subpoint A1', B1', C1' and the throwing in the plane of celestial body mount point Shadow point, obtains A2', B2', C2' by the subpoint translation in the plane of celestial body mount point, makes closest two mount point It is a point that A2' with A1' overlaps, and eliminates the public difference in height of public A1 Yu A2, B1 Yu B2 and C1 Yu C2, finally gives accompanying drawing Projected triangle A1'C1'C2' shown in 4 (c).
(2) assume that antenna installed surface is that C1, C1 point adds adjustment pad thickness with the mount point of celestial body installed surface spacing maximum Degree is: hC=0, it is not necessary to add pad, only mount point A1 on antenna, B1 need to be raised to and stellar target position projection line Parallel.
(3), value α of ∠ C1'A1'C2' of projected triangle is calculated ', α '=α, α are that celestial body mounting plane points to N1 and sky Line mounting plane points to the vector angle of N2.
According to laser tracker measure of precision result, use the vector relations founding mathematical models of N1 Yu N2, solve and do not add Add the vector angle α of N1 and N2 under adjusting pad sheet state.
If two vector N1={cos α 1, cos β 1, cos γ 1} and N2={cos α 2, between cos β 2, cos γ 2}, angle is α, Utilize angle formulae between two vectors:
α = a r c c o s ( | N 1 × N 2 | | N 1 | · | N 2 | )
Antenna installed surface can be obtained and point to N1 and the celestial body installed surface N2 vector angle α when non-mounting and adjusting pad.
(4) according to the coordinate figure of celestial body mount point, linear vector A2B2, A2C2 are calculated；Wherein, A2B2 vector isA2C2 vector is
(5) angle theta between A2B2 and A2C2 and public vertical plane M, is calculated1And θ2, vector angle formula obtain:
θ 1 = a r c c o s ( | A 2 B 2 × N 2 | | A 2 B 2 | · | N 2 | ) ,
θ 2 = a r c ( c o s | A 2 C 2 × N 2 | | A 2 C 2 | · | N 2 | )
(6) such as geometrical relationship in accompanying drawing 4 (b) figure, mount point linear vector A2B2 on definition celestial body installed surface, A2C2 is in public affairs Projected length S on vertical plane M1And S2, calculate according to the following formula in projected triangle | A2'B2' | and | A2'C2' |:
|A2'B2' |=S1=| A2B2|×sinθ1, | A2'C2' |=S2=| A2C2|×sinθ2；
(7) calculating A1 point interpolation adjustment spacer thickness is: d1=hA=| A2'C2' | × tg α '=S2× tg α ', B1 point adds Adjustment spacer thickness is: hB=hA-h1=(| A2'C2'|-|A2'B2' |) × tg α '=(S2-S1)×tgα'。
Step 5, the result of calculation obtained according to step 4 add corresponding adjustment at three mount points of massive phased array antenna Antenna is arranged on celestial body by pad.Simultaneously, it is possible to use transit survey antenna frame accurate measurement cross prism square points to data And record, the prism square before star traditional thread binding with sky points to and carries out Data Comparison, it is judged that the traditional thread binding star in sky subsequently points to variation tendency.If It is consistent with the variation tendency that expection reaches that prism square points to variation tendency, then can determine that adjustment pad mount scheme is effective, if not Unanimously, then need to re-start step 3 and step 4.
Step 6, utilize the traditional thread binding star in laser radar accurate measurement sky after antenna array target point plane comprehensively point to Nt0, solve Antenna array normal and celestial body coordinate system X-axis, Y-axis and the angle of Z axis, it is judged that the angle that three angles and system requirements reach it Whether the absolute value of difference is entirely below the thresholding preset, and is entirely below, then terminates antenna installation process, otherwise, proceed to step (7)。
Step 7, adjustment pad add revision of option.
Owing to computation model is to set up under the ideal conditions of pure rigidity, during reality dress star and accurate measurement, large-scale Phased array antenna and celestial body attitude still can there is the situation of in a small amount stress deformation, become according to the change of Nt0 in accurate measurement result Gesture, analyzes the growth trend judging to adjust pad, relevant position is suitably decreased or increased and adjusts spacer thickness.
The difference of the angle reached with system requirements with corresponding coordinate axes angle when antenna array normal is+Δ, and Δ is just Number, reduces corresponding mount point spacer thickness, when the folder that antenna array normal reaches with system requirements with corresponding coordinate axes angle The difference at angle is-Δ, and Δ is positive number, increases correspondence position spacer thickness.
As shown in accompanying drawing 4 (d), according to the position characteristics of antenna installed surface A1B1C1, B1C1 is positioned on antenna array, by A1 Obtain intersection point D1 to B1C1 as vertical line, using D1 point as zero, set up the antenna parallel with whole star coordinate system three direction Coordinate system, then A1D1 be A1 point to the distance of X-axis on antenna array, B1D1, C1D1 are respectively B1 point and C1 point to antenna array The distance of upper Z axis.
Increasing and reducing spacer thickness adjustment amount is hAdjustment amount:
hAdjustment amount=tg (Δ) × L
In formula, L is that this mount point fastens the distance of respective coordinates axle to antenna coordinate, unit: mm.
The corresponding mount point adjusted determines according to the coordinate axes corresponding to antenna array normal, as X-direction deviation is Δ, then Need to adjust the antenna mount point at A1, L is the distance of A1D1；If Z-direction deviation is Δ, then need to adjust B1 point (or C1 point) place Antenna mount point, L is the distance of B1D1 (or C1D1).
Mount point characteristic according to massive phased array antenna, the antenna mount point of B1, C1 position is equal in antenna X face and Z face Can mounting and adjusting pad, typically, if antenna array normal and Y-direction angle meet requirement, then the antenna mount point of B1, C1 position In Z face need not mounting and adjusting pad, B1, C1 position adjustment pad the most referred to herein is as being X face without special emphasizing.As Y-direction deviation is Δ, then need to adjust the antenna Z face mount point at B1 point (or C1 point) place, and L is the distance of B1D1 (or C1D1).
Citing: as accurate measurement obtains Nt0={cos α t 0, cos β t 0, cos γ t 0}, wherein γ t 0=90.15 °, α t 0 He β t 0 meets requirement in ± 0.1 ° of deviation range, illustrates that antenna array normal is bigger than normal with celestial body X-direction angle, then A point is adjusted Whole spacer thickness should suitably reduce, reduction amount according to:
hAdjustment amount=tg (Δ) × L
Wherein: Δ is amount of angular deviation, this example is 90.15 °-90 °=0.15 °；
L be A point to the distance of X-axis on antenna array, in this example, A point is 1200mm to the distance of front, then to subtract at A point Adjusting pad amount of thickness less is:
hAdjustment amount=tg (0.15 °) × 1200=3.1mm.
The absolute value of the difference of the angle that step 8, repetition step 6～step 7 reach with system requirements until three angles is complete Portion is less than the thresholding preset., then single-blade antenna installation process is terminated.
Two, the specifically comprising the following steps that of the accurate installation method of double-vane massive phased array antenna
(1), setting up celestial body coordinate system, described celestial body coordinate system zero O is the central point of satellite and the rocket parting surface, and X-axis is just Direction is satellite flight direction, and Z axis positive direction is that direction, Y-axis positive direction and X0Z face meet right-hand law over the ground；
(2), by the installed surface on celestial body go to dock orientation, accurate adjustment celestial body attitude with X-axis positive direction phased array antenna, make The pitching of celestial body, rock, three direction attitudes of going off course and celestial body coordinate system X-axis, Y-axis, Z axis angular error less than 0.1, on celestial body Three mount point Y-axis coordinate figures and theory calls deviation less than 0.1mm；
(3), accurate measurement is without three mount points of antenna coordinate figure A1 under celestial body coordinate system under adjusting pad sheet state (xa1,ya1,za1)、B1(xb1,yb1,zb1)、C1(xc1,yc1,zc1) and fit Plane sensing N1 (cos α 1, cos β 1, cos γ 1) and celestial body on corresponding mount point coordinate figure A2 (xa2,ya2,za2)、B2(xb2,yb2,zb2)、C2(xc2,yc2,zc2) and Fit Plane points to N2 (cos α 2, cos β 2, cos γ 2)；
(4), three mount points of definition antenna be physical location, on celestial body, corresponding mount point is target location, uses flat Face method of geometry, is built target location with physical location at the projected triangle of its public vertical plane, is solved by Analytic triangular function The adjustment spacer thickness that each mount point position need to increase；
(5) result of calculation obtained according to step (4) adds corresponding adjustment at three mount points of massive phased array antenna X-axis positive direction phased array antenna is arranged on celestial body by pad；Meanwhile, measure antenna frame accurate measurement cross prism square and point to data And record, the prism square before star traditional thread binding with sky points to and carries out Data Comparison, it is judged that the traditional thread binding star in sky subsequently points to variation tendency；
(6) the antenna array target point plane after the traditional thread binding star in accurate measurement sky is comprehensively pointed to, and solves antenna array normal and celestial body The angle of coordinate system X-axis, Y-axis and Z axis, it is judged that the absolute value of the difference of the angle that three angles reach with system requirements is whole Less than the thresholding preset, it is entirely below, then terminates antenna installation process, otherwise, proceed to step (7)；
(7) difference of the angle reached with system requirements with corresponding coordinate axes angle when antenna array normal is+Δ, and Δ is Positive number, reduce corresponding mount point spacer thickness, when antenna array normal reaches with corresponding coordinate axes angle and system requirements The difference of angle is-Δ, and Δ is positive number, increases correspondence position spacer thickness, and increasing and reducing spacer thickness adjustment amount is hAdjustment amount；
hAdjustment amount=tg (Δ) × L
In formula, L is this mount point to the distance of respective coordinates axle on antenna array, unit: mm.
(8) step (6)～step (7) are repeated until antenna array normal and celestial body coordinate system X-axis, Y-axis and the angle of Z axis The absolute value of the difference of the angle reached with system requirements is entirely below the thresholding preset.
(9) according to step (2)～step (8) accurate measurement and calculate X-axis negative direction three mount points of massive phased array antenna Adjust pad and add quantity, and at-X side interpolation corresponding the pad that adjusts, antenna is arranged on celestial body-X side；
(10) accurate measurement whole wing antenna array target point plane comprehensively points to the comprehensive flatness (Rt) of Nt and whole wing antenna；
(11) judge whether comprehensive flatness Rt that whole wing antenna array plane comprehensively points to Nt or whole wing antenna is less than The deviation range of system requirements, any one is unsatisfactory for requirement, then according to step (7)～step (8) in single-blade sky traditional thread binding star method Continue to adjust spacer height, until two meet requirement simultaneously, i.e. complete the dress star work of double side wings antenna.
Inventive antenna installation accuracy easily ensures, utilizes the computational analysis of mathematical model, can make to fill star precision limited Commissioning number of times in reach the soonest or close to desired value, according to verification experimental verification, the double side wings large-scale planar phased array sky of length 15m Line, can once debug and put in place, and it launches comprehensive flatness and reaches 3mm, and comprehensive pointing accuracy reaches 0.02 °.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.

Claims (7)

1. the massive phased array accurate installation method of antenna based on mathematical modeling, it is characterised in that comprise the following steps:
(1), setting up celestial body coordinate system, described celestial body coordinate system zero O is the central point of satellite and the rocket parting surface, X-axis positive direction For satellite flight direction, Z axis positive direction is that direction, Y-axis positive direction and X0Z plane meet right-hand law over the ground；
(2), by the installed surface on celestial body go to dock with phased array antenna orientation, accurate adjustment celestial body attitude, make the pitching of celestial body, torsion Pendulum, three direction attitudes of going off course are less than 0.1 with celestial body coordinate system X-axis, Y-axis, the angular error of Z axis, three mount points Y on celestial body Axial coordinate value is less than 0.1mm with the deviation of system requirements；
(3), build three mount points on three mount points of antenna and celestial body to hang down in the public affairs of celestial body installed surface and antenna installed surface The projected triangle in face, the method using plane geometry, Analytic triangular function solves the adjusting pad that each mount point position need to increase Sheet thickness；
(4) result of calculation obtained according to step (3) is added at three mount points of massive phased array antenna and is adjusted pad accordingly Antenna is arranged on celestial body；
(5) measure antenna is arranged on celestial body after antenna array plane comprehensively point to Nt0, solve antenna array normal with Celestial body coordinate system X-axis, Y-axis and the angle of Z axis, it is judged that whether the absolute value of the difference of the angle that three angles reach with system requirements It is entirely below the thresholding preset, is entirely below, then terminates antenna installation process, otherwise, proceed to step (6)；
(6) difference of the angle reached with system requirements with corresponding celestial body coordinate system coordinate axes angle when antenna array normal for+ Δ, Δ is positive number, reduces corresponding mount point spacer thickness, and the difference of angle is-Δ, and Δ is positive number, increases corresponding mount point pad Thickness；
(7) repeat step (5)～step (6) until antenna array normal and celestial body coordinate system X-axis, Y-axis and Z axis angle be System requires that the absolute value of the difference of the angle reached is entirely below the thresholding preset.
A kind of massive phased array accurate installation method of antenna based on mathematical modeling the most according to claim 1, its feature It is that described phased array antenna docking orientation is positioned at satellite flight direction, i.e. X-axis positive direction or X-axis negative direction.
A kind of massive phased array accurate installation method of antenna based on mathematical modeling the most according to claim 1, its feature It is when installing two phased array antenna on celestial body, when antenna docking orientation is respectively X-axis positive direction and X-axis negative direction, including Following steps:
First, according to above-mentioned steps (1)～step (7), respectively the phased array antenna in step (2) is docked orientation and replace with X Two phased array antenna of positive for X-axis negative direction are arranged on celestial body by axle positive direction and X-axis negative direction；
Then, measure whole wing antenna array plane and comprehensively point to Nt and comprehensive flatness Rt of whole wing antenna；
Finally, it is judged that whether whole wing antenna array plane comprehensively points to comprehensive flatness Rt of Nt or whole wing antenna less than system The deviation range required, any one is unsatisfactory for requirement, then continue to adjust both sides and install the height of pad, until two meet simultaneously Requirement, i.e. completes the dress star work of double side wings antenna.
4., according to a kind of based on mathematical modeling the massive phased array accurate installation method of antenna described in claim 1 or 3, it is special Levy and be that described step (3) builds three mount points on three mount points of antenna and celestial body and installs at celestial body installed surface and antenna The projected triangle of the public vertical plane in face, the method using plane geometry, Analytic triangular function solves each mount point position and needs to increase Adjust spacer thickness detailed process be:
(3.1), measure without three mount points of antenna coordinate figure A1 under celestial body coordinate system under adjusting pad sheet state (xa1,ya1,za1)、B1(xb1,yb1,zb1)、C1(xc1,yc1,zc1) and fit Plane sensing N1 (cos α 1, cos β 1, cos γ 1) and celestial body on corresponding mount point coordinate figure A2 (xa2,ya2,za2)、B2(xb2,yb2,zb2)、C2(xc2,yc2,zc2) and Fit Plane points to N2 (cos α 2, cos β 2, cos γ 2)；
(3.2), by antenna installed surface and celestial body installing and project towards its public vertical plane M, antenna mount point A1, B1, C1 are flat Projection on the M of face obtains subpoint A1', B1', C1' and celestial body mount point subpoint in the plane, by celestial body mount point flat Subpoint translation on face obtains A2', B2', C2', and making closest two mount point A2' overlap with A1' is a point, disappears Except the public difference in height of A1 Yu A2, B1 Yu B2 and C1 Yu C2, obtain projected triangle A1'C1'C2'；
(3.3), the mount point that definition antenna installed surface spacing is maximum is that C1, C1 point interpolation adjustment spacer thickness is: hC=0, it is not required to Pad to be added；
(3.4), value α of ∠ C1'A1'C2' of projected triangle is calculated ', α '=α, α are that celestial body mounting plane points to N1 and antenna Mounting plane points to the vector angle of N2, and its computing formula is:
α = arccos ( | N 1 × N 2 | | N 1 | · | N 2 | ) ;
(3.5), according to the coordinate figure of three mount points of celestial body, linear vector A2B2, A2C2 are calculated；Wherein, A2B2 vector isA2C2 vector is
(3.6) angle theta 1 and θ 2, between calculating A2B2 and A2C2 and public vertical plane M, is obtained by vector angle formula:
θ 1 = arccos ( | A 2 B 2 × N 2 | | A 2 B 2 | · | N 2 | ) ,
θ 2 = a r c ( c o s | A 2 C 2 × N 2 | | A 2 C 2 | · | N 2 | ) ;
(3.7) mount point linear vector A2B2 on definition celestial body installed surface, A2C2 projected length S on public vertical plane M1And S2, press Calculate in projected triangle according to following equation | A2'B2' | and | A2'C2' |:
|A2'B2' |=S1=| A2B2|×sinθ1, | A2'C2' |=S2=| A2C2|×sinθ2；
(3.8) calculating A1 point interpolation adjustment spacer thickness is: d1=hA=| A2'C2' | × tg α ', B1 point adds adjustment spacer thickness For: hB=hA-h1=(| A2'C2'|-|A2'B2'|)×tgα'。
5., according to a kind of based on mathematical modeling the massive phased array accurate installation method of antenna described in claim 1 or 3, it is special Levy and be that the described controlled mount point of step (7) is determined by following principle: when B1, C1 be simultaneously attached to antenna array During mount point, the absolute value of the difference of the angle reached with system requirements when the angle of antenna array normal Yu celestial body coordinate system X-axis When exceeding pre-determined threshold, then adjust the antenna mount point at A1；When antenna array normal and celestial body coordinate system Z axis angle be System requires when the absolute value of the difference of the angle reached exceedes pre-determined threshold, then adjust the antenna mount point at B1 or C1.
6., according to a kind of based on mathematical modeling the massive phased array accurate installation method of antenna described in claim 1 or 3, it is special Levy the spacer thickness adjustment amount h being to be increased or decreased described in step (7)Adjustment amountFor:
hAdjustment amount=tg (Δ) × L
When being adjusted mount point and being A1, L is the distance of A1D1, and when being adjusted mount point and being B1 or C1, L is B1D1 or C1D1 Distance；D1 is that A1 makees the intersection point of vertical line to B1C1.
7., according to a kind of based on mathematical modeling the massive phased array accurate installation method of antenna described in claim 1 or 3, it is special Levy and be that described massive phased array antenna is parked on air floating table (5) by gas foot (6), real by gas foot (6) and air floating table (5) Existing phased array antenna zero gravity is installed.
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