CN115046570B - Automatic temperature compensation method for inclination angle of antenna attitude instrument - Google Patents
Automatic temperature compensation method for inclination angle of antenna attitude instrument Download PDFInfo
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- CN115046570B CN115046570B CN202210971503.8A CN202210971503A CN115046570B CN 115046570 B CN115046570 B CN 115046570B CN 202210971503 A CN202210971503 A CN 202210971503A CN 115046570 B CN115046570 B CN 115046570B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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Abstract
The embodiment of the invention discloses an automatic temperature compensation method for an inclination angle of an antenna attitude instrument, which comprises the following steps: step 1: reading the inclination angle information, judging whether the first calibration is carried out, starting a first calibration mode, and establishing an inclination angle deviation table corresponding to the temperature; step 2: judging whether the temperature exceeds a calibration data table, if not, looking up the table to calculate the inclination angle compensation; and step 3: judging whether the temperature exceeds a preset temperature value or not; and 4, step 4: judging whether the inclination deviation is abnormal or not; and 5: judging whether the inclination angle data at the temperature in the inclination angle deviation table is empty or not; step 6: judging whether the first calibration is finished or not; and 7: judging whether a quick calibration mode is carried out or not; and 8: judging whether a single-point calibration mode is carried out or not; and step 9: and judging whether all the calibrations are finished. The whole automatic compensation process of the invention does not need manual intervention, thereby achieving the purposes of reducing the production cost, improving the production efficiency and greatly improving the measurement precision of the inclination angle and the early warning accuracy rate.
Description
Technical Field
The invention relates to the technical field of wireless communication, in particular to an automatic temperature compensation method for an inclination angle of an antenna attitude instrument.
Background
In a wireless communication system, more and more work parameter information (including azimuth angles, pitch angles, roll angles, longitude and latitude and the like) of a base station antenna is converted from original manual field acquisition into automatic acquisition and report of attitude instrument terminal equipment, when the work parameter information changes and exceeds a user set threshold value, early warning is given out by a platform, and the platform pushes the early warning information to an APP client to remind related personnel to process.
The tilt angle (pitch angle, roll angle) of the antenna attitude gauge is generally measured and calculated by a MEMS accelerometer sensor. The attitude instrument works in an open-air base station environment, is influenced by factors such as weather change, illumination and the like, has large environmental temperature difference, and the MEMS sensor is sensitive to temperature, so that the tilt angle measurement of the attitude instrument adopts some temperature compensation methods including hardware compensation and software compensation, and the hardware compensation mainly changes a circuit to achieve a compensation effect, but the method causes the circuit to be complicated and simultaneously increases the cost. The software compensation mainly comprises a temperature coefficient compensation method, a least square method, a BP neural network method, a regression method and the like. The temperature coefficient compensation method is characterized in that a temperature coefficient compensation deviation is uniformly added on the basis of an inclination angle value read by a sensor:
temperature compensation offset = temperature coefficient temperature variation value
Wherein the temperature coefficient is given by the sensor manual.
The least squares method (also known as the least squares method) is a mathematical optimization technique. It finds the best functional match of the data by minimizing the sum of the squares of the errors. Unknown data can be easily obtained by the least square method, and the sum of squares of errors between these obtained data and actual data is minimized. Assuming a least squares fit polynomial:
where m represents the order of the polynomial, where x represents the sensor temperature and y represents the sensor tilt angle.
Discrete point and polynomial square sum F (a) 0 ,a 1 ,…,a m ) The following were used:
where n is the number of sampling points, the idea of the least squares method is to sum-of-squares function F (a) 0 ,a 1 ,…,a m ) Is measured. By sampling enough sample data n, the polynomial equation coefficient a is solved by a software method 0 ，a 1 ,…,a m 。
Then, the corresponding tilt angle deviation can be calculated according to the input current temperature variable x.
The current attitude instrument inclination angle measurement temperature compensation method has the following problems:
1. the current compensation method needs manual intervention calibration before delivery or installation, and has high production cost and low efficiency.
2. The temperature coefficient of variation used by the temperature coefficient compensation method is given by a sensor data manual, the temperature compensation coefficients provided by the sensor data manual are often given based on characteristic test environment conditions, the number of test samples is limited, the characteristics of different sensors are different from one sensor to another in different axial directions, and the actual effect of uniformly compensating by using the temperature coefficient is not ideal.
3. The least square method temperature compensation method has the following problems:
(1) The temperature coefficients of the sensors of each device are different, the polynomial coefficients of the corresponding least square method are also different, each device is required to be calibrated, the production cost or the installation and debugging cost is increased, and the efficiency is low.
(2) The temperature range and the sampling number of the calibration are limited, and the fitting effect of the temperature range covered by no calibration is not ideal.
(3) The production line is difficult to provide the environment with rapid and large-amplitude temperature change, and if the incubator is used, the sampling data are inaccurate due to the vibration of the incubator and the severe fluctuation of the temperature.
Disclosure of Invention
The technical problem to be solved by the embodiment of the invention is to provide an automatic temperature compensation method for the inclination angle of an antenna attitude instrument so as to improve the measurement precision and the early warning accuracy rate of the inclination angle.
In order to solve the above technical problem, an embodiment of the present invention provides an automatic temperature compensation method for an inclination angle of an antenna attitude indicator, which is applied to a base station antenna attitude indicator device, and includes:
step 1: reading the inclination angle information, judging whether the calibration is the first calibration or not, and if so, entering the step 2; if not, starting a first calibration mode, recording an initial installation angle, and creating an inclination angle deviation table corresponding to the temperature;
step 2: judging whether the temperature exceeds a calibration data table, if so, entering a step 3, and if not, looking up the table to calculate the inclination angle compensation;
and step 3: judging whether the temperature exceeds a preset temperature value or not, if so, starting rapid calibration, sleeping for 10 minutes, initializing again, returning to the step 1, and if not, entering the step 4;
and 4, step 4: judging whether the inclination deviation is abnormal or not, if so, alarming the inclination abnormality, and then initializing and returning to the step 1; if not, entering step 5;
and 5: judging whether the inclination angle data at the temperature in the inclination angle deviation table is empty, if so, entering a first calibration mode, recording the inclination angle deviation data into the inclination angle deviation table, and entering a step 6, otherwise, entering a step 7;
step 6: judging whether the first calibration is finished, if so, starting a single-point calibration mode, and then initializing to enter the step 1; if not, sleeping for 1 hour, then initializing and returning to the step 1;
and 7: judging whether a quick calibration mode is carried out or not, if not, entering a step 8; if yes, recording the inclination deviation data into an inclination deviation table, sleeping for 10 minutes, initializing, and returning to the step 1;
and 8: judging whether a single-point calibration mode is carried out or not, if so, recording the inclination deviation data into an inclination deviation table, and entering the step 9; if not, initializing and returning to the step 1;
and step 9: and judging whether all the calibrations are finished, if so, initializing and returning to the step 1, otherwise, waking up for sleeping according to a user set period, and then initializing and returning to the step 1.
Further, after the inclination deviation table is created in the step 1 and the inclination compensation is calculated by table lookup in the step 2, the periodic reporting step is performed: and judging whether the user sets the reporting time, if the user does not set the time, reporting the time once according to the default time of 1 hour, and if the user sets the time, reporting the dip angle message information according to the set time.
Furthermore, in the first calibration mode, 24 groups of data are collected, the interval is 1 hour each time, the user enters sleep after 1 group of data is collected, the user wakes up after 1 hour interval, and only one group of data is reserved at the point with the same temperature in the 24 groups of data.
Further, in the single-point calibration mode, data is collected according to a periodic sampling time interval set by a user, and one set of data is sampled each time.
Further, in the single-point calibration mode, if the temperature deviation of the sampled data is greater than 5 ℃, the fast calibration mode is started.
Further, in the fast calibration mode, a group of data is acquired each time, a preset time is spaced each time, and the process exits when the sampling temperature is monitored not to be a new temperature point.
Further, in the calibration process, if the inclination angle deviation of a new added point and the calculation value of two adjacent points in the inclination angle deviation table are larger than a preset threshold value, the inclination angle abnormity early warning is triggered, and the calibration data is not recorded in the inclination angle deviation table.
The invention has the beneficial effects that: the invention is a full-automatic temperature compensation scheme with zero manual participation, calibration is not needed before delivery and equipment installation, the installation can be completed, the attitude instrument is automatically and synchronously calibrated in the working process, and calibration data is stored in FLASH. The inclination angle automatic temperature compensation scheme can automatically identify whether the corresponding inclination angle of the newly added temperature point is effective calibration data or abnormal data. The calibration process is divided into a first calibration mode, a single-point calibration mode and a quick calibration mode, and the inclination deviation data entry in the whole working temperature range is completed step by step through the three calibration modes. Even if the environmental temperature exceeds the calibrated temperature range, the normal work can be realized, and the modes of 'quick calibration' and 'single-point calibration' can be calculated according to the adjacent points of the known table, so that whether the inclination angle of the current newly-added temperature point is abnormal or not can be automatically identified. Compared with the existing temperature compensation method, the method of the invention can greatly reduce the complexity of compensation calibration operation, reduce the calibration detection stations of the production line, reduce the production cost, improve the production efficiency, is superior to the existing method in the aspect of the inclination deviation compensation precision, and the inclination deviation data stored in FLASH are input according to the actual environment, thus having high precision. The smaller the temperature step, the higher the compensation accuracy.
Drawings
Fig. 1 is a functional block diagram of a base station antenna attitude determination apparatus.
Fig. 2 is a schematic flow chart of an automatic temperature compensation method for an inclination angle of an antenna attitude indicator according to an embodiment of the present invention.
Detailed Description
It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict, and the present invention is further described in detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 2, the method for automatically compensating the tilt angle of the antenna attitude indicator according to the embodiment of the present invention is applied to a base station antenna attitude indicator device, and includes steps 1 to 9. The functional block diagram of the base station antenna attitude instrument device is shown in fig. 1, which is explained as follows:
1. the main control unit: and the attitude instrument terminal equipment main control management unit is responsible for communication with each functional module and realization and management of a system service function logic flow.
2. A communication module: the attitude instrument is communicated with a remote server through a communication module to realize the report of collected engineering information data and the remote configuration management.
3. Positioning and orientation module: the positioning and orientation functions are realized.
4. A gravity accelerometer: and the MEMS sensor calculates the inclination angle by reading the gravity accelerometer value and simultaneously acquires the ambient temperature.
5. FLASH stores system configuration parameters, OTA upgrades and a dip angle deviation table.
6. Power management: and a power management unit.
7. Lithium battery: a rechargeable lithium ion battery.
The base station antenna attitude instrument equipment using the automatic temperature compensation method for the inclination angle of the antenna attitude instrument does not need to be calibrated before leaving a factory, and the attitude instrument automatically executes calibration after the attitude instrument is installed on a base station. The whole process does not need manual intervention, the production cost is reduced, the production efficiency is improved, and the inclination angle measurement precision and the early warning accuracy rate are greatly improved.
Step 1: reading the inclination angle information, judging whether the calibration is the first calibration or not, and if so, entering the step 2; if not, starting a first calibration mode, recording an initial installation angle, and creating an inclination angle deviation table corresponding to the temperature;
step 2: judging whether the temperature exceeds a calibration data table, if so, entering a step 3, and if not, looking up the table to calculate the inclination angle compensation;
and step 3: judging whether the temperature exceeds a preset temperature value (the preset temperature value is preferably 5 ℃), if so, starting rapid calibration, sleeping for 10 minutes, then initializing, returning to the step 1, and if not, entering the step 4;
and 4, step 4: judging whether the inclination deviation is abnormal or not, if so, alarming the inclination abnormality, and then initializing and returning to the step 1; if not, entering step 5;
and 5: judging whether the inclination angle data at the temperature in the inclination angle deviation table is empty, if so, entering a first calibration mode, recording the inclination angle deviation data into the inclination angle deviation table, and entering a step 6, otherwise, entering a step 7;
step 6: judging whether the first calibration is finished, if so, starting a single-point calibration mode, and initializing to enter the step 1; if not, sleeping for 1 hour, then initializing and returning to the step 1;
and 7: judging whether a quick calibration mode is carried out or not, if not, entering a step 8; if yes, recording the inclination deviation data into an inclination deviation table, sleeping for 10 minutes, initializing, and returning to the step 1;
and 8: judging whether a single-point calibration mode is carried out or not, if so, recording the inclination deviation data into an inclination deviation table, and entering the step 9; if not, initializing and returning to the step 1;
and step 9: and judging whether all the calibrations are finished, if so, initializing and returning to the step 1, otherwise, waking up for sleeping according to a user set period, and then initializing and returning to the step 1.
As an implementation manner, after the inclination deviation table is created in step 1 and the inclination compensation is calculated by table lookup in step 2, the periodic reporting step is entered: and judging whether the user sets the reporting time, if the user does not set the time, reporting the time once according to the default time of 1 hour, and if the user sets the time, reporting the dip angle message information according to the set time.
In the first calibration mode, 24 groups of data are collected, each time the interval is 1 hour, the patient goes to sleep after collecting 1 group of data, the patient wakes up after the interval is 1 hour, and only one group of data is reserved at the point with the same temperature in the 24 groups of data.
In one embodiment, in the single-point calibration mode, data is collected at periodic sampling intervals set by a user, one set of data at a time.
In one embodiment, in the single-point calibration mode, the fast calibration mode is started if the temperature deviation of the sampled data is greater than 5 ℃.
In one embodiment, in the fast calibration mode, a set of data is acquired each time, and the process exits each time when the sampling temperature is detected to be not the new temperature point at a preset time interval.
As an implementation mode, in the calibration process, if the inclination deviation of a new added point and the calculation value of two adjacent points in the inclination deviation table are greater than a preset threshold value, the inclination abnormity early warning is triggered, and the calibration data is not recorded in the inclination deviation table.
In the method of the present invention, the temperature deviation compensation "first calibration", "fast calibration", and "single point calibration" modes are not limited to specific names, the calibration interval time is not limited to (1 hour or 10 minutes), and the duration time is not limited to (24 hours), as long as the operation principle and the strategy are similar. The "fast calibration" mode trigger condition is not limited to a specific temperature difference greater than 5 ℃ as long as the trigger mechanism and conditions are similar.
The calibration process of the invention generates an inclination deviation table corresponding to the temperature, the inclination deviation table is stored in FLASH, the inclination deviation table is not required to cover the whole working temperature range when being initially established, but only needs to contain the recent (24 hours, the specific time can be configured), although the working environment temperature of the attitude instrument equipment can exceed the recent environment temperature range at any time, the normal work of the attitude instrument is not influenced, because the inclination automatic calibration scheme can automatically identify whether the inclination deviation of a new temperature point is abnormal, namely if the temperature difference of the newly added temperature point is less than 5 ℃, whether the current inclination is abnormal is calculated through adjacent points of the known table, if the inclination data is normal (the deviation of the measured value and the calculated value is less than the preset threshold value), the inclination deviation table is recorded, otherwise, the inclination abnormal early warning is triggered, and the user is reminded to process. If the temperature difference of the newly added temperature point is more than 5 ℃, a 'quick calibration' mode is started for calibration, an inclination abnormity alarm is triggered when an inclination abnormity point is monitored in the calibration process, and the 'quick calibration' data is not recorded in an inclination deviation table. And under the condition of no abnormal data, adding the newly added temperature point data into the current inclination deviation table. The tilt deviation data table format is shown in table 1:
TABLE 1
| Temperature (. Degree.C.) | -40 | … | 24 | 25 | 26 | … | 85 |
| Pitch offset | -1.5 | … | 0 | 0 | 0.01 | … | 1 |
| Roll offset | 2 | … | 0.02 | 0 | 0 | … | -2.5 |
The temperature value range is determined according to the working temperature range of the sensor, wherein the temperature is between 40 ℃ below zero and 85 ℃ for example, the temperature variable step value is determined according to the required precision (such as 0.1 ℃, 0.5 ℃ or 1 ℃ and the like), and the temperature is 1 ℃ for example. In the above table, it is assumed that the ambient temperature at the time of mounting the attitude indicator is 25 ℃, and Pitch and Roll corresponding thereto are initial mounting angles (assuming that Pitch =5, roll = -10), and offset thereof is 0. When the temperature rises to 26 degrees, pitch =5.01 and roll = -10, then Pitch corresponds to Offset = 5.01-5 = 0.01 and roll corresponds to Offset of 0. And by analogy, assigning values to the Pitch and Roll offset data tables in the whole range and storing the values into FLASH. And then, when the inclination angle is read, looking up a table according to the temperature to obtain corresponding offset, and subtracting the offset from the inclination angle value read by the sensor to obtain a final inclination angle value to be output.
For example, assuming that the corrected temperature range of the current inclination deviation table is 20-40 ℃, the sampling temperature at a certain time is 46 ℃ (the deviation is greater than 5 ℃), the rapid calibration is started, the data of a new temperature point is temporarily stored, the temperature drops back to 44 ℃ (less than 5 ℃) after multiple sampling, at this time, the error of the inclination corresponding to 44 ℃ can be calculated according to the knowledge of 39 ℃ and 40 ℃, if the error is greater than the set threshold value, the inclination is really abnormal, all the data of the rapid calibration in the batch are invalid, and the data are not added to the formal calibration table. If the tilt angle is normal, the new batch of data is added to the formal calibration table (tilt deviation table).
There are 3 calibration modes for automatic temperature calibration of tilt angle: the method comprises the steps of 'first calibration', 'single-point calibration' and 'quick calibration', wherein the 'first calibration' is carried out when a base station is powered on for the first time after installation is finished and an inclination deviation table is empty, 'the first calibration' collects 24 groups of data, the first calibration is carried out at intervals of 1 hour each time (the first calibration is carried out after 1 group of data is collected, the base station enters sleep, and the first calibration is carried out after 1 hour), and only one group of points with the same temperature in the 24 groups of data is reserved.
The single-point calibration is synchronously performed in the periodic sampling process after the first calibration is completed, and the periodic sampling time interval is set by a user and is generally 1-12 hours. "single point sampling" samples one set of data at a time. The "fast calibration" mode is initiated if the sampled data temperature deviation is greater than 5 ℃.
The rapid calibration is carried out by acquiring one group of data each time, and exiting when the sampling temperature is monitored not to be a new temperature point every time 10 minutes (the time interval can be set). After "fast calibration", the table temperature already contains the newly added range segment.
If the inclination angle deviation of a new added point and the calculation value of two adjacent points in the known inclination angle deviation table are larger than the set threshold value in the calibration process, the inclination angle abnormity early warning is triggered, and the calibration data is not recorded in the inclination angle deviation table. The threshold is set in relation to the required accuracy, leaving a certain margin. If the precision is required to be 0.1 degree, the precision can be set to be 0.2 or 0.3, and the like. The tilt angle difference corresponding to adjacent 1 c should be very small, much less than 0.1, and if it is greater than 0.1 or 0.2 or 0.3, it can be determined that the tilt angle is abnormal due to the tilt of the antenna, not due to the temperature change.
The attitude instrument equipment does not need to be calibrated before delivery and installation, namely the attitude instrument equipment is ready to use after being installed, the calibration is automatically and synchronously completed in the working process, the three calibration modes are combined and applied to realize the input method of calibration data, and the automatic identification and early warning functions of normal calibration data and abnormal data are realized.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. An automatic temperature compensation method for an inclination angle of an antenna attitude instrument is applied to base station antenna attitude instrument equipment and is characterized by comprising the following steps:
step 1: reading the inclination angle information, judging whether the calibration is the first calibration or not, and if so, entering the step 2; if not, starting a first calibration mode, recording an initial installation angle, and creating an inclination angle deviation table corresponding to the temperature;
step 2: judging whether the temperature exceeds a calibration data table, if so, entering a step 3, and if not, looking up the table to calculate the inclination angle compensation;
and step 3: judging whether the temperature exceeds a preset temperature value or not, if so, starting rapid calibration, sleeping for 10 minutes, initializing again, returning to the step 1, and if not, entering the step 4;
and 4, step 4: judging whether the inclination deviation is abnormal or not, if so, alarming the inclination abnormality, and then initializing and returning to the step 1; if not, entering step 5;
and 5: judging whether the inclination angle data at the temperature in the inclination angle deviation table is empty, if so, entering a first calibration mode, recording the inclination angle deviation data into the inclination angle deviation table, and entering a step 6, otherwise, entering a step 7;
step 6: judging whether the first calibration is finished, if so, starting a single-point calibration mode, and then initializing to enter the step 1; if not, sleeping for 1 hour, then initializing and returning to the step 1;
and 7: if the temperature deviation of the sampled data is more than 5 ℃, performing a rapid calibration mode, recording the inclination deviation data into an inclination deviation table, sleeping for 10 minutes, then initializing and returning to the step 1; if not, entering step 8;
and 8: judging whether the first calibration is finished, if so, performing a single-point calibration mode, inputting the inclination deviation data into an inclination deviation table, and entering the step 9; if not, initializing and returning to the step 1;
and step 9: and judging whether all the calibrations are finished, if so, initializing and returning to the step 1, otherwise, waking up for sleeping according to a user set period, and then initializing and returning to the step 1.
2. The method for automatic temperature compensation of the tilt angle of the antenna attitude indicator according to claim 1, wherein after the tilt angle deviation table is created in step 1 and the tilt angle compensation is calculated by table lookup in step 2, the periodic reporting step is performed: and judging whether the user sets the reporting time, if the user does not set the time, reporting the time once according to the default time of 1 hour, and if the user sets the time, reporting the dip angle message information according to the set time.
3. The method according to claim 1, wherein in the first calibration mode, 24 groups of data are collected, each time with an interval of 1 hour, the antenna enters sleep after collecting 1 group of data, the antenna wakes up after an interval of 1 hour, and only one group of data is retained at the same temperature point in the 24 groups of data.
4. The method of claim 1, wherein in the single point calibration mode, data is collected according to a periodic sampling interval set by a user, one set of data at a time.
5. The method of claim 1, wherein in the fast calibration mode, a set of data is collected each time, each time a preset time is spaced, and the method exits when the sampled temperature is not a new temperature point.
6. The method for automatically compensating for the tilt angle of the antenna attitude indicator according to claim 1, wherein in the calibration process, if the tilt angle deviation of a new added point and the calculation value of two adjacent points in the tilt angle deviation table are greater than a preset threshold value, the tilt angle abnormality early warning is triggered, and the calibration data is not recorded in the tilt angle deviation table.
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