CN113624197A - Measurement and control antenna large disc non-levelness measurement method based on unmanned aerial vehicle platform - Google Patents

Measurement and control antenna large disc non-levelness measurement method based on unmanned aerial vehicle platform Download PDF

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CN113624197A
CN113624197A CN202111071472.2A CN202111071472A CN113624197A CN 113624197 A CN113624197 A CN 113624197A CN 202111071472 A CN202111071472 A CN 202111071472A CN 113624197 A CN113624197 A CN 113624197A
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antenna
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CN113624197B (en
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刘军
杨光
胡红军
门涛
张垚
王轶
王星
张宏
王晓伟
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China Xian Satellite Control Center
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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Abstract

The invention discloses a measurement and control antenna large disc non-levelness measuring method based on an unmanned aerial vehicle platform. The measuring method has the advantages of simple measuring equipment, simple and feasible measuring method and high measuring speed.

Description

Measurement and control antenna large disc non-levelness measurement method based on unmanned aerial vehicle platform
Technical Field
The invention belongs to the technical field of aerospace measurement and control, and relates to a measurement and control antenna large disc non-levelness measurement method based on an unmanned aerial vehicle platform.
Background
The out-of-level horizontal degree of the antenna large disc of the ground measurement and control equipment has direct influence on the accurate orientation of the antenna large disc serving as a detection target. If the antenna large disc reaches the ideal horizontal degree, the normal direction of the antenna large disc is completely coincided with the plumb line direction of the ground horizontal plane, but actually, an included angle is formed between the antenna large disc and the plumb line direction. The angle is generally used to reflect the level of the antenna large plate and is called the non-levelness of the large plate. Definition of large disc out of level: the direction of the azimuth axis is the included angle with the vertical direction of the horizontal ground. The degree to which the azimuth axis is perpendicular to the horizontal plane is expressed by the angle (acute angle) between the azimuth axis and the normal to the local horizontal plane. The requirement of the relevant technical specification on the levelness value of the antenna pedestal is very strict and cannot be more than 60 ″, which indicates that the pointing error value of the antenna of the ground measurement and control equipment is extremely sensitive to the unbevelness value of the large dish.
Generally, the elevation reading of the antenna of the ground measurement and control equipment is below 45 degrees, and the direction positioning error caused by the non-horizontality of the large disc is not larger than the numerical value of the non-horizontality of the large disc; when the elevation reading is greater than 45 °, the directional positioning error caused by the large disk being out of level will increase rapidly. Especially in the space area close to the zenith, the direction positioning error caused by the non-horizontality of the large disc can reach more than one hundred times of the non-horizontality degree value of the large disc.
The traditional method for measuring the out-of-level degree of the large plate comprises the following steps: placing an image combination level meter on a large-disc platform of an antenna pedestal, fixing the elevation angle of an antenna, rotating the azimuth angle of the antenna, and recording data of an azimuth shaft angle encoder and the image combination level meter every 15 degrees until the antenna rotates for a circle; and (3) sorting the data, finding out the horizontal maximum inclination azimuth and the maximum inclination of the large plate, and fitting the measured data by using a least square method to obtain the maximum inclination azimuth and the maximum inclination in order to improve the calibration precision.
The existing large-tray non-levelness measuring method is complex and requires too long time for completing one-time measurement.
Disclosure of Invention
The invention aims to provide a measurement and control antenna large disc non-levelness measurement method based on an unmanned aerial vehicle platform, and solves the problem that the measurement method in the prior art is complex.
The invention relates to a technical scheme adopted by a measurement and control antenna large disc non-levelness measuring method based on an unmanned aerial vehicle platform.
The method specifically comprises the following steps:
step 1, firstly, taking a mechanical rotation center of an antenna of ground measurement and control equipment as an original point, calculating the positions of the unmanned aerial vehicle for horizontal back-and-forth and vertical increasing and decreasing flight according to the distance limits of an azimuth angle to be measured, a pitch angle and the near field and elevation height of the antenna, and arranging the azimuth direction at intervals of X degrees
Figure BDA0003259100190000021
Azimuth angle to be measured
Figure BDA0003259100190000022
The pitch directions are arranged from 5 degrees to 45 degrees at intervals of Y degrees
Figure BDA0003259100190000023
Individual pitch angle to be measured
Figure BDA0003259100190000024
Step 2, flying to 0 degree in the direction of the antenna, 5 degrees in the pitching direction and R degrees in the distance direction by using the beacon and the RTK module of the unmanned aerial vehicle mounted measurement and control equipment0The position is subjected to horizontal reciprocating and vertical incremental descending flight, the flight distance in the horizontal and vertical directions is Mm, the envelope size of signals of ground measurement and control equipment is recorded and received by a transponder and a radar load, and meanwhile, the GNSS-RTK sends data to a display control and data processing subsystem of a ground vehicle;
step 3, setting the pitching direction to be 5 degrees, continuously stepping from 0 degree by taking the antenna azimuth direction of the ground measurement and control equipment as the stepping distance, and repeating the measurement process of the step 2 until the antenna azimuth direction is stepped to (360-X) degrees;
step 4, the pitching direction of the antenna of the ground measurement and control equipment takes Y degrees as a step length, stepping is continuously carried out from 5 degrees, and the measurement processes of the step 2 and the step 3 are repeated every step until the pitching direction of the antenna is 45 degrees;
step 5, calculating the distance from each position of the unmanned aerial vehicle to the antenna rotation center according to the GNSS-RTK data, and calculating the distance R0The 3 sigma confidence interval eliminates the envelope value of the signal with larger distance error, selects a proper signal envelope threshold value according to 3 times of RTK precision, and eliminates the data smaller than the threshold value from the rest data;
step 6, calculating and obtaining an included angle theta between the actual large dish circular plane and the ground horizontal plane when the antenna is pitched to 5-45 degrees through data processingθ5、θθ5+Y…θθ45，；
Step 7, averaging the included angle between the actual large disc circle plane and the ground horizontal plane calculated in the step 6
Figure BDA0003259100190000031
Namely the angle value of the out-of-level degree of the large scale.
In the step 1, the value range of X degrees is between 0 degree and 360 degrees, and the preferable value is a value which can equally divide 360 degrees from 10 degrees to 36 degrees; in the step 1, the value range of Y ° is 0 ° to 40 °, and the preferable value range is 3 ° to 10 °.
In step 6, the data processing comprises the following specific steps:
position data for all azimuth data are listed for a pitch of 5 °:
Figure BDA0003259100190000032
the formula of the actual large disc circular plane with the rotation center of the antenna as the origin is as follows:
Figure BDA0003259100190000033
in the formula, x0、y0、z0As coordinates of the center of rotation of the antenna, R0Distance of the antenna rotation center from the unmanned aerial vehicle, Aθ5、Bθ5、Cθ5、Dθ5The coefficient of the circular plane is the pitch angle of 5 degrees;
the expression of the ground level plane in a coordinate system with the antenna rotation center as the origin is:
AT(x-x0)+BT(y-y0)+CT(z-z0)＝0，
the included angle between the ground horizontal plane and the actual disc circular plane in the pitching direction of 5 degrees is as follows:
θθ5＝arccos(Aθ5AT+Bθ5BT+Cθ5CT+Dθ5DT)，
in the formula DT＝-ATx0-BTy0-CTz0，AT、BT、CT、DTIs the coefficient of the ground level,
the positioning of the planes is: to a fixed point (x)0,y0,z0) Is perpendicular to the set of all points of the vector (A, B, C), the expression is A (x-x)0)+B(y-y0)+C(z-z0) Where 0, (a, B, C) represents the normal vector of the plane, i.e. the perpendicular direction of the plane, the expression can be transformed into Ax + By + Cz-Ax0-By0-Cz0＝0，A,B,C,D＝-Ax0-By0-Cz0The earth horizontal plane coefficient at any position on the earth is a measurable fixed value.
Namely equivalently obtaining an included angle between the direction of the azimuth axis and the vertical direction of the horizontal ground when the elevation direction is 5 degrees;
in step 7, the specific formula of data processing is as follows: thetaθ5+jY＝arccos(Aθ5+jYAT+Bθ5+jYBT+Cθ5+jYCT+Dθ5+ jYDT)。
The invention has the beneficial effects that: compared with the existing measurement and control antenna large disc non-levelness measurement method, the measurement and control antenna large disc non-levelness measurement method based on the unmanned aerial vehicle platform has the advantages of simple measurement instrument, simplicity, convenience and feasibility in measurement method and high measurement speed.
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Fig. 1 is a measurement schematic diagram of a measurement and control antenna large disk non-levelness measurement method based on an unmanned aerial vehicle platform.
Detailed Description
The present invention will be described in detail with reference to specific examples.
The first embodiment is as follows:
with R0The method for measuring the out-of-level degree of the large disk of the measurement and control antenna based on the unmanned aerial vehicle platform is implemented according to the following steps of, 3km, 22.5-degree intervals in the azimuth direction, 0-360 degrees, 5-degree intervals in the pitching direction and 5-degree intervals to 45 degrees:
step 1, firstly, taking a mechanical rotation center of an antenna of ground measurement and control equipment as an original point, calculating the positions of the unmanned aerial vehicle for horizontal back-and-forth and vertical increasing and decreasing flight according to the distance limits of an azimuth angle to be measured, a pitch angle and the near field of the antenna and the elevation height, and setting 16 azimuth angles A to be measured in the azimuth direction at intervals of 22.5 degreesWiI is 1,2 … 16, and 9 pitching angles E to be measured are set from 5 degrees to 45 degrees at intervals of 5 degrees in the pitching directionWj，j＝1,2…9。
And 2, rotating the antenna of the ground measurement and control equipment to the azimuth direction of 0 degree and the elevation direction of 5 degrees, and starting the operation. The unmanned aerial vehicle platform is provided with an RTK module, and the mounting measurement and control transponder flies to 0 degree in azimuth direction, 5 degrees in pitch direction and R degree in distance0And the GNSS-RTK sends data to a display control and data processing subsystem on the vehicle.
And 3, changing the azimuth angle of the antenna of the ground measurement and control equipment, turning to the azimuth direction of 22.5 degrees, and repeating the test process of the step 2 in the pitching direction of 5 degrees until the azimuth direction is 337.5 degrees, and repeating the measurement process of the step 2.
And 4, changing the pitching angle of the antenna of the ground measurement and control equipment to 45 degrees, and repeating the measurement process of the step 2 and the step 3.
Step 5, calculating the distance from each position of the unmanned aerial vehicle to the antenna rotation center according to the GNSS-RTK data, and calculating the distance R0And eliminating the envelope value of the signal with larger distance error from the 3 sigma confidence interval, selecting a proper signal envelope threshold value according to 3 times of RTK precision, and eliminating the data smaller than the threshold value from the rest data.
And 6, selecting position data with the pitching direction of 5 degrees and all azimuth direction data:
Figure BDA0003259100190000051
the formula of the actual large disc circular plane with the rotation center of the antenna as the origin is as follows:
Figure BDA0003259100190000061
in the formula, x0、y0、z0As coordinates of the center of rotation of the antenna, R0Distance of the antenna rotation center from the unmanned aerial vehicle, Aθ5、Bθ5、Cθ5、Dθ5The coefficient of the circular plane at the pitching angle of 5 degrees can be obtained according to least square fitting.
If the expression of the ground level plane in a coordinate system with the antenna rotation center as the origin is:
AT(x-x0)+BT(y-y0)+CT(z-z0)＝0
the included angle between the ground horizontal plane and the actual disc plane in the pitching direction of 5 degrees is as follows:
θθ5＝arccos(Aθ5AT+Bθ5BT+Cθ5CT+Dθ5DT)
in the formula DT＝-ATx0-BTy0-CTz0，AT、BT、CT、DTIs the ground level coefficient.
The positioning of the planes is: to a fixed point (x)0,y0,z0) Is perpendicular to the set of all points of the vector (A, B, C), the expression is A (x-x)0)+B(y-y0)+C(z-z0) Where 0, (a, B, C) represents the normal vector of the plane, i.e. the perpendicular direction of the plane, the expression can be transformed into Ax + By + Cz-Ax0-By0-Cz0＝0，A,B,C,D＝-Ax0-By0-Cz0The earth horizontal plane coefficient at any position on the earth is a measurable fixed value.
The included angle between the direction of the azimuth axis and the vertical direction of the horizontal ground can be equivalently obtained when the elevation direction is 5 degrees.
And 7, changing the data of the selected pitching angle Y, and repeating the data processing process, wherein the specific expression is as follows: thetaθ5+jY＝arccos(Aθ5+jYAT+Bθ5+jYBT+Cθ5+jYCT+Dθ5+jYDT) Obtaining an included angle theta between the ground horizontal plane and the actual large dish plane under the condition that the pitching angle is 5-45 degreesθ5、θθ10…θθ45Then take the mean value thetaD＝(θθ5+θθ10+…θθ45) And the/9 can be used as the angle value of the out-of-level degree of the large disc.
Example two:
with R0The measurement method for the out-of-level degree of the large disk of the measurement and control antenna based on the unmanned aerial vehicle platform is implemented according to the following steps:
step 1, firstly, taking a mechanical rotation center of an antenna of ground measurement and control equipment as an original point, calculating the positions of the unmanned aerial vehicle for horizontal back-and-forth and vertical increasing and decreasing flight according to the distance limits of an azimuth angle to be measured, a pitch angle, an antenna near field and an elevation angle height, and arranging the azimuth direction at intervals of 36 degrees10 azimuth angles A to be measuredWiI is 1,2 … 10, and 11 pitch angles E to be measured are set from 5 degrees to 45 degrees at intervals of 4 degrees in the pitch directionWj，j＝1,2…11。
Step 2, flying to a position with the antenna azimuth direction of 0 degree, the pitching direction of 5 degrees and the distance of 4km by using an unmanned aerial vehicle to mount a measurement and control equipment beacon and an RTK module, and performing horizontal back-and-forth and vertical increasing and descending flight at the position, wherein the flight distance in the horizontal direction and the vertical direction is 40m, an envelope size of a signal of a receiving ground measurement and control equipment is recorded by a transponder or a radar load, and meanwhile, GNSS-RTK transmits data to a display control and data processing subsystem of a ground vehicle;
step 3, setting the pitching direction to be 5 degrees, continuously stepping the ground measurement and control equipment antenna direction from 0 degree by 36 degrees, and repeating the measurement process of the step 2 until the antenna direction is stepped to 324 degrees;
step 4, the pitching direction of the antenna of the ground measurement and control equipment is stepped by 4 degrees, and the measurement process of the step 2 and the step 3 is repeated every step until the pitching direction of the antenna is 45 degrees;
step 5, calculating the distance from each position of the unmanned aerial vehicle to the antenna rotation center according to the GNSS-RTK data, and calculating the distance R0And eliminating the envelope value of the signal with larger distance error from the 3 sigma confidence interval, selecting a proper signal envelope threshold value according to 3 times of RTK precision, and eliminating the data smaller than the threshold value from the rest data.
Step 6, listing the position data of all azimuth data when the pitch direction is 5 degrees:
Figure BDA0003259100190000071
the formula of the actual large disc circular plane with the rotation center of the antenna as the origin is as follows:
Figure BDA0003259100190000081
in the formula, x0、y0、z0As coordinates of the center of rotation of the antenna, R0Is the distance from the antenna rotation center to the unmanned aerial vehicleFrom, Aθ5、Bθ5、Cθ5、Dθ5The coefficient of the circular plane is the pitch angle of 5 degrees;
the expression of the ground level plane in a coordinate system with the antenna rotation center as the origin is:
AT(x-x0)+BT(y-y0)+CT(z-z0)＝0，
the included angle between the ground horizontal plane and the actual disc circular plane in the pitching direction of 5 degrees is as follows:
θθ5＝arccos(Aθ5AT+Bθ5BT+Cθ5CT+Dθ5DT)，
in the formula DT＝-ATx0-BTy0-CTz0，AT、BT、CT、DTIs the ground level coefficient.
The positioning of the planes is: to a fixed point (x)0,y0,z0) Is perpendicular to the set of all points of the vector (A, B, C), the expression is A (x-x)0)+B(y-y0)+C(z-z0) Where 0, (a, B, C) represents the normal vector of the plane, i.e. the perpendicular direction of the plane, the expression can be transformed into Ax + By + Cz-Ax0-By0-Cz0＝0，A,B,C,D＝-Ax0-By0-Cz0The earth horizontal plane coefficient at any position on the earth is a measurable fixed value.
Namely equivalently obtaining an included angle between the direction of the azimuth axis and the vertical direction of the horizontal ground when the elevation direction is 5 degrees;
and 7, changing the data of the selected pitching angle, repeating the data processing process in the step 6, and specifically showing as follows: thetaθ5+jy＝arccos(Aθ5+jYAT+Bθ5+jYBT+Cθ5+jYCT+Dθ5+jYDT) Obtaining an included angle theta between the ground horizontal plane and the actual large dish plane under the condition that the pitching angle is 5-45 degrees5、θ9…θ45Then take the mean value thetaD＝(θθ5+θθ9+…θθ45) And 11 can be used as the angle value of the out-of-level degree of the large disc.
Example three:
with R0The embodiment is that the azimuth direction is at intervals of 12 degrees, from 0 degree to 360 degrees, the pitching direction is at intervals of 8 degrees, and from 5 degrees to 45 degrees, the measurement method for the out-of-level measurement of the large disk of the measurement and control antenna based on the unmanned aerial vehicle platform is implemented according to the following steps:
step 1, firstly, taking a mechanical rotation center of an antenna of ground measurement and control equipment as an original point, calculating the positions of the unmanned aerial vehicle for horizontal back-and-forth and vertical increasing and decreasing flight according to the distance limits of an azimuth angle to be measured, a pitch angle and the near field of the antenna and the elevation height, and setting 30 azimuth angles A to be measured in the azimuth direction at intervals of 12 degreesWiI is 1,2 … 30, and 6 pitch angles E to be measured are set from 5 ° to 45 ° at intervals of 8 ° in the pitch directionWj，j＝1,2…6。
Step 2, flying to a position with the antenna azimuth direction of 0 degree, the pitching direction of 5 degrees and the distance of 5km by using an unmanned aerial vehicle to mount a measurement and control equipment beacon and an RTK module, and performing horizontal reciprocating and vertical incremental descending flying at the position, wherein the flying distance in the horizontal direction and the vertical direction is 80m, the envelope size of a signal of a receiving ground measurement and control equipment is recorded by a transponder and a radar load, and meanwhile, GNSS-RTK transmits data to a display control and data processing subsystem of a ground vehicle;
step 3, setting the pitching direction to be 5 degrees, continuously stepping the ground measurement and control equipment antenna direction from 0 degree by 12 degrees, and repeating the measurement process of the step 2 until the antenna direction is stepped to 348 degrees;
step 4, the pitching direction of the antenna of the ground measurement and control equipment is stepped by 8 degrees, and the measurement process of the step 2 and the step 3 is repeated every step until the pitching direction of the antenna is 45 degrees;
step 5, calculating the distance from each position of the unmanned aerial vehicle to the antenna rotation center according to the GNSS-RTK data, and calculating the distance R0And eliminating the envelope value of the signal with larger distance error from the 3 sigma confidence interval, selecting a proper signal envelope threshold value according to 3 times of RTK precision, and eliminating the data smaller than the threshold value from the rest data.
Step 6, listing the position data of all azimuth data when the pitch direction is 5 degrees:
Figure BDA0003259100190000091
the formula of the actual large disc circular plane with the rotation center of the antenna as the origin is as follows:
Figure BDA0003259100190000101
in the formula, x0、y0、z0As coordinates of the center of rotation of the antenna, R0Distance of the antenna rotation center from the unmanned aerial vehicle, Aθ5、Bθ5、Cθ5、Dθ5The coefficient of the circular plane is the pitch angle of 5 degrees;
the expression of the ground level plane in a coordinate system with the antenna rotation center as the origin is:
AT(x-x0)+BT(y-y0)+CT(z-z0)＝0，
the included angle between the ground horizontal plane and the actual disc circular plane in the pitching direction of 5 degrees is as follows:
θθ5＝arccos(Aθ5AT+Bθ5BT+Cθ5CT+Dθ5DT)，
in the formula DT＝-ATx0-BTy0-CTz0，AT、BT、CT、DTIs the ground level coefficient.
The positioning of the planes is: to a fixed point (x)0,y0,z0) Is perpendicular to the set of all points of the vector (A, B, C), the expression is A (x-x)0)+B(y-y0)+C(z-z0) Where 0, (a, B, C) represents the normal vector of the plane, i.e. the perpendicular direction of the plane, the expression can be transformed into Ax + By + Cz-Ax0-By0-Cz0＝0，A,B,C,D＝-Ax0-By0-Cz0Is a plane coefficient, at any position on the earthThe earth level coefficient of (a) is a measurable fixed value.
Namely equivalently obtaining an included angle between the direction of the azimuth axis and the vertical direction of the horizontal ground when the elevation direction is 5 degrees;
and 7, changing the data of the selected pitching angle, repeating the data processing process in the step 6, and specifically showing as follows: thetaθ5+jy＝arccos(Aθ5+jYAT+Bθ5+jYBT+Cθ5+jYCT+Dθ5+jYDT) Obtaining an included angle theta between the ground horizontal plane and the actual large dish plane under the condition that the pitching angle is 5-45 degrees5、θ13…θ45Then take the mean value thetaD＝(θθ5+θθ13+…θθ45) And 6, the angle value of the out-of-level degree of the large disc can be used.
Example four:
with R0The method for measuring the out-of-level degree of the large disk of the measurement and control antenna based on the unmanned aerial vehicle platform is implemented according to the following steps of, 8km, 30-degree intervals in the azimuth direction, 0-360 degrees, 10-degree intervals in the pitching direction and 5-45 degrees:
step 1, firstly, taking a mechanical rotation center of an antenna of ground measurement and control equipment as an original point, calculating the positions of the unmanned aerial vehicle for horizontal back-and-forth and vertical increasing and decreasing flight according to the distance limits of an azimuth angle to be measured, a pitch angle and the near field of the antenna and the elevation height, and setting 12 azimuth angles A to be measured in the azimuth direction at intervals of 30 degreesWiI is 1,2 … 12, and 4 pitch angles E to be measured are set from 5 ° to 45 ° at intervals of 10 ° in the pitch directionWj，j＝1,2…4。
Step 2, flying to 0 degree in the direction of the antenna, 5 degrees in the pitching direction and R degrees in the distance direction by using the beacon and the RTK module of the unmanned aerial vehicle mounted measurement and control equipment0The position is subjected to horizontal reciprocating and vertical incremental descending flight, the flight distance in the horizontal and vertical directions is 80m, the envelope size of signals of ground measurement and control equipment is recorded and received by a transponder and a radar load, and meanwhile, the GNSS-RTK sends data to a display control and data processing subsystem of a ground vehicle;
step 3, setting the pitching direction to be 5 degrees, continuously stepping the ground measurement and control equipment antenna direction from 0 degree by 30 degrees, and repeating the measurement process of the step 2 until the antenna direction is stepped to 330 degrees;
step 4, the pitching direction of the antenna of the ground measurement and control equipment is stepped by 8 degrees, and the measurement process of the step 2 and the step 3 is repeated every step until the pitching direction of the antenna is 45 degrees;
step 5, calculating the distance from each position of the unmanned aerial vehicle to the antenna rotation center according to the GNSS-RTK data, and calculating the distance R0And eliminating the envelope value of the signal with larger distance error from the 3 sigma confidence interval, selecting a proper signal envelope threshold value according to 3 times of RTK precision, and eliminating the data smaller than the threshold value from the rest data.
Step 6, listing the position data of all azimuth data when the pitch direction is 5 degrees:
Figure BDA0003259100190000111
the formula of the actual large disc circular plane with the rotation center of the antenna as the origin is as follows:
Figure BDA0003259100190000121
in the formula, x0、y0、z0As coordinates of the center of rotation of the antenna, R0Distance of the antenna rotation center from the unmanned aerial vehicle, Aθ5、Bθ5、Cθ5、Dθ5The coefficient of the circular plane is the pitch angle of 5 degrees;
the expression of the ground level plane in a coordinate system with the antenna rotation center as the origin is:
AT(x-x0)+BT(y-y0)+CT(z-z0)＝0，
the included angle between the ground horizontal plane and the actual disc circular plane in the pitching direction of 5 degrees is as follows:
θθ5＝arccos(Aθ5AT+Bθ5BT+Cθ5CT+Dθ5DT)，
in the formula DT＝-ATx0-BTy0-CTz0，AT、BT、CT、DTIs the ground level coefficient.
The positioning of the planes is: to a fixed point (x)0,y0,z0) Is perpendicular to the set of all points of the vector (A, B, C), the expression is A (x-x)0)+B(y-y0)+C(z-z0) Where 0, (a, B, C) represents the normal vector of the plane, i.e. the perpendicular direction of the plane, the expression can be transformed into Ax + By + Cz-Ax0-By0-Cz0＝0，A,B,C,D＝-Ax0-By0-Cz0The earth horizontal plane coefficient at any position on the earth is a measurable fixed value.
Namely equivalently obtaining an included angle between the direction of the azimuth axis and the vertical direction of the horizontal ground when the elevation direction is 5 degrees;
and 7, changing the data of the selected pitching angle, repeating the data processing process in the step 6, and specifically showing as follows: thetaθ5+jy＝arccos(Aθ5+jYAT+Bθ5+jYBT+Cθ5+jYCT+Dθ5+jYDT) Obtaining an included angle theta between the ground horizontal plane and the actual large dish plane under the condition that the pitching angle is 5-45 degrees5、θ15…θ45Then take the mean value thetaD＝(θθ5+θθ15+…θθ45) And the/4 can be used as the angle value of the out-of-level degree of the large disc.

Claims (5)

1. The measurement and control antenna large disc non-levelness measuring method based on the unmanned aerial vehicle platform is characterized in that an unmanned aerial vehicle is adopted to carry a measurement and control device beacon and an unmanned aerial vehicle RTK module, a measured antenna rotates for a circle around an azimuth axis, and an included angle between a plane formed by actual electric axis pointing direction of the measured antenna and a local ground horizontal plane is calculated and obtained, namely the antenna large disc non-levelness.
2. The measurement method according to claim 1, characterized by comprising in particular the steps of:
step 1, firstly, taking a mechanical rotation center of an antenna of ground measurement and control equipment as an original point, calculating the positions of the unmanned aerial vehicle for horizontal back-and-forth and vertical increasing and decreasing flight according to the distance limits of an azimuth angle to be measured, a pitch angle and the near field and elevation height of the antenna, and arranging the azimuth direction at intervals of X degrees
Figure FDA0003259100180000011
An azimuth angle A to be measuredWi，
Figure FDA0003259100180000012
The pitch directions are arranged from 5 degrees to 45 degrees at intervals of Y degrees
Figure FDA0003259100180000013
Individual angle of pitch to be measured EWj，
Figure FDA0003259100180000014
Step 2, flying to 0 degree in the direction of the antenna, 5 degrees in the pitching direction and R degrees in the distance direction by using the beacon and the RTK module of the unmanned aerial vehicle mounted measurement and control equipment0The position is subjected to horizontal reciprocating and vertical incremental descending flight, the flight distance in the horizontal and vertical directions is Mm, the envelope size of signals of ground measurement and control equipment is recorded and received by a transponder and a radar load, and meanwhile, the GNSS-RTK sends data to a display control and data processing subsystem of a ground vehicle;
step 3, setting the pitching direction to be 5 degrees, continuously stepping from 0 degree by taking the antenna azimuth direction of the ground measurement and control equipment as the stepping distance, and repeating the measurement process of the step 2 until the antenna azimuth direction is stepped to (360-X) degrees;
step 4, the pitching direction of the antenna of the ground measurement and control equipment takes Y degrees as a step length, stepping is continuously carried out from 5 degrees, and the measurement processes of the step 2 and the step 3 are repeated every step until the pitching direction of the antenna is 45 degrees;
step 5, calculating the distance from each position of the unmanned aerial vehicle to the antenna rotation center according to the GNSS-RTK data, and calculating the distance R0The 3 sigma confidence interval of (c) rejects the envelope values of signals with large distance errors,selecting a proper signal envelope threshold according to 3 times of RTK precision, and eliminating data smaller than the threshold from the rest data;
step 6, calculating and obtaining an included angle theta between the actual large dish circular plane and the ground horizontal plane when the antenna is pitched to 5-45 degrees through data processingθ5、θθ5+Y…θθ45，；
Step 7, averaging the included angle between the actual large disc circle plane and the ground horizontal plane calculated in the step 6
Figure FDA0003259100180000021
Namely the angle value of the out-of-level degree of the large scale.
3. The measurement method according to claim 2, wherein in step 1, the value of X ° ranges from 0 ° to 360 °, and preferably ranges from 10 ° to 36 ° to divide 360 ° equally; in the step 1, the value range of Y ° is 0 ° to 40 °, and the preferable value range is 3 ° to 10 °.
4. The measurement method according to claim 2, wherein in the step 6, the data processing comprises the following specific steps:
position data for all azimuth data are listed for a pitch of 5 °:
Figure FDA0003259100180000022
the formula of the actual large disc circular plane with the rotation center of the antenna as the origin is as follows:
Figure FDA0003259100180000023
in the formula, x0、y0、z0As coordinates of the center of rotation of the antenna, R0Distance of the antenna rotation center from the unmanned aerial vehicle, Aθ5、Bθ5、Cθ5、Dθ5The coefficient of the circular plane is the pitch angle of 5 degrees;
the expression of the ground level plane in a coordinate system with the antenna rotation center as the origin is:
AT(x-x0)+BT(y-y0)+CT(z-z0)＝0，
the included angle between the ground horizontal plane and the actual disc circular plane in the pitching direction of 5 degrees is as follows:
θθ5＝arccos(Aθ5AT+Bθ5BT+Cθ5CT+Dθ5DT)，
in the formula DT＝-ATx0-BTy0-CTz0，AT、BT、CT、DTIs the coefficient of the ground level,
namely, the included angle between the direction of the azimuth axis and the vertical direction of the horizontal ground when the pitching direction is 5 degrees is equivalently obtained.
5. The measurement method according to claim 2, wherein in step 7, the specific formula of data processing is as follows: thetaθ5+jY＝arccos(Aθ5+jYAT+Bθ5+jYBT+Cθ5+jYCT+Dθ5+jYDT)。
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