CN112697129B - A Fast Method for Determining Two-dimensional Attitude of Antenna Array Using One-dimensional Angle Measurement - Google Patents

Abstract

Translated fromChinese

本发明属于电子信息技术领域，具体涉及一种利用一维测角确定天线线阵二维姿态的快速方法。本发明的方法利用位置已知的参考站辐射的电磁波信号，通过天线线阵测量来波方向与天线线阵的一维夹角、仰角一维搜索和方位角闭式计算，即可实现快速测定天线线阵的二维姿态，在降低计算量的同时，还能提高天线线阵的二维姿态的测定精度。The invention belongs to the technical field of electronic information, and in particular relates to a fast method for determining a two-dimensional posture of an antenna line array by using one-dimensional angle measurement. The method of the present invention utilizes the electromagnetic wave signal radiated by the reference station whose position is known, and measures the one-dimensional included angle between the incoming wave direction and the antenna line array, the one-dimensional search of the elevation angle and the closed calculation of the azimuth angle through the antenna line array, so as to realize fast measurement The two-dimensional attitude of the antenna line array, while reducing the amount of calculation, can also improve the measurement accuracy of the two-dimensional attitude of the antenna line array.

Description

Translated fromChinese

一种利用一维测角确定天线线阵二维姿态的快速方法A fast method for determining the two-dimensional attitude of antenna array using one-dimensional angle measurement

技术领域Technical Field

本发明属于电子信息技术领域，具体涉及一种利用一维测角确定天线线阵二维姿态的快速方法。The invention belongs to the field of electronic information technology, and in particular relates to a fast method for determining the two-dimensional posture of an antenna array by using one-dimensional angle measurement.

背景技术Background Art

通过测量无线电信号到达天线阵列的电磁波传播方向对无线电信号辐射源进行定位是一种常用的被动定位方法，在车载、船载、机载、星载等无线电频谱监测平台上得到了大量应用。由于测向设备确定的无线电信号来波方向是相对于无线电频谱监测平台上天线阵列的角度，并且测向定位的误差随着无线电信号辐射源的距离的增加而增加，因此，对远距离的无线电信号辐射源进行高精度定位时，不仅需要高精度的无线电信号来波方向测量，还需要高精度的天线阵列姿态测量。除了无线电频谱监测平台自主的姿态测量设备外，为了获得更高的姿态测量精度，还需要利用外部的参考站协同测定天线阵列姿态。Locating the source of radio signal radiation by measuring the propagation direction of the electromagnetic wave from the radio signal to the antenna array is a common passive positioning method, which has been widely used on radio spectrum monitoring platforms such as vehicles, ships, aircraft, and satellites. Since the direction of the radio signal wave determined by the direction-finding equipment is relative to the angle of the antenna array on the radio spectrum monitoring platform, and the error of direction-finding positioning increases with the increase of the distance from the radio signal radiation source, high-precision positioning of the distant radio signal radiation source requires not only high-precision measurement of the direction of the radio signal wave, but also high-precision measurement of the antenna array attitude. In addition to the autonomous attitude measurement equipment of the radio spectrum monitoring platform, in order to obtain higher attitude measurement accuracy, it is also necessary to use an external reference station to collaboratively determine the antenna array attitude.

在利用外部的参考站协同测定天线线阵姿态的问题中，天线线阵的中心位置已知，但是天线线阵的二维姿态即天线线阵的方位角和仰角未知或有较大的误差，需要利用位置已知的参考站辐射电磁波信号，天线线阵接收到无线电信号，可测量来波方向与线阵的一维夹角，由此测定天线线阵的二维姿态。但是，由于天线线阵的二维姿态的方位角和仰角与参考站无线电信号的来波方向之间是非线性关系，高精度的二维搜索网格间隔小，且二维搜索的计算量大，难以满足有实时性要求的应用场合。In the problem of using an external reference station to collaboratively determine the attitude of an antenna array, the center position of the antenna array is known, but the two-dimensional attitude of the antenna array, that is, the azimuth and elevation of the antenna array, is unknown or has a large error. It is necessary to use a reference station with a known position to radiate electromagnetic wave signals. The antenna array receives the radio signal and can measure the one-dimensional angle between the incoming wave direction and the array, thereby determining the two-dimensional attitude of the antenna array. However, since the azimuth and elevation of the two-dimensional attitude of the antenna array are nonlinearly related to the incoming wave direction of the reference station radio signal, the high-precision two-dimensional search grid interval is small, and the two-dimensional search has a large amount of calculation, which is difficult to meet the application occasions with real-time requirements.

发明内容Summary of the invention

本发明所要解决的问题就是如何利用位置已知的参考站辐射的电磁波信号，通过天线线阵测量来波方向与天线线阵的一维夹角，实现快速测定天线线阵的二维姿态的目的。The problem to be solved by the present invention is how to use the electromagnetic wave signal radiated by the reference station with a known position to measure the one-dimensional angle between the incoming wave direction and the antenna array through the antenna array, so as to achieve the purpose of quickly determining the two-dimensional posture of the antenna array.

本发明的技术方案为：The technical solution of the present invention is:

一种利用一维测角确定天线线阵二维姿态的快速方法，定义天线线阵的位置坐标为(x₀,y₀,z₀)、参考站的个数为L、位置坐标为(x_k,y_k,z_k)，k＝1,2,...,L，天线线阵二维姿态的仰角搜索个数为M、天线线阵二维姿态的仰角搜索序列中的每一个仰角为φ_m，m＝1,2,...,M，包括以下步骤：A fast method for determining the two-dimensional attitude of an antenna array by using one-dimensional angle measurement, defining the position coordinates of the antenna array as (x₀ , y₀ , z₀ ), the number of reference stations as L, the position coordinates as (x_k , y_k , z_k ), k=1,2,...,L, the number of elevation angle searches of the two-dimensional attitude of the antenna array as M, each elevation angle in the elevation angle search sequence of the two-dimensional attitude of the antenna array as φ_m , m=1,2,...,M, comprising the following steps:

S1、由天线线阵的位置坐标(x₀,y₀,z₀)和L个参考站的位置坐标(x_k,y_k,z_k)，k＝1,2,...,L，确定L个参考站的仰角向量：S1. Determine the elevation vectors of the L reference stations from the position coordinates (x₀ , y₀ , z₀ ) of the antenna array and the position coordinates (x_k , y_k , z_k ), k = 1, 2, ..., L:

其中，

和方位角向量：in,

and the azimuth vector:

S2、天线线阵对接收到的参考站辐射信号进行测向处理，得到一维测角的余弦向量：S2. The antenna array performs direction finding processing on the received radiation signal from the reference station to obtain the cosine vector of the one-dimensional angle measurement:

S3、由天线线阵二维姿态的仰角搜索序列中的每一个仰角φ_m，m＝1,2,...,M，确定对应的方位角

为：S3, for each elevation angle φ_m in the elevation angle search sequence of the two-dimensional attitude of the antenna array, m = 1, 2, ..., M, determine the corresponding azimuth angle

for:

S4、由天线线阵二维姿态的仰角搜索序列中的每一个仰角φ_m，m＝1,2,...,M，确定对应的误差向量η_m为：S4. For each elevation angle φ_m in the elevation angle search sequence of the two-dimensional attitude of the antenna array, m = 1, 2, ..., M, determine the corresponding error vector η_m :

S5、根据误差向量η_m，确定对应的仰角谱g(φ_m)为：S5. According to the error vector η_m , the corresponding elevation spectrum g(φ_m ) is determined as:

其中，

为向量η_m的转置；in,

is the transpose of the vector η_m ;

S6、获取{g(φ₁),g(φ₂),...,g(φ_M)}中的最大值为

对应的

和

即为测定的天线线阵二维姿态的仰角和方位角。S6. Get the maximum value among {g(φ₁ ),g(φ₂ ),...,g(φ_M )}

Corresponding

and

That is, the elevation angle and azimuth angle of the measured two-dimensional posture of the antenna array.

本发明的有益效果是：使用本发明提出的方法，利用位置已知的参考站辐射的电磁波信号，通过天线线阵测量来波方向与天线线阵的一维夹角、仰角一维搜索和方位角闭式计算，即可实现快速测定天线线阵的二维姿态，在降低计算量的同时，还能提高天线线阵的二维姿态的测定精度。The beneficial effects of the present invention are: using the method proposed in the present invention, utilizing the electromagnetic wave signal radiated by a reference station with a known position, through the antenna array measuring the one-dimensional angle between the incoming wave direction and the antenna array, the one-dimensional search of the elevation angle and the closed-form calculation of the azimuth angle, it is possible to quickly determine the two-dimensional posture of the antenna array, while reducing the amount of calculation and improving the measurement accuracy of the two-dimensional posture of the antenna array.

具体实施方式DETAILED DESCRIPTION

下面结合实施例对本发明的实用性进行分析。The practicability of the present invention is analyzed below in conjunction with embodiments.

实施例Example

在本例中，天线线阵的位置坐标为(0,0,20000)、参考站的个数为2、位置坐标为(10000,30000,0)和(-10000,20000,0)，单位都为：米，天线线阵二维姿态的仰角搜索个数为8001、仰角搜索序列中的每一个仰角为φ_m＝-5+0.0025(m-1)，m＝1,2,...,M。In this example, the position coordinates of the antenna array are (0, 0, 20000), the number of reference stations is 2, the position coordinates are (10000, 30000, 0) and (-10000, 20000, 0), the units are all meters, the number of elevation angle searches of the two-dimensional posture of the antenna array is 8001, and each elevation angle in the elevation angle search sequence is φ_m = -5 + 0.0025 (m-1), m = 1, 2, ..., M.

当天线线阵二维姿态的仰角在-3度到3度之间均匀分布、方位角在-3度到3度之间均匀分布时，进行500次独立实验。统计结果表明，在不校正天线线阵二维姿态的情况下，天线线阵的测向误差达到1.65度；利用本发明方法，测定天线线阵二维姿态的仰角的标准差为0.0069度，测定天线线阵二维姿态的方位角的标准差为0.0056度，所需时间平均为0.1211秒。When the elevation angle of the two-dimensional attitude of the antenna array is uniformly distributed between -3 degrees and 3 degrees, and the azimuth angle is uniformly distributed between -3 degrees and 3 degrees, 500 independent experiments are conducted. The statistical results show that without correcting the two-dimensional attitude of the antenna array, the direction finding error of the antenna array reaches 1.65 degrees; using the method of the present invention, the standard deviation of the elevation angle of the two-dimensional attitude of the antenna array is 0.0069 degrees, and the standard deviation of the azimuth angle of the two-dimensional attitude of the antenna array is 0.0056 degrees, and the time required is 0.1211 seconds on average.

可见，本发明提供了一种利用一维测角确定天线线阵二维姿态的快速方法，在天线线阵的二维姿态的方位角和仰角未知的情况下，实现了天线线阵二维姿态的测定，仰角和方位角的标准差小于0.0070度。It can be seen that the present invention provides a fast method for determining the two-dimensional posture of an antenna array by using one-dimensional angle measurement. When the azimuth and elevation angles of the two-dimensional posture of the antenna array are unknown, the two-dimensional posture of the antenna array can be measured, and the standard deviation of the elevation and azimuth angles is less than 0.0070 degrees.

Claims (1)

Translated fromChinese

1.一种利用一维测角确定天线线阵二维姿态的快速方法，定义天线线阵的位置坐标为(x₀,y₀,z₀)、参考站的个数为L、位置坐标为(x_k,y_k,z_k)，k＝1,2,...,L，天线线阵二维姿态的仰角搜索个数为M、天线线阵二维姿态的仰角搜索序列中的每一个仰角为φ_m，m＝1,2,...,M，其特征在于，包括以下步骤：1. A fast method for determining the two-dimensional posture of an antenna array using one-dimensional angle measurement, defining the position coordinates of the antenna array as (x₀ , y₀ , z₀ ), the number of reference stations as L, the position coordinates as (x_k , y_k , z_k ), k=1,2,...,L, the number of elevation angle searches of the two-dimensional posture of the antenna array as M, each elevation angle in the elevation angle search sequence of the two-dimensional posture of the antenna array as φ_m , m=1,2,...,M, characterized in that it comprises the following steps:S1、由天线线阵的位置坐标(x₀,y₀,z₀)和L个参考站的位置坐标(x_k,y_k,z_k)，确定L个参考站的仰角向量：S1. Determine the elevation vectors of the L reference stations using the position coordinates of the antenna array (x₀ , y₀ , z₀ ) and the position coordinates of the L reference stations (x_k , y_k , z_k ):

其中，

in,

方位角向量：Azimuth vector:

S2、天线线阵对接收到的参考站辐射信号进行测向处理，得到一维测角的余弦向量：S2. The antenna array performs direction finding processing on the received radiation signal from the reference station to obtain the cosine vector of the one-dimensional angle measurement:

S3、由天线线阵二维姿态的仰角搜索序列中的每一个仰角φ_m，确定对应的方位角

为：S3, determine the corresponding azimuth angle for each elevation angle φ_m in the elevation angle search sequence of the two-dimensional attitude of the antenna array

for:

S4、由天线线阵二维姿态的仰角搜索序列中的每一个仰角φ_m，确定对应的误差向量η_m为：S4. For each elevation angle φ_m in the elevation angle search sequence of the two-dimensional attitude of the antenna array, the corresponding error vector η_m is determined as:

S5、根据误差向量η_m，确定对应的仰角谱g(φ_m)为：S5. According to the error vector η_m , the corresponding elevation spectrum g(φ_m ) is determined as:

其中，

为向量η_m的转置；in,

is the transpose of the vector η_m ;S6、获取{g(φ₁),g(φ₂),...,g(φ_M)}中的最大值为

对应的

和

即为测定的天线线阵二维姿态的仰角和方位角。S6. Get the maximum value among {g(φ₁ ),g(φ₂ ),...,g(φ_M )}

Corresponding

and

That is, the elevation angle and azimuth angle of the measured two-dimensional posture of the antenna array.