CN108037523A - A kind of electron assistant beam alignment applied to unmanned plane - Google Patents
A kind of electron assistant beam alignment applied to unmanned plane Download PDFInfo
- Publication number
- CN108037523A CN108037523A CN201711015266.3A CN201711015266A CN108037523A CN 108037523 A CN108037523 A CN 108037523A CN 201711015266 A CN201711015266 A CN 201711015266A CN 108037523 A CN108037523 A CN 108037523A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- time
- attitude
- real
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 claims abstract description 23
- 238000005259 measurement Methods 0.000 claims description 12
- 230000001133 acceleration Effects 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 206010034719 Personality change Diseases 0.000 claims description 4
- 238000012545 processing Methods 0.000 abstract description 14
- 238000004891 communication Methods 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000007493 shaping process Methods 0.000 abstract 2
- 230000007423 decrease Effects 0.000 abstract 1
- 230000010365 information processing Effects 0.000 abstract 1
- 238000004364 calculation method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
-
- 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
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
- H01Q3/08—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying two co-ordinates of the orientation
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of electron assistant beam alignment applied to unmanned plane, belong to unmanned air vehicle technique field, and in particular to UAV TT ＆ C's communication technology.This method obtains the real-time attitude information of unmanned plane by GPS and UAV Attitude sensor assembly first, and will be sent to antenna processing unit after these information processings；Then the position of antenna processing unit real time correction unmanned plane and attitudes vibration amount, make airborne antenna wave beam be directed at ground control station all the time；More accurate two level alignment is finally carried out using analog beam shaping Algorithm.Present invention decreases the complexity of antenna processing beam of unit shaping Algorithm, improves the alignment precision of antenna and the real-time of system processing.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, relates to an unmanned aerial vehicle measurement and control communication technology, and particularly relates to an electronic auxiliary beam alignment method applied to an unmanned aerial vehicle.
Background
In the field of unmanned aerial vehicle measurement and control, how to align airborne antenna beams with a ground measurement and control station is a technical problem. Currently, beam self-alignment is mainly realized by using a servo tracking antenna and a beam forming algorithm. However, the servo tracking device has heavy weight, large power consumption and low tracking speed, and is not suitable for an airborne communication link of an unmanned aerial vehicle, while the traditional beam forming algorithm has high requirements on hardware and high algorithm complexity. Therefore, the two common methods are not suitable for the unmanned aerial vehicle.
Disclosure of Invention
The invention aims to solve the problems, finds a beam alignment method suitable for an unmanned aerial vehicle, and provides an electronic auxiliary beam alignment method applied to the unmanned aerial vehicle.
The electronic auxiliary beam alignment method applied to the unmanned aerial vehicle comprises the following steps:
(1) collecting the GPS position of the unmanned aerial vehicle at the current moment and the attitude information of the unmanned aerial vehicle, and taking the GPS position and the attitude information as initial reference values;
(2) acquiring real-time attitude information of the unmanned aerial vehicle in real time, calculating the movement displacement and the attitude variation of the unmanned aerial vehicle, and determining the relative position of the unmanned aerial vehicle and a ground measurement and control station and the beam emission angle of an airborne antenna of the unmanned aerial vehicle;
(3) and performing primary beam alignment according to the relative difference value of the real-time attitude information of the unmanned aerial vehicle and the initial reference value.
(4) And performing secondary accurate alignment by adopting an analog beam forming algorithm.
(5) Judging whether the initial reference value needs to be updated according to the set updating time, if so, executing the step (1); otherwise, go to (2) execution.
The invention has the advantages and beneficial effects that:
(1) the method utilizes the information of the airborne sensor to assist beam alignment, fully utilizes the information fed back by the airborne avionics equipment to assist beam alignment of the airborne antenna and the ground measurement and control station, can reduce the complexity of a beam forming algorithm of an antenna processing unit, and improves the real-time performance of the system.
(2) The invention adopts a secondary beam alignment technology, and the method can improve the alignment precision of the antenna and the real-time performance of system processing by carrying out the precise alignment of a secondary beam forming algorithm after the primary electronic auxiliary alignment.
Drawings
FIG. 1 is a flowchart illustrating the overall steps of the electronic assisted beam alignment of the present invention.
Detailed Description
The technical solution of the present invention is further explained with reference to the accompanying drawings and specific embodiments.
The invention provides an electronic auxiliary beam alignment method applied to an unmanned aerial vehicle. The method adopts an electronic auxiliary beam alignment scheme, firstly determines the relative position of an unmanned aerial vehicle and a ground measurement and control station through GPS information, and performs primary beam alignment by a measurement and control communication system according to the real-time attitude change angle and acceleration of the unmanned aerial vehicle fed back by an unmanned aerial vehicle attitude sensor module, and then performs secondary alignment of analog beam forming after compensating the attitude change of the unmanned aerial vehicle. The method has the characteristics of high tracking precision, low algorithm complexity, light weight and low power consumption.
As shown in fig. 1, the electronic auxiliary beam alignment method applied to the unmanned aerial vehicle specifically includes the following steps:
step 1: and collecting the GPS position of the unmanned aerial vehicle at the current moment and the attitude information of the unmanned aerial vehicle, and taking the GPS position and the attitude information as initial reference values.
The relative position of the unmanned aerial vehicle and the ground measurement and control station is determined through the GPS, and the position of the unmanned aerial vehicle is fed back to the antenna processing unit by combining the unmanned aerial vehicle attitude sensor module. The drone operates using a conventional single beam antenna.
In the subsequent beam alignment process, the antenna processing unit performs the real-time primary beam calibration based on the attitude information at the moment, and eliminates the accumulated error corrected by the sensor by updating the initial reference value at regular time.
Step 2: acquiring real-time attitude information of the unmanned aerial vehicle in real time, calculating the movement displacement and the attitude variation of the unmanned aerial vehicle, and determining the relative position of the unmanned aerial vehicle and a ground measurement and control station and the beam emission angle of an airborne antenna of the unmanned aerial vehicle;
the three-axis acceleration and three-axis angular velocity information of the unmanned aerial vehicle are acquired in real time through the unmanned aerial vehicle attitude sensor module, the information is sent to the onboard computer, and after certain algorithm processing, the onboard computer feeds back the unmanned aerial vehicle movement displacement and the attitude variation to the antenna processing unit in a phase angle mode. The attitude change comprises changes of roll, pitch and yaw angles.
Relative to each otherThe position can be through the airborne attitude sensor on the unmanned aerial vehicle, inertial navigation module promptly, the acceleration information calculation that provides obtains, and the computational formula is:wherein,average acceleration of the drone for a certain period of time Δ t, a1,a2At the beginning and end of this time period, Δ x is the displacement of the drone during the time period Δ t.
In the attitude variation of the time period Δ t, the pitch angle variation is set to Δ θ, the roll angle variation is set to Δ φ, and the yaw angle variation is set to Δ θThe beam emission angle of the airborne antenna is directly calculated by adding the attitude variation and the initial attitude angle of the unmanned aerial vehicle.
Step 1 and step 2, the relative position of the airborne antenna and the ground measurement and control station antenna is positioned by utilizing the GPS and the unmanned aerial vehicle attitude sensor module information, the initial beam phase angle of the airborne antenna can be determined, the calculated relative position and the calculated beam emission angle are fed back to the antenna processing unit, and a low-complexity beam emission angle calculation solution is provided for the subsequent secondary beam alignment.
And step 3: performing primary beam alignment according to the relative difference value of the real-time attitude information of the unmanned aerial vehicle and the initial reference value;
according to the attitude and position information of the unmanned aerial vehicle fed back by the airborne computer in real time, the antenna processing unit corrects the position and the attitude variation of the unmanned aerial vehicle in real time, so that airborne antenna beams are always aligned to the ground measurement and control station.
The information of the unmanned aerial vehicle attitude sensor module is utilized to carry out primary beam alignment, coarse beam alignment can be realized, the operation complexity of a subsequent secondary beam forming algorithm is reduced, and the beam alignment precision and the real-time performance of the antenna processing unit are improved.
And 4, step 4: performing secondary accurate alignment by adopting an analog beam forming algorithm;
after the antenna processing unit performs the primary alignment according to the information provided by the attitude sensor, in order to improve the alignment effect, an analog beam forming algorithm needs to be executed on the basis to perform more accurate secondary alignment.
And 5: judging whether the initial reference value needs to be updated according to the set updating time, if so, returning to the step 1 to update the reference value; otherwise, returning to step 2 to continue the beam alignment process at the next moment.
According to the invention, by adopting an electronic auxiliary beam forming technical means and capturing the GPS and attitude information of the unmanned aerial vehicle in real time, the traditional beam forming method is improved to a sensor-based secondary beam forming method, the effect of improving the alignment precision is achieved, and the method has the advantages of reducing the calculation complexity and has the significance of carrying out real-time tracking on the unmanned aerial vehicle.
Claims (4)
1. An electronic auxiliary beam alignment method applied to an unmanned aerial vehicle is characterized by comprising the following steps:
(1) collecting the GPS position of the unmanned aerial vehicle at the current moment and the attitude information of the unmanned aerial vehicle, and taking the GPS position and the attitude information as initial reference values;
(2) acquiring real-time attitude information of the unmanned aerial vehicle in real time, calculating the movement displacement and the attitude variation of the unmanned aerial vehicle, and determining the relative position of the unmanned aerial vehicle and a ground measurement and control station and the beam emission angle of an airborne antenna of the unmanned aerial vehicle;
(3) performing primary beam alignment according to the relative difference value of the real-time attitude information of the unmanned aerial vehicle and the initial reference value;
(4) performing secondary accurate alignment by adopting an analog beam forming algorithm;
(5) judging whether the initial reference value needs to be updated according to the set updating time, if so, executing the step (1); otherwise, go to (2) execution.
2. The electronic assisted beam alignment method applied to the drone of claim 1, wherein in (1), the attitude information of the drone includes three-axis acceleration and three-axis angular velocity.
3. An electronic assisted beam alignment method applied to a drone according to claim 1, wherein in (2), the relative position is calculated according to acceleration information of the drone as follows:
let the acceleration of the unmanned aerial vehicle at the beginning and the end of the time period delta t be a respectively1,a2，Is the average acceleration of the drone for that time period,the relative displacement during that time period
4. The electronic assisted beam alignment method applied to drones of claim 1, wherein in (2), the attitude change includes changes of roll, pitch and yaw angles; let the change of pitch angle of the unmanned aerial vehicle in the time period delta t be delta theta, the change of roll angle be delta phi and the change of yaw angle beThe beam emission angle of the airborne antenna is formed by delta theta, delta phi,And calculating the initial attitude angle of the unmanned aerial vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711015266.3A CN108037523A (en) | 2017-10-26 | 2017-10-26 | A kind of electron assistant beam alignment applied to unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711015266.3A CN108037523A (en) | 2017-10-26 | 2017-10-26 | A kind of electron assistant beam alignment applied to unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108037523A true CN108037523A (en) | 2018-05-15 |
Family
ID=62092751
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711015266.3A Pending CN108037523A (en) | 2017-10-26 | 2017-10-26 | A kind of electron assistant beam alignment applied to unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108037523A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108966286A (en) * | 2018-07-11 | 2018-12-07 | 郑州航空工业管理学院 | Unmanned plane assists mobile edge calculations system and its information bit distribution method |
| CN109743093A (en) * | 2018-12-26 | 2019-05-10 | 北京邮电大学 | A kind of unmanned plane millimetre-wave attenuator beam tracking method |
| CN111551968A (en) * | 2020-04-29 | 2020-08-18 | 东南大学 | Unmanned aerial vehicle alignment system and method based on deep learning motion prediction |
| CN111988079A (en) * | 2019-05-22 | 2020-11-24 | 远传融创(杭州)科技有限公司 | Information processing terminal and wireless communication method between information processing terminals |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1545165A (en) * | 2003-11-11 | 2004-11-10 | 中国人民解放军总参谋部第六十三研究 | Electromechanical dual wave packet control method for tracking antenna |
| CN1960056A (en) * | 2006-09-22 | 2007-05-09 | 中国电子科技集团公司第二十八研究所 | Method and system of following motion object by mobile type antenna |
| US7218273B1 (en) * | 2006-05-24 | 2007-05-15 | L3 Communications Corp. | Method and device for boresighting an antenna on a moving platform using a moving target |
| US7787819B2 (en) * | 2006-08-25 | 2010-08-31 | Space Systems / Loral, Inc. | Ground-based beamforming for satellite communications systems |
| CN102967851A (en) * | 2012-11-14 | 2013-03-13 | 电子科技大学 | Spatial synchronization method of bistatic synthetic aperture radar (SAR) |
| CN103633417A (en) * | 2013-11-08 | 2014-03-12 | 中国电子科技集团公司第三十九研究所 | Airborne antenna high-precision pointing tracking method based on strapdown flight attitude stability tracking |
| CN104459645A (en) * | 2014-11-14 | 2015-03-25 | 中国人民解放军63680部队 | Radar phase position calibration method based on multi-rotor aircraft |
| CN105021191A (en) * | 2015-07-07 | 2015-11-04 | 中国人民解放军第二炮兵工程大学 | Low-cost method for estimating antenna attitude of Satcom on the move measurement and control system |
| CN105556410A (en) * | 2014-12-31 | 2016-05-04 | 深圳市大疆创新科技有限公司 | Moving object, and antenna self aligning method and system thereof |
| CN105891821A (en) * | 2016-05-24 | 2016-08-24 | 北京环境特性研究所 | Automatic tracking method of airborne downward-looking measurement target |
| US20170059688A1 (en) * | 2015-08-31 | 2017-03-02 | Facebook, Inc. | Adaptive antenna tracking of moving transmitters and receivers |
| CN106712866A (en) * | 2017-01-19 | 2017-05-24 | 京信通信技术(广州)有限公司 | Ground station system of satellite communication in motion and system tracking method |
-
2017
- 2017-10-26 CN CN201711015266.3A patent/CN108037523A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1545165A (en) * | 2003-11-11 | 2004-11-10 | 中国人民解放军总参谋部第六十三研究 | Electromechanical dual wave packet control method for tracking antenna |
| US7218273B1 (en) * | 2006-05-24 | 2007-05-15 | L3 Communications Corp. | Method and device for boresighting an antenna on a moving platform using a moving target |
| US7787819B2 (en) * | 2006-08-25 | 2010-08-31 | Space Systems / Loral, Inc. | Ground-based beamforming for satellite communications systems |
| CN1960056A (en) * | 2006-09-22 | 2007-05-09 | 中国电子科技集团公司第二十八研究所 | Method and system of following motion object by mobile type antenna |
| CN102967851A (en) * | 2012-11-14 | 2013-03-13 | 电子科技大学 | Spatial synchronization method of bistatic synthetic aperture radar (SAR) |
| CN103633417A (en) * | 2013-11-08 | 2014-03-12 | 中国电子科技集团公司第三十九研究所 | Airborne antenna high-precision pointing tracking method based on strapdown flight attitude stability tracking |
| CN104459645A (en) * | 2014-11-14 | 2015-03-25 | 中国人民解放军63680部队 | Radar phase position calibration method based on multi-rotor aircraft |
| CN105556410A (en) * | 2014-12-31 | 2016-05-04 | 深圳市大疆创新科技有限公司 | Moving object, and antenna self aligning method and system thereof |
| CN105021191A (en) * | 2015-07-07 | 2015-11-04 | 中国人民解放军第二炮兵工程大学 | Low-cost method for estimating antenna attitude of Satcom on the move measurement and control system |
| US20170059688A1 (en) * | 2015-08-31 | 2017-03-02 | Facebook, Inc. | Adaptive antenna tracking of moving transmitters and receivers |
| CN105891821A (en) * | 2016-05-24 | 2016-08-24 | 北京环境特性研究所 | Automatic tracking method of airborne downward-looking measurement target |
| CN106712866A (en) * | 2017-01-19 | 2017-05-24 | 京信通信技术(广州)有限公司 | Ground station system of satellite communication in motion and system tracking method |
Non-Patent Citations (3)
| Title |
|---|
| CHIN E. LIN,ER AL.: "《Airborne Antenna Tracking for Sky-Net Mobile Communication》", 《2011 FIFTH INTERNATIONAL CONFERENCE ON SENSING TECHNOLOGY》 * |
| 张帅: "《船载动中通伺服系统》", 《广东通信技术》 * |
| 樊琼剑，等: "《一种无人机定向天线稳定跟踪系统》", 《四川兵工学报》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108966286A (en) * | 2018-07-11 | 2018-12-07 | 郑州航空工业管理学院 | Unmanned plane assists mobile edge calculations system and its information bit distribution method |
| CN109743093A (en) * | 2018-12-26 | 2019-05-10 | 北京邮电大学 | A kind of unmanned plane millimetre-wave attenuator beam tracking method |
| CN109743093B (en) * | 2018-12-26 | 2020-12-04 | 北京邮电大学 | Unmanned aerial vehicle millimeter wave communication beam tracking method |
| CN111988079A (en) * | 2019-05-22 | 2020-11-24 | 远传融创(杭州)科技有限公司 | Information processing terminal and wireless communication method between information processing terminals |
| CN111551968A (en) * | 2020-04-29 | 2020-08-18 | 东南大学 | Unmanned aerial vehicle alignment system and method based on deep learning motion prediction |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108037523A (en) | A kind of electron assistant beam alignment applied to unmanned plane | |
| CN108039927A (en) | A kind of electron assistant UAV Communication method based on multibeam antenna | |
| US20220057201A1 (en) | Sensor perturbation | |
| CN110001637B (en) | Unmanned vehicle path tracking control device and control method based on multipoint tracking | |
| US10983199B2 (en) | Vehicle sensor calibration and localization | |
| Wang et al. | The improved pure pursuit algorithm for autonomous driving advanced system | |
| EP4170282A1 (en) | Method for calibrating mounting deviation angle between sensors, combined positioning system, and vehicle | |
| CN112208515B (en) | Vehicle transverse control method, device, equipment and medium | |
| JP2020530569A (en) | Vehicle sensor calibration and positioning | |
| CN111238467A (en) | Bionic polarized light assisted unmanned combat aircraft autonomous navigation method | |
| CN109991994B (en) | Flight simulator-based small unmanned aerial vehicle track and attitude correction method | |
| CN111506099B (en) | Intelligent control system and method for height of unmanned aerial vehicle | |
| WO2022247306A1 (en) | Unmanned aerial vehicle positioning method based on millimeter wave radar | |
| CN114137975B (en) | Unmanned vehicle navigation deviation correcting method based on ultrasonic-assisted fusion positioning | |
| CN112683281A (en) | Automatic driving vehicle joint positioning method based on vehicle kinematics | |
| CN105444762A (en) | Rapid inertial navigation error correction method for onboard satellite communication in motion | |
| CN109599674B (en) | Phased array antenna stable angle tracking method based on decoupling | |
| CN112325841B (en) | Method for estimating installation error angle of communication-in-motion antenna | |
| CN114237298B (en) | Control method and system for unmanned aerial vehicle formation in-flight plane to follow long plane | |
| CN114993285A (en) | Two-dimensional laser radar mapping method based on four-wheel omnidirectional all-wheel-drive mobile robot | |
| CN113129377B (en) | Three-dimensional laser radar rapid robust SLAM method and device | |
| CN111251303B (en) | Robot motion control method for periodic attitude adjustment | |
| JP2020179749A (en) | Vehicle travel control apparatus | |
| CN113608543A (en) | Method, device, equipment and storage medium for self-adaptive planning of flight path of aircraft | |
| CN116301058A (en) | Unmanned flight feedback nonlinear yaw control method, system and equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180515 |
|
| RJ01 | Rejection of invention patent application after publication |