CN113624197B - Measurement and control antenna chassis non-levelness measurement method based on unmanned aerial vehicle platform - Google Patents
Measurement and control antenna chassis non-levelness measurement method based on unmanned aerial vehicle platform Download PDFInfo
- Publication number
- CN113624197B CN113624197B CN202111071472.2A CN202111071472A CN113624197B CN 113624197 B CN113624197 B CN 113624197B CN 202111071472 A CN202111071472 A CN 202111071472A CN 113624197 B CN113624197 B CN 113624197B
- Authority
- CN
- China
- Prior art keywords
- degrees
- antenna
- ground
- azimuth
- measurement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
The invention discloses a measurement and control antenna chassis 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
Technical Field
The invention belongs to the technical field of aerospace measurement and control, and relates to a measurement and control antenna chassis non-levelness measuring method based on an unmanned aerial vehicle platform.
Background
The degree of the level of the antenna large disc of the ground measurement and control equipment, which is not horizontal, has direct influence on the accurate orientation of the antenna large disc of the ground measurement and control equipment for the detection target. If the antenna large disc reaches the ideal level, the normal direction of the antenna large disc is completely coincident with the plumb line direction of the ground level, but in practice, an included angle is formed between the normal direction and the plumb line direction of the ground level. The included angle is generally used to reflect the level of the antenna's large dish and is referred to as the degree of non-levelness of the large dish. Definition of large disc non-level: the direction of the azimuth axis is at an included angle with the vertical direction of the horizontal ground. The extent to which the azimuth axis is perpendicular to the horizontal plane is expressed in terms of the angle (acute angle) of the azimuth axis to the normal to the local horizontal plane. The requirements of the related technical specifications on the levelness value of the antenna base are 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 large disc levelness value.
Normally, the elevation angle reading of an antenna of the ground measurement and control equipment is below 45 degrees, and the direction positioning error caused by the non-level of the large disc is not larger than the value of the non-levelness of the large disc; when the elevation reading is greater than 45 deg., the directional positioning error caused by the non-level of the large disc will increase rapidly. Especially in the space area near zenith, the direction positioning error caused by the non-level of the large disc can reach more than hundred times of the non-level value of the large disc.
The traditional method for measuring the levelness of the large disc comprises the following steps: placing a combination level meter on the antenna base large disc platform, fixing the antenna elevation angle, rotating the antenna azimuth angle, and recording the data of the azimuth axis angle encoder and the combination level meter at intervals of 15 degrees respectively until the antenna rotates for one circle; and (3) sorting data, finding out the horizontal maximum inclination direction and the maximum inclination amount of the large disc, and fitting the measured data by using a least square method to obtain the maximum inclination direction and the maximum inclination amount in order to improve the calibration precision.
The existing large disc non-levelness measuring method is complex and has long time for completing one-time measurement.
Disclosure of Invention
The invention aims to provide a measurement and control antenna chassis non-levelness measuring method based on an unmanned aerial vehicle platform, which solves the problem of complex measuring method in the prior art.
The invention discloses a method for measuring the levelness of a large disk of a measurement and control antenna based on an unmanned aerial vehicle platform.
The method specifically comprises the following steps:
step 1, firstly, calculating the horizontal round trip and vertical increasing and decreasing flight positions of an unmanned aerial vehicle by taking the mechanical rotation center of an antenna of ground measurement and control equipment as an origin, and setting the azimuth direction at intervals of X degrees according to the distance limit of an azimuth angle to be measured, a pitch angle and an antenna near field and an elevation angle height
Azimuth angle A to be measured Wi ，/>
The pitch direction is arranged at intervals of Y degrees from 5 degrees to 45 degrees
Pitch angle E to be measured Wj ，/>
/>
Step 2, using the unmanned plane to mount the measurement and control equipment beacon and the RTK module, flying to the antenna azimuth direction of 0 degrees, pitching to 5 degrees and the distance R 0 Making horizontal round trip and vertical increasing descending flight at the position, wherein the flight distance in the horizontal and vertical directions is Mm, the envelope size of the ground measurement and control equipment signals 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 the ground vehicle;
step 3, setting the pitching direction to be 5 degrees, taking X degrees as a stepping distance, continuously stepping from 0 degrees, and repeating the measuring process of the step 2 until the antenna azimuth steps to (360-X) °;
step 4, continuously stepping from 5 degrees by taking Y degrees as step length of the antenna pitching direction of the ground measurement and control equipment, and repeating the measuring process of step 2 and step 3 once every stepping until the antenna pitching direction is 45 degrees;
step 5, calculating the distance from each position of the unmanned aerial vehicle to the rotation center of the antenna according to GNSS-RTK data, and using R 0 Removing envelope values of signals with larger distance errors in the 3 sigma confidence interval, selecting a proper signal envelope threshold according to 3 times of RTK precision, and removing data smaller than the threshold from the rest data;
step 6, calculating to obtain the included angle theta between the actual large disc circular plane and the ground horizontal plane when the antenna is tilted to 5 degrees to 45 degrees through data processing θ5 、θ θ5+Y …θ θ45 ，；
Step 7, taking the average value of the included angle between the actual large disc circle plane calculated in the step 6 and the ground horizontal plane
The angle value of the non-levelness of the large disc is obtained.
In the step 1, the value range of X DEG is between 0 DEG and 360 DEG, and the preferred value is a value which can divide 360 DEG equally in 10 DEG to 36 DEG; in the step 1, the value of Y DEG is in the range of 0 DEG to 40 DEG, and the preferred value is in the range of 3 DEG to 10 deg.
In step 6, the specific steps of data processing are as follows:
position data for all azimuth data are listed when pitch is 5 °:
θ5 represents a pitch of 5,
represents +.>
Specific angle values of the azimuth are from 0 degrees;
the actual large disc circle plane formula with the rotation center of the antenna as the origin is as follows:
wherein x is 0 、y 0 、z 0 R is the rotation center coordinate of the antenna 0 A is the distance from the rotation center of the antenna to the unmanned aerial vehicle θ5 、B θ5 、C θ5 、D θ5 The round plane coefficient is 5 degrees of pitch angle;
the expression of the ground level in the coordinate system with the rotation center of the antenna as the origin is:
A T (x-x 0 )+B T (y-y 0 )+C T (z-z 0 )＝0，
the included angle between the ground level and the actual large disc circle plane when pitching to 5 degrees is:
θ θ5 ＝arccos(A θ5 A T +B θ5 B T +C θ5 C T +D θ5 D T )，
d in T ＝-A T x 0 -B T y 0 -C T z 0 ，A T 、B T 、C T 、D T Is the coefficient of the ground level,
the positioning of the plane is as follows: with a fixed point (x) 0 ，y 0 ，z 0 ) Is perpendicular to the set of all points of the vector (A, B, C), expressed as A (x-x) 0 )+B(y-y 0 )+C(z-z 0 ) =0, (a, B, C) represents the normal vector of the plane, i.e. the perpendicular direction of the plane, the expression is deformable to ax+by+cz-Ax 0 -By 0 -Cz 0 ＝0，A，B，C，D＝-Ax 0 -By 0 -Cz 0 The earth level coefficient of 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 pitching direction is 5 degrees;
in step 7, the specific formula of data processing is: θ θ5+jY ＝arccos(A θ5+jY A T +B θ5+jY B T +C θ5+jY C T +D θ5+ jY D T )。
The invention has the following beneficial effects: compared with the existing measurement and control antenna chassis non-levelness measuring method, the measurement and control antenna chassis non-levelness measuring method based on the unmanned aerial vehicle platform has the advantages of being simple in measuring instrument, simple and easy to implement, and high in measuring speed.
Drawings
Fig. 1 is a measurement schematic diagram of a measurement and control antenna chassis 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.
Embodiment one:
by R 0 The azimuth direction is 22.5 degrees apart, the pitch direction is 5 degrees apart, and the pitch direction is 5 degrees to 45 degrees are embodiments, the method for measuring the levelness of the large disc of the measurement and control antenna based on the unmanned aerial vehicle platform is implemented according to the following steps:
step 1, firstly, calculating the horizontal round trip and vertical increment descending flight positions of an unmanned aerial vehicle by taking the mechanical rotation center of an antenna of ground measurement and control equipment as an origin, and setting 16 azimuth angles A to be measured at intervals of 22.5 degrees according to the azimuth angles to be measured and pitch angles and the distance limit of the near field and elevation angles of the antenna Wi I=1, 2 …, 9 pitch angles E to be measured are set at 5 ° intervals from 5 ° to 45 ° Wj ，j＝1，2…9。
And 2, turning the antenna of the ground measurement and control equipment to azimuth 0 degrees and pitching 5 degrees, and starting the work. Unmanned plane platform with RTK module and mounting measurement and control transponder to azimuth 0 degree, pitching 5 degree and distance R 0 And the position is subjected to horizontal round trip and vertical increment descending flight, the flight distance in the horizontal direction and the vertical direction is 50m, the envelope size of the ground measurement and control equipment signals is recorded and received by the transponder and the radar load, and meanwhile, the GNSS-RTK transmits 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 to 22.5 degrees in azimuth and 5 degrees in pitching, repeating the test process of the step 2 until the azimuth angle 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 rotation center of the antenna according to GNSS-RTK data, and using R 0 The envelope value of the signal with larger distance error is removed in the 3 sigma confidence interval, a proper signal envelope threshold value is selected according to 3 times of RTK precision, and the residual data is removed to be smaller than the threshold valueData.
Step 6, selecting position data of all azimuth data, wherein the pitching direction is 5 degrees:
the actual large disc circle plane formula with the rotation center of the antenna as the origin is as follows:
wherein x is 0 、y 0 、z 0 R is the rotation center coordinate of the antenna 0 A is the distance from the rotation center of the antenna to the unmanned aerial vehicle θ5 、B θ5 、C θ5 、D θ5 The circular plane coefficient when the pitch angle is 5 degrees can be obtained according to the least square fitting method.
The expression of the ground level in the coordinate system with the rotation center of the antenna as the origin is:
A T (x-x 0 )+B T (y-y 0 )+C T (z-z 0 )＝0
the included angle between the ground level and the actual large disc circle plane when pitching to 5 degrees is:
θ θ5 ＝arccos(A θ5 A T +B θ5 B T +C θ5 C T +D θ5 D T )
d in T ＝-A T x 0 -B T y 0 -C T z 0 ，A T 、B T 、C T 、D T Is the ground level coefficient.
The positioning of the plane is as follows: with a fixed point (x) 0 ，y 0 ，z 0 ) Is perpendicular to the set of all points of the vector (A, B, C), expressed as A (x-x) 0 )+B(y-y 0 )+C(z-z 0 ) =0, (a, B, C) represents the normal vector of the plane, i.e. the perpendicular direction of the plane, the expression is deformable to ax+by+cz-Ax 0 -By 0 -Cz 0 ＝0，A，B，C，D＝-Ax 0 -By 0 -Cz 0 The earth level coefficient of 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 when the pitching direction is 5 degrees can be equivalently obtained.
Step 7, changing the data of the selected pitching angle Y, and repeating the data processing process, wherein the data processing process is specifically shown as follows: θ θ5+jY ＝arccos(A θ5+jY A T +B θ5+jY B T +C θ5+jY C T +D θ5+jY D T ) Obtaining the included angle theta between the ground horizontal plane and the actual large disc circle plane under the condition of the pitching angle of 5-45 DEG θ5 、θ θ10 …θ θ45 Then get the average value theta D ＝(θ θ5 +θ θ10 +…θ θ45 ) And/9 can be used as the angle value of the non-levelness of the large disc.
Embodiment two:
by R 0 The azimuth direction is 36 degrees apart, from 0 to 360 degrees, the pitch direction is 4 degrees apart, and from 5 to 45 degrees are embodiments, the method for measuring the levelness of the large disc of the measurement and control antenna based on the unmanned aerial vehicle platform is implemented according to the following steps:
step 1, firstly, calculating the horizontal round trip and vertical increasing and decreasing flight positions of an unmanned aerial vehicle by taking the mechanical rotation center of an antenna of ground measurement and control equipment as an origin, and setting 10 azimuth angles A to be measured at 36-degree intervals according to the azimuth angles to be measured and pitch angles and the distance limit of the near field and elevation angles of the antenna Wi I=1, 2 …, the pitch direction sets 11 pitch angles E to be measured from 5 ° to 45 ° at 4 ° intervals Wj ，j＝1，2…11。
Step 2, using a beacon and an RTK module of the unmanned aerial vehicle mounting measurement and control device to fly to a position with an antenna azimuth of 0 DEG, a pitching direction of 5 DEG and a distance of 4km, and making horizontal round trip and vertical increment descending flight at the position, wherein the flight distance in the horizontal and vertical directions is 40m, a transponder or radar load records and receives the envelope size of a ground measurement and control device signal, and meanwhile, the GNSS-RTK transmits data to a display control and data processing subsystem of the ground vehicle;
step 3, setting the pitching direction to be 5 degrees, continuously stepping the antenna azimuth direction of the ground measurement and control equipment from 0 degree at 36-degree intervals, and repeating the measurement process of the step 2 until the antenna azimuth direction is stepped to 324 degrees;
step 4, stepping the antenna of the ground measurement and control equipment by 4 degrees, and repeating the measuring process of step 2 and step 3 once in each stepping until the antenna is pitched by 45 degrees;
step 5, calculating the distance from each position of the unmanned aerial vehicle to the rotation center of the antenna according to GNSS-RTK data, and using R 0 The envelope value of the signal with larger distance error is removed in the 3 sigma confidence interval, a proper signal envelope threshold value is selected according to 3 times of RTK precision, and the data smaller than the threshold value is removed from the rest data.
Step 6, listing position data of all azimuth data when the pitching direction is 5 degrees:
the actual large disc circle plane formula with the rotation center of the antenna as the origin is as follows:
wherein x is 0 、y 0 、z 0 R is the rotation center coordinate of the antenna 0 A is the distance from the rotation center of the antenna to the unmanned aerial vehicle θ5 、B θ5 、C θ5 、D θ5 The round plane coefficient is 5 degrees of pitch angle;
the expression of the ground level in the coordinate system with the rotation center of the antenna as the origin is:
A T (x-x 0 )+B T (y-y 0 )+C T (z-z 0 )＝0，
the included angle between the ground level and the actual large disc circle plane when pitching to 5 degrees is:
θ θ5 ＝arccos(A θ5 A T +B θ5 B T +C θ5 C T +D θ5 D T )，
d in T ＝-A T x 0 -B T y 0 -C T z 0 ，A T 、B T 、C T 、D T Is the ground level coefficient.
The positioning of the plane is as follows: with a fixed point (x) 0 ，y 0 ，z 0 ) Is perpendicular to the set of all points of the vector (A, B, C), expressed as A (x-x) 0 )+B(y-y 0 )+C(z-z 0 ) =0, (a, B, C) represents the normal vector of the plane, i.e. the perpendicular direction of the plane, the expression is deformable to ax+by+cz-Ax 0 -By 0 -Cz 0 ＝0，A，B，C，D＝-Ax 0 -By 0 -Cz 0 The earth level coefficient of 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 pitching direction is 5 degrees;
step 7, the data of the selected pitching angle is changed and the data processing process in step 6 is repeated, which is specifically shown as follows: θ θ5+jY ＝arccos(A θ5+jY A T +B θ5+jY B T +C θ5+jY C T +D θ5+jY D T ) Obtaining the included angle theta between the ground horizontal plane and the actual large disc circle plane under the condition of the pitching angle of 5-45 DEG 5 、θ 9 …θ 45 Then get the average value theta D ＝(θ θ5 +θ θ9 +…θ θ45 ) And/11 can be used as the angle value of the non-levelness of the large disc.
Embodiment III:
by R 0 The azimuth direction is 12 degrees apart, from 0 degree to 360 degrees, the pitching direction is 8 degrees apart, and from 5 degrees to 45 degrees are embodiments, the method for measuring the levelness of the large disc of the measurement and control antenna based on the unmanned aerial vehicle platform is implemented according to the following steps:
step 1, firstly, taking the mechanical rotation center of an antenna of ground measurement and control equipment as an origin, and according to the azimuth to be measuredCalculating the horizontal round trip and vertical increment descending flight positions of the unmanned aerial vehicle, and setting 30 azimuth angles A to be measured at intervals of 12 degrees in azimuth direction Wi I=1, 2 …, pitch direction sets 6 pitch angles E to be measured from 5 ° to 45 ° at 8 ° intervals Wj ，j＝1，2…6。
Step 2, using a beacon and an RTK module of the unmanned aerial vehicle mounting measurement and control device to fly to a position with an antenna azimuth of 0 DEG, a pitching direction of 5 DEG and a distance of 5km, and making horizontal round trip and vertical increment descending flight at the position, wherein the flight distance in the horizontal and vertical directions is 80m, the envelope of signals of the ground measurement and control device is recorded and received by a transponder and a radar load, and meanwhile, the GNSS-RTK transmits data to a display control and data processing subsystem of the ground vehicle;
step 3, setting the pitching direction to be 5 degrees, continuously stepping the antenna azimuth direction of the ground measurement and control equipment from 0 degree at 12 degree intervals, and repeating the measurement process of the step 2 until the antenna azimuth direction is stepped to 348 degrees;
step 4, stepping the antenna of the ground measurement and control equipment by 8 degrees, and repeating the measuring process of step 2 and step 3 once in each stepping until the antenna is pitched by 45 degrees;
step 5, calculating the distance from each position of the unmanned aerial vehicle to the rotation center of the antenna according to GNSS-RTK data, and using R 0 The envelope value of the signal with larger distance error is removed in the 3 sigma confidence interval, a proper signal envelope threshold value is selected according to 3 times of RTK precision, and the data smaller than the threshold value is removed from the rest data.
Step 6, listing position data of all azimuth data when the pitching direction is 5 degrees:
the actual large disc circle plane formula with the rotation center of the antenna as the origin is as follows:
wherein x is 0 、y 0 、z 0 R is the rotation center coordinate of the antenna 0 A is the distance from the rotation center of the antenna to the unmanned aerial vehicle θ5 、B θ5 、C θ5 、D θ5 The round plane coefficient is 5 degrees of pitch angle;
the expression of the ground level in the coordinate system with the rotation center of the antenna as the origin is:
A T (x-x 0 )+B T (y-y 0 )+C T (z-z 0 )＝0，
the included angle between the ground level and the actual large disc circle plane when pitching to 5 degrees is:
θ θ5 ＝arccos(A θ5 A T +B θ5 B T +C θ5 C T +D θ5 D T )，
d in T ＝-A T x 0 -B T y 0 -C T z 0 ，A T 、B T 、C T 、D T Is the ground level coefficient.
The positioning of the plane is as follows: with a fixed point (x) 0 ，y 0 ，z 0 ) Is perpendicular to the set of all points of the vector (A, B, C), expressed as A (x-x) 0 )+B(y-y 0 )+C(z-z 0 ) =0, (a, B, C) represents the normal vector of the plane, i.e. the perpendicular direction of the plane, the expression is deformable to ax+by+cz-Ax 0 -By 0 -Cz 0 ＝0，A，B，C，D＝-Ax 0 -By 0 -Cz 0 The earth level coefficient of 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 pitching direction is 5 degrees;
step 7, the data of the selected pitching angle is changed and the data processing process in step 6 is repeated, which is specifically shown as follows: θ θ5+jY ＝arccos(A θ5+jY A T +B θ5+jY B T +C θ5+jY C T +D θ5+jY D T ) Obtaining the pitching angleThe included angle theta between the ground level and the actual large disc circle plane under the condition of 5 degrees to 45 degrees 5 、θ 13 …θ 45 Then get the average value theta D ＝(θ θ5 +θ θ13 +…θ θ45 ) And/6, the angle value of the non-levelness of the large disc can be used.
Embodiment four:
by R 0 The azimuth direction is 30 degrees apart, the pitch direction is 10 degrees apart, and the pitch direction is 5 degrees to 45 degrees apart from 0 degrees to 360 degrees, which is taken as an embodiment, and the method for measuring the levelness of the large disc of the measurement and control antenna based on the unmanned aerial vehicle platform is implemented according to the following steps:
step 1, firstly, calculating the horizontal round trip and vertical increment descending flight positions of an unmanned aerial vehicle by taking the mechanical rotation center of an antenna of ground measurement and control equipment as an origin, and setting 12 azimuth angles A to be measured at intervals of 30 degrees according to the azimuth angles to be measured and pitch angles and the distance limit of the near field and elevation angles of the antenna Wi I=1, 2 …, pitch direction sets 4 pitch angles E to be measured from 5 ° to 45 ° at intervals of 10 ° Wj ，j＝1，2…4。
Step 2, using the unmanned plane to mount the measurement and control equipment beacon and the RTK module, flying to the antenna azimuth direction of 0 degrees, pitching to 5 degrees and the distance R 0 The position of the ground measurement and control device is subjected to horizontal round trip and vertical increment descending flight, the flight distance in the horizontal direction and the vertical direction is 80m, the envelope of the ground measurement and control device signals is recorded and received by a transponder and a radar load, and meanwhile, the GNSS-RTK transmits data to a display control and data processing subsystem of the ground vehicle;
step 3, setting the pitching direction to be 5 degrees, continuously stepping the antenna azimuth direction of the ground measurement and control equipment from 0 degree at intervals of 30 degrees, and repeating the measurement process of the step 2 until the antenna azimuth direction is stepped to 330 degrees;
step 4, stepping the antenna of the ground measurement and control equipment by 8 degrees, and repeating the measuring process of step 2 and step 3 once in each stepping until the antenna is pitched by 45 degrees;
step 5, calculating the distance from each position of the unmanned aerial vehicle to the rotation center of the antenna according to GNSS-RTK data, and using R 0 Is greater in distance error than the envelope of the signal with the greater 3 sigma confidence interval rejectionAnd 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, listing position data of all azimuth data when the pitching direction is 5 degrees:
the actual large disc circle plane formula with the rotation center of the antenna as the origin is as follows:
wherein x is 0 、y 0 、z 0 R is the rotation center coordinate of the antenna 0 A is the distance from the rotation center of the antenna to the unmanned aerial vehicle θ5 、B θ5 、C θ5 、D θ5 The round plane coefficient is 5 degrees of pitch angle;
the expression of the ground level in the coordinate system with the rotation center of the antenna as the origin is:
A T (x-x 0 )+B T (y-y 0 )+C T (z-z 0 )＝0，
the included angle between the ground level and the actual large disc circle plane when pitching to 5 degrees is:
θ θ5 ＝arccos(A θ5 A T +B θ5 B T +C θ5 C T +D θ5 D T )，
d in T ＝-A T x 0 -B T y 0 -C T z 0 ，A T 、B T 、C T 、D T Is the ground level coefficient.
The positioning of the plane is as follows: with a fixed point (x) 0 ，y 0 ，z 0 ) Is perpendicular to the set of all points of the vector (A, B, C), expressed as A (x-x) 0 )+B(y-y 0 )+C(z-z 0 ) =0, (a, B, C) represents the normal to the planeThe expression is deformable to Ax+By+Cz-Ax By an amount, i.e. perpendicular to the plane 0 -By 0 -Cz 0 ＝0，A，B，C，D＝-Ax 0 -By 0 -Cz 0 The earth level coefficient of 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 pitching direction is 5 degrees;
step 7, the data of the selected pitching angle is changed and the data processing process in step 6 is repeated, which is specifically shown as follows: θ θ5+jY ＝arccos(A θ5+jY A T +B θ5+jY B T +C θ5+jY C T +D θ5+jY D T ) Obtaining the included angle theta between the ground horizontal plane and the actual large disc circle plane under the condition of the pitching angle of 5-45 DEG 5 、θ 15 …θ 45 Then get the average value theta D ＝(θ θ5 +θ θ15 +…θ θ45 ) And/4 can be used as the angle value of the non-levelness of the large disc.
Claims (3)
1. The method is characterized in that an unmanned aerial vehicle is adopted to mount a measurement and control equipment beacon and an unmanned aerial vehicle RTK module, a measured antenna rotates around an azimuth axis for one circle, and an included angle between a plane formed by the actual electric axis direction of the measured antenna and a local ground level is calculated, namely the antenna chassis levelness, and the method specifically comprises the following steps:
step 1, firstly, calculating the horizontal round trip and vertical increasing and decreasing flight positions of an unmanned aerial vehicle by taking the mechanical rotation center of an antenna of ground measurement and control equipment as an origin, and setting the azimuth direction at intervals of X degrees according to the distance limit of an azimuth angle to be measured, a pitch angle and an antenna near field and an elevation angle height
Azimuth angle A to be measured Wi ，/>
Pitch direction by Y °With spacing from 5 deg. to 45 deg. arrangement
Pitch angle E to be measured Wj ,/>
Step 2, using the unmanned plane to mount the measurement and control equipment beacon and the RTK module, flying to the antenna azimuth direction of 0 degrees, pitching to 5 degrees and the distance R 0 Making horizontal round trip and vertical increasing descending flight at the position, wherein the flight distance in the horizontal and vertical directions is Mm, the envelope size of the ground measurement and control equipment signals 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 the ground vehicle;
step 3, setting the pitching direction to be 5 degrees, taking X degrees as a stepping distance, continuously stepping from 0 degrees, and repeating the measuring process of the step 2 until the antenna azimuth steps to (360-X) °;
step 4, continuously stepping from 5 degrees by taking Y degrees as step length of the antenna pitching direction of the ground measurement and control equipment, and repeating the measuring process of step 2 and step 3 once every stepping until the antenna pitching direction is 45 degrees;
step 5, calculating the distance from each position of the unmanned aerial vehicle to the rotation center of the antenna according to GNSS-RTK data, and using R 0 Removing envelope values of signals with larger distance errors in the 3 sigma confidence interval, selecting a proper signal envelope threshold according to 3 times of RTK precision, and removing data smaller than the threshold from the rest data;
step 6, listing position data of all azimuth data when the pitching direction is 5 degrees:
θ5 represents a pitch of 5,
represents +.>
Specific angle values of the azimuth are from 0 degrees;
the actual large disc circle plane formula with the rotation center of the antenna as the origin is as follows:
wherein x is 0 、y0、z 0 R is the rotation center coordinate of the antenna 0 A is the distance from the rotation center of the antenna to the unmanned aerial vehicle θ5 、B θ5 、C θ5 、D θ5 The round plane coefficient is 5 degrees of pitch angle;
the expression of the ground level in the coordinate system with the rotation center of the antenna as the origin is:
A T (x-x 0 )+B T (y-y 0 )+C T (z-z 0 )＝0，
the included angle between the ground level and the actual large disc circle plane when pitching to 5 degrees is:
θ θ5 ＝arccos(A θ5 A T +B θ5 B T +C θ5 C T +D θ5 D T )，
d in T ＝-A T x 0 -B T y 0 -C T z 0 ，A T 、B T 、C T 、D T The angle between the direction of the azimuth axis and the vertical direction of the horizontal ground is obtained for the ground horizontal plane coefficient, namely, the angle is equivalently obtained when the pitching direction is 5 degrees;
and the like to calculate and obtain the included angle theta between the actual large disc circular plane and the ground horizontal plane when the antenna is tilted to 5 degrees to 45 degrees θ5 、θ θ5+Y …θ θ45 ；
Step 7, taking the average value of the included angle between the actual large disc circle plane calculated in the step 6 and the ground horizontal plane
I.e. large discAngle value of non-levelness.
2. The method according to claim 1, wherein in the step 1, the value of X ° ranges from 0 ° to 360 °; in the step 1, the value range of Y DEG is between 0 DEG and 40 deg.
3. The measurement method according to claim 1, wherein in the step 7, the specific formula of the data processing is: θ θ5+jY ＝arccos(A θ5+jY A T +B θ5+jY B T +C θ5+jY C T +D θ5+jY D T )。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111071472.2A CN113624197B (en) | 2021-09-13 | 2021-09-13 | Measurement and control antenna chassis non-levelness measurement method based on unmanned aerial vehicle platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111071472.2A CN113624197B (en) | 2021-09-13 | 2021-09-13 | Measurement and control antenna chassis non-levelness measurement method based on unmanned aerial vehicle platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113624197A CN113624197A (en) | 2021-11-09 |
| CN113624197B true CN113624197B (en) | 2023-06-06 |
Family
ID=78389881
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111071472.2A Active CN113624197B (en) | 2021-09-13 | 2021-09-13 | Measurement and control antenna chassis non-levelness measurement method based on unmanned aerial vehicle platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113624197B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114184213B (en) * | 2022-02-16 | 2022-05-24 | 北京航天驭星科技有限公司 | System and method for measuring non-verticality of antenna azimuth axis |
| CN114662349B (en) * | 2022-05-25 | 2022-07-29 | 中国飞机强度研究所 | Method for constructing three-dimensional discrete profiling array of heating element in aerospace plane test |
| CN117008174B (en) * | 2023-10-07 | 2024-03-01 | 中国西安卫星测控中心 | GNSS-based measurement and control antenna non-orthogonality measurement method and device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106712827B (en) * | 2016-11-17 | 2020-07-28 | 上海卫星工程研究所 | Dynamic beam tracking test device and method for satellite-borne digital multi-beam receiving antenna |
| CN110377929B (en) * | 2019-05-30 | 2023-04-18 | 中国人民解放军63921部队 | Method and apparatus for correcting three-axis antenna pointing |
| CN110989677B (en) * | 2019-12-20 | 2023-05-12 | 中国人民解放军63636部队 | Unmanned aerial vehicle-based telemetering parabolic antenna electric axis dynamic calibration method |
| CN111427337B (en) * | 2020-05-08 | 2021-10-22 | 中国人民解放军63921部队 | Calibration device and calibration method for measurement and control data transmission equipment based on unmanned aerial vehicle platform |
| CN112505706A (en) * | 2020-12-17 | 2021-03-16 | 中国气象局气象探测中心 | Automatic measuring system for levelness of weather radar |
| WO2021175343A2 (en) * | 2021-05-06 | 2021-09-10 | 南京航空航天大学 | Unmanned aerial vehicle-based outdoor antenna four-dimensional pattern measurement method and apparatus |
-
2021
- 2021-09-13 CN CN202111071472.2A patent/CN113624197B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113624197A (en) | 2021-11-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113624197B (en) | Measurement and control antenna chassis non-levelness measurement method based on unmanned aerial vehicle platform | |
| CN109470265B (en) | Inertial navigation prism height difference calibration method and system | |
| CN101227235B (en) | Capture analog device of airborne laser communication system | |
| EP1579235A1 (en) | Method of determining azimuth and elevation angles using a single axis direction finding system | |
| US11906653B2 (en) | System and method of calibrating a radar rotatable antenna system | |
| US7558688B2 (en) | Angle calibration of long baseline antennas | |
| CN109959898B (en) | Self-calibration method for base type underwater sound passive positioning array | |
| CN111983550A (en) | Radio direction finding precision test method based on GPS | |
| CN113804219A (en) | Paraboloid antenna angle error coefficient calibration method and device based on celestial body measurement | |
| CN114046965A (en) | Optical axis calibration device and calibration method for multi-type avionics equipment of airplane | |
| CN114353831B (en) | Shipborne USB angle measurement error correction model and implementation method thereof | |
| CN104330077B (en) | A kind of union measuring method based on 2 points of centering models | |
| CN109945824B (en) | Method and system for measuring and transmitting course reference of carrier | |
| CN109283501B (en) | Base line alignment method for two-dimensional turntable | |
| CN110058091B (en) | Antenna servo system calibration method based on coordinate rotation | |
| CN117008174B (en) | GNSS-based measurement and control antenna non-orthogonality measurement method and device | |
| CN110440791A (en) | A kind of airborne radar rcs measurement route design method and apparatus | |
| CN111380563A (en) | Detection device, photoelectric theodolite detection system and aviation airborne optical platform detection system | |
| CN113847933B (en) | Astronomical navigation system shafting parameter calibration method | |
| CN113587955B (en) | Unmanned aerial vehicle platform-based measurement and control antenna gravity sagging error measurement method | |
| CN114167369A (en) | Height measurement precision improving technology based on antenna array surface calibration | |
| CN114125430B (en) | Calibration method for visual axis deviation degree of camera on photoelectric turret | |
| CN117213527A (en) | Large-scale structure calibration method and system | |
| CN117606509A (en) | Large-scale structure calibration method and system | |
| CN114264320A (en) | Calibration method and device of guide instrument based on satellite positioning |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |