CN108151698B - Antenna rotation center calibration method based on axis intersection method - Google Patents

Antenna rotation center calibration method based on axis intersection method Download PDF

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CN108151698B
CN108151698B CN201711433860.4A CN201711433860A CN108151698B CN 108151698 B CN108151698 B CN 108151698B CN 201711433860 A CN201711433860 A CN 201711433860A CN 108151698 B CN108151698 B CN 108151698B
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antenna
obtaining
axis
coordinates
coordinate system
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CN108151698A (en
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李宗春
路志勇
张冠宇
冯其强
郭迎钢
何华
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CETC 54 Research Institute
Information Engineering University of PLA Strategic Support Force
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Information Engineering University of PLA Strategic Support Force
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/10—Monitoring; Testing of transmitters
    • H04B17/11—Monitoring; Testing of transmitters for calibration
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/20—Monitoring; Testing of receivers
    • H04B17/21—Monitoring; Testing of receivers for calibration; for correcting measurements

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  • Electromagnetism (AREA)
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Abstract

The invention relates to an antenna rotation center calibration method based on an axis intersection method, which comprises the steps of firstly setting control points, constructing an engineering control network and obtaining geodetic coordinates and geodetic azimuth angles; then, arranging mark points on the antenna, controlling the posture of the antenna to change according to a set angle, and obtaining the coordinates of the mark points of the antenna under different postures; and finally, according to the coordinates of the identification points of the antenna under different postures, obtaining the rotation center of the antenna by adopting an axis intersection method, wherein the precision can reach millimeter level. On the basis, the relative position relation between the phase centers of the uplink array antennas can be accurately calibrated, so that carrier phase calibration is completed, and signal carrier alignment is realized.

Description

Antenna rotation center calibration method based on axis intersection method
Technical Field
The invention belongs to the technical field of antenna array, and particularly relates to an antenna rotation center calibration method based on an axis intersection method.
Background
The antenna array technology is developed gradually along with the course of exploring outer space of human beings, and is one of important development directions in deep space communication in the future. The development of technologies such as deep space communication has increasingly required antenna performance, and particularly, the equivalent aperture of an antenna has been increasingly required to be large. The antenna array technology is that a plurality of antennas are used for receiving downlink signals from the same deep space detector or transmitting uplink signals to the same deep space detector, and signal-to-noise ratio of the signals is improved through signal synthesis, so that uplink and downlink high-speed transmission of data is realized. Compared with a single antenna, the antenna array has the obvious advantages of improving the system performance, enhancing the operability, reducing the system development cost, improving the system operation flexibility and the like.
The uplink array is a transmitting array formed by a plurality of transmitting antennas distributed on the ground, transmits signals to the same target, and enables the transmitting signals to realize in-phase synthesis at the target by adjusting the time delay and the phase of each transmitting signal, thereby enhancing the signal-to-noise ratio of the signals received by the deep space probe. Therefore, the research and application of the uplink antenna array technology have important practical value. However, how to complete the calibration of carrier phase and how to realize the signal carrier alignment is a technical problem to be solved by the uplink antenna array.
Antenna phase center variation is affected by a number of factors. For the same antenna, due to the influence of factors such as gravity deformation and processing precision, the antenna phase centers under different azimuths and pitching angles may be different; for different antennas, the phase lag introduced by the same azimuth and elevation angle is different, and the accuracy of the phase center of the antenna is different under different azimuth angles and elevation angles; phase errors can also be caused by differences in the mechanical and temperature characteristics of the antenna and other environmental factors. In order to accurately calibrate the relative position relationship between the phase centers of the uplink array antennas, the rotation centers of the antennas are firstly calibrated accurately.
Beijing survey, No. 1 in 2006, discloses a method for measuring the geometric rotation center of a large antenna, which is authored by Chengtingwu and Li Jingdong, and the method enables the antenna to rotate around a vertical axis, and a group of data is obtained every time the antenna rotates 15 degrees, and the vertical axis of the antenna is fitted; the antenna is controlled to rotate around the horizontal axis in the same way, and every time the antenna rotates 10 degrees, a group of data is obtained, and the horizontal axis of the antenna is fitted. The intersection of the horizontal and vertical axes is the center of rotation of the antenna. The calibration method has the advantages of low precision and inaccuracy in obtaining the antenna rotation center.
Disclosure of Invention
The invention aims to provide an antenna rotation center calibration method based on an axis intersection method, which is used for solving the problem of inaccurate calibration of an antenna rotation center in the prior art.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the invention provides an antenna rotation center calibration method based on an axis intersection method, which comprises the following steps:
setting control points, constructing an engineering control network, and obtaining geodetic coordinates and geodetic azimuth angles;
arranging mark points on the antenna, controlling the attitude change of the antenna, and obtaining the coordinates of the mark points of the antenna under different attitudes;
obtaining the axis of the antenna in each posture according to the coordinates of the identification points of the antenna in different postures;
and (4) solving the intersection point of all the axes according to the axes of the antenna in each posture, wherein the intersection point is the rotation center of the antenna.
Further, according to the axis of the antenna in each posture, a point with the minimum sum of squares of the distances from each axis is obtained by adopting a least square method, and the point is the intersection point of all the axes.
Further, a GNSS network is employed to obtain geodetic coordinates and geodetic azimuth angles.
Further, the controlling the attitude change of the antenna, and obtaining the coordinates of the identification point of the antenna under different attitudes includes: controlling the azimuth angle of the antenna to be unchanged, and controlling the pitch angle to be changed within a set range to obtain different postures of the antenna under the azimuth angle; further obtaining different postures of the antenna under different azimuth angles; thereby obtaining different attitudes of the antenna.
Furthermore, the azimuth angle of the antenna is changed from 0 degree to 360 degrees, the pitch angle is changed from 0 degree to 90 degrees at equal intervals, and different postures of the antenna are obtained.
Further, obtaining the axis of the antenna in each posture according to the coordinates of the identification points of the antenna in different postures includes:
constructing an industrial photogrammetry system and a total station measuring system;
shooting the mark points by using an industrial photogrammetry system to obtain the coordinates of the mark points in an industrial photogrammetry coordinate system;
fitting the coordinates of the mark points under the industrial photogrammetry system coordinate system with the antenna to obtain the axis of the antenna under the industrial photogrammetry system coordinate system;
arranging a common point on the antenna tool, and obtaining the relation between a total station coordinate system and an industrial photogrammetry coordinate system according to the common point;
according to this relationship, the axis under the industrial photogrammetry system coordinate system is converted into the total station coordinate system, resulting in the axis of the antenna at each pose.
Further, the obtaining of the relationship between the total station coordinate system and the industrial photogrammetry coordinate system from the common point includes:
measuring the common point by respectively adopting a total station measuring system and an industrial photogrammetric system;
converting a result obtained by measuring the common point by the industrial photogrammetric system into a total station coordinate system to obtain a measurement conversion result;
if the measurement conversion result does not meet the precision requirement, re-measuring;
and obtaining the relation between the total station coordinate system and the industrial photogrammetry coordinate system according to the measurement conversion result meeting the precision requirement.
The invention has the beneficial effects that:
in order to obtain an accurate antenna rotation center, the coordinates of each mark point are obtained by taking geodetic coordinates and geodetic azimuth angles as references, and the rotation center of the antenna is obtained by adopting an axis intersection method according to a large number of coordinates. The precision of the antenna rotation center obtained by the method can reach millimeter level. On the basis, the relative position relation between the phase centers of the uplink array antennas can be accurately calibrated, so that carrier phase calibration is completed, and signal carrier alignment is realized.
Furthermore, a GNSS network is constructed to obtain the geodetic coordinate and the geodetic azimuth of the antenna, and the GNSS has the advantages of high measurement speed, no limitation of conditions such as visibility and weather, high automation degree, small influence of artificial measurement errors, capability of continuous measurement and the like, so that the geodetic coordinate and the geodetic azimuth obtained by the system are more accurate and precise, and the obtained antenna rotation center is more accurate.
Drawings
FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a schematic diagram of an engineering control network;
FIG. 3 is a schematic view of a measurement pier;
FIG. 4 is a schematic view of a marker point distribution;
FIG. 5 is a schematic view of tooling layout;
fig. 6 is an axis distribution diagram.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.
In order to accurately obtain the coordinates of the antenna rotation center in the geospatial rectangular coordinate system and calibrate the relative position relationship between the rotation centers of the upper-line array antennas with high precision, the invention provides an antenna rotation center calibration method based on an axis intersection method, and the main flow of the method is shown in figure 1.
The calibration method of the present invention is described below by taking an example of an array of 4 phi 3m uplink array antennas in a certain experimental site.
Firstly, because the establishment of the engineering control network is the basis for ensuring the acquisition of the rotation center of the high-precision antenna, control points are firstly set, the engineering control network is established, and geodetic coordinates and geodetic azimuth angles are acquired. For unfolding:
1. and designing engineering control net shape and building a measuring pier.
As shown in fig. 2, antennas T1 through T3 form an upper array antenna array. According to the specific requirements of engineering, 4 high-precision measurement piers with forced centering devices, namely J001, J002, J003 and J004 are built by combining the distribution of 4 phi 3m antennae in an experimental site and considering the requirements of actual terrain, geological conditions, measurement schemes and the like, and the schematic diagram of each measurement pier is shown in FIG. 3. Each measuring pier is 1 control point, and the 4 control points (J001-J004) form an engineering control network for calibrating the antenna array.
2. And establishing geodetic coordinates and geodetic azimuth reference by constructing a GNSS network.
The GNSS has the advantages of high measurement speed, no limitation of conditions such as visibility and weather, high automation degree, small influence of artificial measurement errors, capability of continuous measurement and the like. Therefore, in the embodiment, the GNSS network is adopted for the engineering control network measurement so as to obtain the geodetic coordinates and the geodetic azimuth with high precision.
And performing measurement according to the technical requirement of C-level measurement in GPS control measurement. The GPS measurement scheme is carried out by adopting two closed rings of J001-J002-J004 and J002-J03-J004, and each ring is continuously measured for at least 4 hours; long baseline J002-J004 was observed continuously for at least 12 hours.
Taking closed loop J001-J002-J004 as an example, the specific steps of GPS measurement are introduced:
1) GPS antennas are arranged on the J001, J002 and J004 measuring piers;
2) measuring the height of the antenna;
3) connecting an antenna, a receiver and a power supply, turning on the receiver and setting parameters such as a measurement mode, an antenna model, a sampling interval, a satellite cut-off altitude angle and the like;
4) newly building a project file, and starting measurement;
5) checking and recording the working state of the instrument at regular time;
6) and finishing measurement when the observation time meets the requirement, and storing the original observation data obtained by measurement.
Converting the format of original observation data obtained by GPS measurement into a rinex format by using data processing software LGO (LEICA Geo Office combined); and adopting Gamit10.50 and Globk5.19I software to calculate the geodetic coordinates of the control points J002 and J004 according to the GPS observation data of three IGS reference stations including BJFS, SHAO and LHAZ, the geodetic coordinates and the movement speed of the IGS reference stations. LEICA GEO office8.4 software is adopted for processing the local area network data, and coordinates and azimuth datum data of other control points are calculated by taking a high-precision calculation result of the control point J004 point height as a control datum.
After the GPS observation data is processed, high-precision geodetic coordinates and geodetic azimuth angles can be obtained, and a foundation is provided for the conversion of subsequent results to a geodetic coordinate system.
3. And (4) constructing a high-precision three-dimensional control network through observation of a total station.
And establishing a corner control net with relative precision reaching a submillimeter level by using a total station. The measurement is carried out according to the relevant measurement requirements in the national triangular measurement Specification (GB/T17942-2000) and the precision engineering measurement Specification (GBT 15314-. And moreover, an engineering control network is established by matching a precise prism with a total station.
The specific steps of the total station control network measurement are described by taking a survey station J001 as an example as follows:
1) erecting an instrument;
2) measuring the height of a total station instrument and the height of a prism;
3) selecting a zero direction;
4) acquiring a horizontal angle and a vertical angle by multiple measuring loops by adopting a direction observation method;
5) acquiring the slope distance;
6) checking whether the measurement data is overrun.
And importing the observation result of the total station into control network normal production software for processing to obtain the coordinates and the precision of the control point of the three-dimensional control network.
And then, carrying out combined measurement on the industrial photogrammetry system and the total station measuring system, laying a mark point on each antenna, controlling the posture of each antenna to change according to a set angle, and obtaining the coordinates of the mark point of each antenna under different postures. For unfolding:
and carrying out photogrammetry on each antenna at the positions with the azimuths of 60 degrees, 180 degrees and 300 degrees respectively by every 10 degrees from 10 degrees to 80 degrees in a pitching manner so as to obtain the coordinates of a large number of identification points on the antenna panel.
The industrial photogrammetric system must be matched with the photogrammetric marker, and because each antenna is composed of eight identical fan-shaped panels, the marker layout scheme of each panel is identical. The total number of 18 common measuring marks and 1 coding mark are uniformly distributed on each panel, and the distribution of the measuring marks is shown in figure 4. In order to introduce the industrial photogrammetry coordinate system into the total station surveying coordinate system, a common point needs to be measured. The common points are alternately arranged on the inner side and the outer side of the edge of the antenna panel by means of a tool, and a common point is arranged on the outer end face of the secondary face. The distribution of the tooling is shown in figure 5.
Taking an antenna T1 as an example, the specific steps of measurement are introduced:
1) according to the industrial photogrammetric mark layout scheme, arranging a measurement mark and a tool on an antenna panel;
2) erecting a total station on a proper measuring pier;
3) adjusting the antenna to the position with the azimuth angle of 60 degrees and the pitch angle of 10 degrees, mounting the tooling in the visual range of the spherical prism total station, and measuring the coordinates of the tooling by using the total station;
4) keeping the position of the antenna unchanged, and installing a photogrammetric tool on a target seat of a common point measured by the total station;
5) measuring the identification points distributed on the antenna panel by using an industrial photogrammetric system;
6) keeping the azimuth angle of the antenna at 60 degrees, and repeating the steps 3) -5) every 10 degrees by pitching from 10 degrees to 80 degrees;
7) rotating the antenna to the azimuth angles of 180 degrees and 300 degrees, and repeating the steps 3) -5) to measure;
8) converting a result obtained by measuring the common point by the industrial photogrammetric system into a total station coordinate system to obtain a measurement conversion result; if the measurement conversion result does not meet the precision requirement, re-measuring; and obtaining the relation between the total station coordinate system and the industrial photogrammetry coordinate system according to the measurement conversion result meeting the precision requirement.
And finally, obtaining the rotation center of each antenna by adopting an axis intersection method according to the coordinates of the identification points of each antenna under different postures.
Axis intersection, as the name implies, for each antenna, the axes at each pose should intersect at a point. Therefore, the axis of each antenna under each posture needs to be obtained according to the measured coordinates; for one antenna, calculating the intersection point of the axes in each posture, wherein the point is the rotation center of the antenna; and then the rotation center of each antenna is obtained. Specifically, the method comprises the following steps:
1. the axis of the antenna under each attitude is obtained, and the specific steps are as follows:
1) processing the image acquired by the industrial photogrammetry to obtain the coordinates of the mark points distributed on the antenna panel under the photogrammetry coordinate system;
2) performing optimal fitting on the coordinates of the mark points and the antenna model, and determining the direction of the antenna axis in a photogrammetric coordinate system according to a fitting result;
3) and performing common point conversion by using a common point of the total station and the industrial photogrammetry, and converting the axis direction of the antenna into a measurement coordinate system of the total station.
2. And (3) according to the axis of the antenna in each posture, adopting a least square method to obtain a point with the minimum sum of squares of the distances from each axis, wherein the point is the intersection point of all the axes.
In this embodiment, each antenna is measured in 24 postures, and each antenna can obtain 24 axes. In an ideal situation, the 24 axes should intersect at a point, but due to the influence of gravity deformation, machining accuracy, mechanical and temperature characteristics of the antenna, measurement errors and other factors, the axes are spatially gathered into an out-of-plane straight line. According to the least square criterion, the spatial point with the smallest sum of squared distances from the 24 axes is found as the center of rotation of the antenna, as shown in fig. 6.
And calculating the coordinate of the minimum point of the sum of squares of the distances of the straight lines by adopting a matrix method.
Suppose 24 antennas have an axis of l1、l2、l3、…、l24Straight line li(i-1, 2,3, …,24) passing point pi＝[x0iy0iz0i]In the direction ui＝[uxiuyiuzi]Then l isiCan be expressed as:
Figure BDA0001525452210000071
in the formula, aiRepresenting points on a straight line to piThe distance parameter of (2).
Unfolding formula (1) yields:
Figure BDA0001525452210000072
wherein x, y, z, aiAre unknown parameters.
The m straight lines have 3m error equations and (m +3) unknown parameters, and the error equations are as follows:
V＝AX-L (3)
wherein the content of the first and second substances,
Figure BDA0001525452210000073
according to the above formula, the solution can be obtained by using the least square method:
X＝-(ATA)·(ATL) (4)
while the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.

Claims (5)

1. An antenna rotation center calibration method based on an axis intersection method is characterized by comprising the following steps:
setting control points, constructing an engineering control network, and obtaining geodetic coordinates and geodetic azimuth angles;
arranging mark points on the antenna, controlling the attitude change of the antenna, and obtaining the coordinates of the mark points of the antenna under different attitudes;
obtaining the axis of the antenna in each posture according to the coordinates of the identification points of the antenna in different postures;
according to the axis of the antenna in each posture, obtaining the intersection point of all the axes, wherein the intersection point is the rotation center of the antenna;
the controlling the attitude change of the antenna and the obtaining of the coordinates of the identification points of the antenna under different attitudes comprise: controlling the azimuth angle of the antenna to be unchanged, and controlling the pitch angle to be changed within a set range to obtain different postures of the antenna under the azimuth angle; further obtaining different postures of the antenna under different azimuth angles; thereby obtaining different postures of the antenna;
the azimuth angle of the antenna is changed from 0 degree to 360 degrees, the pitch angle is changed from 0 degree to 90 degrees at equal intervals, and different postures of the antenna are obtained.
2. The method for calibrating the rotation center of the antenna based on the axis intersection method of claim 1, wherein a point with the minimum sum of squared distances from each axis is obtained by a least square method according to the axis of the antenna in each posture, and the point is the intersection point of all the axes.
3. The method for calibrating the rotation center of an antenna based on the axis intersection method as claimed in claim 1, wherein a GNSS network is used to obtain geodetic coordinates and geodetic azimuth angles.
4. The method for calibrating the rotation center of the antenna based on the axis intersection method of claim 1, wherein the obtaining the axis of the antenna in each posture according to the coordinates of the identification points of the antenna in different postures comprises:
constructing an industrial photogrammetry system and a total station measuring system;
shooting the mark points by using an industrial photogrammetry system to obtain the coordinates of the mark points in an industrial photogrammetry coordinate system;
fitting the coordinates of the mark points under the industrial photogrammetry system coordinate system with the antenna to obtain the axis of the antenna under the industrial photogrammetry system coordinate system;
arranging a common point on the antenna tool, and obtaining the relation between a total station coordinate system and an industrial photogrammetry coordinate system according to the common point;
according to this relationship, the axis under the industrial photogrammetry system coordinate system is converted into the total station coordinate system, resulting in the axis of the antenna at each pose.
5. The method of claim 4, wherein obtaining the relation between the total station coordinate system and the industrial photogrammetry coordinate system from the common point comprises:
measuring the common point by respectively adopting a total station measuring system and an industrial photogrammetric system;
converting a result obtained by measuring the common point by the industrial photogrammetric system into a total station coordinate system to obtain a measurement conversion result;
if the measurement conversion result does not meet the precision requirement, re-measuring;
and obtaining the relation between the total station coordinate system and the industrial photogrammetry coordinate system according to the measurement conversion result meeting the precision requirement.
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CN109541324B (en) * 2018-11-12 2020-09-25 北京航空航天大学 Compact field-based method for measuring phase center of unit antenna in array
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