CN113189625A - Error correction method and device based on single-star interferometer direction finding system and satellite - Google Patents
Error correction method and device based on single-star interferometer direction finding system and satellite Download PDFInfo
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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- G—PHYSICS
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- 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
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Abstract
The application discloses an error correction method and device based on a single-star interferometer direction finding system and a satellite. The method comprises the following steps: acquiring angle information between a ground radiation source and a satellite and acquiring position information of each antenna array element in a direction-finding system; determining a satellite attitude angle error model according to the angle information, and determining an array element system error model according to the angle information and the position information; determining a comprehensive error expression by combining the satellite attitude angle error model and the array element system error model, and analyzing the comprehensive error expression according to correction information of a plurality of ground calibration stations with different incident angles to obtain error correction values of a plurality of error parameters to be corrected; and carrying out error correction on the initial direction finding result of the single-star interferometer according to the error correction value to obtain a final direction finding result. The correction method takes a plurality of system error factors into consideration, is comprehensive in consideration and simple, and obviously improves the accuracy of single-satellite direction finding.
Description
Technical Field
The application relates to the technical field of satellite positioning, in particular to an error correction method and device based on a single-satellite interferometer direction finding system and a satellite.
Background
The single satellite direction finding technology mostly adopts a phase interferometer direction finding system, the direction finding precision of the phase interferometer direction finding system is in direct proportion to the length of a base line of a direction finding antenna array, so that the long base line direction finding antenna array needs to be carried to realize high-precision direction finding of a target, and meanwhile, a short base line needs to be equipped to resolve phase ambiguity. This requires multiple array elements to form the interferometric direction-finding antenna array. Array element position errors can occur in the installation process of the antenna array, and in addition, various system errors such as phase difference system errors and satellite attitude angle errors and random errors exist in the direction-finding system at the same time. Wherein random errors are unavoidable, while systematic errors are correctable; if the system errors are not corrected, the final direction finding result error is large, and the direction finding precision index requirement cannot be met.
Disclosure of Invention
The embodiment of the application provides an error correction method and device based on a single-satellite interferometer direction finding system and a satellite, so that the correction of main system errors of a single-satellite direction finding technology is realized, and the direction finding precision of a target is improved.
According to a first aspect of the application, an error correction method based on a single-star interferometer direction finding system is provided, and comprises the following steps:
acquiring angle information between a ground radiation source and a satellite and acquiring position information of each antenna array element in the direction-finding system;
determining a satellite attitude angle error model according to the angle information, and determining an array element system error model according to the angle information and the position information;
determining a comprehensive error expression by combining the satellite attitude angle error model and the array element system error model, wherein the comprehensive error expression comprises a plurality of error parameters to be corrected;
analyzing the comprehensive error expression according to correction information of a plurality of ground calibration stations with different incident angles to obtain error correction values of the plurality of error parameters to be corrected;
and correcting the error of the initial direction finding result of the single-star interferometer according to the error correction value to obtain a final direction finding result.
According to a second aspect of the present application, there is provided an error correction device based on a single-star interferometer direction finding system, comprising:
the information acquisition unit is used for acquiring angle information between a ground radiation source and a satellite and acquiring position information of each antenna array element in the single-satellite interferometer;
the model determining unit is used for determining a satellite attitude angle error model according to the angle information and determining an array element system error model according to the angle information and the position information;
a comprehensive error expression determining unit, configured to determine a comprehensive error expression by combining the satellite attitude angle error model and the array element system error model, where the comprehensive error expression includes a plurality of error parameters to be corrected;
the error analysis unit is used for analyzing the comprehensive error expression according to the correction information of a plurality of ground calibration stations with different incident angles to obtain error correction values of the plurality of error parameters to be corrected;
and the error correction unit is used for carrying out error correction on the initial direction finding result of the single-star interferometer according to the error correction value to obtain a final direction finding result.
According to a third aspect of the present application, there is provided a satellite provided with a single-star interferometer direction finding system comprising an error correction device as defined in any one of the above.
According to a fourth aspect of the present application, there is provided an electronic device, wherein the electronic device comprises: a processor; and a memory arranged to store computer executable instructions that, when executed, cause the processor to perform a method as any one of the above.
The application can at least realize the following beneficial effects: according to the method and the device, through angle information between a ground radiation source and a satellite and position information of each antenna array element in a direction finding system, a comprehensive error expression capable of representing multi-factor system errors is constructed, and according to correction information of a plurality of ground calibration stations with different incident angles, error correction values of a plurality of error parameters to be corrected related to the comprehensive error expression are obtained, so that direction finding results are corrected according to the error correction values, and more accurate direction finding results can be obtained. The correction method takes a plurality of system error factors into consideration, is comprehensive in consideration and simple, and obviously improves the accuracy of single-satellite direction finding.
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The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic flow chart of an error correction method based on a single-star interferometer direction finding system according to one embodiment of the present application;
FIG. 2 is a schematic diagram of single satellite direction finding according to one embodiment of the present application;
FIG. 3 is a diagram illustrating the results of a single-star interferometer direction finding system based error correction method according to one embodiment of the present application;
FIG. 4 is a schematic structural diagram of an error correction device based on a single-star interferometer direction-finding system according to an embodiment of the present application;
FIG. 5 shows a schematic structural diagram of a satellite according to one embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
The method has the conception that various system errors exist in the existing single satellite direction finding technology, so that the difference between a direction finding result and a true value is large, and the direction finding result is inaccurate. In view of this, the present application provides an error correction method based on a single-star interferometer direction finding system, which corrects a main system error by establishing a multi-factor system error model and combining a ground calibration station, thereby improving the direction finding precision of a target.
Fig. 1 is a schematic flow chart of an error correction method based on a single-star interferometer direction-finding system according to an embodiment of the present application, and as can be seen from fig. 1, the method at least includes steps S110 to S150:
step S110: and acquiring angle information between the ground radiation source and the satellite and acquiring position information of each antenna array element in the direction-finding system.
The single-satellite interferometer direction-finding system comprises random errors and system errors, wherein the random errors are inevitable, the system errors comprise multiple errors, such as satellite attitude angle system errors and antenna array element system errors, and the antenna array element system errors comprise antenna array element position system errors, channel phase difference system errors and the like. Systematic errors can be eliminated or reduced by correction.
Fig. 2 is a schematic diagram of single satellite direction finding according to an embodiment of the present application, assuming that an antenna array on a satellite is facing the ground, and a ground radiation source emits light waves which are received by an antenna array element of the satellite. Two angles for representing incoming waves of the ground radiation source are azimuth angles and pitch angles respectively. As can be seen from fig. 2, the theoretical value of the incoming wave azimuth angle of the ground radiation source is α and the theoretical value of the pitch angle is β. When the direction of the ground radiation source is measured, the azimuth angle measured value alpha of the incoming wave of the ground radiation source is obtainedeMeasured value of pitch angle of ground radiation source betae。
In some embodiments of the present application, assume that the number of antenna elements of the phase interferometer is N, let the position coordinates of the nth element be (0,0,0), and the remaining N-1 antenna element positions be (x)i,yi,zi)。
The position information of each antenna array element further includes a measured phase difference value between each antenna array element and the original array element, specifically, a measured phase difference value between the ith antenna array element and the original array element
Step S120: and determining a satellite attitude angle error model according to the angle information, and determining an array element system error model according to the angle information and the position information.
The attitude angle is usually adopted to represent the satellite attitude, and the attitude angle rotating around the X axis is called a roll angle; the attitude angle rotating around the Y axis is called a pitch angle; the attitude angle rotating around the Z axis is called an yaw angle, and therefore, the satellite attitude angle has a yaw angle systematic error γ, a pitch angle systematic error θ, and a roll angle systematic error ε.
The satellite attitude angle error model can be determined according to the angle information between the ground radiation source and the satellite, and in some embodiments of the present application, the satellite attitude angle error model is:
wherein alpha is the azimuth angle theoretical value of the ground radiation source, beta is the pitch angle theoretical value of the ground radiation source, and alphaeIs an actual measured value of the azimuth angle, beta, of a ground radiation sourceeThe method is characterized in that the method is a pitch angle theoretical value of a ground radiation source, gamma is a satellite yaw angle system error, theta is a satellite pitch angle system error, and epsilon is a satellite roll angle system error.
In the satellite attitude angle error model, the theoretical value alpha of the azimuth angle of the ground radiation source, the theoretical value beta of the pitch angle of the ground radiation source and the actually measured value alpha of the azimuth angle of the ground radiation sourceeAnd ground radiation sourceTheoretical value beta of pitch angleeThe satellite yaw angle system error gamma, the satellite pitch angle system error theta and the satellite roll angle system error epsilon are all known values.
And determining an array element system error model according to the angle information between the ground radiation source and the satellite and the position information of each antenna array element.
In some embodiments of the present application, it is assumed that the number of antenna elements in the direction-finding system is N, the nth antenna element is an origin element (0,0,0), and the remaining N-1 antenna elements have position coordinates of (x)i,yi,zi) The systematic error of the position of the ith antenna element is (Deltax)i,Δyi,Δzi)。
The antenna array element system error also comprises a channel phase difference system error besides the antenna array element position system error. The systematic error of the channel phase difference between the ith array element and the Nth array element is delta phiiI-1, 2, …, N-1; n is a natural number more than 1, i is a natural number less than or equal to N;
the measured value of the phase difference between the ith antenna array element and the original point array element is obtained. Then the array element system error model is:
step S130: and determining a comprehensive error expression by combining the satellite attitude angle error model and the array element system error model, wherein the comprehensive error expression comprises a plurality of error parameters to be corrected.
And determining a comprehensive error expression by combining the satellite attitude angle error model and the array element system error model, wherein the comprehensive error expression can represent the satellite attitude angle system error and the array element system error at the same time. Specifically, the result of analyzing the satellite attitude angle error model can be substituted into the array element system error model to obtain a comprehensive error expression. In some embodiments of the present application, the composite error expression is:
(ai，bi，ci) Is understood as the real position of the ith antenna element obtained by calculation, and the value is in the theoretical value (x) of the position of the ith antenna elementi,yi,zi) The interference of the position system error and the attitude angle error of the antenna array element is eliminated or reduced on the basis, and the specific form can be but is not limited to:
ci＝-(xi+Δxi)sinθ+(yi+Δyi)cosθsinε+(zi+Δzi)cosθcosε。
the comprehensive error expression comprises a plurality of error parameters to be corrected, and according to the above, the attitude angle system error of the satellite and the antenna array element position system error of the phase interferometer can be divided into three different unknowns (a)i,bi,ci) (i-1, 2, …, N-1) and adding the phase difference system error between the channels, Δ ΦiThere are a total of 4 error parameters to be corrected.
Step S140: and analyzing the comprehensive error expression according to the correction information of the plurality of ground calibration stations with different incident angles to obtain error correction values of a plurality of error parameters to be corrected.
For each ground radiation source, there are N-1 actually measured phase difference formulas, N-1 sets of error parameters (a) to be correctedi,bi,ci,Δφi) (i ═ 1,2, …, N-1), 4 × (N-1) error parameters to be corrected.
Therefore, at least 4 known ground calibration stations with different incidence directions are needed, and the measured phase differences of the 4 ground calibration stations relative to each antenna array element are substituted into the comprehensive error expression to obtain 4 × (N-1) measured phase difference formulas:
the 4 x (N-1) error parameters needing to be corrected can be corrected through the obtained 4 x (N-1) actually measured phase difference formulas.
And analyzing the comprehensive error expression to obtain error correction values of a plurality of error parameters to be corrected. The specific analysis process can refer to the following methods:
firstly, the 4 x (N-1) measured phase difference formulas are converted into a matrix form:
zi＝Hxi，i＝1,2,…,N-1，
wherein the content of the first and second substances,
xi＝[Δφi,ai,bi,ci]T，
the error correction value x of a plurality of error parameters to be corrected for single satellite direction finding can be obtainedi：
xi＝(HTH)-1HTzi，i＝1,2,…,N-1。
Step S150: and carrying out error correction on the initial direction finding result of the single-star interferometer according to the error correction value to obtain a final direction finding result.
The method comprises the following steps of carrying out error correction on an initial direction finding result of the single-star interferometer according to an error correction value to obtain a final direction finding result. Specifically, the initial direction finding result of the single-star interferometer can be summed by using the error correction value, and the final direction finding result is obtained.
Because the satellite usually only carries out direction finding on a ground radiation source target near a subsatellite point, namely the observed pitch angle beta is usually near 90 degrees, if the frequency band of the ground radiation source is higher, namely the wavelength lambda value is smaller, the value of the 4 th column data of the H matrix at the moment is far larger than the value of the first 3 columns, so that the H matrix is close to singularity, the x matrix is close to singularityi＝(HTH)-1HTziSince the least-squares estimation parameter obtained by the equation becomes unstable, it is necessary to estimate the error correction value x of the error parameter by ridge regressioni：
xi＝(HTH+ηiI)-1HTzi，i＝1,2,…,N-1，
Wherein I is a 4 × 4 unit matrix, ηiAre ridge regression parameters.
Ridge regression parameters can be identified using a number of different methods, with the following methods being preferred in this application:
wherein, ω isi＝Λ-1HTzi，
Λ is a matrix HTA diagonal matrix of H eigenvalues, T being HTAnd (3) carrying out standard orthogonalization on the characteristic vector of the H to obtain a matrix, wherein p and q respectively represent the row number and the column number of the H matrix.
Fig. 3 is a schematic diagram illustrating a result of an error correction method based on a single-star interferometer direction-finding system according to an embodiment of the present application, and fig. 3A to 3C respectively show a direction-finding error in which only a random error exists, a direction-finding error in which a system error and a random error coexist, and a direction-finding error after correcting the system error.
In this embodiment, the on-satellite direction-finding antenna array is set as a cross array with an array element number N of 5, the base line length-wavelength ratio is d/λ of 2, the phase difference measurement system error is 20 °, the phase difference measurement random error is 15 °, the array element position system error is 20mm, the array element position random error is 0, the attitude angle system errors are 0.5 °, and the attitude angle random error is 0. Assume that there are 4 ground calibration stations with incident azimuth angles and pitch angles of (30 °,2 °), (120 °,10 °), (220 °,20 °), (330 °,25 °), respectively.
As can be seen from the results in the figure, the direction finding error of fig. 3B is significantly increased if the system error is not corrected, compared with the direction finding error of fig. 3A when only the random error exists; after the system error is corrected in fig. 3C, the direction finding error is very close to the direction finding error shown in fig. 3A when only the error exists at any time, so that the direction finding error of the direction finding system of the single-star interferometer can be effectively reduced by correcting the system error.
Fig. 4 shows an error correction apparatus based on a single-star interferometer direction finding system according to an embodiment of the present application, and as can be seen from fig. 4, the apparatus 400 includes:
an information obtaining unit 410, configured to obtain angle information between a ground radiation source and a satellite, and obtain position information of each antenna element in the single-satellite interferometer;
a model determining unit 420, configured to determine a satellite attitude angle error model according to the angle information, and determine an array element system error model according to the angle information and the position information;
a comprehensive error expression determining unit 430, configured to determine a comprehensive error expression by combining the satellite attitude angle error model and the array element system error model, where the comprehensive error expression includes a plurality of error parameters to be corrected;
an error analyzing unit 440, configured to analyze the comprehensive error expression according to correction information of multiple ground calibration stations with different incident angles, so as to obtain error correction values of the multiple error parameters to be corrected;
and the error correction unit 450 is configured to perform error correction on the initial direction finding result of the single-star interferometer according to the error correction value to obtain a final direction finding result.
In some embodiments of the present application, the angle information includes an azimuth measured value, an azimuth theoretical value, a pitch measured value, and a pitch theoretical value of the target radiation source;
the satellite attitude angle error model is as follows:
wherein alpha is the azimuth angle theoretical value of the ground radiation source, beta is the pitch angle theoretical value of the ground radiation source, and alphaeIs an actual measured value of the azimuth angle, beta, of a ground radiation sourceeThe method is characterized in that the method is a pitch angle theoretical value of a ground radiation source, gamma is a satellite yaw angle system error, theta is a satellite pitch angle system error, and epsilon is a satellite roll angle system error.
In some embodiments of the present application, it is assumed that the number of antenna elements in the direction-finding system is N, the nth element is the origin element, and the remaining N-1 element positions (x)i,yi,zi) The systematic error of array element position is (Deltax)i,Δyi,Δzi) The systematic error of the channel phase difference between the ith array element and the Nth array element is delta phii，i＝1,2,…,N-1；
Then the array element system error model is:
wherein the content of the first and second substances,
for the measured value of the phase difference between the ith antenna element and the original element, alphaeIs an actual measured value of the azimuth angle, beta, of a ground radiation sourceeIs the measured value of the azimuth angle of the ground radiation source, lambda is the wavelength of the radiation source, delta xi、Δyi、ΔziAnd systematic error parameters are the position of the ith antenna element.
In some embodiments of the present application, determining the composite error expression in conjunction with the satellite attitude angle error model and the array element system error model comprises:
solving the satellite attitude angle error model, and substituting the obtained solving result into the array element system error model to obtain a comprehensive error expression, wherein the comprehensive error expression is as follows:
wherein the content of the first and second substances,
is a phase difference measured value between the ith antenna array element and the original point array element, alpha is an azimuth angle theoretical value of the ground radiation source, beta is a pitch angle theoretical value of the ground radiation source, (a)i，bi，ci) For the estimated position of the ith antenna element, Δ φiAnd the channel phase difference system error parameter of the ith antenna array element.
In some embodiments of the present application, in the apparatus 400, analyzing the integrated error expression according to the correction information of the plurality of ground calibration stations with different incident angles, and obtaining the error correction values of the plurality of error parameters to be corrected includes:
according to xi＝(HTH+ηiI)-1HTziI-1, 2, …, N-1, determining xi，
Wherein xi＝(ai、bi、ci、Δφi)，(ai，bi，ci) For the estimated position of the ith antenna element, Δ φiThe channel phase difference system error between the ith array element and the Nth array element is obtained; i is a 4 × 4 unit matrix, ηiRidge regression parameters;
ridge regression parameter etaiThe calculation formula of (2) is as follows:
wherein, ω isi＝Λ-1HTzi，
Λ is a matrix HTA diagonal matrix of H eigenvalues, T being HTAnd (3) carrying out standard orthogonalization on the characteristic vector of the H to obtain a matrix, wherein p and q respectively represent the row number and the column number of the H matrix.
Fig. 5 shows a schematic structural diagram of a satellite 500 according to an embodiment of the present application, where the satellite 500 is provided with a single-star interferometer direction-finding system 510, and the single-star interferometer direction-finding system 510 includes the error correction apparatus 400 described above.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Referring to fig. 6, at a hardware level, the electronic device includes a direction-finding antenna array, a processor, and a memory, and optionally further includes a network interface. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory, such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.
The direction-finding antenna array, the processor, the network interface, and the memory may be connected to each other by an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 6, but that does not indicate only one bus or one type of bus.
And the memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both memory and non-volatile storage and provides instructions and data to the processor.
The processor reads the corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to form the user authentication server on the logic level. The processor is used for executing the program stored in the memory and is specifically used for executing the following operations:
acquiring angle information between a ground radiation source and a satellite and acquiring position information of each antenna array element in the direction-finding system;
determining a satellite attitude angle error model according to the angle information, and determining an array element system error model according to the angle information and the position information;
determining a comprehensive error expression by combining the satellite attitude angle error model and the array element system error model, wherein the comprehensive error expression comprises a plurality of error parameters to be corrected;
analyzing the comprehensive error expression according to correction information of a plurality of ground calibration stations with different incident angles to obtain error correction values of the plurality of error parameters to be corrected;
and correcting the error of the initial direction finding result of the single-star interferometer according to the error correction value to obtain a final direction finding result.
The error correction method based on the single-star interferometer direction finding system disclosed in the embodiment of fig. 1 of the present application can be applied to or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.
The electronic device may further execute the method executed in fig. 1, and implement the functions of the user authentication server in the embodiment shown in fig. 1, which is not described herein again in this embodiment of the present application.
An embodiment of the present application further provides a computer-readable storage medium storing one or more programs, where the one or more programs include instructions, which when executed by an electronic device including a plurality of application programs, enable the electronic device to perform the error correction method based on the single-star interferometer direction finding system in the embodiment shown in fig. 1, and are specifically configured to perform:
acquiring angle information between a ground radiation source and a satellite and acquiring position information of each antenna array element in the direction-finding system;
determining a satellite attitude angle error model according to the angle information, and determining an array element system error model according to the angle information and the position information;
determining a comprehensive error expression by combining the satellite attitude angle error model and the array element system error model, wherein the comprehensive error expression comprises a plurality of error parameters to be corrected;
analyzing the comprehensive error expression according to correction information of a plurality of ground calibration stations with different incident angles to obtain error correction values of the plurality of error parameters to be corrected;
and correcting the error of the initial direction finding result of the single-star interferometer according to the error correction value to obtain a final direction finding result.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, 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, modules of a program, 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. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. An error correction method based on a single-star interferometer direction finding system is characterized by comprising the following steps:
acquiring angle information between a ground radiation source and a satellite and acquiring position information of each antenna array element in the direction-finding system;
determining a satellite attitude angle error model according to the angle information, and determining an array element system error model according to the angle information and the position information;
determining a comprehensive error expression by combining the satellite attitude angle error model and the array element system error model, wherein the comprehensive error expression comprises a plurality of error parameters to be corrected;
analyzing the comprehensive error expression according to correction information of a plurality of ground calibration stations with different incident angles to obtain error correction values of the plurality of error parameters to be corrected;
and correcting the error of the initial direction finding result of the single-star interferometer according to the error correction value to obtain a final direction finding result.
2. The method of claim 1, wherein the angle information comprises an azimuth angle measured value, an azimuth angle theoretical value, a pitch angle measured value, and a pitch angle theoretical value of the target radiation source;
the satellite attitude angle error model is as follows:
wherein alpha is the azimuth angle theoretical value of the ground radiation source, beta is the pitch angle theoretical value of the ground radiation source, and alphaeIs an actual measured value of the azimuth angle, beta, of a ground radiation sourceeThe method is characterized in that the method is a pitch angle theoretical value of a ground radiation source, gamma is a satellite yaw angle system error, theta is a satellite pitch angle system error, and epsilon is a satellite roll angle system error.
3. The method of claim 2, wherein the number of antenna elements in the direction-finding system is assumed to be N, the nth element is an origin element, and the remaining N-1 element positions (x) are providedi,yi,zi) The systematic error of array element position is (Deltax)i,Δyi,Δzi) The systematic error of the channel phase difference between the ith array element and the Nth array element is delta phii，i＝1,2,…,N-1；
The array element system error model is:
wherein the content of the first and second substances,
for the measured value of the phase difference between the ith antenna element and the original element, alphaeIs an actual measured value of the azimuth angle, beta, of a ground radiation sourceeIs the measured value of the pitch angle of a ground radiation source, lambda is the wavelength of the radiation source, delta xi、Δyi、ΔziAnd systematic error parameters are the position of the ith antenna element.
4. The method of claim 3, wherein determining a composite error expression in conjunction with the satellite attitude angle error model and the array element system error model comprises:
solving the satellite attitude angle error model, and substituting the obtained solving result into the array element system error model to obtain a comprehensive error expression, wherein the comprehensive error expression is as follows:
wherein the content of the first and second substances,
is a phase difference measured value between the ith antenna array element and the original point array element, alpha is an azimuth angle theoretical value of the ground radiation source, beta is a pitch angle theoretical value of the ground radiation source, (a)i，bi，ci) For the estimated position of the ith antenna element, Δ φiAnd the channel phase difference system error parameter of the ith antenna array element.
5. The method according to claim 1, wherein the analyzing the comprehensive error expression according to the correction information of the plurality of ground calibration stations with different incident angles to obtain the error correction values of the plurality of error parameters to be corrected comprises:
according to xi＝(HTH+ηiI)-1HTziI-1, 2, …, N-1, determining xi，
Wherein xi＝(ai、bi、ci、Δφi)，(ai，bi，ci) For the estimated position of the ith antenna element, Δ φiThe channel phase difference system error between the ith array element and the Nth array element is obtained; i is a 4 × 4 unit matrix, ηiRidge regression parameters;
the ridge regression parameter ηiThe calculation formula of (2) is as follows:
wherein, ω isi＝Λ-1HTzi，
Λ is a matrix HTA diagonal matrix of H eigenvalues, T being HTAnd (3) carrying out standard orthogonalization on the characteristic vector of the H to obtain a matrix, wherein p and q respectively represent the row number and the column number of the H matrix.
6. An error correction device based on a single-star interferometer direction finding system, characterized by comprising:
the information acquisition unit is used for acquiring angle information between a ground radiation source and a satellite and acquiring position information of each antenna array element in the single-satellite interferometer;
the model determining unit is used for determining a satellite attitude angle error model according to the angle information and determining an array element system error model according to the angle information and the position information;
a comprehensive error expression determining unit, configured to determine a comprehensive error expression by combining the satellite attitude angle error model and the array element system error model, where the comprehensive error expression includes a plurality of error parameters to be corrected;
the error analysis unit is used for analyzing the comprehensive error expression according to the correction information of a plurality of ground calibration stations with different incident angles to obtain error correction values of the plurality of error parameters to be corrected;
and the error correction unit is used for carrying out error correction on the initial direction finding result of the single-star interferometer according to the error correction value to obtain a final direction finding result.
7. The apparatus of claim 6,
the satellite attitude angle error model is as follows:
the array element system error model is as follows:
the comprehensive error expression is as follows:
wherein alpha is the azimuth angle theoretical value of the ground radiation source, beta is the pitch angle theoretical value of the ground radiation source, and alphaeIs an actual measured value of the azimuth angle, beta, of a ground radiation sourceeThe method comprises the following steps that (1) a pitch angle theoretical value of a ground radiation source is obtained, gamma is a satellite yaw angle system error, theta is a satellite pitch angle system error, and epsilon is a satellite roll angle system error; (x)i,yi,zi) Is the coordinate of the ith antenna element,
is the measured value of the phase difference between the ith antenna array element and the original point array element, λ is the wavelength of the radiation source, Δ xi、Δyi、ΔziSystematic error parameters of the ith antenna array element position; (a)i，bi，ci) For the estimated position of the ith antenna element, Δ φiAnd the channel phase difference system error between the ith array element and the Nth array element.
8. The apparatus according to claim 6, wherein the error analysis unit is specifically configured to:
according to xi＝(HTH+ηiI)-1HTziI-1, 2, …, N-1, determining xi，
Wherein xi＝(ai、bi、ci、Δφi)，(ai，bi，ci) For the estimated position of the ith antenna element, Δ φiThe channel phase difference system error between the ith array element and the Nth array element is obtained; i is a 4 × 4 unit matrix, ηiRidge regression parameters;
the ridge regression parameter ηiThe calculation formula of (2) is as follows:
wherein, ω isi＝Λ-1HTzi，
Λ is a matrix HTA diagonal matrix of H eigenvalues, T being HTAnd (3) carrying out standard orthogonalization on the characteristic vector of the H to obtain a matrix, wherein p and q respectively represent the row number and the column number of the H matrix.
9. A satellite provided with a single-star interferometer direction-finding system, characterized in that it comprises an error correction device according to claim 6.
10. An electronic device, wherein the electronic device comprises: a direction-finding antenna array; a processor; and a memory arranged to store computer-executable instructions that, when executed, cause the processor to perform the method of any one of claims 1-5.
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