CN116093579B - Beidou satellite navigation antenna with dual-mode differential positioning - Google Patents
Beidou satellite navigation antenna with dual-mode differential positioning Download PDFInfo
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- CN116093579B CN116093579B CN202211706109.8A CN202211706109A CN116093579B CN 116093579 B CN116093579 B CN 116093579B CN 202211706109 A CN202211706109 A CN 202211706109A CN 116093579 B CN116093579 B CN 116093579B
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- 238000001514 detection method Methods 0.000 claims abstract description 65
- 238000004891 communication Methods 0.000 claims abstract description 39
- 238000012545 processing Methods 0.000 claims abstract description 20
- 238000011156 evaluation Methods 0.000 claims description 32
- 238000000034 method Methods 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 11
- 239000000203 mixture Substances 0.000 claims description 6
- 238000012937 correction Methods 0.000 claims description 3
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- 238000010606 normalization Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 6
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Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
- H01Q1/125—Means for positioning
- H01Q1/1264—Adjusting different parts or elements of an aerial unit
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
- H01Q1/22—Supports; Mounting means by structural association with other equipment or articles
- H01Q1/24—Supports; Mounting means by structural association with other equipment or articles with receiving set
- H01Q1/241—Supports; Mounting means by structural association with other equipment or articles with receiving set used in mobile communications, e.g. GSM
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/42—Housings not intimately mechanically associated with radiating elements, e.g. radome
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
The application discloses a Beidou satellite navigation antenna with dual-mode differential positioning, which relates to the technical field of satellite navigation antennas and comprises a base, an antenna housing and a signal receiver; a rotating assembly and an adjusting assembly are sequentially arranged between the base and the radome, and the rotating assembly comprises a mounting frame and a reciprocating piece which are connected with the mounting plate, so that the mounting plate rotates back and forth along the top end of the mounting frame; the adjusting component comprises a second linkage piece and a first linkage piece for adjusting the orientation of the signal receiver; the navigation antenna body further comprises a processing unit, and the working state of the signal receiver is evaluated and judged based on the detection information to form a judging result; and the control unit is used for controlling the rotating assembly and the adjusting assembly and adjusting the signal receiver to an expected high-communication-quality area. On the basis of the rotating assembly and the adjusting assembly, when the communication quality of the signal receiver is poor, the function of automatically searching signals of the signal receiver can be realized, so that the communication quality of the signal receiver is improved, and finally, the positioning effect of the navigation antenna body is improved.
Description
Technical Field
The application relates to the technical field of satellite navigation antennas, in particular to a Beidou satellite navigation antenna with dual-mode differential positioning.
Background
The satellite navigation system has the functions of omnipotence, globality, omnipotence, continuity and real-time navigation, positioning and timing, and the equipment on the ground needs to be provided with a special navigation antenna if the equipment needs to receive signals of the satellite navigation system. At present, the tropospheric delay, the atmospheric delay and the multipath effect of the navigation antenna on satellite signals cannot be accurately estimated or eliminated, and when constellation distribution is unreasonable, the errors can seriously influence positioning accuracy.
To eliminate or reduce these errors, differential operations are typically used in positioning. Differential positioning is a key technology in high-precision satellite positioning, but regarding to improving positioning precision, not only errors need to be eliminated, but also communication quality needs to be ensured, and if the communication quality is unstable, the aim of improving the precision is difficult to achieve.
In order to ensure the communication quality of the navigation antenna, the position and the orientation of the navigation antenna are usually continuously adjusted to find the azimuth with higher communication quality, but the mode continuously needs manual participation, the intelligent degree is lower, and the adjustment efficiency is lower.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the application provides a dual-mode differential positioning Beidou satellite navigation antenna which is provided with a rotating assembly and an adjusting assembly, wherein the rotating assembly comprises a mounting frame and a reciprocating piece which are connected with the mounting plate, so that the mounting plate rotates back and forth along the top end of the mounting frame; the adjusting component comprises a second linkage piece and a first linkage piece for adjusting the orientation of the signal receiver; the navigation antenna body further comprises a processing unit, and the working state of the signal receiver is evaluated and judged based on the detection information to form a judging result; and the control unit is used for controlling the rotating assembly and the adjusting assembly and adjusting the signal receiver to an expected high-communication-quality area. On the basis of the rotating assembly and the adjusting assembly, when the communication quality of the signal receiver is poor, the function of automatically searching signals of the signal receiver can be realized, so that the communication quality of the signal receiver is improved, the positioning effect of the navigation antenna body is finally improved, and the problem in the background technology is solved.
(II) technical scheme
In order to achieve the above purpose, the application is realized by the following technical scheme: the Beidou satellite navigation antenna comprises a navigation antenna body, wherein the navigation antenna body comprises a base positioned at the bottom, an antenna housing is arranged above the base, and a signal receiver is arranged at a focusing position of the antenna housing; a rotating component and an adjusting component are sequentially arranged between the base and the antenna housing,
the rotating assembly comprises a first motor which is arranged above the base and used for outputting power, a mounting frame is arranged above the first motor, a mounting plate is movably arranged at the top end of the mounting frame, a reciprocating piece connected with the output end of the first motor is contained in the mounting frame, and the reciprocating piece is connected with the mounting plate to enable the mounting plate to rotate back and forth along the top end of the mounting frame;
the adjusting assembly comprises a second motor which is arranged above the mounting plate and used for outputting power, the output end of the second motor is connected with a first linkage piece, and the first linkage piece is connected with the antenna housing; a second linkage piece is arranged above the mounting plate and connected with the first linkage piece, and after the second motor outputs power, the first linkage piece is matched with the second linkage piece to enable the radome to rotate along the surface of the mounting plate, so that the direction of the signal receiver is adjusted;
the navigation antenna body further comprises a detection unit, a processing unit and a control unit, wherein the detection unit detects satellite signal intensity and signal noise of each area around the signal receiver, judges whether shielding exists in the area, and synthesizes the signals to form detection information;
the processing unit acquires detection information, evaluates and judges the working state of the signal receiver based on the detection information, and forms a judging result; the control unit receives the judging result and forms a corresponding control instruction, controls the rotating assembly and the adjusting assembly, adjusts the signal receiver to an expected high-communication-quality area, and when the signal receiver is difficult to adjust to the expected area, the alarm unit gives an alarm to the outside.
Further, the vertical section of mounting bracket is the L shape that the level placed, the reciprocating member includes the second installation pole that wears to establish at the vertical end top surface of mounting bracket rotation, and the second installation pole extends to the top and the mounting panel fixed connection of mounting bracket top, extends to the inside bottom coaxial rotation of mounting bracket and has full gear, and the one end that keeps away from the second installation pole at the mounting bracket horizontal end rotates wears to be equipped with first installation pole, and the coaxial rotation in top of first installation pole has the gear that lacks, lacks gear and full gear meshing.
Further, the reciprocating piece further comprises a limiting piece sleeved at the output end of the first motor, a limiting rod is arranged at one end, close to the first mounting rod, of the limiting piece, an outer ring body is sleeved at the outer portion, corresponding to the lower end of the gear lack, of the first mounting rod, and one end of the limiting rod extends to the inner portion of the outer ring body.
Further, the first linkage piece comprises a transmission rod coaxially rotating with the output end of the second motor, a threaded rod is sleeved outside one end, far away from the second motor, of the transmission rod, a third connecting piece is screwed on the external thread of the threaded rod, the third connecting piece is fixedly connected with the radome, and the end part of the threaded rod extends towards the inner side of the radome and is fixedly connected with the signal receiver.
Further, the second linkage piece comprises a first connecting piece sleeved outside the transmission rod, the second connecting pieces are fixedly connected to two sides of the surface of the mounting plate, the bottom ends of the third connecting pieces are hinged with connecting rods, and the two second connecting pieces are hinged with the bottom ends of the first connecting pieces and the bottom ends of the connecting rods respectively.
Further, the detection unit comprises a region dividing module and a shielding detection module; the area dividing module divides the space at the periphery of the signal receiver, determines a plurality of detection areas and marks the detection areas one by one;
the shielding detection module detects a plurality of detection areas by adopting a Gaussian mixture model, judges whether a shielding object exists in a preset distance of the signal receiver, eliminates the area if the shielding object exists and the specification of the shielding object exceeds a threshold value, and reserves the detection area with the shielding object with the specification not exceeding the threshold value or without the shielding object to form a reserved area, wherein the Gaussian probability density function of the Gaussian mixture model is as followsWherein X is a pixel value, mu is the mean value of the Gaussian in the mixed model, sigma is the covariance matrix of the Gaussian in the mixed model, n is all high-speed values, and T is the number of Gaussian distributions in the mixed model.
Further, the detection unit further comprises a signal detection module and an interference detection module; the signal detection module detects the signal intensity in the reserved area, judges whether the signal intensity exceeds a corresponding threshold value, determines the detection area exceeding the threshold value, and records the signal intensity respectively to form signal intensity Qd; the interference detection module detects noise signals which can form interference in a reserved detection area, and forms interference intensity Gd based on the intensity of the noise signals.
Further, the processing unit comprises an evaluation unit, a judging module and an analyzing module; the evaluation unit acquires the interference intensity Gd and the signal intensity Qd, and evaluates the communication condition in the area after correlation to form an evaluation value P; the judging module acquires an evaluation value P, compares the evaluation value P with a corresponding threshold value, and determines a plurality of areas higher than the threshold value as selectable areas;
the analysis module determines corresponding signal strength Qd values according to the evaluation values P of the selectable areas when the selectable areas are larger than two, sorts the selectable areas, and takes the largest signal strength Qd value in the selectable areas as a first analysis result and the second signal strength Qd value as a second analysis result; the control unit receives the first analysis result or the second analysis result to form a first control instruction or a second control instruction.
Further, the method for forming the evaluation value P is as follows: performing normalization processing according to the interference intensity Gd and the signal intensity Qd to form an evaluation value P; the association method is as follows:
wherein, gamma is more than or equal to 0 and less than or equal to 1, theta is more than or equal to 0 and less than or equal to 1, gamma+theta is less than or equal to 1, gamma and theta are weights, C is a constant correction coefficient, and the specific value of C can be adjusted and set by a user or generated by fitting an analysis function; r is a correlation coefficient between the interference intensity Gd and the signal intensity Qd, and is calculated by a plurality of groups of interference intensity Gd and signal intensity Qd.
Further, a first control instruction is executed first, the rotating assembly and the adjusting assembly are controlled, and the signal receiver is adjusted to a first selectable area; judging the communication quality in the area, if the communication quality is not in accordance with the requirements, continuing to adjust the signal receiver to a second optional area, judging the communication quality of the area, and if the communication quality is still not in accordance with the requirements, forming an alarm instruction by a control unit, and controlling the alarm unit to give an alarm; reminding a user to process;
and when the communication quality of the first optional area and the second optional area are not satisfactory, the rotating component is matched with the adjusting component to adjust the signal receiver to an area with a higher evaluation value P in the first optional area and the second optional area.
(III) beneficial effects
The application provides a Beidou satellite navigation antenna with dual-mode differential positioning. The beneficial effects are as follows:
through setting up rotating assembly and adjusting part, can adjust signal receiver's prescribed orientation, also can adjust the contained angle between signal receiver and the horizontal plane, that is, utilize rotating assembly and adjusting part's cooperation, the position of adjusting signal receiver that can all-round, make the position that signal receiver can use more, correspondingly, when the position of adjusting signal receiver is needed, also can reduce user's direct operation.
By arranging the detection unit, the processing unit and the control unit, when the signal receiver needs to communicate, the communication quality around the signal receiver is evaluated, the area around the signal receiver is quantitatively evaluated based on the acquired evaluation value, so that a better suitable communication area is determined, if the better area exists, the signal receiver is adjusted to the area, if the better area does not exist, an alarm is sent out by the alarm unit, and on the basis of the detection unit, the processing unit and the control unit, on the basis of the rotating assembly and the adjusting assembly, the function of automatically searching signals by the signal receiver can be realized when the communication quality of the signal receiver is poor, so that the communication quality of the signal receiver is improved, and finally the positioning effect of the navigation antenna body is improved.
Drawings
FIG. 1 is a schematic diagram of the front view of a Beidou satellite navigation antenna of the present application;
FIG. 2 is a schematic cross-sectional view of a rotary assembly of the present application;
FIG. 3 is a schematic view of another cross-sectional configuration of the rotating assembly of the present application;
FIG. 4 is a schematic cross-sectional view of an adjustment assembly of the present application;
fig. 5 is a schematic diagram of a workflow for searching a suitable azimuth by the Beidou satellite navigation antenna.
In the figure:
10. a navigation antenna body; 11. a base; 12. an antenna housing; 13. a signal receiver;
20. a rotating assembly; 21. a mounting plate; 22. a mounting frame; 23. a first mounting bar; 24. a gear-missing; 25. all-gear; 26. a second mounting bar; 27. an outer ring body; 28. a limiting piece; 29. a first motor; 210. a limit rod;
30. an adjustment assembly; 31. a transmission rod; 32. a threaded rod; 33. a third connecting member; 34. a second connector; 35. a connecting rod; 36. a second motor; 37. a first connector;
40. a detection unit; 41. a region dividing module; 42. a shielding detection module; 43. a signal detection module; 44. an interference detection module;
50. a processing unit; 51. an evaluation unit; 52. a judging module; 53. an analysis module; 60. a control unit; 70. and an alarm unit.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Examples
Referring to fig. 1-5, the present application provides a dual-mode differential positioning Beidou satellite navigation antenna, which comprises a navigation antenna body 10, wherein the navigation antenna body 10 comprises a base 11 positioned at the bottom, a radome 12 is arranged above the base 11, and a signal receiver 13 is arranged at a focusing position of the radome 12;
a rotating assembly 20 and an adjusting assembly 30 are sequentially arranged between the base 11 and the radome 12, wherein,
the rotating assembly 20 comprises a first motor 29 arranged above the base 11 and used for outputting power, a mounting frame 22 is arranged above the first motor 29, a mounting plate 21 is movably arranged at the top end of the mounting frame 22, a reciprocating piece connected with the output end of the first motor 29 is accommodated in the mounting frame 22, and the reciprocating piece is connected with the mounting plate 21 to enable the mounting plate 21 to rotate back and forth along the top end of the mounting frame 22;
the adjusting assembly 30 comprises a second motor 36 which is arranged above the mounting plate 21 and used for outputting power, the output end of the second motor 36 is connected with a first linkage piece, and the first linkage piece is connected with the radome 12; a second linkage member is arranged above the mounting plate 21, the second linkage member is connected with the first linkage member, and after the second motor 36 outputs power, the first linkage member cooperates with the second linkage member to enable the radome 12 to rotate along the surface of the mounting plate 21, so that the orientation of the signal receiver 13 is adjusted.
As a further improvement: the navigation antenna body 10 further comprises a detection unit 40, a processing unit 50 and a control unit 60, wherein,
the detecting unit 40 detects satellite signal intensity and signal noise of each area around the signal receiver 13, determines whether shielding exists in the area, and synthesizes the signals to form detection information;
the processing unit 50 acquires detection information, evaluates and judges the working state of the signal receiver 13 based on the detection information, and forms a judgment result;
the control unit 60 receives the judgment result and forms a corresponding control command, controls the rotating unit 20 and the adjusting unit 30, adjusts the signal receiver 13 to a desired high communication quality area, and when it is difficult to adjust the signal receiver 13 to the desired area, the alarm unit 70 gives an alarm to the outside.
Referring to fig. 2 and 3, the rotating assembly 20 includes a mounting plate 21, a mounting frame 22, a first mounting rod 23, a gear-lack 24, a full gear 25, a second mounting rod 26, an outer ring 27, a limiting member 28, a first motor 29, and a limiting rod 210; wherein,,
the vertical section of mounting bracket 22 is the L shape that the level was placed roughly, the reciprocating member includes the second installation pole 26 that wears to establish at the vertical end top surface of mounting bracket 22, and the top and the mounting panel 21 fixed connection of second installation pole 26 extension to mounting bracket 22 top, extends to the inside bottom coaxial rotation of mounting bracket 22 and has full gear 25, and the one end that keeps away from second installation pole 26 at mounting bracket 22 horizontal end rotates wears to be equipped with first installation pole 23, and the coaxial rotation in top of first installation pole 23 has lack gear 24, lack gear 24 and full gear 25 mesh.
When in use, the gear wheel 25 is driven to rotate by the gear wheel 24 by utilizing the meshing between the gear wheel 24 and the gear wheel 25, so that the gear wheel 25 drives the mounting plate 21 to rotate along the upper part of the mounting frame 22.
Referring to fig. 2 and 3, the reciprocating member further includes a limiting member 28 sleeved at the output end of the first motor 29, a limiting rod 210 is disposed at one end of the limiting member 28 near the first mounting rod 23, an outer ring 27 is sleeved at the outer portion of the lower end of the first mounting rod 23 opposite to the gear-lack 24, and one end of the limiting rod 210 extends to the inner portion of the outer ring 27.
When the first motor 29 drives the limiting member 28 to rotate, the end portion of the first motor 29 rotates in the outer ring 27 to drive the outer ring 27 to swing back and forth, so that the gear-lack 24 is driven to do synchronous motion by the first mounting rod 23 when the outer ring 27 swings.
When the antenna housing 12 and the mounting plate 21 are kept synchronous, the orientation of the antenna housing 12 can be adjusted until the antenna housing 12 can face in a proper direction, so that the signal receiver 13 can conveniently determine the orientation with better communication quality.
Referring to fig. 4, the adjusting assembly 30 includes a driving rod 31, a threaded rod 32, a third connecting member 33, a second connecting member 34, a connecting rod 35, a second motor 36, and a first connecting member 37; wherein,,
the first linkage member includes a transmission rod 31 coaxially rotating with the output end of the second motor 36, a threaded rod 32 is sleeved outside one end of the transmission rod 31 far away from the second motor 36, a third connecting member 33 is screwed on the external thread of the threaded rod 32, the third connecting member 33 is fixedly connected with the radome 12, and the end of the threaded rod 32 extends towards the inner side of the radome 12 and is fixedly connected with the signal receiver 13.
The second linkage member comprises a first connecting member 37 sleeved outside the transmission rod 31, two sides of the surface of the mounting plate 21 are fixedly connected with second connecting members 34, the bottom end of the third connecting member 33 is hinged with a connecting rod 35, and the two second connecting members 34 are respectively hinged with the bottom ends of the first connecting member 37 and the connecting rod 35.
When the antenna cover is used, if an included angle formed between the antenna cover 12 and the mounting plate 21, namely, the antenna cover and the horizontal plane is required to be adjusted, the second motor 36 is started to output power, the transmission rod 31 drives the threaded rod 32 to coaxially rotate, the third connecting piece 33 can finally move along the length direction of the threaded rod 32 based on engagement between the threaded rod 32 and the third connecting piece 33, then the third connecting piece 33 can drive the antenna cover 12 to rotate along the upper side of the mounting plate 21 by utilizing cooperation between the first connecting piece 37 and the second connecting piece 34 and cooperation between the second connecting piece 34 and the connecting rod 35, and the included angle between the signal receiver 13 and the mounting plate 21 is adjusted, so that the signal receiver 13 can conveniently find a proper angle.
Referring to fig. 5, the detection unit 40 includes a region dividing module 41, a shielding detection module 42, a signal detection module 43, and an interference detection module 44; wherein,,
the area dividing module 41 divides the space around the signal receiver 13, determines a plurality of detection areas, and marks one by one;
the shielding detection module 42 detects a plurality of detection areas by using a gaussian mixture model, judges whether a shielding object exists in the signal receiver 13 within a preset distance, if the shielding object exists and the specification of the shielding object exceeds a threshold value, eliminates the areas,
the method comprises the steps of reserving a detection area with or without a shielding object with the specification not exceeding a threshold value to form a reserved area;
the Gaussian probability density function of the Gaussian mixture model is as followsWherein X is a pixel value, mu is the mean value of gaussians in the mixed model, sigma is the covariance matrix of gaussians in the mixed model, n is all high-speed values, and T is the number of gaussians in the mixed model;
the signal detection module 43 detects the signal intensity in the reserved area, judges whether the signal intensity exceeds a corresponding threshold value, determines the detection area in which the signal intensity exceeds the threshold value, and records the signal intensity respectively to form a signal intensity Qd;
the interference detection module 44 detects a noise signal which can constitute interference in the remaining detection area, and forms an interference intensity Gd based on the intensity of the noise signal.
When the device is used, the area dividing module 41 is utilized to divide the area where the signal receiver 13 is located, detect and screen one by one, and determine a plurality of areas meeting basic conditions, so that when the current azimuth signal is poor, the device is convenient to find a proper area again when communication is difficult to be carried out smoothly.
Referring to fig. 2, the processing unit 50 includes an evaluation unit 51, a judgment module 52, and an analysis module 53; wherein,,
the evaluation unit 51 obtains the interference intensity Gd and the signal intensity Qd, correlates them, and evaluates the communication conditions in the area to form an evaluation value P;
the formation method of the evaluation value P is as follows:
performing normalization processing according to the interference intensity Gd and the signal intensity Qd to form an evaluation value P; the association method is as follows:
wherein, gamma is more than or equal to 0 and less than or equal to 1, theta is more than or equal to 0 and less than or equal to 1, gamma+theta is less than or equal to 1, gamma and theta are weights, C is a constant correction coefficient, and the specific value of C can be adjusted and set by a user or generated by fitting an analysis function; r is a correlation coefficient between the interference intensity Gd and the signal intensity Qd, and is calculated by a plurality of groups of interference intensity Gd and signal intensity Qd.
The judging module 52 acquires an evaluation value P, compares the evaluation value P with a corresponding threshold value, and determines a plurality of areas higher than the threshold value as selectable areas;
the analysis module 53 determines the corresponding signal strength Qd values according to the evaluation values P of the selectable regions when the selectable regions are greater than two, and ranks the selectable regions, wherein the largest signal strength Qd value in the selectable regions is the first analysis result, and the second signal strength Qd value is the second analysis result;
the control unit 60 receives the first analysis result or the second analysis result, and forms a first control instruction or a second control instruction.
When in execution, a first control instruction is executed first to control the rotating component 20 and the adjusting component 30, and the signal receiver 13 is adjusted to a first selectable area; judging the communication quality in the area, if the communication quality is not satisfactory, continuing to adjust the signal receiver 13 to the second optional area, judging the communication quality of the area, and if the communication quality is still not satisfactory, forming an alarm instruction by the control unit 60, and controlling the alarm unit 70 to give an alarm; reminding a user to process;
and when the communication quality of the first optional area and the second optional area are not satisfactory, the rotating component 20 cooperates with the adjusting component 30 to adjust the signal receiver 13 to an area with a higher evaluation value P in the first optional area and the second optional area.
In use, by providing the processing unit 50 and the control unit 60, the detection of the signal strength and the interference strength of the area around the signal receiver 13 is completed at the detection unit 40, whereby several areas around the signal receiver 13 are evaluated by forming the evaluation value P, the signal receiver 13 is assisted in selecting a suitable preferred communication area based on this evaluation result, and an alarm is given to the user when it is difficult to find a suitable communication area.
In the present application, in combination with the above, there are at least the following effects:
through setting up rotating assembly 20 and adjusting part 30, can adjust the prescribed orientation of signal receiver 13, also can adjust the contained angle between signal receiver 13 and the horizontal plane, that is, utilize rotating assembly 20 and adjusting part 30's cooperation, the position of signal receiver 13 that can all-round adjustment, make the position that signal receiver 13 can use more, and correspondingly, when the position of signal receiver 13 is adjusted to the needs, also can reduce the direct operation of user.
By providing the detecting unit 40, the processing unit 50 and the control unit 60, when the signal receiver 13 needs to communicate, the communication quality around the signal receiver 13 is evaluated, the area around the signal receiver 13 is quantitatively evaluated based on the obtained evaluation value, so that a better suitable communication area is determined, if the better area exists, the signal receiver 13 is adjusted to the area, if the better area does not exist, an alarm is sent by the alarm unit 70, and based on the detecting unit 40, the processing unit 50 and the control unit 60, the function of automatically searching for signals by the signal receiver 13 can be realized when the communication quality of the signal receiver 13 is poor on the basis of the rotating assembly 20 and the adjusting assembly 30, so that the communication quality of the signal receiver 13 is improved, and finally the positioning effect of the navigation antenna body 10 is improved.
It is noted that relational terms such as first and second, and the like, if any, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (4)
1. The Beidou satellite navigation antenna with dual-mode differential positioning comprises a navigation antenna body (10), wherein the navigation antenna body (10) comprises a base (11) positioned at the bottom, an antenna housing (12) is arranged above the base (11), and a signal receiver (13) is arranged at a focusing position of the antenna housing (12); the method is characterized in that:
a rotating component (20) and an adjusting component (30) are sequentially arranged between the base (11) and the antenna housing (12),
the rotating assembly (20) comprises a first motor (29) which is arranged above the base (11) and used for outputting power, a mounting frame (22) is arranged above the first motor (29), a mounting plate (21) is movably arranged at the top end of the mounting frame (22), a reciprocating piece which is connected with the output end of the first motor (29) is accommodated in the mounting frame (22), and the reciprocating piece is connected with the mounting plate (21) so that the mounting plate (21) rotates back and forth along the top end of the mounting frame (22);
the adjusting assembly (30) comprises a second motor (36) which is arranged above the mounting plate (21) and used for outputting power, the output end of the second motor (36) is connected with a first linkage piece, and the first linkage piece is connected with the antenna housing (12); a second linkage piece is arranged above the mounting plate (21), the second linkage piece is connected with the first linkage piece, and after the second motor (36) outputs power, the first linkage piece is matched with the second linkage piece to enable the radome (12) to rotate along the surface of the mounting plate (21) and adjust the orientation of the signal receiver (13);
the navigation antenna body (10) also comprises a detection unit (40), a processing unit (50) and a control unit (60), wherein,
the detection unit (40) detects satellite signal intensity and signal noise of each area around the signal receiver (13), judges whether shielding exists in the area, and synthesizes the signals to form detection information;
the processing unit (50) acquires detection information, evaluates and judges the working state of the signal receiver (13) based on the detection information, and forms a judgment result;
the control unit (60) receives the judging result and forms a corresponding control instruction, controls the rotating assembly (20) and the adjusting assembly (30), adjusts the signal receiver (13) to an expected high-communication-quality area, and when the signal receiver (13) is difficult to adjust to the expected area, the alarm unit (70) gives an alarm to the outside;
the vertical section of the mounting frame (22) is in a L shape which is horizontally placed, the reciprocating piece comprises a second mounting rod (26) which is rotatably arranged on the top surface of the vertical end of the mounting frame (22), the second mounting rod (26) extends to the top end above the mounting frame (22) and is fixedly connected with the mounting plate (21), an all-gear (25) is coaxially rotated at the bottom end which extends to the inside of the mounting frame (22), a first mounting rod (23) is rotatably arranged at one end, far away from the second mounting rod (26), of the horizontal end of the mounting frame (22), a gear-missing (24) is coaxially rotated at the top end of the first mounting rod (23), and the gear-missing (24) is meshed with the all-gear (25);
the reciprocating piece further comprises a limiting piece (28) sleeved at the output end of the first motor (29), a limiting rod (210) is arranged at one end, close to the first mounting rod (23), of the limiting piece (28), an outer ring body (27) is sleeved at the outer part of the lower end of the first mounting rod (23) relative to the gear-missing piece (24), and one end of the limiting rod (210) extends to the inner part of the outer ring body (27);
the detection unit (40) comprises a region dividing module (41) and a shielding detection module (42);
the region dividing module (41) divides the space at the periphery of the signal receiver (13), determines a plurality of detection regions and marks the detection regions one by one;
the shielding detection module (42) adopts a Gaussian mixture model to detect a plurality of detection areas, judges whether a shielding object exists in a preset distance of the signal receiver (13), eliminates the areas if the shielding object exists and the specification of the shielding object exceeds a threshold value,
the method comprises the steps of reserving a detection area with or without a shielding object with the specification not exceeding a threshold value to form a reserved area;
the Gaussian probability density function of the Gaussian mixture model is as followsWherein X is a pixel value, mu is the mean value of gaussians in the mixed model, sigma is the covariance matrix of gaussians in the mixed model, n is all high-speed values, and T is the number of gaussians in the mixed model;
the detection unit (40) further comprises a signal detection module (43) and an interference detection module (44);
the signal detection module (43) detects the signal intensity in the reserved area, judges whether the signal intensity exceeds a corresponding threshold value, determines the detection area exceeding the threshold value, and records the signal intensity of the detection area to form signal intensity Qd;
the interference detection module (44) detects noise signals which can form interference in the reserved detection area, and forms interference intensity Gd based on the intensity of the noise signals;
the processing unit (50) comprises an evaluation unit (51), a judging module (52) and an analyzing module (53); wherein,,
the evaluation unit (51) acquires the interference intensity Gd and the signal intensity Qd, and evaluates the communication condition in the area after correlation to form an evaluation value P;
the judging module (52) acquires an evaluation value P, compares the evaluation value P with a corresponding threshold value, and determines a plurality of areas higher than the threshold value as selectable areas;
the analysis module (53) determines the corresponding signal strength Qd values according to the evaluation value P of the selectable areas when the selectable areas are larger than two, sorts the selectable areas, and takes the largest signal strength Qd value in the selectable areas as a first analysis result and the second signal strength Qd value as a second analysis result;
the control unit (60) receives the first analysis result or the second analysis result to form a first control instruction or a second control instruction;
the method for forming the evaluation value P is as follows:
performing normalization processing according to the interference intensity Gd and the signal intensity Qd to form an evaluation value P; the association method is as follows:
wherein, gamma is more than or equal to 0 and less than or equal to 1, theta is more than or equal to 0 and less than or equal to 1, gamma+theta is less than or equal to 1, gamma and theta are weights, C is a constant correction coefficient, and the specific value of C can be adjusted and set by a user or generated by fitting an analysis function; r is a correlation coefficient between the interference intensity Gd and the signal intensity Qd, and is calculated by a plurality of groups of interference intensity Gd and signal intensity Qd.
2. The dual-mode differentially positioned Beidou satellite navigation antenna of claim 1, wherein: the first linkage piece comprises a transmission rod (31) which coaxially rotates with the output end of the second motor (36), a threaded rod (32) is sleeved outside one end, far away from the second motor (36), of the transmission rod (31), a third connecting piece (33) is screwed on the external thread of the threaded rod (32), the third connecting piece (33) is fixedly connected with the radome (12), and the end part of the threaded rod (32) extends towards the inner side of the radome (12) and is fixedly connected with the signal receiver (13).
3. The dual-mode differentially positioned Beidou satellite navigation antenna of claim 1, wherein: the second linkage member comprises a first connecting piece (37) sleeved outside the transmission rod (31), second connecting pieces (34) are fixedly connected to two sides of the surface of the mounting plate (21), a connecting rod (35) is hinged to the bottom end of the third connecting piece (33), and the two second connecting pieces (34) are hinged to the bottom ends of the first connecting piece (37) and the connecting rod (35) respectively.
4. The dual-mode differentially positioned Beidou satellite navigation antenna of claim 1, wherein: executing a first control instruction, controlling the rotating component (20) and the adjusting component (30), and adjusting the signal receiver (13) to a first selectable area; judging the communication quality in the area, if the communication quality is not satisfactory, continuing to adjust the signal receiver (13) to a second optional area, judging the communication quality of the area, and if the communication quality is still not satisfactory, forming an alarm instruction by the control unit (60), and controlling the alarm unit (70) to give an alarm;
and when the communication quality of the first optional area and the second optional area are not satisfactory, the rotating component (20) is matched with the adjusting component (30) to adjust the signal receiver (13) to an area with higher evaluation value P in the first optional area and the second optional area.
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