CN109239741B - Automatic calibration test system for multi-array element antenna of navigation satellite - Google Patents
Automatic calibration test system for multi-array element antenna of navigation satellite Download PDFInfo
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- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The invention provides an automatic calibration test system for a navigation satellite multi-array element antenna, which can quickly and automatically generate phase calibration data of the navigation satellite multi-array element antenna and can perform fault test on the navigation satellite multi-array element antenna. The invention is realized by the following technical scheme: the method comprises the steps that a reference multi-array element antenna receives navigation satellite signals, carrier environment reflector signals of the navigation satellite signals and ray model array flow of the multi-array element antenna to be detected, a miniaturized test board starts from a ray model, the satellite signals are used as a calibration source, phase response and carrier-to-noise ratio of each array element channel of the reference multi-array element antenna to the navigation satellite signals incident in different directions are measured, calibration software which is pre-programmed is operated through a built-in controller, the field array manifold vector of the multi-array element antenna is automatically measured, field calibration data of the multi-array element antenna to be detected are rapidly generated, and environment consistency, inter-array element consistency and fault of the multi-array element antenna to be detected and the phase in wave beam control are detected.
Description
Technical Field
The invention relates to a calibration test system of a multi-array element array antenna receiving system, which is widely applied to the fields of radar, sonar, wireless communication and the like. The method is applied to a system for receiving and processing navigation satellite signals by adopting a multi-array element array antenna, quickly and automatically generates phase calibration data of the navigation satellite multi-array element array antenna, and can also perform fault test on the navigation satellite multi-array element array antenna.
Background
A navigation satellite is an artificial earth satellite that continuously transmits radio signals from satellites to navigate and position users on the ground, sea, air and space. In the space part of the satellite navigation system, a navigation satellite is provided with special radio navigation equipment, a user receives radio navigation signals sent by the navigation satellite, navigation parameters such as the distance or the distance change rate of the user relative to the satellite are respectively obtained through time ranging or Doppler velocity measurement, and the real-time position coordinate of the satellite at the moment of positioning is solved according to the time and orbit parameters sent by the satellite, so that the geographic position coordinate (two-dimensional or three-dimensional coordinate) and the velocity vector component of the user are determined. As is well known, an antenna is a key component for realizing reception and transmission of radio signals. A multi-element array antenna (hereinafter referred to as a multi-element antenna) is configured to sample spatial information of a radio signal by spatially and separately arranging a plurality of antenna elements. The signal processing of the multi-element antenna is one of array signal processing. The array signal processing is an important branch of the signal processing field, and is to arrange a plurality of sensors at different positions in space to form a sensor array, receive (multipoint parallel sampling) and process a space signal field by using the sensor array, extract signals received by the array and characteristic information (parameters) of the signals, and inhibit interference, noise or uninteresting signals. Unlike the general signal processing method, the array signal processing is also called spatial domain signal processing because the signal spatial domain characteristics are used to enhance the signal and effectively extract the signal spatial domain information by using the sensor group arranged at different positions in space in a certain way. The array signal processing takes a space propagation wave carrying signal (spatial filtering) as a research object, and mainly has two research directions: adaptive spatial filtering (adaptive array processing) and spatial spectrum estimation (estimating spatial parameters of the signal or source position).
With the development of integrated circuits and digital technology, it becomes possible to implement the processing of array signals by digital signals. The digital beam forming technology compensates the amplitude and phase difference of signals between different receiving channels in a digital mode, and realizes spatial filtering after digital multipath synthesis. However, due to the inconsistency between the antenna elements, such as position error, signal transmission channel response inconsistency, and non-ideal antenna pattern, the actual performance of the classical anti-interference algorithm is degraded.
In the satellite navigation system, the service quality of the satellite navigation system is directly determined by indexes such as the directivity, the polarization characteristic, the working bandwidth characteristic, the phase stability and the like of an antenna. Currently, in a global navigation satellite system, signals transmitted by navigation satellites often include navigation signals of multiple frequency points. When satellite signals reach the ground from a satellite, the signal power is already lower than the thermal noise power, so that a satellite navigation system is extremely easy to be interfered intentionally or unintentionally, and the anti-interference performance is an important performance index of the design of a satellite navigation receiver. Due to the lack of extraction of signal space domain characteristics, a general navigation receiver can only suppress a small amount of narrow-band interference and lacks the suppression capability of broadband or a large amount of narrow-band interference. Therefore, the array processing anti-interference algorithm based on the multi-array element antenna is applied to a satellite navigation receiver system, and interference signals of types such as broadband interference, multi-narrow-band interference and the like are suppressed by using spatial domain information.
With the development of navigation systems and the improvement of navigation technologies, the requirements of some applications on navigation positioning accuracy also evolve from meter level to centimeter level and even millimeter level. The single-point positioning based on the satellite navigation system calculates the coordinate position of an antenna phase center in a geocentric geostationary coordinate system through a pseudo code phase of a navigation satellite signal measured by a navigation receiver according to the linear propagation and geometric intersection principle of the navigation satellite signal. Due to the influence of transmission media such as an ionosphere and a troposphere on the transmission of a navigation satellite signal, a measurement error of a pseudo code phase of the navigation satellite signal is brought, so that the accuracy of single-point positioning may be deteriorated to 10m, and the accuracy requirements of applications such as direction finding/attitude determination, aircraft landing/landing guidance and the like cannot be met. Compared with the measurement of the pseudo code phase, the measurement precision of the carrier phase can be improved by 1 to 2 orders of magnitude, and the precision of relative positioning is improved to a centimeter or even millimeter level by utilizing the high-precision measurement of the carrier phase and the differential satellite navigation technology for eliminating common-mode errors, so that the method becomes a key technology for direction finding/attitude measuring, aircraft landing/landing guidance and the like.
The phase calibration data of the navigation satellite multi-array element antenna is necessary data for accurately controlling the multi-array element antenna to output a navigation satellite signal phase center in high-precision carrier phase difference relative positioning, and is also helpful for improving the signal-to-noise ratio of a navigation satellite signal through digital beam forming. In the prior art, after a system application scene and a system of the automatic calibration and test system of the navigation satellite multi-array element antenna are installed on a carrier platform, due to a carrier environment reflector, a multi-array element antenna actually receives satellite signals and is superposed with main path signals and other reflection path signals, so that the multi-array element antenna generates changes to signal phase responses in the satellite direction. The array manifold vector formed by actual phase response of each antenna element of the multi-element antenna is different from the main path array manifold vector measured in a darkroom. This can result in the failure of the digital beamforming based on the geometric wave-path difference array manifold vector or the darkroom array manifold vector to reach the theoretical performance, or even the failure of the algorithm. More importantly, the precise control of the phase of the signal in the designated direction cannot be realized. Finally, through digital beam forming of the multi-array element antenna of the navigation satellite, the equivalent phase center of the multi-array element antenna cannot be stabilized. Because one satellite can only measure the array manifold vector in one incident direction, and a great deal of waiting time is needed when the geometry of the satellite is changed enough, how to quickly calibrate the multi-array element antenna in the field is a key problem to be solved urgently. When the traditional array processing algorithm is applied to a satellite navigation system for anti-interference processing, the code phase and the carrier phase of a navigation satellite signal are inevitably influenced, and the phase information of the navigation satellite signal is closely related to the position relation, so that the positioning and time service function of a receiving system can be directly influenced. Because the non-omnidirectional characteristic of the antenna and the inconsistency of the channels can cause damage to the phase information of the navigation satellite signals, the inaccurate antenna array guiding vector can cause that the array signal processing cannot be controlled, the phase deviation brought to specific satellite signals is caused, and the optimal signal-to-noise ratio gain is obtained. Therefore, performing corresponding phase calibration on the antenna is a key for ensuring system performance, and how to quickly and automatically acquire antenna phase calibration data has a very important meaning. If the existing antenna structure is changed and the function is failed, the automatic calibration and test system can quickly detect and repair the failed antenna by updating the antenna phase calibration data.
Disclosure of Invention
The task of the invention is to provide an automatic test system which can save hardware resources, has the characteristic of portability and can quickly and automatically measure the array manifold vector of the multi-element antenna of the navigation satellite aiming at the defects in the prior art.
The second purpose of the invention is to combine darkroom measurement of the multi-array element antenna to quickly acquire the manifold vector data of the on-site calibration array thereof when the high-precision positioning navigation satellite multi-array element antenna leaves the factory.
The third purpose of the invention is to detect the fault of the navigation satellite multi-array element antenna with abnormal function, quickly detect the environmental consistency and the consistency among the multi-array elements of the multi-array element antenna and realize fault detection and fault repair. Repair of a failed antenna is achieved by updating the antenna phase calibration data, where possible.
The above object of the present invention can be achieved by the following means. An automatic calibration test system for a navigation satellite multi-array element antenna comprises: the system is characterized in that the reference multi-array element antenna receives navigation satellite signals, carrier environment reflector signals thereof and ray model array flow of the multi-array element antenna to be tested, the miniaturized test platform starts from a ray model, takes the satellite signals as a calibration source, measures the phase response and carrier noise ratio of each array element channel of the reference multi-array element antenna to the navigation satellite signals incident in different directions, runs pre-programmed calibration software through a built-in controller, analyzes the reason that the field array manifold and the darkroom array manifold are inconsistent through an automatic calibration and test software module, introduces and derives the darkroom measurement data of the multi-array element antenna, automatically measures the field array manifold vector of the multi-array element antenna, calculates the mapping data between the field array manifold vector and the darkroom measurement data and the field array manifold vector directly synthesized and output by the multi-array element antenna to be tested, quickly generates the to-be-tested multi-array antenna data, and establishes the mapping between the environment of the carrier platform and the field array element antenna array antenna to be tested and the darkroom measurement data; the test system calculates the multipath coefficient vectors of all satellite signal incidence directions corresponding to the carrier platform, the field array manifold vectors of the multi-array element antenna to be tested and the beam directions generated by the actual antenna by using a sparse optimization method and combining darkroom measurement data of the reference multi-array element antenna; the test system directly measures the field array manifold vector of the multi-array element antenna to be tested, converts the field array manifold vector of the multi-array element antenna to be tested by combining darkroom data of the multi-array element antenna to be tested according to the multipath coefficient vector of the reference multi-array element antenna, detects the environmental consistency, the consistency among the multi-array elements and the phase position in the fault and wave beam control of the multi-array element antenna to be tested, judges and compares the consistency between the multi-array element antenna to be tested and the reference multi-array element antenna or the consistency of satellite signal carrier-to-noise ratios received among the array elements, confirms whether the multi-array element antenna to be tested is in fault or not, checks the fault of the multi-array element antenna to be tested, updates the phase calibration data of the multi-array element antenna to be tested, repairs the fault of the multi-array element antenna to be tested, and directly synthesizes and outputs the field array manifold vector of the multi-array element antenna to be tested.
Compared with the prior art, the invention has the following beneficial effects:
hardware resources are saved. The invention starts from a ray model, analyzes the reason that the field array manifold is not consistent with the darkroom array manifold, and provides an automatic test and calibration system for realizing the multi-array-element antenna field array manifold vector measurement by solving the mapping between the darkroom measurement and the field measurement. In an actual use environment, after the reference multi-array element antenna is deployed on site, a real satellite signal is used as a calibration source, and the establishment of an additional calibration source signal is avoided. The method comprises the steps of connecting a miniaturized test board arranged on an actual carrier platform through related cables, connecting a reference multi-array-element antenna and a multi-array-element antenna to be tested which are arranged on the miniaturized test board through related cables, using the miniaturized test board with a built-in controller, operating pre-programmed calibration software to realize the leading-in and leading-out of darkroom measurement data of the multi-array-element antenna, automatically measuring a field array manifold vector of the multi-array-element antenna, performing mapping calculation between the field array manifold vector and the darkroom measurement data, and directly synthesizing and outputting the field array manifold vector of the multi-array-element antenna to be tested, receiving a multichannel real navigation satellite signal through a multichannel digital receiver, and realizing the measurement of the field array manifold vector in the satellite signal incidence direction.
The automatic antenna calibration efficiency is high. The method comprises the steps of receiving real navigation satellite signals, measuring phase response and carrier-to-noise ratio of each array element channel of the reference multi-array-element antenna to navigation satellite signals incident in different directions, and running pre-programmed calibration software through a built-in controller to quickly generate field calibration data of the multi-array-element antenna to be tested. The method is combined with darkroom measurement of the multi-array element antenna to quickly acquire the on-site calibration array manifold vector data, the environment of the carrier platform and the mapping between the darkroom measurement data of the navigation multi-array element antenna and the on-site array manifold response are established, the on-site array manifold vector of the multi-array element antenna to be tested and the multipath coefficient vectors of the carrier platform corresponding to all satellite signal incidence directions can be directly calculated, the geometric change of a satellite to be tested does not need to be equally measured when the antenna is measured every time, the detection time is greatly reduced, and the automatic calibration and the automatic test that all radiation characteristics of the multi-array element antenna of the navigation satellite are consistent with the design value are realized. Therefore, other a priori knowledge does not need to be introduced, and the measurement frequency is reduced, and the measurement accuracy is improved.
The device has fault detection capability. The method adopts the technical scheme that the field array manifold vector of the multi-array element antenna to be detected is directly measured, the field array manifold vector of the multi-array element antenna to be detected is converted by combining darkroom data of the multi-array element antenna to be detected according to the multipath coefficient vector of a reference multi-array element antenna, the fault and the phase in wave beam control are detected, the consistency between the multi-array element antenna to be detected and the reference multi-array element antenna or the consistency of the carrier-to-noise ratio of satellite signals received between the array elements is judged and compared, whether the multi-array element antenna to be detected is faulty or not is confirmed, the fault of a unit is diagnosed, possible antenna faults are detected, the fault of the multi-array element antenna to be detected is checked, the phase calibration data of the multi-array element antenna to be detected is updated, the phase calibration data of the multi-array element antenna to be detected are repaired, the fault detection is carried out on the multi-array element antenna of the navigation satellite with abnormal functions, the repair of the faulty antenna is realized by updating the phase calibration data of the multi-array element antenna to be detected, and more information than the common far field measurement can be obtained by using less workload.
Has the characteristic of portability. The test system is composed of related cables, a miniaturized test board and a reference multi-array element antenna, and is simple in composition. For a typical multi-array element array antenna with 4 array elements or 7 array elements and standard size, when the array elements are arranged at half-wavelength intervals, the typical size of the array surface is 20-30 cm, and the corresponding 7-channel radio frequency front end does not exceed the size of the array surface. In fact, one of the goals of the test calibration system in design and manufacture is to be portable, and the corresponding navigation satellite multi-element antenna can be measured on a plurality of different carrier platforms without modification.
The method is suitable for field detection and diagnosis of the navigation satellite multi-array element antenna. The invention starts from a ray model, analyzes the reason of the inconsistency of the field array manifold and the darkroom array manifold, quickly detects the environmental consistency and the consistency among the multi-array element antenna, realizes the automatic test and calibration of the multi-array element antenna field array manifold vector measurement by solving the mapping between the darkroom measurement and the field measurement, and realizes the fault detection and the fault repair by updating the test data. The method can also be used for rapidly detecting and repairing the fault antenna by updating the antenna phase calibration data by using a set of automatic calibration and test system, and is suitable for calibration and troubleshooting of a navigation satellite signal receiving multi-array element antenna with strong anti-interference capability in precise relative positioning application based on carrier phase measurement.
The invention starts from a ray model, analyzes the reason that the field array manifold is inconsistent with the darkroom array manifold, and realizes the automatic test and calibration of the multi-array-element antenna field array manifold vector measurement by solving the mapping between the darkroom measurement and the field measurement.
Drawings
The invention is further illustrated in the following description with reference to the figures and examples, but the invention is not limited thereby within the scope of the examples described.
FIG. 1 is a schematic diagram of an automatic calibration test system for a multi-element antenna of a navigational satellite according to the present invention.
Fig. 2 is a signal flow diagram of fig. 1.
Fig. 3 is a schematic diagram of the calibration and test process flow of fig. 1.
Detailed Description
See fig. 1. In the embodiments described below, an automatic calibration test system for a multi-element antenna of a navigation satellite comprises: and the miniature test board, the reference multi-array element antenna and the multi-array element antenna to be tested are arranged on the miniature test board through related cables. The miniaturized test board comprises a multi-channel radio frequency front end connected with a multi-array element antenna radio frequency signal and a multi-channel digital receiver for independently measuring the carrier phase and the carrier-to-noise ratio of each channel satellite signal. And the compact size characteristics of the miniaturized test bench make it conveniently integrate into a variety of possible mounting carrier platforms. The reference multi-array element antenna is a multi-array element antenna which has normal functions, darkroom measurement data and field measurement data and is used for comparison.
The method comprises the steps that a reference multi-array-element antenna receives navigation satellite signals, carrier environment reflector signals of the navigation satellite signals and a ray model array manifold of the multi-array-element antenna to be detected, a miniaturized test bench starts from a ray model, the satellite signals are used as calibration sources, phase response and carrier-to-noise ratio of each array-element channel of the reference multi-array-element antenna to navigation satellite signals incident in different directions are measured, calibration software which is pre-programmed is operated through a built-in controller, the reason that the field array manifold and the darkroom array manifold are inconsistent is analyzed, darkroom measurement data of the multi-array-element antenna are led in and led out, the field array manifold vector of the multi-array-element antenna is automatically measured, the mapping data between the field array manifold vector and the darkroom measurement data and the field array manifold vector which is directly synthesized and output by the multi-array-element antenna to be detected are calculated, the field calibration data of the multi-array-element antenna to be detected are quickly generated, mapping between the carrier platform environment, the darkroom measurement data of the navigation multi-array-element antenna and the field array manifold antenna to be detected is established, the mapping between the field array manifold antenna array vector and the field array manifold antenna array vector to be detected is calculated by combining the sparse optimization method, and the incidence vector of the multi-array antenna to be detected, and the actual multi-array antenna to be detected is calculated, and the multi-array antenna to be detected; the method comprises the steps of directly measuring a field array manifold vector of a multi-array element antenna to be detected, converting the field array manifold vector of the multi-array element antenna to be detected by combining darkroom data of a reference multi-array element antenna according to a multipath coefficient vector of the reference multi-array element antenna, detecting the environmental consistency, the consistency among the multi-array elements and the phase in the fault and wave beam control of the multi-array element antenna to be detected, judging and comparing the consistency between the multi-array element antenna to be detected and the reference multi-array element antenna or the consistency of satellite signal carrier-to-noise ratios received among the array elements, confirming whether the multi-array element antenna to be detected is in fault or not, checking the fault of the multi-array element antenna to be detected, updating phase calibration data of the multi-array element antenna to be detected, repairing the fault of the multi-array element antenna to be detected, and directly synthesizing and outputting the field array manifold antenna to be detected.
During specific implementation, the miniaturized test platform is installed on an actual carrier platform, the reference multi-array element antenna is installed on the miniaturized test platform, relative fixation between the attitude of the reference multi-array element antenna and the attitude of the carrier platform is determined, and phase response and carrier-to-noise ratio of each array element channel of the reference multi-array element antenna to navigation satellite signals incident in different directions are measured by receiving real navigation satellite signals. Secondly, the test system calculates the multipath coefficient vectors of the carrier platform corresponding to all satellite signal incidence directions by combining the darkroom measurement data of the reference multi-array element antenna according to the sparse optimization method. Finally, the test system judges whether the darkroom has measurement data according to the actual condition of the multi-array element antenna to be tested, if so, the field array manifold vector of the multi-array element antenna to be tested is converted according to the multipath coefficient vector of the reference multi-array element antenna and the darkroom data of the multi-array element antenna to be tested; if no darkroom measurement data exists, the multi-array element antenna to be measured is installed on a miniaturized test bench, and the on-site array manifold vector and the satellite signal carrier-to-noise ratio of each array element channel are directly measured. When array element antenna is whether trouble, can go on through the uniformity that contrasts between the multi-array element antenna that awaits measuring and the multi-array element antenna of reference, also can judge through the uniformity that contrasts the satellite signal carrier-to-noise ratio of receiving between each array element. If the field array manifold vector obtained by the measurement of the multi-array element antenna to be measured and the array manifold vector obtained by converting the darkroom measurement data through the multipath coefficient vector have larger difference, the actual array response of the multi-array element antenna to be measured and the data obtained by the initial darkroom measurement are changed. On the other hand, if there is a great difference in the carrier-to-noise ratios of the satellite signals received by the plurality of array elements, it indicates that there is damage to the array element corresponding to the channel with a carrier-to-noise ratio lower than the typical value. In any case, when the array response of the multi-array element antenna to be detected changes, the fault of the multi-array element antenna to be detected can be repaired by re-measuring the real satellite signals through the automatic calibration and test system.
See fig. 2. After the navigation satellite signal reaches the array surface of the multi-array element antenna, the Radio signal is converted into a multi-channel Radio Frequency (RF) signal through the antenna, and the RF signal enters a multi-channel RF front end in the miniaturized test board through a connecting cable. In the multichannel radio Frequency front end, radio Frequency signals RF generated by navigation satellite signals are converted into Intermediate Frequency Analog Frequency (IF) signals through conditioning operations such as amplification, filtering, frequency mixing and the like, the IF signals are converted into Digital signals through an Analog Digital Converter (ADC), digital signals of different channels are conditioned through optional Digital domain signals such as filtering, conversion and the like, and then sent to a multichannel Digital receiver, and the multichannel Digital receiver is responsible for capturing, tracking and measuring the signals of the different channels and outputting observed quantities such as carrier phases, carrier-to-noise ratios and the like of specified satellites. The automatic calibration and test software can interact with the multi-channel digital receiver, supports the import and export of darkroom measurement data, and realizes the automation of the whole test process. Another problem to be solved is that the consistency between multiple channels of the multi-channel rf front end of the miniaturized test platform itself needs to be calibrated in advance, so the module running the automatic calibration and test software can also generate a calibration signal for this purpose, for example, a single tone calibration signal with the same frequency as the navigation satellite signal can be transmitted, after passing through the calibration signal distribution network built in the rf front end, the calibration IF signal is received, and the amplitude consistency between channels is calculated through related operations. The automatic calibration and test software module interacts with the multi-channel digital receiver, supports the import and export of darkroom measurement data, receives calibration IF signals after calibration signals generated by the automatic calibration and test software module pass through a calibration signal distribution network built in a radio frequency front end, calculates the amplitude-phase consistency among channels through related operations, and realizes the automation of the whole test process.
Darkroom array manifold data a ref (theta, phi) and field array manifold vector a ref-field Mapping between (theta, phi)
Is uniquely characterized by a coefficient vector c (θ, φ), specifically:
the coefficient vector c (theta, phi) is consistent when the reference antenna and the antenna to be tested are consistent due to the consistency of the environment. Thus, by consistency of the mapping, a transformation of the darkroom array manifold vector and the field array manifold vector can be achieved. When the darkroom data and the field array manifold vector data of the reference array antenna are known, the coefficient vector c (theta, phi) can be obtained and is consistent with the coefficient vector c (theta, phi) obtained by the array antenna to be detected, and the consistency detection can be used for judging the fault of the antenna to be detected.
And mapping the ray model array manifold vector into an array manifold vector measured in a darkroom, a field measurement array manifold vector and a data mapping relation between the reference multi-array element antenna and the multi-array element antenna to be measured. For the convenience of algorithm derivation, according to the data mapping relation between the reference multi-array element antenna and the multi-array element antenna to be tested, an ideal array formed by omnidirectional antennas is assumed, when an incident electromagnetic signal is incident from a pitch and an azimuth (theta, phi), an array manifold vector formed by phase difference caused by wave path difference is equal to that of the omnidirectional antenna formed by the reference multi-array element antenna and the multi-array element antenna to be tested
Wherein theta is a pitch angle, phi is an azimuth angle, superscript T represents vector transposition, e represents a natural constant, lambda represents carrier wavelength, and p represents carrier wavelength i And the position vector of the ith array element is shown, N is the number of the position vectors of the array elements, and u is the unit direction vector of the incident electromagnetic signal. The pitch angle theta and the azimuth angle phi are (theta) 0 ,φ 0 ) After the satellite signal of direction incidence arrives at the carrier platform, K reflection paths are generated to be superposed at the position of a wave front because of the existence of the environmental reflection object near the carrier platform, and the final received signal array manifold vector of the navigation satellite multi-array element antenna is expressed as
Where, a represents the array manifold vector,
c is the attenuation coefficient of the kth reflection path including the variation of amplitude and phase, theta k ,φ k Representing pitch and azimuth, respectively. In practice, the omni-directional antenna main path array manifold vector a (θ, φ) can be measured from a darkroom, and the field array manifold vector of signals from all paths after the synthesis of the wave fronts can be measured by a miniaturized test bench; but the multipath components and multipath coefficients resulting from the carrier environment reflections are unknown. The problem to be solved is: known main path array manifold vector a (of reference multi-element antenna)Theta, phi), knowing the field array manifold a for a particular satellite orientation F (θ, φ), a coefficient vector is calculated. />
Claims (10)
1. An automatic calibration test system for a navigation satellite multi-array element antenna comprises: the system is characterized in that the reference multi-array element antenna receives navigation satellite signals, carrier environment reflector signals thereof and ray model array manifold of the multi-array element antenna to be tested, the miniaturized test platform starts from a ray model, takes the satellite signals as a calibration source, measures the phase response and carrier noise ratio of each array element channel of the reference multi-array element antenna to the navigation satellite signals incident in different directions, runs pre-programmed calibration software through a built-in controller, analyzes the reason that the field array manifold and the darkroom array manifold are inconsistent through an automatic calibration and test software module, introduces and exports darkroom measurement data of the multi-array element antenna, automatically measures the field array manifold vector of the multi-array element antenna, calculates the mapping data between the field array manifold vector and the darkroom measurement data and the field array manifold vector directly synthesized and output by the multi-array antenna to be tested, quickly generates the multi-array antenna to be tested, and establishes the mapping data between the environment of the reference multi-array element antenna and the darkroom array manifold antenna to be tested and the field array manifold antenna to be tested; the test system calculates the multipath coefficient vectors of all satellite signal incidence directions corresponding to the carrier platform, the field array manifold vectors of the multi-array element antenna to be tested and the beam directions generated by the actual antenna by using a sparse optimization method and combining darkroom measurement data of the reference multi-array element antenna; the test system directly measures the field array manifold vector of the multi-array element antenna to be tested, converts the field array manifold vector of the multi-array element antenna to be tested by combining darkroom data of the multi-array element antenna to be tested according to the multipath coefficient vector of the reference multi-array element antenna, detects the environmental consistency, the consistency among the multi-array elements and the phase position in the fault and wave beam control of the multi-array element antenna to be tested, judges and compares the consistency between the multi-array element antenna to be tested and the reference multi-array element antenna or the consistency of satellite signal carrier-to-noise ratios received among the array elements, confirms whether the multi-array element antenna to be tested is in fault or not, checks the fault of the multi-array element antenna to be tested, updates the phase calibration data of the multi-array element antenna to be tested, repairs the fault of the multi-array element antenna to be tested, and directly synthesizes and outputs the field array manifold vector of the multi-array element antenna to be tested.
2. The system of claim 1, wherein the system comprises: firstly, determining that the attitude of the reference multi-array element antenna and the attitude of the carrier platform are relatively fixed, measuring the phase response and the carrier-to-noise ratio of each array element channel of the reference multi-array element antenna to the navigation satellite signals incident in different directions by receiving real navigation satellite signals, and secondly, calculating the multipath coefficient vector of the carrier platform corresponding to the incident directions of all the satellite signals by the test system according to the sparse optimization method and by combining darkroom measurement data of the reference multi-array element antenna.
3. The system of claim 2, wherein the system comprises: the test system judges whether the darkroom has measurement data according to the actual condition of the multi-array element antenna to be tested, if so, the field array manifold vector of the multi-array element antenna to be tested is converted according to the multipath coefficient vector of the reference multi-array element antenna and the darkroom data of the multi-array element antenna to be tested; if no darkroom measurement data exists, the multi-array element antenna to be measured is installed on a miniaturized test bench, and the on-site array manifold vector and the satellite signal carrier-to-noise ratio of each array element channel are directly measured.
4. The system of claim 3, wherein the system comprises: when judging whether the multi-array element antenna to be tested breaks down through the test system, judging through the consistency between the multi-array element antenna to be tested and the reference multi-array element antenna, or judging through the consistency of satellite signal carrier-to-noise ratios received among all array elements, when the array response of the multi-array element antenna to be tested changes, all redetermining through real satellite signals, and completing the repair of the faults of the multi-array element antenna to be tested.
5. The system of claim 1, wherein the system comprises: after the navigation satellite signal reaches the array surface of the multi-array element antenna, the radio signal is converted into a multi-channel radio frequency signal through the antenna, and the radio frequency signal RF enters the multi-channel radio frequency front end of the miniaturized test board through the connecting cable.
6. The automatic calibration and test system for the multiple-element antenna of the navigational satellite according to claim 5, wherein: in the multichannel radio frequency front end, radio frequency signals RF generated by navigation satellite signals are converted into intermediate frequency analog IF signals through amplification, filtering and mixing conditioning operations, the IF signals are converted into digital signals through an analog-to-digital converter (ADC), the digital signals of different channels are conditioned through digital domain signals and then sent to a multichannel digital receiver, and the multichannel digital receiver is responsible for capturing, tracking and measuring the signals of the different channels and outputting observed quantities of carrier phases and carrier-to-noise ratios of specified satellites.
7. The system of claim 6, wherein: the automatic calibration and test software module interacts with the multi-channel digital receiver, the introduction and the export of darkroom measurement data are supported, calibration signals generated by the automatic calibration and test software module receive calibration intermediate frequency analog IF signals after passing through a calibration signal distribution network built in the radio frequency front end, and the automation of the whole test process is realized by operating and calculating the amplitude-phase consistency between channels.
8. The system of claim 1, wherein: when an incident electromagnetic signal is incident from a pitch and an azimuth, on the reference multi-array element antenna and the multi-array element antenna to be tested, an array manifold vector formed by phase differences caused by wave path differences is
i＝1,…,N,
Wherein theta is a pitch angle, phi is an azimuth angle, superscript T represents vector transposition, e represents a natural constant, lambda represents carrier wavelength, and p represents carrier wavelength i And the position vector of the ith array element is shown, N is the number of the position vectors of the array elements, and u is the unit direction vector of the incident electromagnetic signal.
9. The system of claim 1, wherein: pitch angle, azimuth angle and 0 ,φ 0 ) After the satellite signal of direction incidence arrives carrier platform, produce K reflection footpaths and superpose at the position of wavefront, the final received signal array manifold vector of navigation satellite multi-array element antenna is then expressed as
Wherein a denotes an array manifold vector, ->
C is the kth reflection path attenuation coefficient including the amplitude and phase variations.
10. The system of claim 8, wherein: for a given multi-element antenna, array manifold vectors of the antenna for incident signals in any direction are measured in a darkroom, and an array manifold dictionary A is constructed d Based on the known array manifold vector a (theta, phi) of the reference multi-element antenna and the received signal array manifold vector a F (θ 0 ,φ 0 ) The following matrix equation is obtained: a is F (θ 0 ,φ 0 )＝A d c (theta, phi), wherein c (theta, phi) is corresponding to A d The coefficient vector of (2).
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