CN117728182A - Automatic alignment method and system for relay machine antenna based on Beidou - Google Patents
Automatic alignment method and system for relay machine antenna based on Beidou Download PDFInfo
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Abstract
The invention discloses a relay machine antenna automatic alignment method and system based on Beidou, and relates to the technical field of radio communication. According to the invention, the position information of the opposite-end equipment is acquired based on the Beidou positioning communication module, the alignment azimuth angle is calculated according to the coordinate information of the two-end equipment, then the alignment azimuth angle is rotated to the alignment angle, then the antenna is modulated to the maximum signal direction through mutual control scanning, one end of the antenna is kept in a static state during scanning, the other end of the antenna is scanned within a set horizontal angle range and a set pitching angle range, and the optimal position can be accurately found after multiple times of scanning. The invention increases the mutual control scanning of the equipment at two ends on the basis of the Beidou positioning alignment, can solve the problem that the optimal position cannot be found and the communication is affected when the alignment is carried out only according to the Beidou measurement azimuth, and can overcome the equipment assembly error and the calculation error.
Description
Technical Field
The invention relates to the technical field of radio communication, in particular to a relay machine antenna automatic alignment method and system based on Beidou.
Background
When the automatic antenna alignment technology is used for a point-to-point microwave communication system or a millimeter wave communication system and the relay machines at two ends perform point-to-point communication, the traditional alignment technology is difficult to establish communication due to the fact that the antenna has narrow wave beam and strong directivity.
The currently adopted alignment mode is to check the received signal strength of the relay machines at two ends to identify whether the antennas are aligned or not, namely, firstly, the point location equipment is installed and fixed well and started up, then, the next point location is reached, the signals are searched, and the antenna orientation is determined according to the signal strength indication. The problem brought by the method is that the equipment at the previous point is required to normally operate, but because the signal intensity identification is rough, if the equipment at the previous point is abnormal, the equipment is required to return to be debugged, so that the debugging is required to be carried out back and forth, time and labor are wasted, or more constructors are required to wait for debugging at the same time at each point, the labor cost is increased, and the alignment precision is low.
The invention discloses a remote self-networking directional antenna alignment device based on Beidou direction finding, which at least comprises a pair of adjacent self-networking directional antennas, wherein each self-networking directional antenna is provided with a Beidou direction finding device, the Beidou direction finding device is used for measuring the azimuth angle of each self-networking directional antenna, and at least one of the self-networking directional antennas is adjusted to enable the azimuth angles measured by the Beidou direction finding devices to be respectively in a certain matching range.
According to the prior art, the azimuth angles of the directional antennas of each ad hoc network are measured through the Beidou direction-finding device, so that the azimuth angles of the directional antennas at two ends are adjusted to be aligned within a certain matching range. However, the alignment method adopted in the prior art does not consider that the servomotor has equipment assembly errors such as a motor and the like, and has precision errors when calculating coordinates, so that when alignment is realized according to the Beidou direction-finding device, certain errors exist, and the position is not the optimal position, and certain influence is caused on communication.
Disclosure of Invention
In order to overcome the defects and shortcomings in the prior art, the invention provides a relay machine antenna automatic alignment method and system based on Beidou, and the invention aims to provide a novel antenna alignment method so as to solve the problems that an alignment position is not an optimal position and communication is affected due to equipment assembly errors and calculation errors which are not considered in the existing Beidou alignment. When the power machine is aligned, the position information of the opposite end equipment is firstly acquired based on the Beidou positioning communication module, the alignment azimuth angle is calculated according to the coordinate information of the equipment at the two ends, then the alignment azimuth angle is rotated to the alignment angle, then the antenna is modulated to the maximum direction of the signal through mutual control scanning, one end of the antenna is kept in a static state during scanning, the other end of the antenna is scanned within a set horizontal angle range and a set pitching angle range, and the optimal position can be accurately found after multiple scanning. The invention increases the mutual control scanning of the equipment at two ends on the basis of the Beidou positioning alignment, can solve the problem that the optimal position cannot be found and the communication is affected when the alignment is carried out only according to the Beidou measurement azimuth, and can overcome the equipment assembly error and the calculation error.
In order to solve the problems in the prior art, the invention is realized by the following technical scheme:
the invention provides a relay machine antenna automatic alignment method based on Beidou, which comprises the following steps:
s1, acquiring position information of relay equipment at two ends by a Beidou positioning unit, and transmitting the position information of the relay equipment to opposite-end relay equipment through a Beidou communication unit;
s2, calculating an alignment azimuth angle and an alignment pitch angle according to the position information of the relay equipment at the two ends;
s3, controlling relay equipment at two ends to rotate to an alignment position according to the calculated alignment azimuth angle and the alignment pitch angle;
s4, the relay equipment at the two ends establishes communication connection through the antennas of the relay equipment;
s5, performing mutual control scanning on relay equipment at two ends, wherein one end of the relay equipment keeps a static state during scanning, and the other end of the relay equipment scans within a set horizontal angle and pitch angle range to find a maximum point of a signal; controlling the other end relay equipment to keep a static state, and scanning the one end relay equipment within a set horizontal angle and pitching angle range to find the maximum point of the signal; and finding out the optimal alignment positions of the antennas of the relay equipment at two ends through multiple times of mutual control scanning.
Further preferably, in step S5, when the relay devices at both ends perform mutual control scanning, the radio frequency transmitting power of the relay devices at both ends is set to the maximum transmitting power.
Further preferably, the optimal alignment position of the antennas of the relay equipment at two ends can be determined through two mutual control scans.
Still more preferably, assuming that the relay equipment at two ends is an a-end equipment and a B-end equipment respectively, the specific process of performing mutual control scanning by the relay equipment at two ends is as follows:
s501, setting the radio frequency power of the A-terminal equipment and the B-terminal equipment as the maximum power;
s502, keeping the equipment at the end B motionless, starting the scanning for the first time by the equipment at the end A, controlling a motor of the equipment at the end A by a main control unit of the equipment at the end A, driving an antenna to scan within the range of a horizontal angle of +/-3 degrees and a pitching angle of +/-1.5 degrees on the basis of the alignment position of the step S3, and searching the maximum direction of signals; after the A-terminal equipment scans the maximum signal point and confirms the maximum signal direction, the main control unit of the A-terminal equipment controls the antenna of the A-terminal equipment to rotate to the maximum signal direction and then keep the antenna still, and sends a scanning instruction to the B-terminal equipment;
s503, after receiving a scanning instruction sent by the A-end equipment, the B-end equipment starts scanning for the first time, and a main control unit of the B-end equipment controls a motor of the B-end equipment to drive an antenna to scan within a range of horizontal angle +/-3 degrees and pitching angle +/-1.5 degrees on the basis of the alignment position of the S3 step, and searches the maximum direction of signals; after the B-end equipment scans the maximum signal point and confirms the maximum signal direction, the main control unit of the B-end equipment controls the antenna of the B-end equipment to rotate to the maximum signal direction and then keep the antenna still, and sends a scanning ending instruction to the A-end equipment;
s504, after receiving a scanning end instruction sent by the B end equipment, the A end equipment starts scanning for the second time, and a main control unit of the A end equipment controls a motor of the A end equipment to drive an antenna to scan within a range of horizontal angle +/-2 degrees and pitching angle +/-1 degree on the basis of the alignment position of the S502 step, and searches the maximum direction of signals; after the A-terminal equipment scans the maximum signal point and confirms the maximum signal direction, the main control unit of the A-terminal equipment controls the antenna of the A-terminal equipment to rotate to the maximum signal direction and then keep the antenna still, and sends a scanning instruction to the B-terminal equipment;
s505, after receiving a scanning instruction sent by the A-terminal equipment, the B-terminal equipment starts scanning for the second time, and a main control unit of the B-terminal equipment controls a motor of the B-terminal equipment to drive an antenna to scan within a range of horizontal angle +/-2 degrees and pitching angle +/-1 degree on the basis of the alignment position of the S503 step, and searches the maximum direction of signals; after the B-end equipment scans the maximum signal point and confirms the maximum signal direction, the main control unit of the B-end equipment controls the antenna of the B-end equipment to rotate to the maximum signal direction and then keep the antenna still, and sends a scanning ending instruction to the A-end equipment;
s506, the A-terminal equipment and the B-terminal equipment stop scanning, and the alignment positions of the A-terminal equipment and the B-terminal equipment are the optimal positions for antenna alignment.
Further preferably, in step S1, the position information of the a-terminal device is located by the beidou positioning unit of the a-terminal device, and the position information of the B-terminal device is located by the beidou positioning unit of the B-terminal device; and the A terminal equipment sends the position information of the A terminal equipment to the B terminal equipment, and the B terminal equipment sends the position information of the B terminal equipment to the A terminal equipment.
Further preferably, in step S2, the position information includes longitude and latitude coordinates of an a-terminal device and longitude and latitude coordinates of a B-terminal device, and according to the longitude and latitude coordinates of the a-terminal device and the B-terminal device, an azimuth angle is calculated by using a sphere geometry principle; the distance between the A-end equipment and the B-end equipment can be obtained by longitude and latitude coordinates of the A-end equipment and the B-end equipment, and the pitch angle between the A-end equipment and the B-end equipment can be obtained by calculation according to the trigonometric function principle.
The invention provides a relay machine antenna automatic alignment system based on Beidou, which comprises two relay machine devices, namely an A-end device and a B-end device; each relay machine equipment at least comprises a Beidou positioning unit, a Beidou communication unit, a main control unit, a radio frequency antenna, a modulation and demodulation unit and a motor mechanism; the Beidou positioning unit, the radio frequency antenna, the modulation and demodulation unit, the Beidou communication unit and the motor mechanism are all connected with the main control unit, and the radio frequency antenna is connected with the modulation and demodulation unit;
positioning the position information of the A-terminal equipment through a Beidou positioning unit of the A-terminal equipment, and positioning the position information of the B-terminal equipment through a Beidou positioning unit of the B-terminal equipment; the Beidou communication units of the A-end equipment and the B-end equipment are used for communication, and the positioned position information is sent to opposite-end equipment;
the main control units of the A-end equipment and the B-end equipment calculate an alignment azimuth angle and an alignment pitch angle according to the position information of the A-end equipment and the B-end equipment; the main control units of the A-end equipment and the B-end equipment respectively control the motor mechanisms of the A-end equipment and the B-end equipment to rotate the radio frequency antenna to an alignment angle according to the calculated alignment azimuth angle and the alignment pitch angle;
the main control unit of the A terminal equipment and the B terminal equipment controls the modulation and demodulation unit and the radio frequency antenna to establish communication connection;
the main control units of the A-terminal equipment and the B-terminal equipment both control the modulation-demodulation unit to send and receive radio waves through the radio frequency antenna connected with the modulation-demodulation unit, and the radio frequency emission power is the maximum power;
the main control units of the A-terminal equipment and the B-terminal equipment control the A-terminal equipment and the B-terminal equipment to perform multiple mutual control scanning; the position determined by the last mutual control scanning is the optimal position of the radio frequency antenna alignment of the A-end equipment and the B-end equipment;
the mutual control scanning means that the equipment at the end B keeps motionless, the equipment at the end A scans within the range of the set horizontal angle and the set pitching angle, and when the maximum signal is found, the antenna of the equipment at the end A rotates to the maximum signal direction and keeps motionless; the B-end equipment scans within the range of the set horizontal angle and the set pitching angle, and rotates to the maximum signal direction when the maximum signal is found.
Further preferably, the optimal alignment position can be determined after the a-terminal device and the B-terminal device perform two mutually controlled scans.
Further preferably, the motor mechanism comprises a horizontal rotating motor and a pitching motor, the azimuth angle of the radio frequency antenna is controlled through the horizontal rotating motor, and the pitch angle of the radio frequency antenna is controlled through the pitching motor.
Still more preferably, when the a-terminal device and the B-terminal device perform mutual control scanning, the modem units of the a-terminal device and the B-terminal device are both in BPSK mode.
Compared with the prior art, the beneficial technical effects brought by the invention are as follows:
1. the invention increases the mutual control scanning of the equipment at two ends on the basis of the Beidou positioning alignment, can solve the problem that the optimal position cannot be found and the communication is affected when the alignment is carried out only according to the Beidou measurement azimuth, and can overcome the equipment assembly error and the calculation error.
2. When the Beidou positioning is adopted, the error is controlled within a certain range, but the assembly error is not considered, so that the horizontal error can be within 1 degree. Because the antenna beam is within 1.8 degrees, the two-terminal relay device has theoretically established communication when rotated to an aligned position according to the Beidou coordinates, which is not the optimal direction. On the basis of the invention, the signals of relay equipment at two ends are finely scanned, under the BPSK mode, the radio frequency emission power of the equipment at two ends is set to be the maximum power, one end equipment is kept still, the other end is scanned within the range of 6 degrees of horizontal and 3 degrees of pitching, and the optimal position can be accurately found after 2 times of scanning.
3. The invention sets the range of the mutual control scanning within the horizontal 6-degree range and the pitching 3-degree range based on the precision consideration of Beidou positioning, the azimuth angle error is within 2 degrees during Beidou coordinate positioning, and the error of 5 degrees exists in the BPSK mode, so that the Beidou error and the assembly error can be overcome by setting the range of the mutual control scanning within the horizontal 6-degree range and the pitching 3-degree range.
4. Through verification, the invention has the following effects based on Beidou automatic alignment: obtaining the position information of the opposite terminal equipment through the Beidou short message takes 90 seconds; the rotation to the alignment position takes 20s, the mutual control scanning of the two-end relay equipment takes 360s, and the total time is 470s. The automatic alignment of the servomotor equipment can be completed in 470s by adopting the alignment method and the alignment system of the invention, and the alignment efficiency is greatly improved.
Drawings
FIG. 1 is a flow chart of a repeater antenna automatic alignment method based on Beidou of the invention;
fig. 2 is a flowchart for acquiring longitude and latitude coordinates in the automatic alignment method of the relay antenna based on Beidou;
fig. 3 is a schematic diagram of azimuth calculation in the automatic alignment method of the servomotor antenna based on Beidou;
fig. 4 is a flowchart of calculating an alignment angle in the automatic alignment method of the servomotor antenna based on Beidou;
FIG. 5 is a flow chart of the rotational alignment position in the automatic alignment method of the servomotor antenna based on Beidou of the invention;
fig. 6 is a flowchart of the mutual control scanning of relay equipment at two ends in the automatic alignment method of the relay antenna based on Beidou of the invention;
fig. 7 is a schematic diagram of the repeater antenna automatic alignment system based on Beidou.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. 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.
Example 1
As a preferred embodiment of the present invention, referring to fig. 1 of the specification, the present embodiment discloses a relay antenna automatic alignment method based on Beidou, which includes the following steps:
s1, acquiring position information of relay equipment at two ends by a Beidou positioning unit, and transmitting the position information of the relay equipment to opposite-end relay equipment through a Beidou communication unit;
s2, calculating an alignment azimuth angle and an alignment pitch angle according to the position information of the relay equipment at the two ends;
s3, controlling relay equipment at two ends to rotate to an alignment position according to the calculated alignment azimuth angle and the alignment pitch angle;
s4, the relay equipment at the two ends establishes communication connection through the antennas of the relay equipment;
s5, performing mutual control scanning on relay equipment at two ends, wherein one end of the relay equipment keeps a static state during scanning, and the other end of the relay equipment scans within a set horizontal angle and pitch angle range to find a maximum point of a signal; controlling the other end relay equipment to keep a static state, and scanning the one end relay equipment within a set horizontal angle and pitching angle range to find the maximum point of the signal; and finding out the optimal alignment positions of the antennas of the relay equipment at two ends through multiple times of mutual control scanning.
As an implementation manner of this embodiment, in step S5, when the relay apparatuses at both ends perform mutual control scanning, the radio frequency transmission power of the relay apparatuses at both ends is set to the maximum transmission power.
Example 2
As a further preferred embodiment of the present invention, this embodiment is further supplemented and explained in detail by the technical solution of the present invention based on embodiment 1 described above. In this embodiment, referring to fig. 6 of the specification, the best alignment position of the antennas of the relay equipment at two ends can be determined through two mutually controlled scans.
Specifically, assuming that the relay equipment at two ends is an end equipment A and an end equipment B respectively, the specific process of performing mutual control scanning by the relay equipment at two ends is as follows:
s501, setting the radio frequency power of the A-terminal equipment and the B-terminal equipment as the maximum power;
s502, keeping the equipment at the end B motionless, starting the scanning for the first time by the equipment at the end A, controlling a motor of the equipment at the end A by a main control unit of the equipment at the end A, driving an antenna to scan within the range of a horizontal angle of +/-3 degrees and a pitching angle of +/-1.5 degrees on the basis of the alignment position of the step S3, and searching the maximum direction of signals; after the A-terminal equipment scans the maximum signal point and confirms the maximum signal direction, the main control unit of the A-terminal equipment controls the antenna of the A-terminal equipment to rotate to the maximum signal direction and then keep the antenna still, and sends a scanning instruction to the B-terminal equipment;
s503, after receiving a scanning instruction sent by the A-end equipment, the B-end equipment starts scanning for the first time, and a main control unit of the B-end equipment controls a motor of the B-end equipment to drive an antenna to scan within a range of horizontal angle +/-3 degrees and pitching angle +/-1.5 degrees on the basis of the alignment position of the S3 step, and searches the maximum direction of signals; after the B-end equipment scans the maximum signal point and confirms the maximum signal direction, the main control unit of the B-end equipment controls the antenna of the B-end equipment to rotate to the maximum signal direction and then keep the antenna still, and sends a scanning ending instruction to the A-end equipment;
s504, after receiving a scanning end instruction sent by the B end equipment, the A end equipment starts scanning for the second time, and a main control unit of the A end equipment controls a motor of the A end equipment to drive an antenna to scan within a range of horizontal angle +/-2 degrees and pitching angle +/-1 degree on the basis of the alignment position of the S502 step, and searches the maximum direction of signals; after the A-terminal equipment scans the maximum signal point and confirms the maximum signal direction, the main control unit of the A-terminal equipment controls the antenna of the A-terminal equipment to rotate to the maximum signal direction and then keep the antenna still, and sends a scanning instruction to the B-terminal equipment;
s505, after receiving a scanning instruction sent by the A-terminal equipment, the B-terminal equipment starts scanning for the second time, and a main control unit of the B-terminal equipment controls a motor of the B-terminal equipment to drive an antenna to scan within a range of horizontal angle +/-2 degrees and pitching angle +/-1 degree on the basis of the alignment position of the S503 step, and searches the maximum direction of signals; after the B-end equipment scans the maximum signal point and confirms the maximum signal direction, the main control unit of the B-end equipment controls the antenna of the B-end equipment to rotate to the maximum signal direction and then keep the antenna still, and sends a scanning ending instruction to the A-end equipment;
s506, the A-terminal equipment and the B-terminal equipment stop scanning, and the alignment positions of the A-terminal equipment and the B-terminal equipment are the optimal positions for antenna alignment.
Example 3
As a further preferred embodiment of the present invention, this embodiment is further supplemented and explained in detail by the technical solution of the present invention based on embodiment 1 or embodiment 2 described above.
As an implementation manner of the embodiment, referring to fig. 2 of the specification, in step S1, the position information of the a-end device is located by the beidou positioning unit of the a-end device, and the position information of the B-end device is located by the beidou positioning unit of the B-end device; and the A terminal equipment sends the position information of the A terminal equipment to the B terminal equipment, and the B terminal equipment sends the position information of the B terminal equipment to the A terminal equipment.
As another embodiment of the present invention, referring to fig. 3 and fig. 4 of the specification, in step S2, the position information includes latitude and longitude coordinates of an a end device and latitude and longitude coordinates of a B end device, and according to the latitude and longitude coordinates of the a end device and the B end device, an azimuth angle is calculated by using a sphere geometry principle; the distance between the A-end equipment and the B-end equipment can be obtained by longitude and latitude coordinates of the A-end equipment and the B-end equipment, and the pitch angle between the A-end equipment and the B-end equipment can be obtained by calculation according to the trigonometric function principle.
Specifically, as shown in fig. 3 and fig. 4, the point P1 is the position where the local device is located, the longitude and latitude are J1 and W1, the point P2 is the position where the opposite device is located, and the longitude and latitude are J2 and W2, and the azimuth angle can be obtained according to the principle of sphere geometry. And the distance between the two points can be obtained by the P1 and the P2 points, and the pitch angle can be obtained by a trigonometric function.
Example 4
As a further preferred embodiment of the present invention, the present embodiment provides a system for implementing the automatic alignment method in the foregoing embodiment on the basis of the foregoing embodiment 1, embodiment 2 or embodiment 3, that is, the present embodiment discloses a repeater antenna automatic alignment system based on beidou, and reference is made to fig. 7 of the specification.
The system comprises two relay machine devices, namely an A-end device and a B-end device; each relay machine equipment at least comprises a Beidou positioning unit, a Beidou communication unit, a main control unit, a radio frequency antenna, a modulation and demodulation unit and a motor mechanism; the Beidou positioning unit, the radio frequency antenna, the modulation and demodulation unit, the Beidou communication unit and the motor mechanism are all connected with the main control unit, and the radio frequency antenna is connected with the modulation and demodulation unit.
Positioning the position information of the A-terminal equipment through a Beidou positioning unit of the A-terminal equipment, and positioning the position information of the B-terminal equipment through a Beidou positioning unit of the B-terminal equipment; the Beidou communication units of the A-end equipment and the B-end equipment are used for communication, and the positioned position information is sent to opposite-end equipment;
the main control units of the A-end equipment and the B-end equipment calculate an alignment azimuth angle and an alignment pitch angle according to the position information of the A-end equipment and the B-end equipment; the main control units of the A-end equipment and the B-end equipment respectively control the motor mechanisms of the A-end equipment and the B-end equipment to rotate the radio frequency antenna to an alignment angle according to the calculated alignment azimuth angle and the alignment pitch angle;
the main control unit of the A terminal equipment and the B terminal equipment controls the modulation and demodulation unit and the radio frequency antenna to establish communication connection;
the main control units of the A-terminal equipment and the B-terminal equipment both control the modulation-demodulation unit to send and receive radio waves through the radio frequency antenna connected with the modulation-demodulation unit, and the radio frequency emission power is the maximum power;
the main control units of the A-terminal equipment and the B-terminal equipment control the A-terminal equipment and the B-terminal equipment to perform multiple mutual control scanning; the position determined by the last mutual control scanning is the optimal position of the radio frequency antenna alignment of the A-end equipment and the B-end equipment;
the mutual control scanning means that the equipment at the end B keeps motionless, the equipment at the end A scans within the range of the set horizontal angle and the set pitching angle, and when the maximum signal is found, the antenna of the equipment at the end A rotates to the maximum signal direction and keeps motionless; the B-end equipment scans within the range of the set horizontal angle and the set pitching angle, and rotates to the maximum signal direction when the maximum signal is found.
And the optimal alignment position can be determined after the A-end equipment and the B-end equipment perform two-time mutual control scanning. The specific process of the mutual control scanning is shown in the foregoing embodiment 2 and fig. 6 of the specification, and will not be described herein. When the A-terminal equipment and the B-terminal equipment perform mutual control scanning, the modem units of the A-terminal equipment and the B-terminal equipment are in BPSK mode.
As an implementation manner of this embodiment, referring to fig. 5 in the specification, the motor mechanism includes a horizontal rotating motor and a pitching motor, the azimuth angle of the radio frequency antenna is controlled by the horizontal rotating motor, and the pitch angle of the radio frequency antenna is controlled by the pitching motor.
Claims (10)
1. The automatic alignment method of the servomotor antenna based on Beidou is characterized by comprising the following steps of: the method comprises the steps of,
s1, acquiring position information of relay equipment at two ends by a Beidou positioning unit, and transmitting the position information of the relay equipment to opposite-end relay equipment through a Beidou communication unit;
s2, calculating an alignment azimuth angle and an alignment pitch angle according to the position information of the relay equipment at the two ends;
s3, controlling relay equipment at two ends to rotate to an alignment position according to the calculated alignment azimuth angle and the alignment pitch angle;
s4, the relay equipment at the two ends establishes communication connection through the antennas of the relay equipment;
s5, performing mutual control scanning on relay equipment at two ends, wherein one end of the relay equipment keeps a static state during scanning, and the other end of the relay equipment scans within a set horizontal angle and pitch angle range to find a maximum point of a signal; controlling the other end relay equipment to keep a static state, and scanning the one end relay equipment within a set horizontal angle and pitching angle range to find the maximum point of the signal; and finding out the optimal alignment positions of the antennas of the relay equipment at two ends through multiple times of mutual control scanning.
2. The automatic alignment method of the servomotor antenna based on Beidou as recited in claim 1, wherein: and S5, setting the radio frequency transmitting power of the relay equipment at the two ends to be the maximum transmitting power when the relay equipment at the two ends performs mutual control scanning.
3. The automatic alignment method of the servomotor antenna based on Beidou as recited in claim 1, wherein: the optimal alignment position of the antennas of the relay equipment at two ends can be determined through two times of mutual control scanning.
4. A method for automatic alignment of a servomotor antenna based on beidou as recited in any one of claims 1 to 3, wherein: assuming that the relay equipment at two ends is equipment at an end A and equipment at an end B respectively, the specific process of performing mutual control scanning by the relay equipment at two ends is as follows:
s501, setting the radio frequency power of the A-terminal equipment and the B-terminal equipment as the maximum power;
s502, keeping the equipment at the end B motionless, starting the scanning for the first time by the equipment at the end A, controlling a motor of the equipment at the end A by a main control unit of the equipment at the end A, driving an antenna to scan within the range of a horizontal angle of +/-3 degrees and a pitching angle of +/-1.5 degrees on the basis of the alignment position of the step S3, and searching the maximum direction of signals; after the A-terminal equipment scans the maximum signal point and confirms the maximum signal direction, the main control unit of the A-terminal equipment controls the antenna of the A-terminal equipment to rotate to the maximum signal direction and then keep the antenna still, and sends a scanning instruction to the B-terminal equipment;
s503, after receiving a scanning instruction sent by the A-end equipment, the B-end equipment starts scanning for the first time, and a main control unit of the B-end equipment controls a motor of the B-end equipment to drive an antenna to scan within a range of horizontal angle +/-3 degrees and pitching angle +/-1.5 degrees on the basis of the alignment position of the S3 step, and searches the maximum direction of signals; after the B-end equipment scans the maximum signal point and confirms the maximum signal direction, the main control unit of the B-end equipment controls the antenna of the B-end equipment to rotate to the maximum signal direction and then keep the antenna still, and sends a scanning ending instruction to the A-end equipment;
s504, after receiving a scanning end instruction sent by the B end equipment, the A end equipment starts scanning for the second time, and a main control unit of the A end equipment controls a motor of the A end equipment to drive an antenna to scan within a range of horizontal angle +/-2 degrees and pitching angle +/-1 degree on the basis of the alignment position of the S502 step, and searches the maximum direction of signals; after the A-terminal equipment scans the maximum signal point and confirms the maximum signal direction, the main control unit of the A-terminal equipment controls the antenna of the A-terminal equipment to rotate to the maximum signal direction and then keep the antenna still, and sends a scanning instruction to the B-terminal equipment;
s505, after receiving a scanning instruction sent by the A-terminal equipment, the B-terminal equipment starts scanning for the second time, and a main control unit of the B-terminal equipment controls a motor of the B-terminal equipment to drive an antenna to scan within a range of horizontal angle +/-2 degrees and pitching angle +/-1 degree on the basis of the alignment position of the S503 step, and searches the maximum direction of signals; after the B-end equipment scans the maximum signal point and confirms the maximum signal direction, the main control unit of the B-end equipment controls the antenna of the B-end equipment to rotate to the maximum signal direction and then keep the antenna still, and sends a scanning ending instruction to the A-end equipment;
s506, the A-terminal equipment and the B-terminal equipment stop scanning, and the alignment positions of the A-terminal equipment and the B-terminal equipment are the optimal positions for antenna alignment.
5. The automatic alignment method of the servomotor antenna based on Beidou as recited in claim 4, wherein: in the S1 step, positioning the position information of the A-terminal equipment through a Beidou positioning unit of the A-terminal equipment, and positioning the position information of the B-terminal equipment through a Beidou positioning unit of the B-terminal equipment; and the A terminal equipment sends the position information of the A terminal equipment to the B terminal equipment, and the B terminal equipment sends the position information of the B terminal equipment to the A terminal equipment.
6. The automatic alignment method of the servomotor antenna based on Beidou as recited in claim 4, wherein: in the step S2, the position information comprises longitude and latitude coordinates of the A-terminal equipment and longitude and latitude coordinates of the B-terminal equipment, and according to the longitude and latitude coordinates of the A-terminal equipment and the B-terminal equipment, an azimuth angle is calculated by utilizing a sphere geometry principle; the distance between the A-end equipment and the B-end equipment can be obtained by longitude and latitude coordinates of the A-end equipment and the B-end equipment, and the pitch angle between the A-end equipment and the B-end equipment can be obtained by calculation according to the trigonometric function principle.
7. An automatic alignment system adopting the automatic alignment method of the servomotor antenna based on Beidou any one of the above claims 1-6, which is characterized in that: the system comprises two relay machine devices, namely an A-end device and a B-end device; each relay machine equipment at least comprises a Beidou positioning unit, a Beidou communication unit, a main control unit, a radio frequency antenna, a modulation and demodulation unit and a motor mechanism; the Beidou positioning unit, the radio frequency antenna, the modulation and demodulation unit, the Beidou communication unit and the motor mechanism are all connected with the main control unit, and the radio frequency antenna is connected with the modulation and demodulation unit;
positioning the position information of the A-terminal equipment through a Beidou positioning unit of the A-terminal equipment, and positioning the position information of the B-terminal equipment through a Beidou positioning unit of the B-terminal equipment; the Beidou communication units of the A-end equipment and the B-end equipment are used for communication, and the positioned position information is sent to opposite-end equipment;
the main control units of the A-end equipment and the B-end equipment calculate an alignment azimuth angle and an alignment pitch angle according to the position information of the A-end equipment and the B-end equipment; the main control units of the A-end equipment and the B-end equipment respectively control the motor mechanisms of the A-end equipment and the B-end equipment to rotate the radio frequency antenna to an alignment angle according to the calculated alignment azimuth angle and the alignment pitch angle;
the main control unit of the A terminal equipment and the B terminal equipment controls the modulation and demodulation unit and the radio frequency antenna to establish communication connection;
the main control units of the A-terminal equipment and the B-terminal equipment both control the modulation-demodulation unit to send and receive radio waves through the radio frequency antenna connected with the modulation-demodulation unit, and the radio frequency emission power is the maximum power;
the main control units of the A-terminal equipment and the B-terminal equipment control the A-terminal equipment and the B-terminal equipment to perform multiple mutual control scanning; the position determined by the last mutual control scanning is the optimal position of the radio frequency antenna alignment of the A-end equipment and the B-end equipment;
the mutual control scanning means that the equipment at the end B keeps motionless, the equipment at the end A scans within the range of the set horizontal angle and the set pitching angle, and when the maximum signal is found, the antenna of the equipment at the end A rotates to the maximum signal direction and keeps motionless; the B-end equipment scans within the range of the set horizontal angle and the set pitching angle, and rotates to the maximum signal direction when the maximum signal is found.
8. The automatic alignment system of claim 7, wherein: and the optimal alignment position can be determined after the A-end equipment and the B-end equipment perform two-time mutual control scanning.
9. The automatic alignment system of claim 7, wherein: the motor mechanism comprises a horizontal rotating motor and a pitching motor, the azimuth angle of the radio frequency antenna is controlled through the horizontal rotating motor, and the pitch angle of the radio frequency antenna is controlled through the pitching motor.
10. The automatic alignment system of claim 7, wherein: when the A-terminal equipment and the B-terminal equipment perform mutual control scanning, the modem units of the A-terminal equipment and the B-terminal equipment are in BPSK mode.
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