Method, device, equipment and medium for measuring attitude of array antenna

Abstract

The present invention relates to a method and device for measuring the attitude of an array antenna, comprising obtaining a solution baseline vector through satellite observation of array elements on the array antenna to be measured, inputting the solution baseline vector into a three-dimensional attitude solution algorithm to obtain the previous three-dimensional attitude angle, obtaining the attitude matrix of the array antenna to be measured based on the previous three-dimensional attitude angle, eliminating the phase center error using the attitude matrix and phase direction diagram, using the three-dimensional attitude solution algorithm to obtain the current three-dimensional attitude angle of the array antenna to be measured, determining whether the current three-dimensional attitude angle has converged based on the current three-dimensional attitude angle and the previous three-dimensional attitude angle, and using the current three-dimensional attitude angle as the attitude angle solution result. The present invention eliminates the influence of the phase center error, improves the accuracy of the attitude solution result, improves the success rate of ambiguity solution and the reliability of the attitude measurement result, and improves the accuracy of the roll angle solution. The present invention also relates to a device and a storage medium.

Description

Technical Field

[0001] The present invention relates to the technical field of array antennas, and in particular to a method, device, equipment and medium for measuring the attitude of an array antenna. Background Art

[0002] In GNSS applications, small array antennas can suppress broadband interference signals by creating nulls upward in the direction of interfering signals. Therefore, small array antennas are widely used in GNSS devices operating in complex electromagnetic environments. However, attitude measurement based on small array antennas presents several challenges. First, the array elements of small array antennas are typically conventional patch antennas, which often exhibit large phase center errors and low carrier phase measurement accuracy. Second, the spacing between array elements in small array antennas is typically at the centimeter level, placing high demands on positioning accuracy. Finally, of the three attitude angle parameters, the accuracy of heading and pitch angles is solely determined by horizontal positioning accuracy, while the accuracy of roll angle is affected by vertical positioning accuracy. For ground users, since there are no satellites with negative elevation angles, the vertical component accuracy of satellite navigation system positioning results is always lower than the horizontal component accuracy. Therefore, roll angle measurement accuracy is generally low when performing GNSS attitude measurement. Summary of the Invention

[0003] In order to solve the problems existing in attitude measurement of small array antennas, the present invention provides an attitude measurement method, device, equipment and medium for array antennas.

[0004] In a first aspect, the present invention provides a method for measuring an attitude of an array antenna, the method comprising:

[0005] S1. Obtaining M mutually independent solution baseline vectors through satellite observations of M+1 array elements on the array antenna to be measured, and inputting the M solution baseline vectors into a 3D attitude solution algorithm to obtain an initial 3D attitude angle;

[0006] S2. Obtaining an attitude matrix of the array antenna to be measured according to the initial three-dimensional attitude angle, eliminating a phase center error using the attitude matrix and a phase pattern, and using the three-dimensional attitude calculation algorithm to calculate the current three-dimensional attitude angle of the array antenna to be measured;

[0007] S3. Determine whether the current three-dimensional attitude angle has converged based on the current three-dimensional attitude angle and the previous three-dimensional attitude angle. If so, use the current three-dimensional attitude angle as the attitude angle solution result of the array antenna to be tested. Otherwise, use the current three-dimensional attitude angle as the initial three-dimensional attitude angle and repeat step S2.

[0008] Based on the above technical solution, the three-dimensional posture calculation algorithm further includes:

[0009] Fitting the M solved baseline vectors to a plane equation system;

[0010] Correcting a first baseline vector and a second baseline vector among the M solved baseline vectors using the plane equation group, wherein the first baseline vector and the second baseline vector are selected from the M solved baseline vectors;

[0011] The three-dimensional posture angle is obtained according to the first baseline vector and the second baseline vector.

[0012] Based on the above technical solution, further, obtaining the three-dimensional attitude angle according to the first baseline vector and the second baseline vector specifically includes:

[0013] Inputting the east component and the north component of the first baseline vector into the fitted plane equation group to obtain an updated celestial component of the first baseline vector;

[0014] Inputting the east component and the north component of the second baseline vector into the fitted plane equation group to obtain an updated celestial component of the second baseline vector;

[0015] After performing coordinate system transformation on the updated first baseline vector and the second baseline vector, the three-dimensional posture angle is calculated.

[0016] Based on the above technical solution, further, the step of performing coordinate system transformation on the updated first baseline vector and the second baseline vector to calculate the three-dimensional posture angle specifically includes:

[0017] Enter the vector coordinates of the second baseline vector in the Northeast Celestial Coordinate System [e2′ n2′ u2′] Get the vector coordinates of the second baseline vector in the transformed coordinate system

[0018] The baseline vector of the first baseline vector [e1′ n1′ u1′], the baseline vector of the second baseline vector [e2′ n2′ u2′] and the vector coordinates of the second baseline in the transformed coordinate system are Enter the formula The three-dimensional attitude angle is obtained, and the three-dimensional attitude angle includes an azimuth angle h, a pitch angle p, and a roll angle r.

[0019] Based on the above technical solution, further, in S2, obtaining the attitude matrix of the array antenna to be measured according to the previous three-dimensional attitude angle, and eliminating the phase center error by using the attitude matrix and the phase pattern, specifically includes:

[0020] Using the three-dimensional posture angle [h(i-1) ,p (i-1) ,r (i-1) ], calculate the attitude matrix R of the current time i of the array antenna to be tested (i) :

[0021]

[0022] Among them: the current posture matrix R (i) The elements of are:

[0023]

[0024] Using the current posture matrix R (i) , calculate the coordinates of each satellite of the array antenna to be tested in the body coordinate system, the coordinates of the satellite in the body coordinate system are [x s(i) y s(i) z s(i) ]=R (i) [e s n s u s ], where [e s n s u s ] is the coordinate of the sth satellite in the northeast celestial coordinate system;

[0025] The azimuth angle of the sth satellite in the body coordinate system is azi s(i) and the altitude angle ele s(i) They are:

[0026]

[0027] The phase center error included in the satellite carrier phase observation is determined using the phase pattern of each array element and the satellite azimuth and elevation angle.

[0028] Based on the above technical solution, further, S3 specifically includes:

[0029] The three-dimensional posture angle [h (i) ,p (i) ,r (i) ] and the previous three-dimensional posture angle [h (i-1) ,p (i-1) ,r (i-1) ]Enter the formula

[0030] (|h (i) -h (i-1) | <h threshold )∧(|p (i) -p (i-1) | <p threshold )∧(|r(i) -r (i-1) | <r threshold )

[0031] Among them, h threshold 、p threshold and r threshold are the thresholds for determining the convergence of heading angle, pitch angle and roll angle respectively;

[0032] Determine whether the formula result converges;

[0033] If so, the three-dimensional attitude angle of the current time is used as the attitude angle solution result of the array antenna to be measured; otherwise, the three-dimensional attitude angle of the current time is used as the three-dimensional attitude angle of the previous time, and the process returns to step S2.

[0034] Based on the above technical solution, further, the method of obtaining M independent baseline vectors by using satellite observations of M+1 array elements on the array antenna to be measured specifically includes:

[0035] Calculate each solution baseline vector;

[0036] Performing coordinate transformation on all the solved baseline vectors to obtain vector coordinates based on the Northeast Celestial Coordinate System;

[0037] The specific steps for calculating each solution baseline vector include:

[0038] Constructing a dual-antenna directional model based on baseline length constraints

[0039]

[0040] Where y is the difference between the satellite observation and the antenna-satellite geometric distance, E(y) is the expected value of y, D(y) is the variance-covariance matrix of y, a is the carrier phase ambiguity vector, b is the three-dimensional baseline vector, A is the coefficient matrix containing the carrier wavelength, B is the coefficient matrix containing the satellite unit observation vector information, l is the prior baseline length; D(l) is the variance-covariance matrix of l, Q yy is the covariance matrix;

[0041] Using the least squares criterion and orthogonal decomposition, we get the minimization problem:

[0042]

[0043] Take F(a) as the objective function of ambiguity resolution, and use C-LAMBDA algorithm to obtain all M independent baseline vectors. The vector coordinates of each baseline vector are the fixed solution of the baseline vector. in

[0044]

[0045] Performing coordinate transformation on all the solved baseline vectors to obtain vector coordinates based on the Northeast Sky coordinate system, specifically including:

[0046] Perform coordinate transformation on the vector coordinates of all the solved baseline vectors to obtain the vector coordinates based on the Northeast Sky Coordinate System Among them, e, n, and u are the east component, north component, and celestial component of the vector coordinates.

[0047] In a second aspect, the present invention further provides an attitude measurement device for an array antenna, the device comprising:

[0048] A first calculation module is configured to obtain M independent solution baseline vectors based on satellite observations of M+1 array elements on the array antenna to be measured, and input the M solution baseline vectors into a three-dimensional attitude solution algorithm to obtain an initial three-dimensional attitude angle;

[0049] a second calculation module, configured to obtain a posture matrix of the array antenna to be measured based on the initial three-dimensional posture angle, eliminate a phase center error using the posture matrix and a phase pattern, and obtain the current three-dimensional posture angle of the array antenna to be measured by using the three-dimensional posture calculation algorithm;

[0050] The third calculation module is used to determine whether the current three-dimensional attitude angle has converged based on the current three-dimensional attitude angle and the previous three-dimensional attitude angle. If so, the current three-dimensional attitude angle is used as the attitude angle solution result of the array antenna to be tested; otherwise, the current three-dimensional attitude angle is used as the initial three-dimensional attitude angle, and the second calculation module is repeatedly executed.

[0051] Based on the above technical solution, further, the three-dimensional posture calculation module is specifically used to:

[0052] Fitting the M solved baseline vectors to a plane equation system;

[0053] Correcting a first baseline vector and a second baseline vector among the M solved baseline vectors using the plane equation group, wherein the first baseline vector and the second baseline vector are selected from the M solved baseline vectors;

[0054] The three-dimensional posture angle is obtained according to the first baseline vector and the second baseline vector.

[0055] Based on the above technical solution, further, the three-dimensional posture calculation module is specifically used to:

[0056] Inputting the east component and the north component of the first baseline vector into the fitted plane equation group to obtain an updated celestial component of the first baseline vector;

[0057] Inputting the east component and the north component of the second baseline vector into the fitted plane equation group to obtain an updated celestial component of the second baseline vector;

[0058] After performing coordinate system transformation on the updated first baseline vector and the second baseline vector, the three-dimensional posture angle is calculated.

[0059] Based on the above technical solution, further, the three-dimensional posture calculation module is specifically used to:

[0060] Enter the vector coordinates of the second baseline vector in the Northeast Celestial Coordinate System [e2′ n2′ u2′] Get the vector coordinates of the second baseline vector in the transformed coordinate system

[0061] The baseline vector of the first baseline vector [e1′ n1′ u1′], the baseline vector of the second baseline vector [e2′ n2′ u2′] and the vector coordinates of the second baseline in the transformed coordinate system are Enter the formula The three-dimensional attitude angle is obtained, and the three-dimensional attitude angle includes an azimuth angle h, a pitch angle p, and a roll angle r.

[0062] Based on the above technical solution, further, the second calculation module is specifically used to:

[0063] Using the three-dimensional posture angle [h (i-1) ,p (i-1) ,r (i-1) ], calculate the attitude matrix R of the current time i of the array antenna to be tested (i) :

[0064]

[0065] Among them: the current posture matrix R (i) The elements of are:

[0066]

[0067] Using the current posture matrix R (i) , calculate the coordinates of each satellite of the array antenna to be tested in the body coordinate system, the coordinates of the satellite in the body coordinate system are [x s(i) y s(i) z s(i) ]=R (i) [e sn s u s ], where [e s n s u s ] is the coordinate of the sth satellite in the northeast celestial coordinate system;

[0068] The azimuth angle of the sth satellite in the body coordinate system is azi s(i) and the altitude angle ele s(i) They are:

[0069]

[0070] The phase center error included in the satellite carrier phase observation is determined using the phase pattern of each array element and the satellite azimuth and elevation angle.

[0071] Based on the above technical solution, further, the third calculation module is specifically used to:

[0072] The three-dimensional posture angle [h (i) ,p (i) ,r (i) ] and the previous three-dimensional posture angle [h (i-1) ,p (i-1) ,r (i-1) ]Enter the formula

[0073] (|h (i) -h (i-1) | <h threshold )∧(|p (i) -p (i-1) | <p threshold )∧(|r (i) -r (i-1) | <r threshold )

[0074] Among them, h threshold 、p threshold and r threshold are the thresholds for determining the convergence of heading angle, pitch angle and roll angle respectively;

[0075] Determine whether the formula result converges;

[0076] If so, the current three-dimensional attitude angle is used as the attitude angle solution result of the array antenna to be measured; otherwise, the current three-dimensional attitude angle is used as the previous three-dimensional attitude angle and returns to the second calculation module.

[0077] Based on the above technical solution, further, the first calculation module is specifically used to:

[0078] Calculate each solution baseline vector;

[0079] Performing coordinate transformation on all the solved baseline vectors to obtain vector coordinates based on the Northeast Celestial Coordinate System;

[0080] The specific steps for calculating each solution baseline vector include:

[0081] Constructing a dual-antenna directional model based on baseline length constraints

[0082]

[0083] Where y is the difference between the satellite observation and the antenna-satellite geometric distance, E(y) is the expected value of y, D(y) is the variance-covariance matrix of y, a is the carrier phase ambiguity vector, b is the three-dimensional baseline vector, A is the coefficient matrix containing the carrier wavelength, B is the coefficient matrix containing the satellite unit observation vector information, l is the prior baseline length; D(l) is the variance-covariance matrix of l, Q yy is the covariance matrix;

[0084] Using the least squares criterion and orthogonal decomposition, we get the minimization problem:

[0085]

[0086] Take F(a) as the objective function of ambiguity resolution, and use C-LAMBDA algorithm to obtain all M independent baseline vectors. The vector coordinates of each baseline vector are the fixed solution of the baseline vector. in

[0087]

[0088] Performing coordinate transformation on all the solved baseline vectors to obtain vector coordinates based on the Northeast Sky coordinate system, specifically including:

[0089] Perform coordinate transformation on the vector coordinates of all the solved baseline vectors to obtain the vector coordinates based on the Northeast Sky Coordinate System Among them, e, n, and u are the east component, north component, and celestial component of the vector coordinates.

[0090] In a third aspect, the present invention further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements an array antenna attitude measurement method described in any one of the first aspects.

[0091] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method for measuring the attitude of an array antenna described in any one of the first aspects is implemented.

[0092] The present invention provides a method for measuring the attitude of an array antenna, comprising obtaining a solution baseline vector using satellite observations of array elements on the array antenna to be measured, inputting the solution baseline vector into a three-dimensional attitude solution algorithm to obtain a previous three-dimensional attitude angle, obtaining an attitude matrix of the array antenna to be measured based on the previous three-dimensional attitude angle, eliminating a phase center error using the attitude matrix and a phase pattern, and using the three-dimensional attitude solution algorithm to obtain a current three-dimensional attitude angle of the array antenna to be measured, determining whether the current three-dimensional attitude angle has converged based on the current three-dimensional attitude angle and the previous three-dimensional attitude angle, and if so, using the current three-dimensional attitude angle as the attitude angle solution result of the array antenna to be measured; otherwise, continuing the iterative execution. The present invention eliminates the influence of the phase center error, improves the accuracy of the attitude solution result, improves the success rate of ambiguity resolution and the reliability of the attitude measurement result, and improves the accuracy of the roll angle solution. BRIEF DESCRIPTION OF THE DRAWINGS

[0093] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0094] Figure 1 1 is a flow chart of a method for measuring the attitude of an array antenna provided by an embodiment of the present invention;

[0095] Figure 2 is a schematic diagram of a four-element array antenna attitude measurement model provided by another embodiment of the present invention;

[0096] Figure 3 is a schematic diagram of a process for attitude measurement of a multi-element array antenna provided by another embodiment of the present invention;

[0097] Figure 4 It is a module schematic diagram of an array antenna attitude measurement device provided by another embodiment of the present invention. DETAILED DESCRIPTION

[0098] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other.

[0099] The following detailed description is an exemplary description and is intended to provide further detailed description of the present invention. Unless otherwise indicated, all technical terms used in the present invention have the same meaning as those generally understood by those skilled in the art to which the present invention belongs. The terms used in the present invention are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention.

[0100] Example 1:

[0101] The following will be combined with the Figure 1 , a method for measuring the attitude of an array antenna provided by an embodiment of the present invention is described in detail, comprising the following steps:

[0102] 100. Obtaining mutually independent M solution baseline vectors from satellite observations of M+1 array elements on the array antenna to be measured, and inputting the M solution baseline vectors into a three-dimensional attitude solution algorithm to obtain an initial three-dimensional attitude angle;

[0103] 200. Obtaining an attitude matrix of the array antenna to be measured based on the initial three-dimensional attitude angle, eliminating a phase center error using the attitude matrix and a phase pattern, and using the three-dimensional attitude calculation algorithm to calculate and obtain the current three-dimensional attitude angle of the array antenna to be measured;

[0104] 300. Determine whether the current three-dimensional attitude angle has converged based on the current three-dimensional attitude angle and the previous three-dimensional attitude angle. If so, use the current three-dimensional attitude angle as the attitude angle solution result of the array antenna to be tested. Otherwise, use the current three-dimensional attitude angle as the initial three-dimensional attitude angle and repeat step 200.

[0105] Based on the above embodiment, further, the three-dimensional posture calculation algorithm specifically includes:

[0106] Fitting the M solved baseline vectors to a plane equation system;

[0107] Correcting a first baseline vector and a second baseline vector among the M solved baseline vectors using the plane equation group, wherein the first baseline vector and the second baseline vector are selected from the M solved baseline vectors;

[0108] The three-dimensional posture angle is obtained according to the first baseline vector and the second baseline vector.

[0109] Based on the above embodiment, further, obtaining the three-dimensional posture angle according to the first baseline vector and the second baseline vector specifically includes:

[0110] Inputting the east component and the north component of the first baseline vector into the fitted plane equation group to obtain an updated celestial component of the first baseline vector;

[0111] Inputting the east component and the north component of the second baseline vector into the fitted plane equation group to obtain an updated celestial component of the second baseline vector;

[0112] After performing coordinate system transformation on the updated first baseline vector and the second baseline vector, the three-dimensional posture angle is calculated.

[0113] Based on the above embodiment, further, performing coordinate system transformation on the updated first baseline vector and the second baseline vector to calculate the three-dimensional posture angle specifically includes:

[0114] Enter the vector coordinates of the second baseline vector in the Northeast Celestial Coordinate System [e2′ n2′ u2′] Get the vector coordinates of the second baseline vector in the transformed coordinate system

[0115] The baseline vector of the first baseline vector [e1′ n1′ u1′], the baseline vector of the second baseline vector [e2′ n2′ u2′] and the vector coordinates of the second baseline in the transformed coordinate system are Enter the formula The three-dimensional attitude angle is obtained, and the three-dimensional attitude angle includes an azimuth angle h, a pitch angle p, and a roll angle r.

[0116] Based on the above embodiment, further, in step 200, obtaining the attitude matrix of the array antenna to be measured according to the previous three-dimensional attitude angle, and eliminating the phase center error using the attitude matrix and the phase pattern specifically include:

[0117] Using the three-dimensional posture angle [h (i-1) ,p (i-1) ,r (i-1) ], calculate the attitude matrix R of the current time i of the array antenna to be tested (i) :

[0118]

[0119] Among them: the current posture matrix R (i) The elements of are:

[0120]

[0121] Using the current posture matrix R (i) , calculate the coordinates of each satellite of the array antenna to be tested in the body coordinate system, the coordinates of the satellite in the body coordinate system are [x s(i) y s(i) z s(i) ]=R (i) [e s n s u s ], where [e s n s u s ] is the coordinate of the sth satellite in the northeast celestial coordinate system;

[0122] The azimuth angle of the sth satellite in the body coordinate system is azi s(i) and the altitude angle ele s(i) They are:

[0123]

[0124] The phase center error included in the satellite carrier phase observation is determined using the phase pattern of each array element and the satellite azimuth and elevation angle.

[0125] Based on the above embodiment, step 300 further specifically includes:

[0126] The three-dimensional posture angle [h (i) ,p (i) ,r (i) ] and the previous three-dimensional posture angle [h (i-1) ,p (i-1) ,r (i-1) ]Enter the formula

[0127] (|h (i) -h (i-1) | <h threshold )∧(|p (i) -p (i-1) | <p threshold )∧(|r (i) -r (i-1) | <r threshold )

[0128] Among them, h threshold 、p threshold and r threshold are the thresholds for determining the convergence of heading angle, pitch angle and roll angle respectively;

[0129] Determine whether the formula result converges;

[0130] If so, the three-dimensional attitude angle of the current time is used as the attitude angle solution result of the array antenna to be measured; otherwise, the three-dimensional attitude angle of the current time is used as the three-dimensional attitude angle of the previous time, and the process returns to step S2.

[0131] Based on the above embodiment, further, in step 100, obtaining M independent baseline vectors through satellite observations of M+1 array elements on the array antenna to be measured specifically includes:

[0132] Calculate each solution baseline vector;

[0133] Performing coordinate transformation on all the solved baseline vectors to obtain vector coordinates based on the Northeast Celestial Coordinate System;

[0134] The specific steps for calculating each solution baseline vector include:

[0135] Constructing a dual-antenna directional model based on baseline length constraints

[0136]

[0137] Where y is the difference between the satellite observation and the antenna-satellite geometric distance, E(y) is the expected value of y, D(y) is the variance-covariance matrix of y, a is the carrier phase ambiguity vector, b is the three-dimensional baseline vector, A is the coefficient matrix containing the carrier wavelength, B is the coefficient matrix containing the satellite unit observation vector information, l is the prior baseline length; D(l) is the variance-covariance matrix of l, Q yy is the covariance matrix;

[0138] Using the least squares criterion and orthogonal decomposition, we get the minimization problem:

[0139]

[0140] Take F(a) as the objective function of ambiguity resolution, and use C-LAMBDA algorithm to obtain all M independent baseline vectors. The vector coordinates of each baseline vector are the fixed solution of the baseline vector. in

[0141]

[0142] Performing coordinate transformation on all the solved baseline vectors to obtain vector coordinates based on the Northeast Sky coordinate system, specifically including:

[0143] Perform coordinate transformation on the vector coordinates of all the solved baseline vectors to obtain the vector coordinates based on the Northeast Sky Coordinate System Among them, e, n, and u are the east component, north component, and celestial component of the vector coordinates.

[0144] The present embodiment provides a method for measuring the attitude of an array antenna, including obtaining a solution baseline vector through satellite observation of array elements on the array antenna to be measured, inputting the solution baseline vector into a three-dimensional attitude solution algorithm to obtain the previous three-dimensional attitude angle, obtaining the attitude matrix of the array antenna to be measured based on the previous three-dimensional attitude angle, eliminating the phase center error using the attitude matrix and the phase direction diagram, and using the three-dimensional attitude solution algorithm to solve and obtain the current three-dimensional attitude angle of the array antenna to be measured, and determining whether the current three-dimensional attitude angle has converged based on the current three-dimensional attitude angle and the previous three-dimensional attitude angle. If so, the current three-dimensional attitude angle is used as the attitude angle solution result of the array antenna to be measured, otherwise, iterative execution is continued. The present invention eliminates the influence of the phase center error, improves the accuracy of the attitude solution result, improves the success rate of ambiguity solution and the reliability of the attitude measurement result, and improves the accuracy of the roll angle solution.

[0145] It should be understood that the present invention relates to designing a GNSS high-precision attitude measurement method suitable for a small array antenna.

[0146] First, to address the problem of requiring prior antenna attitude information to correct for phase center error, the present invention designs an iterative solution strategy. In the first iteration, the phase center error is disregarded and the antenna attitude is directly calculated, yielding a rough set of antenna attitude solution results. In the next iteration, the antenna attitude solution results from the previous iteration are used to correct for the phase center error, resulting in a more accurate antenna attitude solution. After multiple iterations, when the antenna attitude angle solution converges, a highly accurate antenna attitude angle solution is achieved.

[0147] Secondly, to address the short element spacing in small array antennas, this paper applies the baseline-length-constrained LAMBDA (Least-squares AM Biguity Decorrelation Adjustment) algorithm to resolve a single baseline vector. By introducing a priori baseline length constraints into the ambiguity search objective function, this algorithm improves the success rate of ambiguity resolution, thereby ensuring reliable, centimeter-level, high-precision results.

[0148] Finally, to address the low roll angle measurement accuracy, the present invention fully utilizes the four or more array elements in a small array antenna to correct the vertical component of the baseline vector, improving roll angle accuracy. Specifically, the vertical component of the baseline vector can be corrected by solving the vector coordinates of three or more independent baselines and fitting the equation of the plane in which the array lies. Since roll angle accuracy is affected by vertical positioning accuracy, correcting the vertical component of the baseline vector can improve roll angle accuracy.

[0149] The present invention designs a GNSS high-precision attitude measurement method suitable for small array antennas. Figure 2 This is a four-element array antenna attitude measurement model consisting of one master element and three slave elements. The proposed method utilizes four or more elements in the array to collect satellite observations in real time, solve for the spatial vectors of three or more ultra-short baselines, and derive the three-dimensional attitude of the array antenna. This method utilizes an iterative solution strategy to gradually eliminate the phase center error introduced by each element and can be applied to the most stringent single-frequency, single-epoch solution conditions.

[0150] The process of multi-element array antenna attitude measurement is as follows Figure 3 As shown in the figure. During the attitude solution process, after collecting observations from multiple array elements at the same epoch, first, ignore the phase center error and directly solve for a set of rough 3D attitudes. Second, use a cyclic iterative solution strategy to gradually eliminate the influence of the antenna phase center error and obtain a high-precision 3D attitude measurement result. The following describes the above two steps respectively:

[0151] 1. Calculate the rough 3D pose

[0152] After collecting satellite observations independently output by m+1 (m≥3) elements on the array antenna, m independent baselines are formed using these m+1 elements. The coordinates of each baseline vector are directly calculated using the original carrier phase observations, ignoring the phase center error.

[0153] For each baseline, the constraint condition is set using the prior baseline length measurement value l, and the dual-antenna directional model with baseline length constraint can be obtained, which is:

[0154]

[0155] Where: y is the difference between the satellite observation and the antenna-satellite geometric distance; E(y) is the expectation of y; D(y) is the variance-covariance matrix of y; a is the carrier phase ambiguity vector; b is the three-dimensional baseline vector; A and B are coefficient matrices, each containing the carrier wavelength and satellite unit observation vector information, respectively; l is the prior baseline length; D(l) is the variance-covariance matrix of l, Q yy is the covariance matrix.

[0156] Using the least squares criterion and orthogonal decomposition, the minimization problem can be obtained:

[0157]

[0158] Taking F(a) as the objective function of ambiguity resolution, the ambiguity fixed solution can be calculated using the C-LAMBDA algorithm. and the baseline vector fixed solution They are:

[0159]

[0160] Similarly, the vector coordinates of all independent baselines can be solved. By performing coordinate transformation on all the solved baseline vectors, a set of vectors in the Northeast Sky coordinate system can be obtained:

[0161]

[0162] Where: e, n and u are the easting, northing and celestial components of the baseline vector.

[0163] When multiple elements on an array antenna are located in the same plane, with the main element as the origin, the plane equation of the array surface can be written as:

[0164] ae+bn=u

[0165] Where: a and b are the parameters of the plane equation to be determined.

[0166] Using all the solved baseline vectors, we can form a plane equation system, which is:

[0167]

[0168] By using the least squares method, we can solve the plane equation parameters in the above formula. and The antenna plane fitting result is:

[0169]

[0170] Substituting the easting and northing components of baseline 1 and baseline 2 into the above formula and updating the celestial component, we can obtain the corrected baseline vectors [e1′ n1′ u1′] and [e2′ n2′ u2′], which are:

[0171]

[0172] The 3D attitude of the array antenna can be calculated using the corrected baselines 1 and 2. The azimuth angle h, pitch angle p, and roll angle r are:

[0173]

[0174] in: and Represents the coordinate components of baseline 2 in the transformed coordinate system; the vector coordinates of baseline 2 in the transformed coordinate system The following relationship exists between the vector coordinates of baseline 2 [e2′ n2′ u2′] in the northeast celestial coordinate system:

[0175]

[0176] So far, a set of rough three-dimensional posture angles [h (1) ,p (1) ,r (1) ], which is:

[0177] [h (1) ,p (1) ,r (1) ]=[h,p,r]

[0178] 2. Iterative process

[0179] After obtaining a rough three-dimensional attitude angle, the method proposed in the present invention can use a cyclic iterative solution strategy to gradually eliminate the phase center error contained in the carrier phase observation to calculate a high-precision three-dimensional attitude angle.

[0180] In the i-th loop iteration, first use the three-dimensional attitude angle [h (i-1) ,p (i-1) ,r (i -1) ], calculate the array antenna attitude matrix R (i) :

[0181]

[0182] Where: Array antenna attitude matrix R (i) The elements of are:

[0183]

[0184] Using the posture matrix R (i) , calculate the coordinates of each satellite in the array antenna body coordinate system. Taking satellite s as an example, the coordinates of the satellite in the antenna body coordinate system are:

[0185] [x s(i) y s(i) z s(i) ]=R (i) [e s n s u s ]

[0186] Among them: [e s n s u s ] is the coordinate of satellite s in the northeast celestial coordinate system, which can be obtained from the satellite coordinates and antenna coordinates; the antenna coordinates can be calculated using the satellite broadcast ephemeris.

[0187] The azimuth angle of satellite s in the body coordinate system is azi s(i) and the altitude angle ele s(i) They are:

[0188]

[0189] After obtaining the satellite azimuth in the body coordinate system, the phase pattern of each array element is used to estimate the phase center error contained in the satellite carrier phase observation. After that, the phase center error contained in the carrier phase observation can be corrected and the array antenna attitude [h (i) ,p (i) ,r (i) ], the process of solving the array antenna attitude is the same as that of solving the rough three-dimensional attitude, so it will not be repeated here. In order to correct the phase center error, [h (i) ,p (i) ,r (i) ] is better than [h (i -1) ,p (i-1) ,r (i-1) ].

[0190] After updating the attitude solution results of the array antenna, use the following formula to determine whether the attitude solution results have converged:

[0191] (|h (i) -h (i-1) | <h threshold )∧(|p (i) -p (i-1) | <p threshold )∧(|r (i) -r (i-1) | <r threshold )

[0192] Where: h threshold 、p threshold and r threshold They are the thresholds for determining the convergence of heading angle, pitch angle and roll angle respectively.

[0193] If the attitude solution result has converged, the iterative process ends and the high-precision attitude solution result [h (i) ,p (i) ,r (i) ]; If the attitude solution result does not converge, continue to the next loop iteration.

[0194] Example 3:

[0195] The following will be combined with the Figure 4 , an array antenna attitude measurement device provided by an embodiment of the present invention is described in detail, the device comprising:

[0196] A first calculation module is configured to obtain M independent solution baseline vectors based on satellite observations of M+1 array elements on the array antenna to be measured, and input the M solution baseline vectors into a three-dimensional attitude solution algorithm to obtain an initial three-dimensional attitude angle;

[0197] a second calculation module, configured to obtain a posture matrix of the array antenna to be measured based on the initial three-dimensional posture angle, eliminate a phase center error using the posture matrix and a phase pattern, and obtain the current three-dimensional posture angle of the array antenna to be measured by using the three-dimensional posture calculation algorithm;

[0198] The third calculation module is used to determine whether the current three-dimensional attitude angle has converged based on the current three-dimensional attitude angle and the previous three-dimensional attitude angle. If so, the current three-dimensional attitude angle is used as the attitude angle solution result of the array antenna to be tested; otherwise, the current three-dimensional attitude angle is used as the initial three-dimensional attitude angle, and the second calculation module is repeatedly executed.

[0199] Based on the above embodiment, further, the three-dimensional posture calculation module is specifically used to:

[0200] Fitting the M solved baseline vectors to a plane equation system;

[0201] Correcting a first baseline vector and a second baseline vector among the M solved baseline vectors using the plane equation group, wherein the first baseline vector and the second baseline vector are selected from the M solved baseline vectors;

[0202] The three-dimensional posture angle is obtained according to the first baseline vector and the second baseline vector.

[0203] Based on the above embodiment, further, the three-dimensional posture calculation module is specifically used to:

[0204] Inputting the east component and the north component of the first baseline vector into the fitted plane equation group to obtain an updated celestial component of the first baseline vector;

[0205] Inputting the east component and the north component of the second baseline vector into the fitted plane equation group to obtain an updated celestial component of the second baseline vector;

[0206] After performing coordinate system transformation on the updated first baseline vector and the second baseline vector, the three-dimensional posture angle is calculated.

[0207] Based on the above embodiment, further, the three-dimensional posture calculation module is specifically used to:

[0208] Enter the vector coordinates of the second baseline vector in the Northeast Celestial Coordinate System [e2′n2′u2′] Get the vector coordinates of the second baseline vector in the transformed coordinate system

[0209] The baseline vector [e1′n1′u1′] of the first baseline vector, the baseline vector [e2′n2′ u2′] of the second baseline vector and the vector coordinates of the second baseline in the transformed coordinate system are Enter the formula The three-dimensional attitude angle is obtained, and the three-dimensional attitude angle includes an azimuth angle h, a pitch angle p, and a roll angle r.

[0210] Based on the above embodiment, further, the second calculation module is specifically configured to:

[0211] Using the three-dimensional posture angle [h (i-1) ,p (i-1) ,r (i-1) ], calculate the attitude matrix R of the current time i of the array antenna to be tested (i) :

[0212]

[0213] Among them: the current posture matrix R (i) The elements of are:

[0214]

[0215] Using the current posture matrix R (i) , calculate the coordinates of each satellite of the array antenna to be tested in the body coordinate system, the coordinates of the satellite in the body coordinate system are [x s(i) y s(i) z s(i) ]=R (i) [e s n s u s ], where [e s n s u s ] is the coordinate of the sth satellite in the northeast celestial coordinate system;

[0216] The azimuth angle of the sth satellite in the body coordinate system is azi s(i) and the altitude angle ele s(i) They are:

[0217]

[0218]

[0219] The phase center error included in the satellite carrier phase observation is determined using the phase pattern of each array element and the satellite azimuth and elevation angle.

[0220] Based on the above embodiment, further, the third calculation module is specifically configured to:

[0221] The three-dimensional posture angle [h (i) ,p (i) ,r (i) ] and the previous three-dimensional posture angle [h (i-1) ,p (i-1) ,r (i-1) ]Enter the formula

[0222] (|h (i) -h (i-1) | <h threshold )∧(|p (i) -p (i-1) | <p threshold )∧(|r (i) -r (i-1) | <r threshold )

[0223] Among them, h threshold 、p threshold and r threshold are the thresholds for determining the convergence of heading angle, pitch angle and roll angle respectively;

[0224] Determine whether the formula result converges;

[0225] If so, the three-dimensional attitude angle of the current time is used as the attitude angle solution result of the array antenna to be measured; otherwise, the three-dimensional attitude angle of the current time is used as the three-dimensional attitude angle of the previous time, and the process returns to step S2.

[0226] Based on the above embodiment, further, the first calculation module is specifically configured to:

[0227] Calculate each solution baseline vector;

[0228] Performing coordinate transformation on all the solved baseline vectors to obtain vector coordinates based on the Northeast Celestial Coordinate System;

[0229] The specific steps for calculating each solution baseline vector include:

[0230] Constructing a dual-antenna directional model based on baseline length constraints

[0231]

[0232] Where y is the difference between the satellite observation and the antenna-satellite geometric distance, E(y) is the expected value of y, D(y) is the variance-covariance matrix of y, a is the carrier phase ambiguity vector, b is the three-dimensional baseline vector, A is the coefficient matrix containing the carrier wavelength, B is the coefficient matrix containing the satellite unit observation vector information, l is the prior baseline length; D(l) is the variance-covariance matrix of l, Q yy is the covariance matrix;

[0233] Using the least squares criterion and orthogonal decomposition, we get the minimization problem:

[0234]

[0235] Take F(a) as the objective function of ambiguity resolution, and use C-LAMBDA algorithm to obtain all M independent baseline vectors. The vector coordinates of each baseline vector are the fixed solution of the baseline vector. in

[0236]

[0237] Performing coordinate transformation on all the solved baseline vectors to obtain vector coordinates based on the Northeast Sky coordinate system, specifically including:

[0238] Perform coordinate transformation on the vector coordinates of all the solved baseline vectors to obtain the vector coordinates based on the Northeast Sky Coordinate System Among them, e, n, and u are the east component, north component, and celestial component of the vector coordinates.

[0239] The present invention provides an array antenna attitude measurement device, comprising: obtaining a solution baseline vector using satellite observations of array elements on the array antenna to be measured; inputting the solution baseline vector into a three-dimensional attitude calculation algorithm to obtain a previous three-dimensional attitude angle; obtaining an attitude matrix of the array antenna to be measured based on the previous three-dimensional attitude angle; eliminating a phase center error using the attitude matrix and a phase pattern; and using the three-dimensional attitude calculation algorithm to calculate the current three-dimensional attitude angle of the array antenna to be measured; determining whether the current three-dimensional attitude angle has converged based on the current three-dimensional attitude angle and the previous three-dimensional attitude angle; if so, using the current three-dimensional attitude angle as the attitude angle solution result of the array antenna to be measured; otherwise, continuing the iterative execution. The present invention eliminates the influence of the phase center error, improves the accuracy of the attitude solution result, increases the success rate of ambiguity resolution and the reliability of the attitude measurement result, and improves the accuracy of the roll angle solution.

[0240] In addition, an embodiment of the present invention includes a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements an array antenna attitude measurement method described in any one of the above technical solutions.

[0241] An embodiment of the present invention also includes a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for measuring the attitude of an array antenna described in any one of the above technical solutions is implemented.

[0242] The above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A method for measuring the attitude of an array antenna, characterized in that: The method comprises: S1. Obtaining M mutually independent solution baseline vectors through satellite observations of M+1 array elements on the array antenna to be measured, and inputting the M solution baseline vectors into a 3D attitude solution algorithm to obtain an initial 3D attitude angle; S2. Obtaining an attitude matrix of the array antenna to be measured according to the initial three-dimensional attitude angle, eliminating a phase center error using the attitude matrix and a phase pattern, and using the three-dimensional attitude calculation algorithm to calculate the current three-dimensional attitude angle of the array antenna to be measured; S3. Determine whether the current three-dimensional attitude angle has converged based on the current three-dimensional attitude angle and the previous three-dimensional attitude angle. If so, use the current three-dimensional attitude angle as the attitude angle solution result of the array antenna to be tested. Otherwise, use the current three-dimensional attitude angle as the initial three-dimensional attitude angle and repeat step S2. The three-dimensional posture calculation algorithm specifically includes: Fitting the M solved baseline vectors to a plane equation system; Correcting a first baseline vector and a second baseline vector among the M solved baseline vectors using the plane equation group, wherein the first baseline vector and the second baseline vector are selected from the M solved baseline vectors; Obtaining the three-dimensional posture angle according to the first baseline vector and the second baseline vector; Obtaining the three-dimensional posture angle according to the first baseline vector and the second baseline vector specifically includes: Inputting the east component and the north component of the first baseline vector into the fitted plane equation group to obtain an updated celestial component of the first baseline vector; Inputting the east component and the north component of the second baseline vector into the fitted plane equation group to obtain an updated celestial component of the second baseline vector; After performing coordinate system transformation on the updated first baseline vector and the second baseline vector, the three-dimensional posture angle is calculated.

2. The method according to claim 1, characterized in that Calculating the three-dimensional posture angle after performing coordinate system transformation on the updated first baseline vector and the second baseline vector specifically includes: The vector coordinates of the second baseline vector in the northeast celestial coordinate system enter , get the vector coordinates of the second baseline vector in the transformed coordinate system ; The baseline vector of the first baseline vector , the baseline vector of the second baseline vector And the vector coordinates of the second baseline in the transformed coordinate system Enter the formula , , , get the three-dimensional attitude angle, the three-dimensional attitude angle includes the azimuth h , pitch angle p and roll angle r .

3. The method according to claim 2, characterized in that The step S2 of obtaining the attitude matrix of the array antenna to be measured according to the previous three-dimensional attitude angle and eliminating the phase center error by using the attitude matrix and the phase pattern specifically includes: Use the previous i The three-dimensional attitude angle of -1 , calculate the current times of the array antenna to be measured i The posture matrix : Among them: the current posture matrix The elements of are: Using the current posture matrix , calculate the coordinates of each satellite of the array antenna to be measured in the body coordinate system, the coordinates of the satellite in the body coordinate system are ,in is the coordinate of the sth satellite in the northeast celestial coordinate system; The azimuth of the sth satellite in the body coordinate system and altitude angle They are: The phase center error included in the satellite carrier phase observation is determined using the phase pattern of each array element and the satellite azimuth and elevation angle.

4. The method according to claim 2, characterized in that The S3 specifically includes: The three-dimensional posture angle of the current time and the previous three-dimensional attitude angle Enter the formula in, 、 as well as are the thresholds for determining the convergence of azimuth, pitch and roll angles respectively; Determine whether the formula result converges; If so, the three-dimensional attitude angle of the current time is used as the attitude angle solution result of the array antenna to be measured; otherwise, the three-dimensional attitude angle of the current time is used as the three-dimensional attitude angle of the previous time, and the process returns to step S2.

5. The method according to claim 1, wherein The method of obtaining M independent baseline vectors by using satellite observations of M+1 array elements on the array antenna to be measured specifically includes: Calculate each solution baseline vector; Performing coordinate transformation on all the solved baseline vectors to obtain vector coordinates based on the Northeast Celestial Coordinate System; The specific steps for calculating each solution baseline vector include: Constructing a dual-antenna directional model based on baseline length constraints Where y is the difference between the satellite observation and the antenna-satellite geometric distance, is the expected value of y, is the variance-covariance matrix of y, a is the carrier phase ambiguity vector, b is the three-dimensional baseline vector, A is the coefficient matrix containing the carrier wavelength, and B is the coefficient matrix containing the satellite unit observation vector information. is the a priori baseline length; for The variance-covariance matrix, Q yy is the covariance matrix; Using the least squares criterion and orthogonal decomposition, we get the minimization problem: Will As the objective function of ambiguity resolution, the C-LAMBDA algorithm is used to obtain all M independent baseline vectors. The vector coordinates of each baseline vector are the fixed solution of the baseline vector. ,in Performing coordinate transformation on all the solved baseline vectors to obtain vector coordinates based on the Northeast Sky coordinate system, specifically including: Perform coordinate transformation on the vector coordinates of all the solved baseline vectors to obtain the vector coordinates based on the Northeast Sky Coordinate System ,in, e 、 n as well as u are the easting component, northing component, and celestial component of the vector coordinates.

6. An array antenna attitude measurement device, characterized in that: The device comprises: A first calculation module is configured to obtain M independent solution baseline vectors based on satellite observations of M+1 array elements on the array antenna to be measured, and input the M solution baseline vectors into a three-dimensional attitude solution algorithm to obtain an initial three-dimensional attitude angle; a second calculation module, configured to obtain a posture matrix of the array antenna to be measured based on the initial three-dimensional posture angle, eliminate a phase center error using the posture matrix and a phase pattern, and obtain the current three-dimensional posture angle of the array antenna to be measured by using the three-dimensional posture calculation algorithm; a third calculation module, configured to determine whether the current three-dimensional attitude angle has converged based on the current three-dimensional attitude angle and the previous three-dimensional attitude angle; if so, use the current three-dimensional attitude angle as the attitude angle solution result of the array antenna to be tested; otherwise, use the current three-dimensional attitude angle as the initial three-dimensional attitude angle and repeat the second calculation module; The three-dimensional posture calculation algorithm specifically includes: Fitting the M solved baseline vectors to a plane equation system; Correcting a first baseline vector and a second baseline vector among the M solved baseline vectors using the plane equation group, wherein the first baseline vector and the second baseline vector are selected from the M solved baseline vectors; Obtaining the three-dimensional posture angle according to the first baseline vector and the second baseline vector; Obtaining the three-dimensional posture angle according to the first baseline vector and the second baseline vector specifically includes: Inputting the east component and the north component of the first baseline vector into the fitted plane equation group to obtain an updated celestial component of the first baseline vector; Inputting the east component and the north component of the second baseline vector into the fitted plane equation group to obtain an updated celestial component of the second baseline vector; After performing coordinate system transformation on the updated first baseline vector and the second baseline vector, the three-dimensional posture angle is calculated.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the array antenna attitude measurement method according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the attitude measurement method of the array antenna according to any one of claims 1 to 5 is implemented.

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