CN112213567A - Large antenna directional pattern testing method and device based on unmanned aerial vehicle - Google Patents
Large antenna directional pattern testing method and device based on unmanned aerial vehicle Download PDFInfo
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Abstract
The embodiment of the invention provides a method, a device, a medium and equipment for testing a large antenna directional diagram based on an unmanned aerial vehicle, wherein the method comprises the following steps: receiving the measurement of the centroid coordinates of the antenna array surface and the calibration of the axial north-plus angle difference of the antenna array surface, and planning the navigation track of the unmanned aerial vehicle according to the measurement; generating a navigation file of the unmanned aerial vehicle according to the navigation track, and sending the navigation file to a flight control system of the unmanned aerial vehicle; and receiving load return data of the unmanned aerial vehicle, and processing the load return data to obtain mapping data. The invention can use unmanned aerial vehicle high-precision track control, calibration radiation source real-time remote control, array antenna beam forming synchronous control, received signal continuous automatic acquisition, data comprehensive processing and the like, overcomes the influence of complex terrain and geomorphic environment of a test field, and has good application prospect and popularization value.
Description
Technical Field
One or more embodiments of the present description relate to the field of antenna testing technologies, and in particular, to a method, an apparatus, a medium, and a device for testing a large antenna pattern based on an unmanned aerial vehicle.
Background
The unmanned aerial vehicle is a flexible and light autopilot, the unmanned aerial vehicle can be remotely controlled, the long-distance flight at different heights can be realized, the multi-rotor unmanned aerial vehicle is a special unmanned helicopter with three or more rotor shafts, the motor rotates on each shaft through remote control to drive the rotor, the lifting thrust is generated, the total distance of the rotor is fixed and is not variable like a common helicopter, the single-shaft thrust can be changed by changing the relative rotating speed between different rotors, the running track of the multi-rotor unmanned aerial vehicle can be generated through relevant control software of the aircraft.
The main engineering method for testing the directional diagram of the large antenna at present is to utilize a turntable to load the antenna to rotate and receive a radiation source signal installed on a high tower at a distance to test the antenna diagram. In addition, under the influence of the ground and the surrounding environment of a test field, the test data acquired by the test method often has uncertainty, large discrete value and even inaccurate value.
Unmanned aerial vehicle can be applied to antenna pattern test, solves the difficult problem of traditional low frequency antenna normal position test, however, unmanned aerial vehicle is when being applied to the pattern test of large-scale antenna, because the orbit can't combine together with the test result for the not accurate condition enough also can appear in the testing process, does not have the method or the device that can solve this problem to appear at present.
Disclosure of Invention
In view of this, one or more embodiments of the present disclosure are directed to a method, an apparatus, a medium, and a device for testing a large antenna pattern based on an unmanned aerial vehicle, so as to solve a problem that in a conventional manner, in-situ testing of a low-frequency antenna is difficult.
In view of the above, in a first aspect, one or more embodiments of the present specification provide a method for testing a large antenna pattern based on a drone, the method including:
receiving the measurement of the centroid coordinates of the antenna array surface and the calibration of the axial north-plus angle difference of the antenna array surface, and planning the navigation track of the unmanned aerial vehicle according to the measurement;
generating a navigation file of the unmanned aerial vehicle according to the navigation track, and sending the navigation file to a flight control system of the unmanned aerial vehicle;
and receiving load return data of the unmanned aerial vehicle, and processing the load return data to obtain mapping data.
With reference to the above description, in a possible implementation manner of the embodiment of the present invention, after the flight file is sent to a flight control system of the drone, the drone automatically navigates through a directional pattern that flies around through a top orthogonal plane.
With reference to the foregoing description, in a possible implementation manner of an embodiment of the present invention, the generating a flight file of an unmanned aerial vehicle according to the flight trajectory includes:
acquiring an antenna centroid coordinate in real time, and drawing a horizontal or vertical sector area route by combining the antenna centroid coordinate and a test requirement;
and taking the fan-shaped area air route as a navigation track and generating a navigation file.
With reference to the foregoing description, in a possible implementation manner of an embodiment of the present invention, the receiving load return data of the drone, and processing the load return data to obtain mapping data includes:
performing signal testing based on linkage of the navigation file of the unmanned aerial vehicle and a spectrometer on the ground;
adjusting the frequency of a frequency spectrograph, and measuring the signal intensity of each frequency in real time so as to match the navigation file of the unmanned aerial vehicle;
after the determination of the centroid coordinates of the antenna array surface and the calibration of the axial north angle difference of the antenna array surface are received, a calibration result is obtained;
and planning an original point of a fan-shaped flight path and an initial ending angle of a fan-shaped area for the unmanned aerial vehicle according to the calibration result, and obtaining a flight path.
In combination with the above description, in a possible implementation manner of the embodiment of the present invention, the method further includes:
and measuring three-dimensional geographic longitude and latitude and height coordinates of the centroid of the antenna array surface to be detected by using the BD/GPS high-precision positioning direction-finding receiver, and calibrating the north angle difference of the axial direction of the antenna array surface by using the BD/GPS double-antenna high-precision direction-finding function so as to obtain an origin point and a sector area starting and ending angle provided by the unmanned aerial vehicle planning sector track.
In combination with the above description, in a possible implementation manner of the embodiment of the present invention, the method further includes:
planning a navigation point through ground control software of the unmanned aerial vehicle, selecting a starting angle and a terminating angle of a route according to a test requirement by taking a measured three-dimensional coordinate as an origin, and drawing a fan-shaped route;
and generating a navigation file of the unmanned aerial vehicle by combining the fan-shaped air route and the navigation track.
With reference to the foregoing description, in a possible implementation manner of the embodiment of the present invention, directional signal reception of the drone is controlled by using a beamforming manner.
In a second aspect, an exemplary embodiment of the present invention further provides a large antenna pattern testing apparatus based on an unmanned aerial vehicle, where the apparatus includes:
the receiving module is used for receiving the measurement of the centroid coordinates of the antenna array surface and the calibration of the axial north-plus angle difference of the antenna array surface and planning the navigation track of the unmanned aerial vehicle according to the measurement;
the file generation module is used for generating a navigation file of the unmanned aerial vehicle according to the navigation track and sending the navigation file to a flight control system of the unmanned aerial vehicle;
and the processing module is used for receiving the load return data of the unmanned aerial vehicle and processing the load return data to obtain mapping data.
In a third aspect, an exemplary embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to implement the method for testing a large antenna pattern based on a drone.
In a fourth aspect, exemplary embodiments of the present invention also provide a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method for drone-based large antenna pattern testing as described above.
As can be seen from the above, the method, the apparatus, the medium, and the device for testing the large antenna directional pattern based on the unmanned aerial vehicle provided in one or more embodiments of the present disclosure provide a method for testing an antenna directional pattern by performing an automatic test on a received signal level in a full state and a full dimension of the antenna and performing a multivariate data fusion calculation in an actual application scenario, and a series of advantages such as convenience in use, high efficiency, capability of better overcoming the influence of a complex topographic environment of a test site, stability of test data, and the like are achieved by performing high-precision track control, real-time remote control on a calibration signal source, synchronous beam forming control on an array antenna, continuous automatic acquisition of received signals, and comprehensive data processing on the unmanned aerial vehicle.
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In order to more clearly illustrate one or more embodiments or prior art solutions of the present specification, the drawings that are needed in the description of the embodiments or prior art will be briefly described below, and it is obvious that the drawings in the following description are only one or more embodiments of the present specification, and that other drawings may be obtained by those skilled in the art without inventive effort from these drawings.
Fig. 1 is a schematic flow diagram of a method for testing a large antenna pattern based on a drone, according to one or more embodiments of the present disclosure;
FIG. 2 is a schematic diagram of a trajectory planning and automatic test architecture according to one or more embodiments of the present disclosure;
FIG. 3 is an architectural diagram illustrating flight and link monitoring in accordance with one or more embodiments of the disclosure;
fig. 4 is a schematic structural diagram of a large-scale drone-based antenna pattern testing apparatus according to one or more embodiments of the present disclosure;
FIG. 5 is a schematic diagram of an apparatus according to one or more embodiments of the present disclosure.
Detailed Description
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
It is to be noted that unless otherwise defined, technical or scientific terms used in one or more embodiments of the present specification should have the ordinary meaning as understood by those of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in one or more embodiments of the specification is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
The invention relates to a method, a device, a medium and equipment for testing a large antenna directional diagram based on an unmanned aerial vehicle, which are mainly applied to a test scene of a large antenna diagram, and the basic idea is as follows: survey and drawing through unmanned aerial vehicle, unmanned aerial vehicle's the angle of taking off, the navigation orbit etc. is all through presetting, acquire antenna barycenter coordinate in real time and draw specific level or perpendicular fan-shaped regional airline according to this coordinate according to the test demand, supply the programme-controlled flight of unmanned aerial vehicle to use, optimize the flight logic simultaneously, save test data and through the logic cooperation with unmanned aerial vehicle flight control at this in-process, switch the frequency point to the control signal source, the waypoint, and the real time control spectrometer ensures the stability of gathering signal data.
Fig. 1 is a schematic basic flow chart of a method for testing a large antenna pattern based on an unmanned aerial vehicle according to an embodiment of the present invention, where the method specifically includes the following steps:
in step 110, determining the centroid coordinates of the antenna array surface and calibrating the axial north-plus-north angle difference of the antenna array surface, and planning the navigation track of the unmanned aerial vehicle according to the determination;
in step 120, generating a navigation file of the unmanned aerial vehicle according to the navigation track, and sending the navigation file to a flight control system of the unmanned aerial vehicle;
in step 130, load return data of the drone is received, and the load return data is processed to obtain mapping data.
The invention provides an automatic directional diagram test system based on a multi-rotor unmanned aerial vehicle carrying calibration signal source, wherein an array antenna port surface is horizontally arranged, and an unmanned aerial vehicle flies around through a top orthogonal surface; the special ground station matched with the unmanned aerial vehicle comprises a corresponding receiving hardware device, special ground test software and the like, can acquire the mass center coordinate of the antenna in real time and automatically draw a specific horizontal or vertical sector area air line according to the coordinate and a test requirement, takes the sector area air line as a navigation track and generates a navigation file after the navigation file is calibrated, and after the navigation file is sent to a flight control system of the unmanned aerial vehicle, the unmanned aerial vehicle automatically navigates through a directional diagram flying around by crossing a top orthogonal surface.
The navigation file is used for program-controlled flight of the unmanned aerial vehicle, the flight control logic of the unmanned aerial vehicle is strictly required in the process, and whether the aircraft reaches a designated waypoint can be effectively judged only by taking the flight control into consideration of position and height control in the application of a vertical fan-shaped air route, and the process relates to the logical optimization of the traditional flight control; the special ground test software of the unmanned aerial vehicle can automatically store test data, automatically control the signal source to switch frequency points and waypoints through logic matching with unmanned aerial vehicle flight control, and control the frequency spectrograph in real time to ensure the stability of collected signal data so as to realize the simplification and automation of system operation.
The directional diagram automatic test system provided by the exemplary embodiment of the invention can realize high-precision track control, calibration signal source real-time remote control, array antenna beam forming synchronous control, continuous and automatic acquisition of received signals, data comprehensive processing and the like of the unmanned aerial vehicle. The data comprehensive processing module is divided into four modules, namely flight control return data processing, load return data processing, spectrometer return data processing and a data recording module, and as shown in fig. 2 and 3, the flight control return data processing module can receive flight control return data remotely downloaded by an unmanned aerial vehicle, analyze the data, and send effective position data and clock data to the data recording module. The load return data processing module can receive and process data from the load monitoring software and send effective data to the data recording module. The spectrometer report data processing module can receive and process data from spectrometer monitoring software and send effective data to the data recording module. And the data recording module collects, records and stores longitude and latitude data, clock data, calibration data and ground spectrometer test data which are remotely transmitted by the unmanned aerial vehicle, and outputs an excel table.
The automatic directional diagram testing system provided by the exemplary embodiment of the invention has the advantages of convenience in operation and use, high efficiency, capability of better overcoming the influence of complex topographic environment of a testing field, stable testing data and the like, and has good application prospect and popularization value in the aspects of development and test of large antennas, periodic performance inspection after array installation and the like.
In an implementation manner of the exemplary embodiment of the present invention, the receiving load return data of the drone, and processing the load return data to obtain mapping data includes:
performing signal testing based on linkage of the navigation file of the unmanned aerial vehicle and a spectrometer on the ground;
adjusting the frequency of a frequency spectrograph, and measuring the signal intensity of each frequency in real time so as to match the navigation file of the unmanned aerial vehicle;
after the determination of the centroid coordinates of the antenna array surface and the calibration of the axial north angle difference of the antenna array surface are received, a calibration result is obtained;
and planning an original point of a fan-shaped flight path and an initial ending angle of a fan-shaped area for the unmanned aerial vehicle according to the calibration result, and obtaining a flight path.
The specific implementation of this process may include the following steps:
the first step is as follows: the method is characterized in that airborne calibration signal source equipment (including an airborne calibration signal source, a transmitting antenna and the like) is used as a calibration load to be installed on the quad-rotor unmanned aerial vehicle, an unmanned aerial vehicle measurement and control link can carry out remote control on the calibration load in real time, such as frequency setting, power adjustment, transmission control and the like, and ground supporting equipment of a quad-rotor unmanned aerial vehicle system is erected completely, such as a frequency spectrum conference and the like, so that preparation is made for flight.
The second step is that: a navigation positioning direction-finding receiver is erected, the receiver can be used for measuring the mass center coordinates of the antenna array surface and calibrating the axial north-north angle difference of the antenna array surface, and the calibration result provides a basis for the flight path planning of the unmanned aerial vehicle.
And thirdly, editing the flight route of the unmanned aerial vehicle, starting by an operator for task planning before a task starts, checking the automatically generated route, and generating a final route file by combining the measurement of the centroid coordinate of the antenna array surface, the calibration of the axial north-south angle difference of the antenna array surface, the navigation track of the unmanned aerial vehicle and the like to prepare for the flight work of the unmanned aerial vehicle. The air route planning has two modes of manual planning and automatic planning. The manual planning is to manually select a waypoint on a map platform and generate a route, and can modify, edit and store the preset route, and automatically plan the data which needs to be measured in the second step.
During automatic planning, the longitude and latitude and the height value (the precision is 7 digits after the decimal point) of the ground antenna center can be input through the navigation software of the unmanned aerial vehicle, and the marking point (the central point) is displayed on a map.
Inputting a test horizontal distance R (in meters), drawing a circle of a horizontal plane with the radius of R on a map by taking a central point as a center;
inputting the angle (0-360 degrees, precision 0.1) between the connecting line of the central point and any point on the horizontal circle and true north, and automatically marking the coordinate point on the horizontal circle (the software installed on the ground device can display coordinate information). Drawing a semi-circular arc vertical to the horizontal plane by taking the point as a starting point, taking the ground central point as a center and taking the radius R;
inputting the height from a first point (a first program control point) on the circular arc, namely a target 1 point, to the horizontal plane, inputting the height from the last point (the Nth target point) on the circular arc to the horizontal plane, inputting the number M of evenly distributed points on the circular arc, and calculating the coordinates (any point can be displayed) of the evenly distributed points on the circular arc so as to automatically generate a route file;
the fourth step: and after the flight path file is generated, loading the flight path file into ground station software, and uploading the flight path file to the unmanned aerial vehicle flight control through a link.
The fifth step: and testing, wherein the unmanned aerial vehicle carries out program-controlled flight according to the generated navigation file and acquires data.
And a sixth step: and data processing, wherein the data processing software can receive flight control return data, calibration signal source return data and spectrometer return data in real time at a task execution stage, and stores and records the data.
In a possible implementation manner of the embodiment of the present invention, the method further includes:
the method comprises the steps of utilizing a BD/GPS (Beidou and global positioning system) high-precision positioning direction-finding receiver to measure three-dimensional geographic longitude and latitude and height coordinates of a mass center of an antenna array surface to be detected, utilizing a BD/GPS dual-antenna high-precision direction-finding function to calibrate the north angle difference of the axial direction of the antenna array surface, obtaining an origin point and a sector area starting and ending angle provided by a sector track planned by the unmanned aerial vehicle, and further generating a navigation file.
In a possible implementation manner of the embodiment of the present invention, the method further includes:
planning a navigation point through ground control software of the unmanned aerial vehicle, selecting a starting angle and a terminating angle of a route according to a test requirement by taking a measured three-dimensional coordinate as an origin, and drawing a fan-shaped route;
and generating a navigation file of the unmanned aerial vehicle by combining the fan-shaped air route and the navigation track.
In a possible implementation manner of the exemplary embodiment of the present invention, directional signal reception of the drone is controlled by using a beam forming manner.
The special ground test software of the exemplary embodiment of the invention is a software developed for the directional diagram test system of the invention, and is mainly characterized in that: and testing signals based on linkage of an air signal source and a ground frequency spectrograph.
According to the real-time requirement of a large phased array antenna for calibration testing, a signal testing system is developed, wherein an aerial airborne signal source is linked with a ground frequency spectrograph, ground software controls the aerial signal source to perform signal frequency switching setting and adjust the center frequency of the frequency spectrograph, the frequency spectrograph automatically measures the intensity of each frequency signal in real time according to the signal frequency switching condition, and the frequency spectrograph automatically matches and synchronously stores the frequency spectrograph testing record, the signal source frequency setting, the waypoint information and the like.
The special ground test software, namely the ground station and the ground test software, has the main functions of:
1. calibrating load remote control:
the calibration load can be remotely controlled in real time through the unmanned aerial vehicle measurement and control link, and the remote control system mainly comprises frequency setting, power adjustment, emission control and the like.
2. Automatic test of remote control frequency spectrograph
The parameter setting and data automatic acquisition operation of the mainstream frequency spectrometers of various models are realized by developing control software through GPIB standard interfaces of the spectrometers.
3. Data integrated processing and management
And comprehensively processing position data, clock data, load data, ground spectrometer test data and the like which are telemetered and downloaded by the unmanned aerial vehicle in the test process to form a data list, and outputting, storing and printing the data.
The directional diagram test system of the exemplary embodiment of the present invention, the navigation path planning and the automatic test, which are shown in fig. 2, includes: the antenna monitoring can be used for axial north angle difference calibration, centroid coordinate calibration and the like; the task planning realizes manual route planning, automatic route planning, task route display and the like; monitoring a frequency spectrum analyzer, including parameter setting and parameter acquisition of a load and the like; load monitoring, including load state display, load equipment control and the like; data processing, comprising: data logging, load report back data processing, spectrum plan report back data processing, flight control report back data processing, and the like.
An exemplary embodiment of the present invention relates to flight and link monitoring for a pattern testing system, comprising:
task management, which can realize synchronous start and synchronous exit of each item of equipment and device;
displaying a navigation track (track), and realizing the editing and track display of a flight path;
the image decoding and displaying are realized, and the network receiving of the related flight data, the network decompression, the image processing, the image display and the like are realized;
and the comprehensive data management can realize the remote control image composite data processing, the ground equipment state return data, the remote measurement data distribution, the ground equipment return data distribution, the event condition processing, the data return and the like.
Fig. 4 is a schematic structural diagram of a large antenna pattern testing apparatus based on an unmanned aerial vehicle according to an embodiment of the present invention, where the apparatus may be implemented by software and/or hardware, and as shown in the drawing, the present embodiment may be based on the above-mentioned embodiment, and the apparatus includes: the receiving module 410 is used for receiving the measurement of the centroid coordinates of the antenna array surface and the calibration of the axial north-plus angle difference of the antenna array surface, and planning the navigation track of the unmanned aerial vehicle according to the measurement; the file generation module 420 is configured to generate a navigation file of the unmanned aerial vehicle according to the navigation track, and send the navigation file to a flight control system of the unmanned aerial vehicle; a processing module 430, configured to receive the load return data of the unmanned aerial vehicle, and process the load return data to obtain mapping data.
The large antenna pattern testing device based on the unmanned aerial vehicle provided in the above embodiment can execute the large antenna pattern testing method based on the unmanned aerial vehicle provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.
The technology carrier involved in the embodiments of the present specification may include, for example, Near Field Communication (NFC), WIFI, 3G/4G/5G, POS machine card swiping technology, two-dimensional code scanning technology, barcode scanning technology, bluetooth, infrared, Short Message Service (SMS), Multimedia Message (MMS), and the like.
It should be noted that the method of one or more embodiments of the present disclosure may be performed by a single device, such as a computer or server. The method of the embodiment can also be applied to a distributed scene and completed by the mutual cooperation of a plurality of devices. In such a distributed scenario, one of the devices may perform only one or more steps of the method of one or more embodiments of the present disclosure, and the devices may interact with each other to complete the method.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
For convenience of description, the above devices are described as being divided into various modules by functions, and are described separately. Of course, the functionality of the modules may be implemented in the same one or more software and/or hardware implementations in implementing one or more embodiments of the present description.
The apparatus of the foregoing embodiment is used to implement the corresponding method in the foregoing embodiment, and has the beneficial effects of the corresponding method embodiment, which are not described herein again.
Fig. 5 is a schematic diagram illustrating a more specific hardware structure of an electronic device according to this embodiment, where the electronic device may include: a processor 1010, a memory 1020, an input/output interface 1030, a communication interface 1040, and a bus 1050. Wherein the processor 1010, memory 1020, input/output interface 1030, and communication interface 1040 are communicatively coupled to each other within the device via bus 1050.
The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits, and is configured to execute related programs to implement the technical solutions provided in the embodiments of the present disclosure.
The Memory 1020 may be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, or the like. The memory 1020 may store an operating system and other application programs, and when the technical solution provided by the embodiment of the present disclosure is implemented by software or firmware, the relevant program codes are stored in the memory 1020 and the processor 1010 is used to invoke the method for testing the large antenna pattern based on the drone according to the embodiment of the present disclosure.
The input/output interface 1030 is used for connecting an input/output module to input and output information. The i/o module may be configured as a component in a device (not shown) or may be external to the device to provide a corresponding function. The input devices may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices may include a display, a speaker, a vibrator, an indicator light, etc.
The communication interface 1040 is used for connecting a communication module (not shown in the drawings) to implement communication interaction between the present apparatus and other apparatuses. The communication module can realize communication in a wired mode (such as USB, network cable and the like) and also can realize communication in a wireless mode (such as mobile network, WIFI, Bluetooth and the like).
Bus 1050 includes a path that transfers information between various components of the device, such as processor 1010, memory 1020, input/output interface 1030, and communication interface 1040.
It should be noted that although the above-mentioned device only shows the processor 1010, the memory 1020, the input/output interface 1030, the communication interface 1040 and the bus 1050, in a specific implementation, the device may also include other components necessary for normal operation. In addition, those skilled in the art will appreciate that the above-described apparatus may also include only those components necessary to implement the embodiments of the present description, and not necessarily all of the components shown in the figures.
Computer-readable media of the present embodiments, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, programs, modules of the programs themselves, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device to perform the above-described aspects of embodiments of the present invention.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the spirit of the present disclosure, features from the above embodiments or from different embodiments may also be combined, steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present description as described above, which are not provided in detail for the sake of brevity.
In addition, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown in the provided figures, for simplicity of illustration and discussion, and so as not to obscure one or more embodiments of the disclosure. Furthermore, devices may be shown in block diagram form in order to avoid obscuring the understanding of one or more embodiments of the present description, and this also takes into account the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the one or more embodiments of the present description are to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the disclosure, it should be apparent to one skilled in the art that one or more embodiments of the disclosure can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.
While the present disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic ram (dram)) may use the discussed embodiments.
It is intended that the one or more embodiments of the present specification embrace all such alternatives, modifications and variations as fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements, and the like that may be made without departing from the spirit and principles of one or more embodiments of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (10)
1. A large antenna pattern testing method based on an unmanned aerial vehicle is characterized by comprising the following steps:
receiving the measurement of the centroid coordinates of the antenna array surface and the calibration of the axial north-plus angle difference of the antenna array surface, and planning the navigation track of the unmanned aerial vehicle according to the measurement;
generating a navigation file of the unmanned aerial vehicle according to the navigation track, and sending the navigation file to a flight control system of the unmanned aerial vehicle;
and receiving load return data of the unmanned aerial vehicle, and processing the load return data to obtain mapping data.
2. The method of claim 1, wherein the drone automatically navigates through a pattern that flies around a top orthogonal plane after sending the navigation file to a flight control system of the drone.
3. The method of claim 1, wherein generating a flight file for the drone from the flight trajectory comprises:
acquiring an antenna centroid coordinate in real time, and drawing a horizontal or vertical sector area route by combining the antenna centroid coordinate and a test requirement;
and taking the fan-shaped area air route as a navigation track and generating a navigation file.
4. The method of claim 1, wherein the receiving load reward data for the drone, processing the load reward data to derive mapping data, comprises:
performing signal testing based on linkage of the navigation file of the unmanned aerial vehicle and a spectrometer on the ground;
adjusting the frequency of a frequency spectrograph, and measuring the signal intensity of each frequency in real time so as to match the navigation file of the unmanned aerial vehicle;
after the determination of the centroid coordinates of the antenna array surface and the calibration of the axial north angle difference of the antenna array surface are received, a calibration result is obtained;
and planning an original point of a fan-shaped flight path and an initial ending angle of a fan-shaped area for the unmanned aerial vehicle according to the calibration result, and obtaining a flight path.
5. The method of claim 1, further comprising:
and measuring three-dimensional geographic longitude and latitude and height coordinates of the centroid of the antenna array surface to be detected by using the BD/GPS high-precision positioning direction-finding receiver, and calibrating the north angle difference of the axial direction of the antenna array surface by using the BD/GPS double-antenna high-precision direction-finding function so as to obtain an origin point and a sector area starting and ending angle provided by the unmanned aerial vehicle planning sector track.
6. The method of claim 1, further comprising:
planning a navigation point through ground control software of the unmanned aerial vehicle, selecting a starting angle and a terminating angle of a route according to a test requirement by taking a measured three-dimensional coordinate as an origin, and drawing a fan-shaped route;
and generating a navigation file of the unmanned aerial vehicle by combining the fan-shaped air route and the navigation track.
7. The method of claim 1, wherein the directional signal reception of the drone is controlled by means of beamforming.
8. A large antenna pattern testing device based on unmanned aerial vehicle, its characterized in that, the device includes:
the receiving module is used for receiving the measurement of the centroid coordinates of the antenna array surface and the calibration of the axial north-plus angle difference of the antenna array surface and planning the navigation track of the unmanned aerial vehicle according to the measurement;
the file generation module is used for generating a navigation file of the unmanned aerial vehicle according to the navigation track and sending the navigation file to a flight control system of the unmanned aerial vehicle;
and the processing module is used for receiving the load return data of the unmanned aerial vehicle and processing the load return data to obtain mapping data.
9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the drone-based large antenna pattern testing method of any one of claims 1 to 7.
10. A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method of drone-based large antenna pattern testing of any one of claims 1 to 7.
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