CN110377929A - Method and apparatus for correcting triaxial antennas direction - Google Patents
Method and apparatus for correcting triaxial antennas direction Download PDFInfo
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- CN110377929A CN110377929A CN201910459736.8A CN201910459736A CN110377929A CN 110377929 A CN110377929 A CN 110377929A CN 201910459736 A CN201910459736 A CN 201910459736A CN 110377929 A CN110377929 A CN 110377929A
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- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
- H01Q3/08—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying two co-ordinates of the orientation
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Abstract
The present invention provides a kind of method and apparatus for correcting triaxial antennas direction, wherein method includes: target position and by coordinate transform under the survey station Horizon system provided according to orbit prediction, obtains the approximation of antenna guide angle under orientation angle set by antenna and device measuring system under equipment Horizon system；By corrected Calculation, correspondence orientation angle of the approximation of antenna guide angle under equipment Horizon system is obtained；And by recurrence calculation, and the correspondence orientation angle using the approximation of antenna guide angle under equipment Horizon system, obtain the exact value of orientation angle antenna guide angle under device measuring system set by antenna under equipment Horizon system.Using the solution of the present invention, it ensure that in real time, accurately completion figure tracking or program track under the conditions of triaxial antennas high band operation.
Description
Technical field
This invention relates generally to radio measurement and control technical fields.More particularly it relates to a kind of for correcting three
The method and apparatus that axis antenna is directed toward.
Background technique
Currently, China's test-and-control type ground satellite station generally uses two spindle-type Cassegrain parabola antennas, such as Fig. 1 (a)
Shown, the important feature of the type antenna is the Calibration Method for having comparative maturity, completes angle measurement, ranging, survey based on error model
The data calibrations such as speed obtain very high measurement accuracy, the measurement rail task for satellite.But consider Satellite TT groundwork
In S frequency range, antenna beam is wider, and both the measurement system of two spindle-type antennas and Horizon system are the same coordinate system origins, therefore benefit
The antenna pointing angle under Horizon system is forecast with relatively accurate orbit elements of satellite, and measurement system can be obtained by secant compensation
Under antenna control angle, thus guarantee antenna program tracking or figure tracking requirement.
In recent years, the proposition with earth station to observing and controlling and digital-transmission multifunctional My Perspective On The Co-building demand, three axis paraboloid days
Line becomes feasible engineered solution, and the type antenna is to increase by one the on the basis of orientation/pitch axis of two axis antennas
Three axis, i.e. sloping shaft combine, generally can be within the scope of 180 ° of horizontal plane by the way that two axis antenna mounts are mounted on one in engineering
It is realized in rotation, the wedge-shaped turntable with fixed angle, as shown in Fig. 1 (b).The important feature of triaxial antennas is by third axis
Inclination avoids satellite and crosses top situation, meets high speed signal to being continuously tracked and received requirement.
However, for triaxial antennas, the origin disunity of measurement system and Horizon system, while considering high-speed digital transmission
Reception task is generally operational in higher frequency section, such as X frequency range and Ka frequency range, and antenna beam is very narrow at this time, about the 1/4 of S frequency range
~1/12, therefore simple secant compensation has been unable to satisfy triaxial antennas to modified requirement is directed toward in high precision, so that day line traffic control
Error processed increases, and causes target to deviate the 3dB wave beam of antenna, and then influence normally receiving for signal, even lossing signal.
The parabola antenna angular error model according to defined in existing literature is directed toward in amendment since model itself includes
Angle correction under measurement system, and be the trigonometric function of the angle, i.e., it is transcendental equation that solution formula is practical, so that model can not
Directly calculation.Then since solution process is more complicated, real-time is relatively difficult to guarantee conventional transcendental equation calculation method, can not be applicable in
In continuous tracking.
Summary of the invention
For said one or multiple technical problems, the present invention is directed toward amendment problem towards high band triaxial antennas, passes through
Legal equivalents are approximate, propose the solution of real-time online recursion, meet full airspace in real time and high-precision tracer request.
In an aspect, the present invention provides a kind of method for correcting triaxial antennas direction, comprising:
According to target position under the survey station Horizon system of orbit prediction offer and by coordinate transform, obtain under equipment Horizon system
The approximation of antenna guide angle under orientation angle set by antenna and device measuring system；
By corrected Calculation, correspondence orientation angle of the approximation of antenna guide angle under equipment Horizon system is obtained；With
And
By recurrence calculation, and the correspondence orientation angle using the approximation of antenna guide angle under equipment Horizon system,
Obtain the exact value of orientation angle antenna guide angle under device measuring system set by antenna under equipment Horizon system.
In one embodiment, if the third axis center point of antenna defines O ' point, orientation, pitch axis, electric axis of antenna etc.
The central point of three axis is defined as O " point, and the intersection point crossing the vertical line of O ' point and crossing between the horizontal plane that O " is put is defined as O point, then,
Survey station Horizon system is using O point as the Horizon system of origin, and equipment Horizon system is with O " point for the Horizon system of origin, and device measuring system is then
It is the coordinate system with O " point for origin, is defined as follows described:
● basic side: pass through O " point and the plane parallel with the oblique turntable of triaxial antennas；
● X-axis: basic side highest point direction is directed toward by three axis centers；
● Y-axis: by the basic side normal direction of three axis centers, it is positive upwards；
● Z axis: with X, Y-axis at the right-hand rule.
In one embodiment, wherein becoming according to target position under the survey station Horizon system of orbit prediction offer and by coordinate
It changes, obtaining orientation angle set by antenna under equipment Horizon system includes obtaining day under equipment Horizon system by following formula (1)~(4)
Orientation angle A set by linegAnd Eg:
T=Tc+T0 (3)
θ=θ0+Δθ (4)
Wherein, [X, Y, Z] is the target position under the survey station Horizon system provided according to orbit prediction, [Xg, Yg, Zg] it is to set
Target position under standby Horizon system；θ0And TcInclination angle respectively O ' O " theoretical under survey station Horizon system be (i.e. O ' O " and O ' O's
Angle) and azimuth, θ and T and respectively O ' O " actual inclination angle and azimuth, T under survey station Horizon system0For T and TcBetween
Correspondence error (i.e. the azimuth third axis O ' O " zero error), Δ θ be θ and θ0Between correspondence error (i.e. third axis O ' O "
Inclination angle zero error)；T0It is obtained with Δ θ by calibration in advance, to obtain inclination angle and azimuthal true value, i.e. θ and T；h
For the design processing length of O ' O ".
In one embodiment, wherein the approximation for obtaining antenna guide angle under device measuring system includes passing through following formula
(5)~(6) obtain the approximation A of antenna guide angle under device measuring systemcAnd Ec:
Wherein, RcIt is three axis center range-to-gos, EcPitch angle of the electrical boresight of antenna under device measuring system, i.e. antenna
The angle (being positive upwards) of electric axis and basic side, AcIt is azimuth of the electrical boresight of antenna under device measuring system, the electrical boresight of antenna is in base
The angle (being positive clockwise) of this face projection and X-axis.
In one embodiment, wherein by corrected Calculation, the approximation of antenna guide angle is obtained in equipment Horizon system
Under correspondence orientation angle include:
By following formula (7)~(11), the approximation A of antenna guide angle is obtainedcAnd EcCorrespondence under equipment Horizon system refers to
To angle AzAnd Ez:
A#=Ac+A0+δtgEc+Kb sec Ec (7)
E#=Ec+E0+Eg cos E+Ed cot E (8)
Az=Az+ θM sin(Az-AM)*tan El (10)
Ez=El+ θM cos(Az-AM) in (11) formula, E=Ec+θ0cosAc
Wherein, A0For the antenna system azimuth error of zero, E0It is the antenna system pitch angle error of zero, δ is antenna bearingt
The non-orthogonal degree of axis and pitch axis, EgIt is pitch error coefficient caused by gravity sag, KbCaused by electric axis and pitch axis mismatch
Azimuthal error, θMIt is the maximum value of antenna pedestal pedestal unlevelness, AMIt is orientation locating for the maximum value of antenna pedestal pedestal unlevelness
Angle, EdIt is the residual error after refraction correction, above-mentioned coefficient is obtained by calibration in advance, to complete specific corrected Calculation；A#
And E#Respectively A under device measuring systemcAnd EcThe electrical boresight of antenna after corresponding amendment orientation/pitch angle zero error, axial system error refers to
To angle；Az and El is respectively A under equipment Horizon system#And E#The electrical boresight of antenna behind corresponding amendment third axis azimuth and inclination angle refers to
To angle.
In one embodiment, wherein recurrence calculation, and using the approximation of antenna guide angle under equipment Horizon system
Correspondence orientation angle, obtain orientation angle antenna guide angle under device measuring system set by antenna under equipment Horizon system
Exact value include:
Utilize AzAnd EzAnd AcAnd EcApproximate replacement is carried out, by following formula (12)~(16), is obtained under equipment Horizon system
Orientation angle A set by antennagAnd EgThe exact value A of antenna guide angle under device measuring systemcrgAnd Ecrg:
Abg=Ag-θM sin(Az-AM)*tan Ez (12)
Ebg=Eg-θM cos(Az-AM)(13)
Acrg=Acg-A0-δtgEc-Kb sec Ec (15)
Ecrg=Ecg-E0-Eg cos El-Rd cot El (16)
Wherein, AbgAnd EbgRespectively A under equipment Horizon systemgAnd EgThe corresponding pedestal unlevelness error aft antenna electric axis that introduces is drawn
Lead angle, EcgAnd AcgRespectively A under device measuring systembgAnd EbgThe corresponding electrical boresight of antenna introduced behind third axis azimuth and inclination angle
Pilot angle.
In another aspect, the present invention provides a kind of for correcting the device of triaxial antennas direction, comprising:
Processor,
Memory, including the computer instruction that storage can be executed by processor, when the computer instruction is by the processing
When device is run, so that described device executes operation below:
According to target position under the survey station Horizon system of orbit prediction offer and by coordinate transform, obtain under equipment Horizon system
The approximation of antenna guide angle under orientation angle set by antenna and device measuring system；
By corrected Calculation, correspondence orientation angle of the approximation of antenna guide angle under equipment Horizon system is obtained；With
And
By recurrence calculation, and the correspondence orientation angle using the approximation of antenna guide angle under equipment Horizon system,
Obtain the exact value of orientation angle antenna guide angle under device measuring system set by antenna under equipment Horizon system.
In another aspect, the present invention provides a kind of computer readable storage medium, including for correcting triaxial antennas
The computer program of direction executes operation below when the computer program is run by one or more processors:
According to target position under Horizon system and by coordinate transform, obtain approximation that measurement is lower antenna guide angle and
Orientation angle set by antenna under Horizon system；
By corrected Calculation, the approximation for obtaining antenna guide angle is actually pointed to angle under Horizon system；And
By recurrence calculation, the antenna guide angle under measurement system of orientation angle set by antenna under Horizon system is obtained
Exact value.
It is directed toward modification method using triaxial antennas high-precision of the invention, high band Satellite TT is can satisfy and number passes and appoints
In business, figure tracking or program tracking are to the application demand being directed toward in high precision.
Using the solution of the present invention, ensure that under the conditions of triaxial antennas high band operation in real time, accurately complete program
Tracking or figure tracking.
Detailed description of the invention
By read be provided by way of example only and with reference to attached drawing carry out being described below, be better understood with the present invention and
Its advantage, in which:
Fig. 1 (a) is the two spindle-type antennas for showing the prior art；
Fig. 1 (b) is the three spindle-type antennas for showing the prior art；
Fig. 2 is to show the schematic diagram according to an embodiment of the present invention for defining triaxial antennas coordinate origin；
Fig. 3 is the flow chart for showing the method according to an embodiment of the present invention for being used to correct triaxial antennas direction；
Fig. 4 is to show the reception level result according to an embodiment of the present invention that radio tracking is carried out using X frequency range；And
Fig. 5 is reception level result when showing the progress radio source scanning according to an embodiment of the present invention using X frequency range.
Specific embodiment
Technical solution of the present invention generally provides a kind of triaxial antennas direction modification method, in conjunction with Practical Project physics
Meaning has carried out the approximation of reasonable to the intermediate variable being directed toward in amendment, proposes the error in pointing of real-time online recurrence method
Modification method completes the real-time resolving of variable transcendental equation to be solved, ensure that under the conditions of triaxial antennas high band operation in real time,
Accurately complete program tracking or figure tracking.
Below will be from the principle of the present invention, and technical side of the invention is described accordingly with attached drawing and chart
Case.
It needs to establish on the basis of given coordinate system and error coefficient due to being directed toward modification method, it hereafter will first
The relevant rudimentary definition for introducing triaxial antennas, then illustrates specific equal direction amendment scheme again.
1, triaxial antennas coordinate system and error coefficient definition
Fig. 2 shows the coordinate origins such as the simplified model of triaxial antennas and correspondence, wherein O ' point is third axis center
Point, O " point are 3 axis center points, the i.e. central point of three axis such as the orientation of antenna, pitch axis, electric axis, and O point was the vertical line of O ' point
With the intersection point crossed between the horizontal plane that O " is put.It defines accordingly, survey station Horizon system is using O point as the Horizon system of origin, equipment Horizon
System is the Horizon system with O " point for origin；In above-mentioned two coordinate system, rectangular co-ordinate and polar definition and conventional Horizon
System is consistent.Device measuring system is then the coordinate system with O " point for origin, is defined as follows described:
● basic side: pass through O " point and the plane parallel with the oblique turntable of triaxial antennas；
● X-axis: basic side highest point direction is directed toward by three axis centers；
● Y-axis: by the basic side normal direction of three axis centers, it is positive upwards；
● Z axis: with X, Y-axis at the right-hand rule；
● oblique distance Rc: three axis center range-to-gos；
● azimuth Ac: the electrical boresight of antenna is positive clockwise in the angle of basic side projection and Xc axis；
● pitch angle Ec: the angle of the electrical boresight of antenna and basic side is positive upwards.
In Fig. 2, TcFor azimuth (projection and direct north corresponding to third axis in the earth horizontal plane of third axis
Angle), θ0For the inclination angle (angle for corresponding to third axis O ' O " and O ' O) of third axis, h is the length of third axis.In engineering,
θ0Generally constant cant angle remains unchanged after antenna installation.
Based on two axis in document according to the definition of error coefficient and incorporation engineering experience, triaxial antennas error coefficient is
[A0、θM、AM、δ、Kb、E0、Eg、Ed、To, Δ θ], wherein A0Indicate the antenna system azimuth error of zero, θMIndicate that antenna pedestal is big
The unhorizontal maximum value of disk, AMIndicate antenna pedestal pedestal unlevelness maximum value locating for azimuth, δ indicate azimuth axis of antenna with
The non-orthogonal degree of pitch axis, KbIndicate that electric axis and pitch axis mismatch caused azimuthal error, E0Indicate antenna system pitch angle zero
Position error, EgIndicate pitch error coefficient caused by gravity sag, EdResidual error after indicating refraction correction, ToIndicate third
Axis azimuth zero error, Δ θ indicate third axis inclination angle zero error.Above-mentioned coefficient is obtained by calibration in advance, so as to complete
At specific corrected Calculation.
2, triaxial antennas is directed toward modification method
For the statement convenient for being directed toward modification method, propose such as to give a definition first:
●AgAnd Eg: number draws/and journey draws in working method, and angle is arranged in the orientation setting angle and pitching under equipment Horizon system；
●AcrgAnd Ecrg: number draws/and journey draws in working method, and the electric axis bearing directing angle and pitching under device measuring system are drawn
Lead angle degree.
Being directed toward modified target is exactly to be drawn or journey is drawn in working method according to number, and antenna is set under equipment Horizon system
It is directed toward position AgAnd Eg, the orientation angle A that antenna should be arranged under device measuring system is obtained by calculationcrgAnd Ecrg, i.e. antenna
Precise control amount, guide antenna are directed toward predetermined position.
Makeover process of the invention is described below in conjunction with Fig. 3.
Fig. 3 is the flow chart for showing the method according to an embodiment of the present invention for being used to correct triaxial antennas direction.As schemed
Show, in step S301, according to target position under the survey station Horizon system of orbit prediction offer and by coordinate transform, obtains equipment
Under Horizon system under orientation angle set by antenna and device measuring system antenna guide angle approximation.In step s 302,
By corrected Calculation, correspondence orientation angle of the approximation of antenna guide angle under equipment Horizon system is obtained.In step S303
In, by recurrence calculation, and the correspondence orientation angle using the approximation of antenna guide angle under equipment Horizon system, it is set
The exact value of orientation angle antenna guide angle under device measuring system set by antenna under standby Horizon system.
Specific operating procedure will be described in detail on the basis of step shown in Fig. 3 below.
Step 1: initial calculation obtains the approximation of antenna guide angle
By initial calculation, it is based under digital designation operating mode, target under the survey station Horizon system that center is provided to equipment
Position [X, Y, Z] obtains orientation angle set by antenna under equipment Horizon system according to coordinate transform shown in formula (1)~(4)
AgAnd Eg:
T=Tc+T0 (3)
θ=θ0+Δθ (4)
Wherein, [Xg, Yg, Zg] it is target position under equipment Horizon system；θ and T and respectively O ' O " are under survey station Horizon system
Actual inclination angle and azimuth are the sum of corresponding theoretical value and error coefficient.
Under conditions of not considering the error coefficient of triaxial antennas, according to coordinate transform shown in formula (5)~(6), directly
Obtain the approximation A of antenna guide angle under device measuring systemcAnd Ec:
Wherein, RcIt is three axis center range-to-gos.
Step 2: corrected Calculation obtains antenna and is actually pointed to angle
By corrected Calculation, the approximation A of antenna guide angle is obtainedcAnd EcCorresponding direction angle under equipment Horizon system
Spend AzAnd Ez, for the equivalent approximation of correlated variables in step 3, shown in detailed process such as formula (7)~(11):
A#=Ac+A0+δtgEc+Kb sec Ec (7)
E#=Ec+E0+Eg cos E+Ed cot E (8)
Az=Az+ θM sin(Az-AM)*tan El (10)
Ez=El+ θM cos(Az-AM) in (11) formula, E=Ec+θ0 cos Ac.Wherein, A#And E#Respectively device measuring
It is lower AcAnd EcThe electrical boresight of antenna after corresponding amendment orientation/pitch angle zero error, axial system error is directed toward angle；Az and El are respectively
A under equipment Horizon system#And E#The electrical boresight of antenna behind corresponding amendment third axis azimuth and inclination angle is directed toward angle.
Step 3: recurrence calculation obtains the exact value of antenna guide angle
By recurrence calculation, A is obtainedgAnd EgThe exact value A of antenna guide angle under device measuring systemcrgAnd Ecrg, foundation
Shown in the angular error model detailed process of parabola antenna such as formula (12)~(16):
Abg=Ag-θM sin(Abg-AM)*tan Ebg (12)
Ebg=Eg+θM cos(Abg-AM) (13)
Acrg=Acg-A0-δ.tgEcrg-Kb sec Ecrg (15)
Ecrg=Ecg-Eo-Eg cos E-Ed cot E (16)
In formula, E=Ecrg+θ0 cos Acrg.Wherein, AbgAnd EbgRespectively A under equipment Horizon systemgAnd EgIt is corresponding to introduce greatly
Disk not horizontal error aft antenna electric axis pilot angle, EcgAnd AcgRespectively A under device measuring systembgAnd EbgIt is corresponding to introduce third axis side
Electrical boresight of antenna pilot angle after parallactic angle and inclination angle.
Through analyzing it is found that formula (12) and (13) are AbgAnd EbgTranscendental equation, formula (15) and (16) are AcrgAnd EcrgThe side of surmounting
Journey, they can not direct solution.In view of antenna is currently directed approximately toward AcAnd EcIt is based on AgAnd EgDo not considering aerial angle
It on the basis of error, is directly coordinately transformed, therefore gained direction data should be approximately equal to formula (7) in step 2
Gained is directed toward data accordingly after introducing error coefficient in~(11).Therefore, according to the consistency of physical definition, A is used respectivelyzWith
EzSubstitute AbgAnd Ebg, use AcAnd EcSubstitute AcrgAnd Ecrg, and consider that El is approximately equal with E, they are replaced respectively on the right side of equation
Corresponding variable, so that transcendental equation is reduced to general equation, i.e., shown in formula (17)~(20):
Abg=Ag-θM sin(Az-AM)*tan Ez (17)
Ebg=Eg-θM cos(Az-AM) (18)
Acrg=Acg-A0-δtgEc-Kb sec Ec (19)
Ecrg=Ecg-E0-Eg cos El-Ed cot El (20)
So far, the antenna guide angle A under measurement system is calculatedcrgAnd Ecrg.Meanwhile every bit under mode is drawn according to number
Orbit prediction value, complete real-time recurrence calculation using above-mentioned steps are utilized respectively, it is complete to control antenna in real time with moving-target
It is tracked at the figure tracking or program of antenna.
Through the above description, it is to be appreciated that the present invention is based on the angular error model of conventional parabola antenna, faces
Problem is resolved to the transcendental equation faced in error in pointing amendment, intermediate variable is carried out in conjunction with Practical Project physical meaning
Rationally, feasible approximation proposes the triaxial antennas error in pointing modification method of real-time online recursion, realizes each amendment variable
Directly calculate, thus ensure that in real time, high-precision complete triaxial antennas high band operation under the conditions of figure tracking or program with
Track.
Embodiment of the present invention is further described below in conjunction with specific project scenarios.It is understood that of the invention
Scheme mainly include triaxial antennas main indicator design and triaxial antennas error in pointing amendment, and to revised error in pointing into
Row verifying.
1, triaxial antennas main indicator designs
This trifle mainly according to the conceptual design of triaxial antennas, proposes the main indicator of triaxial antennas, as engineering construction
Boundary condition, while the present invention only enumerates parameter designing relevant to angular error calibration herein, specific as follows:
A) antenna form: parabola antenna.
B) antenna aperture: 12m.
C) working frequency: X frequency range, 7750MHz~9000MHz.
D) 3dB beam angle: 0.22 × (1 ± 10%) °, F0=8.00GHz.
E) third axis tiltangleθ: 7 °.
F) third axis O ' O " length: 3759.7mm；
G) triaxial antennas error coefficient [A0、θM、AM、δ、Kb、E0、Eg、Ed、To, Δ θ]: [- 0.307, -0.012,
69.889、-0.003、0.173、0.001、-0.015、-0.005、0.121、0.131]
2, triaxial antennas error in pointing is corrected
Based on the mentioned technical solution of the present invention, the modified key step of triaxial antennas error in pointing is as follows:
Step 1: antenna operating mode is set as digital designation, target position under the Horizon system that center provides is received by equipment
Set [X, Y, Z]T=T0~T, at the time of wherein t is that target position corresponds to, T0 is the tracking initiation time, and T is the tracking end time.It adopts
Certain interpolation algorithm, such as linear interpolation are taken, the forecast position [X, Y, Z] of turnover rate needed for antenna is obtainedi, i-th of i expression
Forecast point；
Step 2: the amendment scheme according to technical solution obtains each [X, Y, Z]iCorresponding antenna guide angle
[Acrg、Ecrg]i；
Step 3: being utilized respectively [Acrg、Ecrg]iGuide antenna completes figure tracking.
3, antenna is directed toward amendment precision test
The present invention verifies the validity and precision for proposing and being directed toward modification method using the actual tracking to radio star, selects
Radio source of the Cassiopeia as tracking.Detailed process includes: to load ten errors of triaxial antennas first in antenna controling equipment
Coefficient；Then according to above-mentioned makeover process, guide antenna carries out figure tracking to radio star respectively, and successively comparison takes direction to repair
Just and not take the reception level variation being directed toward in the case of correcting；Finally, carrying out orientation respectively with revised tracing positional
The symmetrical scanning of pitch orientation, comparison receive level variation.
Test results are shown in figure 4 when figure tracking, and wherein abscissa is time shaft, and ordinate is that antenna receives electricity
It is flat, it is directed toward modified reception level not take between 23: 10: 30~23: 10: 52, is between 23: 10: 55~23: 12: 10
It takes and is directed toward revised reception level.According to level conditions are received, it is directed toward to be apparently higher than after correcting and does not correct situation, therefore can
It is obvious to think to be directed toward amendment precision improvement effect.
On the basis of figure tracking, to be directed toward amendment data grid technology, azimuth axis and pitch axis scanning, scanning are carried out respectively
Range is ± 0.1 °.Test results are shown in figure 5, wherein and the definition of transverse and longitudinal coordinate axis is consistent with figure tracking, 23: 15: 20~
Between 23: 15: 50 for azimuth axis scanning in the case of reception level, 23: 15: 55~23: 16: 10 for azimuth scan return to zero after,
It is directed toward reception level when correction position, the reception level in the case of scanning between 23: 16: 20~23: 16: 50 for pitch axis.
According to test result it can be found that institute, the corresponding maximum level that receives is suitable with revised reception level is directed toward, thus further
It proves that revised antenna is directed toward and is accurately directed toward target position, that is, demonstrate the high-precision of antenna direction.
Although the mode that the present invention is implemented is as above, the content is implementation that is of the invention for ease of understanding and using
Example, the range and application scenarios being not intended to limit the invention.Technical staff in any technical field of the present invention, not
Be detached from disclosed herein spirit and scope under the premise of, can make in the formal and details of implementation any modification with
Variation, but scope of patent protection of the invention, still should be subject to the scope of the claims as defined in the appended claims.
Claims (8)
1. a kind of method for correcting triaxial antennas direction, comprising:
According to target position under the survey station Horizon system of orbit prediction offer and by coordinate transform, antenna under equipment Horizon system is obtained
The approximation of antenna guide angle under set orientation angle and device measuring system；
By corrected Calculation, correspondence orientation angle of the approximation of antenna guide angle under equipment Horizon system is obtained；And
By recurrence calculation, and the correspondence orientation angle using the approximation of antenna guide angle under equipment Horizon system, it obtains
The exact value of orientation angle antenna guide angle under device measuring system set by antenna under equipment Horizon system.
2. according to the method described in claim 1, wherein the third axis center point of the antenna is defined as O ' point, the antenna
The central point in orientation, pitch axis and electric axis is defined as O " point, and the intersection point crossing the vertical line of O ' point and crossing between the horizontal plane that O " is put is fixed
Justice is O point, and survey station Horizon system is using O point as the Horizon system of origin, and equipment Horizon system is the Horizon system with O " point for origin,
Device measuring system is to be defined as follows with O " point for the coordinate system of origin:
Basic side: pass through O " point and the plane parallel with the oblique turntable of triaxial antennas；
X-axis: basic side highest point direction is directed toward by three axis centers；
Y-axis: it by the basic side normal direction of three axis centers, is positive upwards；
Z axis: with X, Y-axis at the right-hand rule.
3. according to the method described in claim 1, wherein according to target position under the survey station Horizon system of orbit prediction offer and leading to
Coordinate transform is crossed, orientation angle A set by antenna under equipment Horizon system is obtainedgAnd EgIncluding being obtained by formula (1)~(4):
T=Tc+T0 (3)
θ=θ0+Δθ (4)
Wherein, [X, Y, Z] is the target position under the survey station Horizon system provided according to orbit prediction, [Xg, Yg, Zg] it is equipment
Target position under flat system；θ0And TcThe angle and azimuth of respectively O ' O " O ' O " and O ' O under survey station Horizon system, θ and T points
It Wei not O ' O " actual inclination angle and azimuth, T under survey station Horizon system0For T and TcBetween the azimuth third axis O ' O " zero
Error, Δ θ are θ and θ0Between the inclination angle third axis O ' O " zero error, T0It is obtained with Δ θ by calibration in advance, to obtain
The design processing length at inclination angle and azimuthal true value θ and T, h O ' O ".
4. according to the method described in claim 3, wherein being obtained according to target position under equipment Horizon system and by coordinate transform
The approximation A of antenna guide angle under device measuring systemcAnd EcIncluding being obtained by formula (5)~(6):
Wherein, RcIt is three axis center range-to-gos, EcThe electrical boresight of antenna and basic side of the electrical boresight of antenna under device measuring system
Angle is positive upwards, AcIt is azimuth of the electrical boresight of antenna under device measuring system, the electrical boresight of antenna is in basic side projection and X-axis
Angle, be positive clockwise.
5. according to the method described in claim 4, wherein obtaining the approximation of antenna guide angle in equipment by corrected Calculation
Correspondence orientation angle under Horizon system includes:
By following formula (7)~(11), the approximation A of antenna guide angle is obtainedcAnd EcCorresponding direction angle under equipment Horizon system
Spend AzAnd Ez:
A#=Ac+A0+δtgEc+Kbsec Ec (7)
E#=Ec+E0+Egcos E+Edcot E (8)
Az=Az+ θMsin(Az-AM)*tan E1 (10)
Ez=E1+ θMcos(Az-AM) (11)
In formula, E=Ec+θ0cos Ac
Wherein, A0For the antenna system azimuth error of zero, E0The antenna system pitch angle error of zero, δ be azimuth axis of antenna with
The non-orthogonal degree of pitch axis, EgIt is pitch error coefficient caused by gravity sag, KbOrientation caused by electric axis and pitch axis mismatch
Error, θMIt is the maximum value of antenna pedestal pedestal unlevelness, AMIt is azimuth locating for the maximum value of antenna pedestal pedestal unlevelness, Ed
It is the residual error after refraction correction, above-mentioned coefficient is obtained by calibration in advance, to complete specific corrected Calculation；A#And E#
Respectively A under device measuring systemcAnd EcThe electrical boresight of antenna after corresponding amendment orientation/pitch angle zero error, axial system error is directed toward
Angle；Az and E1 is respectively A under equipment Horizon system#And E#The electrical boresight of antenna behind corresponding amendment third axis azimuth and inclination angle is directed toward
Angle.
6. according to the method described in claim 5, wherein passing through recurrence calculation, and being set using the approximation of antenna guide angle
Correspondence orientation angle under standby Horizon system obtains orientation angle day under device measuring system set by antenna under equipment Horizon system
Line guidance angle exact value include:
Utilize AzAnd EzAnd AcAnd EcApproximate replacement is carried out, by following formula (12)~(16), obtains antenna institute under equipment Horizon system
The orientation angle A of settinggAnd EgThe exact value A of antenna guide angle under device measuring systemcrgAnd Ecrg
Abg=Ag-θMsin(Az-AM)*tan Ez (12)
Ebg=Eg-θMcos(Az-AM) (13)
Acrg=Acg-A0-δtgEc-Kbsec Ec (15)
Ecrg=Ecg-E0-Egcos E1-Edcot E1 (16)
Wherein, AbgAnd EbgRespectively A under equipment Horizon systemgAnd EgIt is corresponding to introduce the guidance of pedestal unlevelness error aft antenna electric axis
Angle, EcgAnd AcgRespectively A under device measuring systembgAnd EbgThe electrical boresight of antenna behind corresponding introducing third axis azimuth and inclination angle draws
Lead angle.
7. a kind of for correcting the device of triaxial antennas direction, comprising:
Processor,
Memory, including the computer instruction that storage can be executed by processor, when the computer instruction is transported by the processor
When row, so that described device executes operation below:
According to target position under the survey station Horizon system of orbit prediction offer and by coordinate transform, antenna under equipment Horizon system is obtained
The approximation of antenna guide angle under set orientation angle and device measuring system；
By corrected Calculation, correspondence orientation angle of the approximation of antenna guide angle under equipment Horizon system is obtained；And
By recurrence calculation, and the correspondence orientation angle using the approximation of antenna guide angle under equipment Horizon system, it obtains
The exact value of orientation angle antenna guide angle under device measuring system set by antenna under equipment Horizon system.
8. a kind of computer readable storage medium, including the computer program for correcting triaxial antennas direction, when the calculating
When machine program is run by one or more processors, operation below is executed:
According to target position under the survey station Horizon system of orbit prediction offer and by coordinate transform, antenna under equipment Horizon system is obtained
The approximation of antenna guide angle under set orientation angle and device measuring system；
By corrected Calculation, correspondence orientation angle of the approximation of antenna guide angle under equipment Horizon system is obtained；And
By recurrence calculation, and the correspondence orientation angle using the approximation of antenna guide angle under equipment Horizon system, it obtains
The exact value of orientation angle antenna guide angle under device measuring system set by antenna under equipment Horizon system.
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