CN106356629B - A kind of compensation method of antenna orientation angle and antenna assembly - Google Patents
A kind of compensation method of antenna orientation angle and antenna assembly Download PDFInfo
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- CN106356629B CN106356629B CN201610851430.3A CN201610851430A CN106356629B CN 106356629 B CN106356629 B CN 106356629B CN 201610851430 A CN201610851430 A CN 201610851430A CN 106356629 B CN106356629 B CN 106356629B
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture
- H01Q3/30—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array
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Abstract
The embodiment of the invention discloses a kind of compensation method of antenna orientation angle and antenna assemblies, the method for compensation and calibration for providing a kind of pair of aerial angle and electronic tag.The method comprise the steps that obtaining the first calibration point；Calculate first party parallactic angle theoretical value of first calibration point relative to antenna；Obtain first orientation angle measurement when electronic tag is located at first calibration point relative to the antenna；First orientation angle compensation median is calculated according to the first party parallactic angle theoretical value and the first orientation angle measurement；The azimuth of the electronic tag of transaction area is compensated according to the first orientation angle compensation median.The embodiment of the present invention passes through setting calibration point, then electronic tag is placed on calibration point, the compensation for calibrating errors value of the orientation angle of antenna and electronic tag is calculated according to actual measured value and calculated value, and according to the angle of electronic tag positioning in compensation value calibration practical application.
Description
Technical field
The present invention relates to parking lot fields, compensation method and antenna assembly more particularly, to a kind of antenna orientation angle.
Background technique
Wisdom traffic field has used coordinate setting technology at present, such as in highway field.It is real by installation antenna
Existing location technology, at liftoff 5 meters or so, the mounting means of antenna is lifting for the mounting height of usual antenna, and when installation needs to examine
The angle of worry only has pitch angle.In the field of parking lot, it again may be by installation antenna and realize location technology.
Compared to the high speed ETC applied in highway field, (Electronic Toll Collection, electronics do not stop
Vehicle charging system) positioning, the antenna equipment mounting height in parking lot is low, and mounting means is filled using side, the related angle of antenna installation
Degree parameter will not only consider that pitch angle is also contemplated that azimuth.And difference and installation antenna due to parking lot lane layout
Equipment it is inaccurate, prevent the setting angle of antenna is from accurately determining, and then reduce the effect of positioning.Meanwhile different vehicle
Road layout needs that locating effect could be improved using different antenna setting angle degree, to reach the effect that is preferably open to traffic.Due to
Antenna setting angle degree is not adjusted according to lane layout situation in the prior art, therefore in the prior art in parking lot
It is inaccurate by the positioning result of antenna.
Summary of the invention
The embodiment of the invention provides a kind of compensation method of antenna orientation angle and antenna assemblies, a kind of right for providing
The method of compensation and the calibration of antenna and electronic tag orientation angle.
In view of this, the first aspect of the present invention provides a kind of compensation method of antenna orientation angle, comprising:
Obtain the first calibration point；
Calculate first party parallactic angle theoretical value of first calibration point relative to antenna；
Obtain first orientation angle measurement when electronic tag is located at the first calibration point relative to antenna；
First orientation angle compensation median is calculated according to first party parallactic angle theoretical value and first orientation angle measurement；
It is compensated according to azimuth of the first orientation angle compensation median to the electronic tag of transaction area.
In conjunction with the embodiment of the present invention in a first aspect, the first embodiment of the first aspect in the embodiment of the present invention
In, after determining the first calibration point further include:
Calculate the first pitch angle theoretical value of the first calibration point；
Obtain the first pitch angle measurement value of the first calibration point；
It is mended according to the first pitch angle that the first pitch angle theoretical value and the first pitch angle measurement value calculate the first calibration point
Repay value；
The pitch angle of the electronic tag of transaction area is compensated according to the first pitch angle offset.
In conjunction with any one among the first aspect of the embodiment of the present invention, the first embodiment of first aspect,
In second of embodiment of the first aspect of the embodiment of the present invention, further includes:
Obtain the second calibration point；
Second party parallactic angle theoretical value and second pitch angle theoretical value of second calibration point relative to antenna are calculated, electricity is obtained
Second orientation angle measurement and the second pitch angle measurement value when subtab is located at the second calibration point relative to antenna；
Second orientation angle compensation median is calculated according to second party parallactic angle theoretical value and second orientation angle measurement；
It is mended according to the second pitch angle that the second pitch angle theoretical value and the second pitch angle measurement value calculate the second calibration point
Repay value；
According to first orientation angle compensation median and second orientation angle compensation middle-value calculating antenna azimuth offset；
Antenna azimuth after being calibrated according to antenna azimuth offset.
In conjunction with the first aspect of the embodiment of the present invention, first aspect the first to any among second of embodiment
One kind, in the third embodiment of the first aspect of the embodiment of the present invention, according to first orientation angle compensation median and
After second orientation angle compensation middle-value calculating antenna azimuth offset further include:
According to first orientation angle compensation median and antenna azimuth compensation value calculation first orientation angle compensation value, according to
Second orientation angle compensation median and antenna azimuth compensation value calculation second orientation angle compensation value；
According to first orientation angle compensation value calibration first party parallactic angle, according to second orientation angle compensation value calibration second orientation
Angle.
In conjunction with the first aspect of the embodiment of the present invention, first aspect the first to any among the third embodiment
One kind, in the 4th kind of embodiment of the first aspect of the embodiment of the present invention, second party parallactic angle is less than first party parallactic angle.
In conjunction with the first aspect of the embodiment of the present invention, first aspect the first to any among the 4th kind of embodiment
One kind, in the 5th kind of embodiment of the first aspect of the embodiment of the present invention, according to first orientation angle compensation value calibration first
Azimuth, after second orientation angle compensation value calibration second party parallactic angle further include:
According to the measurement azimuth of electronic tag and first party parallactic angle and second party parallactic angle dividing regions domain；
The azimuth offset and pitch angle offset of electronic tag are determined according to region, comprising:
If the measurement azimuth of electronic tag is greater than first party parallactic angle, the azimuth offset of electronic tag is first party
Parallactic angle offset, the pitch angle offset of electronic tag are the first pitch angle offset；
If the measurement azimuth of electronic tag is less than second party parallactic angle, the azimuth offset of electronic tag is second party
Parallactic angle offset, the pitch angle offset of electronic tag are the second pitch angle offset；
If the measurement azimuth of electronic tag is between first party parallactic angle and second party parallactic angle, the orientation of electronic tag
Angle compensation value between first orientation angle compensation value and second orientation angle compensation value, the pitch angle offset of electronic tag between
Between first pitch angle offset and the second pitch angle offset.
In conjunction with the first aspect of the embodiment of the present invention, first aspect the first to any among the 5th kind of embodiment
One kind determining the azimuth of electronic tag according to region in the 6th kind of embodiment of the first aspect of the embodiment of the present invention
After offset and pitch angle offset further include:
Value calibration electronic tag azimuth and electronics are compensated according to the azimuth offset and pitch angle of electronic tag
Label pitch angle；
The coordinate of electronic tag is calculated according to electronic tag azimuth and electronic tag pitch angle；
Trading strategies are determined according to the coordinate of electronic tag, comprising:
If the coordinate of electronic tag allows electronic tag to trade in predeterminable area；
If the coordinate of electronic tag forbids electronic tag to trade not in predeterminable area.
The second aspect of the present invention provides a kind of antenna assembly, comprising:
First obtains module, for obtaining the first calibration point；
First computing module, for calculating first party parallactic angle theoretical value of first calibration point relative to antenna；
Second obtains module, surveys for obtaining first party parallactic angle when electronic tag is located at the first calibration point relative to antenna
Magnitude；
Second computing module, for calculating first orientation according to first party parallactic angle theoretical value and first orientation angle measurement
Angle compensation median；
Calibration module, for being carried out according to azimuth of the first orientation angle compensation median to the electronic tag of transaction area
Compensation.
In conjunction with the second aspect of the embodiment of the present invention, in the first embodiment of the second aspect of the embodiment of the present invention
In, further includes:
First computing module is also used to calculate the first pitch angle theoretical value of the first calibration point；
Second acquisition module is also used to obtain the first pitch angle measurement value of the first calibration point；
Second computing module is also used to calculate the first school according to the first pitch angle theoretical value and the first pitch angle measurement value
The first pitch angle offset on schedule；
Calibration module is also used to mend the pitch angle of the electronic tag of transaction area according to the first pitch angle offset
It repays.
In conjunction with any one in the second aspect of the embodiment of the present invention and the first embodiment of second aspect, at this
In second of embodiment of the second aspect of inventive embodiments, further includes:
First acquisition module is also used to obtain the second calibration point；
First computing module is also used to calculate the second calibration point relative to the second party parallactic angle theoretical value of antenna and second
Pitch angle theoretical value；
Second acquisition module is also used to obtain second party parallactic angle when electronic tag is located at the second calibration point relative to antenna
Measured value and the second pitch angle measurement value；
Second computing module is also used to calculate second party according to second party parallactic angle theoretical value and second orientation angle measurement
Parallactic angle compensates median；
Second computing module is also used to calculate the second school according to the second pitch angle theoretical value and the second pitch angle measurement value
The second pitch angle offset on schedule；
Third computing module, for according to first orientation angle compensation median and second orientation angle compensation middle-value calculating
Antenna azimuth offset；
Calibration module be also used to be calibrated according to antenna azimuth offset after antenna azimuth；
Third computing module is also used to according to first orientation angle compensation median and antenna azimuth compensation value calculation
One azimuth offset, according to second orientation angle compensation median and antenna azimuth compensation value calculation second orientation angle compensation
Value；
Calibration module is also used to according to first orientation angle compensation value calibration first party parallactic angle, according to second orientation angle compensation value
Calibrate second party parallactic angle.
In conjunction with the second aspect of the embodiment of the present invention, the first embodiment of second aspect into second of embodiment
Any one, in the third embodiment of the second aspect of the embodiment of the present invention, further includes:
Division module, for according to the measurement azimuth of electronic tag and first party parallactic angle and second party parallactic angle dividing regions
Domain；
Determining module, for determining the azimuth offset and pitch angle offset of electronic tag according to region, comprising:
If the measurement azimuth of electronic tag is greater than first party parallactic angle, the azimuth offset of electronic tag is first party
Parallactic angle offset, the pitch angle offset of electronic tag are the first pitch angle offset；
If the measurement azimuth of electronic tag is less than second party parallactic angle, the azimuth offset of electronic tag is second party
Parallactic angle offset, the pitch angle offset of electronic tag are the second pitch angle offset；
If the measurement azimuth of electronic tag is between first party parallactic angle and second party parallactic angle, the orientation of electronic tag
Angle compensation value between first orientation angle compensation value and second orientation angle compensation value, the pitch angle offset of electronic tag between
Between first pitch angle offset and the second pitch angle offset.
As can be seen from the above technical solutions, the embodiment of the present invention has the advantage that
The embodiment of the invention provides a kind of compensation method of antenna orientation angle and antenna assemblies, a kind of right for providing
The method of compensation and the calibration of antenna and electronic tag orientation angle.By choosing calibration point in the embodiment of the present invention, pass through
The azimuth of calibration point and the theoretical value of pitch angle is calculated, and obtains the azimuth of calibration point and the survey of pitch angle
Magnitude, so that the azimuth that the azimuthal offset for obtaining antenna installation installs antenna compensates.The embodiment of the present invention
Azimuthal offset of calibration point can also be obtained by azimuthal offset that antenna is installed, and calculate electronic tag
The offset of azimuth and pitch angle is to compensate calibration to electronic tag azimuth and pitch angle.To electronic tag orientation
Angle and pitch angle can also calculate the coordinate of electronic tag so that it is determined that specific trading strategies after compensating calibration.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only the embodiment of the present invention, general for this field
For logical technical staff, without creative efforts, other attached drawings can also be obtained according to the attached drawing of offer.
Fig. 1 is an a kind of flow chart of the compensation method of antenna orientation angle of the embodiment of the present invention；
Fig. 2 is a kind of another flow chart of the compensation method of antenna orientation angle of the embodiment of the present invention；
Fig. 3 is a kind of equipment schematic diagram of the compensation method of antenna orientation angle of the embodiment of the present invention；
Fig. 4 is that schematic diagram is distinguished in a kind of region of the compensation method of antenna orientation angle of the embodiment of the present invention；
Fig. 5 is a kind of offset schematic diagram of the compensation method of antenna orientation angle of the embodiment of the present invention；
Fig. 6 is a kind of embodiment schematic diagram of antenna assembly of the embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
Description and claims of this specification and term " first ", " second ", " third ", " in above-mentioned attached drawing
The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage
The data that solution uses in this way are interchangeable under appropriate circumstances, so that the embodiments described herein can be in addition to illustrating herein
Or the sequence other than the content of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units need not limit
In step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, produce
The other step or units of product or equipment inherently.
The step of embodiment of the present invention, is described in detail below.
In embodiments of the present invention, by choosing calibration point computer azimuth angle offset, detailed process is made below detailed
Explanation.
Step 101 determines first calibration point；
The area size and existing side entrucking road layout scenarios of signal are covered according to antenna, then to analyze electronic tag real-time
The Geographic mapping data of measurement determine a calibration point U point.Coordinate system XYZ, calibration point U are established according to lane layout
Point is U (U in the coordinate value of XYZ coordinate systemx1,Uy1,Uz1).XYZ coordinate system is the coordinate system established according to track direction.In addition,
Coordinate system is established according to the radiation direction of antenna, i.e. this coordinate system is named as by the point of vertical of antenna in the y-axis of coordinate system
XantYantZant.XYZ coordinate system and XantYantZantThe angle of coordinate system is the installation position angle of antenna, is set as θ0.In reality
In, antenna can be phased array antenna, and electronic tag can be OBU (On board Unit, on board unit), herein not
Make specific limit.
Step 102 calculates azimuth theoretical value of first calibration point relative to antenna；
Azimuthal theoretical value of first calibration point relative to antenna is calculated, i.e., antenna is sent commands to by host computer,
Antenna starts to calculate and calibrate process.Specifically, electronic tag is placed in the first calibration point U (Ux1,Uy1,Uz1) calculated.
Herein referring to Fig. 3, the plane constituted using the vertical line of antenna point of vertical and antenna point to ground is antenna projection plane S,
With antenna point of vertical (x0,y0) line of antenna is arrived as antenna incident line L0, it is L from antenna to the line of the first calibration point1.From
First calibration point is the plane S orthogonal with projection plane S1, S and S1Intersection be L01, L01With L0Angle be the first calibration point
Pitch angleThen L1With L01Angle be the first calibration point azimuth angle theta1。
Calculate the azimuth angle theta of the first calibration point1And pitch angleTheoretical value, formula:
Pitch angle
Azimuth
Wherein θ0It is the azimuth angle of antenna installation, as reference axis Y-axis and reference axis YantThe angle of axis,It is day
The pitch angle angle of line installation, specially antenna incident line L0With the angle of reference axis Z axis, (Ux1,Uy1) it is that the first calibration point exists
The coordinate of plane coordinate system XY, H are the terrain clearances of antenna, and h is the terrain clearance of electronic tag position, it is known that the first school
Z coordinate value U on schedulez1=h.
Step 103, the orientation angle compensation median for calculating the first calibration point；
After the first calibration point has been calculated relative to the azimuth of antenna and pitch angle theoretical value, then antenna obtains electronics mark
The first frame return signal of the vehicle service Table V ST of label, is calculated electronic tag position according to the location information in VST
Azimuth determination value.θx1_meas_angelBe the azimuth that the first calibration point is located to electronic tag take multiple measurements take it is flat
Mean value, used here as the average value repeatedly measured to achieve the purpose that eliminate error.Then the azimuth of the first calibration point is calculated
Median is compensated, specific formula is as follows, the first calibration point orientation angle compensation median=the first calibration point azimuth theoretical value-the
One calibration point azimuth determination average value.If the first calibration point orientation angle compensation median is θx1_offset_angel, then
θx1_offset_angel=-(θx1_meas_angel-θ1)。
Step 104 is compensated according to azimuth of the first orientation angle compensation median to the electronic tag of transaction area；
When obtaining first orientation angle compensation median θx1_offset_angelAfterwards, according to first orientation angle compensation median to friendship
The azimuth of the electronic tag in easy region compensates.
In an embodiment of the present invention, two different calibration points are chosen and carry out calibration and offset value calculation relative to selection
The case where one calibration point computational accuracy is higher, and compensation calibration effect is more preferable, just chooses two calibration points below is illustrated.
Step 201 determines two calibration points；
The area size and existing side entrucking road layout scenarios of signal are covered according to antenna, then to analyze electronic tag real-time
The Geographic mapping data of measurement determine two calibration point W points, U points.It is laid out according to lane and establishes coordinate system XYZ, two
Calibration point W point, U point are respectively W (W in the coordinate value of XYZ coordinate systemx2,Wy2,Wz2) and U (Ux1,Uy1,Uz1).XYZ coordinate system
For the coordinate system established according to track direction.In addition, establishing coordinate system according to the radiation direction of antenna, i.e. the point of vertical of antenna exists
In the y-axis of coordinate system, this coordinate system is named as XantYantZant.XYZ coordinate system and XantYantZantThe angle of coordinate system is
For the installation position angle of antenna, it is set as θ0.In practical applications, antenna is phased array antenna, and electronic tag can be OBU (On
BoardUnit, on board unit), it is not especially limited herein.
Step 202 calculates the first calibration point relative to the azimuth of antenna and the theoretical value of pitch angle；
The first calibration point is calculated relative to the azimuth of antenna and the theoretical value of pitch angle, i.e., is sent and is ordered by host computer
It enables to antenna, antenna starts to calculate and calibrate.Specifically, electronic tag is first placed in the first calibration point U (Ux1,Uy1,Uz1) into
Row calculates.Herein referring to Fig. 3, being projected using the plane that the vertical line of antenna point of vertical and antenna point to ground is constituted as antenna
Plane S, with antenna point of vertical (x0,y0) line of antenna is arrived as antenna incident line L0, the line from antenna to the first calibration point is
L1.The plane S orthogonal with projection plane S is from the first calibration point1, S and S1Intersection be L01, L01With L0Angle be the first school
Pitch angle on scheduleThen L1With L01Angle be the first calibration point azimuth angle theta1。
Calculate the azimuth angle theta of the first calibration point1And pitch angleTheoretical value, formula:
Pitch angle
Azimuth
Wherein θ0It is the azimuth angle of antenna installation, as reference axis Y-axis and reference axis YantThe angle of axis,It is day
The pitch angle angle of line installation, specially antenna incident line L0With the angle of reference axis Z axis, (Ux1,Uy1) it is that the first calibration point exists
The coordinate of plane coordinate system XYZ, H are the terrain clearances of antenna, and h is the terrain clearance of electronic tag position, it is known that first
The Z coordinate value U of calibration pointz1=h.
Step 203, the orientation angle compensation median and pitch angle offset for calculating the first calibration point；
After the first calibration point has been calculated relative to the azimuth of antenna and pitch angle theoretical value, then antenna obtains electronics mark
The first frame return signal of the vehicle service Table V ST of label, is calculated electronic tag position according to the location information in VST
Azimuth determination value and pitch angle measurement value.θx1_meas_angelWithIt is that first is located to electronic tag respectively
The azimuth of calibration point and pitch angle take multiple measurements the average value taken, are disappeared used here as the average value repeatedly measured with reaching
Except the purpose of error.Then the orientation angle compensation median and pitch angle offset of the first calibration point are calculated, specific formula is such as
Under, the first calibration point orientation angle compensation median=first calibration point azimuth theoretical value the-the first calibration point azimuth determination is flat
Mean value.If the first calibration point orientation angle compensation median is θx1_offset_angel, then θx1_offset_angel=-(θx1_meas_angel-
θ1).First calibration point pitch angle offset=first calibration point pitch angle theoretical value the-the first calibration point pitch angle measurement is average
Value.If the first calibration point pitch angle offset isThen
Step 204 calculates the second calibration point relative to the azimuth of antenna and the theoretical value of pitch angle；
Then it needs to calculate the second calibration point relative to the azimuth of antenna and the theoretical value of pitch angle, passes through host computer
Antenna is sent commands to, antenna starts to calibrate.Electronic tag is placed in the second calibration point W (Wx2,Wy2,Wz2), it calculates second
Calibration point is relative to the azimuth of antenna and the theoretical value of pitch angle.Calculation formula is as follows:
Pitch angle
Azimuth
Step 205, the orientation angle compensation median and pitch angle offset for calculating the second calibration point；
Calculate the offset of orientation the angle compensation median and pitch angle of the second calibration point.Firstly the need of acquisition electronic tag
The azimuth determination value and pitch angle measurement value of position.θx2_meas_angelWithIt is to electronic tag respectively
The average value taken is taken multiple measurements positioned at the azimuth of the second calibration point and pitch angle, used here as the average value repeatedly measured
To achieve the purpose that eliminate error.Then the orientation angle compensation median and pitch angle offset of the second calibration point are calculated, is had
Body formula is as follows, the second calibration point orientation angle compensation median=second calibration point azimuth the-the second calibration point of theoretical value orientation
Angular measurement average value.If the orientation angle compensation median of the second calibration point is θx2_offset_angel, then θx2_offset_angel=-
(θx2_meas_angel-θ2).Second calibration point pitch angle offset=second calibration point pitch angle theoretical value the-the second calibration point pitching
Angular measurement average value.If the second calibration point pitch angle offset isThen
Step 206, the offset for calculating antenna azimuth and compensated azimuth；
After obtaining the orientation angle compensation median and pitch angle offset of two calibration points, antenna azimuth is calculated
Offset, then according to the offset of antenna azimuth to inclined between the setting angle and actual setting angle of antenna configuration
Difference carries out calibration correction.The offset of antenna azimuth is the orientation angle compensation median of the first calibration point and the second calibration point
Average value.If the offset of antenna azimuth is θangle_θ0_offset, then θangle_θ0_offset=(θx1_offset_angel+
θx2_offset_angel)/2.So by compensated antenna azimuth are as follows: the compensation of antenna azimuth initial value+antenna azimuth
Value.If antenna azimuth is θangle_θ0, then θangle_θ0=θ0+θangle_θ0_offset。
The azimuth offset of step 207, the azimuth offset for calculating the first calibration point and the second calibration point；
It is mended at the azimuth for carrying out compensation for calibrating errors to antenna azimuth and then calculate the first calibration point and the second calibration point
Repay value.For the azimuth offset of two calibration points, specific calculation is as follows: the azimuth offset of the first calibration point
Are as follows: the azimuth theoretical value-(the first calibration point azimuth determination average value+antenna azimuth offset) of the first calibration point, if
The azimuth offset of first calibration point is θx1_offset_angel_final, then θx1_offset_angel_final=θ1-(θx1_meas_angel+
θangle_θ0_offset).Similar, the azimuth offset of the second calibration point are as follows: the azimuth theoretical value-(second of the second calibration point
Azimuth determination average value+antenna azimuth offset of calibration point), if the azimuth offset of the second calibration point is
θx2_offset_angel_final, then θx2_offset_angel_final=θ2-(θx2_meas_angel+θangle_θ0_offset).Then it will be calculated
Offset result be stored in calibration file calibration.conf file.
In this step, on the basis of antenna azimuth compensates value calibration according to antenna azimuth, to electronics mark
Measurement azimuth on label position compensates again, and the electronic tag azimuth measured more connects after overcompensation
The azimuth of coordinate where being bordering on practical electronic tag, to make the electronic tag coordinate being calculated closer to actual coordinate.
Step 208 divides lane according to the measurement azimuth of electronic tag and the azimuth of two calibration points, determines electricity
The azimuth of subtab and pitch angle offset；
After antenna azimuth and two calibration point compensation for calibrating errors, according to the two calibration points by driveway partition be 3
Region.Region is divided according to the measurement azimuth size of real-time electronic label, if θ is the measurement side of the electronic tag of real-time measurement
Parallactic angle.The measurement azimuth of electronic tag is greater than azimuthal region (θ > θ of the first calibration point1) belong to the 1st region, electronics mark
The measurement azimuth of label is less than the azimuth of the first calibration point and greater than azimuthal region (θ of the second calibration point1>θ>θ2) belong to
In the 2nd region, electronic tag measures azimuthal region (θ of the azimuth less than the second calibration point2> θ) belong to the 3rd region.
Fig. 4 is please referred to herein.Wherein, the azimuth in the 1st region and the offset of pitch angle are (θx1_offset_angel_final,), the offset of the 3rd zone aspect angle and pitch angle is (θx2_offset_angel_final,), the 2nd
The numerical value of the offset at the azimuth and pitch angle in region is between the 1st region and the offset in the 3rd region, according to electronics mark
The azimuthal variation of label carries out linear compensation, if it is θ that offset, which is azimuthal offset,x_offset, the offset of pitch angle isCompensation value calculation formula is as follows:
θx_offset=(θ-θ1)(θx1_offset_angel_final-θx2_offset_angel_final)/(θ1-θ2)+
θx1_offset_angel_final；
Herein referring to Fig. 5, each region offset schematic diagram is as shown in Figure 5.It is can be seen that in figure in addition to the 1st region and
The offset in 3 regions is definite value, and the offset in the 2nd region is linear change.
Step 209, the coordinate for calculating electronic tag, and trading strategies are determined according to the coordinate of electronic tag；
After the completion of antenna azimuth and two calibration point compensation for calibrating errors, into trade mode.Antenna sends beacon service
Table BST signal is to electronic tag, and electronic tag replys VST signal to antenna after receiving BST signal, and antenna is according in VST signal
Angle matrix information the azimuth of electronic tag and the measurement average value of pitch angle is calculated, then according to real-time electronic mark
It signs azimuthal value and judges region where electronic tag, and carry out the compensation at azimuth and pitch angle according to corresponding region, then
The actual coordinate of electronic tag is calculated.Specifically, obtaining electronic tag in coordinate system X by antennaantYantZantIn pitching
AngleAnd azimuth angle theta.Coordinate system X is obtained by coordinate computation algorithm againantYantZantFollowing electronic tag coordinate, and pass through to
The operation for measuring dot product, by electronic tag in XantYantZantCoordinate in coordinate system is transformed into the coordinate in coordinate system XYZ.If
(x0,y0) it is electronic tag in coordinate system XantYantZantFollowing coordinate, then:
Then in the electronic tag coordinate (x, y) of coordinate system XYZ plane are as follows:
X=(x0,y0)·(cosθ0,sinθ0)；
Y=(x0,y0)·(-sinθ0,cosθ0)。
Obtain electronic tag the coordinate of coordinate system XYZ and then to can transaction area carry out coordinate position limitation.
A preset coordinate region is specially set, then allows to be handed in the range of the coordinate of electronic tag is in preset coordinate region
Easily, specific trading item such as obtains electronic labeling information, card image, consumption etc.；And when the coordinate of electronic tag is not pre-
If being then impermissible for trading in the range of coordinates regional, to solve bypass road and interference with vehicle.
The compensation method of one of embodiment of the present invention antenna orientation angle is described above, below to this hair
Antenna assembly in bright embodiment is described.
Referring to Fig. 6, one embodiment of one of embodiment of the present invention antenna assembly includes:
Antenna assembly includes the first acquisition module 601, the acquisition calculating of module 603, second of the first computing module 602, second
Module 604, calibration module 605, third computing module 606, division module 607, determining module 608, the 4th computing module 609,
Transaction modules 610.
First obtains module 601, for obtaining the first calibration point；
First acquisition module 601 is also used to obtain the second calibration point.
First computing module 602, for calculating first party parallactic angle theoretical value of first calibration point relative to antenna；
First computing module 602 is also used to calculate the first pitch angle theoretical value of the first calibration point；
First computing module 602 is also used to calculate the second calibration point relative to the second party parallactic angle theoretical value of antenna and
Two pitch angle theoretical values.
Second obtains module 603, for obtaining first orientation when electronic tag is located at the first calibration point relative to antenna
Angle measurement；
Second acquisition module 603 is also used to obtain the first pitch angle measurement value of the first calibration point；
Second acquisition module 603 is also used to obtain second orientation when electronic tag is located at the second calibration point relative to antenna
Angle measurement and the second pitch angle measurement value.
Second computing module 604, for calculating first according to first party parallactic angle theoretical value and first orientation angle measurement
Orientation angle compensation median；
Second computing module 604 is also used to calculate first according to the first pitch angle theoretical value and the first pitch angle measurement value
First pitch angle offset of calibration point；
Second computing module 604 is also used to calculate second according to second party parallactic angle theoretical value and second orientation angle measurement
Orientation angle compensation median；
Second computing module 604 is also used to calculate second according to the second pitch angle theoretical value and the second pitch angle measurement value
Second pitch angle offset of calibration point.
Calibration module 605, for the azimuth according to first orientation angle compensation median to the electronic tag of transaction area
It compensates；
Calibration module 605 is also used to be carried out according to pitch angle of the first pitch angle offset to the electronic tag of transaction area
Compensation；
Calibration module 605 be also used to be calibrated according to antenna azimuth offset after antenna azimuth；
Calibration module 605 is also used to be mended according to first orientation angle compensation value calibration first party parallactic angle according to second party parallactic angle
Repay value calibration second party parallactic angle；
Calibration module 605 is also used to compensate value calibration electronics mark according to the azimuth offset and pitch angle of electronic tag
Sign azimuth and electronic tag pitch angle.
Third computing module 606, for according to first orientation angle compensation median and second orientation angle compensation median
Calculate antenna azimuth offset；
Third computing module 606 is also used to according to first orientation angle compensation median and antenna azimuth compensation value calculation
First orientation angle compensation value is mended according to second orientation angle compensation median and antenna azimuth compensation value calculation second party parallactic angle
Repay value.
Division module 607, for being drawn according to the measurement azimuth of electronic tag and first party parallactic angle and second party parallactic angle
Subregion.
Determining module 608 is wrapped for determining the azimuth offset and pitch angle offset of electronic tag according to region
It includes:
If the measurement azimuth of electronic tag is greater than first party parallactic angle, the azimuth offset of electronic tag is first party
Parallactic angle offset, the pitch angle offset of electronic tag are the first pitch angle offset；
If the measurement azimuth of electronic tag is less than second party parallactic angle, the azimuth offset of electronic tag is second party
Parallactic angle offset, the pitch angle offset of electronic tag are the second pitch angle offset；
If the measurement azimuth of electronic tag is between first party parallactic angle and second party parallactic angle, the orientation of electronic tag
Angle compensation value between first orientation angle compensation value and second orientation angle compensation value, the pitch angle offset of electronic tag between
Between first pitch angle offset and the second pitch angle offset.
4th computing module 609, for calculating electronic tag according to electronic tag azimuth and electronic tag pitch angle
Coordinate.
Transaction modules 610, for determining trading strategies according to the coordinate of electronic tag, comprising:
If the coordinate of electronic tag allows electronic tag to trade in predeterminable area；
If the coordinate of electronic tag forbids electronic tag to trade not in predeterminable area.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit
It closes or communicates to connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes the complete of each embodiment the method for the present invention
Portion or part steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The medium of sequence code.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before
Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (11)
1. a kind of compensation method of antenna orientation angle characterized by comprising
Obtain the first calibration point；
Calculate first party parallactic angle theoretical value of first calibration point relative to antenna；
Obtain first orientation angle measurement when electronic tag is located at first calibration point relative to the antenna；
First orientation angle compensation median is calculated according to the first party parallactic angle theoretical value and the first orientation angle measurement；
The azimuth of the electronic tag of transaction area is compensated according to the first orientation angle compensation median.
2. the compensation method of antenna orientation angle according to claim 1, which is characterized in that the first calibration point of the acquisition
Later further include:
Calculate the first pitch angle theoretical value of first calibration point；
Obtain the first pitch angle measurement value of first calibration point；
The first of first calibration point is calculated according to the first pitch angle theoretical value and the first pitch angle measurement value
Pitch angle offset；
The pitch angle of the electronic tag of transaction area is compensated according to the first pitch angle offset.
3. the compensation method of antenna orientation angle according to claim 2, which is characterized in that the method also includes:
Obtain the second calibration point；
Second party parallactic angle theoretical value and second pitch angle theoretical value of second calibration point relative to antenna are calculated, electricity is obtained
Second orientation angle measurement and the second pitch angle measurement when subtab is located at second calibration point relative to the antenna
Value；
Second orientation angle compensation median is calculated according to the second party parallactic angle theoretical value and the second orientation angle measurement；
The second of second calibration point is calculated according to the second pitch angle theoretical value and the second pitch angle measurement value
Pitch angle offset；
It is mended according to the first orientation angle compensation median and the second orientation angle compensation middle-value calculating antenna azimuth
Repay value；
Antenna azimuth after being calibrated according to the antenna azimuth offset.
4. the compensation method of antenna orientation angle according to claim 3, which is characterized in that described according to the first party
Parallactic angle compensates after median and the second orientation angle compensation middle-value calculating antenna azimuth offset further include:
According to the first orientation angle compensation median and the antenna azimuth compensation value calculation first orientation angle compensation value,
According to the second orientation angle compensation median and the antenna azimuth compensation value calculation second orientation angle compensation value；
According to first party parallactic angle described in the first orientation angle compensation value calibration, according to second orientation angle compensation value calibration institute
State second party parallactic angle.
5. the compensation method of antenna orientation angle according to claim 3, which is characterized in that the second party parallactic angle is less than
The first party parallactic angle.
6. the compensation method of antenna orientation angle according to claim 5, which is characterized in that described according to the first party
Parallactic angle compensates first party parallactic angle described in value calibration, goes back according to after second party parallactic angle described in the second orientation angle compensation value calibration
Include:
According to the measurement azimuth of electronic tag and the first party parallactic angle and second party parallactic angle dividing regions domain；
The azimuth offset and pitch angle offset of electronic tag are determined according to the region, comprising:
If the measurement azimuth of the electronic tag is greater than the first party parallactic angle, the azimuth offset of the electronic tag
For the first orientation angle compensation value, the pitch angle offset of the electronic tag is the first pitch angle offset；
If the measurement azimuth of the electronic tag is less than the second party parallactic angle, the azimuth offset of the electronic tag
For the second orientation angle compensation value, the pitch angle offset of the electronic tag is the second pitch angle offset；
If the measurement azimuth of the electronic tag is between the first party parallactic angle and the second party parallactic angle, the electricity
The azimuth offset of subtab is between the first orientation angle compensation value and the second orientation angle compensation value, the electricity
The pitch angle offset of subtab is between the first pitch angle offset and the second pitch angle offset.
7. the compensation method of antenna orientation angle according to claim 6, which is characterized in that described true according to the region
After the azimuth offset and pitch angle offset of determining electronic tag further include:
Value calibration electronic tag azimuth and electronics are compensated according to the azimuth offset and pitch angle of the electronic tag
Label pitch angle；
The coordinate of electronic tag is calculated according to the electronic tag azimuth and the electronic tag pitch angle；
Trading strategies are determined according to the coordinate of the electronic tag, comprising:
If the coordinate of the electronic tag in predeterminable area, allows the electronic tag to trade；
If the coordinate of the electronic tag not in predeterminable area, forbids the electronic tag to trade.
8. a kind of antenna assembly characterized by comprising
First obtains module, for obtaining the first calibration point；
First computing module, for calculating first party parallactic angle theoretical value of first calibration point relative to antenna；
Second obtains module, for obtaining first orientation when electronic tag is located at first calibration point relative to the antenna
Angle measurement；
Second computing module, for calculating first according to the first party parallactic angle theoretical value and the first orientation angle measurement
Orientation angle compensation median；
Calibration module, for being carried out according to azimuth of the first orientation angle compensation median to the electronic tag of transaction area
Compensation.
9. antenna assembly according to claim 8, which is characterized in that further include:
First computing module is also used to calculate the first pitch angle theoretical value of first calibration point；
The second acquisition module is also used to obtain the first pitch angle measurement value of first calibration point；
Second computing module is also used to according to the first pitch angle theoretical value and the first pitch angle measurement value meter
Calculate the first pitch angle offset of first calibration point；
The calibration module be also used to according to the first pitch angle offset to the pitch angle of the electronic tag of transaction area into
Row compensation.
10. antenna assembly according to claim 9, which is characterized in that further include:
The first acquisition module is also used to obtain the second calibration point；
First computing module be also used to calculate second calibration point relative to the second party parallactic angle theoretical value of antenna and
Second pitch angle theoretical value；
The second acquisition module is also used to obtain the relative to antenna when electronic tag is located at second calibration point
Two azimuth determination values and the second pitch angle measurement value；
Second computing module is also used to according to the second party parallactic angle theoretical value and the second orientation angle measurement meter
Calculate second orientation angle compensation median；
Second computing module is also used to according to the second pitch angle theoretical value and the second pitch angle measurement value meter
Calculate the second pitch angle offset of second calibration point；
Third computing module, for according to the first orientation angle compensation median and the second orientation angle compensation median
Calculate antenna azimuth offset；
The calibration module be also used to be calibrated according to the antenna azimuth offset after antenna azimuth；
The third computing module is also used to according to the first orientation angle compensation median and the antenna bearingt angle compensation
Value calculates first orientation angle compensation value, according to the second orientation angle compensation median and the antenna azimuth offset meter
Calculate second orientation angle compensation value；
The calibration module is also used to the first party parallactic angle according to the first orientation angle compensation value calibration, according to described second
Azimuth compensates second party parallactic angle described in value calibration.
11. antenna assembly according to claim 10, which is characterized in that further include:
Division module, for according to the first party parallactic angle and second party parallactic angle dividing regions domain；
Determining module, for determining the azimuth offset and pitch angle offset of electronic tag according to the region, comprising:
If the measurement azimuth of electronic tag is greater than the first party parallactic angle, the azimuth offset of the electronic tag is institute
First orientation angle compensation value is stated, the pitch angle offset of the electronic tag is the first pitch angle offset；
If the measurement azimuth of the electronic tag is less than the second party parallactic angle, the azimuth offset of the electronic tag
For the second orientation angle compensation value, the pitch angle offset of the electronic tag is the second pitch angle offset；
If the measurement azimuth of the electronic tag is between the first party parallactic angle and the second party parallactic angle, the electricity
The azimuth offset of subtab is between the first orientation angle compensation value and the second orientation angle compensation value, the electricity
The pitch angle offset of subtab is between the first pitch angle offset and the second pitch angle offset.
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| CN112054304B (en) * | 2020-08-20 | 2023-03-31 | 上海航天测控通信研究所 | Method and system for calibrating and compensating layout deviation of array antenna transceiver |
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| CN104457718A (en) * | 2014-12-10 | 2015-03-25 | 北京万集科技股份有限公司 | RSU (Road Side Unit) installation parameter calibration method |
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| CN202748846U (en) * | 2012-06-15 | 2013-02-20 | 深圳市金溢科技有限公司 | DSRC (Dedicated Short Range Communication)-based vehicle positioning device and DSRC application system |
| CN105051489A (en) * | 2013-03-15 | 2015-11-11 | 卡尔蔡司工业测量技术有限公司 | Method for correcting an angular deviation in the operation of a coordinate measuring device |
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