CN112697129B - Quick method for determining two-dimensional attitude of antenna linear array by utilizing one-dimensional angle measurement - Google Patents
Quick method for determining two-dimensional attitude of antenna linear array by utilizing one-dimensional angle measurement Download PDFInfo
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- CN112697129B CN112697129B CN202011470645.3A CN202011470645A CN112697129B CN 112697129 B CN112697129 B CN 112697129B CN 202011470645 A CN202011470645 A CN 202011470645A CN 112697129 B CN112697129 B CN 112697129B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
The invention belongs to the technical field of electronic information, and particularly relates to a rapid method for determining a two-dimensional attitude of an antenna linear array by utilizing one-dimensional angle measurement. The method of the invention utilizes the electromagnetic wave signals radiated by the reference station with known position, measures the one-dimensional included angle between the incoming wave direction and the antenna linear array through the antenna linear array, performs one-dimensional search on the elevation angle and performs closed calculation on the azimuth angle, thus realizing the two-dimensional attitude of the antenna linear array, reducing the calculated amount and improving the measuring precision of the two-dimensional attitude of the antenna linear array.
Description
Technical Field
The invention belongs to the technical field of electronic information, and particularly relates to a rapid method for determining a two-dimensional attitude of an antenna linear array by utilizing one-dimensional angle measurement.
Background
The method for positioning the radio signal radiation source by measuring the propagation direction of electromagnetic waves from the radio signal to the antenna array is a common passive positioning method, and is widely applied to radio spectrum monitoring platforms such as vehicle-mounted, ship-mounted, airborne, satellite-borne and the like. Since the direction-finding device determines the incoming wave direction of the radio signal at an angle relative to the antenna array on the radio spectrum monitoring platform, and the error of direction-finding positioning increases with the increase of the distance of the radio signal radiation source, when the radio signal radiation source at a long distance is positioned with high precision, not only the incoming wave direction measurement of the radio signal but also the attitude measurement of the antenna array with high precision are required. In addition to the autonomous attitude measurement equipment of the radio spectrum monitoring platform, in order to obtain higher attitude measurement accuracy, it is also necessary to cooperatively measure the attitude of the antenna array by using an external reference station.
In the problem of cooperative measurement of the attitude of an antenna array by using an external reference station, the center position of the antenna array is known, but the two-dimensional attitude of the antenna array, namely the azimuth angle and the elevation angle of the antenna array are unknown or have larger errors, electromagnetic wave signals need to be radiated by using the reference station with the known position, the antenna array receives radio signals, and the one-dimensional included angle between the incoming wave direction and the antenna array can be measured, so that the two-dimensional attitude of the antenna array is measured. However, since the azimuth and elevation of the two-dimensional attitude of the antenna array are nonlinear with the incoming wave direction of the reference station radio signal, the high-precision two-dimensional search grid interval is small, the calculation amount of the two-dimensional search is large, and the application occasions with real-time requirements are difficult to meet.
Disclosure of Invention
The invention aims to solve the problem of how to utilize electromagnetic wave signals radiated by a reference station with known positions to measure a one-dimensional included angle between an incoming wave direction and an antenna linear array through the antenna linear array so as to realize the purpose of rapidly measuring the two-dimensional attitude of the antenna linear array.
The technical scheme of the invention is as follows:
a rapid method for determining two-dimensional attitude of antenna linear array by utilizing one-dimensional angle measurement defines the position coordinates of the antenna linear array as (x) 0 ,y 0 ,z 0 ) The number of reference stations is L and the position coordinates are (x k ,y k ,z k ) K=1, 2, L, the number of elevation searches of the two-dimensional gestures of the antenna linear array is M, and each elevation in the elevation search sequence of the two-dimensional gestures of the antenna linear array is phi m M=1, 2, M, the method comprises the following steps:
s1, the position coordinates (x 0 ,y 0 ,z 0 ) And the position coordinates (x) of the L reference stations k ,y k ,z k ) K=1, 2, L, determining elevation vectors of L reference stations:
wherein ,
and azimuth vector:
s2, carrying out direction finding processing on the received reference station radiation signals by the antenna linear array to obtain cosine vectors of one-dimensional angle measurement:
s3, each elevation angle phi in the elevation angle search sequence of the two-dimensional attitude of the antenna linear array m M=1, 2, M, determining the corresponding azimuth angle
The method comprises the following steps:
s4, each elevation angle phi in the elevation angle search sequence of the two-dimensional attitude of the antenna linear array m M=1, 2, M, determine the corresponding error directionQuantity eta m The method comprises the following steps:
s5, according to the error vector eta m Corresponding elevation spectrum g (phi) is determined m ) The method comprises the following steps:
wherein ,
is vector eta m Is a transpose of (2); />
S6, obtaining { g (phi) 1 ),g(φ 2 ),...,g(φ M ) Maximum value in } is
Corresponding->
and />
The elevation angle and the azimuth angle of the two-dimensional attitude of the antenna linear array are measured.
The beneficial effects of the invention are as follows: by using the method provided by the invention, the electromagnetic wave signals radiated by the reference station with known positions are utilized, the one-dimensional included angle between the incoming wave direction and the antenna linear array is measured through the antenna linear array, the one-dimensional search of the elevation angle and the closed calculation of the azimuth angle are realized, the two-dimensional gesture of the antenna linear array can be rapidly measured, the calculated amount is reduced, and the measuring precision of the two-dimensional gesture of the antenna linear array can be improved.
Detailed Description
The utility of the present invention is analyzed in connection with the following examples.
Examples
In this example, the position coordinates of the antenna array are (0,0,20000), referenceThe number of stations is 2, the location coordinates are (10000,30000,0) and (-10000,20000,0), all in units: the number of elevation searches of the two-dimensional gestures of the antenna linear array is 8001, and each elevation angle in the elevation search sequence is phi m ＝-5+0.0025(m-1)，m＝1,2,...,M。
When the elevation angle of the two-dimensional attitude of the antenna linear array is uniformly distributed between-3 degrees and the azimuth angle is uniformly distributed between-3 degrees and 3 degrees, 500 independent experiments are carried out. The statistical result shows that under the condition of not correcting the two-dimensional attitude of the antenna linear array, the direction finding error of the antenna linear array reaches 1.65 degrees; by using the method, the standard deviation of the elevation angle of the two-dimensional attitude of the antenna linear array is measured to be 0.0069 degrees, the standard deviation of the azimuth angle of the two-dimensional attitude of the antenna linear array is measured to be 0.0056 degrees, and the required time is averaged to be 0.1211 second.
The invention provides a rapid method for determining the two-dimensional attitude of the antenna linear array by utilizing a one-dimensional angle measurement, which realizes the determination of the two-dimensional attitude of the antenna linear array under the condition that the azimuth angle and the elevation angle of the two-dimensional attitude of the antenna linear array are unknown, and the standard deviation of the elevation angle and the azimuth angle is smaller than 0.0070 degrees.
Claims (1)
1. A rapid method for determining two-dimensional attitude of antenna linear array by utilizing one-dimensional angle measurement defines the position coordinates of the antenna linear array as (x) 0 ,y 0 ,z 0 ) The number of reference stations is L and the position coordinates are (x k ,y k ,z k ) K=1, 2, L, the number of elevation searches of the two-dimensional gestures of the antenna linear array is M, and each elevation in the elevation search sequence of the two-dimensional gestures of the antenna linear array is phi m M=1, 2, M characterized in that, the method comprises the following steps:
s1, the position coordinates (x 0 ,y 0 ,z 0 ) And the position coordinates (x) of the L reference stations k ,y k ,z k ) Determining elevation vectors of L reference stations:
wherein ,
azimuth vector:
s2, carrying out direction finding processing on the received reference station radiation signals by the antenna linear array to obtain cosine vectors of one-dimensional angle measurement:
s3, each elevation angle phi in the elevation angle search sequence of the two-dimensional attitude of the antenna linear array m Determining the corresponding azimuth angle
The method comprises the following steps:
s4, each elevation angle phi in the elevation angle search sequence of the two-dimensional attitude of the antenna linear array m Determining a corresponding error vector eta m The method comprises the following steps:
s5, according to the error vector eta m Corresponding elevation spectrum g (phi) is determined m ) The method comprises the following steps:
wherein ,
is vector eta m Is a transpose of (2);
s6, obtaining { g (phi) 1 ),g(φ 2 ),...,g(φ M ) Maximum value in } is
Corresponding->
and />
The elevation angle and the azimuth angle of the two-dimensional attitude of the antenna linear array are measured. />
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