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Space six-degree-of-freedom vehicle-mounted radar antenna posture deviation measurement and docking method

A vehicle-mounted radar and deviation measurement technology, which is applied to radio wave measurement systems, measurement devices, instruments, etc., can solve problems such as unsuitable measurement, low precision, and limited application occasions, and achieve the goals of improving practicability, improving speed, and reducing costs Effect

Inactive Publication Date: 2019-01-15
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] GPS technology is suitable for positioning measurement in areas with a wide field of view and fewer obstacles, especially not suitable for indoor pose measurement; due to the limitation of its detection principle, the principle of magnetic induction is easily affected by the magnetic field from the surrounding environment, so it is not suitable for Measure the pose of objects under complex conditions
Due to the limitations of its structure, the direct contact six-degree-of-freedom pose measurement technology cannot be applied to the pose measurement of large-scale equipment, and the application occasions are very limited
The existing measurement methods have low precision and high cost, and it is difficult to realize simultaneous monitoring and measurement of six degrees of freedom

Method used

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  • Space six-degree-of-freedom vehicle-mounted radar antenna posture deviation measurement and docking method
  • Space six-degree-of-freedom vehicle-mounted radar antenna posture deviation measurement and docking method
  • Space six-degree-of-freedom vehicle-mounted radar antenna posture deviation measurement and docking method

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specific Embodiment approach 1

[0044] Combine below Figure 1-9 This embodiment is described. The present invention belongs to the field of vehicle radar antenna measurement and docking methods, and more specifically, relates to a space six-degree-of-freedom vehicle radar antenna pose deviation measurement and docking method, which can solve the problem that is difficult to achieve in practice under existing technical conditions. Real-time measurement and docking of the position and attitude deviation of the space six-degree-of-freedom vehicle-mounted radar antenna under the circumstances, and the structure is simple, the precision is high, and the cost is low.

[0045] The space six-degree-of-freedom vehicle-mounted radar antenna pose deviation measurement and docking method includes the following steps:

[0046] S1, fix the fixed antenna front 2, and take the fixed antenna front 2 as a reference;

[0047] S2. Measure the deflection angles Δβ and Δα between the mobile antenna front 1 and the fixed antenna...

specific Embodiment approach 2

[0053] Combine below Figure 1-9 Describe this embodiment, this embodiment will further explain Embodiment 1, in step S2, use two-axis inclination sensor 3 to measure the deflection angles Δβ and Δα between the mobile antenna front 1 and the fixed antenna front 2 relative to the X-axis and Y-axis . The model of the two-axis inclination sensor 3 is AIS2000, the measurement range of the sensor is ±30°, and the measurement accuracy is 0.002°, which can meet the measurement requirements. After the two-axis inclination sensor 3 measures the deflection angles Δβ and Δα between the mobile antenna front 1 and the fixed antenna front 2 relative to the X-axis and Y-axis, the attitude information is transmitted to the attitude adjustment mechanism, and the attitude adjustment mechanism makes Correspondingly adjusted, the attitude adjustment mechanism rotates around the axis Y R and x R The axes are rotated by angles Δψ and Satisfy Δψ=Δα, Then the mobile antenna front 1 is adjusted...

specific Embodiment approach 3

[0054] Combine below Figure 1-9 Describe this embodiment, this embodiment will further explain Embodiment 1, the specific method of measuring the angle θ between the mobile antenna front 1 and the fixed antenna front 2 in the direction around the Z axis in step S3 is:

[0055] After the aforementioned adjustments, the upper surfaces of the mobile antenna array 1 and the fixed antenna array 2 are parallel to the horizontal plane, that is, the upper surfaces of the mobile antenna array 1 and the fixed antenna array 2 are parallel to each other, and there is only an angle around the Z axis. In order to measure the included angle, a laser rangefinder target I5 and a laser rangefinder target II7 are respectively fixed at both ends of the mobile antenna front 1 along the X-axis direction, and a laser rangefinder target II7 is respectively fixed at both ends of the fixed antenna front 2 along the X-axis direction. Fix a laser rangefinder I4 and a laser rangefinder II6, the laser ran...

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Abstract

The invention relates to a space six-degree-of-freedom vehicle-mounted radar antenna posture deviation measurement and docking method. The problem that under the condition of the prior art, under a complex environment, the space six-degree-of-freedom vehicle-mounted radar antenna posture deviation is difficult to measure in real time, and docking is difficult to conduct can be solved, the structure is simple, precision is high, and the cost is low. The space six-degree-of-freedom vehicle-mounted radar antenna posture deviation measurement and docking method comprises the following steps that afixed antenna array plane is fixed; the deflection angle between a movable antenna array plane and the fixed antenna array plane relative to the X axis and the Y axis is measured and adjusted until the movable antenna array plane is parallel to the fixed antenna array plane; an included angle of the movable antenna array plane and the fixed antenna array plane around the Z axis direction is measured and adjusted until the movable antenna array plane is parallel to the fixed antenna array plane; the distances from the movable antenna array plane to the fixed antenna array plane in the X axis direction and the Z axis direction are measured roughly and adjusted until the heights are equal approximatively and the front portions and the rear portions are aligned approximatively; the distancesfrom the movable antenna array plane to the fixed antenna array plane in the X axis direction and the Z axis direction are measured precisely and adjusted until the heights are equal and the front portions and the rear portions are aligned; and the distance from the movable antenna array plane to the fixed antenna array plane in the Y axis direction is measured and adjusted until the distance in the Y axis direction is zero.

Description

technical field [0001] The invention belongs to the field of vehicle radar antenna measurement and docking methods, and more specifically relates to a space six-degree-of-freedom vehicle radar antenna pose deviation measurement and docking method. Background technique [0002] With the development of modern science and technology, in many fields such as aviation, aerospace, machine tools and automation equipment, the application technology of the six-degree-of-freedom position positioning of the machine itself is more and more widely used, and the requirements are getting higher and higher. For an object in space, it is not only necessary to measure a certain degree of freedom index of it, but also to accurately detect its spatial position. It is necessary to know the six degrees of freedom of the space object, and the rotation angles α, β, and γ of the displacement meter along the three coordinate directions of X, Y, and Z around the three coordinate directions. At present...

Claims

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Application Information

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IPC IPC(8): G01S7/40G01B11/00
CPCG01B11/002G01S7/4026
Inventor 高会军彭高亮陈宏钧刘世伟
Owner HARBIN INST OF TECH