CN114237308A - Target positioning method for positioning and adjusting equipment of antenna type wireless signal device - Google Patents
Target positioning method for positioning and adjusting equipment of antenna type wireless signal device Download PDFInfo
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- CN114237308A CN114237308A CN202111560843.3A CN202111560843A CN114237308A CN 114237308 A CN114237308 A CN 114237308A CN 202111560843 A CN202111560843 A CN 202111560843A CN 114237308 A CN114237308 A CN 114237308A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000004364 calculation method Methods 0.000 claims abstract description 4
- 238000012360 testing method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Abstract
A target positioning method for positioning and adjusting equipment of an antenna wireless signal device is characterized by comprising the following steps: it comprises the following steps: determining the target pose of a target antenna, and calculating the positions of an axis A and an axis C; determining the distance between the target TCP position and the target position Pb of the remote measuring antenna
(ii) a Determining the position of the x, y and z axes; and the equipment drives the five motion axes to the target position according to the calculation result so as to point to the pose of the target antenna. The method is simple and can be used for a real-time position control algorithm of equipment; the positions of the driving shafts under the state that the positions of the tail end TCP point and the position of the target antenna are collinear can be calculated only by appointing the position and posture of the target antenna, and multiple operations of manually adjusting the position and the posture of the approaching target antenna axis by a user are avoided.
Description
Technical Field
The invention relates to an antenna direction-finding type automatic equipment technology, in particular to a target positioning method for positioning and adjusting equipment of an antenna type wireless signal device, and specifically relates to a target antenna measuring direction aligning method for the positioning and adjusting equipment of the antenna type wireless signal device. By the positioning and adjusting method, the ground receiving device (such as a ground telemetering antenna) fixed on the positioning device can be positioned and adjusted to align the pose of the target antenna (such as an arrow antenna), so that the work such as testing can be performed.
Background
In the field of aerospace antenna measurement test application, particularly in the process of rocket antenna factory test, due to the large size of a rocket, wide antenna distribution range and large number of antennas, in order to test the signal strength and transmission quality of the antennas, multiple transmitting and receiving antennas need to be manually deployed on the ground or a working ladder, the ground antennas need to be arranged at reasonable positions before test, and the wireless signal strength of a measurement system and the position conditions of the antennas need to be confirmed after the measurement system is powered on. If the signal-to-noise ratio is low, the position of the antenna needs to be adjusted in the field radiation environment. In the process of adjusting the antenna of the measuring system, if the pose of the target antenna is confirmed, the five-coordinate adjusting device needs to align the antenna with the fixed tail end to the corresponding position direction, and the directions of the antenna and the five-coordinate adjusting device are kept consistent. The difference between the method and the general equipment adjustment is that the position solution of the general multi-axis motion mechanism is to determine the pose (position and attitude) of the target, and then move the terminal TCP point to the pose of the target. However, the antenna direction-finding mechanism is different, and the fact that the distance is fixed is not emphasized, and the target antenna position and the direction-finding antenna position are collinear along the target posture. This requires solving kinematic solutions for this particular need.
Disclosure of Invention
The invention aims to provide a target positioning method of positioning and adjusting equipment of a remote-control antenna type wireless signal device, aiming at the problem that the position of a target antenna and the position of a direction-finding antenna are difficult to ensure to be collinear along a target posture by the existing antenna direction-finding mechanism, and solving the kinematics problem that the position of the target antenna and the position of the direction-finding antenna are collinear along the target posture.
The technical scheme of the invention is as follows:
a target positioning method for positioning and adjusting equipment of an antenna wireless signal device is characterized by comprising the following steps: it comprises the following steps:
(1) determining the target pose of the target antenna:
wherein x isbX-axis coordinate, y, representing target positionbRepresenting the y-axis coordinate, z, of the target positionbA z-axis coordinate representing a target position; n is a radical ofbA direction vector representing a target antenna attitude (normal); liExpressing the cosine of an included angle between the target attitude direction vector and the x axis; m isiExpressing the cosine of an included angle between the target attitude direction vector and the y axis; n isiExpressing the cosine of an included angle between the target attitude direction vector and the z axis;
(2) calculating the positions of the A axis and the C axis;
(3) determining the distance | O of the target TCP position from the remote antenna target position PbebPb|；
|OebPb|＝li·(xb-x0+li·h)+mi·(yb-y0+mi·h)+ni·(zb-z0+ni·h)；
Wherein: h is the distance from the origin Oe of the terminal coordinate system to the rotating shaft of the A axis; x is the number of0、y0、z0The positions of the initial states of the x, y and z axes respectively;
(4) determining the position of the x, y and z axes;
(5) and the equipment drives the five motion axes to the target position according to the calculation result so as to point to the pose of the target antenna.
The positioning adjustment equipment comprises an X moving platform 1, a Y moving platform 2, a C angle rotating platform 3, a Z direction lifting platform 4 and an A angle rotating platform 5, wherein the X moving platform 1 is installed on a base and can move in the X direction along the base, the Y moving platform 2 is installed on the X moving platform 1 and can move in the Y direction on the X moving platform 1, the C angle rotating platform 3 is installed on the Y moving platform 2 and can make C direction, namely plane rotation motion on the Y moving platform 2, the Z direction lifting platform 4 is installed on the C angle rotating platform 3 and can drive the A angle rotating platform 5 installed at the upper end of the C angle rotating platform to make lifting motion, an antenna installation seat is installed on the A angle rotating platform 5 and can make A angle, namely vertical plane rotation under the driving of the A angle rotating platform 5, and an antenna is installed on the antenna installation seat.
Aligning the coordinate system ze axis (attitude direction vector pointing to the directional antenna) fixed on the tail end with the pose P of the target antennabPoint sum Nb(attitude direction vector of target antenna) direction.
The invention has the beneficial effects that:
the method is simple and can be used for a real-time position control algorithm of equipment; the positions of the driving shafts under the state that the positions of the tail end TCP point and the position of the target antenna are collinear can be calculated only by appointing the position and posture of the target antenna, and multiple operations of manually adjusting the position and the posture of the approaching target antenna axis by a user are avoided.
Drawings
Fig. 1 is a schematic structural diagram of a positioning adjustment device according to the present invention.
Fig. 2 is a schematic view of the positioning adjustment device for a remote-controlled antenna-like wireless signal device according to the present invention.
Fig. 3 is a diagrammatic view of the motion mechanism and a coordinate system definition diagram of the present invention.
FIG. 4 is a schematic diagram of the solution strategy of the present invention.
Detailed Description
The invention is further described below with reference to the figures and examples.
As shown in fig. 1-4.
A target positioning method of positioning and adjusting equipment of an antenna wireless signal device adopts a positioning and adjusting device of the antenna wireless signal device which is remotely controlled as shown in figure 1, the positioning and adjusting device comprises an X moving platform 1, a Y moving platform 2, a C angle rotating platform 3, a Z-direction lifting platform 4 and an A angle rotating platform 5, the X moving platform 1 is arranged on a base and can move along the base in the X direction, the Y moving platform 2 is arranged on the X moving platform 1 and can move on the X moving platform 1 in the Y direction, the C angle rotating platform 3 is arranged on the Y moving platform 2 and can do C-direction planar rotary motion on the Y moving platform 2, the Z-direction lifting platform 4 is arranged on the C angle rotating platform 3 and can drive the A angle rotating platform 5 arranged at the upper end thereof to do lifting motion, an antenna mounting seat is arranged on the A angle rotating platform 5 and can do A-angle rotary motion in a vertical plane under the drive of the A angle rotating platform 5, the antenna is installed on the antenna mount. The antenna installation deployment is shown in fig. 2.
The axes of motion and coordinate system established according to the mechanism of fig. 2 are shown in fig. 3, for a total of five axes of motion, x, y, z, a, C, and an end coordinate system OXYZe and a base coordinate system OXYZb.
The object of the invention is to align the ze axis of the coordinate system fixed on the end with the pose P of the target antennabPoint sum NbAnd (4) direction.
The solving method is shown in the attached figure 4 and is as follows:
the known target pose is as follows:
the method for solving the A axis and the C axis is as shown in formula (1):
solving the A, C axis adjusted state, and calculating the position vector from the Oe point to the target point Pb at the moment
As in equation (2):
in the formula, h is the distance from the origin Oe of the terminal coordinate system to the rotating shaft of the A axis; x is the number of0、y0、z0The positions of the x, y, and z-axis initial states are provided.
Further calculate the distance | O of the target position Oeb of Oe from the target antenna target position PbebPbL, as shown in equation (3):
|OebPb|＝li·(xb-x0+li·h)+mi·(yb-y0+mi·h)+ni·(zb-z0+ni·h) (3)
thus, the target position of the end TCP point can be solved as
As shown in equation (4):
and calculating the positions of the x, y and z axes as shown in the formula (5):
and according to the calculation result, driving the five motion axes x, y, z, A and C to the target position so as to point to the target antenna pose.
The present invention is not concerned with parts which are the same as or can be implemented using prior art techniques.
Claims (3)
1. A target positioning method for positioning and adjusting equipment of an antenna wireless signal device is characterized by comprising the following steps: it comprises the following steps:
(1) determining the target pose of the target antenna:
wherein x isbX-axis coordinate, y, representing target positionbRepresenting the y-axis coordinate, z, of the target positionbZ-axis coordinates representing a target position; n is a radical ofbA direction vector representing a target antenna attitude (normal); liExpressing the cosine of an included angle between the target attitude direction vector and the x axis; m isiExpressing the cosine of an included angle between the target attitude direction vector and the y axis; n isiExpressing the cosine of an included angle between the target attitude direction vector and the z axis;
(2) calculating the positions of the A axis and the C axis;
(3) determining the distance | O of the target TCP position from the remote antenna target position PbebPb|；
|OebPb|＝li·(xb-x0+li·h)+mi·(yb-y0+mi·h)+ni·(zb-z0+ni·h)；
Wherein: h is the distance from the origin Oe of the terminal coordinate system to the rotating shaft of the A axis; x is the number of0、y0、z0The positions of the initial states of the x, y and z axes respectively;
(4) determining the position of the x, y and z axes;
(5) and the equipment drives the five motion axes to the target position according to the calculation result so as to point to the pose of the target antenna.
2. The method of claim 1, further comprising: the positioning adjustment equipment comprises an X-shaped moving platform (1), a Y-shaped moving platform (2), a C-shaped angle rotating platform (3), a Z-shaped lifting platform (4) and an A-shaped angle rotating platform (5), wherein the X-shaped moving platform (1) is arranged on a base and can move in the X direction along the base, the Y-shaped moving platform (2) is arranged on the X-shaped moving platform (1) and can move in the Y direction on the X-shaped moving platform (1), the C-shaped angle rotating platform (3) is arranged on the Y-shaped moving platform (2) and can do C-shaped plane rotation motion on the Y-shaped moving platform (2), the Z-shaped lifting platform (4) is arranged on the C-shaped angle rotating platform (3) and can drive the A-shaped angle rotating platform (5) arranged at the upper end of the C-shaped angle rotating platform to do lifting motion, an antenna mounting base is arranged on the A-shaped angle rotating platform (5) and can do rotation in an A-shaped angle, namely in a vertical plane, under the driving of the A-shaped angle rotating platform (5), the antenna is installed on the antenna mount.
3. The method of claim 1, further comprising: and aligning a coordinate system ze axis fixed on the tail end with the position Pb point and the Nb direction of the target antenna.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111560843.3A CN114237308B (en) | 2021-12-20 | 2021-12-20 | Target positioning method for positioning adjustment equipment of antenna wireless signal device |
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| CN202111560843.3A CN114237308B (en) | 2021-12-20 | 2021-12-20 | Target positioning method for positioning adjustment equipment of antenna wireless signal device |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102284956A (en) * | 2011-05-04 | 2011-12-21 | 南京航空航天大学 | Normal centering method of automatic drilling and riveting robot |
| CN104488136A (en) * | 2012-06-01 | 2015-04-01 | 伍比克网络公司 | Automatic antenna pointing and stabilization system and method thereof |
| CN110045157A (en) * | 2019-04-10 | 2019-07-23 | 杭州永谐科技有限公司 | A kind of five axis positioning turntable for testing multi-antenna |
| CN110082571A (en) * | 2019-04-10 | 2019-08-02 | 杭州永谐科技有限公司 | A kind of novel positioning turntable of OTA test |
| CN110794260A (en) * | 2019-11-04 | 2020-02-14 | 国网福建省电力有限公司 | Overhead transmission line positioning method based on double RTK unmanned aerial vehicles |
-
2021
- 2021-12-20 CN CN202111560843.3A patent/CN114237308B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102284956A (en) * | 2011-05-04 | 2011-12-21 | 南京航空航天大学 | Normal centering method of automatic drilling and riveting robot |
| CN104488136A (en) * | 2012-06-01 | 2015-04-01 | 伍比克网络公司 | Automatic antenna pointing and stabilization system and method thereof |
| CN110045157A (en) * | 2019-04-10 | 2019-07-23 | 杭州永谐科技有限公司 | A kind of five axis positioning turntable for testing multi-antenna |
| CN110082571A (en) * | 2019-04-10 | 2019-08-02 | 杭州永谐科技有限公司 | A kind of novel positioning turntable of OTA test |
| CN110794260A (en) * | 2019-11-04 | 2020-02-14 | 国网福建省电力有限公司 | Overhead transmission line positioning method based on double RTK unmanned aerial vehicles |
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