CN109855598B - Antenna downward inclination angle measurement method and device based on unmanned aerial vehicle radar ranging - Google Patents
Antenna downward inclination angle measurement method and device based on unmanned aerial vehicle radar ranging Download PDFInfo
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Abstract
The invention discloses an antenna downward inclination angle measurement method and device based on unmanned aerial vehicle radar ranging, wherein a radar is arranged on an unmanned aerial vehicle; the radar transmits and receives electromagnetic waves, and the position and the frame of the antenna are determined; starting from the position with the same height as the lower corner of the antenna, moving the radar upwards along one side of the antenna frame, transmitting and receiving electromagnetic waves, recording the test height and the test time interval from transmitting to receiving the electromagnetic waves when the radar is at the test height at the same time interval until the radar and the upper corner of the antenna are at the same height; the radar obtains a test distance through a distance test algorithm according to the test time interval; the radar fits the antenna downtilt angle according to the collected test distance and the test height, so that the downtilt angle of the antenna can be accurately measured in the flying process of the unmanned aerial vehicle, the burden of communication maintenance personnel is reduced, and the network optimization work can be more favorably expanded.
Description
Technical Field
The present invention relates to the field of mobile communications.
Background
With the continuous development of the economic society, the network construction is also continuously promoted; in order to better cover the wireless network, the downward inclination angle of the antenna is often required to be adjusted; the downward inclination angle of the antenna is the included angle between the antenna on the signal tower and the vertical direction, and the adjustment of the downward inclination angle of the antenna is often influenced by factors such as coverage area, terrain, hanging height and regional population density; at the present stage, if the current downward inclination angle of the antenna needs to be known, communication maintenance personnel are often required to go up the tower for measurement; the measurement method is time-consuming, labor-consuming and potential safety hazard exists, and therefore rapid and effective deployment of network optimization is not facilitated.
Disclosure of Invention
In order to solve the problems, the invention aims to provide an antenna downward inclination angle measurement method and device based on unmanned aerial vehicle radar ranging, so that an unmanned aerial vehicle can accurately measure the downward inclination angle of an antenna in the flight process, the burden of communication maintenance personnel is reduced, and the network optimization work can be more favorably expanded.
The technical scheme adopted by the invention for solving the problems is as follows:
in a first aspect, the invention provides an antenna downtilt angle measurement method based on unmanned aerial vehicle radar ranging, which comprises the following steps:
the radar is arranged on the unmanned aerial vehicle;
the radar transmits and receives electromagnetic waves, and the position and the frame of the antenna are determined;
starting from the position with the same height as the lower corner of the antenna, moving the radar upwards along one side of the antenna frame, transmitting and receiving electromagnetic waves, recording the test height and the test time interval from transmitting to receiving the electromagnetic waves when the radar is at the test height at the same time interval until the radar and the upper corner of the antenna are at the same height;
the radar obtains a test distance through a distance test algorithm according to the test time interval;
and the radar fits the antenna downward inclination angle according to the collected test distance and the test height.
Further, the step of fitting the radar with the antenna downtilt angle according to the collected test distance and the collected test height specifically includes the following steps:
establishing a coordinate system for the test distance and the test height;
fitting the coordinates consisting of the test distance and the test height into an approximate straight line by a linear least square method;
acquiring the slope of the approximate straight line;
and converting the slope into a corresponding angle, wherein the angle is the downward inclination angle of the antenna.
Further, the step of obtaining a test distance by the radar through a distance test algorithm according to the test time interval specifically includes: the distance test algorithm is represented as
Wherein R is the test distance from the radar to the antenna, c is the speed of light, and T is the test time interval.
Further, the step radar is installed on unmanned aerial vehicle, and is further still included: the camera is installed in the unmanned aerial vehicle and is located with the same position department of radar mounted position.
In a second aspect, the invention also provides an antenna downtilt angle measurement device based on unmanned aerial vehicle radar ranging, which comprises an unmanned aerial vehicle and a radar arranged on the unmanned aerial vehicle;
the radar comprises a transmitting unit, a receiving unit, a signal processing unit and a display unit;
a transmitting unit for transmitting an electromagnetic wave;
a receiving unit for receiving the reflected electromagnetic wave;
a signal processing unit for analyzing and processing the received reflected electromagnetic wave;
and the display unit is used for displaying the information sent by the signal processing unit.
Further, the radar also comprises a transceiving conversion unit, and the transceiving conversion unit is used for controlling and switching between a transmitting unit and a receiving unit of the radar.
At least one embodiment of the invention has the following beneficial effects: installing a radar on an unmanned aerial vehicle, controlling the unmanned aerial vehicle to fly to a region near an antenna, transmitting and receiving electromagnetic waves by the radar, and determining the position of the antenna, the shape of the antenna and the frame of the antenna; when the radar is at the same height as the lower corner of the antenna, recording the height at the moment as an initial height, transmitting electromagnetic waves to the lower corner of the antenna by the radar, and determining the initial distance between the radar and the antenna according to the initial time interval of the received electromagnetic waves; then, starting from the lower corner position of the antenna, the unmanned aerial vehicle moves upwards along a frame of the antenna, and the radar records the current height and the time interval from reflecting electromagnetic waves to receiving the electromagnetic waves at the current height at intervals until the radar detects that the radar reaches the upper corner position of the antenna; the radar converts the collected time interval into the distance between the radar and the antenna, and then fits the collected radar height information and the converted distance information between the radar and the antenna to obtain the downward inclination angle of the antenna; through the mode, the burden of communication maintenance personnel can be well lightened, the antenna downward inclination angle is not required to be measured when the communication maintenance personnel climb to a communication tower as usual, the efficiency is improved, and the antenna downward inclination angle measured by the mode is more accurate, so that the network optimization work can be more favorably expanded.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a flowchart illustrating steps of an antenna downtilt measurement method based on radar ranging of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a radar structure schematic diagram of an antenna downtilt angle measurement device based on unmanned aerial vehicle radar ranging according to a second embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention.
With the continuous development of the economic society, the network construction is also continuously promoted; in order to better cover the wireless network, the downward inclination angle of the antenna is often required to be adjusted; the downward inclination angle of the antenna is the included angle between the antenna on the signal tower and the vertical direction, and the adjustment of the downward inclination angle of the antenna is often influenced by factors such as coverage area, terrain, hanging height and regional population density; at the present stage, if the current downward inclination angle of the antenna needs to be known, communication maintenance personnel are often required to go up the tower for measurement; the measurement method is time-consuming, labor-consuming and potential safety hazard exists, and therefore rapid and effective deployment of network optimization is not facilitated.
Based on the method and the device, the invention provides the antenna downward inclination angle measurement method and the device based on the radar ranging of the unmanned aerial vehicle, so that the downward inclination angle of the antenna can be accurately measured in the flight process of the unmanned aerial vehicle, the burden of communication maintenance personnel is reduced, and the network optimization work can be more favorably developed.
The embodiments of the present invention will be further explained with reference to the drawings.
Example one
Referring to fig. 1, an embodiment of the present invention provides an antenna downtilt measurement method based on unmanned aerial vehicle radar ranging, where one embodiment includes, but is not limited to, the following steps:
and step S1, installing the radar on the unmanned aerial vehicle.
In this embodiment, the radar is installed on the unmanned aerial vehicle in this step, so that the radar can move along with the unmanned aerial vehicle; unmanned aerial vehicle can conveniently reach the region that the antenna was located fast to install the radar on unmanned aerial vehicle and just can detect the antenna fast, whole mode has fine nature controlled.
And step S2, the radar transmits and receives electromagnetic waves, and the position and the frame of the antenna are determined.
In this embodiment, when unmanned aerial vehicle flies to the region near the antenna in this step, the radar detects the article around, the radar can launch the electromagnetic wave, will reflect when the electromagnetic wave runs into the barrier, because different mediums are inequality to the intensity of electromagnetic wave reflection, consequently the radar can confirm the distance and the position of antenna distance radar according to this characteristic, and can learn information such as the shape frame of the height that the antenna was located and antenna, thereby provide the basis for the measurement of antenna downward inclination.
And step S3, starting from the position with the same height as the lower corner of the antenna, moving the radar upwards along one side of the antenna frame and transmitting and receiving electromagnetic waves, and recording the test height and the test time interval from transmitting to receiving the electromagnetic waves when the radar is at the test height at the same time interval until the radar and the upper corner of the antenna are at the same height.
In this embodiment, the step specifically includes that the radar is located at the same height as the lower corner of the antenna, and is recorded as an initial height; the radar transmits electromagnetic waves to the lower corner of the antenna and receives the reflected electromagnetic waves, the initial time interval from transmitting to receiving the electromagnetic waves is recorded, and the initial distance is obtained according to the initial time interval; the radar moves upwards along one side of the antenna frame and transmits and receives electromagnetic waves, and the test height of the radar and the test time interval from transmitting to receiving the electromagnetic waves at the current height are recorded at the same time until the radar and the upper corner of the antenna are at the same height. When the radar detects that the radar is at the same height as the lower corner of the antenna, recording the current height of the radar as an initial height, and preparing for next detection; unmanned aerial vehicle also follows upward movement along the frame upward movement of antenna after that to the electromagnetic wave is still launched to the radar, detects the frame position of rise in-process, thereby can gather the relevant data of antenna.
And step S4, the radar obtains a test distance through a distance test algorithm according to the test time interval.
In this embodiment, in this step, the distance between the radar and the antenna frame can be quickly calculated by the radar through the collected test time interval from the transmission of the electromagnetic wave to the reception of the electromagnetic wave to the antenna frame.
And step S5, the radar fits the antenna downward inclination angle according to the collected test distance and the test height.
In the embodiment, the radar can fit the antenna downward inclination angle according to the collected distance between the radar and the antenna and the height of the radar, the antenna downward inclination angle is quickly obtained by processing a large amount of collected data, convenience in measurement is brought to communication maintenance personnel, and the efficiency of network optimization is greatly improved.
In step S5, the method specifically includes the following steps:
establishing a coordinate system for the test distance and the test height;
fitting the coordinates consisting of the test distance and the test height into an approximate straight line by a linear least square method;
acquiring the slope of the approximate straight line;
and converting the slope into a corresponding angle, wherein the angle is the downward inclination angle of the antenna.
Set the test distance to RiThe test height is set to HiWill test the distance RiAnd a test height HiEstablishing a coordinate system, denoted as (R)i,Hi) (ii) a (R) by a method of linear least squaresi,Hi) Fitting the coordinates into an approximate straight line; obtaining the slope of the approximate straight line and obtaining the slopeThe antenna is tilted down.
The method specifically comprises the following steps:
selecting a set of functions r1(x), r2(x), …, rm (x), m < i, and order
f(x)＝a1r1(R)+a2r2(R)+...+amrm(R)，
Wherein, a1,a2,...,amIs the undetermined coefficient;
determining a1,a2,...,amCriterion (least squares criterion): minimizing the sum of the squares of the distances σ i of the n points (Ri, Hi) from the curve y ═ f (x);
wherein the content of the first and second substances,
when R isTWhen R is reversible, the over-determined equation set Ra ═ z has least square solution, namely the equation set RTRa＝RTSolution of z: a ═ RTR)-1RTz；
Establishing a mathematical model through mechanism analysis to determine f (x);
data (R)i，Hi) N, and determining f (x) a by visual judgment1+a2x；
Assuming that the antenna down tilt angle is θ, θ is arctan (| a)2And theta) is the downward inclination angle of the antenna.
In step S4, the radar obtains a test distance through a distance test algorithm according to the test time interval, which specifically includes: the distance test algorithm is represented as
Wherein R is the test distance from the radar to the antenna, c is the speed of light, and T is the test time interval. The radar calculates the radar by the time difference between the emission of the electromagnetic wave and the reception of the electromagnetic waveThe difference between the radar and the antenna is achieved, because the propagation speed of the electromagnetic wave is the speed of light, the speed of light multiplied by the time difference is twice of the distance between the radar and the antenna, and therefore the testing distance can be obtained quickly and accurately through the testing time interval.
Wherein, the radar is installed on unmanned aerial vehicle in step S1, and further, still includes: the camera is installed in the unmanned aerial vehicle and is located with the same position department of radar mounted position. The camera is also installed on the unmanned aerial vehicle, so that the position of the radar positioning antenna is more accurate, and the measurement of the downward inclination angle of the antenna is more accurate.
In addition, in the embodiment, the radar is installed on the unmanned aerial vehicle, so that the radar can move along with the unmanned aerial vehicle; the unmanned aerial vehicle can conveniently and quickly reach the area where the antenna is located, so that the antenna can be quickly detected by the radar installed on the unmanned aerial vehicle, and the whole mode has good controllability; when the unmanned aerial vehicle flies to an area near the antenna, the radar detects surrounding objects, the radar can emit electromagnetic waves, and the electromagnetic waves can be reflected when encountering obstacles, and because the reflected intensities of different media to the electromagnetic waves are different, the radar can determine the distance and the direction of the antenna from the radar according to the characteristics, and can know the height of the antenna, the shape frame of the antenna and other information, thereby providing a basis for measuring the downward inclination angle of the antenna; the radar is positioned at the same height with the lower corner of the antenna and recorded as the initial height; the radar transmits electromagnetic waves to the lower corner of the antenna and receives the reflected electromagnetic waves, the initial time interval from transmitting to receiving the electromagnetic waves is recorded, and the initial distance is obtained according to the initial time interval; the radar moves upwards along one side of the antenna frame and transmits and receives electromagnetic waves, and the test height of the radar and the test time interval from transmitting to receiving the electromagnetic waves at the current height are recorded at the same time until the radar and the upper corner of the antenna are at the same height. When the radar detects that the radar is at the same height as the lower corner of the antenna, recording the current height of the radar as an initial height, and preparing for next detection; then the unmanned aerial vehicle moves upwards along the frame of the antenna, the radar also moves upwards along with the frame, and the radar also transmits electromagnetic waves to detect the position of the frame in the rising process, so that the relevant data of the antenna can be collected; the radar can quickly calculate the distance between the radar and the antenna frame through the acquired test time interval from the transmission of the electromagnetic waves to the antenna frame to the reception of the electromagnetic waves; the radar can fit the antenna downward inclination angle according to the collected distance between the radar and the antenna and the height of the radar, the antenna downward inclination angle can be quickly obtained by processing a large amount of collected data, convenience in measurement is brought to communication maintenance personnel, and the efficiency of network optimization is greatly improved. The radar fits an antenna downward inclination angle according to the collected distance between the radar and the antenna and the height of the radar, and a coordinate system is established by the test distance and the test height; fitting the coordinates consisting of the test distance and the test height into an approximate straight line by a linear least square method; acquiring the slope of the approximate straight line; converting the slope into a corresponding angle, wherein the angle is an antenna downward inclination angle; the radar calculates the difference between the radar and the antenna through the time difference between the electromagnetic wave transmitting and receiving, and because the electromagnetic wave propagation speed is the speed of light, the speed of light multiplied by the time difference is twice of the distance between the radar and the antenna, the testing distance can be obtained through the testing time interval quickly and accurately; the camera is installed on the unmanned aerial vehicle at the same position as the radar installation position, and the camera is also installed on the unmanned aerial vehicle, so that the position of the radar positioning antenna is more accurate, and the measurement of the downward inclination angle of the antenna is more accurate.
Example two
Referring to fig. 2, a second embodiment of the present invention provides an antenna downtilt angle measurement apparatus based on unmanned aerial vehicle radar ranging, including an unmanned aerial vehicle and a radar 100 installed on the unmanned aerial vehicle;
the radar 100 includes a transmitting unit 110, a receiving unit 120, a signal processing unit 140, and a display unit 150;
a transmitting unit 110 for transmitting electromagnetic waves;
a receiving unit 120 for receiving the reflected electromagnetic wave;
a signal processing unit 140 for analyzing and processing the received reflected electromagnetic waves;
and a display unit 150 for displaying the information sent by the signal processing unit 140. The antenna downward inclination angle measuring device comprises an unmanned aerial vehicle and a radar 100 arranged on the unmanned aerial vehicle, so that the radar 100 can move along with the unmanned aerial vehicle, and further, the relevant information of the antenna can be conveniently and quickly measured; the radar 100 includes a transmitting unit 110, a receiving unit 120, a signal processing unit 140, and a display unit 150, where the transmitting unit 110 can transmit electromagnetic waves to the surroundings, the receiving unit 120 can receive the transmitted electromagnetic waves, the signal processing unit 140 can analyze the received electromagnetic waves, and the display unit 150 can display information sent by the signal processing unit 140, so that the downtilt angle of the antenna can be conveniently and quickly measured by using the radar.
The radar further includes a transceiving conversion unit 130, where the transceiving conversion unit 130 is configured to control and switch between the transmitting unit 110 and the receiving unit 120 of the radar. The transceiving conversion unit 130 may perform switching control processing on the transmitting unit 110 and the receiving unit 120, so that the radar 100 can rapidly switch the transmitting unit 110 and the receiving unit 120, and further can rapidly search for surrounding objects.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and the present invention shall fall within the protection scope of the present invention as long as the technical effects of the present invention are achieved by the same means.
Claims (4)
1. The utility model provides an antenna angle of declination measuring method based on unmanned aerial vehicle radar range finding which characterized in that: the method comprises the following steps:
the radar is arranged on the unmanned aerial vehicle;
the radar transmits and receives electromagnetic waves, and the position and the frame of the antenna are determined;
starting from the position with the same height as the lower corner of the antenna, moving the radar upwards along one side of the antenna frame, transmitting and receiving electromagnetic waves, recording the test height and the test time interval from transmitting to receiving the electromagnetic waves when the radar is at the test height at the same time interval until the radar and the upper corner of the antenna are at the same height;
the radar obtains a test distance through a distance test algorithm according to the test time interval;
the radar fits an antenna downward inclination angle according to the collected test distance and the test height;
the radar in the step fits the antenna downward inclination angle according to the collected test distance and the collected test height, and the method specifically comprises the following steps:
establishing a coordinate system for the test distance and the test height;
fitting the coordinates consisting of the test distance and the test height into an approximate straight line by a linear least square method;
acquiring the slope of the approximate straight line;
converting the slope into a corresponding angle, wherein the angle is an antenna downward inclination angle;
the step of obtaining a test distance by the radar through a distance test algorithm according to the test time interval specifically comprises the following steps: the distance test algorithm is represented as
Wherein R is the test distance from the radar to the antenna, c is the speed of light, and T is the test time interval.
2. The method for measuring the downward inclination angle of the antenna based on the radar ranging of the unmanned aerial vehicle as claimed in claim 1, wherein: the step radar is installed on unmanned aerial vehicle, and is further still included: the camera is installed in the unmanned aerial vehicle and is located with the same position department of radar mounted position.
3. An antenna downtilt angle measurement device based on unmanned aerial vehicle radar ranging, which applies the antenna downtilt angle measurement method based on unmanned aerial vehicle radar ranging of any one of claims 1-2, wherein: the system comprises an unmanned aerial vehicle and a radar arranged on the unmanned aerial vehicle;
the radar comprises a transmitting unit, a receiving unit, a signal processing unit and a display unit;
a transmitting unit for transmitting an electromagnetic wave;
a receiving unit for receiving the reflected electromagnetic wave;
a signal processing unit for analyzing and processing the received reflected electromagnetic wave;
and the display unit is used for displaying the information sent by the signal processing unit.
4. The antenna downtilt angle measurement device based on unmanned aerial vehicle radar ranging of claim 3, wherein: the radar also comprises a transceiving conversion unit, and the transceiving conversion unit is used for controlling and switching between the transmitting unit and the receiving unit of the radar.
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| CN113960677B (en) * | 2021-10-26 | 2023-09-15 | 北京卫星环境工程研究所 | Method for rapidly judging inclination direction of target body |
| CN114049394B (en) * | 2021-11-23 | 2022-06-21 | 智道网联科技(北京)有限公司 | Monocular distance measuring method, device, equipment and storage medium |
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