CN110058091A - Antenna servo system Calibration Method based on coordinate rotation - Google Patents
Antenna servo system Calibration Method based on coordinate rotation Download PDFInfo
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- CN110058091A CN110058091A CN201910345725.7A CN201910345725A CN110058091A CN 110058091 A CN110058091 A CN 110058091A CN 201910345725 A CN201910345725 A CN 201910345725A CN 110058091 A CN110058091 A CN 110058091A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/08—Measuring electromagnetic field characteristics
- G01R29/10—Radiation diagrams of antennas
Abstract
The invention discloses a kind of antenna servo system Calibration Methods based on coordinate rotation, belong to antenna technical field.Antenna of this method using within a period of time with certain variation range is to the tracking data of the target of known accurate location as sample data, the calibration formula obtained is rotated according to by coordinate, calibrates antenna servo system error in such a way that least-square analysis calculates sample data.The present invention realizes the system calibration of antenna servo system by antenna to target satellite tracking data analysis method, has the advantages that system structure is simple, adapts to mounting form range extensively, cost is relatively low for calibration, can be by the constantly improve calibration precision of iteration calibration.
Description
Technical field
The invention belongs to antenna technical fields, and in particular to a kind of antenna servo system calibration side based on coordinate rotation
Method.
Background technique
With the development of communication observing and controlling cause, the application market of antenna expands therewith, and requires in most applications
Realize the precise measurement and control being directed toward to antenna.Particularly, vehicle-mounted communication in moving, boat-carrying and onboard satellite communication etc. fields,
Most of antenna dynamic load body has navigation equipment or device to provide more accurate attitude of carrier and position, is dynamic load body antenna
Realize that being directed toward tracking provides advantage.In this case, in order to improve the pointing accuracy of dynamic load body antenna, just to dynamic load
Body antenna proposes higher system calibration requirement, and Calibration Method in the prior art is not applied for dynamic load body antenna, main
Show the following aspects:
A) dynamic load body antenna generally uses the small aperture antenna of high band, and antenna receiving area itself is smaller, so cannot
In antenna interarea aperture, it to be used for optical laying.
B) dynamic load body antenna equipment volume is smaller, and compact-sized, it is difficult to individually reserve survey of the position as level meter
Plane is measured, the telescope that special structure is fixed for optical laying is designed.
C) dynamic load body antenna is mostly used and (is bowed in orientation-different from A-E to realize the high elevation angle even Passing zenith tracing
Face upward) the mounting forms of two axle bed framves, have exceeded existing calibration mathematical model, it is therefore desirable to study new mathematical model with suitable
Answer new demand.
D) calibration of dynamic load body antenna needs to use the special instruments such as level meter, theodolite, optical telescope, cost compared with
It is high.
E) in order to reduce volume, weight, cost and the lead time of antenna equipment, improve antenna equipment use it is available
Property, it is also desirable to new Calibration Method is restudied, on the basis of not changing the structure and hardware device of antenna, can be realized dynamic
The online calibration of carrier antenna.
Summary of the invention
In view of this, the present invention proposes a kind of antenna servo system Calibration Method based on coordinate rotation, this method can
Do not change antenna equipment hardware and structure, do not increase periph-eral equipment and instrument in the case where, according to antenna equipment itself
Data are recorded, realize the online or offline calibration of antenna servo system.
To achieve the goals above, the technical solution adopted by the present invention are as follows:
A kind of antenna servo system Calibration Method based on coordinate rotation comprising following steps:
(1) it determines systematic error item existing for antenna servo system, is defined according to shafting relationship and coordinate system by each system
Error term is expressed as the form of rotation angle, obtains the spin matrix of each systematic error item in a coordinate system；Spin matrix is substituted into
Coordinate conversion, establishes matrix equality；
(2) solution matrix equation in solution procedure, carries out approximate processing to systematic error itself and error product；
(3) using each coordinate components for characterizing antenna pointing vector in three-dimensional system of coordinate as intermediary, calibration multinomial is established；
(4) using calibration multinomial as mathematical model, system items error is marked by least square method.
Optionally, the concrete mode of the step (1) are as follows:
(101) each system is determined according to rotation relationship of each systematic error in antenna coordinate system in antenna servo system
The rotation angle of error, and each rotation angle is expressed as spin matrix；
(102) since antenna coordinate system, --- geographic coordinate system --- installation pedestal coordinate system with antenna coordinate system
Transduction pathway as path 1, using antenna coordinate system --- mounting coordinate system --- transduction pathway of antenna base coordinate system as
Path 2；
(103) according to each axis of antenna servo system and the rotation sequence of every systematic error rotation angle, by two paths institutes
Each shaft angle degree and each spin matrix needed is successively multiplied respectively, establishes the coordinate change type of two paths；
(104) two coordinate change types are connected by equal sign, establishes the matrix equality based on antenna base coordinate system.
Optionally, the approximate processing in the step (2) includes:
It (201) is approximately error radian value by the sinusoidal element in each systematic error spin matrix of antenna servo system, it is remaining
String element is approximately 1；
(202) for each matrix in matrix equality step by step in multiplication processes, the product by systematic error item is approximately 0.
Optionally, the concrete mode of the step (3) are as follows:
Convert calculated result matrix as benchmark calibration matrix using path 1, the conversion calculated result matrix in path 2 be to
The each element item that the vector that antenna is directed toward is characterized in matrix equality is equal to each other, to obtain three calibrations etc. by calibration matrix
Formula.
Optionally, the concrete mode of the step (4) are as follows:
(401) acquisition a period of time internal antenna is to the tracking data of the target of known accurate location as sample data；
(402) based on three calibration equatioies, analytical calculation is carried out to sample data using least square method, is obtained
Every systematic error of antenna servo system completes the calibration of antenna servo system error.
Beneficial effect by adopting the above technical scheme is:
A) the accurate measurement face of design specialized is not needed to place level meter, does not need that the light such as telescope accurately are installed yet
It learns sighting device and constructs optical laying channel in antenna surface aperture, thus can using the antenna servo system of the Calibration Method
To use simpler structure.
B) adaptability is good, can construct matrix equality according to different antenna mount forms, to complete calibration calculating
The derivation of formula is no longer limited to two axle bed frame form of A-E.
C) calibration can be completed by online and offline two ways, as long as it is different to obtain each axis of enough antenna mounts
Angle and its corresponding geographical be directed toward are used as sample data, can use least square based on the calibration formula being derived by
Method completes calibration.
D) at low cost.The Calibration Method does not need special calibration facility and instrument, does not need special personnel yet and is responsible for
Guidance and operation, to save hardware and manpower, reduce the design and use cost of equipment.
E) calibration can be iterated.In the equipment course of work can with antenna to the target satellite of known location
Variation and the variation of antenna carrier attitude angle accumulate test data, complete iteration calibration in conjunction with Primary Stage Data, make systematic error more
Converge on true value well.
Detailed description of the invention
Fig. 1 is the axial coordinate relational graph of two axle bed frame antenna of A-E in the embodiment of the present invention (orientation-pitching).
Fig. 2 is the axial coordinate relational graph of A-E-C in the embodiment of the present invention (orientation-pitching-intersection) three-axis mount antenna.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawings and detailed description.
Embodiment 1
By taking two axle bed frame antenna of A-E (orientation-pitching) as an example, the Calibration Method of the antenna the following steps are included:
(1) two axle bed frame antenna system error analysis of A-E (orientation-pitching)
Systematic error existing for A-E (orientation-pitching) two axle bed frame antenna is analyzed, mainly there is the vertical of antenna bearingt turntable
Incline non-orthogonal error, pitching mechanical axis and the antenna of error, list error, the mechanical zero degree of azimuth axis, azimuth axis and pitch axis
Coincidence error, error expression not see the table below electric axis for coincidence error, azimuth mechanical axis and the electrical boresight of antenna；
(2) spin matrix of shaft angle and systematic error is determined according to shafting relationship
Two axle bed frame antenna axial coordinate relational graph of A-E (orientation-pitching) is as shown in Figure 1.Each variable and corresponding axis in figure
Corner is identical.According to Fig. 1, can find out each systematic error, each attitude angle, each Shaft angle spin matrix.
Wherein, pitching geography angle EgSpin moment MEg, orientation geography angle AgSpin matrix MAg, course k spin matrix Mk, it is vertical
Shake p spin matrix Mp, rolling r spin matrix MrIt is as follows:
Azimuth axis electromechanics error CsSpin matrix MCs, pitch axis electromechanics error CeSpin matrix MCe, pitch axis encode angle Ec
Spin matrix MEc, the non-orthogonal degree δ of azimuth axis pitch axismSpin matrix Mδm, orientation zero degree error A0Spin matrix MAo, azimuth axis
Survey angle AcSpin matrix MAc, orientation turntable list error δrSpin matrix Mδr, orientation turntable trim error δpSpin matrix
MδpIt is as follows:
(3) it the company of the matrix containing systematic error is multiplied into matrix is formed by approximate calculation and be with one order polynomial of systematic error
The matrix of element；
(4) matrix equality is formed
Form the coordinate conversion matrix equation with antenna installation pedestal plane coordinate system for basic coordinate system:
(5) calibration equation is formed
Through matrix operation, the element equity for being directed toward unit vector will be indicated in the matrix equality after calculating, form three marks
School equation completes mathematical modeling.Three calibration equatioies are as follows:
δr sin Ec+A0 cos Ec cos Ac+δm sin Ec cos Ac+Cs cos Ac-Ce sin Ec sin Ac=
cos Eg sin(Ag-k)cos r+cos Eg cos(Ag-k)sin p sin r-sin Eg cos p sin r-cos Ec sin
Ac
-δp sin Ec-A0 cos Ec sin Ac-δm sin Ec sin Ac-Cs sin Ac-Ce sin Ec cos Ac
=cos Eg sin(Ag-k)sin r-cos Eg cos(Ag-k)sin p cos r+sin Eg cos p cos r-cos Ec
cos Ac
δp cos Ec cos Ac-δr cos Ec sin Ac+Ce cos Ec=cos Eg cos(Ag-k)cos p+sin Eg
sin p-sin Ec
(6) data acquire
By the position for the target that change antenna is tracked, or change the posture of the carrier where antenna, when acquiring one section
The real-time pitching geography angle E of interior two axle bed frame antenna of A-E (orientation-pitching)g, orientation geography angle Ag, course k, pitching p, cross
Shake r, pitch axis coding angle Ec, azimuth axis encode angle Ac, azimuth axis coding angle Ac, pitch axis encode angle Ec, variation step pitch holding
Within 1 °, azimuth axis encodes angle variation range and is greater than 90 °, and pitch axis encodes angular region and is greater than 40 °.
(7) calibration calculates
Based on three calibration equatioies, using least square method, A-E can be calibrated according to collected data
Every systematic error of (orientation-pitching) two axle bed frame antenna, to complete each of two axle bed frame antenna of A-E (orientation-pitching)
Item system calibration.
Embodiment 2
By taking A-E-C (orientation-pitching-intersection) three-axis mount antenna as an example, the Calibration Method of the antenna includes following step
It is rapid:
(1) A-E-C (orientation-pitching-intersection) three-axis mount antenna system error analysis
Systematic error existing for A-E-C (orientation-pitching-intersection) three-axis mount antenna is analyzed, mainly has antenna bearingt to turn
The trim error of disk, list error, the mechanical zero degree of azimuth axis, the non-orthogonal error of azimuth axis and pitch axis, pitch axis machine
Tool zero degree, intersects mechanical axis and the electrical boresight of antenna not coincidence error, pitching mechanical axis at the non-orthogonal error of pitch axis and intersecting axle
Coincidence error, error expression not see the table below with the electrical boresight of antenna:
(2) spin matrix of shaft angle and systematic error is determined according to shafting relationship
A-E-C (orientation-pitching-intersection) three-axis mount antenna axial coordinate relational graph is as shown in Figure 2.In figure each variable with
Each variable is identical as corresponding Shaft angle in corresponding figure.According to diagram, each systematic error, each attitude angle, each axis can be found out
The spin matrix of corner.
Wherein, pitching geography angle EgSpin moment MEg, orientation geography angle AgSpin matrix MAg, course k spin matrix Mk, it is vertical
Shake p spin matrix Mp, rolling r spin matrix MrIt is as follows:
Pitch axis electromechanics error CeSpin matrix MCe, intersecting axle electromechanics error CsSpin matrix MCs, intersecting axle encode angle Cc
Spin matrix MCc, pitching intersect non-orthogonal error deltanSpin matrix Mδn, pitching zero degree error E0Spin matrix MEo, pitch axis compile
Code angle EcSpin matrix MEc, the non-orthogonal degree δ of azimuth axis pitch axismSpin matrix Mδm, orientation zero degree error A0Spin matrix MAo、
Azimuth axis surveys angle AcSpin matrix MAc, orientation turntable list error δrSpin matrix Mδr, orientation turntable trim error δpRotation
Matrix MδpIt is as follows:
(3) it the company of the matrix containing systematic error is multiplied into matrix is formed by approximate calculation and be with one order polynomial of systematic error
The matrix of element；
(4) matrix equality is formed
Form the coordinate conversion matrix equation with antenna installation pedestal plane coordinate system for basic coordinate system:
(5) calibration equation is formed
Through matrix operation, the element equity for being directed toward unit vector will be indicated in the matrix equality after calculating, form three marks
School equation completes mathematical modeling.Three calibration equatioies are as follows:
δr cos Cc sin Ec-A0(sin Cc sin Ac-cos Cc cos Ec cos Ac)+δm cos Cc sin Ec
cos Ac -E0 cos Cc sin Ec sin Ac+δn sin Cc sin Ec sin Ac+Cs(cos Cc cos Ac-sin Cc
cos Ec sin Ac) -Ce sin Ec sin Ac=cos Eg sin(Ag-k)cos r+cos Eg cos(Ag-k)sin p
sin r-sin Eg cos p sin r -sin Cc cos Ac-cos Cc cos Ec sin Ac
-δp cos Cc sin Ec-A0(sin Cc cos Ac+cos Cc cos Ec sin Ac)-δm cos Cc sin Ec
sin Ac -E0 cos Cc sin Ec cos Ac+δn sin Cc sin Ec cos Ac-Cs(cos Cc sin Ac+sin Cc
cos Ec cos Ac) -Ce sin Ec cos Ac=cos Egsin(Ag-k)sin r-cos Eg cos(Ag-k)sin p cos
r+sin Eg cos p cos r +sin Cc sin Ac-cos Cc cos Ec cos Ac
-δp(sin Cc sin Ac-cos Cc cos Ec cos Ac)-δr(sin Cc cos Ac+cos Cc cos Ec
sin Ac)-δm sin Cc +E0 cos Cc cos Ec-δn sin Cc cos Ec-Cs sin Cc sin Ec+Ce cos Ec=
cos Eg cos(Ag-k)cos p+sin Eg sin p-cos Cc sin Ec
(6) data acquire
By the position for the target that change antenna is tracked, or change the posture of the carrier where antenna, when acquiring one section
The real-time pitching geography angle E of interior A-E-C (orientation-pitching-intersection) three-axis mount antennag, orientation geography angle Ag, it is course k, vertical
Shake p, rolling r, intersecting axle coding angle Cc, pitch axis encode angle Ec, azimuth axis encode angle Ac, azimuth axis coding angle Ac, pitch axis
Encode angle Ec, intersecting axle encode angle Cc, change step pitch and be maintained within 1 °, azimuth axis encodes angle variation range and is greater than 90 °, bows
It faces upward axis coding angular region and is greater than 40 °, intersecting axle encodes the nearly actual rotation range of corner connection.
(7) calibration calculates
Based on three calibration equatioies, using least square method, A-E- can be calibrated according to collected data
Every systematic error of C (orientation-pitching-intersection) three-axis mount antenna, to complete A-E-C (orientation-pitching-intersection) three
Every system calibration of axle bed frame antenna.
For a long time, field of antenna realizes always the system calibration of antenna servo system using traditional Calibration Method, should
There are following many restrictions for Calibration Method:
A) calibration needs more open calibration place, in order to which optical alignment and electric signal receive；
B) a certain number of azimuth marks and boresight tower are needed, the realization orientation angles calibration that can be applicable in and photoelectricity are not
Be overlapped calibration, at the same it is different according to Antenna Operation frequency range, antenna aperture is of different sizes, calibration required precision is different, tower and target
Height and distance requirement is also different, and, working frequency higher antenna larger for bore should can not be completed in this way to mark
School；
C) need to reserve the machined surface to meet the requirements in antenna and mounting design, the measurement as high-accuracy water level
Plane to measure the not horizontal of the mounting surfaces of revolution, while designing the fixed mechanism and antenna surface parallel with mounting mechanical axis
Aperture, convenient for the installation and aiming of the optical layings instrument such as telescope；
D) mathematical model based on calibration is only applicable in A-E (orientation-pitching) two axle bed frame antenna, can not apply at it
In the antenna of its mounting form.
In view of this, the invention proposes it is a kind of based on coordinate rotation antenna servo system Calibration Method, this method with
Antenna in a period of time with certain variation range to the tracking data of the target of known accurate location as sample data,
The calibration formula obtained is rotated according to by coordinate, calibrates day in such a way that least-square analysis calculates sample data
Line servo error.The present invention realizes antenna servo system system to target satellite tracking data analysis method by antenna
System calibration, has the advantages that
A) it does not need to build calibration tower in open area.This method does not need the calibration of construction azimuth mark and boresight tower
Facility, calibration tower is by can determine that the target satellite of exact position replaces.
B) optical aiming devices such as light target and telescope are not needed.In traditional Calibration Method, the work of optical aiming device
Use is to carry out the mismatch between each shaft mechanical angle of calibration antenna mount and each axis using optical axis as the mechanical pointing vector of antenna
Degree.And the method for the present invention eliminates optical measurement, is directly completed by the measurement of electrical boresight of antenna direction through optical axis realization
Measure function.
C) measuring surface of design specialized is not needed to place level meter, is turned without measuring antenna bearingt by level meter
The not horizontal of disk, but the concept of pedestal unlevelness degree is converted to the basic plane and antenna mount orientation of antenna installation
The nonparallelism of plane of rotor disc, in inertial navigation trim and roll error angle characterize, pass through the analytical calculation to sample data
It obtains together.
Method that the method for the present invention is rotated by coordinate it can be concluded that various mounting form antennas calibration formula, both fitted
For the calibration of two axle bed frame antenna of A-E (orientation-pitching), it is also applied for A-E-C (orientation-pitching-intersection) three-axis mount day
The calibration of line.
In short, the method for the present invention establishes a kind of completely new calibration formula, and realize on the basis of the formula completely new
Calibration Method, can simplify calibration process, and can the hardware and structure for not changing antenna equipment, do not increase periph-eral equipment and
In the case where instrument, according to the record data of antenna equipment itself, realizes the online or offline calibration of antenna servo system, be
To a kind of important improvement of the prior art.
Claims (5)
1. a kind of antenna servo system Calibration Method based on coordinate rotation, which comprises the following steps:
(1) it determines systematic error item existing for antenna servo system, is defined according to shafting relationship and coordinate system by each systematic error
Item is expressed as the form of rotation angle, obtains the spin matrix of each systematic error item in a coordinate system；Spin matrix is substituted into coordinate
Conversion, establishes matrix equality；
(2) solution matrix equation in solution procedure, carries out approximate processing to systematic error itself and error product；
(3) using each coordinate components for characterizing antenna pointing vector in three-dimensional system of coordinate as intermediary, calibration multinomial is established；
(4) using calibration multinomial as mathematical model, every systematic error is marked by least square method.
2. the antenna servo system Calibration Method according to claim 1 based on coordinate rotation, which is characterized in that the step
Suddenly the concrete mode of (1) are as follows:
(101) each systematic error is determined according to rotation relationship of each systematic error in antenna coordinate system in antenna servo system
Rotation angle, and each rotation angle is expressed as spin matrix；
(102) since antenna coordinate system, the conversion of --- geographic coordinate system --- installation pedestal coordinate system with antenna coordinate system
Path is as path 1, and using antenna coordinate system, --- mounting coordinate system --- transduction pathway of antenna base coordinate system is as path
2；
It (103), will be needed for two paths according to each axis of antenna servo system and the rotation sequence of every systematic error rotation angle
Each shaft angle degree and each spin matrix are successively multiplied respectively, establish the coordinate change type of two paths；
(104) two coordinate change types are connected by equal sign, establishes the matrix equality based on antenna base coordinate system.
3. the antenna servo system Calibration Method according to claim 2 based on coordinate rotation, which is characterized in that the step
Suddenly the approximate processing in (2) includes:
It (201) is approximately error radian value, cosine member by the sinusoidal element in each systematic error spin matrix of antenna servo system
Element is approximately 1；
(202) for each matrix in matrix equality step by step in multiplication processes, the product by systematic error item is approximately 0.
4. the antenna servo system Calibration Method according to claim 3 based on coordinate rotation, which is characterized in that the step
Suddenly the concrete mode of (3) are as follows:
Calculated result matrix is converted as benchmark calibration matrix using path 1, and the conversion calculated result matrix in path 2 is to calibration square
The each element item that the vector that antenna is directed toward is characterized in matrix equality is equal to each other, to obtain three calibration equatioies by battle array.
5. the antenna servo system Calibration Method according to claim 4 based on coordinate rotation, which is characterized in that the step
Suddenly the concrete mode of (4) are as follows:
(401) acquisition a period of time internal antenna is to the tracking data of the target of known accurate location as sample data；
(402) based on three calibration equatioies, analytical calculation is carried out to sample data using least square method, show that antenna is watched
Every systematic error of dress system completes the calibration of antenna servo system error.
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Cited By (1)
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| CN112325840A (en) * | 2020-10-14 | 2021-02-05 | 中国人民解放军63921部队 | Directional antenna angle rapid calibration method based on celestial body tracking and scanning |
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