CN109188355B - Method for optimizing and optimally distributing receiving antennas of multi-point positioning system - Google Patents
Method for optimizing and optimally distributing receiving antennas of multi-point positioning system Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention relates to the technical field of multi-point positioning in the civil aviation field, in particular to a multi-point positioning system multi-path interference prediction and evaluation method and a method for optimizing the position, the number and the directional performance of a receiving station aiming at different airport environments where the receiving station is positioned. According to the method, the receiving antennas of the multi-point positioning system are optimized, multipath interference is restrained by adopting different directional antennas, an airport area 3D physical model close to a real environment is built by the acquired detailed data, the propagation condition of electromagnetic signals in the airport environment is simulated by adopting a theory based on ray tracing and geometrical consistency diffraction, and finally a multi-target optimal solution is obtained by combining a genetic algorithm, the airport environment, the MLAT system layout and the receiving antenna directional performance. The invention improves the reliability of the simulation electromagnetic parameter result, provides more accurate MLAT system coverage analysis, can predict electromagnetic propagation, optimize site layout, improve the signal-to-noise ratio of received signals and enhance the positioning recognition capability of a multi-point positioning system.
Description
Technical Field
The invention relates to the technical field of multi-point positioning in the civil aviation field, in particular to a multi-point positioning system multi-path interference prediction and evaluation method and a method for optimizing the position, the number and the directional performance of a receiving station aiming at different airport environments where the receiving station is positioned.
Background
The multi-point positioning technology based on the arrival time difference (Time Difference of Arrival, TDOA for short) is a novel positioning monitoring technology different from the traditional radar, and has the unique advantages of visual and clear positioning principle, flexible and easy control of site layout, uniform positioning precision along with site layout distribution and the like compared with the traditional radar, so that the multi-point positioning technology is recommended by the International civil aviation organization as an advanced scene activity guiding and controlling system.
The multi-point positioning technology can be divided into two major categories of scene multi-point positioning (runway/taxiway monitoring, lawn monitoring) and wide area multi-point positioning (course/approach monitoring, altitude monitoring, parallel runway monitoring). In airport areas where the relative narrowness, the buildings are numerous, the aircraft are dense, the geographical environment and the electromagnetic environment are complex, the effective receiving of the signals is seriously affected by the target signals under the multipath interference. The receiving antenna of the multi-point positioning system is limited by airport safety and other factors, the receiving antenna is positioned at the top end of an airport corridor bridge, the receiving position is close to a terminal building, the power of multipath signals is high, the time difference between the receiving antenna and a direct signal reaching the receiving antenna is small, the multipath signals are overlapped on the receiving antenna, signal pulse shape distortion and intersymbol interference are caused, and the positioning accuracy is caused to generate larger errors and cannot be even recognized by the system. When the multipath interference is serious, the measurement error of the Arrival Time (TOA) of the target signal is too large, so that the multi-point positioning TDOA positioning equation set is not solved, the effective positioning of the target can not be realized, and the point losing phenomenon occurs. Multipath interference in complex electromagnetic environments of airports is a key factor directly affecting the multi-point positioning performance and is a practical problem which needs to be solved by a multi-point positioning system urgently.
The publication (bulletin) No. CN103901397A discloses a choosing and sorting method of scene multipoint positioning position solution in a complex environment, which is mainly responsible for the calculation from TDOA to target positioning position and the self-checking output function of positioning position in a complex actual scene environment of a multipoint positioning system. The main principle is that the subsequent processing and the choosing and rejecting operation are carried out on the positioning result by judging whether the two-step position estimation residual error sample of the chan multi-point positioning algorithm accords with the probability distribution under the normal noise level. The patent only determines whether the station is eligible for normal noise level by estimating the sample residuals for the location without reducing noise from the original source of the channel transmission. Publication (bulletin) No. CN104833953A discloses a system and a method for multipoint positioning monitoring in airport non-line-of-sight channel environment based on TDOA and track dual tracking module system architecture, wherein the patent generates corrected TDOA information through TDOA tracking process and generates corrected position information through track tracking process. However, the patent is only suitable for a multi-point positioning monitoring system in a non-line-of-sight channel environment, TDOA information is corrected in an auxiliary way through track tracking, and the problems of non-line-of-sight interference and multipath interference in the multi-point positioning system cannot be solved from the original source of electromagnetic signal transmission in the channel. Publication (announcement) number CN104965401a discloses a method and system for measuring arrival time of a multipoint positioning-related monitoring system, which performs a/D sampling quantization on a received target response signal under a system reference clock provided by the multipoint positioning-related monitoring system; carrying out differential matched filtering on the digital signal after the A/D sampling quantization; detecting zero crossing points of the signals subjected to differential matching filtering; and obtaining the reaching time of the target response signal by adopting a zero crossing detection technology in the detection threshold. On the premise of effectively improving the positioning precision of the multi-point positioning related monitoring system and reducing the requirement of hardware cost, the aims of improving the estimation precision of the arrival time and reducing the measurement time error of the system are achieved. However, the patent only adopts a software filtering mode of differential matched filtering, and has limited interference suppression effect on a channel. Therefore, all the above patents do not fundamentally solve the problem of multipath interference in a complex electromagnetic environment in a civil aviation multi-point positioning system.
Publication (bulletin) number CN101706569a discloses a coverage accuracy evaluation method and apparatus for a multi-point positioning system, which implements effective evaluation of coverage accuracy of the multi-point positioning system in the case of severe non-line-of-sight, so that a user can obtain the influence of the placement geometric distribution of each remote receiving station on the accuracy of the multi-point positioning system, and can guide the receiver geometric distribution of the multi-point positioning system. However, in a complex electromagnetic environment, electromagnetic signals can generate reflection, refraction, diffraction and other conditions on buildings with different structures and different sizes, the coverage precision of the multi-point positioning system cannot be effectively evaluated only by the coordinate data under the multipath interference, and the patent does not consider the multi-point positioning receiver station arrangement in the aspect of antenna optimization of the receiving station.
Disclosure of Invention
The method aims to solve the problems of predicting and evaluating the receiving performance of the multi-point positioning system under the serious multipath interference and optimizing the position, the number and the directional performance of the receiving antenna of the receiving station aiming at different airport environments where the receiving station is located. The invention utilizes the directional performance of the directional antenna and the space filtering function realized by the front-to-back rejection ratio to reject the multipath interference at the forefront end of the receiver, thereby solving the problem of multipath interference in the complex electromagnetic environment in the civil aviation multi-point positioning system; based on a ray tracing method and a geometric consistent diffraction theory, the three-dimensional modeling of the civil aviation multi-point positioning system in an airport is realized, and the problems of prediction and evaluation of the multi-point positioning system under the condition of multipath interference are solved; the problems of optimal solutions of the position, the number and the directional performance of the receiving stations in the civil aviation multi-point positioning system are solved by combining a genetic algorithm, the airport environment, the multi-point positioning (MLAT) system layout and the directional performance of the receiving antennas.
The technical scheme adopted for solving the technical problems is as follows:
firstly, aiming at electromagnetic signals, the problem of multipath interference in a complex electromagnetic environment in a civil aviation multi-point positioning system is solved at the root of channel transmission. The invention optimizes the receiving antenna of the multi-point positioning system, and can adopt different directional antennas for the multi-point positioning receiving station aiming at the situation that the arrival directions of the multipath signals and the direct signals are different. The directional antenna can lead the main beam to point to the expected signal direction due to the directional radiation performance in space, and the side lobe and the back lobe point to the interference direction, thereby improving the receiving power of the expected signal through the main lobe width and the front-back suppression ratio of the directional antenna, suppressing the receiving power of the multipath signal and playing the role of 'airspace filtering', thereby improving the signal-to-noise ratio of the received signal and enhancing the positioning recognition capability of the multi-point positioning system. The use of directional antennas also relieves the back-end signal processing burden and suppresses multipath interference from the source of the received signal.
Aiming at the problem of multipath interference prediction and evaluation in a civil aviation multipoint positioning system, the invention establishes a 3D physical model of an airport area close to a real environment by acquiring a terrain digital elevation model of the airport area, the size and the material of an airport building structure and other airport environment data, and adopts a method for simulating the propagation of electromagnetic signals in the airport environment based on a ray tracing method and a geometrical consistent diffraction theory. Ray tracing is a general propagation modeling tool that can be used to solve Maxwell's equations in the high frequency region, calculating path loss, angle of arrival and time delay. Compared with the poor universality of the traditional experience model and the theoretical model, the ray tracing method obtains a more accurate numerical solution by means of a computer program, and the high-frequency approximation method adopting the ray tracing method has little requirement on a computer memory and high calculation speed, and solves the problems that the electromagnetic calculation software represented by a time domain finite difference method, a finite element method and a moment method has insufficient hardware requirement and overlong simulation time when the electromagnetic calculation software has calculation problems of far greater wave propagation environment than electromagnetic wave wavelength (electric large size), and the like. The traditional geometrical optical field cannot calculate the field of the shadow area, the field near the shadow boundary is also inaccurate, and the geometrical consistent diffraction theory provides a more accurate calculation method for the electromagnetic wave diffraction problem, so that the defect that the geometrical optics cannot calculate the field of the shadow area is overcome. The method is characterized in that the electric field and the magnetic field are approximately calculated through the reflection coefficient and the scattering characteristic, the receiving power, the path loss, the arrival time delay and other parameters are calculated by utilizing the performance parameters of the electric field and the actual receiver antenna, and a good solution is provided for the electromagnetic simulation problem of the super-electric large size.
Aiming at the problems of the optimal solutions of the positions, the number and the directional performance of the receiving antennas of the receiving stations in the civil aviation multi-point positioning system, the multi-objective optimal solution is obtained by combining a genetic algorithm, an airport environment, an MLAT system layout and the directional performance of the receiving antennas. The genetic algorithm is a group evolution-based calculation model, and the information exchange winner and obsolete by methods of propagation, variation, competition and the like among individuals of a group is carried out, so that the optimal solution of the problem is approximated step by step. Genetic manipulation of individuals is achieved primarily by three basic genetic algorithms, selection (reproduction), crossover and mutation. And (3) providing constraint conditions according to the positioning requirements of the MLAT positioning system, the limit areas for installing the airport receiving stations and the like, establishing a self-adaptive function, iterating for a plurality of times through a genetic algorithm until the iteration result meets the self-adaptive function and the constraint conditions, and finding out the optimal layout positions of all the receiving stations in the airport area, the directional performance of the receiving antennas and the station distribution quantity.
The beneficial effects of the invention are as follows:
the method realizes the establishment of the 3D physical model of the electromagnetic environment of the airport area, the establishment of the model depends on the accurate digital terrain model and the accurate structural dimension data and materials of airport buildings such as airport terminal buildings, runways, corridor bridges, towers and the like, and the model with the real electromagnetic environment being close to the model greatly improves the reliability of the simulation electromagnetic parameter results.
The method adopts the ray tracing method to carry out electromagnetic simulation of the electric large size, solves the hardware problem of insufficient memory and the problem of overlong simulation time when electromagnetic calculation software carries out the calculation of the electric large size, and simultaneously provides a more accurate calculation method for the electromagnetic wave diffraction problem by the geometrical consistent diffraction theory method. In the prior art, the coverage area of the MLAT system is the effective receiving area, and the electromagnetic wave diffraction problem of the shadow area is ignored.
The method adopts the directional antenna in the receiving station of the MLAT system, suppresses multipath interference at the forefront end of the receiver, improves the signal-to-noise ratio of the received signal, and enhances the positioning recognition capability of the multi-point positioning system.
Drawings
Fig. 1 is an S-mode signal under multipath interference;
FIG. 2 is a S-mode signal after directional antenna suppression;
fig. 3 is a flow chart of the method of the present invention.
Detailed Description
In order to more clearly illustrate the technical scheme of the invention, the invention is further described in detail below with reference to the accompanying drawings.
Multipath interference can be suppressed from the source by using different directional antennas for the multipoint positioning receiving station. For example, if the multipath signal in fig. 1 is aliased in the S-mode signal, the multipath signal is the direct signal amplitude 3dB, the delay is about 700ns, if the direct signal is received in the main lobe direction of the receiving antenna, the multipath signal is received in the back lobe direction of the receiving antenna, and the front-to-back rejection ratio of the directional antenna is 20dB, the received signal is effectively inhibited, the multipath interference is effectively inhibited, the signal has no inter-code crosstalk, the threshold detection can be performed on the preamble pulse more accurately, and the accuracy and the recognition capability of the multi-point positioning TOA estimation are improved.
The invention achieves three purposes: the multi-path interference problem of the civil aviation multi-point positioning system in the complex electromagnetic environment is solved; the method solves the problem of multipath interference prediction and evaluation in the civil aviation multi-point positioning system; the method solves the problem of optimal solutions of the positions, the number and the directional performance of the receiving antennas of the receiving stations in the civil aviation multi-point positioning system. The multi-path interference problem of the multi-point positioning system is solved, whether the influence of the multi-path interference on the MLAT system is eliminated is judged by utilizing multi-path interference prediction and evaluation, and the evaluation result provides data support for the multi-path interference suppression effect. And a third object of the present invention: the method solves the problem of optimal solution of the position, the number and the directional performance of the receiving stations in the civil aviation multi-point positioning system, and is realized after the first two purposes are realized.
As shown in fig. 3, the specific implementation procedure is as follows:
first, an airport area electromagnetic environment model is established. And acquiring data of a terrain digital elevation model, an airport building (a terminal building, a corridor bridge, a runway and the like), materials and dimensions of an airport to be subjected to MLAT receiving station layout, and establishing a 3D physical model close to a real electromagnetic environment.
And secondly, setting effective transmitting positions and receiving positions. The transmitting positions are uniformly distributed in the identification capability area of the MLAT system to be evaluated, and the transmitting positions can be set according to the needs. The receiving position is often limited by factors such as airport operation safety, and the receiving position needs to be set in combination with the actual and estimated receiving areas.
And thirdly, changing the directional performance of the receiving antenna. The existing MLAT system receiving stations all adopt horizontal omni-directional receiving antennas because of considering coverage range, and the technical proposal has demonstrated that better receiving effect can be obtained by changing directional antennas at the receiving stations, wherein the factors to be considered are main lobe angles of directional antenna radiation, the angles of main lobes of the antenna radiation in the horizontal direction can be set to 0-360 degrees, the main lobe angles of the antenna can influence the restraining effect of multipath signals and the coverage range of the receiving antennas on the transmitting area, and the MLAT receiving performance of the directional receiving antennas with different main lobe widths needs to be evaluated in the next step.
Fourth, electromagnetic simulation of airport electromagnetic signals. Each transmitting point in the transmitting area sequentially transmits signals with the same power and the same mode, such as an S mode, electromagnetic signals are transmitted in an airport 3D model, the processes of reflection, refraction, diffraction and the like of the signals are judged through a ray tracing method and a geometric consistent diffraction theory, and the receiving power, path loss and arrival time delay parameters of the transmitting signals are obtained at a receiving antenna.
And fifthly, judging the interference degree of the multipath signals to the MLAT system. According to the distance between the transmitting position and the receiving position, the time required by the direct signal between the transmitting position and the receiving position can be calculated, the direct signal is judged, then the amplitude difference and the phase difference of the multipath signal between the direct signal and each multipath signal are calculated, if the amplitude of the multipath signal is more than 50% of the amplitude of the direct signal or the time delay between the multipath signal and the direct signal is more than 0.5us (the duration of a single code element of an S-mode signal is 0.5+/-0.05 us), the influence of the multipath signal is considered to be serious, the third step is returned, the main lobe width of the directional antenna is changed, the simulation is repeated, if the amplitude and the time delay difference of the multipath signal and the direct signal meet the requirements, the performance of the receiving antenna can be considered to meet the identification condition of an MLAT system, the purpose of 'spatial filtering' is achieved, and in all the directional receiving antennas meeting the requirements, the main lobe width is selected to be the largest so as to meet the wider coverage rate.
And sixthly, providing constraint conditions, and finding out the site selection constraint conditions and the optimization targets of the receiving stations of the MLAT system. The location of the receiving station of the MLAT system is often limited by the operation safety of an airport, the installation construction safety of the receiving station and other aspects, so that the area where the receiving antenna is arranged needs to be limited in a model. How to select the site location in the restricted area is one of the issues to be considered; how to set the directional performance of different receiving antennas (e.g., omni-directional antenna, 180 ° directional antenna, 120 ° directional antenna, 90 ° directional antenna, etc.) at different receiving stations is one of the problems; meanwhile, the number of receiving stations as few as possible is one of the targets, and the coverage precision and the identification capability of the MLAT system can be improved by the larger number of stations, but high cost is caused, so that finding out the station layout scheme which meets the minimum number of requirements of the MLAT system on positioning coverage capability, precision, identification capability and the like is also one of the targets.
And seventh, establishing an adaptive function according to an algorithm to be adopted. The adaptive function is used for judging the iterative result of the algorithm, and simultaneously provides a quantized index for judging the influence degree of the multipath signal on the direct signal in the MLAT system, so that the adaptive function needs to be established by combining the algorithm to be used. The method is combined with a genetic algorithm to construct a formula (1), the smaller the function value of the formula (1) is, the smaller the function value is influenced by multipath signals, and the method is set according to the accuracy and recognition capability requirements of an actual MLAT system.
N multipath signal number, P i For the received power of the ith multipath signal, t i TOA, P for ith multipath signal d To the received power of the direct signal, t d TOA, Δt, which is the direct signal max Is the maximum allowed arrival time difference between the direct signal and the multipath signal.
Eighth step, airport electromagnetic environment model computer simulation. The number and the position of the receiving stations and the directional performance of the receiving antennas are iterated out through an algorithm such as a genetic algorithm, parameters are substituted into an electromagnetic environment model, the propagation condition of electromagnetic signals in an airport environment is simulated based on a ray tracing method and a geometric consistent diffraction theory, the parameters such as the receiving power and the arrival time of direct signals and multipath signals are obtained, the obtained parameters are substituted into an adaptive function to calculate, if the obtained parameters are larger than a required value of the adaptive function, simulation iteration is continued, if the function value is smaller than the required value, iteration is ended, and the address selection, the number and the directional performance of the current receiving stations are the target layout scheme.
The foregoing description of the preferred embodiments of the present invention is not intended to be limiting, but rather, various modifications and changes will readily occur to those skilled in the art. On the premise of the technical principle of the invention, a plurality of substitutions and improvements can be made, and all the substitutions and the improvements are included in the protection scope of the invention.
Claims (8)
1. A method for multipath interference assessment and optimization of the location, number and antenna orientation performance of receiving stations in different environments for a multi-point positioning system, comprising the steps of:
firstly, establishing a 3D mathematical model which is close to a real electromagnetic environment;
setting effective transmitter position and receiving station position;
setting the directional performance of the receiving antenna;
fourthly, performing electromagnetic simulation on airport electromagnetic signals by using any one of a time domain finite difference method, a finite element method, a moment method, a geometric consistent diffraction theory and a ray tracing method;
fifthly, judging the interference degree of the multipath signals to the multipoint positioning system through the time delay parameters by utilizing the simulation result;
sixthly, determining a multi-point positioning system receiving station site selection limiting condition and an optimized target;
seventh, establishing a self-adaptive function according to a genetic algorithm, specifically:
n multipath signal number, P i For the received power of the ith multipath signal, t i TOA, pd is the received power of the direct signal, t d TOA, Δt, which is the direct signal max The maximum allowed arrival time difference between the direct signal and the multipath signal; the adaptive function is used for judging the iterative result of the algorithm, and simultaneously, the influence degree of the multipath signal on the direct signal is represented in the MLAT system and is used for multipath interference prediction and quantitative evaluation; changing the position and orientation performance parameters in the second step and the third step, repeating the second step to the sixth step, and calculating simulation results at all possible positions;
and eighth, selecting a target layout scheme of the receiving antenna of the airport multi-point positioning system according to the simulation result of the environment model.
2. The method for multipath interference estimation and optimization of receiver station position, number and antenna orientation performance in different environments of a multi-point positioning system according to claim 1, wherein in the first step, the terrain digital elevation model, airport building structure, materials and size data of the airport where the MLAT receiver station layout is to be performed is acquired.
3. The method for multipath interference estimation and optimization of the location, number and antenna orientation performance of receiving stations in different environments of a multi-point positioning system according to claim 1, characterized in that in the second step the transmitter locations are evenly distributed in the identification area of the MLAT system to be estimated, the transmitter locations can be set as desired, the receiving locations need to be set in combination with the actual and estimated receiving areas.
4. The method for multipath interference estimation and optimization of the positions, the number and the directional performance of the antennas of the receiving stations in different environments according to claim 1, wherein in the third step, the factors to be considered are the main lobe angles of the directional antenna radiation, the main lobe angles of the horizontal direction of the antenna radiation can be set to 0 to 360 degrees, the main lobe angles of the antenna can influence the restraining effect of multipath signals and the coverage area of the receiving antennas on the transmitting area, and the MLAT receiving performance of the directional receiving antennas with different main lobe widths needs to be estimated in the fourth step.
5. The method for multipath interference estimation and optimization of receiving station positions, numbers and antenna orientation performance in different environments of a multipoint positioning system according to claim 1, wherein in the fourth step, the transmitters sequentially transmit signals with the same power and the same mode at each position in an area where signal transmitters of an airplane or a vehicle on a scene can exist, electromagnetic signals are simulated to propagate in an airport 3D model by any one of time domain finite difference, finite element, moment method, ray tracing method and geometry-consistent diffraction theory method, reflection, refraction and diffraction processes of the signals are judged by the ray tracing method and geometry-consistent diffraction theory, and receiving power, path loss and arrival delay parameters of the transmitted signals are acquired at the receiving station.
6. The method for evaluating multipath interference of a multipoint positioning system and optimizing the positions, the number and the directional performance of antennas of receiving stations in different environments according to claim 1, wherein in the fifth step, the time required by direct signals between receiving and transmitting positions can be calculated according to the distance between the positions of a transmitter and the positions of the receiving stations, the direct signals are judged, then the amplitude difference and the phase difference of the multipath signals between the direct signals and each multipath signal are calculated, if the amplitude of the multipath signals is more than 50% of the amplitude of the direct signals or the time delay of the multipath signals and the direct signals is more than 0.5us, the influence of the multipath signals is considered to be serious, the third step is returned, the main lobe width of the directional antenna is changed, the simulation is repeated, if the amplitude and the time delay difference of the multipath signals and the direct signals meet the requirements, the performance of the receiving antenna can be considered to meet the identification conditions of an MLAT system, the purpose of spatial filtering is achieved, and the main lobe width is selected to be maximized in all the directional receiving antennas meeting the requirements, so that the wider coverage rate is met as possible.
7. The method for multipath interference estimation and optimization of receiving station positions, number and antenna orientation performance in different environments of the multipoint positioning system according to claim 1, wherein in the sixth step, the positioning of the receiving station of the MLAT system is often limited by the aspects of airport operation safety, receiving station installation construction safety and the like, and the area where the receiving antenna is arranged needs to be limited in the model.
8. The method for multipath interference assessment and optimization of the positions, the number and the directional performance of the antennas of receiving stations in different environments according to claim 1, wherein in the eighth step, the number, the positions and the directional performance of the receiving stations are iterated through an algorithm, parameters are substituted into an electromagnetic environment model, the situation of propagation of electromagnetic signals in an airport environment is simulated by adopting a theory based on ray tracing and geometrical consistency diffraction, the receiving power and the arrival time of direct signals and multipath signals are obtained, the obtained parameters are substituted into an adaptive function to calculate, if the parameters are larger than the requirement value of the adaptive function, simulation iteration is continued, if the function value is smaller than the requirement value, iteration is ended, and the address, the number and the directional performance of the current receiving station are the target layout scheme.
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