CN117008174A - GNSS-based measurement and control antenna non-orthogonality measurement method and device - Google Patents

GNSS-based measurement and control antenna non-orthogonality measurement method and device Download PDF

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Publication number
CN117008174A
CN117008174A CN202311276949.XA CN202311276949A CN117008174A CN 117008174 A CN117008174 A CN 117008174A CN 202311276949 A CN202311276949 A CN 202311276949A CN 117008174 A CN117008174 A CN 117008174A
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China
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measurement
antenna
gnss
control
orthogonality
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CN117008174B (en
Inventor
门涛
杨光
胡红军
王星
徐晓飞
郭璞
王轶
何高陵
李欣玲
王晓伟
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China Xian Satellite Control Center
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China Xian Satellite Control Center
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    • 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
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The application discloses a GNSS-based measurement and control antenna non-orthogonality measuring method and device, comprising the following steps: the unmanned aerial vehicle is used for mounting a measurement and control transponder and GNSS-RTK measuring equipment, and the unmanned aerial vehicle is controlled to move to a target hovering position; based on the mounted measurement and control transponder, acquiring signal maximum values in different pitch angle directions of the measurement and control antenna so as to determine the actual antenna electric axis orientation; according to the position data of the unmanned aerial vehicle measured by the GNSS-RTK measuring equipment, fitting a plane formed by one rotation of the antenna electric axis pointing direction by adopting a least square method; and calculating the complementary angle of the included angle between the plane formed by the rotation of the fitted antenna electric axis and the plane of the large disc circle so as to obtain the included angle between the azimuth axis and the pitching axis. The embodiment of the application provides a measurement and control antenna non-orthogonality measuring method, which can meet the measurement requirement of an aerospace measurement and control antenna non-orthogonality index.

Description

GNSS-based measurement and control antenna non-orthogonality measurement method and device
Technical Field
The application relates to the technical field of aerospace measurement and control, in particular to a GNSS-based measurement and control antenna non-orthogonality measuring method and device.
Background
When the azimuth-elevation type aerospace measurement and control antenna is designed, the elevation axis is required to be strictly horizontal, and the azimuth axis is vertical and intersects with the elevation axis. The orthogonality of the antenna shafting is an important index for judging the tracking precision and the antenna performance of the measurement and control equipment. The azimuth and pitch axes are not orthogonal, i.e., the pitch axis is not perpendicular to the direction axis, referred to as orthogonality error. The non-orthogonality of azimuth axis and pitch axis is represented by the complementary angle of the included angle between the two axes. In the working process of the measurement and control antenna, the dynamic deformation is serious and the vibration is generated by wind, high-speed rotation or other vibration, which is a main error source of non-orthogonality. The non-orthogonality of azimuth axis and elevation axis mainly causes the azimuth error of the measurement and control antenna, and the measurement needs to be carried out regularly to correct the tracking angle error of the antenna.
The existing measuring method for measuring and controlling the non-orthogonality of the antenna needs to install a frame type level meter on an antenna measuring tool by using a kalan so that transverse water bubbles of the level meter are in the center. The measuring method comprises the following steps: 1) And placing an image combining level on the plane of the frame type level, adjusting a knob of the image combining level, and recording the numerical value of the image combining level. 2) And after the azimuth angle of the antenna rotates by 45 degrees, recording the value of the image combining level instrument, continuously staying at every 45-degree point, and uniformly measuring the value of the image combining level instrument at 8 points in azimuth. 3) The reading of the image-combining level at two points 180 degrees apart is recorded as C 0 And C 180 For use in
Calculating 4 groups of orthogonality error values, wherein delta is the orthogonality value and C 0 Measured in the direction of 0 DEG, C 180 Is a measurement in the 180 deg. direction. 4) The maximum value in the 4 groups of orthogonality measured values is the orthogonality value of the measurement and control antenna. The existing antenna non-orthogonality method mainly detects whether the mechanical assembly precision of the antenna meets the design index requirement after the antenna is installed, and the antenna is put into use and then needs to be stopped for manually placing the level meter, so that the working efficiency is affected, and the operation is relatively complex.
Disclosure of Invention
The embodiment of the application adopts an unmanned plane platform to carry a measurement and control transponder and GNSS-RTK measurement equipment, provides a measurement and control antenna non-orthogonality measurement method and device based on GNSS, and meets the measurement requirement of a spaceflight measurement and control antenna non-orthogonality index.
The embodiment of the application provides a GNSS-based measurement and control antenna non-orthogonality measuring method, which comprises the following steps:
the unmanned aerial vehicle is used for mounting a measurement and control transponder and GNSS-RTK measuring equipment, and the unmanned aerial vehicle is controlled to move to a target hovering position, wherein the target hovering position meets the requirement that the space distance is larger than the far-field distance;
based on the mounted measurement and control transponder, acquiring signal maximum values in different pitch angle directions of the measurement and control antenna so as to determine the actual antenna electric axis orientation; and
fitting a plane formed by one rotation of an antenna electric axis pointing direction by adopting a least square method according to the position data of the unmanned aerial vehicle measured by the GNSS-RTK measuring equipment;
and calculating the complementary angle of the included angle between the plane formed by the rotation of the fitted antenna electric axis and the plane of the large disc circle so as to obtain the included angle between the azimuth axis and the pitching axis.
Optionally, the target hovering position is determined by calculating the horizontal round trip and vertical increment descending flight position of the unmanned aerial vehicle by taking the mechanical rotation center of the ground measurement and control antenna as an origin and according to the azimuth angle to be measured, the pitch angle and the distance limit of the near field and the elevation angle of the antenna, and the target hovering position meets the requirement that the space distance is larger than the far field distance, and the far field distance meets the following requirements:
wherein L is the linear distance between the antenna point to be detected and the ground projection point of the unmanned aerial vehicle, D is the antenna diameter, < ->Is the wavelength.
Optionally, based on the mounted measurement and control transponder, obtaining a signal maximum value in different pitch angle directions of the measurement and control antenna, so as to determine an actual antenna electric axis orientation includes:
the ground measurement and control antenna rotates to an initial position, and the unmanned aerial vehicle is controlled to move to a distance corresponding to the initial positionThe position is subjected to horizontal round trip and vertical increment descending flight, the specified distance is flown in the horizontal direction and the vertical direction, the envelope size of the ground measurement and control equipment signal is received by using the measurement and control transponder, and the data is sent to the ground through the GNSS-RTK measuring equipment;
gradually adjusting the pitching direction and the azimuth direction angles of the measurement and control antenna to be measured, and repeatedly executing measurement.
Optionally, the method further comprises calculating the distance from each position of the unmanned aerial vehicle to the rotation center of the antenna according to GNSS-RTK data measured by the GNSS-RTK measuring device, and based on the distanceThe envelope value of the signal with the distance error exceeding the threshold value is removed in the confidence interval of (2) so as to obtain the unmanned plane position data.
Optionally, the plane formed by one rotation of the antenna electric axis direction by using least square fitting satisfies:
in the method, in the process of the application,、/>、/>for the antenna rotation center coordinates +.>For the distance of the antenna rotation center to the unmanned aerial vehicle, < >>、、/>、/>Is the azimuth circular plane coefficient.
Optionally, the complementary angle of the included angle between the plane formed by the rotation of the fitted antenna electric axis direction and the plane of the large disc circle is calculated to satisfy the following conditions:
wherein (1)>、/>、/>、/>Is the pitch to circular plane coefficient.
Optionally, the method further comprises equivalently obtaining the two-axis non-orthogonality based on the obtained angle between the azimuth axis and the pitch axis.
The embodiment of the application also provides a GNSS-based measurement and control antenna non-orthogonality measuring device, which comprises an unmanned aerial vehicle control console and a data processing terminal, wherein the unmanned aerial vehicle control console and the data processing terminal comprise a processor and a memory, the memory is stored with a computer program, and the computer program realizes the steps of the GNSS-based measurement and control antenna non-orthogonality measuring method when being executed by the processor.
The embodiment of the application also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program realizes the steps of the GNSS-based measurement and control antenna non-orthogonality measuring method when being executed by a processor.
According to the embodiment of the application, a measurement and control transponder and GNSS-RTK measuring equipment are carried on an unmanned aerial vehicle platform, a measurement and control antenna non-orthogonality measuring method based on GNSS is provided, and the measurement and control antenna non-orthogonality index measurement requirement of spaceflight is met.
The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 is a basic flow chart of a measurement and control antenna non-orthogonality measurement method according to an embodiment of the present application;
fig. 2 is a schematic diagram of measurement and control antenna non-orthogonality measurement according to an embodiment of the present application.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The embodiment of the application provides a GNSS-based measurement and control antenna non-orthogonality measuring method, as shown in fig. 1, comprising the following steps:
in step S101, the unmanned aerial vehicle is utilized to mount a measurement and control transponder and a GNSS-RTK measurement device, and is controlled to move to a target hover position, wherein the target hover position satisfies a spatial distance that should be greater than a far field distance requirement. In some specific examples, the target hover position satisfying a spatial distance should be greater than a far field distance requirement, the far field distance satisfying:
wherein L is the linear distance between the antenna point to be detected and the ground projection point of the unmanned aerial vehicle, D is the antenna diameter, < ->Is the wavelength.
According to the definition of the non-orthogonality of the azimuth axis and the pitching axis, the included angle between the two axes can be equivalent to the included angle between the vertical plane of the azimuth axis and the vertical plane of the pitching axis. The plane perpendicular to the pitching axis is a plane formed by the fact that the antenna electric axis points to one circle of rotation when the measurement and control antenna rotates around the pitching axis. In step S102, signal maximum values are obtained in different pitch angle directions of the measurement and control antenna based on the mounted measurement and control transponder so as to determine the actual antenna electric axis direction.
In step S103, a plane formed by one rotation of the antenna electric axis pointing direction is fitted by a least square method according to the position data of the unmanned aerial vehicle measured by the GNSS-RTK measuring apparatus.
In step S104, the complementary angle of the angle between the plane formed by the rotation of the fitted antenna electric axis direction and the plane of the large disc circle is calculated to obtain the angle between the azimuth axis and the pitch axis.
Normally, the elevation angle reading of an antenna of the ground measurement and control equipment is below 45 degrees, and the direction positioning error caused by the non-level of the large disc is not larger than the value of the non-levelness of the large disc; when the elevation reading is greater than 45 deg., the directional positioning error caused by the non-level of the large disc will increase rapidly. In addition, in some specific examples the pitch angle of the measurement is selected to be in the range of 5 ° -45 °, 135 ° -175 °, 10 ° apart, 10 positions measured at each azimuth angle; the azimuth angles are arranged at intervals of 45 degrees, and the total azimuth angle positions is 8, so that ground transmission clutter is prevented from entering a receiving system from the first side lobe of the antenna, and the elevation angle is ensured to be more than or equal to 5 degrees.
According to the embodiment of the application, a measurement and control transponder and GNSS-RTK measuring equipment are carried on an unmanned aerial vehicle platform, a measurement and control antenna non-orthogonality measuring method based on GNSS is provided, and the measurement and control antenna non-orthogonality index measurement requirement of spaceflight is met.
In some embodiments, the target hover position is determined by calculating the horizontal round trip and vertical incremental decreasing flight position of the unmanned aerial vehicle according to the azimuth angle and pitch angle to be measured and the distance limit of the antenna near field and elevation angle height by taking the mechanical rotation center of the ground measurement and control antenna as an origin. Specific limitations such asThe pitch direction is to set 10 pitch angles to be measured from 5 degrees to 45 degrees to 135 degrees to 175 degrees at intervals of 10 degrees>The method comprises the steps of carrying out a first treatment on the surface of the The azimuth direction is provided with 8 azimuth angles +.>Thus, it is calculated.
In some embodiments, based on the mounted measurement and control transponder, obtaining a signal maximum value in different pitch angle directions of the measurement and control antenna to determine an actual antenna electric axis orientation includes:
the ground measurement and control antenna (measurement and control equipment antenna) rotates to an initial position, and the unmanned aerial vehicle is controlled to move to be identical with the initial positionDistance to be appliedAnd the position is subjected to horizontal round trip and vertical increment descending flight, the specified distance is flown in the horizontal direction and the vertical direction, the envelope size of the ground measurement and control equipment signal is received by the measurement and control transponder, and the data is sent to the ground through the GNSS-RTK measuring equipment.
Gradually adjusting the pitching direction and the azimuth direction angles of the measurement and control antenna to be measured, and repeatedly executing measurement.
As shown in fig. 2, some exemplary measurement procedures are as follows, the ground measurement and control device antenna turns to azimuth 0 °, elevation 5 °, and starts working. Unmanned plane platform with RTK module for respectively mounting load of measurement and control transponder to azimuth 0 degree and pitch 5 degree distanceAnd the position is subjected to horizontal round trip and vertical increment descending flight, the horizontal and vertical flight distance is 50m, the load record of the transponder receives the envelope of the ground measurement and control equipment signal, and meanwhile, the GNSS-RTK transmits the data to a ground data processing system.
Changing the pitching angle of the measurement and control antenna to be measured to change to 15 degrees, keeping the azimuth unchanged, and repeating the test process until the pitching angle is 45 degrees; turning to pitching direction of 135-175 deg. and repeating the above measurement process. And changing the azimuth angle of the measurement and control antenna to be measured to 45 degrees, and repeating the measurement process until 315 degrees. I.e. at each azimuth angle, it is turned to all 10 elevation angles and the measurement process is repeated.
In some embodiments, further comprising calculating a distance from each position of the drone to the center of rotation of the antenna based on GNSS-RTK data measured by the GNSS-RTK measurement deviceThe envelope value of the signal with the distance error exceeding the threshold value is removed in the confidence interval of (2) so as to obtain the unmanned plane position data. For example, to +.>Is->The confidence interval eliminates the envelope value of the signal with larger distance error. And selecting an envelope threshold value of a proper signal, and removing data smaller than the threshold value from the rest data, so as to obtain the position data of the unmanned aerial vehicle.
In some examples, position data is selected that is azimuth 0 ° pitch to all data:
in some embodiments, the plane formed by one rotation of the antenna electrical axis pointing direction using least squares fitting satisfies:
in->、/>、/>Is the rotation center coordinate of the antenna,>for the distance of the antenna rotation center to the unmanned aerial vehicle, < >>、/>、/>、/>Is a circular plane coefficient.
In some embodiments, the complementary angle of the included angle between the plane formed by the fitted antenna electric axis pointing direction and the large disc circle plane formed by one rotation is calculated to be as follows:
wherein,、/>、/>、/>is the pitch to circular plane coefficient.
In some embodiments, further comprising equivalently obtaining a two-axis non-orthogonality based on an angle between the obtained azimuth axis and the pitch axis.
The embodiment of the application also provides an implementation case of the GNSS-based measurement and control antenna non-orthogonality measuring method, and in the example, the ground measurement and control equipment antenna is turned to azimuth 0 degrees and pitching 5 degrees, and the work is started. Unmanned plane platform with RTK module for respectively mounting load of measurement and control transponder to azimuth 0 degree and pitch 5 degree distanceAnd the position is subjected to horizontal round trip and vertical increment descending flight, the horizontal and vertical flight distance is 50m, the load record of the transponder receives the envelope of the ground measurement and control equipment signal, and meanwhile, the GNSS-RTK transmits the data to a ground data processing system.
Changing the pitching angle of the measurement and control antenna to be measured to change to 15 degrees, keeping the azimuth unchanged, and repeating the test process until the pitching angle is 45 degrees; turning to pitching direction of 135-175 deg. and repeating the above measurement process. And changing the azimuth angle of the measurement and control antenna to be measured to 45 degrees, and repeating the measurement process until 315 degrees. I.e. at each azimuth angle, it is turned to all 10 elevation angles and the measurement process is repeated.
The plane formula perpendicular to the pitching axis passing through the rotation center of the antenna as the origin is as follows:
in the method, in the process of the application,、/>、/>for the antenna rotation center coordinates +.>、/>、/>、/>The circular plane coefficient when the azimuth direction is 0 DEG can be obtained by least square fitting.
The plane system equation of the large disc circle at the pitch angle of 5 degrees is as follows:
the included angle between the vertical plane of the pitching axis when the azimuth is 0 degrees and the plane of the large disc circle when the pitching direction is 5 degrees is:
the complementary angle of the included angle between the direction of the pitching axis and the azimuth axis when the azimuth direction is 0 degrees, namely the non-orthogonality degree between the azimuth axis and the pitching axis, can be equivalently obtained.
Repeating the data processing process by changing the data of the selected azimuth angle to obtain the non-orthogonality degree between the azimuth axis and the pitching axis under the condition that the azimuth angle is 45-315 DEGAnd the maximum value in the 8 groups of orthogonality measured values is the orthogonality value of the measurement and control antenna.
According to the method, the unmanned aerial vehicle-mounted measurement and control transponder and GNSS-RTK measuring equipment are utilized, the GNSS multi-baseline measuring method is adopted to accurately measure flight distance, angle and speed data of the unmanned aerial vehicle, an antenna non-orthogonality calculating formula is improved, the GNSS-based measurement and control antenna non-orthogonality measuring method is provided, and the measurement and control antenna non-orthogonality index requirements of the aerospace measurement and control antenna can be met.
The embodiment of the application also provides a GNSS-based measurement and control antenna non-orthogonality measuring device, which comprises an unmanned aerial vehicle control console and a data processing terminal, wherein the unmanned aerial vehicle control console and the data processing terminal comprise a processor and a memory, the memory is stored with a computer program, and the computer program realizes the steps of the GNSS-based measurement and control antenna non-orthogonality measuring method when being executed by the processor.
The embodiment of the application also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program realizes the steps of the GNSS-based measurement and control antenna non-orthogonality measuring method when being executed by a processor.
It should be noted that, in the embodiments of the present disclosure, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present application.
The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are to be protected by the present application.

Claims (9)

1. The GNSS-based measurement and control antenna non-orthogonality measuring method is characterized by comprising the following steps of:
the unmanned aerial vehicle is used for mounting a measurement and control transponder and GNSS-RTK measuring equipment, and the unmanned aerial vehicle is controlled to move to a target hovering position, wherein the target hovering position meets the requirement that the space distance is larger than the far-field distance;
based on the mounted measurement and control transponder, acquiring signal maximum values in different pitch angle directions of the measurement and control antenna so as to determine the actual antenna electric axis orientation; and
fitting a plane formed by one rotation of an antenna electric axis pointing direction by adopting a least square method according to the position data of the unmanned aerial vehicle measured by the GNSS-RTK measuring equipment;
and calculating the complementary angle of the included angle between the plane formed by the rotation of the fitted antenna electric axis and the plane of the large disc circle so as to obtain the included angle between the azimuth axis and the pitching axis.
2. The GNSS-based measurement and control antenna non-orthogonality measurement method of claim 1, wherein the target hover position is determined by calculating a position of the unmanned aerial vehicle for horizontal round trip and vertical incremental decreasing flight according to a distance limit of an azimuth angle and a pitch angle to be measured and an antenna near-field and elevation angle height with a mechanical rotation center of a ground measurement and control antenna as an origin, and the target hover position satisfies a spatial distance that should be greater than a far-field distance requirement, and the far-field distance satisfies:
wherein L is the linear distance between the antenna point to be detected and the projection point of the unmanned aerial vehicle on the ground, D is the diameter of the antenna,is the wavelength.
3. The GNSS based measurement and control antenna non-orthogonality measurement method of claim 1, wherein obtaining signal maxima in different pitch angle directions of the measurement and control antenna based on the mounted measurement and control transponder to determine an actual antenna electrical axis orientation comprises:
the ground measurement and control antenna rotates to an initial position, and the unmanned aerial vehicle is controlled to move to a distance corresponding to the initial positionThe position is subjected to horizontal round trip and vertical increment descending flight, the specified distance is flown in the horizontal direction and the vertical direction, the envelope size of the ground measurement and control equipment signal is received by using the measurement and control transponder, and the data is sent to the ground through the GNSS-RTK measuring equipment;
gradually adjusting the pitching direction and the azimuth direction angles of the measurement and control antenna to be measured, and repeatedly executing measurement.
4. The method of claim 3, further comprising calculating a distance from each position of the unmanned aerial vehicle to a center of rotation of the antenna based on GNSS-RTK data measured by the GNSS-RTK measuring device and based on the calculated distanceThe envelope value of the signal with the distance error exceeding the threshold value is removed in the confidence interval of (2) so as to obtain the unmanned plane position data.
5. The method for measuring non-orthogonality of a GNSS based measurement and control antenna according to claim 4, wherein a plane formed by one rotation of an antenna electric axis direction fitted by a least square method satisfies:
in (1) the->、/>、/>For the antenna rotation center coordinates +.>For the distance of the antenna rotation center to the unmanned aerial vehicle, < >>、/>、/>、/>Is the azimuth circular plane coefficient.
6. The GNSS based measurement and control antenna non-orthogonality measurement method of claim 5, wherein calculating the complementary angle between the plane formed by one rotation of the fitted antenna electrical axis direction and the plane of the large disc is:
wherein (1)>、/>、/>、/>Is the pitch to circular plane coefficient.
7. The GNSS based measurement and control antenna non-orthogonality measurement method of claim 1, further comprising equivalently obtaining a two-axis non-orthogonality based on an angle between an obtained azimuth axis and a pitch axis.
8. The device for measuring the non-orthogonality of the GNSS-based measurement and control antenna is characterized by comprising an unmanned aerial vehicle control console and a data processing terminal, wherein the unmanned aerial vehicle control console and the data processing terminal comprise a processor and a memory, and a computer program is stored on the memory, and the computer program realizes the steps of the GNSS-based measurement and control antenna non-orthogonality measuring method according to any one of claims 1 to 7 when being executed by the processor.
9. A computer readable storage medium, characterized in that it has stored thereon a computer program which, when executed by a processor, implements the steps of the GNSS based survey and control antenna non-orthogonality measurement method according to any of the claims 1 to 7.
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