CN116772838B - Inertial navigation error compensation method for mechanical phased array antenna - Google Patents
Inertial navigation error compensation method for mechanical phased array antenna Download PDFInfo
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- CN116772838B CN116772838B CN202311050000.8A CN202311050000A CN116772838B CN 116772838 B CN116772838 B CN 116772838B CN 202311050000 A CN202311050000 A CN 202311050000A CN 116772838 B CN116772838 B CN 116772838B
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000012544 monitoring process Methods 0.000 claims abstract description 24
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 238000013507 mapping Methods 0.000 claims description 6
- 238000002474 experimental method Methods 0.000 claims description 3
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- 230000001960 triggered effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
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Classifications
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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
- H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture
- H01Q3/30—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array
- H01Q3/32—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array by mechanical means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
- G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
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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
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Abstract
The invention provides a method for inertial navigation error compensation of a mechanical phased array antenna, and relates to the technical field of antennas. An inertial navigation error compensation system is formed by an antenna body, a mechanical platform, an antenna carrier and a positioning satellite, and the satellite is used as a reference target so as to correct errors generated by inertial navigation; by carrying out large dynamic change monitoring, inertial navigation error compensation under the unstable condition is avoided; when inertial navigation error compensation is carried out, determining the direction of the antenna pointing to the satellite by searching the maximum value of signal intensity; the problem of signal loss caused by pitching change of the mechanical platform is considered, the problem of signal attenuation caused by different signal frequencies is considered, and accurate and effective maximum signal intensity is found after the signal attenuation is respectively supplemented; the current inertial navigation attitude data can be subjected to error compensation by solving the positioning error data and reversely calculating the inertial navigation attitude error; the low-precision inertial navigation can meet the deployment requirement of the mechanical phased array antenna, and has practical and popularization values.
Description
Technical Field
The invention relates to the technical field of antennas, in particular to a method for inertial navigation error compensation of a mechanical phased array antenna.
Background
The mechanical phased array antenna is a mechanical scanning antenna, and the method for realizing radiation by continuously opening through transverse slits on the slab waveguide has the characteristics of large communication capacity, low cost, good mechanical stability and the like, and has excellent practical value in both military and civil fields.
When the existing mechanical phased array antenna is deployed on various movable platforms (such as automobiles, ships, airplanes and the like), an inertial navigation system (hereinafter simply referred to as inertial navigation) needs to be installed in a matched mode so as to achieve the effect of accurate positioning; however, the hardware cost of high-precision inertial navigation is extremely high, and the high-precision inertial navigation is limited to deployment in some high-precision pointedness fields, and cannot be widely popularized and deployed in some daily common scenes. We therefore seek a method to meet the deployment requirements of a mechanical phased array antenna by low precision inertial navigation.
The inertial navigation system is an autonomous navigation system, equipment is arranged in a carrier body, and the inertial navigation system does not depend on external information or radiate energy to the outside when working and is not easy to interfere; however, this also causes the problem that it cannot be effectively corrected, especially in low-precision inertial navigation modules; if we can effectively supplement the inertial navigation error, the low-precision inertial navigation can meet the deployment requirement of the mechanical phased array antenna.
Accordingly, there is a need to provide a method for inertial navigation error compensation for a mechanical phased array antenna that addresses the above-described issues.
Disclosure of Invention
In order to solve the technical problems, the method for inertial navigation error compensation of the mechanical phased array antenna is applied to the mechanical phased array antenna and is characterized in that an inertial navigation error compensation system is formed by an antenna body, a mechanical platform, an antenna carrier and a positioning satellite, and inertial navigation error compensation is carried out through the following steps:
step 1: continuously recording inertial navigation attitude data of the antenna body and signal intensity data between the antenna body and a positioning satellite; continuously acquiring mechanical angle data of a mechanical platform, local longitude and latitude data of an antenna carrier and satellite longitude and latitude data of a positioning satellite;
step 2: monitoring large dynamic change, and suspending inertial navigation error compensation when the large dynamic change occurs; when the large dynamic change does not occur and the error compensation condition is triggered, executing the next step;
step 3: setting an antenna scanning range, and acquiring signal intensity data of each angle in the scanning range;
step 4: monitoring the pitching angle, and compensating the loss of the pitching angle for the signal intensity data;
step 5: monitoring signal frequency, and performing frequency cross gain compensation on signal intensity data;
step 6: continuously adjusting the scanning range of the antenna, repeating the steps 3 to 5, and searching the maximum value of the signal intensity;
step 7: outputting mechanical angle data corresponding to the maximum value of the signal intensity to obtain an antenna pointing angle;
step 8: calculating satellite target true values through the local longitude and latitude data, the antenna pointing angle and the satellite longitude and latitude data;
step 9: calculating inertial navigation target virtual values through inertial navigation attitude data;
step 10: solving an error between a satellite target true value and an inertial navigation target virtual value to obtain positioning error data;
step 11: and reversely calculating the inertial navigation attitude error through the positioning error data, and carrying out error compensation on the current inertial navigation attitude data.
As a still further solution, in step 2, the large dynamic change monitoring is performed by the steps of:
acquiring inertial navigation attitude data, signal strength data and mechanical angle data of a mechanical phased array antenna;
comparing the inertial navigation attitude data with a large dynamic attitude threshold; if the dynamic change exceeds the preset value, judging that the dynamic change is large;
comparing the signal strength data to a large dynamic signal threshold; if the dynamic change exceeds the preset value, judging that the dynamic change is large;
comparing the mechanical angle data with a large dynamic angle threshold; if the dynamic change exceeds the preset value, judging that the dynamic change is large;
and repeatedly performing large dynamic change monitoring until inertial navigation error compensation stops.
As a still further solution, in step 4, the pitch angle loss compensation is performed by:
continuously monitoring the pitching angle of the mechanical platform to obtain platform pitching angle data;
inquiring a pitching angle loss compensation quantity corresponding to the pitching angle data of the platform;
acquiring signal intensity data of each angle in the current scanning range, and obtaining a signal intensity maximum value;
superposing the pitching angle loss compensation quantity and the signal intensity maximum value to obtain a pitching angle loss compensated signal intensity maximum value;
the angle loss compensation amounts are measured through experiments and are pre-stored as a lookup table in one-to-one correspondence with the pitching angle data of the platform.
As a still further solution, in step 5, the frequency-interleaved gain compensation is performed by:
continuously monitoring the signal frequency of the antenna body to obtain signal frequency data;
calculating signal frequency attenuation amount by signal frequency dataL f ； wherein ,L f =20logf, f is the signal frequency;
acquiring signal intensity data of each angle in the current scanning range, and obtaining a signal intensity maximum value;
maximum signal intensity and attenuation of signal frequencyL f And (5) superposing to obtain the maximum signal intensity value after frequency interleaving gain compensation.
As a further solution, in step 6, the antenna scanning range is adjusted using a two-dimensional scan; wherein the mechanical angle data includes pitch mechanical angle and rotational mechanical angle; when two-dimensional scanning is carried out, the pitching mechanical angle and the rotating mechanical angle are respectively changed so as to realize the two-dimensional scanning adjustment of the antenna scanning range.
As a still further solution, in step 8, the satellite target true value is obtained by:
setting a coordinate mapping point corresponding to the local longitude and latitude data as a first positioning point; setting a second positioning point for a coordinate mapping point corresponding to the longitude and latitude data of the satellite;
the antenna pointing angle is used as an azimuth angle between a first locating point and a second locating point, and the relative position between the first locating point and the second locating point in a three-dimensional space is determined;
substituting the satellite geodetic coordinate value into the relative position between the first positioning point and the second positioning point to obtain a local geodetic coordinate value;
and taking the local earth coordinate value as a satellite target true value and outputting the satellite target true value.
As a still further solution, in step 9, the inertial navigation target virtual value is obtained by:
acquiring local positioning data at the previous moment;
acquiring inertial navigation attitude data at the current moment;
calculating displacement increment data through inertial navigation attitude data;
updating the local positioning data at the previous moment through the displacement increment data to obtain the local positioning data at the current moment;
substituting the local positioning data into a geodetic coordinate system to obtain a local geodetic coordinate value;
and taking the local geodetic coordinate value as an inertial navigation target virtual value and outputting the inertial navigation target virtual value.
As a still further solution, the local positioning data is replaced to the geodetic coordinate system by:
；
A=H+arctgZ/X，E=arcsinY/L;
wherein ,[X,Y,Z]Local geodetic coordinates, which are geodetic rectangular coordinates [Xc,Yc,Zc]For the purpose of locating the data locally,Din order to transform the matrix,A c for the azimuth of the local positioning data,E c for the pitch angle of the local positioning data,Lfor the antenna tilt of the local positioning data,His the course angle of the inertial navigation attitude data,Pis the pitch angle of the inertial navigation attitude data,Ra roll angle which is inertial navigation attitude data;Ais the azimuth angle of the polar coordinate of the earth,Eis the pitch angle of the polar coordinates of the earth.
Compared with the related art, the method for inertial navigation error compensation of the mechanical phased array antenna has the following beneficial effects:
the invention forms an inertial navigation error compensation system by the antenna body, the mechanical platform, the antenna carrier and the positioning satellite, and uses the satellite as a reference target so as to correct errors generated by inertial navigation; firstly, carrying out large dynamic change monitoring to avoid inertial navigation error compensation under the unstable condition; when inertial navigation error compensation is carried out, determining the direction of the antenna pointing to the satellite by searching the maximum value of signal intensity; the problem of signal loss caused by pitching change of the mechanical platform is considered, the problem of signal attenuation caused by different signal frequencies is considered, and accurate and effective maximum signal intensity is found after the signal attenuation is respectively supplemented; the current inertial navigation attitude data can be subjected to error compensation by solving the positioning error data and reversely calculating the inertial navigation attitude error; the low-precision inertial navigation can meet the deployment requirement of the mechanical phased array antenna, and has practical and popularization values.
Drawings
FIG. 1 is a flow chart of a method for inertial navigation error compensation for a mechanical phased array antenna according to the present invention;
FIG. 2 is a schematic diagram I provided in an embodiment of the present invention;
FIG. 3 is a second schematic diagram according to an embodiment of the present invention;
FIG. 4 is a third schematic diagram provided by an embodiment of the present invention;
fig. 5 is a schematic diagram provided in an embodiment of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and embodiments.
As shown in fig. 1, the method for inertial navigation error compensation of a mechanical phased array antenna provided in this embodiment is applied to a mechanical phased array antenna, and is characterized in that an inertial navigation error compensation system is formed by an antenna body, a mechanical platform, an antenna carrier and a positioning satellite, and inertial navigation error compensation is performed by the following steps:
step 1: continuously recording inertial navigation attitude data of the antenna body and signal intensity data between the antenna body and a positioning satellite; continuously acquiring mechanical angle data of a mechanical platform, local longitude and latitude data of an antenna carrier and satellite longitude and latitude data of a positioning satellite;
step 2: monitoring large dynamic change, and suspending inertial navigation error compensation when the large dynamic change occurs; when the large dynamic change does not occur and the error compensation condition is triggered, executing the next step;
step 3: setting an antenna scanning range, and acquiring signal intensity data of each angle in the scanning range;
step 4: monitoring the pitching angle, and compensating the loss of the pitching angle for the signal intensity data;
step 5: monitoring signal frequency, and performing frequency cross gain compensation on signal intensity data;
step 6: continuously adjusting the scanning range of the antenna, repeating the steps 3 to 5, and searching the maximum value of the signal intensity;
step 7: outputting mechanical angle data corresponding to the maximum value of the signal intensity to obtain an antenna pointing angle;
step 8: calculating satellite target true values through the local longitude and latitude data, the antenna pointing angle and the satellite longitude and latitude data;
step 9: calculating inertial navigation target virtual values through inertial navigation attitude data;
step 10: solving an error between a satellite target true value and an inertial navigation target virtual value to obtain positioning error data;
step 11: and reversely calculating the inertial navigation attitude error through the positioning error data, and carrying out error compensation on the current inertial navigation attitude data.
It should be noted that: according to the embodiment, an inertial navigation error compensation system is formed by the antenna body, the mechanical platform, the antenna carrier and the positioning satellite, and the satellite is used as a reference target, so that errors generated by inertial navigation are corrected; firstly, carrying out large dynamic change monitoring to avoid inertial navigation error compensation under the unstable condition; when inertial navigation error compensation is carried out, determining the direction of the antenna pointing to the satellite by searching the maximum value of signal intensity; the problem of signal loss caused by pitching change of the mechanical platform is considered, the problem of signal attenuation caused by different signal frequencies is considered, and accurate and effective maximum signal intensity is found after the signal attenuation is respectively supplemented.
On the basis, the embodiment calculates a satellite target true value through local longitude and latitude data, an antenna pointing angle and satellite longitude and latitude data; calculating an inertial navigation target virtual value through the inertial navigation attitude data, and solving an error between a satellite target true value and the inertial navigation target virtual value to obtain positioning error data; and (3) reversely calculating the inertial navigation attitude error through the positioning error data, and performing error compensation on the current inertial navigation attitude data. According to the scheme, error compensation of low-precision inertial navigation in the mechanical phased array antenna can be realized without adding new equipment, so that the low-precision inertial navigation can meet the deployment requirement of the mechanical phased array antenna, and the method has popularization and use values.
As a still further solution, in step 2, the large dynamic change monitoring is performed by the steps of:
acquiring inertial navigation attitude data, signal strength data and mechanical angle data of a mechanical phased array antenna;
comparing the inertial navigation attitude data with a large dynamic attitude threshold; if the dynamic change exceeds the preset value, judging that the dynamic change is large;
comparing the signal strength data to a large dynamic signal threshold; if the dynamic change exceeds the preset value, judging that the dynamic change is large;
comparing the mechanical angle data with a large dynamic angle threshold; if the dynamic change exceeds the preset value, judging that the dynamic change is large;
and repeatedly performing large dynamic change monitoring until inertial navigation error compensation stops.
It should be noted that: the object of large dynamic consideration is mainly the variation of the antenna itself; therefore, we need to monitor inertial navigation attitude data, signal strength data, and mechanical angle data dynamically.
As a still further solution, in step 4, the pitch angle loss compensation is performed by:
continuously monitoring the pitching angle of the mechanical platform to obtain platform pitching angle data;
inquiring a pitching angle loss compensation quantity corresponding to the pitching angle data of the platform;
acquiring signal intensity data of each angle in the current scanning range, and obtaining a signal intensity maximum value;
superposing the pitching angle loss compensation quantity and the signal intensity maximum value to obtain a pitching angle loss compensated signal intensity maximum value;
the angle loss compensation amounts are measured through experiments and are pre-stored as a lookup table in one-to-one correspondence with the pitching angle data of the platform.
It should be noted that: in the process of searching for the maximum value, we usually choose the maximum values of the signal intensity in different antenna scanning ranges, and compare the maximum values of the signal intensity to screen out the maximum values of the signal intensity, and we consider that the antenna is facing the satellite.
However, in practical verification, we find that, when the mechanical phased radar adjusts the mechanical platform, the mechanical platform will change with the carrier/itself, which will cause the signal loss, as shown in fig. 2 to 5, and in fig. 2, the antenna scanning range a corresponds to the maximum value a of the signal intensity; in fig. 3, the antenna scanning range b corresponds to the signal intensity maximum value b; according to the previous analysis, the signal intensity maximum value b is the maximum value of the signal intensity when the positioning satellite is opposite to the positioning satellite, but when the antenna scanning range b is scanned, the mechanical platform is inclined to a certain degree, and a mechanical pitch angle is generated, so that signals are attenuated, and even if the antenna scanning range b is opposite to the positioning satellite, the signal intensity maximum value b is smaller than the signal intensity maximum value a, so that the problem of false recognition or increase of recognition times is caused; for this reason, as shown in fig. 3, in this embodiment, the corresponding pitch angle loss compensation amount is queried by the mechanical pitch angle, and the pitch angle loss compensation is performed; after compensation, the true signal strength maximum c can be obtained as shown in fig. 4.
As a still further solution, in step 5, the frequency-interleaved gain compensation is performed by:
continuously monitoring the signal frequency of the antenna body to obtain signal frequency data;
calculating signal frequency attenuation amount by signal frequency dataL f ； wherein ,L f =20logf, f is the signal frequency;
acquiring signal intensity data of each angle in the current scanning range, and obtaining a signal intensity maximum value;
maximum signal intensity and attenuation of signal frequencyL f And (5) superposing to obtain the maximum signal intensity value after frequency interleaving gain compensation.
It should be noted that: because different signals have different signal frequencies, when the signal strength is considered, the influence of the different signal frequencies on the signal strength is also considered, so that frequency interleaving gain compensation is needed; we analyzed the amount of signal attenuation L of the signal propagating in air, l=20log+20logf+32.44 (dB); wherein d is the signal transmission distance; f is the signal frequency, i.e., signal frequency data; 32.44 is the loss factor in air. Since 20logf is found to be the frequency dependent attenuation, the signal frequency attenuation is calculated from the signal frequency data when the frequency interleaving gain compensation is performedL f =20logf, compensating, and eliminating the influence of frequency on signals, so as to find the maximum value of the real signal intensity of the positioning satellite.
As a further solution, in step 6, the antenna scanning range is adjusted using a two-dimensional scan; wherein the mechanical angle data includes pitch mechanical angle and rotational mechanical angle; when two-dimensional scanning is carried out, the pitching mechanical angle and the rotating mechanical angle are respectively changed so as to realize the two-dimensional scanning adjustment of the antenna scanning range.
As a still further solution, in step 8, the satellite target true value is obtained by:
setting a coordinate mapping point corresponding to the local longitude and latitude data as a first positioning point; setting a second positioning point for a coordinate mapping point corresponding to the longitude and latitude data of the satellite;
the antenna pointing angle is used as an azimuth angle between a first locating point and a second locating point, and the relative position between the first locating point and the second locating point in a three-dimensional space is determined;
substituting the satellite geodetic coordinate value into the relative position between the first positioning point and the second positioning point to obtain a local geodetic coordinate value;
and taking the local earth coordinate value as a satellite target true value and outputting the satellite target true value.
As a still further solution, in step 9, the inertial navigation target virtual value is obtained by:
acquiring local positioning data at the previous moment;
acquiring inertial navigation attitude data at the current moment;
calculating displacement increment data through inertial navigation attitude data;
updating the local positioning data at the previous moment through the displacement increment data to obtain the local positioning data at the current moment;
substituting the local positioning data into a geodetic coordinate system to obtain a local geodetic coordinate value;
and taking the local geodetic coordinate value as an inertial navigation target virtual value and outputting the inertial navigation target virtual value.
As a still further solution, the local positioning data is replaced to the geodetic coordinate system by:
；
A=H+arctgZ/X，E=arcsinY/L;
wherein ,[X,Y,Z]Local geodetic coordinates, which are geodetic rectangular coordinates [Xc,Yc,Zc]For the purpose of locating the data locally,Din order to transform the matrix,A c for the azimuth of the local positioning data,E c for the pitch angle of the local positioning data,Lfor the antenna tilt of the local positioning data,His the course angle of the inertial navigation attitude data,Pis the pitch angle of the inertial navigation attitude data,Ra roll angle which is inertial navigation attitude data;Ais the azimuth angle of the polar coordinate of the earth,Epitch for the polar coordinates of the earth.
The foregoing is only illustrative of the present invention and is not to be construed as limiting the scope of the invention, and all equivalent structures or equivalent flow modifications which may be made by the teachings of the present invention and the accompanying drawings or which may be directly or indirectly employed in other related art are within the scope of the invention.
Claims (6)
1. The inertial navigation error compensation method for the mechanical phased array antenna is applied to the mechanical phased array antenna and is characterized in that an inertial navigation error compensation system is formed by an antenna body, a mechanical platform, an antenna carrier and a positioning satellite, and the inertial navigation error compensation is carried out through the following steps:
step 1: continuously recording inertial navigation attitude data of the antenna body and signal intensity data between the antenna body and a positioning satellite; continuously acquiring mechanical angle data of a mechanical platform, local longitude and latitude data of an antenna carrier and satellite longitude and latitude data of a positioning satellite;
step 2: monitoring large dynamic change, and suspending inertial navigation error compensation when the large dynamic change occurs; when the large dynamic change does not occur and the error compensation condition is triggered, executing the next step;
step 3: setting an antenna scanning range, and acquiring signal intensity data of each angle in the scanning range;
step 4: monitoring the pitching angle, and compensating the loss of the pitching angle for the signal intensity data;
step 5: monitoring signal frequency, and compensating frequency variation gain of signal intensity data;
step 6: continuously adjusting the scanning range of the antenna, repeating the steps 3 to 5, and searching the maximum value of the signal intensity;
step 7: outputting mechanical angle data corresponding to the maximum value of the signal intensity to obtain an antenna pointing angle;
step 8: calculating satellite target true values through the local longitude and latitude data, the antenna pointing angle and the satellite longitude and latitude data;
step 9: calculating inertial navigation target virtual values through inertial navigation attitude data;
step 10: solving an error between a satellite target true value and an inertial navigation target virtual value to obtain positioning error data;
step 11: reversely calculating an inertial navigation attitude error through the positioning error data, and performing error compensation on the current inertial navigation attitude data;
in step 4, the pitch angle loss compensation is performed by:
continuously monitoring the pitching angle of the mechanical platform to obtain platform pitching angle data;
inquiring a pitching angle loss compensation quantity corresponding to the pitching angle data of the platform;
acquiring signal intensity data of each angle in the current scanning range, and obtaining a signal intensity maximum value;
superposing the pitching angle loss compensation quantity and the signal intensity maximum value to obtain a pitching angle loss compensated signal intensity maximum value;
the angle loss compensation amounts are measured through experiments and are pre-stored as a lookup table in one-to-one correspondence with the pitching angle data of the platform;
in step 5, the frequency variation gain compensation is performed by:
continuously monitoring the signal frequency of the antenna body to obtain signal frequency data;
calculating signal frequency attenuation amount by signal frequency dataL f ； wherein ,L f =20logf, f is the signal frequency;
acquiring signal intensity data of each angle in the current scanning range, and obtaining a signal intensity maximum value;
maximum signal intensity and attenuation of signal frequencyL f And superposing to obtain the maximum signal intensity value after the frequency change gain compensation.
2. A method for inertial navigation error compensation of a mechanical phased array antenna according to claim 1, characterized in that in step 2, the large dynamic change monitoring is performed by the steps of:
acquiring inertial navigation attitude data, signal strength data and mechanical angle data of a mechanical phased array antenna;
comparing the inertial navigation attitude data with a large dynamic attitude threshold; if the dynamic change exceeds the preset value, judging that the dynamic change is large;
comparing the signal strength data to a large dynamic signal threshold; if the dynamic change exceeds the preset value, judging that the dynamic change is large;
comparing the mechanical angle data with a large dynamic angle threshold; if the dynamic change exceeds the preset value, judging that the dynamic change is large;
and repeatedly performing large dynamic change monitoring until inertial navigation error compensation stops.
3. A method for inertial navigation error compensation of a mechanical phased array antenna according to claim 1, characterized in that in step 6, the antenna scan range is adjusted using two-dimensional scanning; wherein the mechanical angle data includes pitch mechanical angle and rotational mechanical angle; when two-dimensional scanning is carried out, the pitching mechanical angle and the rotating mechanical angle are respectively changed so as to realize the two-dimensional scanning adjustment of the antenna scanning range.
4. A method for inertial navigation error compensation of a mechanical phased array antenna according to claim 1, characterized in that in step 8, satellite target true values are obtained by:
setting a coordinate mapping point corresponding to the local longitude and latitude data as a first positioning point; setting a second positioning point for a coordinate mapping point corresponding to the longitude and latitude data of the satellite;
the antenna pointing angle is used as an azimuth angle between a first locating point and a second locating point, and the relative position between the first locating point and the second locating point in a three-dimensional space is determined;
substituting the satellite geodetic coordinate value into the relative position between the first positioning point and the second positioning point to obtain a local geodetic coordinate value;
and taking the local earth coordinate value as a satellite target true value and outputting the satellite target true value.
5. A method for inertial navigation error compensation of a mechanical phased array antenna according to claim 1, characterized in that in step 9, the inertial navigation target virtual value is obtained by:
acquiring local positioning data at the previous moment;
acquiring inertial navigation attitude data at the current moment;
calculating displacement increment data through inertial navigation attitude data;
updating the local positioning data at the previous moment through the displacement increment data to obtain the local positioning data at the current moment;
substituting the local positioning data into a geodetic coordinate system to obtain a local geodetic coordinate value;
and taking the local geodetic coordinate value as an inertial navigation target virtual value and outputting the inertial navigation target virtual value.
6. A method for inertial navigation error compensation of a mechanical phased array antenna according to claim 5, wherein the local positioning data is substituted to a geodetic coordinate system by:
；
A=H+arctgZ/X，E=arcsinY/L;
wherein ,[X,Y,Z]Local geodetic coordinates, which are geodetic rectangular coordinates [Xc,Yc,Zc]For the purpose of locating the data locally,Din order to transform the matrix,A c for the azimuth of the local positioning data,E c for the pitch angle of the local positioning data,Lfor the antenna tilt of the local positioning data,His the course angle of the inertial navigation attitude data,Pis the pitch angle of the inertial navigation attitude data,Ra roll angle which is inertial navigation attitude data;Ais the azimuth angle of the polar coordinate of the earth,Eis the pitch angle of the polar coordinates of the earth.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311050000.8A CN116772838B (en) | 2023-08-21 | 2023-08-21 | Inertial navigation error compensation method for mechanical phased array antenna |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311050000.8A CN116772838B (en) | 2023-08-21 | 2023-08-21 | Inertial navigation error compensation method for mechanical phased array antenna |
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|---|---|
| CN116772838A CN116772838A (en) | 2023-09-19 |
| CN116772838B true CN116772838B (en) | 2023-10-20 |
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