CN114584992B - A method for acquiring alternative site for measurement and control station and a method for planning the layout of measurement and control station - Google Patents
A method for acquiring alternative site for measurement and control station and a method for planning the layout of measurement and control station Download PDFInfo
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Abstract
本发明提供一种测控站备选站址获取方法，包括：S1、获取测控站布设对应的高动态终端目标航迹，将其均匀分段，并对每个分段生成预设数量的备选站址；S2、调整每个备选站址的测控站天线指向为最优指向，以使该备选站址的测控站能获得对高动态终端的最大通信时长的天线指向；S3、统计每个备选站址的可通信时间段，其中，所述备选站址的可通信时间段是指同时满足符合测控站和高动态终端通信距离、高动态终端天线能覆盖到测控站的时间段、测控站天线能覆盖到高动态终端的时间段；S4、根据所有备选站址按照可通信时间段的大小，选出预设数量的备选站址。
The present invention provides a method for acquiring candidate sites for a measurement and control station, comprising: S1, acquiring a high-dynamic terminal target track corresponding to the measurement and control station layout, evenly segmenting it, and generating a preset number of candidate sites for each segment; S2, adjusting the antenna pointing direction of the measurement and control station of each candidate site to an optimal pointing direction, so that the measurement and control station of the candidate site can obtain the antenna pointing direction of the maximum communication time length for the high-dynamic terminal; S3, counting the communicative time period of each candidate site, wherein the communicative time period of the candidate site refers to the time period that satisfies the communication distance between the measurement and control station and the high-dynamic terminal, the time period that the antenna of the high-dynamic terminal can cover the measurement and control station, and the time period that the antenna of the measurement and control station can cover the high-dynamic terminal at the same time; S4, selecting a preset number of candidate sites according to the size of the communicative time period from all the candidate sites.
Description
技术领域Technical Field
本发明涉及无线通信领域，具体来说，涉及高动态终端与测控站通信 领域，更具地说，涉及针对高动态终端的测控站备选站址获取方法、测控 站布设规划方法。The present invention relates to the field of wireless communications, and more specifically, to the field of communications between a high-dynamic terminal and a measurement and control station, and more specifically, to a method for acquiring candidate station sites for a measurement and control station with respect to a high-dynamic terminal and a method for planning the layout of the measurement and control station.
背景技术Background technique
测控站是一种为高动态终端测试系统提供测试控制、数据采集和数据 录取等功能的设备，一个合理有效的测控站布设方案，能够提升测控站和 高动态终端之间的可通信时长，获取更大的数据流量，为高动态终端测试 系统提供更好的数据支持，高动态终端测试系统测试得越完备越有助于提 高实际实施的安全性。对于数据采集和数据录取来说，测控站布设的核心问题就是通信问题，而影响通信的因素包括高动态终端和测控站两方面的因素。The measurement and control station is a device that provides test control, data collection and data recording functions for the high-dynamic terminal test system. A reasonable and effective measurement and control station layout plan can increase the communication time between the measurement and control station and the high-dynamic terminal, obtain greater data flow, and provide better data support for the high-dynamic terminal test system. The more complete the high-dynamic terminal test system is, the more it helps to improve the safety of actual implementation. For data collection and data recording, the core issue of measurement and control station layout is the communication problem, and the factors affecting communication include both high-dynamic terminals and measurement and control stations.
从高动态终端的角度来说，存在着多个严重影响其通信效能的因素， 主要包括：1、高动态终端飞行高度极高，其高度能达到上百千米，在此 高度下，终端天线因功率受限，难以和地面测控站保持通信；2、高动态 终端飞行速度极快，最高速度能达到10～20马赫，平均速度能达到4～6马 赫，在如此高的速度之下，会给通信带来较大的多普勒频移；3、高动态 终端飞行时姿态也在不断变化，包括俯仰、偏航和滚动变化，其中最大的变化是俯仰的变化，终端姿态的变化直接影响到了天线中心所指方向的变 化，易导致天线指不上测控站，从而使得通信链路中断。From the perspective of high-dynamic terminals, there are several factors that seriously affect their communication performance, mainly including: 1. The high-dynamic terminal flies at an extremely high altitude, which can reach hundreds of kilometers. At this altitude, the terminal antenna is limited in power and it is difficult to maintain communication with the ground measurement and control station; 2. The high-dynamic terminal flies at an extremely high speed, with a maximum speed of 10 to 20 Mach and an average speed of 4 to 6 Mach. At such a high speed, it will cause a large Doppler frequency shift to the communication; 3. The attitude of the high-dynamic terminal is constantly changing during flight, including pitch, yaw and roll changes. The biggest change is the change in pitch. The change in the terminal attitude directly affects the change in the direction of the antenna center, which can easily cause the antenna to fail to point to the measurement and control station, thereby interrupting the communication link.
从测控站的角度来说，也存在着多个影响系统通信效能的因素，主要 包括：1、受地理环境影响，并非任何地点都能布设测控站，如山地、河 流，地理位置不同，高动态终端天线的覆盖时长也不同，继而影响到其可 通信时长，对于密林等遮挡物较多的地区，也会影响其通信链路性能；2、 测控站天线的转动速度较慢，而终端飞行速度极快，测控站天线不能保证始终跟着高动态终端；3、测控站的天线在三维空间的覆盖也有限，表现 为覆盖张角有限、覆盖距离有限，只能短时间覆盖到高速移动的终端。From the perspective of the measurement and control station, there are also many factors that affect the communication efficiency of the system, mainly including: 1. Due to the influence of the geographical environment, the measurement and control station cannot be deployed in any location, such as mountains and rivers. The coverage time of the high-dynamic terminal antenna is different in different geographical locations, which in turn affects its communication time. For areas with many obstructions such as dense forests, it will also affect its communication link performance; 2. The rotation speed of the measurement and control station antenna is slow, while the terminal flies very fast. The measurement and control station antenna cannot guarantee that it will always follow the high-dynamic terminal; 3. The coverage of the measurement and control station antenna in three-dimensional space is also limited, which is manifested in limited coverage angle and limited coverage distance, and can only cover high-speed moving terminals for a short time.
现有技术下，在实践中，测控站的布设往往根据操作人员经验设定备 选站址，随后实地考察选定最终方案，且更为关注的是跟踪测量精度的问 题，并没有重点考虑对通信链路带来的影响，使得布设出来的测控站无法 保证很好的通信质量。在面向高动态终端的测控站布设领域，布设问题更 多的是聚焦在跟踪测量精度之上，通过一些计算，生成测控站布设的几何方案，达到提升测控设备测量精度的目的。Under the existing technology, in practice, the deployment of measurement and control stations often sets the candidate site based on the operator's experience, and then selects the final plan through field investigation. Moreover, the focus is more on the problem of tracking and measurement accuracy, and the impact on the communication link is not considered, so that the deployed measurement and control stations cannot guarantee good communication quality. In the field of measurement and control station deployment for high-dynamic terminals, the deployment problem focuses more on tracking and measurement accuracy. Through some calculations, the geometric plan of measurement and control station deployment is generated to achieve the purpose of improving the measurement accuracy of measurement and control equipment.
也有一些研究人员通过仿真的手段预先获得测控站布设方案，然后再 进行实施。在整个高动态终端通信系统中，为了完成通信链路的仿真计算， 需要对测控站和高动态终端进行建模，然后进行一系列仿真计算。关于仿 真建模的部分，已有较多的组织或机构做了相应的研究工作，但其过分依 赖于输入，根据输入数据对通信系统进行仿真评估，只能用于评价布设方案的好坏，实际上考虑的因素较少，大都没有考虑地形因素、各坐标系统数据统一问题，因此也难以用于规划布设方案，不能准确预测到终端通信 链路性能，不能保证测控设备和高动态终端的通信效能。Some researchers also obtain the layout plan of the measurement and control station in advance through simulation, and then implement it. In the entire high-dynamic terminal communication system, in order to complete the simulation calculation of the communication link, it is necessary to model the measurement and control station and the high-dynamic terminal, and then perform a series of simulation calculations. Regarding the simulation modeling part, many organizations or institutions have done corresponding research work, but they are overly dependent on input. The simulation evaluation of the communication system based on the input data can only be used to evaluate the quality of the layout plan. In fact, there are few factors considered. Most of them do not consider the terrain factors and the problem of data unification of various coordinate systems. Therefore, it is difficult to plan the layout plan, and the terminal communication link performance cannot be accurately predicted, and the communication efficiency of the measurement and control equipment and the high-dynamic terminal cannot be guaranteed.
发明内容Summary of the invention
因此，本发明的目的在于克服上述现有技术的缺陷，提供一种测控站 备选站址获取方法及测控站布设规划方法。Therefore, the purpose of the present invention is to overcome the defects of the above-mentioned prior art and provide a method for obtaining alternative sites for measurement and control stations and a method for planning the layout of measurement and control stations.
根据本发明的第一方面，提供一种测控站备选站址获取方法，包括： S1、获取测控站布设对应的高动态终端目标航迹，将其均匀分段，并对每 个分段生成预设数量的备选站址；S2、调整每个备选站址的测控站天线指 向为最优指向，以使该备选站址的测控站能获得对高动态终端的最大通信 时长的天线指向；S3、统计每个备选站址的可通信时间段，其中，所述备 选站址的可通信时间段是指同时满足符合测控站和高动态终端通信距离、 高动态终端天线能覆盖到测控站的时间段、测控站天线能覆盖到高动态终 端的时间段；S4、根据所有备选站址按照可通信时间段的大小，选出预设 数量的备选站址。优选的，所述方法还包括：S5、在判断出S4选出的备 选站址中有地形不可达的站址时，以每一个地形不可达的备选站址为中心向航迹两侧扩散以选出最终的地形可达的备选站址。According to a first aspect of the present invention, a method for acquiring candidate sites for a tracking and control station is provided, comprising: S1, acquiring a high-dynamic terminal target track corresponding to the tracking and control station layout, evenly segmenting it, and generating a preset number of candidate sites for each segment; S2, adjusting the tracking and control station antenna pointing direction of each candidate site to an optimal pointing direction, so that the tracking and control station of the candidate site can obtain an antenna pointing direction with a maximum communication duration to the high-dynamic terminal; S3, counting the communicative time period of each candidate site, wherein the communicative time period of the candidate site refers to a time period that satisfies the communication distance between the tracking and control station and the high-dynamic terminal, the time period that the antenna of the high-dynamic terminal can cover the tracking and control station, and the time period that the antenna of the tracking and control station can cover the high-dynamic terminal; S4, selecting a preset number of candidate sites according to the size of the communicative time period from all the candidate sites. Preferably, the method further includes: S5, when it is determined that there are terrain-inaccessible sites among the alternative sites selected in S4, spreading to both sides of the track with each terrain-inaccessible alternative site as the center to select the final terrain-accessible alternative site.
优选的，在所述步骤S1中，每个分段为1个经度距离。Preferably, in step S1, each segment is 1 longitude distance.
优选的，所述每个分段备选站址的预设数量为大于等于2的整数。Preferably, the preset number of candidate sites for each segment is an integer greater than or equal to 2.
在本发明的一些实施例中，所述步骤S2包括：S21、将测控站天线的 方位角指向高动态终端飞来的一侧，从大到小调整测控站天线俯仰角的变 化步长，并对每次调整执行下列步骤S22、S23；S22、基于测控站天线指 向和测控站位置构建第一空间向量，其中，所述第一空间向量是由测控站 天线指向的坐标指向测控站备选站址位置坐标的空间向量；S23、基于高动态终端位置和测控站位置构建第二空间向量集合，其中，所述第二空间 向量集合是由高动态终端每个时刻所在的位置坐标指向测控站备选站址 位置坐标的第二空间向量的集合；S24、基于第一空间向量和第二空间向 量集合中的每一个第二空间向量计算测控站在备选站址满足与高动态终 端通信条件的时长，其中，测控站在备选站址时满足与高动态终端通信条 件是指第一空间向量和第二空间向量的夹角对应的天线增益衰减小于或等于预设天线增益衰减阈值；S24、将测控站天线指向固定在测控站满足与高动态终端通信条件且通信时长最大时对应的指向。In some embodiments of the present invention, the step S2 includes: S21, pointing the azimuth angle of the measurement and control station antenna to the side where the high-dynamic terminal flies, adjusting the change step of the elevation angle of the measurement and control station antenna from large to small, and performing the following steps S22 and S23 for each adjustment; S22, constructing a first space vector based on the measurement and control station antenna direction and the measurement and control station position, wherein the first space vector is a space vector pointing from the coordinates pointed by the measurement and control station antenna to the coordinates of the position of the candidate station site of the measurement and control station; S23, constructing a second space vector set based on the position of the high-dynamic terminal and the measurement and control station position, wherein the second space vector set is a set of second space vectors pointing from the position coordinates of the high-dynamic terminal at each moment to the coordinates of the position of the candidate station site of the measurement and control station; S24, calculating the time length that the measurement and control station satisfies the communication conditions with the high-dynamic terminal at the candidate station site based on each second space vector in the first space vector and the second space vector set, wherein the measurement and control station satisfies the communication conditions with the high-dynamic terminal at the candidate station site. The condition refers to that the antenna gain attenuation corresponding to the angle between the first space vector and the second space vector is less than or equal to the preset antenna gain attenuation threshold; S24, fixing the antenna direction of the measurement and control station to the direction corresponding to when the measurement and control station meets the communication conditions with the high dynamic terminal and the communication time is maximum.
优选的，所述在所述步骤S2中，将测控站备选站址和高动态终端任 意时刻所在的位置、测控站天线指向转换到预设的统一的坐标系下之后再 调整每个备选站址的测控站天线指向为最优指向。Preferably, in step S2, the alternative site of the tracking and control station, the location of the high dynamic terminal at any time, and the tracking and control station antenna direction are converted to a preset unified coordinate system, and then the tracking and control station antenna direction of each alternative site is adjusted to the optimal direction.
优选的，所述预设天线增益衰减阈值为3dB。Preferably, the preset antenna gain attenuation threshold is 3dB.
优选的，所述步骤S3包括针对每个备选站址执行如下步骤：S31、分 别计算符合测控站和高动态终端通信距离的时间段、高动态终端天线能覆 盖到测控站的时间段、测控站天线能覆盖到高动态终端的时间段，其中， 符合测控站和高动态终端通信距离的时间段是指测控站和高动态终端之 间的距离小于高动态终端天线最大覆盖距离和测控站天线最大覆盖距离 中的较小值的时间段；高动态终端天线能覆盖到测控站的时间段是指第一空间向量与第二空间向量的夹角小于高动态终端天线的半波束张角的时 间段；测控站天线能覆盖到高动态终端的时间段是指第一空间向量与第二 空间向量的夹角小于测控站天线半波束张角的时间段；S32、计算符合测 控站和高动态终端通信距离的时间段、高动态终端天线能覆盖到测控站的 时间段、测控站天线能覆盖到高动态终端的时间段的交集。Preferably, the step S3 includes executing the following steps for each candidate site: S31, respectively calculating the time period that meets the communication distance between the measurement and control station and the high-dynamic terminal, the time period that the high-dynamic terminal antenna can cover the measurement and control station, and the time period that the measurement and control station antenna can cover the high-dynamic terminal, wherein the time period that meets the communication distance between the measurement and control station and the high-dynamic terminal refers to the time period when the distance between the measurement and control station and the high-dynamic terminal is less than the smaller value of the maximum coverage distance of the high-dynamic terminal antenna and the maximum coverage distance of the measurement and control station antenna; the time period when the high-dynamic terminal antenna can cover the measurement and control station refers to the time period when the angle between the first space vector and the second space vector is less than the half-beam angle of the high-dynamic terminal antenna; the time period when the measurement and control station antenna can cover the high-dynamic terminal refers to the time period when the angle between the first space vector and the second space vector is less than the half-beam angle of the measurement and control station antenna; S32, calculating the intersection of the time period that meets the communication distance between the measurement and control station and the high-dynamic terminal, the time period when the high-dynamic terminal antenna can cover the measurement and control station, and the time period when the measurement and control station antenna can cover the high-dynamic terminal.
在本发明的一些实施例中，所述步骤S5包括以步骤S4选出的每个备 选站址为中心，使用分块模拟退火方法分别向航迹两侧扩散以选出每个备 选站址对应的最终的备选站址，其中，以每个备选站址为中心向航迹一侧 扩散包括如下步骤：S51、向航迹一侧移动当前备选站址，直到地形可达；S52、计算当前备选站址移动到新位置时对应的可通信时段，当前备选站 址移动到新置时对应的可通信时段大于或等于当前备选站址不移动时对应的可通信时段时，移动当前备选站址到新位置并执行步骤S51，当前备 选站址移动到新位置时对应的可通信时段小于当前备选站址不移动时对 应的可通信时段时直接进入步骤S53；S53、计算系统温度，所述系统温度为当前备选站址的原位置对应的可通信时段与当前备选站址移动到新位 置时对应的可通信时段的差值，系统温度小于设定的最低温度时结束移动， 系统温度大于或等于设定的最低温度时，按照预设的退火速率更新系统温 度并执行步骤S51。In some embodiments of the present invention, the step S5 includes taking each alternative site selected in step S4 as the center, and using the block simulated annealing method to diffuse to both sides of the track to select the final alternative site corresponding to each alternative site, wherein the diffusion to one side of the track with each alternative site as the center includes the following steps: S51, moving the current alternative site to one side of the track until it is reachable by the terrain; S52, calculating the corresponding communicative period when the current alternative site moves to a new position, when the corresponding communicative period when the current alternative site moves to the new position is greater than or equal to the corresponding communicative period when the current alternative site does not move, moving the current alternative site to the new position and executing step S51, when the corresponding communicative period when the current alternative site moves to the new position is less than the corresponding communicative period when the current alternative site does not move, directly entering step S53; S53, calculating the system temperature, the system temperature is the communication period corresponding to the original position of the current alternative site and the communication period when the current alternative site moves to the new position. When the system temperature is less than the set minimum temperature, the movement is terminated; when the system temperature is greater than or equal to the set minimum temperature, the system temperature is updated according to the preset annealing rate and step S51 is executed.
根据本发明的第二方面，提供一种测控站布设规划方法，所述方法包 括：B1、采用如本发明第一方面所述的方法获取测控站备选站址，其中， 每个备选站址包含有测控站天线方位角、俯仰角信息；B2、按照步骤B1 中获取的备选站址位置、测控站天线方位角和俯仰角进行测控站布设规划。According to a second aspect of the present invention, a method for planning the layout of a measurement and control station is provided, the method comprising: B1, obtaining candidate sites for the measurement and control station using the method described in the first aspect of the present invention, wherein each candidate site contains information on the azimuth and elevation angles of the measurement and control station antenna; B2, planning the layout of the measurement and control station according to the candidate site locations, the azimuth and elevation angles of the measurement and control station antennas obtained in step B1.
与现有技术相比，本发明的优点在于：本发明从全局的角度对高动态 终端航迹和通信链路进行仿真，设定高动态终端和测控设备天线性能约束、 信道约束，选出最适合布站的大致位置，随后在此基础上，设定地形因素， 采用优化算法解算最优布设站点和测控设备天线指向，具有自动化程度高、 布设准确、终端和测控设备可通信时间长等优势。Compared with the prior art, the advantages of the present invention are: the present invention simulates the high-dynamic terminal track and communication link from a global perspective, sets the antenna performance constraints and channel constraints of the high-dynamic terminal and the measurement and control equipment, selects the approximate location most suitable for station deployment, and then sets the terrain factors on this basis, and uses the optimization algorithm to solve the optimal deployment site and the antenna pointing of the measurement and control equipment. It has the advantages of high degree of automation, accurate deployment, and long communication time of the terminal and the measurement and control equipment.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
以下参照附图对本发明实施例作进一步说明，其中：The embodiments of the present invention are further described below with reference to the accompanying drawings, in which:
图1为根据本发明实施例的高动态终端与测控站通信示意图；FIG1 is a schematic diagram of communication between a high-dynamic terminal and a measurement and control station according to an embodiment of the present invention;
图2为根据本发明实施例的高动态终端位置和姿态随时间变化示意图；FIG2 is a schematic diagram showing the change of the position and posture of a high-dynamic terminal over time according to an embodiment of the present invention;
图3为根据本发明实施例的测控站布设规划方法流程示意图；3 is a schematic diagram of a method for planning the deployment of measurement and control stations according to an embodiment of the present invention;
图4为根据本发明实施例的可通信时间段计算示意图。FIG. 4 is a schematic diagram of calculating a communicable time period according to an embodiment of the present invention.
具体实施方式Detailed ways
为了使本发明的目的，技术方案及优点更加清楚明白，以下通过具体 实施例对本发明进一步详细说明。应当理解，此处所描述的具体实施例仅 用以解释本发明，并不用于限定本发明。In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail by specific embodiments below. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.
本发明的目的是解决在高动态终端飞行过程中，地面测控站如何选址 和设定天线指向的布设问题。本发明以通信时长为优化目标，基于高动态 终端运动航迹和姿态，计算高动态终端的天线覆盖，在此基础上，结合测 控站通信条件以及地形等约束，规划合理的布设方案。The purpose of the present invention is to solve the problem of how to select the site and set the antenna direction of the ground tracking and control station during the flight of a high-dynamic terminal. The present invention takes the communication duration as the optimization target, calculates the antenna coverage of the high-dynamic terminal based on the motion track and attitude of the high-dynamic terminal, and on this basis, combines the communication conditions of the tracking and control station and the constraints such as terrain to plan a reasonable layout plan.
如背景技术中提到的，影响测控站通信的因素包括高动态终端和测控 站两方面的因素，而高动态终端的轨迹和姿态难以改变和调整，因此，在 诸多限制的情况下，只能从布设测控站的角度来提升测控站对高动态终端 数据采集和数据录取的时长。而现有的测控设备的布设，往往根据操作人 员经验设定备选站址，随后实地考察选定最终方案，这种布设方法，并不能准确预测到终端通信链路性能，不能保证测控设备和高动态终端的通信效能。为此，本发明通过仿真预先筛选出合适的测控站位置和测控站天线 指向角来提升测控站与高动态终端的通信时长。进一步，本发明针对上述 问题，从提升通信时长的角度出发，来进行测控站备选站址的筛选以及测 控站布设，本发明通过构建测控站模型、测控站天线模型、高动态终端模 型，并将各个模型统一到了WGS84坐标系统之下，计算测控站和终端之间 的波束覆盖，构建天线约束、地形约束等约束条件，完成测控站的布设规 划，实现从全局的角度对高动态终端航迹和通信链路进行仿真，设定高动态终端和测控设备天线性能约束、信道约束，选出最适合布站的大致位置， 随后在此基础上，设定地形因素，采用优化算法解算最优布设站点和测控 设备天线指向。As mentioned in the background technology, the factors affecting the communication of the measurement and control station include the factors of the high-dynamic terminal and the measurement and control station. The trajectory and posture of the high-dynamic terminal are difficult to change and adjust. Therefore, under many restrictions, the measurement and control station can only be used to increase the duration of data collection and data recording of the high-dynamic terminal from the perspective of the deployment of the measurement and control station. The deployment of existing measurement and control equipment often sets the candidate site based on the operator's experience, and then selects the final plan through field investigation. This deployment method cannot accurately predict the performance of the terminal communication link and cannot guarantee the communication efficiency of the measurement and control equipment and the high-dynamic terminal. To this end, the present invention pre-screens the appropriate measurement and control station location and the measurement and control station antenna pointing angle through simulation to increase the communication duration between the measurement and control station and the high-dynamic terminal. Furthermore, in view of the above-mentioned problem, the present invention screens candidate sites for the tracking and control stations and arranges the tracking and control stations from the perspective of improving the communication duration. The present invention constructs a tracking and control station model, a tracking and control station antenna model, and a high-dynamic terminal model, and unifies each model under the WGS84 coordinate system, calculates the beam coverage between the tracking and control station and the terminal, constructs antenna constraints, terrain constraints and other constraints, completes the arrangement planning of the tracking and control stations, and simulates the high-dynamic terminal track and communication link from a global perspective, sets antenna performance constraints and channel constraints for high-dynamic terminals and tracking and control equipment, selects the approximate location that is most suitable for station arrangement, and then sets terrain factors on this basis, and uses an optimization algorithm to solve the optimal arrangement site and tracking and control equipment antenna pointing.
为了更好的理解本发明，下面结合附图详细说明本发明。In order to better understand the present invention, the present invention is described in detail below with reference to the accompanying drawings.
如图1所示为一个测控站和一个高动态终端的系统，高动态终端波束 覆盖范围和距离有限，其指向随着终端姿态变化而变化，如图1中所示， 在t1、t2、t3、t4时刻，高动态终端的姿态发生变化，其天线覆盖范围也随之发生了变化。而实际的测控站布设中，包含多个测控站，每个地面 测控站都有个天线指向空中，为高动态终端提供通信服务。As shown in Figure 1, there is a system of a tracking and control station and a high-dynamic terminal. The high-dynamic terminal beam coverage range and distance are limited, and its direction changes with the terminal posture. As shown in Figure 1, at t1, t2, t3, and t4, the posture of the high-dynamic terminal changes, and its antenna coverage range also changes accordingly. In the actual tracking and control station layout, there are multiple tracking and control stations, and each ground tracking and control station has an antenna pointing to the air to provide communication services for the high-dynamic terminal.
本发明以最大化通信时长为性能指标，对高动态终端和测控站的通信 链路进行分析，建立终端和测控站模型，包括：高动态终端模型、测控站 模型、测控站天线模型。The present invention takes maximizing communication duration as a performance indicator, analyzes the communication link between a high-dynamic terminal and a measurement and control station, and establishes terminal and measurement and control station models, including: a high-dynamic terminal model, a measurement and control station model, and a measurement and control station antenna model.
1)高动态终端模型1) High dynamic terminal model
为了表征和计算高动态终端的运动模型，本发明建立了下式所示的终 端模型以将高动态终端的航线轨迹用数据集合的方式进行表述方便仿真 分析：In order to characterize and calculate the motion model of a high-dynamic terminal, the present invention establishes a terminal model shown in the following formula to express the route trajectory of the high-dynamic terminal in the form of a data set to facilitate simulation analysis:
M＝(T,V,Pm,Att,Ant)M＝(T,V,P m ,Att,Ant)
其中，T表示终端运动时长，V表示T时间内终端每一时刻的速度，P表 示T时间内终端每一时刻的位置，Att表示T时间内终端每一时刻的姿态， Ant表示终端采用的天线模型，涵盖终端天线安装位置、天线指向以及天线增益等，如图2(a)所示为一种典型的高动态终端位置随时间的变化趋 势，如图2(b)所示的为一种典型的高动态终端姿态随时间的变化趋势， 模型代表对应的是高动态终端航迹数据集合。Wherein, T represents the duration of terminal movement, V represents the speed of the terminal at each moment within T time, P represents the position of the terminal at each moment within T time, Att represents the attitude of the terminal at each moment within T time, Ant represents the antenna model adopted by the terminal, including the terminal antenna installation position, antenna pointing and antenna gain, etc. As shown in Figure 2(a), it is a typical trend of the change of the position of a high-dynamic terminal over time, and as shown in Figure 2(b), it is a typical trend of the change of the attitude of a high-dynamic terminal over time. The model represents the corresponding high-dynamic terminal track data set.
2)测控站模型2) Measurement and control station model
为了表征和计算测控站的位置和天线覆盖，建立下式所示的测控站模 型：In order to characterize and calculate the location and antenna coverage of the tracking and control station, the tracking and control station model shown in the following formula is established:
F＝(Pf,Azi,Ele,Ant)F＝(P f ,Azi,Ele,Ant)
其中，P表示测控站的位置，如经纬度和高度，Azi和Ele表示测控站 天线的中心指向，即方位角和俯仰角，Ant表示测控站采用的天线模型， 涵盖测控站天线增益等，测控站模型对应的是所有测控站对应的位置、每 个位置测控站天线的中心指向、天线模型的数据集合。Among them, P represents the position of the tracking and control station, such as longitude, latitude and altitude, Azi and Ele represent the central direction of the tracking and control station antenna, that is, azimuth and elevation angle, Ant represents the antenna model used by the tracking and control station, covering the antenna gain of the tracking and control station, etc. The tracking and control station model corresponds to the corresponding positions of all tracking and control stations, the central direction of the tracking and control station antenna at each position, and the data set of the antenna model.
3)天线模型3) Antenna model
天线模型采用的是半波束张角和距离的简单模型：The antenna model uses a simple model of half-beam angle and distance:
Ant＝(θf,df)Ant＝(θ f ,d f )
其中，θ是天线的半波束张角，d是距离，天线增益衰减以3dB为限， 在指定半波束张角和距离范围内，就认为天线是可以正常工作的，即在天 线增益衰减距离天线中心不超过3dB的前提下，在半波束张角和距离范围 内，天线就是可以正常工作的，能够为覆盖范围内的高动态终端提供服务。， 在给定天线模型的情况下，即可得到天线增益表格，根据张角可查询天线 增益，此处不再详细赘述。Among them, θ is the half-beam angle of the antenna, d is the distance, and the antenna gain attenuation is limited to 3dB. Within the specified half-beam angle and distance range, the antenna is considered to be able to work normally, that is, under the premise that the antenna gain attenuation does not exceed 3dB from the antenna center, within the half-beam angle and distance range, the antenna can work normally and can provide services for high-dynamic terminals within the coverage range. , Given an antenna model, the antenna gain table can be obtained, and the antenna gain can be queried according to the angle, which will not be described in detail here.
在建立了测控站、高动态终端以及天线的基本模型后，本发明在约束 条件下对测控站布设规划问题进行求解，如图2所示，具体求解过程如下：After establishing the basic models of the measurement and control station, the high dynamic terminal and the antenna, the present invention solves the measurement and control station layout planning problem under the constraint conditions, as shown in FIG2 , and the specific solution process is as follows:
步骤1：响应于需要布设测控站的需求，获取测控站布设对应的高动 态终端目标航迹，根据高动态终端航迹生成一定量的备选站址。其中，将 终端航迹均匀分段，例如每段约为1个经度距离，每段生成相同数量的站址。例如，终端自西向东飞行10个经度的距离，便可以在终端航迹下方 每个经度生成3个备选站址，即一共生成30个备选站址。在构建了测控 站模型、高动态终端模型、测控站天线基础上，获取高动态终端航迹相当 于获取一段航迹对应的高动态终端数据集合，该数据集合按照高动态终端 模型的方式进行布局。生成的备选站址也相当于是在每个备选站址生成一个包含该站址的测控站数据，形成测控站数据集合以及测控站天线数据集 合。Step 1: In response to the need to deploy a tracking and control station, obtain the high-dynamic terminal target track corresponding to the tracking and control station deployment, and generate a certain number of candidate sites according to the high-dynamic terminal track. The terminal track is evenly segmented, for example, each segment is about 1 longitude distance, and each segment generates the same number of sites. For example, if the terminal flies a distance of 10 longitudes from west to east, 3 candidate sites can be generated for each longitude below the terminal track, that is, a total of 30 candidate sites are generated. Based on the construction of the tracking and control station model, the high-dynamic terminal model, and the tracking and control station antenna, obtaining the high-dynamic terminal track is equivalent to obtaining a high-dynamic terminal data set corresponding to a track, and the data set is laid out in the manner of the high-dynamic terminal model. The generated candidate site is also equivalent to generating a tracking and control station data containing the site at each candidate site, forming a tracking and control station data set and a tracking and control station antenna data set.
步骤2：计算每个备选站址的测控站天线最优指向，所谓的最优指向 是指相较于其他方向，测控站在该站址时天线采用该指向能使测控站天线 覆盖高动态终端更长的时间。根据本发明的一个实施例，所述步骤2包括针对每个备选站址执行：Step 2: Calculate the optimal direction of the tracking and control station antenna at each candidate site. The so-called optimal direction means that compared with other directions, when the tracking and control station is at this site, the antenna adopts this direction so that the tracking and control station antenna can cover the high-dynamic terminal for a longer time. According to one embodiment of the present invention, step 2 includes executing for each candidate site:
步骤21：将步骤1中获取到的测控站、高动态终端所在位置数据转换 到统一的坐标系下，例如WGS84坐标系下，并分别用(xf，yf，zf)表示测控站 位置、(xm，ym，zm)表示高动态终端任意时刻位置。Step 21: Convert the location data of the measurement and control station and the high-dynamic terminal obtained in step 1 to a unified coordinate system, such as the WGS84 coordinate system, and use ( xf , yf , zf ) to represent the location of the measurement and control station and ( xm , ym , zm ) to represent the location of the high-dynamic terminal at any time.
步骤22：建立基于测控站的载体坐标系，根据测控站天线指向 (Azi，Ele)将天线指向转换到WGS84坐标系下(xa，ya，za)，然后基于测控站 位置(xf，yf，zf)构造第一空间向量：Step 22: Establish a carrier coordinate system based on the tracking and control station, convert the antenna pointing to the WGS84 coordinate system ( xa , ya , za ) according to the tracking and control station antenna pointing (Azi, Ele), and then construct the first space vector based on the tracking and control station position ( xf , yf , zf ):
步骤23：根据测控站位置和高动态终端任意时刻位置(xm，ym，zm)，构 造第二空间向量：Step 23: Construct a second space vector according to the position of the measurement and control station and the position of the high dynamic terminal at any time (x m , y m , z m ):
步骤24：计算测控站可覆盖高动态终端的时长。具体地，计算和/>的夹角θ大小：Step 24: Calculate the time that the measurement and control station can cover the high-dynamic terminal. Specifically, calculate and/> The angle θ is:
根据天线模型获得该方向的天线增益值(查询天线模型对应的天线增 益表)，从而判断其通信能力，逐秒计算θt，通过查表获得增益，增益衰 减小于3dB是符合通信条件的，分析统计高动态终端运动过程中与测控站 符合通信条件(半功率波束范围内即和的夹角θt要在天线模型对应 的半功率波束张角范围内)的时间段，累加可得通信时长。According to the antenna model, the antenna gain value in this direction is obtained (the antenna gain table corresponding to the antenna model is queried), so as to judge its communication capability. θ t is calculated second by second, and the gain is obtained by looking up the table. If the gain attenuation is less than 3dB, it meets the communication conditions. The high-dynamic terminal meets the communication conditions with the measurement and control station during the movement (within the half-power beam range, i.e. and The angle θ t must be within the half-power beam angle range corresponding to the antenna model) for a period of time, and the communication duration can be obtained by accumulation.
步骤25：固定测控站天线的方位角指向终端飞来的一侧，从大到小调 整俯仰角变化步长，调整俯仰角并重复步骤22到24，迭代计算得到测控站能获得对终端的最大通信时长对应的测控站天线最优的指向角。Step 25: Fix the azimuth angle of the tracking and control station antenna to point to the side where the terminal is flying, adjust the pitch angle change step from large to small, adjust the pitch angle and repeat steps 22 to 24, and iteratively calculate the optimal pointing angle of the tracking and control station antenna corresponding to the maximum communication time that the tracking and control station can obtain with the terminal.
步骤3：统计每个备选站址的可通信时间段，其中，备选站址的可通 信时间段是指同时满足符合测控站和高动态终端通信距离、高动态终端天 线能覆盖到测控站的时间段、测控站天线能覆盖到高动态终端。根据本发明的一个实施例，所述步骤3包括对每个备选站址执行：Step 3: Count the communicable time period of each candidate site, wherein the communicable time period of the candidate site refers to the time period that satisfies the communication distance between the measurement and control station and the high-dynamic terminal, the time period that the antenna of the high-dynamic terminal can cover the measurement and control station, and the time period that the antenna of the measurement and control station can cover the high-dynamic terminal. According to one embodiment of the present invention, step 3 includes executing for each candidate site:
步骤31：计算在飞行过程中高动态终端和测控站的距离dt，终端天线 最大覆盖距离为dm，测控站天线最大覆盖距离为df，符合通信距离的时间 段为Td＝{t|(dt＜min(df，dm))}Step 31: Calculate the distance dt between the high-dynamic terminal and the tracking and control station during flight. The maximum coverage distance of the terminal antenna is dm , the maximum coverage distance of the tracking and control station antenna is df , and the time period that meets the communication distance is Td = {t|( dt <min( df , dm ))}
步骤32：高动态终端天线半波束张角为θm，在不考虑距离的情况下， 计算高动态终端在飞行过程中的波束覆盖，高动态终端波束可覆盖到备选 站址的时间段Tm＝{t|(θt＜θm)}。Step 32: The half-beam angle of the high-dynamic terminal antenna is θ m . Without considering the distance, the beam coverage of the high-dynamic terminal during flight is calculated. The time period T m ={t|(θ t <θ m )} during which the high-dynamic terminal beam can cover the candidate site.
步骤33：测控站天线半波束张角为θf，在不考虑距离的情况下，计算 测控站的波束覆盖，测控站天线可以覆盖到终端的时间段为Tf＝{t|(θt＜ θf)}。Step 33: The half-beam angle of the TT&C station antenna is θ f . Without considering the distance, the beam coverage of the TT&C station is calculated. The time period that the TT&C station antenna can cover the terminal is T f ={t|(θ t < θ f )}.
步骤34：汇总步骤31到33之间的时间段，如图4所示，统计出同时 符合测控站和高动态终端通信距离、测控站天线能覆盖到终端、终端天线 能覆盖到测控站的时间段，该时间段即为可通信时间段：Step 34: Summarize the time periods between steps 31 to 33, as shown in Figure 4, and count the time periods that meet the communication distance between the measurement and control station and the high-dynamic terminal, the measurement and control station antenna can cover the terminal, and the terminal antenna can cover the measurement and control station. This time period is the communicable time period:
T＝Td∩Tm∩Tf T ＝ Td∩Tm∩Tf
步骤4：将备选站址按照可通信时间段由大到小进行排序，按照预设 的备选站址数量要求选择排序靠前的那些备选站址。Step 4: Sort the candidate sites according to the communicable time period from large to small, and select the candidate sites with the highest ranking according to the preset number of candidate sites.
步骤5：以各个备选站址为中心，考虑地形可达和不可达，使用分块 模拟退火算法分别向航迹两侧扩散选出最终的备选站址，向其中一侧的步 骤如下：Step 5: Taking each candidate site as the center, considering the terrain accessibility and inaccessibility, use the block simulated annealing algorithm to diffuse to both sides of the track to select the final candidate site. The steps to one side are as follows:
步骤51：向航迹一侧移动备选站址，若地形不可达，则继续移动以得 当前备选站址的新位置；Step 51: Move the candidate station site to one side of the track. If the terrain is inaccessible, continue to move to obtain the new position of the current candidate station site;
步骤52：使用步骤2和步骤3以获得测控站在新位置与高动态终端的 可通信时长T′，测控站在当前备选站址不移动到新位置时对应的与高动态 终端的可通信时长为T；Step 52: Use step 2 and step 3 to obtain the communication time length T′ between the measurement and control station and the high dynamic terminal at the new position. The communication time length between the measurement and control station and the high dynamic terminal corresponding to the current candidate station site not moving to the new position is T;
步骤53：如果T′≥T则接受移动即将当前备选站址移动到新位置，重 复步骤5直到结束，如果T′＜T，则进入步骤54；Step 53: If T′≥T, accept the move, that is, move the current candidate site to the new location, and repeat step 5 until the end; if T′＜T, proceed to step 54;
步骤54：计算系统温度Temp＝T-T′，如果系统温度Temp小于设定 的最低温度值Tempmin，则结束当前备选站址的移动；反之，更新系统温 度Temp＝r*Temp，重复步骤5直至完成移动，其中r是预设的退火速率，0＜r＜1，r越小，系统降温越快。Step 54: Calculate the system temperature Temp = TT′. If the system temperature Temp is less than the set minimum temperature value Temp min , end the movement of the current candidate site. Otherwise, update the system temperature Temp = r*Temp, and repeat step 5 until the movement is completed, where r is the preset annealing rate, 0 < r < 1, the smaller r is, the faster the system cools down.
步骤6：汇总数据，按可通信时间长短排序，统计站点位置、站点天 线方位角、俯仰角等数据，给出最终的站点布设规划方案。Step 6: Summarize the data, sort them by the length of communication time, count the site location, site antenna azimuth, elevation angle and other data, and give the final site layout plan.
由上述实施例可以看出：It can be seen from the above embodiments that:
1、本发明建立了一个通信效能评估体系。本发明以通信时长为性能 指标，对三维空间下的高动态终端、天线、测控站和测控站天线进行统一 建模，在WGS84坐标系统下，计算全时刻的终端天线和测控站天线的覆盖，根据链路预算的结果，计算得到两者之间可通信时间段和累计通信时长。1. The present invention establishes a communication performance evaluation system. The present invention uses the communication duration as a performance indicator, uniformly models the high-dynamic terminal, antenna, measurement and control station, and measurement and control station antenna in three-dimensional space, calculates the coverage of the terminal antenna and the measurement and control station antenna at all times in the WGS84 coordinate system, and calculates the communication time period and cumulative communication duration between the two based on the link budget result.
2、本发明提供了一个计算测控站天线最优指向的方法。对于测控站， 存在天线转向无法跟随高动态终端转动的情况，往往选择固定天线指向。 本发明在高动态终端路径规划的基础上，在指定测控站站址的情况下，以 通信效能评估体系作为标准，提供了一种计算最优天线指向的方法。2. The present invention provides a method for calculating the optimal antenna orientation of a measurement and control station. For a measurement and control station, there is a situation where the antenna steering cannot follow the rotation of a high-dynamic terminal, and a fixed antenna orientation is often selected. Based on the high-dynamic terminal path planning, the present invention provides a method for calculating the optimal antenna orientation with the communication performance evaluation system as a standard under the condition of specifying the measurement and control station site.
3、本发明设计了一套测控站选址和布设的方法。在高动态终端路径 规划基础上，根据飞行距离设定步长，生成多个备选站址。随后设定终端 和测控设备天线性能约束、信道约束，调整测控设备天线指向，对各个备 选站址和终端通信效能进行评估，择出较优的几个站址。最后增加地形约束，提升选址精度，将备选站址向周边进行扩充，采取分块模拟退火算法 计算得到最优的几个站址及相应的天线指向，生成分析报告。3. The present invention designs a method for site selection and layout of measurement and control stations. Based on the high-dynamic terminal path planning, the step length is set according to the flight distance to generate multiple candidate sites. Then, the terminal and measurement and control equipment antenna performance constraints and channel constraints are set, the measurement and control equipment antenna pointing is adjusted, and the communication performance of each candidate site and terminal is evaluated to select several better sites. Finally, terrain constraints are added to improve the site selection accuracy, and the candidate sites are expanded to the surrounding area. The block simulated annealing algorithm is used to calculate the optimal sites and corresponding antenna pointing, and an analysis report is generated.
总的来说，本发明提供了一种全自动的面向高动态终端的测控站布设 规划方法，它以通信效能为评价指标，以已知高动态终端路径规划为前提， 对测控站的布设进行规划。本发明在规划的过程中，针对高动态终端建立 了高动态终端的航迹模型、姿态模型、波束模型，针对无线信道建立了空 间信道模型，针对测控站建立了测控站终端的位置模型、天线模型，针对地形因素设定了地形约束条件，采用了分块模拟退火算法对站址进行选择，从而保障测控站和终端的长时间通信，具有较大的应用价值。In general, the present invention provides a fully automatic planning method for the deployment of measurement and control stations for high-dynamic terminals, which takes communication efficiency as an evaluation index and known high-dynamic terminal path planning as a premise to plan the deployment of measurement and control stations. In the planning process, the present invention establishes a track model, attitude model, and beam model for high-dynamic terminals, a spatial channel model for wireless channels, a position model and antenna model for measurement and control station terminals, and sets terrain constraints for terrain factors. The block simulated annealing algorithm is used to select station sites, thereby ensuring long-term communication between measurement and control stations and terminals, and has great application value.
需要说明的是，虽然上文按照特定顺序描述了各个步骤，但是并不意 味着必须按照上述特定顺序来执行各个步骤，实际上，这些步骤中的一些 可以并发执行，甚至改变顺序，只要能够实现所需要的功能即可。It should be noted that although the above describes the various steps in a specific order, it does not mean that the various steps must be executed in the above specific order. In fact, some of these steps can be executed concurrently or even in a different order as long as the required functions can be achieved.
本发明可以是系统、方法和/或计算机程序产品。计算机程序产品可 以包括计算机可读存储介质，其上载有用于使处理器实现本发明的各个方 面的计算机可读程序指令。The present invention may be a system, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions for causing a processor to implement various aspects of the present invention.
计算机可读存储介质可以是保持和存储由指令执行设备使用的指令 的有形设备。计算机可读存储介质例如可以包括但不限于电存储设备、磁 存储设备、光存储设备、电磁存储设备、半导体存储设备或者上述的任意 合适的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、 可擦式可编程只读存储器(EPROM或闪存)、静态随机存取存储器(SRAM)、 便携式压缩盘只读存储器(CD-ROM)、数字多功能盘(DVD)、记忆棒、 软盘、机械编码设备、例如其上存储有指令的打孔卡或凹槽内凸起结构、 以及上述的任意合适的组合。Computer readable storage medium can be a tangible device that keeps and stores the instructions used by the instruction execution device. Computer readable storage medium can include, for example, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (non-exhaustive list) of computer readable storage medium include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, for example, a punch card or a convex structure in a groove having instructions stored thereon, and any suitable combination thereof.
以上已经描述了本发明的各实施例，上述说明是示例性的，并非穷尽 性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范 围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更 都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原 理、实际应用或对市场中的技术改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein are selected to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.
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