CN111413663A - Navigation positioning method of ultrashort wave direction finder in-situ test system - Google Patents

Navigation positioning method of ultrashort wave direction finder in-situ test system Download PDF

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CN111413663A
CN111413663A CN202010224106.5A CN202010224106A CN111413663A CN 111413663 A CN111413663 A CN 111413663A CN 202010224106 A CN202010224106 A CN 202010224106A CN 111413663 A CN111413663 A CN 111413663A
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coordinate system
distance
angle
airplane
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CN111413663B (en
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李小强
张东良
郑志刚
李贵飞
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Shanghai Jiuhang Electronics Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/023—Monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a navigation positioning method of an ultrashort wave direction finder in-situ test system, which comprises a detection mobile device, a detection fixing device, a distance and angle measurement component and a portable display control terminal, wherein the detection mobile device comprises: the system comprises a first display control unit, a first data transmission module, an ultra-short wave radio station and a first power supply unit; the detection fixture includes: the second display control unit, the second data transmission unit and the second power supply unit.

Description

Navigation positioning method of ultrashort wave direction finder in-situ test system
Technical Field
The invention belongs to the field of aviation ground support equipment, and particularly relates to a navigation positioning method of an ultrashort wave direction finder in-situ test system based on a distance and angle measurement component and a satellite navigation positioning module.
Background
The antenna of the orientation instrument of the oiling machine receives radio frequency signals emitted by the oil receiving machine, and can output the orientation information of the oil receiving machine relative to the oiling machine after modulation processing, so as to realize the orientation function, and the oiling machine and the oil receiving machine can timely adjust the flight attitude according to the orientation information to ensure the smooth completion of the air oiling task. When the performance of the ultrashort wave direction finder is reduced, the phenomenon of increased directional error and even failure of directional function can occur, and the flight safety and task execution capability of the oil adding and receiving machine in the air refueling process are seriously influenced.
Therefore, in order to ensure the flight safety in the air refueling process and the smooth completion of the refueling task, the performance of the orientation instrument needs to be tested on the ground in situ regularly or timely according to the requirement. The existing test current situation has the following problems:
no mature test system exists, and the test process is complex: at present, an in-situ test system for an ultrashort wave direction finder is not available, partial tests can be performed only by means of visual inspection and onboard self-inspection, particularly for detection of orientation precision, the orientation precision test of a fixed direction is usually completed by using distance and angle measuring equipment after an airplane is leveled, but the leveling operation of the airplane consumes more human resources and time, and cannot complete test work in a short time, so that the test efficiency is influenced.
The distance and angle measurement assembly needs to be centered and leveled: when the distance measurement and angle measurement equipment is used for testing the orientation precision under the conventional condition, strict centering and leveling must be carried out according to operation rules, operators are required to have certain experience, the operation time is long, the test efficiency is influenced, centering and leveling cannot be completed under certain conditions due to the limitation of the terrain of the erection place and the ground conditions, the test result precision cannot meet the test requirement, and the test cannot be normally completed.
The real-time navigation and positioning functions of the testers are not provided: under some conditions, the testing work of the ultrashort wave direction finder needs to be completed at a longer distance according to the testing requirements, at the moment, a tester cannot accurately judge the position of the tester relative to the airplane and the ultrashort wave direction finder, and when the testing of the directional precision of the specified position needs to be completed, much time is consumed in the process of moving to the specified position, and the testing efficiency is influenced.
Although there is a chinese patent application publication No. CN110501667A that discloses a test system and a ground test method for ultrashort wave direction finder, the patent is different from the present application in another point of view, and the achieved technical effect is also different from the present application. The method is used for off-position detection of the ultrashort wave direction finder, and is used for testing and fault location functions before the ultrashort wave direction finder is installed, and in the testing process, data transmission needs to be carried out through physical connection between an interface adapter and tested equipment; this patent mainly used ultrashort wave direction finder's after the installation in situ detection, also need not connect through coupling assembling such as cable and equipment under test in the test procedure, need not consider the physical interface requirement, to the ultrashort wave direction finder of the assembly on other airplanes of other similar types, only need to modify partial parameter in software can the complete adaptation, adaptability is wider. The patent does not completely describe how the orientation precision test is specifically realized, nor does it describe what level the specific realization precision of the reference angle output by the orientation excitation unit can reach when the orientation precision is detected, and therefore, the realization precision of the final orientation precision test cannot be described; the patent adopts a new testing method, and the final detection precision of the orientation precision is superior to 0.1 degree after experimental verification.
Disclosure of Invention
Aiming at the problems of the above test requirements and the actual test current situation, the invention provides a navigation positioning method of an ultrashort wave direction finder in-situ test system based on a distance measurement angle measurement component and a satellite navigation positioning module, the invention does not need to flatten the plane, does not need to perform centering and leveling on the distance measurement angle measurement component, measures three marking point parameters (including an inclined distance, a horizontal angle and an azimuth angle) of the plane through the distance measurement angle measurement component, and establishes a conversion relation between the distance measurement angle measurement component and the plane as well as between the distance measurement angle measurement component and the ultrashort wave direction finder; the method comprises the steps that a local coordinate calibration is carried out on a satellite navigation positioning module, and a conversion relation from geodetic coordinates (latitude, longitude and elevation) to an airplane and an ultrashort wave direction finder is established, so that the real-time navigation positioning function of a tester is realized; and measuring the mark points of the mobile equipment by the distance and angle measuring assembly to obtain the azimuth angle of the test position relative to the airplane, and judging the orientation precision of the ultrashort wave orientation instrument by taking the azimuth angle as a standard value.
The technical problem solved by the invention can be realized by adopting the following technical scheme:
a navigation positioning method of an ultrashort wave direction finder in-situ test system is characterized by comprising a detection mobile device, a detection fixed device, a distance and angle measurement component, a portable display and control terminal and a direction precision test method,
the distance and angle measuring assembly is a parameter measuring unit of a test system, mainly completes measurement of geometrical parameters such as an airplane mark point, a slope distance, a horizontal angle, a pitch angle and the like of a mobile equipment mark point, and provides original input data for establishing an airplane reference coordinate system taking an antenna phase center of an airplane ultrashort wave direction finder as an original point, performing local coordinate calibration of a satellite navigation positioning module and calculating a standard azimuth angle;
the portable display and control terminal is used for detecting wireless data interaction between a fixed equipment operator and an onboard operator;
the detecting a mobile device includes:
the first display control unit comprises a main control computer and a liquid crystal display screen, is a control terminal and a data processing terminal of the test system, realizes the work flow control of the test system by running test software, gives operation guidance in the test process, analyzes, stores and manages test data, gives test results and processing suggestions of the ultrashort wave orientation instrument,
the first data transmission module is mainly used for detecting wireless data transmission among the mobile equipment, the detection fixed equipment and the portable display and control terminal, solves the problem that cables are inconvenient to arrange due to long test distance,
the ultrashort wave radio station has a radio signal transmitting function, can provide beacon signals for the direction-finding function detection of an ultrashort wave direction finder, and the working parameters of the ultrashort wave direction finder, such as transmitting power, channel frequency and the like, are changed and adjusted by the first display and control unit,
a first power supply unit;
the detection fixture includes:
the second display control unit comprises a main control computer and a liquid crystal display screen, is a control terminal and a data processing terminal of the test system, realizes the work flow control of the test system by running test software, gives operation guidance in the test process, analyzes, stores and manages test data, gives test results and processing suggestions of the ultrashort wave orientation instrument,
the second data transmission unit is mainly used for detecting wireless data transmission among the mobile equipment, the detection fixed equipment and the portable display and control terminal, solves the problem that cables are inconvenient to arrange due to long test distance,
a second power supply unit;
three coordinate systems are defined first:
airplane reference coordinate system O-XYZ: taking the phase center O of the antenna of the direction finder as an original point, taking the axis of the airplane as an X axis, taking the direction pointing to the nose as positive, taking the vertical upward direction of a Z axis as positive, and determining the Y axis by a right-hand rule;
distance and angle measuring assembly coordinate system A-XAYAZA: using the measurement center A of the distance and angle measurement assembly as the origin, A-XAYAThe plane and the reference datum plane of the distance-measuring angle-measuring assembly are coplanar, XAThe axis is the projection line of the AB connecting line in the reference datum plane when the distance and angle measuring instrument aims at the first marking point B of the oiling machine, ZAThe axis is perpendicular to the reference plane and points positive, YAThe axis is determined by the right hand rule;
rectangular coordinate system O of geospatial spaceE-XEYEZE: using the center of the earth reference ellipsoid as an origin OEThe intersection line of the meridian plane and the equatorial plane is XEAxis in equatorial plane with XEThe direction of the axis being orthogonal to YEThe axis of rotation of the ellipsoid being ZEA shaft;
the orientation precision test of the ultrashort wave orientation instrument is completed by measuring the oiling machine mark points and the detection mobile equipment mark points through the distance and angle measurement assembly under the state of no leveling, and the orientation precision test method comprises the following steps:
the method comprises the following steps: the distance and angle measuring assembly is erected at a position, away from the plane, on the side surface of the plane through a tripod, only the assembly needs to be roughly leveled, and the assembly needs to be guaranteed to be capable of being respectively aimed at the erection position in advanceThree marker points B, C and E marked on the aircraft fuselage, the coordinates of which are known in advance in the aircraft reference coordinate system, are respectively marked as B (X)B_O,YB_O,ZB_O)、C(XC_O,YC_O,ZC_O) And E (X)E_O,YE_O,ZE_O)；
Step two: the three marking points B, C and E on the machine body are respectively aimed by the distance and angle measuring component to obtain the slant distances S and the horizontal angles of the three marking points
Figure BDA0002427068550000041
And a pitch angle
Figure BDA0002427068550000042
Respectively calculating to obtain the coordinates of each airplane mark point in the coordinate system of the distance and angle measuring assembly, wherein the coordinates of the airplane mark points in the coordinate system of the distance and angle measuring assembly are B (X)B_A,YB_A,ZB_A)、C(XC_A,YC_A,ZC_A) And E (X)E_A,YE_A,ZE_A) The calculation method of the coordinates of the mark point B in the coordinate system of the distance and angle measuring assembly comprises the following steps:
Figure BDA0002427068550000043
Figure BDA0002427068550000044
Figure BDA0002427068550000045
wherein S isB、
Figure BDA0002427068550000046
And
Figure BDA0002427068550000047
the distance measuring and angle measuring assembly measures the slope distance, the horizontal angle and the pitch angle of the mark point B, and the coordinate calculation of the mark points C and E can refer to that of the mark point BObtaining by a calculation method;
step three: according to the coordinates of the known airplane mark points in the airplane reference coordinate system and the coordinates of the distance and angle measuring assembly coordinate system, 7 conversion parameters including three translation quantities for converting the distance and angle measuring assembly coordinate system to the airplane reference coordinate system can be calculatedX、Y、ZThree rotation amounts α, β, γ and a scaling factor m, the specific calculation method is described as:
if the coordinates of the mark point B in the coordinate system of the distance-measuring and angle-measuring assembly are converted into the reference coordinate system of the airplane, the coordinates can be expressed by continuous coordinate conversion as follows:
Figure BDA0002427068550000051
writing a conversion relation of the mark points C and E from a distance measurement angle measurement component coordinate system to an airplane reference coordinate system according to a formula (4), developing the conversion relation to obtain an over-determined equation set containing 9 equations and 7 unknown parameters, obtaining a least square solution of the equations and 7 unknown parameters by a least square method, and obtaining the required coordinate conversion parameterX、Y、Zα, β, γ and m;
step four: detecting mobile equipment operator carries the detecting mobile equipment to move to the designated position, and the operator rotates the distance and angle measuring assembly to aim at and detect the mark point A on the mobile equipmentnAnd the coordinates of the mark point of the current detection mobile equipment under the coordinate system of the distance measurement and angle measurement component can be obtained by calculation
Figure BDA0002427068550000052
The calculation method refers to the formulas (1) to (3) in the step two, and obtains the mark point A of the mobile equipment through coordinate conversion according to the coordinate conversion parameters obtained by calculation in the step threenCoordinates under the reference coordinate system of the airplane
Figure BDA0002427068550000053
The calculation formula is as follows:
Figure BDA0002427068550000054
according to the coordinates
Figure BDA0002427068550000055
Calculating to obtain an azimuth angle of the current position of the mobile equipment relative to the airplane reference coordinate system, wherein the calculation formula is as follows:
Figure BDA0002427068550000061
step five: the operator of the detection mobile equipment controls the detection mobile equipment ultrashort wave radio station to send a radio beacon to the airplane ultrashort wave direction finder, and the operator on the airplane controls the ultrashort wave direction finder to measure and obtain the azimuth angle of the current mobile equipment relative to the airplane reference coordinate system
Figure BDA0002427068550000062
Step six: calculating the azimuth angle obtained by the test system in the step four
Figure BDA0002427068550000063
As standard value and azimuth angle measured by airplane ultrashort wave direction finder in step five
Figure BDA0002427068550000064
Comparing, namely the difference value of the two azimuth angles is the orientation precision of the ultrashort wave orientation instrument at the test position;
by combining the orientation precision testing method, a navigation positioning method of an ultrashort wave direction finder in-situ testing system is used for completing the real-time navigation positioning function of detecting mobile equipment operators and equipment relative to an airplane, and the method comprises the following steps:
the method comprises the following steps: obtaining the coordinate conversion parameter from the coordinate system of the ranging angle measurement assembly to the reference coordinate system of the airplane according to the measurement calculation in the orientation precision test methodX、Y、Zα, β, γ and m;
step two:the detection mobile equipment operator carries the detection mobile equipment to move forwards approximately along the axis of the airplane body to a position far away from the airplane by 50m, the position is recorded as P1, positioning information (including latitude information, longitude information and elevation information) received by a satellite navigation positioning module within 30s of time is continuously stored, an average value is obtained and recorded as P1(W1, L1 and H1), and the coordinate P1 (X) of the current detection mobile equipment in a geospatial rectangular coordinate system is obtained through calculation according to the average valueP1_E,YP1_E,ZP1_E) The calculation method comprises the following steps:
XP1_E＝(N+H1)*cos(W1)*cos(L1) (7)
YP1_E＝(N+H1)*cos(W1)*sin(L1) (8)
ZP1_E＝[N(1-e2)+H1]*sin(W1) (9)
in the formula, e is the eccentricity of the earth reference ellipsoid, and the major and minor semi-axes of the earth reference ellipsoid are respectively a and b, then:
e＝1-b2/a2(10)
Figure BDA0002427068550000065
coordinates P1 (X) are transmitted by a data transmission moduleP1_E,YP1_E,ZP1_E) Sending the measured data to a detection fixed device, rotating a distance and angle measuring component by an operator of the distance and angle measuring component to measure and detect the mark point of the mobile device, and calculating to obtain a coordinate P1 (X1) of the mark point of the current detection mobile device under a coordinate system of the distance and angle measuring component by referring to formulas (1) to (3) in the orientation precision testing methodP1_A,YP1_A,ZP1_A)；
Step three: the operator of the detection mobile device moves the detection mobile device to a position which is approximately based on the axis of the body and is far away from the airplane 50m by taking the orientation indicator as a vertical foot, the position is marked as P2, and the coordinate P2 (X2) of the current detection mobile device in the earth space rectangular coordinate system is calculated by referring to the equations (7) to (8) in the orientation precision test methodP2_E,YP2_E,ZP2_E) And sending the data to a detection fixing device, and obtaining the data by measuring and calculating the data by an operator of the distance and angle measurement assemblyCoordinate P2 (X) of the currently detected mobile device in the range finding goniometer assembly coordinate systemP2_A,YP2_A,ZP2_A)；
Step four: and (3) carrying the detection mobile equipment by an operator of the detection mobile equipment to move to a far position which is approximately collinear with the axis of the airplane body and is 50m away from the rear of the airplane, wherein the position is marked as P3, and calculating to obtain a coordinate P3 (X) of the current detection mobile equipment in a geospatial rectangular coordinate system by referring to equations (7) to (8) in the orientation precision test methodP3_E,YP3_E,ZP3_E) And sending the coordinate to the detection fixed equipment, and measuring and calculating by an operator of the distance and angle measurement assembly to obtain a coordinate P3 (X) of the current detection mobile equipment under a coordinate system of the distance and angle measurement assemblyP3_A,YP3_A,ZP3_A)；
Step five: the detection fixing equipment detects the coordinates of the mobile equipment under the geospatial rectangular coordinate system and the distance and angle measurement component coordinate system according to the three mark positions, and the conversion parameters from the geospatial rectangular coordinate system to the distance and angle measurement component coordinate system are obtained through calculation and comprise 3 translation amountsX1、Y1、Z1Three rotation amounts α 1, β 1, gamma 1 and a scale scaling factor m1, wherein the specific calculation method comprises the following steps:
if the coordinates of the position P1 in the geospatial rectangular coordinate system are to be converted into the range-finding angle-measuring assembly coordinate system, it can be expressed as:
Figure BDA0002427068550000071
writing the conversion relation of the positions P2 and P3 from a geospatial rectangular coordinate system to a distance-measuring angle-measuring component coordinate system by referring to the formula (12), developing the conversion relation to obtain an over-determined equation set containing 9 equations and 7 unknown parameters, obtaining a least square solution of the 7 unknown parameters of the equation set by a least square method, and obtaining the required coordinate conversion parametersX1、Y1、Z1 α 1, β 1, γ 1 and m 1;
step six: detecting a fixed device, and calculating a distance and angle measuring component seat obtained in the first step of a navigation positioning method of an ultrashort wave direction finder in-situ test systemCoordinate conversion parameter from standard system to airplane reference coordinate systemX、Y、Zα, β, gamma and m and conversion parameters between a geospatial rectangular coordinate system and a distance-measuring angle-measuring component coordinate system calculated in the fifth step of the navigation positioning method of the ultrashort wave direction finder in-situ test systemX1、Y1、Z1 α 1, β 1, γ 1 and m1 are sent to the mobile device for detection;
seventhly, detecting satellite positioning information (including latitude, longitude and elevation) of the current position P of the mobile equipment received by the satellite navigation positioning module at the current time, recording the satellite positioning information as P (W, L, H), and firstly calculating the coordinate P (X) of the current position in the earth space rectangular coordinate system according to the satellite positioning information and the reference formulas (7) to (11)P_E,YP_E,ZP_E) (ii) a And then calculating to obtain a coordinate P (X) of the current position P in the coordinate system of the distance and angle measurement assembly according to the conversion parameters between the geospatial rectangular coordinate system and the coordinate system of the distance and angle measurement assembly in the sixth stepP_A,YP_A,ZP_A) The specific calculation method comprises the following steps:
Figure BDA0002427068550000081
and finally, calculating to obtain a coordinate P (X) of the current position P under the airplane reference coordinate system according to the coordinate conversion parameter from the ranging angle measuring component coordinate system to the airplane reference coordinate system in the sixth stepP_O,YP_O,ZP_O) The specific calculation method comprises the following steps:
Figure BDA0002427068550000082
coordinate P (X)P_O,YP_O,ZP_O) The navigation positioning information is displayed on the display interface of the detection mobile equipment in a graphical mode, the coordinates are sent to the detection fixed equipment through the data transmission module and are also displayed on the display interface of the detection fixed equipment, at the moment, an operator of the detection mobile equipment can adjust the traveling direction of the operator to quickly reach a specified position to perform azimuth angle test according to the navigation positioning information of the operator relative to the airplane displayed on the interfaceMeanwhile, the operator of the detection fixed equipment can observe the positions of the detection mobile equipment and the operator in real time and master the state of the operator of the detection mobile equipment in real time.
In a preferred embodiment of the invention, the detection mobile device further comprises a satellite navigation positioning module, the satellite navigation positioning module fuses a Beidou positioning system signal and a GPS positioning system signal, receives the satellite positioning system signal in real time and performs coordinate conversion by using algorithm software, can display the position information of the detection mobile device relative to the airplane and the ultrashort wave direction finder on the display screens of the detection mobile device and the detection fixed device in real time, and can detect that an operator of the mobile device rapidly arrives at a specified test position according to the displayed navigation positioning information, thereby saving the time consumption in the test moving process.
In a preferred embodiment of the invention, the satellite navigation positioning module adopts a UM 220-iiin dual-system high-performance GNSS module of nuclear satellite communication company, and simultaneously supports a beidou positioning system signal (BD 2B 1) and a GPS positioning system signal (GPS L1), and has the characteristics of high positioning accuracy, small size, low power consumption and high reliability.
In a preferred embodiment of the present invention, the distance and angle measuring assembly is a general total station with data transmission and reading functions.
In a preferred embodiment of the present invention, the portable display control terminal comprises an ARM computer, a data transmission module, a liquid crystal display and a rechargeable battery.
In a preferred embodiment of the present invention, the first data transmission module and the second data transmission module adopt an AS32-TT L-100 wireless data transmission module.
By adopting the technical scheme, the invention does not need to flatten the airplane, does not need to perform centering and leveling on the distance and angle measuring assembly, measures the parameters (including the slope distance, the horizontal angle and the azimuth angle) of three mark points of the airplane through the distance and angle measuring assembly, and establishes the conversion relation between the distance and angle measuring assembly and the airplane as well as the ultrashort wave direction finder; the method comprises the steps that a local coordinate calibration is carried out on a satellite navigation positioning module, and a conversion relation from geodetic coordinates (latitude, longitude and elevation) to an airplane and an ultrashort wave direction finder is established, so that the real-time navigation positioning function of a tester is realized; and measuring the mark points of the mobile equipment by the distance and angle measuring assembly to obtain the azimuth angle of the test position relative to the airplane, and judging the orientation precision of the ultrashort wave orientation instrument by taking the azimuth angle as a standard value.
Compared with the prior art, the invention has the following advantages:
1) the in-situ test requirement of the ultrashort wave direction finder is met, the ultrashort wave direction finder does not need to be detached from an airplane, the current situation that partial tests can be carried out only by visual inspection and on-airplane self-inspection is solved, the test precision of the ultrashort wave direction finder orientation precision is improved, the workload and time for preparing before flying by a flight security department are reduced, and the flight safety factor of an oil adding and receiving machine and the air refueling task execution capacity in the air refueling process are indirectly improved;
2) in the testing process, a plane does not need to be leveled, and the distance and angle measuring assembly does not need to be centered and leveled, so that the consumption of manpower resources and time resources in the leveling process and the centering and leveling process is greatly reduced, and the testing efficiency is improved;
3) the real-time navigation positioning of the tester and the equipment relative to the airplane and the orientation instrument under the condition of a longer test distance is met, the test process is clearer and more controllable, the tester can adjust the advancing route in time according to the real-time navigation positioning information to observe the optimal path and quickly reach the specified test position, the time consumption of the tester in the motion process is reduced, and the test efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of a test system.
FIG. 2 is a schematic diagram of a test scenario illustrating a typical test scenario involving an azimuth accuracy test of a direction finder and a local coordinate calibration of a satellite navigation positioning module.
FIG. 3 is a schematic diagram of a transformation relationship between a coordinate system of the ranging and angle-measuring assembly and a reference coordinate system of the airplane, and illustrates a translation and rotation relationship between the two coordinate systems and corresponding transformation parameters.
FIG. 4 is a schematic diagram of a transformation relationship between a geospatial rectangular coordinate system and a ranging and angle-measuring assembly coordinate system, illustrating a translation and rotation relationship between the two coordinate systems and corresponding transformation parameters.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below.
Referring to fig. 1, the in-situ testing system for the ultrashort wave direction finder comprises a detection mobile device 100, a detection fixed device 200, a distance and angle measurement component 300 and a portable display and control terminal 400.
The distance and angle measuring assembly 300 is a parameter measuring unit of the test system, mainly completes measurement of geometric parameters such as the slant range, the horizontal angle, the pitch angle and the like of the aircraft mark points and the detection mobile equipment mark points, and provides original input data for establishing an aircraft reference coordinate system with the phase center of the aircraft ultrashort wave direction finder antenna as the origin, performing local coordinate calibration of a satellite navigation positioning module and calculating a standard azimuth angle. In the embodiment, the distance and angle measurement component is a general total station with data transmission and reading functions, so that the environmental adaptability (working temperature of-40 ℃ to +55 ℃) is enhanced, and the reliability is enhanced.
The portable display and control terminal 400 is used for detecting wireless data interaction between a fixed equipment operator and an onboard operator, the onboard operator can obtain a current test state through the portable display and control terminal 400 and can also send an azimuth angle test result of the ultrashort wave direction finder to the detection fixed equipment through the portable display and control terminal 400, the portable display and control terminal 400 mainly comprises an ARM computer, a data transmission module, a 3.5-inch liquid crystal display screen and a rechargeable battery, the ARM computer adopts an IMX6 chip of Feichka corporation, and a Cortex-A9 processor based on the operating frequency of 1.2GHZ, and the data transmission module adopts an AS32-TT L-100 wireless data transmission module.
The detection mobile device 100 comprises a first display and control unit 110, a first data transmission module 120, an ultrashort wave radio station 130, a satellite navigation and positioning module 140 and a first power supply 150.
The first display control unit 110 includes a main control computer and a liquid crystal display screen, and is a control terminal and a data processing terminal of the test system, and realizes the workflow control of the test system by running test software, giving operation guidance in the test process, analyzing, storing and managing test data, and giving test results and processing suggestions of the ultrashort wave direction finder. The main control computer adopts a PCM-3365 single-board computer of the Hua science and technology, and the computer is loaded with an Intel AtomTM E3845 processor to provide a wide-temperature working environment. The liquid crystal display screen adopts a customized 8.4-inch low-temperature automatic heating liquid crystal display screen, can start a heating function after the temperature is lower than a set value, and can adapt to a low-temperature environment of lowest-40 ℃.
The first data transmission module 120 is mainly used for detecting wireless data transmission among the mobile device, the fixed device and the portable display control terminal, and solves the problem that cables are inconvenient to arrange due to long testing distance.
The ultrashort wave radio station 130 has a radio signal transmitting function, and can provide a beacon signal for the direction-finding function detection of the ultrashort wave direction finder, and the working parameters of the ultrashort wave direction finder, such as transmitting power, channel frequency and the like, are changed and adjusted by the first display and control unit. The ultrashort wave radio station 130 adopts a customized half-duplex working mode radio station, which mainly includes a power amplifier unit, a receiver unit, a frequency synthesizer unit and a signal processing unit.
The satellite navigation positioning module 140 integrates a Beidou positioning system signal and a GPS positioning system signal, receives the satellite positioning system signal in real time, performs coordinate conversion by using algorithm software, can display the position information of the detection mobile equipment relative to an airplane and an ultrashort wave direction finder on the display screens of the detection mobile equipment and the detection fixed equipment in real time, and detects that an operator of the mobile equipment quickly reaches a specified test position according to the displayed navigation positioning information, so that the time consumption in the test movement process is saved.
The first power supply unit 150 mainly comprises a power supply management board and a rechargeable battery, wherein the power supply management board mainly completes internal and external power supply management, and the rechargeable battery adopts a lithium battery pack which can provide power for the test system under the condition of no external power supply, so that the environmental adaptability of the test system is enhanced.
The detection fixture 200 includes a second display and control unit 210, a second digital transmission unit 220, and a second power supply unit 230.
The second display control unit 210 includes a main control computer and a liquid crystal display, and is a control terminal and a data processing terminal of the test system, and implements workflow control of the test system by running test software, giving operation guidance during the test, analyzing, storing and managing test data, and giving test results and processing suggestions of the ultrashort wave direction finder.
The second data transmission unit 220 is mainly used for detecting wireless data transmission among the mobile device, the fixed device and the portable display control terminal, and solves the problem that cables are inconvenient to arrange due to long testing distance, the second data transmission unit 220 in the embodiment adopts an AS32-TT L-100 wireless data transmission module, and the module has the characteristics of high stability, small size and long transmission distance.
The second power supply unit 230 mainly comprises a power supply management board and a rechargeable battery, wherein the power supply management board mainly completes internal and external power supply management, and the rechargeable battery adopts a lithium battery pack which can provide power for the test system under the condition that no external power supply supplies power, so that the environmental adaptability of the test system is enhanced.
For the purpose of more clearly describing the present invention, three coordinate systems are defined, which, when referred to in the following, all comply with the following coordinate system definitions:
airplane reference coordinate system O-XYZ: the phase center O of the antenna of the direction finder is used as an original point, the axis of the airplane is used as an X axis, the direction pointing to the nose is positive, the vertical upward direction of the Z axis is positive, and the Y axis is determined by a right-hand rule.
Distance and angle measuring assembly coordinate system A-XAYAZA: using the measurement center A of the distance and angle measurement assembly as the origin, A-XAYAPlane and range findingCorner module reference datum plane coplanar, XAThe axis is the projection line of the AB connecting line in the reference datum plane when the distance and angle measuring instrument aims at the first marking point B of the oiling machine, ZAThe axis is perpendicular to the reference plane and points positive, YAThe axes are determined by the right hand rule.
Rectangular coordinate system O of geospatial spaceE-XEYEOE: using the center of the earth reference ellipsoid as an origin OEThe intersection line of the meridian plane and the equatorial plane is XEAxis in equatorial plane with XEThe direction of the axis being orthogonal to YEThe axis of rotation of the ellipsoid being ZEA shaft.
By using the orientation precision testing method of the system, the orientation precision test of the ultrashort wave orientation instrument is completed by measuring the oiling machine mark points and the detection mobile equipment mark points through the distance and angle measuring component under the non-leveling state. The test method mainly comprises the following steps:
the method comprises the following steps: referring to fig. 2, a distance and angle measuring assembly is erected at a position on the side of the airplane away from the airplane through a tripod, the assembly is adjusted to be horizontal approximately, three marking points B, C and E marked on the airplane body in advance can be aimed at the erection position respectively, and coordinates of the known marking points under the airplane reference coordinate system are marked as B (X) respectivelyB_O,YB_O,ZB_O)、C(XC_O,YC_O,ZC_O) And E (X)E_O,YE_O,ZE_O)；
Step two: the three marking points B, C and E on the machine body are respectively aimed by the distance and angle measuring component to obtain the slant distances S and the horizontal angles of the three marking points
Figure BDA0002427068550000131
And a pitch angle
Figure BDA0002427068550000132
Respectively calculating to obtain the coordinates of each airplane mark point in the coordinate system of the distance and angle measuring assembly, wherein the coordinates of the airplane mark points in the coordinate system of the distance and angle measuring assembly are B (X)B_A,YB_A,ZB_A)、C(XC_A,YC_A,ZC_A) And E (X)E_A,YE_A,ZE_A) The calculation method of the coordinates of the mark point B in the coordinate system of the distance and angle measuring assembly comprises the following steps:
Figure BDA0002427068550000133
Figure BDA0002427068550000134
Figure BDA0002427068550000135
wherein S isB、
Figure BDA0002427068550000136
And
Figure BDA0002427068550000137
the distance measurement angle measurement assembly measures the mark point B to obtain the slant distance, the horizontal angle and the pitch angle. The coordinate calculation of the marking points C and E can be obtained by referring to the calculation method of B.
Step three: referring to fig. 3, according to the coordinates of the known aircraft mark points in the aircraft reference coordinate system and the coordinates of the distance-measuring and angle-measuring component coordinate system, 7 transformation parameters including three translation amounts for transforming the distance-measuring and angle-measuring component coordinate system to the aircraft reference coordinate system can be calculatedX、Y、ZThree rotation amounts α, β, γ and a scaling factor m, the specific calculation method is described as:
if the coordinates of the mark point B in the coordinate system of the distance-measuring and angle-measuring assembly are converted into the reference coordinate system of the airplane, the coordinates can be expressed by continuous coordinate conversion as follows:
Figure BDA0002427068550000141
writing out mark points C and E from the coordinate system of the distance and angle measuring assembly to the airplane by reference formula (4)The conversion relation of the reference coordinate system is developed to obtain an overdetermined equation set containing 9 equations with 7 unknown parameters, and the least square solution of the 7 unknown parameters of the equation set can be obtained by the least square method, so that the required coordinate conversion parameters are obtainedX、Y、Zα, β, γ and m;
step four: detecting mobile equipment operator carries the detecting mobile equipment to move to the designated position, and the operator rotates the distance and angle measuring assembly to aim at and detect the mark point A on the mobile equipmentnAnd the coordinates of the mark point of the current detection mobile equipment under the coordinate system of the distance measurement and angle measurement component can be obtained by calculation
Figure BDA0002427068550000142
The calculation method refers to the formulas (1) to (3) in the step two. Obtaining a mark point A of the mobile equipment through coordinate conversion according to the coordinate conversion parameters obtained by calculation in the step threenCoordinates under the reference coordinate system of the airplane
Figure BDA0002427068550000143
The calculation formula is as follows:
Figure BDA0002427068550000144
according to the coordinates
Figure BDA0002427068550000145
Calculating to obtain an azimuth angle of the current position of the mobile equipment relative to the airplane reference coordinate system, wherein the calculation formula is as follows:
Figure BDA0002427068550000151
step five: the operator of the detection mobile equipment controls the detection mobile equipment ultrashort wave radio station to send a radio beacon to the airplane ultrashort wave direction finder, and the operator on the airplane controls the ultrashort wave direction finder to measure and obtain the azimuth angle of the current mobile equipment relative to the airplane reference coordinate system
Figure BDA0002427068550000152
Step six: calculating the azimuth angle obtained by the test system in the step four
Figure BDA0002427068550000153
As standard value and azimuth angle measured by airplane ultrashort wave direction finder in step five
Figure BDA0002427068550000154
And comparing, wherein the difference value of the two azimuth angles is the orientation precision of the ultrashort wave orientation instrument at the test position.
The navigation positioning method of the ultrashort wave direction finder in-situ test system is combined with the directional precision test method to complete the real-time navigation positioning function of detecting the operators of the mobile equipment and the equipment relative to the airplane. Mainly comprises the following steps:
the method comprises the following steps: measuring and calculating to obtain coordinate conversion parameters from the coordinate system of the ranging and angle measuring assembly to the reference coordinate system of the airplane according to the orientation precision testing methodX、Y、Zα, β, γ and m;
secondly, the operator of the detection mobile equipment carries the detection mobile equipment to move forwards approximately along the axis of the airplane body to a position which is far away from the airplane by 50m, the position is marked as P1, positioning information (including latitude information, longitude information and elevation information) received by a satellite navigation positioning module within 30s of time is continuously stored, an average value is obtained and is marked as P1(W1, L1 and H1), and the coordinate P1 (X) of the current detection mobile equipment in a geospatial rectangular coordinate system is obtained through calculation according to the average valueP1_E,YP1_E,ZP1_E) The calculation method comprises the following steps:
XP1_E＝(N+H1)*cos(W1)*cos(L1) (7)
YP1_E＝(N+H1)*cos(W1)*sin(L1) (8)
ZP1_E＝[N(1-e2)+H1]*sin(W1) (9)
in the formula, e is the eccentricity of the earth reference ellipsoid, and the major and minor semi-axes of the earth reference ellipsoid are respectively a and b, then:
e＝1-b2/a2(10)
Figure BDA0002427068550000155
coordinates P1 (X) are transmitted by a data transmission moduleP1_E,YP1_E,ZP1_E) And sending the data to the detection fixing equipment. An operator of the distance and angle measuring assembly rotates the distance and angle measuring assembly to measure and detect the mark point of the mobile equipment, and the coordinate P1 (X) of the mark point of the current detected mobile equipment under the coordinate system of the distance and angle measuring assembly is obtained by calculation according to the formulas (1) to (3) in the orientation precision testing methodP1_A,YP1_A,ZP1_A)；
Step three: the operator of the detection mobile device moves the detection mobile device to a position which is approximately based on the axis of the body and is far away from the airplane 50m by taking the orientation indicator as a vertical foot, the position is marked as P2, and the coordinate P2 (X2) of the current detection mobile device in the earth space rectangular coordinate system is calculated by referring to the equations (7) to (8) in the orientation precision test methodP2_E,YP2_E,ZP2_E) And sent to the detection fixture. The operator of the distance and angle measurement assembly measures and calculates to obtain the coordinate P2 (X) of the current detection mobile equipment in the coordinate system of the distance and angle measurement assemblyP2_A,YP2_A,ZP2_A)；
Step four: and (3) carrying the detection mobile equipment by an operator of the detection mobile equipment to move to a far position which is approximately collinear with the axis of the airplane body and is 50m away from the rear of the airplane, wherein the position is marked as P3, and calculating to obtain a coordinate P3 (X) of the current detection mobile equipment in a geospatial rectangular coordinate system by referring to equations (7) to (8) in the orientation precision test methodP3_E,YP3_E,ZP3_E) And sending the coordinate to the detection fixed equipment, and measuring and calculating by an operator of the distance and angle measurement assembly to obtain a coordinate P3 (X) of the current detection mobile equipment under a coordinate system of the distance and angle measurement assemblyP3_A,YP3_A,ZP3_A)；
Step five: referring to FIG. 4, the detection fixture detects the mobile device in the geospatial rectangular coordinate system and the range and angle measurement assembly coordinate system according to the three mark positionsAnd (3) calculating to obtain conversion parameters from the geospatial rectangular coordinate system to the distance and angle measuring component coordinate system, wherein the conversion parameters comprise 3 translation quantitiesX1、Y1、Z1Three rotation amounts α 1, β 1, gamma 1 and a scale scaling factor m1, wherein the specific calculation method comprises the following steps:
if the coordinates of the position P1 in the geospatial rectangular coordinate system are to be converted into the range-finding angle-measuring assembly coordinate system, it can be expressed as:
Figure BDA0002427068550000161
writing the conversion relation of the positions P2 and P3 from a geospatial rectangular coordinate system to a distance-measuring angle-measuring component coordinate system by referring to the formula (12), developing the conversion relation to obtain an over-determined equation set containing 9 equations and 7 unknown parameters, obtaining a least square solution of the 7 unknown parameters of the equation set by a least square method, and obtaining the required coordinate conversion parametersX1、Y1、Z1 α 1, β 1, γ 1 and m 1;
step six: detecting and fixing equipment converts a coordinate conversion parameter of a ranging angle measurement component coordinate system to an airplane reference coordinate system, which is obtained by calculation in step one of a navigation positioning method of an ultrashort wave direction finder in-situ test systemX、Y、Zα, β, gamma and m and conversion parameters between a geospatial rectangular coordinate system and a distance-measuring angle-measuring component coordinate system calculated in the fifth step of the navigation positioning method of the ultrashort wave direction finder in-situ test systemX1、Y1、Z1 α 1, β 1, γ 1 and m1 are sent to the mobile device for detection;
seventhly, detecting satellite positioning information (including latitude, longitude and elevation) of the current position P of the mobile equipment received by the satellite navigation positioning module at the current time, recording the satellite positioning information as P (W, L, H), and firstly calculating the coordinate P (X) of the current position in the earth space rectangular coordinate system according to the satellite positioning information and the reference formulas (7) to (11)P_E,YP_E,ZP_E) (ii) a Then, the current position is calculated according to the conversion parameters between the geospatial rectangular coordinate system and the distance and angle measurement component coordinate system in the sixth stepSetting P coordinate P (X) in coordinate system of distance-measuring angle-measuring assemblyP_A,YP_A,ZP_A) The specific calculation method comprises the following steps:
Figure BDA0002427068550000171
and finally, calculating to obtain a coordinate P (X) of the current position P under the airplane reference coordinate system according to the coordinate conversion parameter from the ranging angle measuring component coordinate system to the airplane reference coordinate system in the sixth stepP_O,YP_O,ZP_O) The specific calculation method comprises the following steps:
Figure BDA0002427068550000172
coordinate P (X)P_O,YP_O,ZP_O) The coordinates are displayed in a graphical mode in the display interface of the mobile detection device, and the coordinates are sent to the detection fixed device through the data transmission module and are also displayed in the display interface of the detection fixed device. At the moment, the operator of the detection mobile equipment can adjust the traveling direction of the operator to quickly reach the designated position for azimuth angle test according to the navigation positioning information of the operator relative to the airplane displayed on the interface, and meanwhile, the operator of the detection fixed equipment can also observe the positions of the detection mobile equipment and the operator in real time and master the state of the operator of the detection mobile equipment in real time.
The test system and the test method provided by the invention are successfully applied to the in-situ test of the ultrashort wave direction finder of a certain airplane, the in-situ test requirement of the aircraft service guarantee department on the ultrashort wave direction finder is met, and the direction precision is superior to 0.1 degree. The invention has less cross-linking with the tested object in the test process, and can be completely adapted to other airplanes and ultrashort wave orientation instruments only by modifying part of software parameters. The practical application of the invention greatly reduces the consumption of human resources and time resources in the in-situ test process of the ultrashort wave direction finder, improves the test efficiency, reduces the preparation time before flight, indirectly improves the flight safety factor of an oil adding and receiving machine and the execution capacity of an air refueling task in the air refueling process, has certain military significance and social and economic benefits, and has wide application prospect.

Claims (6)

1. A navigation positioning method of an ultrashort wave direction finder in-situ test system is characterized by comprising a detection mobile device, a detection fixed device, a distance and angle measurement component, a portable display and control terminal and a direction precision test method,
the distance and angle measuring assembly is a parameter measuring unit of a test system, mainly completes measurement of geometrical parameters such as an airplane mark point, a slope distance, a horizontal angle, a pitch angle and the like of a mobile equipment mark point, and provides original input data for establishing an airplane reference coordinate system taking an antenna phase center of an airplane ultrashort wave direction finder as an original point, performing local coordinate calibration of a satellite navigation positioning module and calculating a standard azimuth angle;
the portable display and control terminal is used for detecting wireless data interaction between a fixed equipment operator and an onboard operator;
the detecting a mobile device includes:
the first display control unit comprises a main control computer and a liquid crystal display screen, is a control terminal and a data processing terminal of the test system, realizes the work flow control of the test system by running test software, gives operation guidance in the test process, analyzes, stores and manages test data, gives test results and processing suggestions of the ultrashort wave orientation instrument,
the first data transmission module is mainly used for detecting wireless data transmission among the mobile equipment, the detection fixed equipment and the portable display and control terminal, solves the problem that cables are inconvenient to arrange due to long test distance,
the ultrashort wave radio station has a radio signal transmitting function, can provide beacon signals for the direction-finding function detection of an ultrashort wave direction finder, and the working parameters of the ultrashort wave direction finder, such as transmitting power, channel frequency and the like, are changed and adjusted by the first display and control unit,
a first power supply unit;
the detection fixture includes:
the second display control unit comprises a main control computer and a liquid crystal display screen, is a control terminal and a data processing terminal of the test system, realizes the work flow control of the test system by running test software, gives operation guidance in the test process, analyzes, stores and manages test data, gives test results and processing suggestions of the ultrashort wave orientation instrument,
the second data transmission unit is mainly used for detecting wireless data transmission among the mobile equipment, the detection fixed equipment and the portable display and control terminal, solves the problem that cables are inconvenient to arrange due to long test distance,
a second power supply unit;
three coordinate systems are defined first:
airplane reference coordinate system O-XYZ: taking the phase center O of the antenna of the direction finder as an original point, taking the axis of the airplane as an X axis, taking the direction pointing to the nose as positive, taking the vertical upward direction of a Z axis as positive, and determining the Y axis by a right-hand rule;
distance and angle measuring assembly coordinate system A-XAYAZA: using the measurement center A of the distance and angle measurement assembly as the origin, A-XAYAThe plane and the reference datum plane of the distance-measuring angle-measuring assembly are coplanar, XAThe axis is the projection line of the AB connecting line in the reference datum plane when the distance and angle measuring instrument aims at the first marking point B of the oiling machine, ZAThe axis is perpendicular to the reference plane and points positive, YAThe axis is determined by the right hand rule;
rectangular coordinate system O of geospatial spaceE-XEYEZE: using the center of the earth reference ellipsoid as an origin OEThe intersection line of the meridian plane and the equatorial plane is XEAxis in equatorial plane with XEThe direction of the axis being orthogonal to YEThe axis of rotation of the ellipsoid being ZEA shaft;
the orientation precision test of the ultrashort wave orientation instrument is completed by measuring the oiling machine mark points and the detection mobile equipment mark points through the distance and angle measurement assembly under the state of no leveling, and the orientation precision test method comprises the following steps:
the method comprises the following steps: the distance and angle measuring assembly is erected at a position, away from the plane, on the side surface of the plane through a tripod, only the assembly needs to be roughly leveled, and the assembly needs to be guaranteed to be respectively aimed at the erection position in advanceThree marker points B, C and E marked on the aircraft fuselage, the coordinates of which are known in advance in the aircraft reference coordinate system, are respectively marked as B (X)B_O，YB_O，ZB_O)、C(XC_O，YC_O，ZC_O) And E (X)E_O，YE_O，ZE_O)；
Step two: the three marking points B, C and E on the machine body are respectively aimed by the distance and angle measuring component to obtain the slant distances S and the horizontal angles of the three marking points
Figure FDA0002427068540000021
And the pitch angle theta are respectively calculated to obtain the coordinates of each airplane mark point under the coordinate system of the distance and angle measuring assembly, and the coordinates of the airplane mark points under the coordinate system of the distance and angle measuring assembly are recorded as B (X)B_A，YB_A，ZB_A)、C(XC_A，YC_A，ZC_A) And E (X)E_A，YE_A，ZE_A) The calculation method of the coordinates of the mark point B in the coordinate system of the distance and angle measuring assembly comprises the following steps:
Figure FDA0002427068540000022
Figure FDA0002427068540000023
ZBA＝SB*sin(θB) (3)
wherein S isB、
Figure FDA0002427068540000024
And thetaBThe distance measurement angle measurement assembly measures the mark point B to obtain the slant distance, the horizontal angle and the pitch angle. The coordinate calculation of the marking points C and E can be obtained by referring to the calculation method B;
step three: according to the coordinates of the airplane mark points known in advance under the airplane reference coordinate system and the coordinates of the distance and angle measuring assembly under the coordinate system, the distance and angle measuring assembly can be calculated to face the airplane7 conversion parameters of the reference coordinate system conversion comprise three translation amountsX、Y、ZThree rotation amounts α, β, γ and a scaling factor m, the specific calculation method is described as:
if the coordinates of the mark point B in the coordinate system of the distance-measuring and angle-measuring assembly are converted into the reference coordinate system of the airplane, the coordinates can be expressed by continuous coordinate conversion as follows:
Figure FDA0002427068540000031
writing a conversion relation of the mark points C and E from a distance measurement angle measurement component coordinate system to an airplane reference coordinate system according to a formula (4), developing the conversion relation to obtain an over-determined equation set containing 9 equations and 7 unknown parameters, obtaining a least square solution of the equations and 7 unknown parameters by a least square method, and obtaining the required coordinate conversion parameterX、Y、Zα, β, γ and m;
step four: detecting mobile equipment operator carries the detecting mobile equipment to move to the designated position, and the operator rotates the distance and angle measuring assembly to aim at and detect the mark point A on the mobile equipmentnAnd the coordinates of the mark point of the current detection mobile equipment under the coordinate system of the distance measurement and angle measurement component can be obtained by calculation
Figure FDA0002427068540000032
The calculation method refers to the formulas (1) to (3) in the step two, and obtains the mark point A of the mobile equipment through coordinate conversion according to the coordinate conversion parameters obtained by calculation in the step threenCoordinates under the reference coordinate system of the airplane
Figure FDA0002427068540000033
The calculation formula is as follows:
Figure FDA0002427068540000041
according to the coordinates
Figure FDA0002427068540000042
Calculating to obtain an azimuth angle of the current position of the mobile equipment relative to the airplane reference coordinate system, wherein the calculation formula is as follows:
Figure FDA0002427068540000043
step five: the operator of the detection mobile equipment controls the detection mobile equipment ultrashort wave radio station to send a radio beacon to the airplane ultrashort wave direction finder, and the operator on the airplane controls the ultrashort wave direction finder to measure and obtain the azimuth angle of the current mobile equipment relative to the airplane reference coordinate system
Figure FDA0002427068540000044
Step six: calculating the azimuth angle obtained by the test system in the step four
Figure FDA0002427068540000045
As standard value and azimuth angle measured by airplane ultrashort wave direction finder in step five
Figure FDA0002427068540000046
Comparing, namely the difference value of the two azimuth angles is the orientation precision of the ultrashort wave orientation instrument at the test position;
a navigation positioning method of an ultrashort wave direction finder in-situ test system is used for completing the real-time navigation positioning function of detecting mobile equipment operators and equipment relative to an airplane, and comprises the following steps:
the method comprises the following steps: obtaining the coordinate conversion parameter from the coordinate system of the ranging angle measurement assembly to the reference coordinate system of the airplane according to the measurement calculation in the orientation precision test methodX、Y、Zα, β, γ and m;
step two: the operator of the mobile detection device carries the mobile detection device forward along the axis of the fuselage to a position at a distance of 50m from the aircraft, which is designated as P1, and the satellite navigation positioning module is connected with the mobile detection device for 30sThe received positioning information (including latitude information, longitude information and elevation information) is averaged, the average value is recorded as P1(W1, L1, H1), and the coordinate P1 (X) of the current detection mobile equipment in the earth space rectangular coordinate system is obtained through calculation according to the average valueP1_E，YP1_E，ZP1_E) The calculation method comprises the following steps:
XP1_E＝(N+H1)*cos(W1)*cos(L1) (7)
YP1_E＝(N+H1)*cos(W1)*sin(L1) (8)
ZP1_E＝[N(1-e2)+H1]*sin(W1) (9)
in the formula, e is the eccentricity of the earth reference ellipsoid, and the major and minor semi-axes of the earth reference ellipsoid are respectively a and b, then:
e＝1-b2/a2(10)
Figure FDA0002427068540000051
coordinates P1 (X) are transmitted by a data transmission moduleP1_E，YP1_E，ZP1_E) Sending the measured data to a detection fixed device, rotating a distance and angle measuring component by an operator of the distance and angle measuring component to measure and detect the mark point of the mobile device, and calculating to obtain a coordinate P1 (X1) of the mark point of the current detection mobile device under a coordinate system of the distance and angle measuring component by referring to formulas (1) to (3) in the orientation precision testing methodP1_A，YP1_A，ZP1_A)；
Step three: the operator of the detection mobile device moves the detection mobile device to a position which is approximately based on the axis of the body and is far away from the airplane 50m by taking the orientation indicator as a vertical foot, the position is marked as P2, and the coordinate P2 (X2) of the current detection mobile device in the earth space rectangular coordinate system is calculated by referring to the equations (7) to (8) in the orientation precision test methodP2_E，YP2_E，ZP2_E) And sending the coordinate P2 (X) of the current mobile equipment in the coordinate system of the distance and angle measuring component obtained by the measurement and calculation of the operator of the distance and angle measuring component to the fixed detection equipmentP2_A，YP2_A，ZP2_A)；
Step four: detecting movementThe operator of the mobile equipment carries the detection mobile equipment to move to a far position which is approximately collinear with the axis of the airplane body and is 50m away from the rear of the airplane, the position is marked as P3, and the coordinate P3 (X) of the current detection mobile equipment in the geospatial rectangular coordinate system is calculated by referring to the equations (7) to (8) in the orientation precision test methodP3_E，YP3_E，ZP3_E) And sending the coordinate to the detection fixed equipment, and measuring and calculating by an operator of the distance and angle measurement assembly to obtain a coordinate P3 (X) of the current detection mobile equipment under a coordinate system of the distance and angle measurement assemblyP3_A，YP3_A，ZP3_A)；
Step five: the detection fixing equipment detects the coordinates of the mobile equipment under the geospatial rectangular coordinate system and the distance and angle measurement component coordinate system according to the three mark positions, and the conversion parameters from the geospatial rectangular coordinate system to the distance and angle measurement component coordinate system are obtained through calculation and comprise 3 translation amountsX1、Y1、Z1Three rotation amounts α 1, β 1, gamma 1 and a scale scaling factor m1, wherein the specific calculation method comprises the following steps:
if the coordinates of the position P1 in the geospatial rectangular coordinate system are to be converted into the range-finding angle-measuring assembly coordinate system, it can be expressed as:
Figure FDA0002427068540000061
writing the conversion relation of the positions P2 and P3 from a geospatial rectangular coordinate system to a distance-measuring angle-measuring component coordinate system by referring to the formula (12), developing the conversion relation to obtain an over-determined equation set containing 9 equations and 7 unknown parameters, obtaining a least square solution of the 7 unknown parameters of the equation set by a least square method, and obtaining the required coordinate conversion parametersX1、Y1、Z1α 1, β 1, γ 1 and m 1;
step six: detecting and fixing equipment converts a coordinate conversion parameter of a ranging angle measurement component coordinate system to an airplane reference coordinate system, which is obtained by calculation in step one of a navigation positioning method of an ultrashort wave direction finder in-situ test systemX、Y、Zα, β, gamma and m and a guide of an ultrashort wave direction finder in-situ test systemConversion parameters between the geospatial rectangular coordinate system obtained by calculation in step five of the navigation positioning method and the coordinate system of the distance and angle measuring assemblyX1、Y1、Z1α 1, β 1, γ 1 and m1 are sent to the mobile device for detection;
seventhly, detecting satellite positioning information (including latitude, longitude and elevation) of the current position P of the mobile equipment received by the satellite navigation positioning module at the current time, recording the satellite positioning information as P (W, L, H), and firstly calculating the coordinate P (X) of the current position in the earth space rectangular coordinate system according to the satellite positioning information and the reference formulas (7) to (11)P_E，YP_E，ZP_E) (ii) a And then calculating to obtain a coordinate P (X) of the current position P in the coordinate system of the distance and angle measurement assembly according to the conversion parameters between the geospatial rectangular coordinate system and the coordinate system of the distance and angle measurement assembly in the sixth stepP_A，YP_A，ZP_A) The specific calculation method comprises the following steps:
Figure FDA0002427068540000071
and finally, calculating to obtain a coordinate P (X) of the current position P under the airplane reference coordinate system according to the coordinate conversion parameter from the ranging angle measuring component coordinate system to the airplane reference coordinate system in the sixth stepP_O，YP_O，ZP_O) The specific calculation method comprises the following steps:
Figure FDA0002427068540000072
coordinate P (X)P_O，YP_O，ZP_O) The coordinates are sent to the detection fixed equipment through the data transmission module and are also displayed in the display interface of the detection fixed equipment, at the moment, the operator of the detection mobile equipment can adjust the traveling direction of the operator to quickly reach the designated position for azimuth angle test according to the navigation positioning information of the operator relative to the airplane displayed on the interface, and meanwhile, the operator of the detection fixed equipment can also observe the positions of the detection mobile equipment and the operator in real time to master the positions of the detection mobile equipment and the operator in real timeThe status of the plant operator.
2. The navigation and positioning method of the ultrashort wave direction finder in-situ test system of claim 1, wherein the detection mobile device further comprises a satellite navigation and positioning module, the satellite navigation and positioning module fuses a Beidou positioning system signal and a GPS positioning system signal, receives the satellite positioning system signal in real time and performs coordinate conversion by using algorithm software, can display the position information of the detection mobile device relative to the airplane and the ultrashort wave direction finder on the display screens of the detection mobile device and the detection fixed device in real time, and enables an operator of the detection mobile device to rapidly reach a specified test position according to the displayed navigation and positioning information, thereby saving time consumption in the test moving process.
3. The navigation and positioning method of the ultrashort wave direction finder in-situ test system of claim 2, wherein the satellite navigation and positioning module adopts a core satellite communication company UM 220-iiin dual-system high performance GNSS module, and supports a beidou positioning system signal (BD 2B 1) and a GPS positioning system signal (GPS L1), and has the characteristics of high positioning accuracy, small size, low power consumption and high reliability.
4. The navigation positioning method of the ultrashort wave direction finder in-situ test system of claim 1, wherein the distance and angle measuring component is a general total station with data transmission and reading functions.
5. The navigation positioning method of the ultrashort wave direction finder in-situ test system of claim 1, wherein the portable display and control terminal comprises an ARM computer, a data transmission module, a liquid crystal display and a rechargeable battery.
6. The navigation positioning method of the ultrashort wave direction finder in-situ test system of claim 1, wherein the first data transmission module and the second data transmission module adopt an AS32-TT L-100 wireless data transmission module.
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