CN208860953U - The reflection of enhancing satellite navigation signals is sticked counter device - Google Patents

Abstract

The utility model discloses a kind of reflections for enhancing satellite navigation signals to be sticked counter device, (2) are pasted including antenna (1) and the reflection being arranged below antenna (1), it is bonded between reflection patch (2) and antenna (1) with conducting resinl, the dimensioned area of reflection patch (2) will be increased with the multiple of antenna (1) area.The utility model improves satellite received signal by way of increasing reflecting surface in the case where keep existing antenna condition constant, be suitble to it is higher to cost requirement, to seek quickness to the reaction time, simple and efficient occasion use is made every effort to installation.Can be met with lower cost interferes the little low side consumer group to receive navigation signal, and range product is suitble to promote the use of.

Description

The reflection of enhancing satellite navigation signals is sticked counter device

Technical field

The utility model relates to a kind of reflections for enhancing satellite navigation signals to be sticked counter device, belong to electromagnetic signal processing skill Art field, can be in the unmanned plane based on satellite navigation and positioning and location-based service/have man-machine, unmanned vehicle/someone's vehicle system and nothing People's ship/someone's marine system field is widely applied.

Background technique

Unmanned plane industry is an emerging high-tech industry, from research and develop, be fabricated onto use, management and service be related to it is many Field.Its industrial chain upstream is mainly brand-new material, electronic system design, software design etc., and industrial chain is in addition to this military master It wants city over-the-counter, also relates to all conglomeraties such as scientific research, agricultural, electric power, transport, meteorology.Currently, military unmanned air vehicle quantity is most It is more, technical level also highest.Civilian unmanned plane is concentrated mainly in scientific research and departments of government, and industrial chain downstream is not yet Form scale completely and group, commercial accounts steady in a long-term.

In general, the development of the civilian unmanned plane in the whole world is substantially at the starting stage, but countries in the world all have appreciated that nothing The man-machine huge applications potentiality and broad prospect of application having in dual-use field, give extensively unmanned plane industry development It is general to pay attention to and support energetically.

UAV system mainly include airframe, flight control system, navigation system, data link system, launch recycling system, Power-supply system etc., flight control system are also known as flight management and control line system, " heart " part of UAV system are equivalent to, to nothing Man-machine stability, reliability, accuracy, the real-time of data transmission etc. all have a major impact, and rise and determine to its flying quality Effect；Data link system can guarantee the real-time for the accurate delivery and unmanned plane of telecommand being received, being sent information And reliability, with ensure information feedback timely and effective property and smoothly, accurately complete task.Launch recycling system guarantees nobody Machine smoothly goes up to the air to reach safe height and speed flight, and falls back to ground safely from sky after the completion of execution task.

Wherein unmanned plane is exactly navigation system in one important link of flight course, and UAV Navigation System is unmanned plane " eyes ", more technologies combine be future development direction.Navigation system be responsible for unmanned plane provide reference frame position, Speed, flight attitude isovector information, guidance unmanned plane flies according to advertised route, relative to there is man-machine navigator.

Unmanned aerial vehicle onboard navigation system is mainly divided to non-autonomous (GPS navigation) and two kinds of independent navigation (inertial navigation), but divides There is not the shortcomings that increasing vulnerable to interference and the accumulation of error, and the demand for development obstacle avoidance of unmanned plane, goods and materials or weapon are launched, certainly The functions such as dynamic approach, need high-precision, high reliability, high anti-interfering performance.

For use scope: the shortcomings that existing Anti-Jamming Technique, serves primarily in professional navigation field, and positioning is imitated Fruit requires relatively high, the industry and use groups less paid close attention to cost price.The prior art needs special for Innovation Input The technical team of industry supports that especially a large amount of capital investment and prolonged validation test could be completed.It is existing from cost consideration There is technology to be not suitable for pursuing the consumer group of low cost.

Utility model content

The utility model emphasis aiming at the problem that GPS navigation mode non-autonomous in UAV Navigation System is easy to be disturbed into Row optimization design.In order to achieve the above object, the utility model provides it is a kind of enhance satellite navigation signals reflection be sticked meter dress It sets, including antenna and the reflection being arranged in below antenna patch, is bonded between reflection patch and antenna with conducting resinl, reflect patch Dimensioned area will be increased with the multiple of antenna area.

Preferably, above-mentioned reflection patch is stainless steel metal material.

Preferably, above-mentioned reflection patch is square.

Preferably, the material of above-mentioned stainless steel metal includes: copper, iron, aluminum alloy material stainless steel.

Preferably, above-mentioned reflection patch is 28mm*28mm.

Compared with prior art, the utility model passes through and increases reflection in the case where keep existing antenna condition constant The mode in face improves satellite received signal, be suitble to it is higher to cost requirement, to seek quickness to the reaction time, easy fast is made every effort to installation Prompt occasion uses.Can be met with lower cost interferes the little low side consumer group to receive navigation signal, is suitble to model Enclose long-pending popularization and use.

Detailed description of the invention

Fig. 1 is GPS positioning basic principle schematic；

Fig. 2 is placed with for the reflection of enhancing satellite navigation signals provided by the utility model and sets schematic diagram.

Marked in the figure: 1- antenna；2- reflection patch 2.

Specific embodiment

Specifically describe the preferred embodiments of the utility model with reference to the accompanying drawing, wherein attached drawing constitutes the application one Point, and be used to illustrate the principles of the present invention together with the embodiments of the present invention.

Due to the development of global science and technology, the especially development of radio science and technology, radio signal is all distributed in all the time Around us.Compare different frequency range and unused power level can the intentional or unintentional signal for interfering unmanned plane GPS, cause There is the phenomenon that delocalization in signal losing lock, influences the flight safety of unmanned plane, interferes the status master in unmanned plane GPS signal source at present It will be by following several situations:

(1) influence of the unmanned plane chain-circuit system to GPS signal；

(2) influence of the system for flight control computer to GPS signal；

(3) influence of the unmanned plane image processing system to GPS signal；.

Navigation system used in UAV system is resolved based on Global Navigation Satellite System.Global satellite is led Boat system be can at the earth's surface or any place of terrestrial space for user provide round-the-clock three-dimensional coordinate and speed and The space base radio-navigation positioning system of temporal information.

Common satellite navigation system has tetra- large satellite navigation system of GPS, BDS, GLONASS and GALILEO.Occur earliest Be the U.S. GPS system, at this stage technology it is most perfect be also GPS system.As BDS, GLONASS system in recent years is in Asia Too regional complete service is opened, and especially BDS system is fast in civil field development increasingly light.

For satellite navigation signals system, have the characteristics that interference free performance is poor, is easy intentional or unintentional Interference, influences positioning scenarios, leads to flight safety.For problems are solved at present in terms of big, main solution has:

(1) narrowband Anti-interference algorithm；

(2) broadband Anti-interference algorithm；

(3) phase filtering technique；

(4) space filtering technology；

(5) frequency domain filtering technology.

It is to solve interference problem means from broad aspect above, needs technical team and the biggish investment ability of profession Solve, interference problem is mainly solved from the algorithm of core positioning calculation, jamproof effect is obvious, cost also compared with Height is suitble to not have to consider cost, and the industry for only pursuing locating effect uses.

Start in terms of small to solve interference problem means mainly and have:

(1) signal strength is provided by selecting high quality antenna, is reduced to make up the signal of interference effect；

(2) technological level of antenna production is improved, Lai Zengqiang antenna receives ability；

(3) antenna radiation pattern is reasonably adjusted, to adapt to airborne working environment.

GPS (Global Positioning System) i.e. global positioning system is that the satellite established by the U.S. is led Boat positioning system can realize that round-the-clock, continuous, real-time three-dimensional navigation positions using the user of the system in the world With test the speed；In addition, the user using the system can also carry out high-precision Time Transmission and high-precision precision positioning.

GPS satellite emit two kinds of frequencies carrier signal, i.e., frequency be 1575.42MHz L1 carrier wave and frequency be The L2 carrier wave of 1227.60MHz, their frequency are 154 times and 120 times of basic frequency 10.23MHz, their wavelength respectively Respectively 19.03cm and 24.42cm.Multi-signal is modulated respectively again on L1 and L2, these signals mainly have: C/A code, P Code and Y code.

C/A code is otherwise known as thick catch code, and it is the Pseudo-Random Noise Code (PRN code) of 1MHz that it, which is modulated on L1 carrier wave, Its code length is 1023 (period 1ms).Since the C/A code of every satellite is all different, we are commonly used theirs No. PRN distinguishes them.C/A code be ordinary user to measure survey station to intersatellite distance a kind of main signal.

P code is otherwise known as smart code, and it is the Pseudo-Random Noise Code of 10MHz that it, which is modulated on L1 and L2 carrier wave, and the period is Seven days.When implementing AS, P code and W code carry out mould two and are added the Y code for generating and maintaining secrecy, at this point, general user can not using P code come Carry out navigator fix.

Navigation information is modulated on L1 carrier wave, and signal frequency 50Hz includes the orbit parameter of GPS satellite, defends Star clock correction and some other system parameter.The user usually needs to a certain moment GPS satellite is calculated using this navigation information Position on Earth's orbit, navigation information are also referred to as broadcast ephemeris.

It is undetermined to determine through carrying out data processing frequently with one or more of following observation in GPS positioning Basic lineal vector between the coordinate or point to be located of point: L1 carrier phase observation data, L2 carrier phase observation data (half-wave or all-wave), The C/A code pseudorange being modulated on L1, the P code pseudorange being modulated on L1, the P code pseudorange being modulated on L2, Doppler's frequency on L1 It moves, the Doppler frequency shift on L2.

In fact, when carrying out GPS positioning, other than carrying out data processing using observation above in large quantities, also The some special observation values formed, such as width lane observation (Wide- are combined by certain commonly using by observation above Lane), observation (Ion-Free) Lai Jinhang data processing of narrow lane observation (Narrow-Lane), elimination ionosphere delay.

The error of GPS: we will receive the influence of various factor when positioning using GPS.It is fixed to influence GPS The factor of position precision can be divided into following four major class:

(1) human interference

U.S. government is from its national interests, by reducing broadcast ephemeris precision (technology), adding in GPS reference signal Enter the methods of high dither (technology), the artificial precision reduced when ordinary user carries out navigator fix using GPS.

(2) satellite ephemeris error

When carrying out GPS positioning, satellite orbit parameter needed for calculating GPS satellite position at a certain moment is by various types of What the ephemeris [7] of type provided, however, the calculated satellite position of institute all can be with its actual position using which type of ephemeris Difference, here it is so-called ephemeris errors.

(3) satellite clock correction

Error when satellite clock correction is the clock face for the atomic clock installed on GPS satellite between the GPS standard time.

Satellite-signal transmitting antenna phase center variation；

Satellite-signal transmitting antenna phase center variation be on GPS satellite the nominal phase center of signal transmitting antenna and its Difference between true phase center.

The basic principle of GPS positioning is the satellite instantaneous position according to high-speed motion as known known date, is used The method of space length resection determines the position of tested point.As shown in Figure 1, it is assumed that t moment disposes on the tested point of ground GPS receiver can measure the time △ t that GPS signal reaches receiver, along with satellite ephemeris received by receiver etc. Other data can determine following four equation:

Tested point coordinate x, y, z and Vto are unknown parameter in aforementioned four equation, wherein di=c Δ ti (i=1,2, 3、4)。

Di (i=1,2,3,4) is respectively that satellite 1, satellite 2, satellite 3, satellite 4 arrive the distance between receiver.

Δ ti (i=1,2,3,4) be respectively satellite 1, satellite 2, satellite 3, satellite 4 signal reach receiver it is experienced Time.

Wherein, c is the spread speed (i.e. the light velocity) of GPS signal.

Parameters meaning is as follows in four equations:

X, y, z is the rectangular space coordinate of tested point coordinate.

Xi, yi, zi (i=1,2,3,4) be respectively satellite 1, satellite 2, satellite 3, satellite 4 t moment space right-angle sit Mark,

It can be acquired by satellite navigation message.

Vti (i=1,2,3,4) be respectively satellite 1, satellite 2, satellite 3, satellite 4 satellite clock clock deviation, by satellite ephemeris It provides, Vto is the clock deviation of receiver.

The coordinate x, y, z of tested point and the clock deviation Vto of receiver can be calculated by above four equations.

In fact, receiver can often lock 4 or more satellites, at this moment, receiver can be by the constellation of satellite It is divided into several groups, every group 4, then picks out the smallest one group of error by algorithm and be used as positioning, to improve precision.

Since satellite transit track, satellite clock are there are error, the influence of atmosphere convection layer, ionosphere to signal, and Artificial SA protective policy, so that the positioning accuracy of civilian GPS only has 100 meters.To improve positioning accuracy, difference is generallyd use GPS (DGPS) technology establishes base station (track station) and carries out GPS observation, using known base station accurate coordinates, with observation It is compared, to obtain an amendment number, and externally issues.After receiver receives the amendment number, carried out with the observation of itself Compare, eliminates most of error, obtain a more accurately position.Experiment shows that, using differential GPS, positioning accuracy can mention Height is to 5 meters.

It is to be expounded to the principle of GPS positioning above, wherein most critical point is exactly to the letter needed in solution process Number quality, when the received satellite signal quality of antenna is good, the precision of positioning calculation can just be protected.If when receiving signal The phenomenon that exactly causing positioning accuracy deviation or delocalization.One of the critical component for influencing GPS receiver signal quality is exactly antenna, Mainly the following aspects of antenna performance:

1, potsherd: the quality and sintering process of ceramic powders directly affect its performance.The ceramics that existing market uses Piece is mainly 25 × 25,18 × 18,15 × 15,12 × 12.Potsherd area is bigger, and dielectric constant is bigger, and resonant frequency is got over Height, acceptable effect are better.Potsherd is square _type layout mostly, is almost the same in order to guarantee to resonate on the direction XY, thus Achieve the effect that uniformly to receive star.

2, silver layer: ceramic antenna surface silver layer can influence antenna resonance frequency.Ideal GPS potsherd frequency point is accurately fallen In 1575.42MHz, but antenna frequency point is highly susceptible to surrounding enviroment influence, is especially assemblied in complete machine, it is necessary to pass through tune Whole silver finishing coat shape, is maintained at 1575.42MHz to adjust frequency point again.Therefore GPS complete machine producer is certain when purchasing antenna Cooperate antenna producer, complete machine sample is provided and is tested.

3, feed point: ceramic antenna collects resonance signal by feed point and is sent to rear end.Due to the original of Antenna Impedance Matching Cause, feed point is generally not the centre in antenna, but does minor adjustment on the direction XY.Such impedance matching methods are simple And without increasing cost.Only mobile referred to as single inclined antenna on uniaxial direction is done mobile referred to as double inclined in two axis.

4, the PCB shape and area of ceramic antenna amplifying circuit: are carried.Since GPS has the characteristic for rebound of contacting to earth, work as background When being 7cm × 7cm the earth free of discontinuities, the efficiency of patch antenna can perform to ultimate attainment.Although by factors systems such as surface structures About, but as far as possible it keeps comparable area and shape is uniform.The selection of amplifying circuit gain must cooperate rear end LNA gain.Sirf GSC3F require signal input before overall gain must not exceed 29dB, otherwise signal supersaturation can generate self-excitation.

There are four important parameters for GPS antenna: gain (Gain), standing wave (VSWR), noise coefficient (Noise figure), axis Than (Axial ratio).Wherein especially emphasize axis ratio, it is the important of the signal gain otherness for measuring complete machine to different directions Index.Since satellite is randomly dispersed on hemisphere sky, so guaranteeing that antenna has similar susceptibility to be in all directions It is very important.Axis ratio is influenced by antenna performance, surface structure, complete machine internal circuit and EMI etc..

Device provided in this embodiment can become navigation signal reflection patch 2, and the device is mainly from the existing antenna-like of holding In the case that state is constant, satellite received signal is improved by way of increasing reflecting surface.

The material for the reflection patch 2 that the present embodiment uses is used respectively: wooden, copper, aluminum, irony and stainless steel.

Wooden: signal strength is -120dbm when test effect discovery does not increase reflection patch 2, after increasing wooden transmitting patch Signal strength can weaken -123dbm, and wild effect occurs in signal quality.

Copper: signal strength is -120dbm when test effect discovery does not increase reflection patch 2, after increasing copper transmitting patch Signal strength can weaken -122dbm, and signal quality is stablized.

Aluminum: signal strength is -120dbm when test effect discovery does not increase reflection patch 2, after increasing copper transmitting patch Signal strength can weaken -122dbm, and signal quality is stablized.

Irony: signal strength is -120dbm when test effect discovery does not increase reflection patch 2, after increasing copper transmitting patch Signal strength can weaken -123dbm, and signal quality is stablized.

Stainless steel: signal strength is -120dbm when test effect discovery does not increase reflection patch 2, increases copper transmitting Signal strength can weaken -123dbm after patch, and signal quality is stablized.

2 shapes of reflection patch are respectively with circle, rectangle, ellipse, triangle and the square for being greater than 1 area multiple of antenna It is tested, as a result as follows:

Round: signal strength is -120dbm when test effect discovery does not increase reflection patch 2, after increasing wooden transmitting patch Signal strength can weaken -121dbm, and wild effect occurs in signal quality.

Rectangle: signal strength is -120dbm when test effect discovery does not increase reflection patch 2, increases copper transmitting patch Signal strength can weaken -122dbm afterwards, and signal quality is stablized.

Ellipse: signal strength is -120dbm when test effect discovery does not increase reflection patch 2, increases copper transmitting patch Signal strength can weaken -122dbm afterwards, and signal quality is stablized.

Triangle: signal strength is -120dbm when test effect discovery does not increase reflection patch 2, increases copper transmitting patch Signal strength can weaken -121dbm afterwards, and signal quality is stablized.

Square: signal strength is -120dbm when test effect discovery does not increase reflection patch 2, increases copper transmitting patch Signal strength can weaken -125dbm afterwards, and signal quality is stablized.

As long as the present embodiment device causes intensity and quality to drop to solve when satellite navigation signals interfere It is low, and whether especially big the signal and intensity and quality influenced be, when in 5dbm.It can will be believed by the utility model Number quality and intensity are taken on a new look, and keep navigation satellite positioning more stable.

Ground is reached since navigation satellite signal is transmitted by high-altitude, signal is quite faint, adds market low side The quality of signal receiving antenna is irregular, is different.Herein according to the scattering principle of signal and multipath effect.Keeping existing Have antenna condition it is constant under the premise of, it is existing by the multipath effect phenomenon and satellite-signal reflecting surface that change antenna ambient signals As.

The explanation of multipath phenomenon: in the transmission process for carrying out signal in ginseng channel, due to the influence of multipath transmisstion, The envelope of signal can be made to generate fluctuating, that is, declined；Signal can be made to become narrow band signal, i.e. frequency dispersal phenomenon by single-frequency； Certain frequency contents of signal can be also made to disappear, i.e. frequency selective fading, this phenomenon is since multipath transmisstion is to the shadow of signal It rings and is known as multipath effect.

By great number tested data verifying and industry experience, keep horizontal plane smooth in the position of installation satellite navigation aerial Multi-path influence caused by antenna-reflected can be effectively reduced.Bigger according to potsherd area, dielectric constant is bigger, resonance frequency Rate is higher, and acceptable effect is better.Potsherd is square _type layout mostly, be it is almost the same in order to guarantee to resonate on the direction XY, To achieve the effect that uniformly to receive the principle of star, it is 28mm*28mm, material that we place one piece of form of metal below antenna 1 When pasting 2 for the reflection of stainless steel, signal is slightly obviously increased.Laying method schematic diagram is as shown in Figure 2.

By a large number of experiments verifying when reflection patch 2 uses stainless steel material and shape for just greater than 1 area multiple of antenna Rectangular effect is best, increases 6dbm or so than not increasing the device signal strength.

Further, reflection patch 2 will use the conducting resinl with conducting function to be bonded with 1 stationary plane of antenna, sufficiently Guarantee the Grounding of antenna 1 and metal covering.The dimensioned area of metallic reflection patch 2 will be increased with the multiple of 1 area of antenna, With guarantee X Y direction resonance effects.The material of stainless steel metal includes: copper, iron, aluminum alloy material stainless steel.Metal material Matter thickness can be small as far as possible, because the principle of signal reflex is unrelated with thickness.In order to lower weight, can now 1mm metallic reflection Face.

The reflection of enhancing satellite navigation signals provided by the utility model is sticked counter device, from keeping existing antenna condition not In the case where change, improve satellite received signal by way of increasing reflecting surface, be suitble to it is higher to cost requirement, to the reaction time It seeks quickness, simple and efficient occasion is made every effort to installation and is used.It can be met with lower cost and navigation signal is interfered less The low side consumer group receives, and range product is suitble to promote the use of.

Finally it should be noted that above embodiments are only to illustrate the technical solution of the utility model rather than to this is practical The limitation of novel protected range, although being explained in detail referring to preferred embodiment to the utility model, the common skill of this field Art personnel should be appreciated that and can improve to the technical solution of the utility model or equivalent replacement, practical without departing from this The spirit and scope of new technique scheme.

Claims (5)

1. The counter device 1. a kind of reflection for enhancing satellite navigation signals is sticked, it is characterised in that described device includes antenna (1) and sets The reflection patch (2) below antenna (1) is set, is bonded between reflection patch (2) and antenna (1) with conducting resinl, reflection patch (2) Dimensioned area will be increased with the multiple of antenna (1) area.
2. The counter device 2. reflection of enhancing satellite navigation signals according to claim 1 is sticked, it is characterised in that: the reflection Pasting (2) is stainless steel metal material.
3. The counter device 3. reflection of enhancing satellite navigation signals according to claim 1 is sticked, it is characterised in that: the reflection Patch (2) is square.
4. The counter device 4. reflection of enhancing satellite navigation signals according to claim 2 is sticked, it is characterised in that: described stainless The material of steel metal includes: copper, iron, aluminum alloy material stainless steel.
5. The counter device 5. reflection for enhancing satellite navigation signals described in one of -4 according to claim 1 is sticked, it is characterised in that: institute Stating reflection patch (2) is 28mm*28mm.