Antenna array positioning, verification method, device, system and storage medium

Abstract

The present invention provides an antenna array surface positioning and verification method, device, system and storage medium, which can obtain the position identification of at least three calibration points on the antenna array surface to be measured. Then, the three-dimensional coordinates of each calibration point obtained by the laser ranging robot are used to determine the coordinate transformation relationship between the position identification on the coordinate system of the antenna array surface to be measured and the coordinate system of the laser ranging robot. Then, the position identification of two test points in a row parallel to the ground on the antenna array surface to be measured is obtained. The azimuth transformation relationship between the position identification on the coordinate system of the antenna array surface to be measured and the coordinate system of the laser ranging robot is determined by the corresponding three-dimensional coordinates of the two test points obtained. The transformation relationship between the coordinate system of the antenna array surface to be measured and the coordinate system of the laser ranging robot is determined by the coordinate transformation relationship and the azimuth transformation relationship. The coordinate system of the antenna array surface is obtained on the basis of the coordinate system of the laser ranging robot. The obtained antenna coordinate positioning data is made more accurate and reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of antenna array surface testing, and in particular to an antenna array surface positioning, verification method, device, system and storage medium. Background Art

[0002] Most of the existing scanning calibration of phased array antenna arrays use the determined position provided by a known positioning standard as the position of the antenna array, take a picture of the antenna array, and then perform correction analysis. The obtained data is compared and corrected with the position data of the positioning standard to obtain the accurate coordinate data of the antenna array.

[0003] The above positioning method has high requirements for the production of standard parts. Once there is an error in the positioning of the standard parts, it will have a great impact on the correction of the antenna array surface, and it requires a large camera and imaging equipment, which is very inconvenient to operate. Summary of the invention

[0004] In order to solve the problems of large errors and high manufacturing requirements in the prior art, the present invention provides an antenna array positioning, calibration method, device, equipment and storage medium, which has the characteristics of smaller error, higher accuracy and more convenient operation.

[0005] According to a specific embodiment of the present invention, an antenna array positioning method is provided, comprising:

[0006] Obtaining position identifiers of at least three calibration points on the antenna array plane to be measured, wherein at least one calibration point is not on the same straight line as the other calibration points;

[0007] Based on the position identifiers of at least three calibration points on the antenna array plane to be measured and the three-dimensional coordinates of each calibration point obtained by the laser ranging robot, a transformation relationship between the position identifier of the antenna installation position on the antenna array plane to be measured and the coordinates on the coordinate system of the laser ranging robot is determined, and the transformation relationship is used as the coordinate transformation relationship. The laser ranging robot obtains the three-dimensional coordinates of each calibration point by aligning with each calibration point;

[0008] Obtaining position identifiers of two test points on the antenna array plane to be tested, wherein the two test points are located in a row on the antenna array plane to be tested that is parallel to the ground;

[0009] Based on the position identifiers of the two test points on the antenna array plane to be measured and the three-dimensional coordinates of the two test points obtained by the laser ranging robot, determine the position relationship between the plane where the antenna array plane to be measured is located and the coordinate system of the laser ranging robot in the rotation direction, and use the position relationship as the azimuth transformation relationship, wherein the calibration point and the test point are both located at the antenna installation position on the antenna array plane to be measured, the position identifier includes the row number and column number of the antenna installation position, and the laser ranging robot obtains the three-dimensional coordinates of each test point by aligning with each test point;

[0010] The transformation relationship between the coordinate system of the antenna array to be measured and the coordinate system of the laser ranging robot is determined based on the coordinate transformation relationship and the azimuth transformation relationship.

[0011] Further, the coordinate transformation relationship includes: an XZ-axis plane coordinate transformation relationship, wherein the transformation relationship between the position identification of the antenna installation position on the antenna array to be measured and the coordinates on the coordinate system of the laser ranging robot is determined based on the position identification of at least three calibration points on the antenna array to be measured and the three-dimensional coordinates of each calibration point acquired by the laser ranging robot, including:

[0012] The plane where the laser ranging robot is located is taken as the XZ axis plane, and based on the XZ axis coordinates in the three-dimensional coordinates of each calibration point, the position mark on the antenna array coordinate system to be measured and the XZ axis plane coordinate transformation relationship of the laser ranging robot on the XZ axis plane are determined.

[0013] Further, the coordinate transformation relationship also includes: a Y-axis coordinate transformation relationship, which determines the transformation relationship between the position identifier of the antenna installation position on the antenna array to be measured and the coordinates on the coordinate system of the laser ranging robot based on the position identifiers of at least three calibration points on the antenna array to be measured and the three-dimensional coordinates of each calibration point obtained by the laser ranging robot, and also includes:

[0014] Based on the Y-axis coordinate in the three-dimensional coordinates of each calibration point, the angle between the antenna array surface to be measured and the XZ-axis plane is determined, and the angle is used as the Y-axis coordinate transformation relationship.

[0015] Further, the determining of the positional relationship between the plane where the antenna array to be measured is located and the coordinate system of the laser ranging robot in the rotation direction based on the position identifiers of the two test points on the antenna array to be measured and the three-dimensional coordinates of the two test points acquired by the laser ranging robot includes:

[0016] Based on the X-axis coordinate in the three-dimensional coordinates of each test point, the direction angle between the antenna array surface to be tested and the XZ-axis plane is determined, and the direction angle is used as the azimuth angle transformation relationship.

[0017] According to a specific embodiment of the present invention, a method for verifying antenna array positioning is provided, comprising:

[0018] Obtain the position identification of the target antenna installation position on the antenna array plane to be tested;

[0019] Determine the corresponding coordinates of the position mark of the target antenna installation position on the coordinate system of the laser ranging robot based on the coordinate transformation relationship and the azimuth transformation relationship obtained above;

[0020] The laser ranging robot is started at the corresponding coordinates to perform laser alignment on the antenna array surface to be measured.

[0021] Furthermore, the antenna array positioning verification method also includes:

[0022] If the laser ranging machine is not aligned with the target antenna installation position at the corresponding coordinates, the coordinate transformation relationship and the azimuth transformation relationship are re-determined.

[0023] According to a specific embodiment of the present invention, an antenna array positioning device is provided, comprising:

[0024] A calibration point module, used to obtain position identifications of at least three calibration points on the antenna array to be tested, wherein at least one calibration point is not in the same straight line as the other calibration points;

[0025] A coordinate transformation module is used to determine the transformation relationship between the position identifier of the antenna installation position on the antenna array to be measured and the coordinates on the coordinate system of the laser ranging robot based on the position identifiers of at least three calibration points on the antenna array to be measured and the three-dimensional coordinates of each calibration point obtained by the laser ranging robot, and use the transformation relationship as the coordinate transformation relationship. The laser ranging robot obtains the three-dimensional coordinates of each calibration point by aligning with each calibration point.

[0026] A test point module, used to obtain position identifiers of two test points on the antenna array plane to be tested, wherein the two test points are located in a row parallel to the ground on the antenna array plane to be tested;

[0027] an azimuth module, for determining the positional relationship between the plane where the antenna array to be measured is located and the coordinate system of the laser ranging robot in the rotation direction based on the position identifiers of two test points on the antenna array to be measured and the three-dimensional coordinates of the two test points obtained by the laser ranging robot, and using the positional relationship as an azimuth transformation relationship, wherein the calibration point and the test point are both located at antenna installation positions on the antenna array to be measured, the position identifiers include the row number and column number of the antenna installation position, and the laser ranging robot obtains the three-dimensional coordinates of each test point by aligning with each test point; and

[0028] A position determination module is used to determine the transformation relationship between the coordinate system of the antenna array to be measured and the coordinate system of the laser ranging robot based on the coordinate transformation relationship and the azimuth transformation relationship.

[0029] According to a specific embodiment of the present invention, an antenna array positioning verification device is provided, comprising:

[0030] A position acquisition module is used to obtain the position identification of the target antenna installation position on the antenna array plane to be tested;

[0031] A coordinate confirmation module, used to determine the corresponding coordinates of the position mark of the target antenna installation position on the coordinate system of the laser ranging robot based on the coordinate transformation relationship and the azimuth transformation relationship obtained above; and

[0032] The operation module is used to start the laser ranging robot at the corresponding coordinates to perform laser alignment on the antenna array surface to be measured.

[0033] An antenna array positioning system provided according to a specific embodiment of the present invention includes: a control computer, a robot controller and a laser ranging robot connected in sequence;

[0034] The control computer is used to execute a program to control the laser ranging robot through the robot controller to implement the various steps of the antenna array surface positioning method or the antenna array surface positioning verification method as described above.

[0035] According to a specific embodiment of the present invention, a storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, each step of the antenna array surface positioning method or the antenna array surface positioning verification method as described above is implemented.

[0036] The antenna array surface positioning method provided by the present invention can obtain the position identification of at least three calibration points on the antenna array surface to be measured, wherein at least one calibration point is not on the same straight line as the other calibration points. Then, the coordinate transformation relationship between the position identification on the coordinate system of the antenna array surface to be measured and the coordinate system of the laser ranging robot is determined by the three-dimensional coordinates of each calibration point obtained by the laser ranging robot. Then, the position identification of two test points in a row parallel to the ground on the antenna array surface to be measured is obtained. The azimuth transformation relationship between the position identification on the coordinate system of the antenna array surface to be measured and the coordinate system of the laser ranging robot is determined by the three-dimensional coordinates of the two test points obtained by the laser ranging robot, wherein the calibration point and the test point are both located at the antenna installation position on the antenna array surface to be measured, and the position identification includes the row number and column number of the antenna installation position. Finally, the transformation relationship between the coordinate system of the antenna array surface to be measured and the coordinate system of the laser ranging robot is determined based on the coordinate transformation relationship and the azimuth transformation relationship. The coordinate system of the antenna array surface is obtained on the basis of the coordinate system of the laser ranging robot. This antenna array surface positioning method does not require the participation of positioning standard parts and shooting systems. It directly converts and measures the coordinates of the antenna array surface coordinate system through a scanning robot, which can ensure the consistency of the positioning data with the error introduced during the actual operation of the antenna, making the obtained antenna coordinate positioning data more accurate and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0038] Figure 1 is a flow chart of an antenna array positioning method provided according to an exemplary embodiment;

[0039] Figure 2 is a position relationship diagram of a laser ranging robot and an antenna array provided according to an exemplary embodiment;

[0040] Figure 3 is a flow chart of an antenna array positioning verification method provided according to an exemplary embodiment;

[0041] Figure 4 is a structural diagram of an antenna array surface positioning device provided according to an exemplary embodiment;

[0042] Figure 5 is a structural diagram of an antenna array positioning verification device provided according to an exemplary embodiment;

[0043] Figure 6is a structural diagram of a device provided according to an exemplary embodiment. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] Reference Figure 1 As shown, an embodiment of the present invention provides an antenna array surface positioning method, which may include the following steps:

[0046] 101. Obtain position identifiers of at least three calibration points on the antenna array plane to be measured, wherein at least one calibration point is not on the same straight line as the other calibration points.

[0047] Reference Figure 2 As shown, the laser ranging robot 603 is set at a position parallel to the x-axis of the coordinate system where the antenna array surface 1 to be measured is located. At least three calibration points are selected on the antenna array surface to be measured, wherein at least one calibration point is not on the same straight line as the other calibration points, and then a plane can be formed by the selected calibration points. The calibration point can be an antenna installation position on the antenna array surface to be measured for installing the antenna, and the corresponding position identifier includes the row number and column number of the antenna installation position. Because the antenna installation positions on the antenna array surface are regularly arranged, generally arranged in the form of rows and columns, the position identifier of the calibration point can be determined by the displacement of the row and column values. For example, the coordinate value (i.e., the position identifier) ​​of the calibration point 1 on the antenna array to be measured is (row a, column b).

[0048] 102. Based on the position identification of at least three calibration points on the antenna array to be measured and the three-dimensional coordinates of each calibration point obtained by the laser ranging robot, determine the transformation relationship between the position identification of the antenna installation position on the antenna array to be measured and the coordinates on the coordinate system of the laser ranging robot, use the transformation relationship as the coordinate transformation relationship, and the laser ranging robot obtains the three-dimensional coordinates of each calibration point by aligning with each calibration point.

[0049] After selecting the calibration points, the three-dimensional coordinates of each calibration point can be obtained by controlling the laser ranging robot to move to the position of each calibration point and aligning it. The plane where the laser ranging robot is located is taken as the XZ axis plane. Based on the XZ axis coordinates in the three-dimensional coordinates of the calibration points, the position mark on the coordinate system of the antenna array to be measured and the coordinate transformation relationship of the laser ranging robot on the XZ axis plane can be determined. At the same time, the angle between the antenna array to be measured and the XZ axis plane is determined by the Y axis coordinate in the three-dimensional coordinates of each calibration point, and the obtained angle is used as the Y axis coordinate transformation relationship. The Y axis distance of the calibration point and the Y axis coordinate of the robot can be used to calculate the relationship between the XZ plane of the robot and the X'Z' coordinate axis plane where the array is located. After triangulation conversion, the relationship between the XZ plane coordinates and the X'Z' angle can be obtained. After the angle mapping conversion, the Y axis coordinate transformation relationship between the laser ranging robot coordinate system and the array coordinate system to be measured in the vertical direction can be determined.

[0050] 103. Obtain position identifiers of two test points on the antenna array plane to be tested, where the two test points are located in a row on the antenna array plane to be tested that is parallel to the ground.

[0051] 104. Based on the position identification of two test points on the antenna array surface to be measured and the three-dimensional coordinates of the two test points obtained by the laser ranging robot, determine the position relationship between the plane where the antenna array surface to be measured is located and the coordinate system of the laser ranging robot in the rotation direction, and use the position relationship as the azimuth transformation relationship, wherein the calibration point and the test point are both located at the antenna installation position on the antenna array surface to be measured, the position identification includes the row number and column number of the antenna installation position, and the laser ranging robot obtains the three-dimensional coordinates of each of the test points by aligning with each test point.

[0052] The selected test points can be two test points in the same row as the starting channel of the antenna array to be tested, such as (row 0, column 0). The line connecting the two test points on the antenna array to be tested should be parallel to the horizontal ground in theory. The three-dimensional coordinates of the test points are obtained by controlling the laser ranging robot to move to the position corresponding to the test point and aligning the test point. The angle between the horizontal X axis of the laser ranging robot and the horizontal X' of the antenna array to be tested can be calculated by the two obtained three-dimensional coordinates. Then, according to the position coordinates of the test point on the antenna array and the position of the corresponding coordinates of the laser ranging robot, the azimuth of the laser ranging robot and the array coordinate system to be tested in the rotation direction can be obtained, and then the coordinate transformation relationship in the rotation direction can be determined.

[0053] 105. Determine the transformation relationship between the coordinate system of the antenna array to be measured and the coordinate system of the laser ranging robot based on the coordinate transformation relationship and the azimuth transformation relationship.

[0054] The coordinates of the corresponding laser ranging robot can be obtained by processing any position mark on the antenna array to be measured through the above-mentioned coordinate transformation relationship and azimuth transformation relationship. This process does not require the production of positioning standard parts. The scanning array has the same working state during positioning scanning and actual measurement, ensuring that the scanning positioning data is consistent with the introduced error of the system during actual measurement. It ensures that the channel working state and array measurement accuracy during array positioning scanning are consistent with the working state and measurement accuracy during actual measurement.

[0055] Reference Figure 3 As shown, an embodiment of the present invention further provides an antenna array surface positioning verification method, which may include the following steps:

[0056] 301. Obtain a position identifier of a target antenna installation position on an antenna array plane to be tested.

[0057] 302. Determine the corresponding coordinates of the position marker of the target antenna installation position on the coordinate system of the laser ranging robot based on the coordinate transformation relationship and the azimuth transformation relationship obtained in the above embodiment.

[0058] 303. Start the laser ranging robot at the corresponding coordinates to perform laser alignment on the antenna array to be measured.

[0059] Specifically, the starting channel test point is selected as the coordinate point on the antenna array surface with the X0 column and Z0 row as (x0, z0), and the coordinate point is transformed through the coordinate transformation relationship and the azimuth transformation relationship to obtain the corresponding coordinate of the laser ranging robot (X0, Z0). The laser ranging robot is controlled to move to the coordinate, and the light reflected by the laser probe is passed through the receiver on the manipulator to determine whether the robot coordinate is aligned with the starting channel position. If aligned, determine that the coordinate system transformation is completed. If not aligned, repeat the above steps 101 to 105, recalculate and store the coordinate transformation relationship between the robot coordinate system and the measured array surface coordinate system, and the updated coordinate system takes the starting channel as the origin, and the direction from the array surface to the robot clamping device is the positive direction of the Z axis; determine the robot coordinates corresponding to each channel according to the coordinate transformation relationship obtained by calibration, and complete the detection capability test for the antenna of each channel.

[0060] Based on the same design idea Figure 4 As shown, an embodiment of the present invention further provides an antenna array surface positioning device, which can perform each step of the above-mentioned antenna array surface positioning method, and the device may include:

[0061] The calibration point module 401 is used to obtain position identifiers of at least three calibration points on the antenna array plane to be measured, wherein at least one calibration point is not on the same straight line as the other calibration points.

[0062] A coordinate transformation module 402 is used to determine the transformation relationship between the position identifier of the antenna installation position on the antenna array to be measured and the coordinates on the coordinate system of the laser ranging robot based on the position identifiers of at least three calibration points on the antenna array to be measured and the three-dimensional coordinates of each calibration point obtained by the laser ranging robot, and use the transformation relationship as the coordinate transformation relationship. The laser ranging robot obtains the three-dimensional coordinates of each calibration point by aligning the calibration point.

[0063] The test point module 403 is used to obtain position identifiers of two test points on the antenna array plane to be tested, where the two test points are located in a row parallel to the ground on the antenna array plane to be tested.

[0064] an azimuth module 404, for determining the positional relationship between the plane where the antenna array to be measured is located and the coordinate system of the laser ranging robot in the rotation direction based on the position identifiers of the two test points on the antenna array to be measured and the three-dimensional coordinates of the two test points obtained by the laser ranging robot, and using the positional relationship as the azimuth transformation relationship, wherein the calibration point and the test point are both located at the antenna installation position on the antenna array to be measured, the position identifier includes the row number and column number of the antenna installation position, and the laser ranging robot obtains the three-dimensional coordinates of each test point by aligning with each test point; and

[0065] The position determination module 405 is used to determine the transformation relationship between the coordinate system of the antenna array to be measured and the coordinate system of the laser ranging robot based on the coordinate transformation relationship and the azimuth transformation relationship.

[0066] The above-mentioned antenna array surface positioning device has the same beneficial effects as the antenna array surface positioning method when in operation. Its specific implementation method can refer to the specific implementation method of the above-mentioned antenna array surface positioning method, and the present invention will not be repeated here.

[0067] Reference Figure 5 The embodiment of the present invention further provides an antenna array positioning verification device, which may include:

[0068] The position acquisition module 501 is used to obtain the position identification of the target antenna installation position on the antenna array plane to be tested;

[0069] A coordinate confirmation module 502 is used to determine the corresponding coordinates of the position mark of the target antenna installation position on the coordinate system of the laser ranging robot based on the obtained coordinate transformation relationship and azimuth transformation relationship; and

[0070] The operation module 503 is used to start the laser ranging robot at the corresponding coordinates to perform laser alignment on the antenna array to be measured.

[0071] Reference Figure 6The embodiment of the present invention further provides an antenna array positioning system, comprising: a control computer 601, a robot controller 602 and a laser ranging robot 603 connected in sequence;

[0072] The control computer is used to execute the program to control the laser ranging robot through the robot controller to implement each step of the antenna array surface positioning method or the antenna array surface positioning verification method described in the above embodiment.

[0073] An embodiment of the present invention further provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, each step of the antenna array surface positioning method or the antenna array surface positioning verification method described in the above embodiment is implemented.

[0074] For the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the order of the actions described, because according to the present invention, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0075] It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0076] The steps in the methods of the embodiments of the present invention may be adjusted in order, combined, or deleted according to actual needs, and the technical features recorded in the embodiments may be replaced or combined.

[0077] The modules and sub-modules in the devices and terminals of the various embodiments of the present invention may be combined, divided, or deleted according to actual needs.

[0078] In the several embodiments provided by the present invention, it should be understood that the disclosed terminals, devices and methods can be implemented in other ways. For example, the terminal embodiments described above are only schematic, for example, the division of modules or submodules is only a logical function division, and there may be other division methods in actual implementation, such as multiple submodules or modules can be combined or integrated into another module, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0079] The modules or submodules described as separate components may or may not be physically separated, and the components of the modules or submodules may or may not be physical modules or submodules, that is, they may be located in one place, or they may be distributed on multiple network modules or submodules. Some or all of the modules or submodules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0080] In addition, each functional module or submodule in each embodiment of the present invention may be integrated into one processing module, or each module or submodule may exist physically separately, or two or more modules or submodules may be integrated into one module. The above-mentioned integrated modules or submodules may be implemented in the form of hardware or in the form of software functional modules or submodules.

[0081] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0082] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly by hardware, software units executed by a processor, or a combination of the two. The software units may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0083] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0084] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An antenna array positioning method, characterized in that: include: Obtaining position identifiers of at least three calibration points on the antenna array plane to be measured, wherein at least one calibration point is not on the same straight line as the other calibration points; Based on the position identifiers of at least three calibration points on the antenna array plane to be measured and the three-dimensional coordinates of each calibration point obtained by the laser ranging robot, a transformation relationship between the position identifier of the antenna installation position on the antenna array plane to be measured and the coordinates on the coordinate system of the laser ranging robot is determined, and the transformation relationship is used as the coordinate transformation relationship. The laser ranging robot obtains the three-dimensional coordinates of each calibration point by aligning with each calibration point; Obtaining position identifiers of two test points on the antenna array plane to be tested, wherein the two test points are located in a row on the antenna array plane to be tested that is parallel to the ground; Based on the position identifiers of two test points on the antenna array plane to be measured and the three-dimensional coordinates of the two test points obtained by the laser ranging robot, determine the position relationship between the plane where the antenna array plane to be measured is located and the coordinate system of the laser ranging robot in the rotation direction, and use the position relationship as the azimuth transformation relationship, wherein the calibration point and the test point are both located at the antenna installation position on the antenna array plane to be measured, the position identifier includes the row number and column number of the antenna installation position, and the laser ranging robot obtains the three-dimensional coordinates of each test point by aligning with each test point; Determine the transformation relationship between the coordinate system of the antenna array to be measured and the coordinate system of the laser ranging robot based on the coordinate transformation relationship and the azimuth transformation relationship; Wherein, the coordinate transformation relationship includes: an XZ-axis plane coordinate transformation relationship, the transformation relationship between the position identification of the antenna installation position on the antenna array to be measured and the coordinates on the coordinate system of the laser ranging robot is determined based on the position identification of at least three calibration points on the antenna array to be measured and the three-dimensional coordinates of each calibration point obtained by the laser ranging robot, including: The plane where the laser ranging robot is located is taken as the XZ axis plane, and based on the XZ axis coordinates in the three-dimensional coordinates of each calibration point, the position mark on the antenna array coordinate system to be measured and the XZ axis plane coordinate transformation relationship of the laser ranging robot on the XZ axis plane are determined.

2. The method according to claim 1, characterized in that The coordinate transformation relationship also includes: a Y-axis coordinate transformation relationship, which determines the transformation relationship between the position identifier of the antenna installation position on the antenna array to be measured and the coordinates on the coordinate system of the laser ranging robot based on the position identifiers of at least three calibration points on the antenna array to be measured and the three-dimensional coordinates of each calibration point obtained by the laser ranging robot, and also includes: Based on the Y-axis coordinate in the three-dimensional coordinates of each calibration point, the angle between the antenna array surface to be measured and the XZ-axis plane is determined, and the angle is used as the Y-axis coordinate transformation relationship.

3. The method according to claim 1, characterized in that The method of determining the positional relationship between the plane where the antenna array to be measured is located and the coordinate system of the laser ranging robot in the rotation direction based on the position identifiers of the two test points on the antenna array to be measured and the three-dimensional coordinates of the two test points acquired by the laser ranging robot comprises: Based on the X-axis coordinate in the three-dimensional coordinates of each test point, the direction angle between the antenna array surface to be tested and the XZ-axis plane is determined, and the direction angle is used as the azimuth angle transformation relationship.

4. A method for verifying antenna array positioning, characterized in that: include: Obtain the position identification of the target antenna installation position on the antenna array plane to be tested; Determine the corresponding coordinates of the position mark of the target antenna installation position on the coordinate system of the laser ranging robot based on the coordinate transformation relationship and the azimuth transformation relationship obtained in any one of claims 1 to 3; The laser ranging robot is started at the corresponding coordinates to perform laser alignment on the antenna array surface to be measured.

5. The method according to claim 4, characterized in that Also includes: If the laser ranging machine is not aligned with the target antenna installation position at the corresponding coordinates, the coordinate transformation relationship and the azimuth transformation relationship are re-determined.

6. An antenna array positioning device, characterized in that: include: A calibration point module, used to obtain position identifications of at least three calibration points on the antenna array to be tested, wherein at least one calibration point is not in the same straight line as the other calibration points; A coordinate transformation module is used to determine the transformation relationship between the position identifier of the antenna installation position on the antenna array to be measured and the coordinates on the coordinate system of the laser ranging robot based on the position identifiers of at least three calibration points on the antenna array to be measured and the three-dimensional coordinates of each calibration point obtained by the laser ranging robot, and use the transformation relationship as the coordinate transformation relationship. The laser ranging robot obtains the three-dimensional coordinates of each calibration point by aligning with each calibration point. A test point module, used to obtain position identifiers of two test points on the antenna array plane to be tested, wherein the two test points are located in a row parallel to the ground on the antenna array plane to be tested; An azimuth module, for determining the positional relationship between the plane where the antenna array to be measured is located and the coordinate system of the laser ranging robot in the rotation direction based on the position identifiers of two test points on the antenna array to be measured and the three-dimensional coordinates of the two test points obtained by the laser ranging robot, and using the positional relationship as an azimuth transformation relationship, wherein the calibration point and the test point are both located at the antenna installation position on the antenna array to be measured, the position identifier includes the row number and column number of the antenna installation position, and the laser ranging robot obtains the three-dimensional coordinates of each test point by aligning with each test point; as well as A position determination module, used to determine the transformation relationship between the coordinate system of the antenna array to be measured and the coordinate system of the laser ranging robot based on the coordinate transformation relationship and the azimuth transformation relationship; Among them, the coordinate transformation relationship includes: XZ axis plane coordinate transformation relationship, and the coordinate transformation module is specifically used to: take the plane where the laser ranging robot is located as the XZ axis plane, and based on the XZ axis coordinates in the three-dimensional coordinates of each calibration point, determine the position mark on the antenna array coordinate system to be measured and the XZ axis plane coordinate transformation relationship of the laser ranging robot on the XZ axis plane.

7. An antenna array positioning verification device, characterized in that: include: A position acquisition module is used to obtain the position identification of the target antenna installation position on the antenna array plane to be tested; A coordinate confirmation module, used to determine the corresponding coordinates of the position mark of the target antenna installation position on the coordinate system of the laser ranging robot based on the coordinate transformation relationship and the azimuth transformation relationship obtained in any one of claims 1 to 3; as well as The operation module is used to start the laser ranging robot at the corresponding coordinates to perform laser alignment on the antenna array surface to be measured.

8. An antenna array positioning system, characterized in that: include: A control computer, a robot controller and a laser ranging robot connected in sequence; The control computer is used to execute a program to control the laser ranging robot through the robot controller to implement each step of the antenna array positioning method described in any one of claims 1 to 3 or the antenna array positioning verification method described in claim 4 or 5.

9. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, each step of the antenna array surface positioning method according to any one of claims 1 to 3 or the antenna array surface positioning verification method according to claim 4 or 5 is implemented.

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