CN113224530B - Automatic alignment control method of automatic antenna feeder system - Google Patents

Automatic alignment control method of automatic antenna feeder system Download PDF

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CN113224530B
CN113224530B CN202110361149.2A CN202110361149A CN113224530B CN 113224530 B CN113224530 B CN 113224530B CN 202110361149 A CN202110361149 A CN 202110361149A CN 113224530 B CN113224530 B CN 113224530B
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vehicle
antenna
angle
lng
lat
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CN113224530A (en
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王龙娜
张森枝
桂晓明
赵亭军
李新龙
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Beijing Aerospace Science & Industry Century Satellite Hi Tech Co ltd
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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture
    • H01Q3/30—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array
    • H01Q3/34—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array by electrical means

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Abstract

The invention discloses an automatic alignment method of an automatic antenna feeder system, which relates to the technical field of communication and motion control, and comprises the steps of firstly calculating an antenna angle for initial alignment, and then searching for fine alignment, namely searching for a position of a field intensity signal meeting a condition in a two-dimensional space, so that the automatic and rapid alignment of a vehicle-mounted antenna at two places by one key is realized. The alignment control method comprises the following steps: step one: according to the geographic position information of the vehicle and the remote vehicle and the position of an antenna servo mechanism of an automatic antenna feed system relative to a coordinate system of the vehicle, calculating the azimuth and pitching angle of the antenna, enabling the antenna to point to the direction of the remote vehicle, and realizing initial alignment of the antenna; step two: and taking the azimuth and pitch angle of the antenna after the initial alignment is completed as initial angles, searching the track of the azimuth and pitch two-dimensional space to find the angle with the strongest field intensity signal, and controlling the antenna to point according to the searched angle result.

Description

Automatic alignment control method of automatic antenna feeder system
Technical Field
The invention relates to the technical field of communication and motion control, in particular to an automatic alignment control method of an automatic antenna feeder system.
Background
With the development of scientific technology, battlefield survival of electronic devices requires high maneuver technology, wherein an antenna feed system is an important attack object of enemy, so high maneuver removal must be realized. The automatic antenna feeder system aims to solve the problems of poor maneuverability, high risk, long operation time and the like of overhead operation caused by manually erecting multiple antennas on the electric lifting rod.
With the wide application of automatic antenna feeder systems, more new requirements are put forward on the automatic antenna feeder systems. On the basis of high motor frame withdrawal, how to quickly realize directional communication between two vehicles has a crucial effect on battlefield occasions, namely, the alignment of vehicle-mounted antennas at two places is quickly realized.
The alignment method of the current automatic antenna feed system is to analyze the geographical positions of two vehicles by operators at two places, communicate and communicate with each other and continuously and manually adjust the vehicle-mounted antenna servo mechanisms at two places to realize transverse connection. When the two vehicles are replaced, the two vehicles need to be readjusted. The problems of high technical requirements on operators, long adjustment time, poor maneuverability and the like exist.
Disclosure of Invention
In view of the above, the present invention provides an automatic alignment control method for an automatic antenna feeder system, which can perform automatic alignment control for the automatic antenna feeder system, so as to realize automatic and rapid alignment of vehicle-mounted antennas at two places by one key.
An automatic alignment control method of an automatic antenna feeder system for controlling alignment of a host vehicle with a remote vehicle, the alignment control method comprising the steps of:
step one: according to the geographic position information of the vehicle and the remote vehicle and the position of an antenna servo mechanism of an automatic antenna feed system relative to a coordinate system of the vehicle, calculating the azimuth and pitching angle of the antenna, enabling the antenna to point to the direction of the remote vehicle, and realizing initial alignment of the antenna;
step two: and taking the azimuth and pitch angle of the antenna after the initial alignment is completed as initial angles, searching the track of the azimuth and pitch two-dimensional space to find the angle with the strongest field intensity signal, and controlling the antenna to point according to the searched angle result.
Further, in the first step, the vehicle is taken as a vehicle A; the far-end vehicle is a B vehicle; the anticlockwise movement of the antenna is in the positive direction; automatic antenna feed; the antenna 0 deg. is 180 deg. relative to the position of the head of the vehicle a.
Further, the first step is specifically implemented by the following steps:
s1, acquiring position information of an A vehicle according to Beidou and compass, wherein the position information comprises a vehicle body heading value of the A vehicle
Figure BDA0003005590060000023
Longitude Lat of A vehicle a A vehicle latitude Lng a A vehicle elevation H a 。
Acquiring position information of the B vehicle, including the longitude Lat of the B vehicle b B vehicle latitude Lng b B vehicle elevation H b 。
S2, irrespective of the influence of the curved surface of the earth, the position of the vehicle A,The position of the B vehicle, the weft yarn of the A station and the warp yarn of the B station form a right triangle, and two right-angle sides of the right triangle are respectively Lat ab 、Lng ab 。
The longitude and latitude of the vehicle A and the vehicle B and the radius of the earth are calculated to obtain two right-angle sides Lat ab 、Lng ab Calculating the angles of the triangle to obtain the vector of the vehicle A pointing to the vehicle B
Figure BDA0003005590060000021
Heading angle relative to the north direction is recorded as
Figure BDA0003005590060000022
S3, calculating a theoretical angle alpha of the antenna azimuth under the vehicle body coordinate system.
S4, calculating azimuth angle X of antenna under antenna coordinate system 0 ：X 0 ＝180-α。
Step 3, calculating the distance L between the vehicle A and the vehicle B according to the longitude and latitude information of the vehicle A and the vehicle B ab The method comprises the steps of carrying out a first treatment on the surface of the Calculating the elevation difference H of the two stations through the elevations of the vehicle A and the vehicle B ab The method comprises the steps of carrying out a first treatment on the surface of the Obtaining the pitching angle Y of the antenna to be driven when the A car is aligned with the B car 0 ：
Figure BDA0003005590060000031
S5, utilizing azimuth angle X of antenna under antenna coordinate system 0 Pitching angle Y of antenna to be driven when aligning with vehicle A and vehicle B 0 The antenna is driven.
Further, a vector of the A car pointing to the B car is obtained
Figure BDA0003005590060000032
Heading angle relative to the north direction, denoted +.>
Figure BDA0003005590060000033
The corresponding calculation mode is as follows:
Lat b -Lat a positive Lng b -Lng a When the number of the organic light emitting diode is 0,
Figure BDA0003005590060000034
at 0 degree
Lat b -Lat a Negative Lng b -Lng a When the number of the organic light emitting diode is 0,
Figure BDA0003005590060000035
at 180 DEG
Lat b -Lat a Is 0, lng b -Lng a In order to be positive in this respect,
Figure BDA0003005590060000036
at 90 DEG
Lat b -Lat a Is 0, lng b -Lng a When the value of the voltage is negative, the voltage is higher,
Figure BDA0003005590060000037
270 degree
Lat b -Lat a Positive Lng b -Lng a In order to be positive in this respect,
Figure BDA0003005590060000038
is->
Figure BDA0003005590060000039
Lat b -Lat a Negative Lng b -Lng a In order to be positive in this respect,
Figure BDA00030055900600000310
is->
Figure BDA00030055900600000311
Lat b -Lat a Negative Lng b -Lng a When the value of the voltage is negative, the voltage is higher,
Figure BDA00030055900600000312
is->
Figure BDA00030055900600000313
Lat b -Lat a Positive Lng b -Lng a When the value of the voltage is negative, the voltage is higher,
Figure BDA00030055900600000314
is->
Figure BDA00030055900600000315
Further, calculating a theoretical angle alpha of the antenna azimuth under the vehicle body coordinate system, wherein the specific method comprises the following steps:
Figure BDA00030055900600000316
in order of right->
Figure BDA00030055900600000317
Figure BDA00030055900600000318
When it is negative, it is added>
Figure BDA00030055900600000319
Further, the distance L between the vehicle A and the vehicle B is calculated according to the longitude and latitude information of the vehicle A and the vehicle B ab The method specifically comprises the following steps:
Figure BDA00030055900600000320
further, the azimuth and pitch angle of the antenna after the initial alignment is used as initial angles, track searching in azimuth and pitch two-dimensional space is performed to find the angle with the strongest field intensity signal, and the antenna pointing is controlled according to the found angle result, specifically:
the method adopts the 'day' word search, and comprises the following specific processes: the initial azimuth angle and the initial pitch angle of the position O (x, y) of the antenna after the initial alignment is completed are initial angles; scanning N diagram, angle range of azimuth scanning + -X Δ A degree; pitching broomThe angle range of the drawing is + -Y Δ A degree; the field strength signal satisfies that the preset field strength threshold B is larger than the preset field strength threshold B in the searching process threod When the fine alignment is finished; otherwise, the antenna is operated to the position with the maximum field intensity in the 'day' word search.
Further, the azimuth and pitch angle of the antenna after the initial alignment is used as initial angles, track searching in azimuth and pitch two-dimensional space is performed to find the angle with the strongest field intensity signal, and the antenna pointing is controlled according to the found angle result, specifically:
the cross search is adopted, and the specific process is as follows: the position O (x, y) of the antenna after the rough alignment is completed is an initial angle; first, azimuth + -X is carried out Δ Searching the degree, recording a position A with the maximum field intensity and a field intensity value in the process, and then running to the position A; then pitch + -Y is performed at this position A Δ Searching the degree, wherein the field intensity signal satisfies the condition that the field intensity signal is larger than a preset field intensity threshold B in the searching process threod When the fine alignment is finished; otherwise, the antenna is operated to a position with the maximum field intensity in the cross search; and finishing the fine alignment.
The beneficial effects are that:
according to the automatic alignment method of the automatic antenna feeder system, firstly, the antenna angle of initial alignment is calculated, then the precise alignment is searched, namely, the position of the field intensity signal meeting the condition in the two-dimensional space is searched, and therefore the automatic and rapid alignment of the vehicle-mounted antenna at two places by one key is realized. The effect and time between manual alignment by the operator and automatic alignment of the present invention are compared. The automatic alignment provided by the invention has obvious advantages in time and alignment effect.
Drawings
FIG. 1 is a flow chart of an automatic alignment control method of an automatic antenna feeder system provided by the invention;
FIG. 2 initial alignment flow chart
FIG. 3 is a schematic diagram of theoretical calculation of azimuth angle of an antenna of the initial alignment host vehicle
FIG. 4A is a schematic view of the angle of the station pointing to the station B
Fig. 5 theoretical calculation of initial alignment of the antenna pitch angle of the vehicle
FIG. 6 fine alignment flow chart
FIG. 7 is a diagram showing a "daily" word search, and FIG. 7 (a) is a diagram showing a daily word search under the first assumption; fig. 7 (b) is a japanese search diagram under the second assumption;
FIG. 8 is a schematic diagram of a cross search, and FIG. 8 (a) is a cross search diagram in the case of A; fig. 8 (B) is a cross search diagram in the case of B; fig. 8 (C) is a cross search diagram in the case of C.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
The invention provides an automatic alignment control method of an automatic antenna feeder system, which mainly comprises the following two steps: initial alignment and fine alignment. The operational flow diagram is shown in fig. 1 below.
Step one: initial alignment: according to the geographic position information of the two vehicles and the theory of the antenna servo mechanism of the automatic antenna feed system relative to the coordinate system of the vehicle, the azimuth and the pitching angle of the antenna are calculated, so that the antenna points to the direction of the far-end vehicle. The initial alignment flow chart is shown in fig. 2 as follows:
the following is an example.
Assume that:
1: the vehicle is A vehicle; the far-end vehicle is a B vehicle;
2: the anticlockwise movement of the antenna is in the positive direction;
3: the motion range of the antenna in the automatic antenna feeder system is [ -180,180], so that the remote vehicle can realize the alignment of the two vehicles within the range of 360 degrees;
4: the antenna 0 ° is 180 ° relative to the position of the head a vehicle.
The specific implementation of the first step is carried out according to the following steps:
s1, acquiring position information of a vehicle (shown as A in FIG. 3) according to Beidou and compass: body heading value (lower graph:
Figure BDA0003005590060000061
the heading of the car body is the angle of the car head direction relative to the north direction, and the longitude of the car body (Lat) a ) Local latitude (Lng) a ) Elevation of the station (H) a ) The method comprises the steps of carrying out a first treatment on the surface of the And location information of the remote car (shown as B in fig. 3): without requiring heading values, the remote longitude (Lat b ) Latitude at far end (Lng) b ) Distal elevation (H) b )。
And 2, theoretical calculation angles of the antenna azimuth are shown in a theoretical calculation schematic diagram of the initial alignment of the antenna azimuth of the vehicle in fig. 3.
Calculating the angle of the A car pointing to the B car
S2, regardless of the influence of the curved surface of the earth, the AB car position and the A car weft (Lat ab ) Warp yarn with B vehicle (Lng) ab ) Forming a right triangle, calculating the side lengths of two right-angle sides by the longitude and latitude of the vehicle A and the vehicle B and the radius of the earth, thereby calculating each angle of the triangle, obtaining the course angle of the vector AB relative to the north direction, and recording as
Figure BDA0003005590060000066
As shown in FIG. 4, an angle diagram of the A-vehicle pointing to the B-vehicle
Figure BDA0003005590060000062
Figure BDA0003005590060000063
Wherein: r is R earth : an earth radius;
the truth table for the angle of the A car pointing to the B car is as follows:
TABLE 1
Figure BDA0003005590060000064
Truth table of (a)
Figure BDA0003005590060000065
Figure BDA0003005590060000071
S3, calculating a theoretical angle alpha under a vehicle body coordinate system:
according to step 1 and car body heading
Figure BDA0003005590060000072
The truth table of the angle between the theoretical angle alpha headstock direction of the antenna azimuth under the car body coordinate system and the vector AB is shown in the table 2:
truth table of table 2 a
Figure BDA0003005590060000073
S4, calculating a theoretical angle X of the antenna azimuth under the antenna coordinate system 0 The calculation method comprises the following steps:
X 0 =180- α; azimuth angle required to drive antenna to move
Step 3, theoretical calculation angle of antenna pitching:
1: calculating the distance L between the two stations according to the longitude and latitude information of the vehicle bodies of the A, B two stations ab ；
Figure BDA0003005590060000074
2: calculating the elevation difference of the two stations through the elevations of the two stations
H ab ＝H b -H a ；
3: as shown in fig. 5, obtaining a tilt angle that requires the antenna to be driven for movement when the a car is aligned with the B car.
Figure BDA0003005590060000081
Fig. 5 is a theoretical calculation schematic diagram of the initial alignment of the antenna pitch angle of the vehicle.
Step two: fine alignment: taking the azimuth and pitch angle of the antenna after the initial alignment is completed as an initial angle; track searching in azimuth and pitching two-dimensional space is carried out to find the angle with the strongest field intensity signal. The fine alignment procedure is shown in fig. 6 below.
The precondition is that: the initial alignment is completed. Fig. 6 is a fine alignment flow chart.
The following two track searching methods are respectively introduced as follows, and two searching modes are selected according to the field conditions:
2.1 "day" word search
Searching the Chinese character 'ri'; the initial azimuth angle and the initial pitch angle of the position O (x, y) of the antenna after the initial alignment is completed are initial angles; scanning N circles, and azimuth scanning angle range + -X Δ A degree; angle range of pitching scanning is + -Y Δ A degree; the field strength signal satisfies that it is greater than B during searching threod When the fine alignment is finished; otherwise, the antenna is operated to the position with the maximum field intensity in the 'day' word search. The following illustrates a "day" word search method.
Assume that the positions of the antennas after the initial alignment is completed are: o (x, y); the number of scanning turns n=3; azimuth search azimuth X Δ =30; pitch search bearing Y Δ =6; namely: the scanning track of the "day" word two-dimensional space search is divided into two cases: ( In the following figure, the first circle: red; second circle: blue; third turn: purple color )
First kind: assuming that the field strength value is greater than B when running to point a1 of the second circle threod Finishing the fine alignment, and exiting the fine alignment; as shown in fig. 7 (a).
Second kind: after three circles are scanned, the antenna is moved to the point with the maximum field intensity value in 3 circles; assuming that the field intensity is maximum at the point b1 of the third circle, moving to the point b 1; as shown in fig. 7 (b).
2.2 "Cross" search;
searching the cross shape; the position O (x, y) of the antenna after the rough alignment is completed is an initial angle; the method comprises the steps of carrying out a first treatment on the surface of the First, azimuth + -X is carried out Δ Searching the degree, recording the position with the maximum field intensity and the field intensity value in the process, and then running to the position; then pitch + -Y is performed at this position Δ Searching for the degree, wherein the field strength signal satisfies a value greater than B in the searching process threod When the fine alignment is finished; otherwise, running the antenna in the cross searchThe position of the maximum field intensity; and finishing the fine alignment. Hereinafter X is shown as Δ ＝30，Y Δ The cross search method is illustrated by the example of=6.
Three situations are known:
a: in the azimuth searching process, when the position is operated to the point a2, the field intensity signal is more than B threod The fine alignment is completed and the cross search is exited. As shown in fig. 8 (a).
B: in the azimuth searching process, the field intensity signal is not more than B threod If the condition is met, running to the maximum field intensity signal position mx in the azimuth searching process, and then performing pitching searching; in the pitching searching process, when the pitching searching process is operated to the point B2, the field strength signal is more than B threod The fine alignment is completed and the cross search is exited. As shown in fig. 8 (b).
C: in the azimuth and pitching search process of the cross, no field intensity signal is more than B threod And when the method is operated to the point with the maximum field intensity in the cross search process, and the point c2 is precisely aligned. As shown in fig. 8 (c).
Note that: the field intensity signals used therein are processed as follows:
1: processing field intensity signals: the sliding window value is determined according to the actual test.
2: delay compensation of field intensity signals: and compensating according to the calculation time of the field intensity signal and the delay caused by communication.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (1)

1. An automatic alignment control method of an automatic antenna feeder system, which is used for controlling the alignment of a host vehicle and a remote vehicle, comprising the following steps:
step one: according to the geographic position information of the vehicle and the remote vehicle and the position of an antenna servo mechanism of an automatic antenna feed system relative to a coordinate system of the vehicle, calculating the azimuth and pitching angle of the antenna, enabling the antenna to point to the direction of the remote vehicle, and realizing initial alignment of the antenna; the vehicle is A vehicle; the far-end vehicle is a B vehicle; the anticlockwise movement of the antenna is in the positive direction; the motion range of the antenna in the automatic antenna feeder system is [ -180,180], so that the remote vehicle can realize the alignment of the two vehicles within the range of 360 degrees; the position of the antenna 0 degrees relative to the vehicle head A is 180 degrees;
the first step is realized by the following steps:
s1, acquiring position information of an A vehicle according to Beidou and compass, wherein the position information comprises a vehicle body heading value of the A vehicle
Figure FDA0004055474860000014
Longitude Lat of A vehicle a A vehicle latitude Lng a A vehicle elevation H a ；
Acquiring position information of the B vehicle, including the longitude Lat of the B vehicle b B vehicle latitude Lng b B vehicle elevation H b ；
S2, irrespective of the influence of the curved surface of the earth, the vehicle A position, the vehicle B position, the station A weft and the station B warp form a right triangle, and two right-angle sides of the right triangle are respectively Lat ab 、Lng ab ；
Figure FDA0004055474860000011
Figure FDA0004055474860000012
Wherein: r is R earth The earth radius;
the longitude and latitude of the vehicle A and the vehicle B and the radius of the earth are calculated to obtain two right-angle sides Lat ab 、Lng ab Calculating the angles of the triangle to obtain the vector of the vehicle A pointing to the vehicle B
Figure FDA0004055474860000013
Heading angle relative to the north direction, denoted +.>
Figure FDA0004055474860000015
The corresponding calculation mode is as follows:
Lat b -Lat a positive Lng b -Lng a When the number of the organic light emitting diode is 0,
Figure FDA0004055474860000016
at 0 degree
Lat b -Lat a Negative Lng b -Lng a When the number of the organic light emitting diode is 0,
Figure FDA0004055474860000017
at 180 DEG
Lat b -Lat a Is 0, lng b -Lng a In order to be positive in this respect,
Figure FDA00040554748600000211
at 90 DEG
Lat b -Lat a Is 0, lng b -Lng a When the value of the voltage is negative, the voltage is higher,
Figure FDA00040554748600000212
270 degree
Lat b -Lat a Positive Lng b -Lng a In order to be positive in this respect,
Figure FDA00040554748600000213
is->
Figure FDA0004055474860000021
Lat b -Lat a Negative Lng b -Lng a In order to be positive in this respect,
Figure FDA00040554748600000214
is->
Figure FDA0004055474860000022
Lat b -Lat a Negative Lng b -Lng a When the value of the voltage is negative, the voltage is higher,
Figure FDA00040554748600000215
is->
Figure FDA0004055474860000023
Lat b -Lat a Positive Lng b -Lng a When the value of the voltage is negative, the voltage is higher,
Figure FDA00040554748600000216
is->
Figure FDA0004055474860000024
S3, calculating a theoretical angle alpha of the antenna azimuth under the vehicle body coordinate system; the specific method comprises the following steps:
Figure FDA0004055474860000025
in order of right->
Figure FDA0004055474860000026
Figure FDA0004055474860000027
When it is negative, it is added>
Figure FDA0004055474860000028
S4, calculating azimuth angle X of antenna under antenna coordinate system 0 ：X 0 ＝180-α；
Step 3, calculating the distance L between the vehicle A and the vehicle B according to the longitude and latitude information of the vehicle A and the vehicle B ab The method comprises the steps of carrying out a first treatment on the surface of the Two stations are calculated through the elevations of the vehicle A and the vehicle BElevation difference H of (2) ab The method comprises the steps of carrying out a first treatment on the surface of the Obtaining the pitching angle Y of the antenna to be driven when the A car is aligned with the B car 0 ：
Figure FDA0004055474860000029
The distance L between the vehicle A and the vehicle B is calculated through the longitude and latitude information of the vehicle A and the vehicle B ab The method specifically comprises the following steps:
Figure FDA00040554748600000210
s5, utilizing azimuth angle X of antenna under antenna coordinate system 0 Pitching angle Y of antenna to be driven when aligning with vehicle A and vehicle B 0 Driving the antenna;
step two: taking the azimuth and pitch angle of the antenna after the initial alignment is completed as initial angles, searching tracks in azimuth and pitch two-dimensional space to find the angle with the strongest field intensity signal, and controlling the antenna to point according to the searched angle result; specifically, a "daily" word search is adopted, or a "cross" word search is adopted;
the method adopts the 'day' word search, and comprises the following specific processes:
the initial azimuth angle and the initial pitch angle of the position O (x, y) of the antenna after the initial alignment is completed are initial angles; scanning N circles, and azimuth scanning angle range + -X Δ A degree; angle range of pitching scanning is + -Y Δ A degree; the field strength signal satisfies that the preset field strength threshold B is larger than the preset field strength threshold B in the searching process threod When the fine alignment is finished; otherwise, the antenna is operated to the position with the maximum field intensity in the 'day' word search;
the cross search is adopted, and the specific process is as follows:
the position O (x, y) of the antenna after the rough alignment is completed is an initial angle; first, azimuth + -X is carried out Δ Searching the degree, recording a position A with the maximum field intensity and a field intensity value in the process, and then running to the position A; then pitch + -Y is performed at this position A Δ Searching the degree, wherein the field intensity signal satisfies the condition that the field intensity signal is larger than a preset field intensity threshold B in the searching process threod When the fine alignment is completedThe method comprises the steps of carrying out a first treatment on the surface of the Otherwise, the antenna is operated to a position with the maximum field intensity in the cross search; finishing the fine alignment;
the field intensity signals used therein are processed as follows:
1: the field intensity signal is processed, namely, the sliding average is carried out, and the sliding window value is required to be determined according to the actual test;
2: delay compensation of field intensity signals: and compensating according to the calculation time of the field intensity signal and the delay caused by communication.
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