Polarization sensitive antenna array and target relative pose high-precision calibration method

Abstract

The invention provides a high-precision calibration method for relative poses of a polarization sensitive antenna array and a target, and belongs to the technical field of target positioning calibration. The method specifically comprises the following steps: installing a polarization sensitive antenna array on a rigid tool, fixedly connecting a GNSS main antenna and an angle calibrator with the polarization sensitive antenna array, arranging a space coordinate measuring instrument in front of the antenna array, calibrating a positioning device by using the space coordinate measuring instrument, obtaining coordinates of a measuring coordinate system R1 with the measuring instrument as an original point, and calculating the position of the positioning device according to the coordinates of the measuring coordinate system R1. Further obtaining a conversion relation A between an electric axis coordinate system R2 and a measurement coordinate system R1 on the polarization sensitive antenna array, and azimuth vectors m12 of the GNSS main antenna and the angle calibrator; obtaining the longitude, latitude and height coordinates of the GNSS main antenna and the GNSS receiver at the target; and calculating the coordinate, the elevation angle and the left-right angle of the target in the electric axis coordinate system R2 based on the conversion relation A, the azimuth vector m12 and the longitude, latitude and height coordinates.

Description

Technical Field

[0001] The present invention belongs to the technical field of target positioning and calibration, and in particular relates to a high-precision calibration method for the relative posture of a polarization sensitive antenna array and a target. Background Art

[0002] Polarization-sensitive antenna arrays use the correlation characteristics of multiple antennas with different polarizations and different positions, and are an important tool for locating the direction of arrival (DOA) of the signal source target. Compared with traditional scalar antenna arrays, polarization-sensitive antenna arrays use both the polarization information and spatial information of the signal, and can have stronger anti-interference capabilities and higher angular resolution when estimating DOA.

[0003] In order to accurately evaluate the direction-finding capability of the polarization-sensitive array, a large number of tests are usually required in open outdoor areas. During the test and verification process, it is first necessary to use high-precision measurement equipment and calibration methods to accurately obtain the attitude information of the polarization-sensitive antenna array relative to the target, such as the elevation angle, left and right angle, etc. This information will serve as an important reference indicator for evaluating the performance of the array.

[0004] In order to calibrate the relative attitude between the polarization-sensitive antenna array and the target with high precision, a patent document with patent application number 202010670440.3 and titled "Method and device for establishing body heading and attitude coordinate system based on GNSS four antennas" proposed an attitude measurement scheme based on four antennas of the Global Navigation Satellite System (GNSS). This scheme can obtain the position and attitude of the antenna array through four GNSS antennas, and then combine the position information of the target to measure the relative attitude between the polarization-sensitive antenna array and the target (hereinafter referred to as existing scheme 1). The paper document with DOI number 10.3969 / j.issn.2095-6649.2015.06.10 and titled "Research on ground static calibration system of airborne interferometer array" proposed a calibration scheme based on a high-precision optical theodolite. This scheme first places targets on the antenna array and target to be measured, then installs a high-precision optical theodolite and measures the position coordinates of each target, so that the relative posture between the polarization-sensitive antenna array and the target can be measured (hereinafter referred to as existing scheme 2).

[0005] Existing solution 1 requires the use of four GNSS antennas to calibrate the position and attitude of the polarization-sensitive array surface. However, under the constraint of the array volume, the direction-finding baseline formed by the four GNSS antennas is short, resulting in low attitude measurement accuracy of the array. Existing solution 2 uses high-precision optical measurement equipment to achieve high ranging and attitude measurement accuracy. However, the observation distance of existing optical theodolites for small-sized targets is only in the hundreds of meters, which is difficult to meet the requirements of long-distance calibration of polarization-sensitive arrays. Summary of the invention

[0006] In view of this, the present invention proposes a high-precision calibration method for the relative posture of a polarization-sensitive antenna array and a target, which can overcome the shortcomings of low accuracy of using a GNSS antenna alone and short calibration distance of using a high-precision optical theodolite alone, and can realize long-distance and high-precision calibration of the relative posture of a polarization-sensitive antenna array and a target.

[0007] The technical solution for implementing the present invention is as follows:

[0008] A high-precision calibration method for the relative posture of a polarization-sensitive antenna array and a target is provided. The specific process is as follows:

[0009] Install the polarization-sensitive antenna array on the rigid tooling so that its array plane faces the target direction, and set a positioning device on the bottom surface of the antenna array; fix the GNSS main antenna and the angle calibrator to the polarization-sensitive antenna array, and set a positioning device on the side of the GNSS main antenna and the angle calibrator;

[0010] The spatial coordinate measuring instrument is set in front of the antenna array, and the positioning device is calibrated using the spatial coordinate measuring instrument to obtain the measurement coordinate system R with the measuring instrument as the origin. 1 The coordinates of the electric axis coordinate system R on the polarization sensitive antenna array are further obtained 2 With the measurement coordinate system R 1 The conversion relationship A between the GNSS main antenna and the angle calibrator, and the azimuth vector m 12 ;

[0011] Obtain the longitude, latitude, and altitude coordinates of the GNSS main antenna and the GNSS receiver at the target;

[0012] Based on the conversion relationship A and the orientation vector m 12 , and the longitude and latitude coordinates, calculate the target in the electric axis coordinate system R 2 The coordinates, height angles, and left and right angles of the following.

[0013] Furthermore, the angle calibrator of the present invention is a GNSS antenna, that is, the GNSS master-slave antenna is fixedly connected to the polarization sensitive antenna array, or the angle calibrator is an angle measuring instrument, that is, the GNSS master antenna and the angle measuring instrument are fixedly connected to the polarization sensitive antenna array.

[0014] Furthermore, the spatial coordinate measuring instrument of the present invention is a theodolite, and the positioning device is an optical prism.

[0015] Furthermore, the specific process of step 4 of the present invention is:

[0016] First, the longitude, latitude, and altitude coordinates of the GNSS main antenna at the antenna array and the GNSS receiver at the target are recorded as P 1 and P 2 , calculate P 2 In P 1 is the coordinate of the origin in the northeast celestial coordinate system (e, n, u);

[0017] Secondly, obtain the azimuth angle θ of the line connecting the GNSS main antenna and the angle calibrator N , calculate the vector m 12 In R 1 Coordinate system with R 1 The angle θ of the y-axis of the coordinate system y , get the north direction and R 1 The angle of the y-axis of the coordinate system is denoted by

[0018] Again, based on the coordinates (e, n, u), the angle And the conversion relationship A, calculate P 2 In the electrical axis coordinate system R 2 The coordinates (x, y, z), the height angle α and the left and right angle β.

[0019] Furthermore, the positioning device of the present invention is a sticky marking target.

[0020] Furthermore, the specific installation method of setting the marking target on the bottom surface of the antenna array according to the present invention is: placing the target at four preset points on the bottom surface of the antenna array, and requiring n 1 With n 3 The line between the centers is perpendicular to n 2 With n 4 The intersection of the two lines coincides with the center point of the polarization sensitive antenna array.

[0021] Furthermore, the electric axis coordinate system R of the present invention 2 is n 2 Point to n 4 The vector is the x-axis, n 3 Point to n 1 The right-handed rectangular coordinate system is established by cross-producting the x-axis and y-axis to get the z-axis.

[0022] Furthermore, the coordinate (e, n, u) calculation process of the present invention is:

[0023] (1) Calculate P 1 and P 2 The latitude and longitude coordinates of the point in the Earth-centered Earth-fixed coordinate system;

[0024] (2) Calculate P 2 In P 1 The coordinates of the origin in the northeast celestial coordinate system (e, n, u):

[0025]

[0026] Among them, P 1 The longitude and latitude coordinates are (L 1 , B 1 , H 1 ), P 1 and P 2 The Earth-centered Earth-fixed coordinates are (X 1 , Y 1 , Z 1 ) and (X 2 , Y 2 , Z 2 ).

[0027] Furthermore, the angle The calculation process is:

[0028] (1) Obtain the azimuth angle θ of the line connecting the GNSS main antenna and the angle calibrator N , that is, vector m 12 In P 1 is the azimuth of the origin in the northeast celestial coordinate system;

[0029] (2) Calculate the vector m 12 In R 1 Coordinate system with R 1 The angle θy of the y-axis of the coordinate system;

[0030]

[0031] like Line 2 Line 1 Then θy=90°; if Then θy=-90°;

[0032] (3) Set θ y -θ N The north direction and R 1 The angle of the y-axis of the coordinate system is denoted by

[0033] Furthermore, the present invention is based on the coordinates (e, n, u), the angle And the conversion relationship A, calculate P 2 In the electrical axis coordinate system R 2 The coordinates (x, y, z), the height angle α and the left and right angle β are:

[0034]

[0035] [xyz]=[x 0 y 0 z 0 ]A -1

[0036]

[0037] Among them, α is the elevation angle, that is, from the electric axis coordinate system R 2 The angle between the projection of the vector from the origin to the target on the yOz plane and the z-axis; β is the left and right angle, that is, the angle from the electric axis coordinate system R 2 The angle between the projection of the vector from the origin to the target on the xOz plane and the z-axis.

[0038] Beneficial effects:

[0039] The present invention uses a high-precision optical theodolite and a GNSS antenna in combination, and by means of the conversion between the longitude and latitude coordinate system, the northeast celestial coordinate system and the electric axis coordinate system, the elevation angle α and the left and right angle β of the target relative to the antenna array can be measured. Compared with the traditional solution, the present invention has the following innovations:

[0040] (1) The GNSS antenna and high-precision optical theodolite are used for joint calibration, which overcomes the problem of low calibration accuracy caused by short GNSS antenna baseline and low positioning accuracy in the existing solution 1, and solves the problem that the existing solution 2 cannot perform long-distance calibration;

[0041] (2) Based on the fixed shape of the rigid fixture, the same set of rigid fixtures for the antenna array only needs to be calibrated once with an optical theodolite, without the need for repeated calibration in the field, which is highly operational.

[0042] (3) The dual GNSS antennas do not need to be placed in the same plane as the polarization-sensitive array surface. They only need to be fixed by rigid tooling. The structure can be determined according to actual needs. In addition, the mutual coupling effect between the GNSS antenna and the antenna array can be effectively avoided by placing them in different planes. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 It is a flow chart of the present invention.

[0045] Figure 2 Paste the antenna target with R 2 Schematic diagram of coordinate system establishment.

[0046] Figure 3 Paste the schematic diagram for the GNSS receiving antenna target.

[0047] Figure 4 For R 1 Schematic diagram of establishing the measurement coordinate system.

[0048] Figure 5 This is a schematic diagram of the transformation from the Earth-centered Earth-fixed coordinate system to the Northeast Celestial Coordinate System.

[0049] Figure 6 Schematic diagram for the definition of high and low angles and left and right angles.

[0050] Figure 7 This is a schematic diagram of the field test scenario.

[0051] Figure 8 The relative error between the elevation angle and the mean value is obtained by using the method proposed in the present invention to collect data for 200 times continuously. DETAILED DESCRIPTION

[0052] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0053] It should be noted that the following embodiments and features in the embodiments may be combined with each other in the absence of conflict; and, based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making any creative work are within the scope of protection of the present disclosure.

[0054] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein may be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present disclosure, it should be understood by those skilled in the art that an aspect described herein may be implemented independently of any other aspect, and two or more of these aspects may be combined in various ways. For example, any number of aspects described herein may be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein may be used to implement this device and / or practice this method.

[0055] like Figure 1 As shown in FIG. 1 , a high-precision calibration method for a polarization-sensitive antenna array is described. The specific process is as follows:

[0056] Step 1: Equipment assembly and calibration point setting

[0057] (1) Install the polarization-sensitive antenna array on the tooling, ensuring that the antenna array is basically facing the target direction. Place adhesive marker targets at four preset points on the bottom of the antenna array for subsequent optical theodolite calibration. Make sure that the center of the target coincides with the center of the point, and the front of the target faces the target direction. Figure 2 As shown, when presetting the point, n is required 1 With n 3 The line between the centers is perpendicular to n 2 With n 4 The intersection of the two lines coincides with the center point of the polarization sensitive antenna array;

[0058] (2) Connect the GNSS antenna to the antenna array to be calibrated, and ensure that the antenna faces upward to facilitate receiving GNSS satellite signals. Place targets on the sides of the two GNSS antennas so that the targets can be observed from the front of the antenna array to facilitate calibration of the optical theodolite from the front. Figure 3 As shown, the target m 1 The main antenna is at m, the target is m 2 The slave antenna.

[0059] Step 2: Optical Theodolite Calibration

[0060] (1) An optical theodolite is fixed in front of the antenna array, and a measurement coordinate system R is established with the optical theodolite as the origin. 1 , start coordinate measurement;

[0061] (2) Use an optical theodolite to measure the four targets on the bottom surface of the antenna array. 1 ,n 2 ,n 3 ,n4 and two targets on the side of the GNSS antenna m 1 ,m 2 A total of six targets were calibrated to obtain R 1 The coordinates of the center position of each target in the coordinate system;

[0062] (3) Calculate the electric axis coordinate system R 2 With the measurement coordinate system R 1 The conversion relationship between them, that is, the basis transformation matrix A, and m 1 Point to m 2 The vector (denoted as m 12 ), as attached Figure 4 As shown, the electric axis coordinate system R 2 is n 2 Point to n 4 The vector is the x-axis, n 3 Point to n 1 The vector is the y-axis, and the right-handed rectangular coordinate system is established by cross-producting the x-axis and the y-axis to obtain the z-axis, which is established by the following formula:

[0063]

[0064] R 2 Origin coordinates O R2 The coordinates in the measurement coordinate system are

[0065]

[0066] Step 3: Field Targeting

[0067] (1) The longitude, latitude, and altitude (geodetic height) coordinates of the two in the WGS84 coordinate system are obtained through the GNSS main antenna at the antenna array and the GNSS receiver at the target, which are denoted as P 1 (L 1 , B 1 , H 1 ), P 2 (L 1 , B 1 , H 1 );

[0068] Step 4: Target Angle Calculation

[0069] (1) Calculate P 1 , P 2 The coordinates of the latitude and longitude of the two points in the Earth-centered Earth-fixed coordinate system (X 1 , Y 1 , Z 1 )、(X 2 , Y 2 , Z 2 ), the calculation formula is as follows:

[0070]

[0071] In the formula, e is the eccentricity of the ellipsoid, N is the radius of curvature of the reference ellipsoid, and the calculation formula is:

[0072]

[0073] Where a is the length of the major axis of the Earth's ellipsoid, and b is the length of the minor axis of the Earth's ellipsoid.

[0074] (2) Calculate P 2 In P 1 is the coordinate (e, n, u) of the origin in the Northeastern Universe (ENU) coordinate system. The conversion diagram of the two coordinate systems is shown in the attached figure. Figure 5 As shown, the calculation method is as follows:

[0075]

[0076] (3) Read the azimuth of the line connecting the master and slave antennas from the serial port data of the GNSS master antenna, i.e. m 12 Vector in P 1 is the azimuth of the origin in the northeast celestial coordinate system (the angle with the north direction, recorded as θ N ), θ N ∈[0,360°];

[0077] (4) Then the vector m is calculated by the following formula 12 In R 1 Coordinate system with R 1 The angle θy of the y-axis of the coordinate system;

[0078]

[0079] like Line 2 Line 1 Then θy=90°; if Then θy=-90°;

[0080] (5)θ y -θ N , we can get the north direction and R 1 The angle of the y-axis of the coordinate system is denoted by

[0081] (4) Through the following formula

[0082]

[0083] Calculate P 2 In R 1 Coordinates in the coordinate system (x0 ,y 0 ,z 0 ), and then calculate P by the following formula 2 In the electrical axis coordinate system R 2 The coordinates (x,y,z) are:

[0084] [xyz]=[x 0 y 0 z 0 ]A -1

[0085] And calculate P by the following formula 2 Relative to the electric axis coordinate system R of the polarization sensitive antenna array 2 The height angle and left and right angles of:

[0086]

[0087] Among them, α is the elevation angle, that is, from the electric axis coordinate system R 2 The angle between the projection of the vector from the origin to the target on the yOz plane and the z-axis; β is the left and right angle, that is, the angle from the electric axis coordinate system R 2 The angle between the projection of the vector from the origin to the target on the xOz plane and the z-axis is shown in the figure below: Figure 6 shown.

[0088] In step 1 of the above embodiment of the present application, the adhesive marking target can be replaced by any device that can be used for calibrating points of a high-precision optical theodolite, including but not limited to an optical prism.

[0089] In step 2 of the above embodiment of the present application, the high-precision optical theodolite can be replaced by any instrument that can measure the coordinates of a point in space, including but not limited to an electronic theodolite, a laser theodolite, etc.;

[0090] In step 3 of the above embodiment of the present application, the GNSS antenna pair that can obtain the azimuth angle of the master-slave antenna connection line can be replaced by a single GNSS antenna and any instrument that can measure the angle between a straight line and the north direction, including but not limited to a compass.

[0091] The following is a clear and complete description of the technical solution of the present invention in conjunction with the accompanying drawings and two embodiments. Figure 1 As shown, the present invention proposes a high-precision calibration method for a polarization-sensitive antenna array, which achieves high-precision calibration by combining a GNSS dual antenna and a high-precision optical theodolite. There are many ways to install the tooling of the polarization-sensitive antenna array and the GNSS antenna. As a preferred method, in two embodiments, the tooling structures of the polarization-sensitive antenna array and the GNSS antenna are as shown in the attached figure. Figure 3 shown.

[0092] Example 1: As a possible implementation, a target with a GNSS receiver is placed on a plane about 50m away from a polarization-sensitive antenna array, ensuring that the target and the center of the antenna array are located on the same horizontal plane. The implementation steps of the present invention are:

[0093] Step 1: Follow the instructions Figure 3 Install the polarization sensitive array antenna and GNSS antenna on the tooling, and place the adhesive marker target. The target point is as shown in the attached figure. Figure 2 , Attachment Figure 3 As shown;

[0094] In step 1, n 1 With n 3 The line between the centers is perpendicular to n 2 With n 4 The intersection of the two lines coincides with the center point of the polarization sensitive array antenna.

[0095] Step 2: Place an optical theodolite in front of the array antenna and use it to obtain the coordinates of the six targets in step 1.

[0096] In step 2, the optical theodolite needs to be leveled to ensure that the plane on which the optical theodolite is placed is parallel to the ground.

[0097] Step 3: Establish the electric axis coordinate system, find out the conversion relationship between the electric axis coordinate system and the measurement coordinate system, and m 1 Point to m 2 A vector of

[0098] In step 3, the electric axis coordinate system is n 2 Point to n 4 The vector is the x-axis, n 3 Point to n 1 The vector is the y-axis, and the z-axis is obtained by cross-producting the x-axis and the y-axis to establish a right-handed rectangular coordinate system. The measurement coordinate system is established by the optical theodolite in step 2.

[0099] Step 4: Turn on the GNSS receiver at the target, record the satellite signal data through the GNSS main antenna at the array antenna and the GNSS receiver at the target, and obtain the longitude, latitude, and altitude (geodetic height) coordinates of each in the WGS84 coordinate system, which are (116.312845°E, 39.956454°N, 169.4) and (116.313391°E, 39.956465°N, 169.4) respectively.

[0100] In step 4, the satellite signal data is recorded more than 100 times and the average is calculated to overcome the influence of external factors on the satellite signal quality. As a possible implementation, in this embodiment, the data is recorded 1200 times and the average is calculated.

[0101] Step 5: Calculate the coordinates of the target in the Northeastern Universe (ENU) coordinate system with the GNSS main antenna as the origin as (46.6553, 1.2215, 0).

[0102] Step 6: Calculate the coordinates of the target in the measurement coordinate system as (-38.2176, 26.7884, 0).

[0103] Step 7: The coordinates of the target in the electric axis coordinate system are calculated to be (9.1924, 0, 45.7570). Furthermore, the elevation angle and left and right angles of the target relative to the antenna array are calculated to be 0° and 11.359289° respectively.

[0104] In step 7, the definitions of the elevation angle and left and right angles are as follows: Figure 6 .

[0105] Appendix 1 compares the target R calculated by the present invention, the target R calculated by the prior art 1, and the target R measured by the prior art 2. 2 The coordinates in the coordinate system and the calculated left and right angles of the target relative to the antenna array. Since the target and the center of the antenna array are located in the same horizontal plane, the Y coordinate is 0 and the elevation angle is 0°. It can be seen from the table that the present invention can accurately obtain the target at R 2 The coordinates of the target in the coordinate system and the left and right angles of the target relative to the antenna array, and the calculated left and right angles have an error of less than 10 compared with the high-precision existing solution 2 -5 The error of the left and right angles calculated by the existing scheme 1 is greater than 10%, which shows that the accuracy of the present invention is equivalent to that of the existing scheme 2, and is significantly better than that of the existing scheme 1, and can meet the high-precision calibration requirements.

[0106] Appendix 1 compares the target R calculated by the present invention, the target R calculated by the prior art 1, and the target R measured by the prior art 2. 2 The coordinates in the coordinate system and the calculated left and right angles of the target relative to the antenna array. Since the target and the center of the antenna array are located in the same horizontal plane, the Y coordinate is 0 and the elevation angle is 0°. It can be seen from the table that the present invention can accurately obtain the target at R 2 The coordinates of the target in the coordinate system and the left and right angles of the target relative to the antenna array, and the calculated left and right angles have an error of less than 10 compared with the high-precision existing solution 2 -5 The error of the left and right angles calculated by the existing scheme 1 is greater than 10%, which shows that the accuracy of the present invention is equivalent to that of the existing scheme 2, and is significantly better than that of the existing scheme 1, and can meet the high-precision calibration requirements.

[0107] Table 1 Measurement results of Example 1

[0108]

[0109] Example 2: As a possible implementation, a target with a GNSS receiver is placed on a ground platform about 2 km away from the polarization-sensitive antenna array tooling structure, the height of the platform is about 10 m, and the polarization-sensitive antenna array is placed on a tower about 60 m high. The implementation steps of the present invention are:

[0110] Step 1: Turn on the GNSS receiver at the target, record satellite signal data through the GNSS main antenna at the array antenna and the GNSS receiver at the target, and obtain the longitude, latitude, and altitude (geoidal height) coordinates of each in the WGS84 coordinate system.

[0111] Step 2: Combine the coordinates of the six targets calibrated in Step 2 and Step 3 of Example 1 and the established electric axis coordinate system to calculate the target at the GNSS main antenna P 1 The coordinates in the Northeastern Universe (ENU) coordinate system with the origin as the origin are (-62.9214, 2148.5276, -49.6636).

[0112] Step 3: Calculate the coordinates of the target in the measurement coordinate system as (214.9678, -2138.6422, -49.6636).

[0113] Step 4: The coordinates of the target in the electric axis coordinate system are calculated to be (24.9579, -65.0749, 2148.8925). Furthermore, the elevation angle and left and right angles of the target relative to the antenna array are calculated to be -1.7346° and 0.6654° respectively.

[0114] Appendix 2 gives the distances between the target and the polarization-sensitive antenna array in the north, sky, and east directions. 2 The coordinates in the coordinate system and the angles relative to the antenna array. Figure 8 The relative error between the elevation angle and the mean value of 200 times of continuous data acquisition using the method proposed by the present invention is given. As can be seen from the figure, the stability of the measurement is good, and the relative error is always less than 1%. As can be seen from the table, the measurement results of the present invention are consistent with the actual situation, verifying the effectiveness of the method proposed by the present invention in the field calibration of polarization sensitive arrays.

[0115] Table 2 Measurement results of Example 2 (single time)

[0116]

[0117] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A high-precision calibration method for relative posture between a polarization-sensitive antenna array and a target, characterized in that: The specific process is: Install the polarization-sensitive antenna array on the rigid tooling so that its array plane faces the target direction, and set a positioning device on the bottom surface of the antenna array; fix the GNSS main antenna and the angle calibrator to the polarization-sensitive antenna array, and set a positioning device on the side of the GNSS main antenna and the angle calibrator; A spatial coordinate measuring instrument is set in front of the antenna array, and the positioning device is calibrated using the spatial coordinate measuring instrument to obtain the coordinates of the measurement coordinate system R1 with the measuring instrument as the origin, and further obtain the conversion relationship A between the electric axis coordinate system R2 on the polarization-sensitive antenna array and the measurement coordinate system R1, as well as the azimuth vector m of the GNSS main antenna and the angle calibrator. 12 ; Obtain the longitude, latitude, and altitude coordinates of the GNSS main antenna and the GNSS receiver at the target; Based on the conversion relationship A and the orientation vector m 12 , as well as the longitude and latitude coordinates, calculate the coordinates, elevation angles, and left and right angles of the target in the electric axis coordinate system R2.

2. According to claim 1, the method for high-precision calibration of relative posture between polarization-sensitive antenna array and target is characterized in that: The angle calibrator is a GNSS antenna, that is, the GNSS master and slave antennas are fixedly connected to the polarization sensitive antenna array, or the angle calibrator is an angle measuring instrument, that is, the GNSS master antenna and the angle measuring instrument are fixedly connected to the polarization sensitive antenna array.

3. According to claim 2, the high-precision calibration method for relative posture of a polarization-sensitive antenna array and a target is characterized in that: The spatial coordinate measuring instrument is a theodolite, and the positioning device is an optical prism.

4. According to claim 1, the method for high-precision calibration of relative posture between polarization-sensitive antenna array and target is characterized in that: The specific process of step 4 is as follows: First, the longitude, latitude, and altitude coordinates of the GNSS main antenna at the antenna array and the GNSS receiver at the target are recorded as P1 and P2, respectively, and the coordinates (e, n, u) of P2 in the northeast celestial coordinate system with P1 as the origin are calculated; Secondly, obtain the azimuth angle θ of the line connecting the GNSS main antenna and the angle calibrator N , calculate the vector m 12 The angle θ between the R1 coordinate system and the y-axis of the R1 coordinate system y , we get the angle between the north direction and the y-axis of the R1 coordinate system, recorded as Again, based on the coordinates (e, n, u), the angle And the conversion relationship A is used to calculate the coordinates (x, y, z), the height angle α and the left and right angle β of P2 in the electric axis coordinate system R2.

5. According to claim 1, the method for high-precision calibration of relative posture between polarization-sensitive antenna array and target is characterized in that: The positioning device is a sticky marking target.

6. According to claim 5, the method for high-precision calibration of relative posture between polarization-sensitive antenna array and target is characterized in that: The specific installation method of setting the marking target on the bottom surface of the antenna array is: placing the target at four preset points on the bottom surface of the antenna array, and when setting the preset points, it is required that the line between the centers of n1 and n3 is perpendicular to the line between the centers of n2 and n4, and the intersection of the two lines coincides with the center point of the polarization sensitive antenna array.

7. The high-precision calibration method for relative posture of a polarization-sensitive antenna array and a target according to claim 6 is characterized in that: The electric axis coordinate system R2 is a right-handed rectangular coordinate system established by taking the vector from n2 to n4 as the x-axis, the vector from n3 to n1 as the y-axis, and the z-axis obtained by cross-product of the x-axis and the y-axis.

8. According to claim 4, the method for high-precision calibration of relative posture between polarization-sensitive antenna array and target is characterized in that: The coordinate (e, n, u) calculation process is: (1) Calculate the latitude and longitude coordinates of points P1 and P2 in the Earth-centered Earth-fixed coordinate system; (2) Calculate the coordinates (e, n, u) of P2 in the northeast celestial coordinate system with P1 as the origin: Among them, the longitude and latitude coordinates of P1 are (L1, B1, H1), and the Earth-fixed coordinates of P1 and P2 are (X1, Y1, Z1) and (X2, Y2, Z2).

9. The high-precision calibration method for relative posture of a polarization-sensitive antenna array and a target according to claim 4 is characterized in that: The angle The calculation process is: (1) Obtain the azimuth angle θ of the line connecting the GNSS main antenna and the angle calibrator N , that is, vector m 12 The azimuth in the northeast celestial coordinate system with P1 as the origin; (2) Calculate the vector m 12 The angle θy between the R1 coordinate system and the y-axis of the R1 coordinate system; like Line 2 Line 1 Then θy=90°; if Then θy=-90°; (3) Set θ y -θ N The angle between the north direction and the y-axis of the R1 coordinate system is obtained, which is recorded as 10. The high-precision calibration method for relative posture of a polarization-sensitive antenna array and a target according to claim 4, characterized in that: Based on the coordinates (e, n, u), the angle And the conversion relationship A, calculate the coordinates (x, y, z), the height angle α and the left and right angle β of P2 in the electric axis coordinate system R2 as follows: [xyz]=[x0 y0 z0]A -1 Among them, α is the elevation angle, that is, the angle between the projection of the vector from the origin of the electric axis coordinate system R2 to the target on the yOz plane and the z-axis; β is the left-right angle, that is, the angle between the projection of the vector from the origin of the electric axis coordinate system R2 to the target on the xOz plane and the z-axis.

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