CN109631945A - A kind of telemetry ground station direction Calibration Method - Google Patents
A kind of telemetry ground station direction Calibration Method Download PDFInfo
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- CN109631945A CN109631945A CN201811533588.1A CN201811533588A CN109631945A CN 109631945 A CN109631945 A CN 109631945A CN 201811533588 A CN201811533588 A CN 201811533588A CN 109631945 A CN109631945 A CN 109631945A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
A kind of telemetry ground station of the present invention is directed toward Calibration Method.Maximum tracking is carried out first with the received solar radiation power of antenna, then the angle using the sun under the coordinate system of northeast day is converted antenna directional angle to northeast day coordinate system by measurement coordinate system, direction vector structure sweep vector using the calibration moment sun relative to tracking telemetry and command station, and then it controls antenna and carries out conical scanning, calculating is iterated by the solar radiation power coefficient of variation, obtain the direction drift correction value in respective scanned period, and amendment is iterated to antenna direction, it finally repeats the above process to obtain multiple groups calculated value in different moments, equation group is constructed using antenna pointing error correction model, the multiple parameters in the error correction model are obtained by minimizing parameter fitness method, when subsequent every secondary antenna is directed toward, the angu-lar deviation that the error correction model calculates is the direction deviation of antenna.
Description
Technical field
The present invention relates to a kind of telemetry ground stations to be directed toward Calibration Method, suitable for small telemetry ground station antenna pointing error
Quick high accuracy calibration.
Background technique
In recent years, the development of telemetry ground station enters the commercialization stage, minimizes, the Commercial Earth Station of mobile starts
It is increasingly subject to the attention of researcher.Earth station in construction and use process, require to carry out various systematic errors calibration and
Amendment, to keep the telemetering performance of system.The antenna of telemetry ground station is directed toward the important component that calibration is earth station's calibration,
Traditional antenna is directed toward calibration and generallys use calibration tower method and radio star method, but both methods is for miniaturization, mobility
There is intrinsic application difficult in strong Commercial Earth Station.Calibration tower method needs to build calibration tower near earth station as calibration
Benchmark can not adapt to the mobility requirement of Commercial Earth Station.Radio star method using the electric signal that radio star issues as calibration source,
But the electric signal power that radio star is radiated is smaller, has higher requirements to the size and gain performance of earth station antenna, no
Adapt to the application demand of Commercial Earth Station miniaturization.
In view of the mobility demand of Commercial Earth Station, no tower beacon calibration method is the optimal selection for realizing its calibration function.
The calibration of solar radiation source is a kind of typically without tower beacon calibration method, it realizes and be directed toward to antenna using position of sun as benchmark
Error calibration.The radiant power in solar radiation source is much higher than radio star, it is thus possible to be suitable for smaller, gain factor more
Low small-scale terrestrial station antenna.But there are certain inherent shortcomings for traditional solar radiation source calibration, essentially consist in sun phase
There is a certain size angle diameter to the antenna on ground, be not ideal point source, cause antenna difficult during being directed toward calibration
To be accurately aligned with solar core.The angle diameter size of the sun directly affects the precision of Antenna Calibration, limits the Calibration Method
Practical application.
Summary of the invention
Present invention solves the technical problem that: in place of overcome the deficiencies in the prior art, a kind of small-scale terrestrial telemetry station is provided and is referred to
To the new method of calibration, this method overcomes solar angle diameter to antenna mark by way of carrying out conical scanning to solar radiation source
The quick high accuracy calibration to small commercial earth station antenna error in pointing is realized in the influence of school precision.
A kind of technical solution of the invention: telemetry ground station direction Calibration Method, including the following steps:
(1) maximum tracking strategy is used, antenna bearingt pitch axis is driven, Step wise approximation solar radiation power maximum goes out
Existing direction, when antenna tracking is stablized, record current antenna azimuth pitch is directed toward angle；
(2) it obtains record and is directed toward angle moment solar core under " east-north-day " coordinate system with respect to the azimuth pitch of earth station
Angle, while antenna directional angle when tenacious tracking is modified to the value, which is denoted as antenna and is directed toward from measurement coordinate system to northeast
The coordinate transform of its coordinate system；
(3) direction angle (A of the calibration moment sun with respect to earth station under the coordinate system of northeast day is obtainedc, Ec), calculate direction
Vector r0, conical scanning cone angle gamma is set, antenna conical scanning vector r is calculateds, according to rsCoordinate components calculate antenna not
Orientation angle in the same time controls antenna around r0Carry out conical scanning；
(4) after each scan period, according to antenna, received radiant power calculates coefficient of variation f within the period,
The cone angle deviation delta gamma of antenna scanning is calculated according to the coefficient simultaneously, and then it is inclined to calculate the direction that antenna was directed toward within the period
Difference is denoted as (Δ As, Δ Es), current antenna is directed toward and carries out angle modification；
(5) when coefficient of variation f is greater than the set value, step (3), (4) are repeated, when coefficient of variation f is less than or equal to setting value
When, the end of scan, antenna is directed toward total correction amount (∑ Δ A during calculating thiss, ∑ Δ Es)；
(6) multiple calibration moment are chosen in one day, each moment the correction value clear 0 in step (5), repeats to walk
Suddenly (3)~(5), obtain multiple groups correction value, construct equation group then in conjunction with antenna pointing error correction model, are joined by minimizing
Number approximating method solves relevant parameter, and subsequent antenna direction is modified according to antenna pointing error model.
Maximum tracking strategy in the step (1) specifically: using the received solar radiation power of antenna as antenna
Foundation is tracked, driving antenna is mobile to solar radiation power maximum value, when the received solar radiation power of antenna is in maximum value
When, antenna keeps dynamic stability tracking.
When the step (2) carries out the transformation of antenna point coordinates, the random error of solar radiation is not considered, that is, thinks antenna
When the radiant power maximum received, antenna is directed toward solar core.
Angle modification method in the step (2) is
Adbt=Acl+ΔA0
Edbt=Ecl+ΔE0
(Adbt, Edbt) it is the azimuth pitch angle that current antenna is directed toward under the coordinate system of northeast day, (Acl, Ecl) it is to work as the day before yesterday
Line is directed toward the antenna in the case where measuring coordinate system and is directed toward, (Δ A0, Δ E0) be coordinate conversion in angle correction.
In the step (3), angle (A of the solar core with respect to earth station under the coordinate system of northeast dayc, Ec) pass through STK
Software obtains, corresponding direction vector
r0=(cosEcsinAc,cosEccosAc,sinEc)。
Sweep vector in the step (3)
r1=((cos (Ec+γ)-cosγcosEc)sinAc,(cos(Ec+γ)-cosγcosEc)cosAc,sin(Ec+
γ)-cosγsinEc) r2=r1×r0；
Wherein γ is scanning cone angle, and T is scan period, rsFor sweep vector, r1、r2To be directed toward in vertical plane with antenna
A pair of orthogonal vector.
The coefficient of variation of antenna received radiation power in the step (4)
In formula, T is the scan period, and P (t) is the radiant power that antenna receives.
When cone angle deviation delta gamma in the step (4) is less than the 1/5 of entire antenna beam width, cone angle deviation delta gamma and change
Different coefficient f is in monotonic increase proportionate relationship, and proportionality coefficient need to be surveyed according to real system.
Antenna is directed toward deviation (the Δ A within the period in the step (4)s, Δ Es) obtained by following formula
Wherein (An, En) it is that antenna receives power maximum moment corresponding azimuth pitch angle in the single scan period.
The antenna pointing error correction model of the step (6) is
∑ΔAs=A0+θmsin(Ac-Am)tan(Ec)+ξtan(Ec)
∑ΔEs=E0+θmcos(Ac-Am)
Wherein A0、E0、θm、Am, ξ be antenna pointing error correction model parameter, A0、E0For the revised zero of coordinate transform
Error, θmIndicate the most very much not horizontal angle of antenna deep bid, AmFor antenna pedestal, most very much not azimuth locating for horizontal angle, ξ are below day
The non-orthogonal degree of position axis and pitch axis.
The advantages of present invention is relative to other technologies:
(1) there is tower beacon calibration method relative to traditional, the present invention is using position of sun as calibration benchmark, position that should not be additional
Measuring device is set, calibration process is simple and direct, reduces manpower and material resources；
(2) relative to radio star Calibration Method, the radiant power of the sun is high, to the gain performance of antenna system require compared with
It is low, small-sized earth station antenna calibration can be suitable for；
(3) it relative to conventional sun Calibration Method, takes conical scanning method to carry out Angle Calibration radiation source, solves
Solar radiation source is not ideal point source problem, improves calibration precision.
Detailed description of the invention
Fig. 1 is the execution process of the method for the invention
Fig. 2 is antenna point coordinates transformation schematic diagram
Fig. 3 is antenna around sun conical scanning schematic diagram
Fig. 4 is direction vector and azimuth pitch angle conversion schematic diagram
Fig. 5 is that antenna scanning vector calculates schematic diagram
Specific embodiment
As shown in Figure 1, a kind of telemetry ground station is directed toward Calibration Method, including the following steps:
(1) maximum tracking strategy is used, antenna bearingt pitch axis is driven, Step wise approximation solar radiation power maximum goes out
Existing direction, when antenna tracking is stablized, record current antenna azimuth pitch is directed toward angle；
(2) it obtains record and is directed toward angle moment solar core under " east-north-day " coordinate system with respect to the azimuth pitch of earth station
Angle, while antenna directional angle when tenacious tracking is modified to the value, which is denoted as antenna and is directed toward from measurement coordinate system to northeast
The coordinate transform of its coordinate system；
(3) direction angle (A of the calibration moment sun with respect to earth station under the coordinate system of northeast day is obtainedc, Ec), calculate direction
Vector r0, conical scanning cone angle gamma is set, antenna conical scanning vector r is calculateds, antenna is controlled around r0Carry out conical scanning；
(4) after each scan period, according to antenna, received radiant power calculates coefficient of variation f within the period,
The cone angle deviation delta gamma of antenna scanning is calculated according to the coefficient simultaneously, and then it is inclined to calculate the direction that antenna was directed toward within the period
Difference is denoted as (Δ As, Δ Es), current antenna is directed toward and carries out angle modification；
(5) when coefficient of variation f is greater than the set value, step (3), (4) are repeated, when coefficient of variation f is less than setting value, are swept
End is retouched, antenna is directed toward total correction amount (∑ Δ A during calculating thiss, ∑ Δ Es)；
(6) multiple calibration moment are chosen in one day, each moment the correction value clear 0 in step (5), repeats to walk
Suddenly (3)~(5), obtain multiple groups correction value, construct equation group then in conjunction with antenna pointing error correction model, are joined by minimizing
Number approximating method solves parameter, and subsequent antenna direction is modified according to antenna pointing error model.
In the step (1) maximum tracking refer to using the received solar radiation power of antenna as antenna tracking according to
According to, driving antenna is mobile to solar radiation power maximum value, when the received solar radiation power of antenna is in maximum value, antenna
Keep dynamic stability tracking.
When the step (2) carries out the transformation of antenna point coordinates, the random error of solar radiation is not considered, that is, thinks antenna
When the radiant power maximum received, antenna is directed toward solar core.
A kind of telemetry ground station is directed toward Calibration Method, it is characterised in that: the angle modification method of the step (2) is
Adbt=Acl+ΔA0
Edbt=Ecl+ΔE0
(Adbt, Edbt) it is the azimuth pitch angle that current antenna is directed toward under the coordinate system of northeast day, (Acl, Ecl) it is to work as the day before yesterday
Line is directed toward the antenna in the case where measuring coordinate system and is directed toward, (Δ A0, Δ E0) be coordinate conversion in angle correction.
As illustrated in fig. 2, it is assumed that current antenna bearing sense is 18 ° in the case where measuring coordinate system, it is 5 ° with position of sun angle,
Position of sun is 10 ° under the coordinate system of northeast day, is 23 ° in measurement coordinate system lower angle if antenna is directed toward the sun at this time,
Need to be modified to 10 ° under the coordinate system of northeast day, corresponding correction value is -13 °.
In the step (2), (3), angle (A of the solar core with respect to earth station under the coordinate system of northeast dayc, Ec) pass through
STK software obtains, the corresponding direction vector r of step (3)0As shown in figure 3, being computed can obtain
r0(x, y, z)=(cosEcsinAc,cosEccosAc,sinEc),
Ac、EcFor the azimuth pitch angle of the sun；It can be concluded that it is directed toward angle satisfaction with antenna bearingt pitching from direction vector
Following relationship
E=argsin (z)
A kind of telemetry ground station direction Calibration Method, it is characterised in that: the sweep vector in the step (3)
According to rsCoordinate components calculate antenna different moments orientation angle control antenna carry out conical scanning, wherein
γ is scanning cone angle, and T is scan period, rsFor sweep vector, r1、r2A pair of orthogonal to be directed toward in vertical plane with antenna is sweared
Amount.
Conical scanning vector and orthogonal vector r1、r2Construction method as shown in figure 4, direction vector r0It is bowing around origin
It faces upward direction and rotates γ and construct new vector rs', rs' endpoint n is to r0Make vertical line, obtains new vector r1, can be calculated
r1=((cos (Ec+γ)-cosγcosEc)sinAc,(cos(Ec+γ)-cosγcosEc)cosAc,sin(Ec+
γ)-cosγsinEc)
Then vector r is constructed2,
r2=r1×r0
And then the available sweep vector r with time correlations。
The coefficient of variation (the ratio of power standard difference and power average value of antenna received radiation power in the step (4)
Value)
In formula, T is the scan period, and P (t) is the radiant power that antenna receives.
A kind of telemetry ground station direction Calibration Method, it is characterised in that: the cone angle deviation delta gamma in the step (4) is smaller
When, it is in monotonic increase proportionate relationship with coefficient of variation f, proportionality coefficient need to be surveyed according to real system.
In the ideal case, f is the monotonic increasing function of Δ γ, and wherein Δ γ is conical scanning center vector and solar core
The angle of vector, and when Δ γ=0, f=0.It is moved by the conical scanning of antenna, is constantly iterated amendment, it is available
The coefficient of variation f of actual measuremente, according to above-mentioned formula, optimal Δ γ can be found.Theoretically Δ γ is exactly that day line-cone is swept
The angle of center position Yu solar core direction vector is retouched, that is, the error in pointing of antenna at this time.
As shown in figure 5, if antenna system absolutely not error in pointing, during conical scanning, antenna direction and the sun
The angle in center vector direction will be always γ, and it also will be steady state value that the antenna in scanning process, which receives power, at this time.If it
There are errors in pointing for linear system system, then being affected by errors, the center position that conical scanning is surrounded will be sweared with solar core
Measuring direction, there are angle Δ γ, it is contemplated that within the time of scan period T, the variation range of solar core vector sum sweep vector
It is all smaller, it is believed that the error in pointing of antenna system, is approximately constant error, that is, thinks that Δ γ is kept not within the scan period
Become.In the case, the angle γ of antenna direction and solar core vector will no longer keep permanent during conical scanning one week
It is fixed, but change in the range of γ+Δ γ, therefore the radiant power that antenna receives will also change at any time.
Antenna is directed toward deviation (the Δ A within the period in the step (4)s, Δ Es) obtained by following formula
Wherein (An, En) it is that antenna receives power maximum moment corresponding azimuth pitch angle in the single scan period.
The antenna pointing error correction model of the step (6) is
∑ΔAs=A0+θmsin(Ac-Am)tan(Ec)+ξtan(Ec)
∑ΔEs=E0+θmcos(Ac-Am)
Wherein A0、E0、θm、Am, ξ be antenna pointing error correction model parameter, A0、E0For the revised zero of coordinate transform
Error, θmIndicate the most very much not horizontal angle of antenna deep bid, AmFor antenna pedestal, most very much not azimuth locating for horizontal angle, ξ are below day
The non-orthogonal degree of position axis and pitch axis.
By obtaining multiple groups antenna pointing error angle in one day, carrying out parameter fitting by building equation group be can be obtained
Each parameter in antenna pointing error model, and then complete antenna and be directed toward amendment.
Inventive principle
The principle of solar radiation source calibration is similar with radio star Calibration Method, is all the position of heavenly body using radiation electric signal
As the benchmark for being directed toward calibration.The advantage of solar radiation source calibration is that the radiant power of the sun is much larger than radio star, therefore right
The gain performance requirement of antenna system is lower, can be suitable for small-sized earth station antenna calibration.The sun is relative to earth station day
Line has a certain size angle diameter, is not ideal point source, the main deficiency of traditional solar radiation source calibration is, adopts
Use solar core position as calibration benchmark, due to there is electric signal radiation within the scope of the diameter of angle, antenna can not be accurately right
Quasi- solar core causes the precision of calibration to be affected.
The power that antenna is received is directed toward the sensitive relations for having monotone decreasing with the angle of solar core vector to antenna.
Therefore, antenna can be referred to by the method realization for making antenna pointing direction carry out conical scanning around solar core direction vector
Measurement and compensation to error realize antenna to the accurate direction of solar core eventually by iterative algorithm.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (10)
1. a kind of telemetry ground station is directed toward Calibration Method, it is characterised in that include the following steps:
(1) maximum tracking strategy is used, antenna bearingt pitch axis is driven, what Step wise approximation solar radiation power maximum occurred
Direction, when antenna tracking is stablized, record current antenna azimuth pitch is directed toward angle；
(2) it obtains record and is directed toward angle moment solar core under " east-north-day " coordinate system with respect to the azimuth pitch angle of earth station,
Antenna directional angle when tenacious tracking is modified to the value simultaneously, which is denoted as antenna and is directed toward day seat from measurement coordinate system to northeast
Mark the coordinate transform of system；
(3) direction angle (A of the calibration moment sun with respect to earth station under the coordinate system of northeast day is obtainedc, Ec), calculate direction vector
r0, conical scanning cone angle gamma is set, antenna conical scanning vector r is calculateds, according to rsCoordinate components when calculating antenna difference
The orientation angle at quarter controls antenna around r0Carry out conical scanning；
(4) after each scan period, according to antenna, received radiant power calculates coefficient of variation f within the period, simultaneously
The cone angle deviation delta gamma of antenna scanning is calculated according to the coefficient, and then is calculated antenna and be directed toward the direction deviation within the period,
It is denoted as (Δ As, Δ Es), current antenna is directed toward and carries out angle modification；
(5) when coefficient of variation f is greater than the set value, step (3), (4) are repeated, when coefficient of variation f is less than or equal to setting value, are swept
End is retouched, antenna is directed toward total correction amount (∑ Δ A during calculating thiss, ∑ Δ Es)；
(6) multiple calibration moment are chosen in one day, each moment the correction value clear 0 in step (5), repeats step (3)
~(5), obtain multiple groups correction value, construct equation group then in conjunction with antenna pointing error correction model, quasi- by minimizing parameter
Conjunction method solves relevant parameter, and subsequent antenna direction is modified according to antenna pointing error model.
2. a kind of telemetry ground station according to claim 1 is directed toward Calibration Method, it is characterised in that: in the step (1)
Maximum tracking strategy specifically: using the received solar radiation power of antenna as antenna tracking foundation, drive antenna to too
Positive radiant power maximum value is mobile, when the received solar radiation power of antenna be in maximum value, antenna holding dynamic stability with
Track.
3. a kind of telemetry ground station according to claim 1 is directed toward Calibration Method, it is characterised in that: the step (2) into
When row antenna point coordinates convert, the random error of solar radiation is not considered, that is, thinks that the radiant power that antenna receives is maximum
When, antenna is directed toward solar core.
4. a kind of telemetry ground station according to claim 1 is directed toward Calibration Method, it is characterised in that: in the step (2)
Angle modification method be
Adbt=Acl+ΔA0
Edbt=Ecl+ΔE0
(Adbt, Edbt) it is the azimuth pitch angle that current antenna is directed toward under the coordinate system of northeast day, (Acl, Ecl) it is that current antenna is directed toward
Antenna in the case where measuring coordinate system is directed toward, (Δ A0, Δ E0) be coordinate conversion in angle correction.
5. a kind of telemetry ground station according to claim 1 is directed toward Calibration Method, it is characterised in that: in the step (3),
Angle (A of the solar core with respect to earth station under the coordinate system of northeast dayc, Ec) obtained by STK software, corresponding direction vector
r0=(cosEcsinAc,cosEccosAc,sinEc)。
6. a kind of telemetry ground station according to claim 1 is directed toward Calibration Method, it is characterised in that: in the step (3)
Sweep vector
r1=((cos (Ec+γ)-cosγcosEc)sinAc,(cos(Ec+γ)-cosγcosEc)cosAc,sin(Ec+γ)-
cosγsinEc)
r2=r1×r0；
Wherein γ is scanning cone angle, and T is scan period, rsFor sweep vector, r1、r2To be directed toward one in vertical plane with antenna
To orthogonal vector.
7. a kind of telemetry ground station according to claim 1 is directed toward Calibration Method, it is characterised in that: in the step (4)
Antenna received radiation power the coefficient of variation
In formula, T is the scan period, and P (t) is the radiant power that antenna receives.
8. a kind of telemetry ground station according to claim 1 is directed toward Calibration Method, it is characterised in that: in the step (4)
Cone angle deviation delta gamma when being less than the 1/5 of entire antenna beam width, cone angle deviation delta gamma and coefficient of variation f are in monotonic increase ratio
Relationship, proportionality coefficient need to be surveyed according to real system.
9. a kind of telemetry ground station according to claim 1 is directed toward Calibration Method, it is characterised in that: in the step (4)
Antenna is directed toward deviation (the Δ A within the periods, Δ Es) obtained by following formula
Wherein (An, En) it is that antenna receives power maximum moment corresponding azimuth pitch angle in the single scan period.
10. a kind of telemetry ground station according to claim 1 is directed toward Calibration Method, it is characterised in that: the step (6)
Antenna pointing error correction model is
∑ΔAs=A0+θmsin(Ac-Am)tan(Ec)+ξtan(Ec)
∑ΔEs=E0+θmcos(Ac-Am)
Wherein A0、E0、θm、Am, ξ be antenna pointing error correction model parameter, A0、E0It is missed for the revised zero of coordinate transform
Difference, θmIndicate the most very much not horizontal angle of antenna deep bid, AmFor antenna pedestal, most very much not azimuth locating for horizontal angle, ξ are world orientation
The non-orthogonal degree of axis and pitch axis.
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