CN116819460A - Baseline calibration method for radar and communication equipment device - Google Patents
Baseline calibration method for radar and communication equipment device Download PDFInfo
- Publication number
- CN116819460A CN116819460A CN202310384022.1A CN202310384022A CN116819460A CN 116819460 A CN116819460 A CN 116819460A CN 202310384022 A CN202310384022 A CN 202310384022A CN 116819460 A CN116819460 A CN 116819460A
- Authority
- CN
- China
- Prior art keywords
- angle
- servo system
- servo
- amax
- antenna
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000004891 communication Methods 0.000 title claims abstract description 25
- 230000001360 synchronised effect Effects 0.000 claims abstract description 26
- 238000012360 testing method Methods 0.000 claims abstract description 21
- 238000005096 rolling process Methods 0.000 claims description 16
- 230000010287 polarization Effects 0.000 claims description 5
- 101000912561 Bos taurus Fibrinogen gamma-B chain Proteins 0.000 claims description 4
- 238000009434 installation Methods 0.000 abstract description 15
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 238000005259 measurement Methods 0.000 description 24
- 238000012545 processing Methods 0.000 description 9
- 238000003860 storage Methods 0.000 description 4
- 108091092878 Microsatellite Proteins 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000007726 management method Methods 0.000 description 2
- 241001497337 Euscorpius gamma Species 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
- H04B7/18508—Communications with or from aircraft, i.e. aeronautical mobile service with satellite system used as relay, i.e. aeronautical mobile satellite service
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/08—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing integrity information, e.g. health of satellites or quality of ephemeris data
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Astronomy & Astrophysics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Signal Processing (AREA)
- Computer Security & Cryptography (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
The invention discloses a radar and communication equipment device baseline calibration method, which comprises the following steps: step S1: the gesture measuring device and the servo system are arranged on a carrier of the equipment, and an antenna is connected with the servo system; the normal direction of the gesture measuring device is consistent with the normal direction of the servo system; step S2: obtaining an angle parameter of the antenna aiming at the synchronous satellite; step S3: measuring the angle parameter of the carrier relative to the geodetic coordinate system, and obtaining the angle parameter of the servo system pointing to the synchronous satellite; step S4: the servo system rotates to the calculated angle parameter of the servo system pointing to the synchronous satellite; the frequency spectrograph measures the intensity of the synchronous satellite beacon signal; step S5: adjusting the gesture of a servo system, and recording the angle parameters when the antenna receiving signals reach the maximum value and the maximum signal; and (3) calculating the comprehensive error angle of the carrier attitude measuring device and the servo system measuring loop, and writing the comprehensive error angle into software of the servo system. The invention has the beneficial effects that: neglecting the error influence of the middle installation link, and improving the test efficiency and the test precision.
Description
Technical Field
The invention relates to the technical field of C-band and Ku-band radar and communication equipment installation baseline calibration, in particular to a radar and communication equipment device baseline calibration method.
Background
When the radar and communication equipment works, the antenna is required to be pointed to the target, the antenna is arranged on the servo system, the servo system drives the antenna to rotate and point to the target, and only the antenna is aimed at the target, so that the equipment can work normally; the radar and communication equipment can acquire pose information of the equipment in the azimuth direction, the pitching direction, the rolling direction and the like under a geocentric coordinate system through a pose measuring device on a carrier platform; the servo system is provided with an angle detection device, and can measure the angle information of azimuth, pitch and roll directions under the coordinate system of the servo turntable. The angle instruction information of the alignment target sent by the equipment is azimuth, pitching and rolling angles under a geocentric coordinate system, so that calibration of a baseline of the gesture measuring device and a baseline of a servo system is required after the gesture measuring device and the servo system are installed on the equipment.
Such as bulletin number: CN106093892a, based on a calibration satellite, performing radar RCS calibration and external measurement calibration system simultaneously, establishing a calibration satellite, wherein the calibration satellite consists of a microsatellite platform and a payload; the micro satellite platform is internally provided with a GNSS receiver, a momentum wheel, a magnetic torquer, a satellite-borne computer, a storage battery, a measurement and control transponder and a temperature sensor; the microsatellite platform is used for digging and installing Long Baqiu on one surface of the ground, providing accurate target characteristic standard, and the rest surfaces are stuck with solar cells to charge a storage battery; the GNSS receiver is matched with the GNSS receiving antenna, receives a GNSS system navigation message, and is responsible for providing a high-precision position reference through downloading by the measurement and control system; the momentum wheel is matched with the magnetic torquer and is responsible for completing satellite attitude adjustment; the measurement and control transponder is responsible for downloading GNSS receiver measurement data and satellite engineering parameters and receiving an uplink control instruction; the space-borne computer is responsible for space management, measurement and control response, attitude and orbit control calculation, storage and management tasks; the storage battery is responsible for supplying power to the platform and the GNSS receiver in the earth shadow area.
The current radar and communication equipment commonly used calibration method mainly comprises three methods of conventional calibration, fixed star calibration and artificial earth satellite calibration.
The conventional calibration generally uses external fixed reference equipment such as a calibration tower, an azimuth mark, a calibration ball and the like and observation instruments such as a level instrument, a telescope, a theodolite and the like to calibrate zero value, shafting error and other systematic error components, and a specific operation method is provided in a text of a tracking radar zero calibration method based on a total station, so that the method has the advantages of strong operability and good stability; the method has the advantages that the mobility of the calibration tower is poor, manual intervention is required in the whole process, certain requirements are also provided for the surrounding landforms of the radar, the signal processing equipment of the radar equipment is required to participate in normal operation during calibration, the calibration is carried out only through an optical axis, the electric axis and the mechanical axis of the antenna are considered to be completely overlapped in theory, the error of the electric axis of the antenna cannot be calibrated, and a certain degree of calibration error exists.
The star calibration takes a star celestial body as a reference target, and obtains measurement data through optical equipment such as a low-light television and the like to calculate the radar antenna base shafting error, and a method based on the star calibration is given in dynamic calibration of shipborne radar shafting error correction parameters based on star measurement. The method has the advantages that manual intervention is little in the calibration process, the fixed star calibration is greatly influenced by weather, the photoelectric telescope only calibrates telescope precision, the error between the telescope optical axis and the actual electric axis is not calibrated, the calibration method also has certain limitation, and the radar is required to be supported by the micro-light television equipment.
The satellite calibration takes an artificial earth satellite running in a space near earth orbit as a reference target, and the radar system error is calibrated by acquiring satellite precision orbit data, so that the method is an advanced radar calibration technology at present, and in engineering implementation research of a pulse radar satellite calibration method, a method for calibrating a radar shafting by using the satellite is provided, and the method has the defects of higher requirement on satellite selection and longer calibration period, and is not used in actual engineering application.
In summary, the current radar and communication equipment calibration method first establishes a calibration target, which may be a calibration tower, a calibration sphere, a satellite, or a star, then aligns the calibration target by using a photoelectric device installed on the radar equipment or a transceiver device of the radar itself, and observes and obtains the directional angles of the azimuth direction, the elevation direction, and the roll direction of the current servo system, and further, the radar equipment receiving device is matched with a signal generating device installed on the calibration tower to calibrate the radar electric axis, but the calibration tower needs a certain distance and height from the radar equipment. If the test site cannot meet the remote test condition of the calibration tower, the azimuth, the pitching direction and the rolling angle of the current servo system are measured by adopting a theodolite and a level meter, and compared with a gesture measuring device, the deviation is written into servo system software, so that the reference of the servo system is the same as the gesture measuring device; the method is simple, but can only calibrate the attitude measuring device and the servo system reference, and cannot calibrate the electric axis deviation error. If a calibration ball, a star, etc. are used as calibration targets, the signal generating device cannot be installed, i.e. the calibration cannot be completed due to the electric axis deviation error. If the observed target is a satellite, the radar actively detects the target to further calibrate the radar electric axis, the requirement on the whole radar system is higher, the radar receiving system is required, the signal processing system is involved in the work, the satellite overhead data is required to be recorded for many times, and the calibration time is longer.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information has been made as prior art that is well known to a person of ordinary skill in the art.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: how to solve the problem of large error of the common calibration method of the radar and the communication equipment in the prior art.
The invention solves the technical problems by the following technical means:
a radar and communication equipment device baseline calibration method comprises the following steps:
step S1: the gesture measuring device and the servo system are arranged on a carrier of the equipment, and an antenna is connected with the servo system; the normal direction of the gesture measuring device is consistent with the normal direction of the servo system;
step S2: measuring the geographical position information of the current carrier by using the attitude measuring device, searching the geographical position information of the synchronous satellite serving as a target by using the ephemeris, and calculating to obtain the angle parameter of the antenna aiming at the synchronous satellite;
step S3: the attitude measuring device measures the angle parameter of the carrier relative to the geodetic coordinate system, obtains the angle parameter of the servo system based on the servo system coordinate system by taking the normal direction as the axis, and calculates and obtains the angle parameter of the servo system pointing to the synchronous satellite;
step S4: the servo system rotates to the calculated angle parameter of the servo system pointing to the synchronous satellite; the receiving end of the antenna is connected with a frequency spectrograph, and the intensity of a synchronous satellite beacon signal is measured;
step S5: adjusting the gesture of the servo system, and observing and recording the maximum value of the antenna receiving signal and the angle parameter when the signal is maximum; and calculating the comprehensive error angle of the carrier attitude measuring device and the measuring loop of the servo system, and writing the comprehensive error angle into software of the servo system to serve as reference calibration error data of the servo system.
The method directly calibrates the equipment servo system and the geodetic coordinate system by using the beacon signal of the synchronous communication satellite as a signal reference, and the method directly takes the antenna electric axis as a final pointing target, so that the deviation error of the antenna electric axis is eliminated, the carrier attitude measurement device and the reference calibration of the servo turntable equipment are not required, the electric axis is directly pointed to the target, and the influence of intermediate installation link errors such as the carrier attitude measurement device installation error, the servo system installation error, the antenna manufacturing and installation error and the like is ignored; the observation target is a synchronous satellite with unchanged relative to the earth position, namely, the test can be performed through the synchronous satellite at any time, and the test efficiency and the test precision are improved.
Preferably, in step S1, the receiving end of the antenna is connected to a down converter through a radio frequency line, and the down converter is connected to the spectrometer.
Preferably, in step S2, the antenna is aligned with the azimuth angle α of the geostationary satellite according to the geographic position of the current carrier and the geographic position of the geostationary satellite Star shaped Angle of pitch beta Star shaped Angle of roll gamma Star shaped ；
γ Star shaped ＝ω s
λ s : synchronizing satellite longitude; lambda (lambda) e : longitude under the geodetic coordinate system of the carrier; phi (phi) e : latitude, omega of carrier in geodetic coordinate system s Geostationary satellite polarization angle.
Preferably, in step S3, the angle parameter of the carrier relative to the geodetic coordinate system measured by the attitude measurement device includes an azimuth angle α Load carrier Angle of pitch beta Load carrier Angle of roll gamma Load carrier The method comprises the steps of carrying out a first treatment on the surface of the The servo system adjusts the azimuth reference to be the same as the normal direction of the attitude measuring device, and obtains the azimuth angle alpha of the servo system based on the coordinate system of the servo system by taking the normal direction as the axis Servo control The pitch angle beta of the servo system Servo control The roll angle gamma of the servo system is adjusted to 0 DEG Servo control Adjusted to 0 °, according to:
α’ servo control ＝α Servo control -α Load carrier +α Star shaped
β’ Servo control ＝β Servo control -β Load carrier +β Star shaped
γ’ Servo control ＝γ Servo control -γ Load carrier +γ Star shaped
Obtaining azimuth angle alpha 'of servo system pointing to target satellite' Servo control Pitching angle beta 'of servo system pointing to target satellite' Servo control Roll angle gamma 'of servo system pointing to target satellite' Servo control 。
Preferably, in step S4, the servo system rotates the antenna according to the calculated azimuth angle, pitch angle and roll angle of the target satellite, aligns the antenna to the target satellite, and after the servo aligns the antenna to the target satellite, the output radio frequency interface of the antenna is connected with the spectrometer by using a radio frequency cable; setting the sampling center frequency of the spectrometer as the frequency of a target satellite beacon signal, observing the intensity amplitude of the signal received by the spectrometer, and recording as Amax.
After the antenna is aligned with the satellite to be detected, the down converter and the spectrometer are directly connected at the antenna output port through the radio frequency lead, and signal processing demodulation and output are not performed through the equipment receiving system and the data processing system, so that errors caused by the equipment receiving system and the signal processing system are avoided.
Preferably, in step S5, if the servo system has an azimuth angle, a pitch angle, and a roll angle at the same time, when one of the angles is adjusted, the other two angles remain motionless; if the servo system has both azimuth angle and pitch angle, when one angle is adjusted, the other angle is kept still.
Preferably, in step S5, when adjusting the azimuth angle of the servo system, the antenna is based on the azimuth main beam angle θ of the servo system coordinate system α The pitch angle and the roll angle of the servo system are fixed and do not rotate, and the azimuth of the servo system is alpha' Servo control As the origin, the azimuth angle rotation range is-Nθ α ～Nθ α N is 10; observing and recording waveform amplitude A on the spectrometer in the rotation process, comparing the amplitude A with the amplitude Amax, and if A<Amax then amax=amax is recorded, if a>Amax records amax=a, and records the current maximum amplitude Amax of the signal and the azimuth angle of the servo system when the signal amplitude is maximumα s The method comprises the steps of carrying out a first treatment on the surface of the After the rotation is finished, the direction of the servo system is rotated to alpha s Where the azimuth rotation of the servo system is stopped, the servo azimuth angle alpha s By the formula: Δα=α s -α’ Servo control And obtaining a carrier attitude measurement device and a servo system reference installation error angle delta alpha, and writing servo system software.
Preferably, in step S5, when adjusting the elevation angle of the servo system, the antenna is based on the elevation main beam angle θ of the servo system coordinate system β The azimuth angle and the roll angle of the servo system are fixed and not rotated, and the pitch angle test range is beta' Servo control As the origin, the up-and-down rotation range of the pitching angle is-Nθ β ～Nθ β N takes a value of 10, waveform amplitude A on the spectrometer is observed and recorded in the rotation process, the magnitudes of A and Amax are compared, and if A<Amax then amax=amax is recorded, if a>Amax records amax=a, and records the maximum amplitude Amax of the current signal and the pitching angle beta of the servo system when the signal amplitude is maximum s After the rotation is finished, the servo system is rotated to beta in pitching mode s Where the servo system is stopped from pitching rotation, the servo pitching angle beta s By the formula: Δβ=β s -β’ Servo control And obtaining a carrier attitude measurement device and a servo system reference installation error angle delta beta, and writing servo system software.
Preferably, in step S5, when adjusting the roll angle of the servo system, the antenna rolls to the main beam angle θ based on the coordinate system of the servo system γ The azimuth angle and the pitching angle of the servo system are fixed and not rotated, and the rolling angle test range is gamma' Servo control As the origin, the left-right rotation range of the roll angle-theta γ ～θ γ Observing and recording waveform amplitude A on a spectrometer in the rotation process, comparing the amplitude A with the amplitude Amax, and if A<Amax then amax=amax is recorded, if a>Amax records amax=a, and records the maximum amplitude Amax of the current signal and the roll angle gamma of the servo system when the signal amplitude is maximum s After the rotation is finished, the servo system is rotated to gamma in pitching mode s Stopping the transverse rolling rotation of the servo system and controlling the transverse rolling angle gamma by the servo s By the formula: Δγ=γ s -γ’ Servo control And obtaining a carrier attitude measurement device and a servo system reference installation error angle delta gamma, and writing servo system software.
Preferably, the device is any one of a vehicle, an aircraft and a ship.
The invention has the advantages that:
(1) The method directly calibrates the equipment servo system and the geodetic coordinate system by using the beacon signal of the synchronous communication satellite as a signal reference, and the method directly takes the antenna electric axis as a final pointing target, so that the deviation error of the antenna electric axis is eliminated, the carrier attitude measurement device and the reference calibration of the servo turntable equipment are not required, the electric axis is directly pointed to the target, and the influence of intermediate installation link errors such as the carrier attitude measurement device installation error, the servo system installation error, the antenna manufacturing and installation error and the like is ignored; the observation target is a synchronous satellite with unchanged relative to the earth position, namely, the test can be performed through the synchronous satellite at any time, so that the test efficiency and the test precision are improved;
(2) In the invention, after the antenna is aligned with the satellite to be detected, the down converter and the frequency spectrograph are directly connected at the output port of the antenna through the radio frequency lead, and the signal processing demodulation and output are not performed through the equipment receiving system and the data processing system, so that the error caused by the equipment receiving system and the signal processing system is avoided;
(3) In the invention, the satellite beacon signal is directly measured by the instrument, the system beyond the servo is not relied on, and the standard instrument is used for testing the high precision, the high testing efficiency, the good testing realizability and the visual testing data.
Drawings
FIG. 1 is a schematic diagram of a device for calibrating a baseline of a radar and communication device according to an embodiment of the present invention;
FIG. 2 is a schematic view of azimuth, pitch, roll angles of an embodiment of the invention;
FIG. 3 is a flow chart of servo system attitude adjustment in an embodiment of the present invention;
FIG. 4 is a flow chart of the attitude adjustment of a servo system in which the amplitude of the antenna signal is the maximum value of the signal within a certain angle range in the embodiment of the invention;
reference numerals in the drawings:
1. a carrier; 2. a gesture measuring device; 3. a servo system; 4. an antenna; 5. a down converter; 6. a spectrometer; 7. a geostationary satellite;
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described in the following in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, the method for calibrating the base line of the radar and communication equipment device comprises a carrier 1, a gesture measuring device 2, a servo system 3, an antenna 4, a radio frequency line, a down converter 5, a frequency spectrograph 6 and a synchronous satellite 7.
The apparatus is any one of a vehicle, an airplane, a ship, or other moving object to which radar is to be mounted, and the carrier 1 is mounted on the apparatus.
Step S1: the gesture measuring device 2 and the servo system 3 are arranged on a carrier 1 of the equipment, and an antenna 4 is connected with the servo system 3; the normal direction of the gesture measuring device 2 is consistent with the normal direction of the servo system 3; the radio frequency line is connected with a radio frequency interface on the antenna 4, and electromagnetic wave signals received by the antenna 4 are transmitted through the radio frequency line; the receiving end of the antenna 4 is connected with a down converter 5 through a radio frequency line, and the down converter 5 is connected with the frequency spectrograph 6; the attitude measuring device 2 is adjusted so that the azimuth and the elevation of the attitude measuring device are consistent with those of the servo system 3.
Specifically, after the equipment is parked on a non-shielding place at the open top, the gesture measuring device 2 is connected with the carrier 1, the gesture measuring device 2 which is already installed on the carrier 1 is electrified to operate, the gesture measuring device 2 is used for measuring gesture information of the carrier 1, and the measurement content comprises longitude, latitude, altitude, azimuth angle, pitch angle and roll angle of the current carrier 1. As shown in fig. 2, azimuth: the Z axis points to the north direction, the X axis points to the west direction, the antenna points to the projection on the XZ axis plane, and the antenna points to the projection around the Y axis by taking the origin as the center of a circle; pitching direction: the antenna is directed at an angle to the plane of the XZ axis, where the upper half plane of the XZ is at a positive angle and the lower half plane of the XZ is at a negative angle. Roll to: the antenna is pointed in the rotation direction of the rotation axis.
The servo system can measure the rotation angle information of the antenna in the azimuth direction, the pitching direction and the rolling direction under the servo coordinate system; the attitude measuring device 2 can measure attitude information of the carrier in the azimuth direction, the pitching direction and the rolling direction under the geodetic coordinate system.
The servo system 2 is arranged on the carrier 1, the antenna 4 is connected with the servo system 3, the servo system 3 is used for driving the antenna 4 to rotate, the antenna 4 is led to point to the target synchronous satellite 7, and the servo system 3 is adopted in the prior art. The radio frequency line is connected with a radio frequency interface on the antenna 4, and electromagnetic wave signals received by the antenna 4 are transmitted through the radio frequency line; the down converter 5 is connected between the antenna 4 and the frequency spectrograph 6 through a radio frequency line, and converts the beacon signal of the geostationary satellite 7 received by the antenna 4 into a frequency range suitable for measurement of the frequency spectrograph 6; the spectrometer 6 is a test instrument for measuring the frequency and amplitude of the microwave signal, the down converter 5 transmits the beacon signal of the frequency-converted synchronous satellite 7 to the spectrometer 6 through a radio frequency line, and the spectrometer 6 measures the frequency and amplitude of the signal.
The normal direction of the gesture measuring device 2 is consistent with the normal direction of the servo system 3 of the equipment, namely the installation direction is the same, and accurate measurement installation is not needed, for example, the normal direction of the gesture measuring device 2 points to the forward motion direction of the equipment, and the servo system 3 of the equipment can be installed to align the normal direction to the forward motion direction of the equipment.
Step S2: the geographical position information of the current carrier 1 is measured by the attitude measuring device 2, the geographical position information of the geostationary satellite serving as a target is searched by an ephemeris, and the angle parameter of the antenna 4 aiming at the geostationary satellite 7 is calculated;
specifically, the latitude and longitude of the current carrier 1 are obtained by the attitude measurement device 2, and the satellite longitude of the geostationary satellite 7 targeted by ephemeris lookup, the antenna 4 is aligned with the satellite azimuth angle α of the geostationary satellite 7 Star shaped Satellite pitch angle beta Star shaped ，γ Star shaped Is the same as the targetStep satellite polarization angle;
γ star shaped ＝ω s
λ s : longitude of the geostationary satellite; lambda (lambda) e : longitude under the geodetic coordinate system of the carrier; phi (phi) e : latitude, omega of carrier in geodetic coordinate system s Geostationary satellite polarization angle.
Step S3: the attitude measurement device 2 measures the angle parameter of the carrier relative to the geodetic coordinate system, obtains the angle parameter of the servo system based on the servo system coordinate system by taking the normal direction as the axis, and calculates and obtains the angle parameter of the servo system 3 pointing to the synchronous satellite 7;
specifically, the attitude measuring device 2 measures the angle parameters of the carrier 1 relative to the geodetic coordinate system, including the carrier azimuth angle alpha Load carrier Carrier pitch angle beta Load carrier Carrier roll angle gamma Load carrier ；
The servo system 3 adjusts the azimuth reference to be the same as the normal direction of the gesture measuring device 2, and uses the normal direction as the axis to follow the right rule, so as to obtain the servo azimuth angle alpha of the servo system 3 based on the servo system coordinate system Servo control Then the servo pitch angle beta of the servo system is adjusted Servo control Adjusted to 0 DEG, i.e. beta Servo control =0°, servo roll angle γ of servo system Servo control Adjusted to 0 DEG, i.e. gamma Servo control =0, combining the attitude position of the carrier tested by the current carrier 1 attitude measurement device and the azimuth angle alpha of the servo system Servo control Pitch angle beta of servo system Servo control Roll angle gamma of servo system Servo control According to the following:
α’ servo control ＝α Servo control -α Load carrier +α Star shaped
β’ Servo control ＝β Servo control -β Load carrier +β Star shaped
γ’ Servo control ＝γ Servo control -γ Load carrier +γ Star shaped
Obtaining the azimuth angle alpha 'of the servo system 3 pointing to the target satellite 7' Servo control The pitch angle beta 'of the servo system 3 pointing to the target satellite 7' Servo control Roll angle gamma 'of servo system 3 directed to target satellite 7' Servo control 。
Step S4: the servo system 3 rotates to the calculated angle parameter of the servo system pointing to the synchronous satellite; the receiving end of the antenna is connected with a frequency spectrograph, and the intensity of a synchronous satellite beacon signal is measured;
specifically, the servo system 3 calculates the azimuth angle α 'of the servo system pointing to the target satellite according to the step S3' Servo control Pitching angle beta 'of servo system pointing to target satellite' Servo control Roll angle gamma 'of servo system pointing to target satellite' Servo control Rotating the antenna, aligning the antenna 4 to the target satellite 7, and connecting the output radio frequency interface of the antenna 4 with the spectrometer 5 by using a radio frequency cable after the servo system 3 aligns the antenna 4 to the target satellite 7; the sampling center frequency of the spectrometer 5 is set as the beacon signal frequency of the target satellite 7, and the signal intensity amplitude received by the spectrometer 5 is observed and recorded as Amax.
Step S5: adjusting the gesture of the servo system 3, and observing and recording the maximum value of the antenna receiving signal and the angle parameter when the signal is maximum; and calculating the comprehensive error angle of the carrier attitude measuring device and the measuring loop of the servo system, and writing the comprehensive error angle into software of the servo system to serve as reference calibration error data of the servo system.
Specifically, as shown in fig. 3, in step S5, when the azimuth angle of the servo system 3 is adjusted, the antenna 4 is based on the azimuth main beam angle θ of the servo system coordinate system α The pitching angle of the servo system pointing to the target satellite and the rolling angle of the servo system pointing to the target satellite are fixed and do not rotate, and the azimuth of the servo system 3 is alpha' Servo control Counterclockwise rotation of nθ as origin α In the present embodiment, N is 10, the waveform amplitude a of the spectrometer 6 is observed and recorded during rotation, the magnitudes of a and Amax are compared, and if a<Amax then amax=amax is recorded, if a>Amax records amax=a, and records the maximum amplitude Ama of the current signalx and the azimuth angle alpha of the servo system when the signal amplitude is maximum s The method comprises the steps of carrying out a first treatment on the surface of the After the counterclockwise rotation of the azimuth is finished, the azimuth returns to alpha' Servo control The servo system 3 is oriented at alpha' Servo control Clockwise rotation of 10θ as origin α During rotation, the waveform amplitude A of the spectrometer 6 is observed and recorded, the magnitudes of A and Amax are compared, and if A<Amax then amax=amax is recorded, if a>Amax records amax=a, and records the current maximum amplitude Amax of the signal and the azimuth angle α of the servo system when the signal amplitude is maximum s The method comprises the steps of carrying out a first treatment on the surface of the After the rotation of the angle range is finished, the azimuth of the servo system is rotated to alpha s The azimuth rotation of the servo system is stopped, and the maximum waveform amplitude and the servo azimuth angle alpha when the waveform amplitude are taken in the anticlockwise and clockwise rotation processes s By the formula: Δα=α s -α’ Servo control And obtaining the comprehensive error angle delta alpha of the carrier attitude measuring device and the servo system measuring loop, and writing the comprehensive error angle delta alpha into servo system software.
Referring to the azimuth angle adjustment gesture mode, when adjusting the pitching angle of the servo system, the antenna is based on the pitching main beam angle theta of the coordinate system of the servo system β The azimuth angle of the servo system pointing to the target satellite and the roll angle of the servo system pointing to the target satellite are fixed and do not rotate, and the pitch angle test range is beta' Servo control As the origin, the up-and-down rotation range of the pitching angle is-Nθ β ～Nθ β Observing and recording waveform amplitude A on a spectrometer in the rotation process, comparing the amplitude A with the amplitude Amax, and if A<Amax then amax=amax is recorded, if a>Amax records amax=a, and records the maximum amplitude Amax of the current signal and the pitching angle beta of the servo system when the signal amplitude is maximum s After the rotation is finished, the servo system is rotated to beta in pitching mode s Where the servo system is stopped from pitching rotation, the servo pitching angle beta s By the formula: Δβ=β s -β’ Servo control And obtaining the comprehensive error angle delta beta of the carrier attitude measuring device and the servo system measuring loop, and writing the comprehensive error angle delta beta into servo system software.
When the roll angle of the servo system is adjusted, the antenna rolls to the main beam angle theta based on the coordinate system of the servo system γ Servo system pointingThe azimuth angle of the target satellite and the pitching angle of the servo system pointing to the target satellite are fixed and do not rotate, and the rolling angle test range is gamma' Servo control As the origin, the left-right rotation range of the roll angle-theta γ ～θ γ Observing and recording waveform amplitude A on a spectrometer in the rotation process, comparing the amplitude A with the amplitude Amax, and if A<Amax then amax=amax is recorded, if a>Amax records amax=a, and records the maximum amplitude Amax of the current signal and the roll angle gamma of the servo system when the signal amplitude is maximum s After the rotation is finished, the servo system is rotated to gamma in pitching mode s Stopping the transverse rolling rotation of the servo system and controlling the transverse rolling angle gamma by the servo s By the formula: Δγ=γ s -γ’ Servo control And obtaining the comprehensive error angle delta gamma of the carrier attitude measuring device and the servo system measuring loop, and writing the comprehensive error angle delta gamma into servo system software.
In summary, the solution to calculate the comprehensive error angle of the carrier attitude measurement device and the servo system measurement loop is as follows: and delta alpha, delta beta and delta gamma are written into servo system software to serve as reference calibration error data of the azimuth, the pitch and the roll of the servo system for processing.
The adjustment sequence of the azimuth angle, the pitch angle and the roll angle of the servo system is not limited to the sequence, and the three directions are tested in no sequence, so long as all the three directions are tested.
Furthermore, the servo system of the equipment has no roll axial rotation function, and the calibration of the roll angle can be omitted.
By the method, the carrier attitude measuring device mounting error, the servo system mounting error and the antenna manufacturing and mounting error are uniformly solved to calculate the errors corresponding to the azimuth direction, the pitching direction and the rolling direction directly through measuring the satellite beacon signal amplitude, and the errors are eliminated through calculating by the servo turntable software in the normal operation of the equipment, so that the equipment working precision is improved.
As shown in fig. 4, the method is a special case, and is applied to special case calibration that the antenna beam is wide and the antenna signal amplitude is the maximum value of the signal within a certain angle range. Because the antenna beam is wider, the signal amplitude A is unchanged in the original 10 theta a range, and the antenna beam continues to move along the original moving direction until the amplitude A is changed.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention 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 invention.
Claims (10)
1. The method for calibrating the base line of the radar and communication equipment device is characterized by comprising the following steps of:
step S1: the gesture measuring device and the servo system are arranged on a carrier of the equipment, and an antenna is connected with the servo system; the normal direction of the gesture measuring device is consistent with the normal direction of the servo system;
step S2: measuring the geographical position information of the current carrier by using the attitude measuring device, searching the geographical position information of the synchronous satellite serving as a target by using the ephemeris, and calculating to obtain the angle parameter of the antenna aiming at the synchronous satellite;
step S3: the attitude measuring device measures the angle parameter of the carrier relative to the geodetic coordinate system, obtains the angle parameter of the servo system based on the servo system coordinate system by taking the normal direction as the axis, and calculates and obtains the angle parameter of the servo system pointing to the synchronous satellite;
step S4: the servo system rotates to the calculated angle parameter of the servo system pointing to the synchronous satellite; the receiving end of the antenna is connected with a frequency spectrograph, and the intensity of a synchronous satellite beacon signal is measured;
step S5: adjusting the gesture of the servo system, and observing and recording the maximum value of the antenna receiving signal and the angle parameter when the signal is maximum; and calculating the comprehensive error angle of the carrier attitude measuring device and the measuring loop of the servo system, and writing the comprehensive error angle into software of the servo system to serve as reference calibration error data of the servo system.
2. The method for calibrating a baseline of a radar and communication device according to claim 1, wherein in step S1, a receiving end of the antenna is connected to a down converter through a radio frequency line, and the down converter is connected to the spectrometer.
3. The method for calibrating a baseline of a radar and communication device according to claim 1, wherein in step S2, the antenna is aligned with an azimuth angle α of a geostationary satellite according to the geographic position of the current carrier and the geographic position of the geostationary satellite Star shaped Angle of pitch beta Star shaped Angle of roll gamma Star shaped ，α Star shaped 、β Star shaped 、γ Star shaped A geosynchronous satellite polarization angle for a target;
γ star shaped ＝ω s
λ s : synchronizing satellite longitude; lambda (lambda) e : longitude under the geodetic coordinate system of the carrier; phi (phi) e : latitude, omega of carrier in geodetic coordinate system s Geostationary satellite polarization angle.
4. A method for calibrating a base line of a radar and communication device according to claim 3, wherein in step S3, the angle parameter of the carrier relative to the earth coordinate system measured by the attitude measuring device includes an azimuth angle α Load carrier Angle of pitch beta Load carrier Angle of roll gamma Load carrier The method comprises the steps of carrying out a first treatment on the surface of the The servo system adjusts the azimuth reference to be the same as the normal direction of the attitude measuring device, and obtains the azimuth angle alpha of the servo system based on the coordinate system of the servo system by taking the normal direction as the axis Servo control The pitch angle beta of the servo system Servo control The roll angle gamma of the servo system is adjusted to 0 DEG Servo control Adjusted to 0 °, according to:
α’ servo control ＝α Servo control -α Load carrier +α Star shaped
β’ Servo control ＝β Servo control -β Load carrier +β Star shaped
γ’ Servo control ＝γ Servo control -γ Load carrier +γ Star shaped
Obtaining azimuth angle alpha 'of servo system pointing to target satellite' Servo control Pitching angle beta 'of servo system pointing to target satellite' Servo control Roll angle gamma 'of servo system pointing to target satellite' Servo control 。
5. The method for calibrating the baseline of a radar and communication equipment device according to claim 4, wherein in the step S4, the servo system rotates the antenna according to the calculated azimuth angle, elevation angle and roll angle of the target satellite, the antenna is aligned to the target satellite, and after the servo aligns the antenna to the target satellite, the output radio frequency interface of the antenna is connected with the spectrometer by using a radio frequency cable; setting the sampling center frequency of the spectrometer as the frequency of a target satellite beacon signal, observing the intensity amplitude of the signal received by the spectrometer, and recording as Amax.
6. The method for calibrating a baseline of a radar and communication device according to claim 5, wherein in step S5, if the servo system has an azimuth angle, a pitch angle, and a roll angle at the same time, when one of the angles is adjusted, the other two angles remain motionless; if the servo system has both azimuth angle and pitch angle, when one angle is adjusted, the other angle is kept still.
7. The method for calibrating a baseline of a radar and communication device according to claim 6, wherein in step S5, when adjusting an azimuth angle of a servo system, the antenna is based on an azimuth main beam angle θ of a coordinate system of the servo system α The pitch angle and the roll angle of the servo system are fixed and do not rotate, and the azimuth of the servo system is alpha' Servo control As the origin point of the light beam,the azimuth angle rotation range is-Nθ α ～Nθ α Observing and recording waveform amplitude A on a spectrometer in the rotation process, comparing the amplitude A with the amplitude Amax, and if A<Amax then amax=amax is recorded, if a>Amax records amax=a, and records the current maximum amplitude Amax of the signal and the azimuth angle α of the servo system when the signal amplitude is maximum s The method comprises the steps of carrying out a first treatment on the surface of the After the rotation is finished, the direction of the servo system is rotated to alpha s Where the azimuth rotation of the servo system is stopped, the servo azimuth angle alpha s By the formula: Δα=α s -α’ Servo control And obtaining the comprehensive error angle delta alpha of the carrier attitude measuring device and the servo system measuring loop, and writing the comprehensive error angle delta alpha into servo system software.
8. The method for calibrating a baseline of a radar and communication device according to claim 6, wherein in step S5, when adjusting a pitching angle of the servo system, the antenna is based on a pitching main beam angle θ of a coordinate system of the servo system β The azimuth angle and the roll angle of the servo system are fixed and not rotated, and the pitch angle test range is beta' Servo control As the origin, the up-and-down rotation range of the pitching angle is-Nθ β ～Nθ β Observing and recording waveform amplitude A on a spectrometer in the rotation process, comparing the amplitude A with the amplitude Amax, and if A<Amax then amax=amax is recorded, if a>Amax records amax=a, and records the maximum amplitude Amax of the current signal and the pitching angle beta of the servo system when the signal amplitude is maximum s After the rotation is finished, the servo system is rotated to beta in pitching mode s Where the servo system is stopped from pitching rotation, the servo pitching angle beta s By the formula: Δβ=β s -β’ Servo control And obtaining the comprehensive error angle delta beta of the carrier attitude measuring device and the servo system measuring loop, and writing the comprehensive error angle delta beta into servo system software.
9. The method for calibrating a baseline of a radar and communication device according to claim 6, wherein in step S5, when adjusting a roll angle of a servo system, an antenna rolls to a main beam angle θ based on a roll of a coordinate system of the servo system γ The azimuth angle and the pitching angle of the servo system are fixedNot rotating, the rolling angle test range is gamma' Servo control As the origin, the left-right rotation range of the roll angle-theta γ ～θ γ Observing and recording waveform amplitude A on a spectrometer in the rotation process, comparing the amplitude A with the amplitude Amax, and if A<Amax then amax=amax is recorded, if a>Amax records amax=a, and records the maximum amplitude Amax of the current signal and the roll angle gamma of the servo system when the signal amplitude is maximum s After the rotation is finished, the servo system is rotated to gamma in pitching mode s Stopping the transverse rolling rotation of the servo system and controlling the transverse rolling angle gamma by the servo s By the formula: Δγ=γ s -γ’ Servo control And obtaining the comprehensive error angle delta gamma of the carrier attitude measuring device and the servo system measuring loop, and writing the comprehensive error angle delta gamma into servo system software.
10. The method for calibrating a baseline of a radar and communication device according to claim 1, wherein the device is any one of a vehicle, an aircraft, and a ship.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310384022.1A CN116819460A (en) | 2023-04-06 | 2023-04-06 | Baseline calibration method for radar and communication equipment device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310384022.1A CN116819460A (en) | 2023-04-06 | 2023-04-06 | Baseline calibration method for radar and communication equipment device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116819460A true CN116819460A (en) | 2023-09-29 |
Family
ID=88121130
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310384022.1A Pending CN116819460A (en) | 2023-04-06 | 2023-04-06 | Baseline calibration method for radar and communication equipment device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116819460A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117439656A (en) * | 2023-12-08 | 2024-01-23 | 成都时代宇辰科技有限公司 | Automatic correction method for absolute coordinate system of VICTS satellite communication antenna |
-
2023
- 2023-04-06 CN CN202310384022.1A patent/CN116819460A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117439656A (en) * | 2023-12-08 | 2024-01-23 | 成都时代宇辰科技有限公司 | Automatic correction method for absolute coordinate system of VICTS satellite communication antenna |
| CN117439656B (en) * | 2023-12-08 | 2024-02-23 | 成都时代宇辰科技有限公司 | Automatic correction method for absolute coordinate system of VICTS satellite communication antenna |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7978133B1 (en) | GPS gyro calibration | |
| CN110308746B (en) | Star calibration method suitable for three-axis turntable type measurement and control antenna | |
| CN109827541B (en) | Method for improving mutual guide precision of multiple photoelectric theodolites working cooperatively | |
| CN111811538B (en) | Photoelectric theodolite orientation calibration method based on common star | |
| CN103675773A (en) | Scaler and satellite pointing alignment determination method | |
| CN116819460A (en) | Baseline calibration method for radar and communication equipment device | |
| CN107024625A (en) | High precision measurement method | |
| CN114018161A (en) | High-precision distance calibration method for measurement and control system | |
| CN107589431B (en) | Target calibration method for improving target positioning accuracy of airborne photoelectric system | |
| CN114608611B (en) | Photoelectric pod collimation axis error correction method based on integrated navigation post-processing | |
| JP2003322676A (en) | Satellite tracking method and satellite tracking device | |
| CN112722329B (en) | Method and system for controlling condensed scanning attitude of ground remote sensing satellite | |
| CN112833878A (en) | Near-ground multi-source astronomical autonomous navigation method | |
| CN116519020A (en) | Inertial navigation calibration device and method for maneuvering measurement and control platform | |
| CN114355396A (en) | USB shafting parameter calibration method based on Beidou system | |
| CN111897370B (en) | Dynamic antenna satellite following parameter correction method based on avionic instrument | |
| CN115166779A (en) | Beidou navigation satellite signal foundation monitoring method and system | |
| CN111879298B (en) | Automatic star pointing method for moon unattended telescope | |
| CN117193383B (en) | Low-orbit satellite tracking method based on phased array antenna | |
| CN116743224B (en) | Satellite automatic tracking method, satellite tracking system and satellite tracking device | |
| CN114447609B (en) | Large antenna digital guiding device with dynamic compensation and digital guiding method thereof | |
| CN113340281B (en) | Method for passively measuring earth orbit eccentricity by using microwave radiometer | |
| CN116817872B (en) | Unmanned full-automatic high-precision homing measurement method | |
| CN117572539A (en) | Static track microwave detector electric axis pointing on-orbit calibration and correction method and system | |
| Dai et al. | Uniform calibration of networked radar based on unmanned aerial vehicle and GPS |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |