CN109631945B - Method for calibrating pointing direction of remote-measuring ground station - Google Patents
Method for calibrating pointing direction of remote-measuring ground station Download PDFInfo
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Abstract
The invention discloses a method for calibrating the pointing direction of a telemetering ground station. The method comprises the steps of firstly carrying out maximum value tracking by utilizing solar radiation power received by an antenna, then converting an antenna pointing angle from a measurement coordinate system to a northeast coordinate system by utilizing an angle of the sun under the northeast coordinate system, constructing a scanning vector by utilizing a direction vector of the sun relative to a measurement and control station at a calibration time, further controlling the antenna to carry out cone scanning, carrying out iterative calculation by utilizing a solar radiation power variation coefficient to obtain a pointing deviation correction value of a corresponding scanning period, carrying out iterative correction on the antenna pointing, finally repeating the above process at different times to obtain a plurality of groups of calculation values, constructing an equation set by utilizing an antenna pointing error correction model, obtaining a plurality of parameters in the error correction model by utilizing a minimum parameter fitting method, and obtaining an angle deviation value solved by the error correction model as the pointing deviation of the antenna when the antenna points at each time.
Description
Technical Field
The invention relates to a method for calibrating pointing direction of a telemetering ground station, which is suitable for quick high-precision calibration of antenna pointing errors of small telemetering ground stations.
Background
In recent years, the development of telemetry ground stations has advanced to the commercialization stage, and small-sized, mobile commercial ground stations have been receiving increasing attention from researchers. During the construction and use of the ground station, various system errors need to be calibrated and corrected so as to maintain the telemetry performance of the system. The antenna pointing calibration of the telemetering ground station is an important component of the ground station calibration, and the traditional antenna pointing calibration generally adopts a calibration tower method and a radio star method, but the two methods have inherent application difficulty for the commercial ground station with miniaturization and strong mobility. The calibration tower method needs to build a calibration tower near the ground station as a calibration standard and cannot meet the mobility requirement of the commercial ground station. The radio signal emitted by the radio star is used as a calibration source in the radio star method, but the radio signal power radiated by the radio star is small, so that the radio star method has high requirements on the size and gain performance of an antenna of a ground station, and cannot meet the application requirement of miniaturization of a commercial ground station.
Considering the mobility requirement of the commercial ground station, the towerless calibration method is the best choice for realizing the calibration function. Calibration of a solar radiation source is a typical towerless calibration method, and the calibration of the pointing error of an antenna is realized by using the position of the sun as a reference. The radiation power of the solar radiation source is far higher than that of a radio star, so that the solar radiation source can be suitable for small ground station antennas with smaller size and lower gain factor. However, the conventional calibration of the solar radiation source has certain inherent defects, mainly that the sun has a certain angular diameter relative to the antenna on the ground, which is not an ideal point radiation source, so that the antenna is difficult to accurately align with the center of the sun in the calibration process. The size of the angular diameter of the sun directly influences the calibration precision of the antenna, and the practical application of the calibration method is limited.
Disclosure of Invention
The technical problems solved by the invention are as follows: the method overcomes the influence of the sun angular diameter on the calibration precision of the antenna by a mode of carrying out cone scanning on a solar radiation source, and realizes the rapid high-precision calibration of the pointing error of the antenna of the small commercial ground station.
The technical solution of the invention is as follows: a method for calibrating the pointing direction of a remote-measuring ground station comprises the following steps:
(1) driving an antenna azimuth pitching axis by adopting a maximum value tracking strategy to gradually approach the direction in which the maximum value of the solar radiation power appears, and recording the current antenna azimuth pitching pointing angle when the antenna tracking is stable;
(2) acquiring and recording the azimuth and pitch angles of the sun center relative to the ground station under an east-north-sky coordinate system at the moment of the pointing angle, correcting the pointing angle of the antenna during stable tracking into the value, and recording the process as coordinate transformation of the pointing direction of the antenna from a measurement coordinate system to a northeast-north-sky coordinate system;
(3) acquiring the pointing angle (A) of the sun relative to the ground station at the calibration time in the northeast coordinate systemc，Ec) Calculating a direction vector r0Setting cone angle gamma, calculating the antenna cone scanning vector rsAccording to rsCalculates the pointing angle of the antenna at different moments and controls the antenna to wind r0Performing cone scanning;
(4) after each scanning period is finished, calculating a variation coefficient f according to the radiation power received by the antenna in the period, and simultaneously calculating a cone angle deviation delta gamma scanned by the antenna according to the coefficient, further calculating a pointing deviation of the antenna pointing in the period, and marking the deviation as (delta A)s，ΔEs) Correcting the angle of the current antenna direction;
(5) when the coefficient of variation f is larger than the set value, repeating the steps (3) and (4), when the coefficient of variation f is smaller than or equal to the set value, finishing scanning, and calculating the total correction quantity (sigma delta A) of the antenna pointing direction in the processs，∑ΔEs)；
(6) Selecting a plurality of calibration moments in one day, clearing the correction value in the step (5) to 0 at each moment, repeating the steps (3) to (5) to obtain a plurality of groups of correction values, then constructing an equation set by combining an antenna pointing error correction model, solving related parameters by a minimized parameter fitting method, and correcting the subsequent antenna pointing according to the antenna pointing error model.
The maximum value tracking strategy in the step (1) is specifically as follows: the solar radiation power received by the antenna is used as an antenna tracking basis to drive the antenna to move towards the maximum value of the solar radiation power, and when the solar radiation power received by the antenna is at the maximum value, the antenna keeps dynamic and stable tracking.
And (3) when the antenna pointing coordinate is transformed in the step (2), the random error of solar radiation is not considered, namely, when the radiation power received by the antenna is considered to be the maximum, the antenna points to the center of the sun.
The angle correction method in the step (2) is
Adbt＝Acl+ΔA0
Edbt＝Ecl+ΔE0
(Adbt，Edbt) For the azimuth and elevation angle of the current antenna pointing in the northeast space coordinate system, (A)cl，Ecl) For the antenna pointing direction of the current antenna pointing direction in the measurement coordinate system, (Δ A)0，ΔE0) Is an angle correction value in coordinate transformation.
In the step (3), the angle (A) of the sun center relative to the ground station in the northeast coordinate systemc，Ec) Obtaining corresponding direction vector by STK software
r0＝(cosEcsinAc,cosEccosAc,sinEc)。
The scanning vector in the step (3)
r1＝((cos(Ec+γ)-cosγcosEc)sinAc,(cos(Ec+γ)-cosγcosEc)cosAc,sin(Ec+γ)-cosγsinEc)r2＝r1×r0；
Where γ is the scan cone angle, T is the scan period, rsIs a scanning vector, r1、r2Are a pair of orthogonal vectors directed in a vertical plane with the antenna.
The coefficient of variation of the antenna received radiation power in the step (4)
Where T is the scanning period and p (T) is the radiation power received by the antenna.
When the cone angle deviation delta gamma in the step (4) is smaller than 1/5 of the whole antenna beam width, the cone angle deviation delta gamma and the variation coefficient f are in a monotonically increasing proportional relation, and the proportional coefficient needs to be actually measured according to an actual system.
The deviation (delta A) of the antenna pointing direction in the period in the step (4)s，ΔEs) Is obtained by the following formula
Wherein (A)n，En) The azimuth angle and the elevation angle corresponding to the moment when the antenna receives the maximum power in a single scanning period.
The antenna pointing error correction model in the step (6) is
∑ΔAs＝A0+θmsin(Ac-Am)tan(Ec)+ξtan(Ec)
∑ΔEs＝E0+θmcos(Ac-Am)
Wherein A is0、E0、θm、AmXi is the antenna pointing error correction model parameter, A0、E0Zero value error, theta, corrected for coordinate transformationmDenotes the maximum angle of non-horizontality of the antenna's large disk, AmThe azimuth angle of the maximum non-horizontal angle of the antenna pedestal is shown, and xi is the non-orthogonality degree of the azimuth axis and the pitch axis of the antenna.
Compared with other technologies, the invention has the advantages that:
(1) compared with the traditional tower calibration method, the method takes the position of the sun as the calibration standard, does not need additional position measuring equipment, has simple calibration process and reduces manpower and material resources;
(2) compared with a radio star calibration method, the method has the advantages that the solar radiation power is high, the requirement on the gain performance of an antenna system is low, and the method can be suitable for calibrating the small ground station antenna;
(3) compared with the conventional solar calibration method, the angle calibration is carried out on the radiation source by adopting the cone scanning method, the problem that the solar radiation source is not an ideal point radiation source is solved, and the calibration precision is improved.
Drawings
FIG. 1 is a flow chart of the method of the present invention
FIG. 2 is a schematic diagram of coordinate transformation of antenna pointing direction
FIG. 3 is a schematic view of the antenna scanning around the solar cone
FIG. 4 is a schematic diagram of the conversion of the direction vector and the azimuth angle
FIG. 5 is a schematic diagram of antenna scan vector calculation
Detailed Description
As shown in fig. 1, a method for calibrating the pointing direction of a telemetry ground station comprises the following steps:
(1) driving an antenna azimuth pitching axis by adopting a maximum value tracking strategy to gradually approach the direction in which the maximum value of the solar radiation power appears, and recording the current antenna azimuth pitching pointing angle when the antenna tracking is stable;
(2) acquiring and recording the azimuth and pitch angles of the sun center relative to the ground station under an east-north-sky coordinate system at the moment of the pointing angle, correcting the pointing angle of the antenna during stable tracking into the value, and recording the process as coordinate transformation of the pointing direction of the antenna from a measurement coordinate system to a northeast-north-sky coordinate system;
(3) acquiring the pointing angle (A) of the sun relative to the ground station at the calibration time in the northeast coordinate systemc，Ec) Calculating a direction vector r0Setting cone angle gamma, calculating the antenna cone scanning vector rsControlling the antenna winding r0Performing cone scanning;
(4) after each scanning period is finished, calculating a variation coefficient f according to the radiation power received by the antenna in the period, and simultaneously calculating a cone angle deviation delta gamma scanned by the antenna according to the coefficient, further calculating a pointing deviation of the antenna pointing in the period, and marking the deviation as (delta A)s，ΔEs) Correcting the angle of the current antenna direction;
(5) When the coefficient of variation f is larger than the set value, repeating the steps (3) and (4), when the coefficient of variation f is smaller than the set value, finishing scanning, and calculating the total correction quantity (sigma delta A) of the antenna pointing direction in the processs，∑ΔEs)；
(6) Selecting a plurality of calibration moments in one day, clearing the correction value in the step (5) to 0 at each moment, repeating the steps (3) to (5) to obtain a plurality of groups of correction values, then constructing an equation set by combining an antenna pointing error correction model, solving the equation set by a minimized parameter fitting method to obtain parameters, and correcting the subsequent antenna pointing according to the antenna pointing error model.
The maximum value tracking in the step (1) is that the solar radiation power received by the antenna is used as an antenna tracking basis to drive the antenna to move towards the maximum value of the solar radiation power, and when the solar radiation power received by the antenna is at the maximum value, the antenna keeps dynamic and stable tracking.
And (3) when the antenna pointing coordinate transformation is carried out in the step (2), the random error of solar radiation is not considered, namely, when the radiation power received by the antenna is maximum, the antenna points to the center of the sun.
A method for calibrating the pointing direction of a remote measurement ground station is characterized by comprising the following steps: the angle correction method in the step (2) comprises
Adbt＝Acl+ΔA0
Edbt＝Ecl+ΔE0
(Adbt，Edbt) For the azimuth and elevation angle of the current antenna pointing in the northeast space coordinate system, (A)cl，Ecl) For the antenna pointing direction of the current antenna pointing direction in the measurement coordinate system, (Δ A)0，ΔE0) Is an angle correction value in coordinate transformation.
As shown in fig. 2, it is assumed that the current antenna orientation is 18 ° in the measurement coordinate system, the included angle with the sun position is 5 °, the sun position is 10 ° in the northeast coordinate system, at this time, if the antenna is pointed at the sun, the angle of the antenna is 23 ° in the measurement coordinate system, the angle needs to be corrected to 10 ° in the northeast coordinate system, and the corresponding correction value is-13 °.
In the steps (2) and (3),angle of sun center relative to ground station in northeast coordinate system (A)c，Ec) Obtaining a direction vector r corresponding to the step (3) through STK software0As shown in fig. 3, is calculated to obtain
r0(x,y,z)＝(cosEcsinAc,cosEccosAc,sinEc)，
Ac、EcIs the azimuth angle of the sun; the following relation between the direction vector and the antenna azimuth pitching pointing angle can be obtained from the direction vector
E＝argsin(z)
A method for calibrating the pointing direction of a remote measurement ground station is characterized by comprising the following steps: the scanning vector in the step (3)
According to rsCalculating the pointing angle of the antenna at different moments to control the antenna to carry out cone scanning, wherein gamma is a scanning cone angle, T is a scanning period, and r issIs a scanning vector, r1、r2Are a pair of orthogonal vectors directed in a vertical plane with the antenna.
Conical scanning vector and orthogonal vector r1、r2As shown in FIG. 4, a direction vector r is constructed0Rotating gamma in the pitching direction around the origin to construct a new vector rs'，rs' end n to r0Making a perpendicular line to obtain a new vector r1Is calculated to obtain
r1＝((cos(Ec+γ)-cosγcosEc)sinAc,(cos(Ec+γ)-cosγcosEc)cosAc,sin(Ec+γ)-cosγsinEc)
Then construct the vector r2，
r2＝r1×r0
A time-dependent scanning vector r can then be obtaineds。
The coefficient of variation (ratio of power standard deviation to power average value) of the antenna received radiation power in the step (4)
Where T is the scanning period and p (T) is the radiation power received by the antenna.
A method for calibrating the pointing direction of a remote measurement ground station is characterized by comprising the following steps: when the cone angle deviation delta gamma in the step (4) is small, the cone angle deviation delta gamma and the variation coefficient f are in a monotone increasing proportion relation, and the proportion coefficient needs to be actually measured according to an actual system.
In an ideal case, f is a monotonically increasing function of Δ γ, where Δ γ is the angle between the central vector of the cone scan and the central vector of the sun, and when Δ γ is 0, f is 0. The actual measured variation coefficient f can be obtained by continuously carrying out iterative correction through the conical scanning motion of the antennaeFrom the above formula, the optimum Δ γ can be found. Theoretically, Δ γ is an angle between the antenna cone scanning center direction and the sun center vector direction, that is, the pointing error of the antenna at this time.
As shown in fig. 5, if the antenna system has no pointing error at all, during the cone scanning process, the angle between the antenna direction and the sun center vector direction will always be γ, and at this time, the antenna receiving power during the scanning process will also be a constant value. If the antenna system has a pointing error, under the influence of the error, the central direction surrounded by the conical scanning forms an included angle Δ γ with the central vector direction of the sun, and considering that the variation ranges of the central vector of the sun and the scanning vector are small in the time of the scanning period T, the pointing error of the antenna system can be considered to be approximately a constant error, that is, the Δ γ is considered to be kept unchanged in the scanning period. In this case, the angle γ between the antenna direction and the sun center vector during one cone scan is no longer constant, but changes within the range γ + Δ γ, and the radiation power received by the antenna will therefore change with time.
The deviation (delta A) of the antenna pointing direction in the period in the step (4)s，ΔEs) Is obtained by the following formula
Wherein (A)n，En) The azimuth angle and the elevation angle corresponding to the moment when the antenna receives the maximum power in a single scanning period.
The antenna pointing error correction model in the step (6) is
∑ΔAs＝A0+θmsin(Ac-Am)tan(Ec)+ξtan(Ec)
∑ΔEs＝E0+θmcos(Ac-Am)
Wherein A is0、E0、θm、AmXi is the antenna pointing error correction model parameter, A0、E0Zero value error, theta, corrected for coordinate transformationmDenotes the maximum angle of non-horizontality of the antenna's large disk, AmThe azimuth angle of the maximum non-horizontal angle of the antenna pedestal is shown, and xi is the non-orthogonality degree of the azimuth axis and the pitch axis of the antenna.
The method comprises the steps of obtaining multiple groups of antenna pointing error angles in one day, and performing parameter fitting by constructing an equation set to obtain all parameters in an antenna pointing error model so as to finish antenna pointing correction.
Principle of the invention
The principle of calibration of a solar radiation source is similar to that of a radio star calibration method, and the celestial body position of a radiation radio signal is used as a reference of pointing calibration. The calibration of the solar radiation source has the advantages that the radiation power of the sun is far greater than that of the radio star, so that the requirement on the gain performance of an antenna system is low, and the calibration method can be suitable for calibration of small ground station antennas. The sun has a certain size of angular diameter relative to a ground station antenna, and is not an ideal point radiation source, and the main defect of the traditional calibration of the solar radiation source is that the central position of the sun is used as a calibration standard, and because radio signal radiation exists in the angular diameter range, the antenna cannot be accurately aligned with the center of the sun, so that the calibration precision is influenced.
The power received by the antenna has a monotonically decreasing sensitivity relationship with the angle between the antenna pointing direction and the sun center vector. Therefore, the measurement and compensation of the pointing error of the antenna can be realized by a method of carrying out cone scanning on the pointing direction of the antenna around the vector direction of the center of the sun, and the accurate pointing of the antenna to the center of the sun is finally realized through an iterative algorithm.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (10)
1. A method for calibrating the pointing direction of a remote-measuring ground station is characterized by comprising the following steps:
(1) driving an antenna azimuth pitching axis by adopting a maximum value tracking strategy to gradually approach the direction in which the maximum value of the solar radiation power appears, and recording the current antenna azimuth pitching pointing angle when the antenna tracking is stable;
(2) acquiring and recording the azimuth and pitch angles of the sun center relative to the ground station under an east-north-sky coordinate system at the moment of the pointing angle, correcting the pointing angle of the antenna during stable tracking into the value, and recording the process as coordinate transformation of the pointing direction of the antenna from a measurement coordinate system to a northeast-north-sky coordinate system;
(3) acquiring the pointing angle (A) of the sun relative to the ground station at the calibration time in the northeast coordinate systemc，Ec) Calculating a direction vector r0Setting cone angle gamma, calculating the antenna cone scanning vector rsAccording to rsCalculates the pointing angle of the antenna at different moments and controls the antenna to wind r0Performing cone scanning;
(4) after each scanning period is finished, calculating the variation coefficient f according to the radiation power received by the antenna in the periodAnd simultaneously calculating the cone angle deviation delta gamma of the antenna scanning according to the coefficient, further calculating the pointing deviation of the antenna pointing in the period, and recording the deviation as (delta A)s，ΔEs) Correcting the angle of the current antenna direction;
(5) when the coefficient of variation f is larger than the set value, repeating the steps (3) and (4), when the coefficient of variation f is smaller than or equal to the set value, finishing scanning, and calculating the total correction quantity (sigma delta A) of the antenna pointing direction in the processs，∑ΔEs)；
(6) Selecting a plurality of calibration moments in one day, clearing the correction value in the step (5) to 0 at each moment, repeating the steps (3) to (5) to obtain a plurality of groups of correction values, then constructing an equation set by combining an antenna pointing error correction model, solving related parameters by a minimized parameter fitting method, and correcting the subsequent antenna pointing according to the antenna pointing error model.
2. The method of claim 1, wherein the method further comprises: the maximum value tracking strategy in the step (1) is specifically as follows: the solar radiation power received by the antenna is used as an antenna tracking basis to drive the antenna to move towards the maximum value of the solar radiation power, and when the solar radiation power received by the antenna is at the maximum value, the antenna keeps dynamic and stable tracking.
3. The method of claim 1, wherein the method further comprises: and (3) when the antenna pointing coordinate is transformed in the step (2), the random error of solar radiation is not considered, namely, when the radiation power received by the antenna is considered to be the maximum, the antenna points to the center of the sun.
4. The method of claim 1, wherein the method further comprises: the angle correction method in the step (2) is
Adbt＝Acl+ΔA0
Edbt＝Ecl+ΔE0
(Adbt，Edbt) As the current antennaThe azimuth angle and the pitch angle are pointed under a northeast coordinate system (A)cl，Ecl) For the antenna pointing direction of the current antenna pointing direction in the measurement coordinate system, (Δ A)0，ΔE0) Is an angle correction value in coordinate transformation.
5. The method of claim 1, wherein the method further comprises: in the step (3), the angle (A) of the sun center relative to the ground station in the northeast coordinate systemc，Ec) Obtaining corresponding direction vector by STK software
r0＝(cosEcsinAc,cosEccosAc,sinEc)。
6. The method of claim 1, wherein the method further comprises: the scanning vector in the step (3)
r1＝((cos(Ec+γ)-cosγcosEc)sinAc,(cos(Ec+γ)-cosγcosEc)cosAc,sin(Ec+γ)-cosγsinEc)
r2＝r1×r0；
Where γ is the scan cone angle, T is the scan period, rsIs a scanning vector, r1、r2Are a pair of orthogonal vectors directed in a vertical plane with the antenna.
7. The method of claim 1, wherein the method further comprises: the coefficient of variation of the antenna received radiation power in the step (4)
Where T is the scanning period and p (T) is the radiation power received by the antenna.
8. The method of claim 1, wherein the method further comprises: when the cone angle deviation delta gamma in the step (4) is smaller than 1/5 of the whole antenna beam width, the cone angle deviation delta gamma and the variation coefficient f are in a monotonically increasing proportional relation, and the proportional coefficient needs to be actually measured according to an actual system.
9. The method of claim 1, wherein the method further comprises: the deviation (delta A) of the antenna pointing direction in the period in the step (4)s，ΔEs) Is obtained by the following formula
Wherein (A)n，En) The azimuth angle and the elevation angle corresponding to the moment when the antenna receives the maximum power in a single scanning period.
10. The method of claim 1, wherein the method further comprises: the antenna pointing error correction model in the step (6) is
∑ΔAs＝A0+θmsin(Ac-Am)tan(Ec)+ξtan(Ec)
∑ΔEs＝E0+θmcos(Ac-Am)
Wherein A is0、E0、θm、AmXi is the antenna pointing error correction model parameter, A0、E0Zero value error, theta, corrected for coordinate transformationmDenotes the maximum angle of non-horizontality of the antenna's large disk, AmThe azimuth angle of the maximum non-horizontal angle of the antenna pedestal is shown, and xi is the non-orthogonality degree of the azimuth axis and the pitch axis of the antenna.
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| CN109631945A (en) | 2019-04-16 |
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