CN110596470B - Antenna testing method using unmanned aerial vehicle and differential GNSS positioning - Google Patents
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Abstract
The invention relates to an antenna test method using unmanned aerial vehicle and differential GNSS positioning, which is characterized in that a signal source and a transmitting antenna are carried on a small multi-rotor unmanned aerial vehicle to serve as a transmitting source, and the influence of an unmanned aerial vehicle body on a transmitting antenna directional diagram is considered. The unmanned aerial vehicle flies according to the set track, the antenna to be tested receives the transmitting signal in the flying process, the power of the signal received by the antenna to be tested is collected through the frequency spectrograph according to a certain time interval, and the gain directional diagram of the antenna to be tested is obtained by utilizing the power of the received signal. In order to enable the unmanned aerial vehicle to fly according to the set track accurately, real-time differential GNSS positioning is used as navigation information, and the flight track of the unmanned aerial vehicle is accurately controlled through a geometric control method, so that the measurement accuracy of the antenna to be measured is improved.
Description
Technical Field
The invention relates to a method for accurately controlling the flight track of an unmanned aerial vehicle to carry out antenna test by utilizing differential GNSS positioning, belonging to the field of antenna measurement.
Background
The patent "an antenna far field measuring method based on unmanned aerial vehicle, CN109061322A, china" provides an antenna far field measuring method based on unmanned aerial vehicle. The method includes the steps that an unmanned aerial vehicle with a transmitting device is adopted, the unmanned aerial vehicle flies in a far field area according to a planned path route, the signal transmitting device sends signal intensity information to an antenna to be tested in real time, the unmanned aerial vehicle records position information at the moment, and the signal intensity information received by the antenna to be tested is matched with position information corresponding to the signal intensity information, so that far field information of the relative spatial position of the antenna to be tested is obtained. The method mainly adopts a GPS system of the unmanned aerial vehicle to carry out positioning, the position error of the flight track can reach the meter level, and the test precision of the receiving signal of the antenna to be tested is seriously influenced.
Disclosure of Invention
Technical problem to be solved
In order to solve the problem of measurement precision caused by inaccurate positioning of the unmanned aerial vehicle at present, the invention provides an antenna measurement method utilizing small multi-rotor unmanned aerial vehicle and differential GNSS positioning control.
Technical scheme
An antenna test method using unmanned aerial vehicle and differential GNSS positioning is characterized by comprising the following steps:
step 1: loading signal source and transmitting antenna onto unmanned aerial vehicle
Transmitting a point-frequency continuous wave signal by using a radio frequency module, amplifying the signal by using a power amplifier, and transmitting the signal by using an omnidirectional antenna; the radio frequency module and the power amplifier are powered by a power supply on the unmanned aerial vehicle and continuously transmit signals;
step 2: obtaining real-time differential GNSS positioning information
The real-time differential GNSS positioning comprises a base station end and an airborne end, wherein the base station end encodes carrier observed quantity and coordinate information of the base station end into an RTCM (real time modulation) protocol format and sends the RTCM protocol format to the airborne end through a communication link, the airborne end receives the observed quantity from the base station end in real time, simultaneously combines satellite carrier phase information received by the airborne end to obtain a phase differential observed value in real time, and performs centimeter-level positioning on the unmanned aerial vehicle by using the phase differential observed value;
and step 3: precise control of unmanned aerial vehicle flight trajectory by utilizing differential GNSS positioning
Obtaining a reference position, a reference speed and a reference acceleration of each point of the test track under a ground coordinate system according to the parametric description of the test track;
wherein R is a semi-circle radius, theta is a rotation angular velocity of a certain point on the semi-circle locus relative to a starting point, and yref,
For the reference position command, the reference velocity command and the reference acceleration command in the horizontal direction, Href,
A reference height instruction, a reference vertical speed instruction and a reference acceleration instruction in the vertical direction;
converting the reference position instruction, the reference speed instruction and the reference acceleration instruction in the horizontal direction and the vertical direction in the local coordinate system into a reference position x in the ground coordinate systemrefReference velocity vrefAnd a reference acceleration aref(ii) a Will refer to the position xrefReference velocity vrefAnd a reference acceleration arefThe reference heading is psidThe output of the trajectory tracking controller is a three-axis acceleration command as an input signal of the trajectory tracking controller, so that the direction and the magnitude of a required tension vector, namely the direction of a four-rotor z-axis and the magnitude of tension F are determined, and the expected command of a machine body axis z-axis is determined
The vector is a unit vector; by psidA desired horizontal vector direction can be determined
by projection, the following can be obtained:
thereby obtaining Rd：
The track controller takes attitude control as an inner loop, and adopts a geometric control method on an SE (3) group to control the law as follows:
wherein R is a rotation matrix, ReRepresenting the group error, which represents the relative rotation matrix from the current body coordinate system to the desired body coordinate system, characterizes the trend of R toward RdThe required amount of rotation; (logR)e) ˇ is the rotation vector; m is the required triaxial moment, omega is the triaxial angular rate, J is the moment of inertia matrix, KRAs an attitude error gain, KΩIs the angular rate gain;
according to the control distribution link shown in equation (9), the force and moment commands are mapped to the required tension on the four motor propellers:
wherein b is the distance from the center of each motor propeller to the x axis or the y axis of the body shaft, and cτfCoefficient of proportionality for torque and drag for propellers, M1,M2,M3Three components of the moment command M; f. of1,f2,f3,f4The required tension on the four motor propellers;
and 4, step 4: obtaining gain directional diagram of antenna to be measured by receiving signal
The measured antenna is connected with a frequency spectrograph, the frequency spectrograph usually sets a bandwidth of 1M according to a tested frequency point, finds a peak value of a received signal frequency point, then continuously collects the signal power of the frequency point in the flight process, and finally obtains an antenna gain directional diagram according to the collected signal power, as shown in the following formula:
Gr＝Pr-Pt-Gt+Ld+Ls (1)
wherein G isrFor receiving antenna gain patterns, PrFor receiving power, P, by a spectrometertFor outputting power to a signal source including a power amplifier, GtFor transmitting antenna gain patterns, LdIs the space loss, Ls is the cable loss;
under the condition of neglecting the environmental scattering interference, the calculation formula of the path attenuation is as follows:
Ld＝20lg(4πd/λ)＝20lg(4πdf/c) (2)
where λ is c/f, c is the speed of light in vacuum, f is the operating frequency, and d is the distance between the transmitting antenna and the receiving antenna.
The omnidirectional antenna in the step 1 is a dipole antenna.
Advantageous effects
According to the antenna test method using the unmanned aerial vehicle and the differential GNSS positioning, a signal source and a transmitting antenna are carried on the small multi-rotor unmanned aerial vehicle to serve as a transmitting source, and the influence of an unmanned aerial vehicle body on a transmitting antenna directional diagram is considered. The unmanned aerial vehicle flies according to the set track, the antenna to be tested receives the transmitting signal in the flying process, the power of the signal received by the antenna to be tested is collected through the frequency spectrograph according to a certain time interval, and the gain directional diagram of the antenna to be tested is obtained by utilizing the power of the received signal. In order to enable the unmanned aerial vehicle to fly according to the set track accurately, real-time differential GNSS positioning is used as navigation information, and the flight track of the unmanned aerial vehicle is accurately controlled through a geometric control method, so that the measurement accuracy of the antenna to be measured is improved.
Due to the adoption of differential GNSS positioning, the position positioning precision mostly drifts in the range of +/-2 cm, and the height positioning precision mostly drifts in the range of +/-5 cm. The flight path of the unmanned aerial vehicle is accurately controlled by a geometric control method according to the positioning information, the position accuracy of the flight path is greatly improved, the actual flight path is compared with the ideal path, the maximum error is about 0.1m, and therefore the test accuracy of an antenna gain directional diagram is improved.
Drawings
FIG. 1 is a schematic diagram of the basic components of the test method
FIG. 2 real-time differential GNSS test results
FIG. 3 is a schematic diagram of a controller
Fig. 4 gain pattern with transmit antenna mounted on drone
FIG. 5 comparison of unmanned aerial vehicle flight trajectory with ideal trajectory
FIG. 6 comparison of gain patterns of a measured antenna with simulation results and far field test results
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
an antenna test method using unmanned aerial vehicle and differential GNSS positioning comprises the following steps:
the method comprises the following steps: loading the signal source and the transmitting antenna onto the unmanned aerial vehicle:
and transmitting the dot frequency continuous wave signal by using the radio frequency module. If the power of the transmitted signal is weak (less than 1mw), the transmitting power is increased through a power amplifier. The radio frequency module and the power amplifier are powered by a power supply on the unmanned aerial vehicle and continuously transmit signals. Because the attitude of the unmanned aerial vehicle in air flight is possibly influenced, the omnidirectional antenna is adopted as the transmitting antenna, and the amplitude of the transmitted signal in a larger range is ensured to be basically consistent.
Step two: acquiring real-time differential GNSS positioning information:
the real-time differential GNSS positioning is composed of a base station end and an airborne end, the base station end encodes carrier observed quantity and coordinate information of the base station end into an RTCM (real time modulation) protocol format and sends the RTCM protocol format to the airborne end through a communication link, the airborne end receives the observed quantity from the base station end in real time, simultaneously combines satellite carrier phase information received by the airborne end to obtain a phase differential observed value in real time, and the phase differential observed value is used for carrying out centimeter-level positioning on the unmanned aerial vehicle.
Step three: the method comprises the following steps of accurately controlling the flight track of the unmanned aerial vehicle by utilizing differential GNSS positioning:
obtaining a reference position, a reference speed and a reference acceleration of each point of the test track under a ground coordinate system according to the parametric description of the test track; the track controller takes the reference commands as input, calculates an acceleration command, and calculates an expected rotation matrix command and an expected force command by adopting a geometric control method on an SE (3) group; the track controller takes the attitude controller as an inner loop, the attitude controller takes the angular rate controller as an inner loop, and the pulse width control instruction of each motor is calculated through a control distribution link, so that the accurate control of the track is realized.
Step four: obtaining a gain directional diagram of the antenna to be measured through the received signals:
the measured antenna is connected with a frequency spectrograph, the frequency spectrograph usually sets a smaller (1M) bandwidth according to a tested frequency point, finds a peak value of a received signal frequency point, then continuously collects the signal power of the frequency point in the flight process, and finally obtains an antenna gain directional diagram according to the collected signal power, as shown in the following formula:
Gr＝Pr-Pt-Gt+Ld+Ls
(1)
wherein G isrFor receiving antenna gain patterns, PrFor receiving power, P, by a spectrometertFor the signal source output power (including power amplifier), GtFor transmitting antenna gain patterns, LdIs the space loss and Ls is the cable loss.
Under the condition of neglecting the environmental scattering interference, the calculation formula of the path attenuation is as follows:
Ld＝20lg(4πd/λ)＝20lg(4πdf/c) (2)
wherein: λ is c/f, c is the speed of light in vacuum, and f is the operating frequency. d is the distance between the transmitting antenna and the receiving antenna.
Example 1:
1. loading signal source and transmitting antenna onto unmanned aerial vehicle
Referring to fig. 1, a small quad-rotor drone is used to measure a log-periodic antenna with a test frequency of 1 GHz. The signal source produces the continuous wave signal, in order to increase signal strength, connects power amplifier at the signal source rear end, and power amplifier links to each other with transmitting antenna, and transmitting antenna is dipole antenna, and the three all installs on unmanned aerial vehicle, is given signal source and power amplifier power supply by unmanned aerial vehicle, through transmitting antenna transmitting signal. The antenna to be tested receives signals, the signals are transmitted to the receiver through the microwave cable, and the data acquisition equipment acquires data of the receiver. The unmanned aerial vehicle flies around the tested antenna to form a vertical semicircular track, and the ground station of the unmanned aerial vehicle records the flying track of the unmanned aerial vehicle. The flight radius of the unmanned aerial vehicle is 4m, and the far field condition of the antenna test is met. The test polarization is horizontal polarization.
2. Obtaining real-time differential GNSS positioning information
Referring to fig. 1, two GPS antennas are placed respectively on unmanned aerial vehicle and ground, receive the GPS signal and form difference GPS system, improve unmanned aerial vehicle positioning accuracy. And the base station end and the airborne end simultaneously carry out carrier phase measurement. The base station end encodes the carrier observed quantity and the coordinate information into an RTCM protocol format and sends the RTCM protocol format to the airborne end through a communication link, and the airborne end receives the observed quantity from the base station end in real time and processes the phase difference observed value in real time by combining the satellite carrier phase information received by the airborne end.
Referring to fig. 2, differential positioning using the ublox M8P module has a convergence time of about 5min, a nominal accuracy of 0.025M, and an update frequency of 5 Hz. It can be seen from the figure that after the system enters the fix differential mode, the position positioning result mostly drifts in the range of ± 2 cm. The height positioning accuracy mostly drifts within a range of +/-5 cm.
3. Precise control of unmanned aerial vehicle flight trajectory by utilizing differential GNSS positioning
The precise control method for the unmanned aerial vehicle track is described by taking a four-rotor unmanned aerial vehicle and a vertical semicircular track as examples.
Firstly, a local coordinate system is defined, the origin of coordinates, namely the center of a semicircle, is positioned right above the origin of the ground coordinate system H0Where the x-axis is perpendicular to the semi-circular plane, the z-axis is vertically down, and the y-axis is in the semi-circular plane. The reference position, the reference velocity and the reference acceleration of each point on the semicircular track can be obtained according to the parameterized description of the semicircular track:
where R is the radius of the semicircle, theta is the angular velocity of rotation of a point on the locus of the semicircle relative to the starting point, yref,
For the reference position command, the reference velocity command and the reference acceleration command in the horizontal direction, Href,
A reference height command, a reference vertical velocity command, and a reference acceleration command in the vertical direction.
Referring to fig. 3, the reference command is defined in a local coordinate system and needs to be converted into a reference position x in a ground coordinate systemrefReference velocity vrefAnd a reference acceleration arefThe reference course is psid. The reference commands are input signals of a track tracking controller, the output of the track tracking controller is a three-axis acceleration command, so that the direction and the magnitude of a required tension vector, namely the direction of a four-rotor z-axis and the magnitude of tension f are determined, and the expected command of a machine body axis z-axis is determined
The vector is a unit vector. By psidA desired horizontal vector direction can be determined
by projection, the following can be obtained:
thereby obtaining Rd：
The track controller takes attitude control as an inner loop, and adopts a geometric control method on an SE (3) group to control the law as follows:
wherein R is a rotation matrix, RePresentation groupThe error, which represents the relative rotation matrix from the current body coordinate system to the desired body coordinate system, characterizes the trend of R toward RdThe amount of rotation required. ReIs a 3x3 matrix, which cannot be used directly, and needs to be mapped to a rotation vector defined in a machine coordinate system. (logR)e) ˇ is the rotation vector, which means the mapping of the rotation matrix group SO (3) to the rotation vector corresponding to lie algebra SO (3). The rotation vector can be decomposed onto each body axis, defining the amount of rotation required on each axis. Where M is the desired triaxial moment, Ω is the triaxial angular rate, J is the moment of inertia matrix, KRAs an attitude error gain, KΩIs the angular rate gain.
And mapping the force and moment commands into required tension on the four motor propellers according to a control distribution link shown in a formula (9). And further calculating a pulse width command according to the relationship between the pulse width command and the tension of the motor, and controlling the motor to realize the required tension.
Wherein b is the distance from the center of each motor propeller to the x-axis or y-axis of the body shaft, and cτfCoefficient of proportionality for torque and drag for propellers, M1,M2,M3Three components of the torque command M. f. of1,f2,f3,f4The required tension on the four motor propellers.
4. Obtaining gain directional diagram of antenna to be measured by receiving signal
Referring to fig. 4, the gain pattern of the transmitting antenna needs to be corrected according to equation (1). And (3) installing the transmitting antenna on the unmanned aerial vehicle, and measuring the gain directional diagram of the transmitting antenna in the microwave anechoic chamber by considering the influence of the unmanned aerial vehicle on the antenna directional diagram.
Referring to fig. 5, the spatial path loss is 44.483dB at a frequency of 1GHz with a radius of 4m according to equation (2). The path loss introduced by the actual flight trajectory is about 0.2dB, and the path loss is smaller under different distances for testing, so that the data acquisition precision is higher.
Referring to fig. 6, since the signal source, the power amplifier, and the cable loss are all fixed values in equation (1), they were measured using a spectrometer, and the result was about 14.7 dBm. The gain directional diagram of the antenna to be measured is obtained by processing the data received by the frequency spectrograph according to the formula (1) and is shown in fig. 4, and it can be seen from the diagram that most areas of the antenna directional diagram are well matched with the far-field test value and the simulation value, and the maximum error of the gain is less than 1 dB.
Claims (2)
1. An antenna test method using unmanned aerial vehicle and differential GNSS positioning is characterized by comprising the following steps:
step 1: loading signal source and transmitting antenna onto unmanned aerial vehicle
Transmitting a point-frequency continuous wave signal by using a radio frequency module, amplifying the signal by using a power amplifier, and transmitting the signal by using an omnidirectional antenna; the radio frequency module and the power amplifier are powered by a power supply on the unmanned aerial vehicle and continuously transmit signals;
step 2: obtaining real-time differential GNSS positioning information
The real-time differential GNSS positioning comprises a base station end and an airborne end, wherein the base station end encodes carrier observed quantity and coordinate information of the base station end into an RTCM (real time modulation) protocol format and sends the RTCM protocol format to the airborne end through a communication link, the airborne end receives the observed quantity from the base station end in real time, simultaneously combines satellite carrier phase information received by the airborne end to obtain a phase differential observed value in real time, and performs centimeter-level positioning on the unmanned aerial vehicle by using the phase differential observed value;
and step 3: precise control of unmanned aerial vehicle flight trajectory by utilizing differential GNSS positioning
Obtaining a reference position, a reference speed and a reference acceleration of each point of the test track under a ground coordinate system according to the parametric description of the test track;
wherein R is a moietyRadius of circle, θ is angular velocity of rotation of a point on the locus of the circle relative to the starting point, yref,
For the reference position command, the reference velocity command and the reference acceleration command in the horizontal direction, Href,
A reference height instruction, a reference vertical speed instruction and a reference acceleration instruction in the vertical direction;
converting a reference position instruction, a reference speed instruction and a reference acceleration instruction in the horizontal direction and the vertical direction in the ground coordinate system into a reference position x in the ground coordinate systemrefReference velocity vrefAnd a reference acceleration aref(ii) a Will refer to the position xrefReference velocity vrefAnd a reference acceleration arefThe reference heading is psidThe output of the trajectory tracking controller is a three-axis acceleration command as an input signal of the trajectory tracking controller, so that the direction and the magnitude of a required tension vector, namely the direction of a four-rotor z-axis and the magnitude of tension F are determined, and the expected command of a machine body axis z-axis is determined
The vector is a unit vector; by psidA desired horizontal vector direction can be determined
by projection, the following can be obtained:
thereby obtaining Rd：
The track controller takes attitude control as an inner loop, and adopts a geometric control method on an SE (3) group to control the law as follows:
wherein R is a rotation matrix, ReRepresenting the group error, which represents the relative rotation matrix from the current body coordinate system to the desired body coordinate system, characterizes the trend of R toward RdThe required amount of rotation; (logR)e) ˇ is the rotation vector; m is the required triaxial moment, omega is the triaxial angular rate, J is the moment of inertia matrix, KRAs an attitude error gain, KΩIs the angular rate gain;
according to the control distribution link shown in equation (9), the force and moment commands are mapped to the required tension on the four motor propellers:
wherein b is the distance from the center of each motor propeller to the x axis or the y axis of the body shaft, and cτfCoefficient of proportionality for torque and drag for propellers, M1,M2,M3Three components of the moment command M; f. of1,f2,f3,f4The required tension on the four motor propellers;
and 4, step 4: obtaining gain directional diagram of antenna to be measured by receiving signal
The measured antenna is connected with a frequency spectrograph, the frequency spectrograph usually sets a bandwidth of 1M according to a tested frequency point, finds a peak value of a received signal frequency point, then continuously collects the signal power of the frequency point in the flight process, and finally obtains an antenna gain directional diagram according to the collected signal power, as shown in the following formula:
Gr＝Pr-Pt-Gt+Ld+Ls (1)
wherein G isrFor receiving antenna gain patterns, PrFor receiving power, P, by a spectrometertFor outputting power to a signal source including a power amplifier, GtFor transmitting antenna gain patterns, LdIs the space loss, Ls is the cable loss;
under the condition of neglecting the environmental scattering interference, the calculation formula of the path attenuation is as follows:
Ld＝20lg(4πd/λ)＝20lg(4πdf/c) (2)
where λ is c/f, c is the speed of light in vacuum, f is the operating frequency, and d is the distance between the transmitting antenna and the receiving antenna.
2. The method as claimed in claim 1, wherein the omni-directional antenna in step 1 is a dipole antenna.
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