Antenna pattern data correction method and device

Abstract

The embodiment of the present application relates to a method and device for correcting antenna pattern data, the method comprising: obtaining the position data of the transmitting antenna, the horizontal track planning height, and obtaining the measurement data of the horizontal track position points and the measurement data of the vertical track position points of the drone around the transmitting antenna according to preset marks; correcting the measurement data of the horizontal track position points according to the position data of the transmitting antenna and the horizontal track planning height to obtain horizontal track correction data; correcting the vertical track measurement data according to the position data of the transmitting antenna, the horizontal track planning height, and the measurement data of the horizontal track position points to obtain vertical track correction data; obtaining the corrected track measurement data according to the horizontal track correction data and the vertical track correction data. The overall accuracy of the corrected track measurement data in the embodiment of the present application has been greatly improved, which is conducive to obtaining a more accurate antenna pattern.

Description

Technical Field

[0001] The present invention relates to the field of radio wave propagation, and in particular to a method and device for correcting antenna directional diagram data. Background Art

[0002] With the development of UAV technology, applying UAV technology to the field of radio detection can solve some problems of spatial conditions of traditional detection technology. UAVs support remote control, and their spatial advantages can solve some problems in the spatial orientation of transmitting antenna pattern detection. However, in the process of measuring and collecting data from transmitting antennas, UAVs are affected by the limitations of their own equipment, resulting in low precision and insufficient accuracy of the measured data, which has a great impact on the analysis results of the antenna pattern of the transmitting antenna. Therefore, how to make the data measured by UAVs more accurate is still a technical problem that needs to be solved urgently in this field. Summary of the invention

[0003] In view of this, an embodiment of the present application provides a method and device for predicting the strength of a radio wave propagation signal in order to solve at least one problem existing in the background technology.

[0004] In a first aspect, an embodiment of the present application provides a method for predicting the strength of a radio wave propagation signal, the method comprising:

[0005] Acquire the position data of the transmitting antenna, the horizontal track planning height, and acquire the measurement data of the horizontal track position points and the measurement data of the vertical track position points of the UAV around the transmitting antenna according to the preset marks, wherein the measurement data of the horizontal track position points include the position measurement data and the height measurement data of the horizontal track position points, and the measurement data of the vertical track position points include the position measurement data and the height measurement data of the vertical track position points;

[0006] Correcting the measurement data of the horizontal track position point according to the position data of the transmitting antenna and the horizontal track planning height to obtain horizontal track correction data;

[0007] Correcting the vertical track measurement data according to the position data of the transmitting antenna, the horizontal track planning height and the measurement data of the horizontal track position point to obtain vertical track correction data;

[0008] Corrected track measurement data is obtained according to the horizontal track correction data and the vertical track correction data.

[0009] Further, the step of correcting the measurement data of the horizontal track position point according to the position data of the transmitting antenna and the horizontal track planning height to obtain horizontal track correction data includes:

[0010] Correcting the height measurement data of the horizontal track position point according to the horizontal track planning height to obtain height correction data of the horizontal track position point;

[0011] Obtaining a position change of a theoretical position point of a horizontal track according to the position data of the transmitting antenna, the measurement data of the horizontal track position point and the horizontal track planning height;

[0012] Correcting the position measurement data of the horizontal track position point according to the position data of the transmitting antenna and the position change of the horizontal track theoretical position point to obtain the position correction data of the horizontal track position point;

[0013] The horizontal track correction data is obtained according to the altitude correction data of the horizontal track position point and the position correction data of the horizontal track position point.

[0014] Further, the height measurement data of the horizontal track position point is corrected according to the horizontal track planning height in the horizontal track planning height to obtain the height correction data of the horizontal track position point, specifically using the following formula:

[0015]

[0016] Among them, H adj Indicates the corrected height of the horizontal track position point, H m Indicates the height of the horizontal track position point before correction, H p Indicates the horizontal track planning altitude; Indicates the horizontal track altitude correction factor.

[0017] Further, the step of obtaining the position change of the theoretical position point of the horizontal track according to the position data of the transmitting antenna, the measurement data of the horizontal track position point and the horizontal track planning height includes:

[0018] Replacing the altitude measurement data in the measurement data of the horizontal track position point with the horizontal track planning altitude to obtain the data of the replaced horizontal track position point;

[0019] Obtaining data on the center position of the horizontal track according to the data on the replaced horizontal track position point;

[0020] Calculate the average distance from the transmitting antenna to the horizontal track position point according to the position data of the transmitting antenna and the data of the replaced horizontal track position point;

[0021] The position change of the theoretical position point of the horizontal track is obtained according to the position data of the transmitting antenna, the average distance from the transmitting antenna to the horizontal track position point, the data of the replaced horizontal track position point and the data of the center position of the horizontal track position point.

[0022] Further, the position measurement data of the horizontal track position point is corrected according to the position data of the transmitting antenna and the position change of the horizontal track position point to obtain the position correction data of the horizontal track position point, specifically using the following formula:

[0023]

[0024]

[0025] Among them, Lon′ i for and Lat′ i They represent the corrected longitude and latitude of the i-th position point on the horizontal track, Lon i and Lat i They represent the longitude and latitude of the i-th position point on the horizontal track before correction, Lon tx and Lat tx denote the longitude and latitude of the transmitting antenna, Δ loni and Δ lati They represent the changes in longitude and latitude of the i-th position point on the horizontal track, Indicates the horizontal track position correction factor.

[0026] Further, the vertical track measurement data is corrected according to the position data of the transmitting antenna, the horizontal track planning height and the measurement data of the horizontal track position point to obtain the vertical track correction data, including:

[0027] Acquire the center position data of the vertical track position point according to the measurement data of the vertical track position point;

[0028] Correcting the position measurement data of the vertical track position point according to the position data of the transmitting antenna and the center position data of the vertical track position point to obtain the position correction data of the vertical track position point;

[0029] Obtain theoretical height data of the vertical track position point according to the position data of the transmitting antenna, the planned height of the horizontal track, the measurement data of the horizontal track position point, and the measurement data of the vertical track position point;

[0030] Correcting the height measurement data of the vertical track position point according to the theoretical height data of the vertical track position point to obtain height correction data of the vertical track position point;

[0031] The vertical track correction data is obtained according to the altitude correction data of the vertical track position point and the position correction data of the vertical track position point.

[0032] Further, the position measurement data of the vertical track position point is corrected according to the position data of the transmitting antenna and the center position data of the vertical track position point to obtain the position correction data of the vertical track position point, specifically using the following formula:

[0033]

[0034]

[0035] Among them, Lon′ ci for and Lat′ ci They represent the corrected longitude and latitude of the i-th position point on the vertical track, Lon ci and Lat ci They represent the longitude and latitude of the i-th position point on the vertical track before correction, Lon Cv and Lat Cv Respectively represent the longitude and latitude of the center position of the vertical track position point, △ lonci and latci They represent the changes in longitude and latitude of the ith position point on the vertical track, Indicates the vertical track position correction factor.

[0036] Further, the step of obtaining the theoretical height data of the vertical track position point according to the position data of the transmitting antenna, the horizontal track planned height, the measurement data of the horizontal track position point, and the measurement data of the vertical track position point includes:

[0037] Calculate the vertical track planning radius according to the position data of the transmitting antenna, the horizontal track planning height and the data of the horizontal track position point;

[0038] According to the measurement data of the vertical track position point, obtain the position point of the vertical track position point projected on the horizontal plane, and according to the data of the position point of the horizontal plane projection, obtain the position point data of the horizontal plane projection position point projected on the vertical track plane;

[0039] The theoretical height data of the vertical track position point is calculated according to the position data of the transmitting antenna, the vertical track planning radius and the position point data of the vertical track plane projection.

[0040] Furthermore, the height measurement data of the vertical track position point is corrected according to the theoretical height data of the vertical track position point to obtain the height correction data of the vertical track position point, specifically using the following formula:

[0041]

[0042] Among them, H′ v Indicates the corrected altitude of the vertical track position point, H v Indicates the height of the vertical track position point before correction, H P′ Indicates the theoretical height of the vertical track position point; Indicates the vertical track altitude correction factor.

[0043] On the other hand, an embodiment of the present application further provides a data correction device for an antenna pattern, the device comprising:

[0044] A data acquisition module is configured to acquire the position data of the transmitting antenna, the horizontal track planning height, and acquire the measurement data of the horizontal track position points and the measurement data of the vertical track position points of the UAV around the transmitting antenna according to the preset marks, wherein the measurement data of the horizontal track position points include the position measurement data and the height measurement data of the horizontal track position points, and the measurement data of the vertical track position points include the position measurement data and the height measurement data of the vertical track position points;

[0045] A horizontal track data correction module is configured to correct the measurement data of the horizontal track position point according to the position data of the transmitting antenna and the horizontal track planning height to obtain horizontal track correction data;

[0046] A vertical track data correction module is configured to correct the vertical track measurement data according to the position data of the transmitting antenna, the horizontal track planning height and the measurement data of the horizontal track position point to obtain vertical track correction data;

[0047] The track correction acquisition module is configured to obtain corrected track measurement data according to the horizontal track correction data and the vertical track correction data.

[0048] The above-mentioned antenna pattern data correction method and device, on the one hand, corrects the measurement data of the horizontal track position point of the drone through the position data of the transmitting antenna and the horizontal track planning height, thereby eliminating the system error caused by the measuring equipment such as the position sensor carried by the drone or the equipment measuring the transmitting antenna; on the other hand, the measurement data of the vertical track position point with lower accuracy is corrected through the measurement data of the horizontal track position point with higher accuracy, thereby improving the accuracy of the measurement data of the vertical track position point as a whole. The overall accuracy of the corrected track measurement data of the embodiment of the present application has been greatly improved, which is conducive to obtaining a more accurate antenna pattern. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 A schematic diagram of a flow chart of a method for correcting antenna pattern data provided in an embodiment of the present application;

[0050] Figure 2 A schematic diagram of a flow chart of a method for obtaining horizontal track correction data provided in an embodiment of the present application;

[0051] Figure 3 A schematic diagram of a flow chart of a method for obtaining a position change of a theoretical position point of a horizontal track provided in an embodiment of the present application;

[0052] Figure 4 A schematic diagram of the positions of theoretical positions of horizontal tracks provided in an embodiment of the present application;

[0053] Figure 5 A schematic diagram of a flow chart of a method for obtaining vertical track correction data provided in an embodiment of the present application;

[0054] Figure 6 A schematic diagram of a flow chart of a method for obtaining theoretical altitude data of a vertical track position point provided in an embodiment of the present application;

[0055] Figure 7 A schematic diagram of the projection of vertical track position points provided in an embodiment of the present application;

[0056] Figure 8 A schematic diagram of the location of the collected track data provided in an embodiment of the present application;

[0057] Fig. 9 A schematic diagram of the corrected track data location provided in an embodiment of the present application;

[0058] Fig.10 The antenna patterns before and after correction provided in the embodiment of the present application;

[0059] Fig.11 A schematic diagram of a data correction device for an antenna pattern provided in an embodiment of the present application;

[0060] Fig.12 A block diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0061] In order to make the technical solutions and beneficial effects of the present invention more clearly understandable, the following is a detailed description by listing specific embodiments. The drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show the details of the local features; unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which this application belongs.

[0062] Figure 1 A flow chart of a method for correcting antenna pattern data provided in an embodiment of the present application. The present application embodiment uses the method applied to a terminal as an example. It can be understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. Among them, the terminal can be but is not limited to various personal computers, laptops, smart phones, tablet computers and portable wearable devices, and the server can be implemented as an independent server or a server cluster composed of multiple servers. In the embodiment of the present application, the method includes:

[0063] S101, obtaining the position data of the transmitting antenna, the horizontal track planning height, and obtaining the measurement data of the horizontal track position points and the vertical track position points of the UAV around the transmitting antenna according to preset marks.

[0064] Specifically, the position data of the transmitting antenna includes the longitude and latitude data of the transmitting antenna, the measurement data of the horizontal track position point includes the position measurement data and height measurement data of the horizontal track position point, and the measurement data of the vertical track position point includes the position measurement data and height measurement data of the vertical track position point. The measurement data of the horizontal track position point in the embodiment of the present application refers to the data measured around the transmitting antenna in a horizontal plane passing through the transmitting antenna position or passing through a position point above the transmitting antenna position. The longitude and latitude of the position point in the data change, while the height remains unchanged or changes very little, which can be mainly used to analyze the horizontal directional diagram of the transmitting antenna; the vertical track position point measurement data is the data measured around the transmitting antenna on the vertical plane passing through the transmitting antenna position point and the transmitting antenna direction. The longitude and latitude of the position point and the height in the data are all changing, which can be mainly used to analyze the vertical directional diagram of the transmitting antenna. When performing flight measurement, the drone will perform track planning, and then the drone will perform flight measurement according to the track planning. It should be noted that the track planning is the theoretical track trajectory, but due to the influence of the drone's own equipment control, the actual track data collected and measured during flight measurement is not consistent with the track planning. Track planning includes horizontal track planning and vertical track planning, which correspond to the measurement data of the horizontal track position points and the measurement data of the vertical track position points. The horizontal track planning altitude in the embodiment of the present application refers to the altitude for horizontal track flight planning, which corresponds to the altitude measurement data of the horizontal track position points. One is the planned altitude, and the other is the altitude measured during the actual flight, and the two are not consistent.

[0065] In the embodiment of the present application, the measurement data of the horizontal track position point and the measurement data of the vertical track position point of the drone around the transmitting antenna can be obtained according to the preset mark. Specifically, the preset mark can be marked according to the time sequence of the flight measurement process. For example, the horizontal track flight measurement and the vertical track flight measurement are two processes that are performed independently and sequentially. During the measurement, near the time point when the horizontal track flight measurement starts, the data can be marked as the beginning of the horizontal track flight measurement; at the end of the horizontal flight measurement and before the vertical measurement starts, the marked data is used as the end of the horizontal measurement and the beginning of the vertical measurement. Or the preset mark can also be marked according to the shape of the flight trajectory, for example, the mark point is marked according to the shape of the drone flight trajectory. The measurement data of the horizontal track position point in the embodiment of the present application includes the position measurement data and the height measurement data of the horizontal track position point, and the measurement data of the vertical track position point includes the position measurement data and the height measurement data of the vertical track position point. It should be noted that the position measurement data refers to the longitude and latitude data of the location point, and the altitude measurement data refers to the altitude data of the location point. During the measurement process, the longitude and latitude data of the location point are obtained through the GPS positioning device independently carried on the drone, with high data accuracy (±5m); the altitude measurement data of the location point is collected through the altitude position sensor independently carried by the drone. During the measurement process, the altitude data fluctuates, the measurement error is large (±10m), and the data accuracy is low.

[0066] S102, correcting the measurement data of the horizontal track position point according to the position data of the transmitting antenna and the horizontal track planning height to obtain horizontal track correction data.

[0067] Specifically, Figure 2 As shown, step S102 includes:

[0068] S1021. Correct the altitude measurement data of the horizontal track position point according to the horizontal track planning altitude to obtain altitude correction data of the horizontal track position point.

[0069] Specifically, the horizontal track planning height refers to the height value in the horizontal track planning, which is a constant value, that is, the height value of each position point in the horizontal track planning is equal. The height measurement data of the horizontal track position point is obtained by flight measurement based on the horizontal track planning. Theoretically, the height measurement data of the horizontal track position point should also be constant, but affected by the accuracy of the acquisition equipment itself, the height measurement data of the horizontal track position point actually collected fluctuates, and the accuracy of the collected data is low. However, since the horizontal track planning height is constant, the UAV is relatively stable in controlling the flight height. Therefore, the height measurement data of the horizontal track position point collected can be directly corrected by the horizontal track planning height, thereby improving the precision and accuracy of the height measurement data. Specifically, formula (1) is used for correction:

[0070]

[0071] Among them, H adj Indicates the corrected altitude of the horizontal track position point; H m Indicates the height of the horizontal track position point before correction, that is, the measured height of the horizontal track position point; H p Indicates the horizontal track planning altitude; It represents the horizontal track altitude correction coefficient, and its value range is 0-1, where 0 means no correction and 1 means complete deviation from the planned track. The specific value can be determined based on the actual effect, and 0.8 is generally selected.

[0072] S1022. Obtain a position change of a theoretical position point of the horizontal track according to the position data of the transmitting antenna, the measurement data of the horizontal track position point, and the horizontal track planning altitude.

[0073] Specifically, Figure 3 As shown, step S1022 includes:

[0074] S1221. Replace the altitude measurement data in the measurement data of the horizontal track position point with the horizontal track planning altitude to obtain the data of the horizontal track position point after replacement.

[0075] Specifically, the data of the replaced horizontal track position point includes the planned height of the horizontal track and the position measurement data of the horizontal track position point. In the embodiment of the present application, the height value of the replaced horizontal track position point is consistent by using the planned height data to replace the collected height measurement data. In the subsequent correction process of the position measurement data of the horizontal track position point, the influence caused by the fluctuation of the height data can be reduced, and the accuracy of the correction of the position measurement data of the horizontal track position point can be improved.

[0076] S1222. Obtain data on the center position of the horizontal track according to the data on the replaced horizontal track position point.

[0077] Specifically, the data of the horizontal track center position include the longitude, latitude and altitude of the horizontal track center position, and the average value of the longitude data, latitude data and altitude data in the data of the replaced horizontal track position point is obtained to obtain the longitude, latitude and altitude of the center position of the corresponding horizontal track position point.

[0078] S1223. Calculate the average distance from the transmitting antenna to the horizontal track position point according to the position data of the transmitting antenna and the data of the replaced horizontal track position point.

[0079] Specifically, the distance d from the transmitting antenna to the horizontal track position point i Use formula (2) for calculation:

[0080]

[0081] where d i Indicates the distance from the transmitting antenna to the i-th horizontal track position point, Lon i and Lat i Respectively represent the longitude and latitude of the i-th position point on the horizontal track; Lon tx and Lat tx They represent the longitude and latitude of the transmitting antenna respectively; covert_m represents the method of converting the longitude and latitude difference into a distance in meters. For example, at the equator, the corresponding latitude is 0 degrees, and 1 degree corresponds to 111000 meters. The conversion of longitude differences at other latitudes needs to take into account the corresponding latitude position; H p represents the horizontal track planning altitude, and H′ represents the altitude of the transmitting antenna.

[0082] Then according to d i Get the average distance d from the transmitting antenna to the horizontal track position point C , specifically using formula (3) for calculation:

[0083]

[0084] Where n represents the number of horizontal track position points. It should be noted that d C It represents the actual circular radius of the horizontal flight path of the UAV flying around the transmitting antenna. Since the vertical flight radius is theoretically equal to the horizontal flight radius, for the vertical flight path, d C It also indicates the vertical track planning radius.

[0085] S1224. Obtain the position change of the theoretical position point of the horizontal track according to the position data of the transmitting antenna, the average distance from the transmitting antenna to the horizontal track position point, the data of the replaced horizontal track position point, and the data of the center position of the horizontal track position point.

[0086] Specifically, the position change of the theoretical position point of the horizontal track includes the longitude change Δ of the theoretical position point of the horizontal track relative to the transmitting antenna loni and the latitude change Δ lati , that is, Δ loni Equal to the longitude of the theoretical location minus the longitude of the transmitting antenna, Δ lati It is equal to the latitude of the theoretical location point minus the latitude of the transmitting antenna. Figure 4 , point B is the actual measured horizontal track position point, B1 is the position point corresponding to the measured height of point B after replacing the planned height, point A is the position of the transmitting antenna, point C is the center position of the horizontal track position point, point B2 is the theoretical position point, and B2A is the average distance d of the horizontal track position point C As can be seen from the figure, the plane where points B2, B1 and C are located is the theoretical horizontal track plane corresponding to the horizontal track trajectory. The angle of the position point at B1, that is, the angle θ between CB1 and AB1, can be calculated through the longitude, latitude, and altitude corresponding to points C, B1 and A. Then, according to d C Thereby, the longitude and latitude of the theoretical position point can be obtained.

[0087] S1023. Correct the position measurement data of the horizontal track position point according to the position data of the transmitting antenna and the position change of the horizontal track position point to obtain position correction data of the horizontal track position point.

[0088] Specifically, formula (4) and formula (5) are used for calculation:

[0089]

[0090]

[0091] Among them, Lon′ i for and Lat′ i Respectively represent the corrected longitude and latitude of the i-th position point on the horizontal track; Lon i and Lat i Respectively represent the longitude and latitude of the i-th position point on the horizontal track before correction; Lon tx and Lat tx Respectively represent the longitude and latitude of the transmitting antenna; Δ loni and Δ lati They represent the changes in longitude and latitude of the i-th position point on the horizontal track respectively; It represents the horizontal track position correction coefficient, and its value range is 0-1, where 0 means no correction and 1 means it is completely biased towards the planned track. The specific value can be determined according to the actual effect, and 0.8 is generally selected.

[0092] The embodiment of the present application corrects and adjusts the position measurement data of the horizontal track position point by obtaining the position data of the theoretical position point and the position data of the transmitting antenna, thereby eliminating the influence of the system error caused by the drone's own measurement equipment and further improving the precision and accuracy of the position measurement data.

[0093] S1024. Obtain horizontal track correction data according to the altitude correction data of the horizontal track position point and the position correction data of the horizontal track position point.

[0094] Specifically, the height correction data of the horizontal track position point and the position correction data of the horizontal track position point are made to correspond to each other, so as to obtain the horizontal track correction data of the horizontal track position point.

[0095] S103, correcting the vertical track measurement data according to the position data of the transmitting antenna, the horizontal track planning height and the measurement data of the horizontal track position point to obtain vertical track correction data.

[0096] Specifically, Figure 5 As shown, S103 includes:

[0097] S1031. Obtain center position data of the vertical track position point according to the measurement data of the vertical track position point.

[0098] Specifically, the measurement data of the vertical track position points are first sorted according to the height measurement data of the vertical track position points, and then the center position data of the vertical track position points are obtained according to the measurement data of the highest 10% of the height. Specifically, the average longitude and latitude of the measurement data of the highest 10% of the height is used as the longitude and latitude of the center position of the vertical track position point.

[0099] S1032. Correct the position measurement data of the vertical track position point according to the position data of the transmitting antenna and the center position data of the vertical track position point to obtain position correction data of the vertical track position point.

[0100] Specifically, formulas (6) and (7) are used for calculation:

[0101]

[0102]

[0103] Among them, Lon′ ci for and Lat′ ci They represent the corrected longitude and latitude of the i-th position point on the vertical track, Lon ci and Lat ci They represent the longitude and latitude of the i-th position point on the vertical track before correction, Lon Cv and LatCv Respectively represent the longitude and latitude of the center position of the vertical track position point, △ lonci and latci They represent the changes in longitude and latitude of the ith position point on the vertical track, It represents the vertical track position correction coefficient, and its value range is 0-1, where 0 means no correction and 1 means complete deviation from the planned track. The specific value can be determined based on the actual effect, and 0.8 is generally selected.

[0104] Specifically, Δ lonci and Δ latci It is the change in the longitude and latitude of the theoretical position point relative to the transmitting antenna based on the azimuth and pitch angle of the vertical track position point and the distance from the center position of the vertical track position point, that is, Δ lonci Equal to the longitude of the theoretical location minus the longitude of the transmitting antenna, Δ latci It is equal to the latitude of the theoretical position point minus the latitude of the transmitting antenna. It should be noted that the specific calculation of the longitude and latitude of the vertical track theoretical position point refers to the calculation process of the horizontal track theoretical position point in the above embodiment, which will not be repeated here.

[0105] S1033. Obtain theoretical altitude data of the vertical track position point according to the position data of the transmitting antenna, the planned altitude of the horizontal track, the measured data of the horizontal track position point, and the measured data of the vertical track position point.

[0106] Specifically, Figure 6 As shown, S1033 includes:

[0107] S1331. Calculate the vertical track planning radius according to the position data of the transmitting antenna, the horizontal track planning height, and the data of the horizontal track position point.

[0108] Specifically, the vertical track planning radius refers to the distance from the transmitting antenna to the theoretical vertical track position point. It should be noted that the vertical track planning radius is equal to the horizontal track planning radius, that is, the vertical track planning radius is equal to the average distance d from the transmitting antenna to the horizontal track position point. C The vertical track planning radius is calculated according to the position data of the transmitting antenna, the horizontal track planning height and the data of the horizontal track position point. C The calculation process will not be described in detail here.

[0109] S1332. Obtain the position point of the vertical track position point projected on the horizontal plane according to the measurement data of the vertical track position point, and obtain the position point data of the horizontal plane projection position point projected on the vertical track plane according to the data of the horizontal plane projection position point.

[0110] S1333. Calculate theoretical altitude data of the vertical track position point according to the position data of the transmitting antenna, the vertical track planning radius, and the position point data of the vertical track plane projection.

[0111] Specifically, formula (8) is used for calculation:

[0112]

[0113] Among them, H P′ Indicates the theoretical height of the vertical track point, d C Indicates the vertical trajectory planning radius, Lon v′ and Lat v′ Respectively represent the longitude and latitude of the vertical track plane projection of the i-th position point on the vertical track; Lon tx and Lat tx They represent the longitude and latitude of the transmitting antenna respectively; covert_m represents the method of converting the difference between longitude and latitude into a distance in meters.

[0114] Specifically, Figure 7 The figure shows a schematic diagram of the projection of the vertical track position point of an embodiment of the present application. Point p is the vertical track position point, the xy plane is the horizontal plane, and the xz plane is the vertical track plane. The projection of point p on the xy plane is then projected on the xz plane as point v'. According to the coordinates of point v' and the vertical planning track radius d C , so that the theoretical height H corresponding to the correction point p' can be calculated P′ Specifically, according to the measurement data of point P, the coordinates (longitude, latitude, altitude) expressed in the geographic north-east coordinate system are converted to the coordinates in the transmitting antenna coordinate system with the transmitting antenna direction as the x-axis and the transmitting antenna upward as the z-axis, expressed as (x, y, z). In the transmitting antenna coordinate system, the projection endpoint v of point P on the xy plane is (x, y, 0). The coordinates of the projection point v on the vertical track plane are (x, 0, 0). According to the geometric relationship of the triangle, the height H of p' can be calculated. P′ , that is, according to formula (8) to calculate H P′ . Since the height measurement data of the vertical track position point fluctuates greatly due to the influence of the drone equipment itself, the vertical track position point is not necessarily on the vertical track plane. In the embodiment of the present application, the vertical track position point is first projected on the horizontal plane, and then projected on the vertical plane, and the longitude and latitude of the corresponding point projected on the vertical plane and the vertical planning area are used to obtain the theoretical vertical height, so that it is convenient to use the theoretical vertical height to correct the height measurement data of the vertical track position point in the subsequent process. The embodiment of the present application uses the longitude and latitude data with higher accuracy to obtain more accurate theoretical height data corresponding to the vertical track position point, which provides a basis for the correction of the subsequent height measurement data.

[0115] S1034, correcting the height measurement data of the vertical track position point according to the theoretical height data of the vertical track position point to obtain height correction data of the vertical track position point.

[0116] Specifically, formula (9) is used for calculation:

[0117]

[0118] Among them, H′ v Indicates the corrected altitude of the vertical track position point, H v Indicates the height of the vertical track position point before correction, H P′ Indicates the theoretical height of the vertical track position point; It represents the vertical track altitude correction factor, and its value range is 0-1, where 0 means no correction and 1 means complete deviation from the planned track. The specific value can be determined based on the actual effect, and 0.8 is generally selected.

[0119] In the embodiment of the present application, theoretical altitude data of the vertical track position point is obtained through high-precision latitude and longitude measurement data, and then the low-precision altitude measurement data is corrected through the theoretical altitude data of the vertical track position point, thereby improving the accuracy of the altitude data of the vertical track position point, which is conducive to processing antenna radiation pattern data with better effects.

[0120] S1035. Obtain vertical track correction data according to the altitude correction data of the vertical track position point and the position correction data of the vertical track position point.

[0121] Specifically, the vertical track correction data of the vertical track position point is obtained by making the altitude correction data of the vertical track position point correspond to each other with the position correction data of the vertical track position point.

[0122] S104: Obtain corrected track measurement data according to the horizontal track correction data and the vertical track correction data.

[0123] It should be noted that the corrected track measurement data includes not only horizontal track correction data and vertical track correction data, but also data such as the radio wave field strength of the corresponding position point. Subsequently, the antenna radiation pattern of the transmitting antenna can be obtained based on the longitude, latitude, altitude and field strength information in the corrected track measurement data, where the antenna radiation pattern refers to a graph of the relative field strength (normalized modulus) of the radiation field changing with direction at a certain distance from the transmitting antenna, and is usually represented by two mutually perpendicular plane radiation patterns in the direction of maximum radiation of the antenna.

[0124] On the one hand, the embodiment of the present application corrects the measurement data of the horizontal track position point of the drone through the position data of the transmitting antenna and the horizontal track planning height, thereby eliminating the system error caused by the measuring equipment such as the position sensor carried by the drone or the equipment measuring the transmitting antenna; on the other hand, the measurement data of the vertical track position point with lower accuracy is corrected through the measurement data of the horizontal track position point with higher accuracy, thereby improving the accuracy of the measurement data of the vertical track position point as a whole. The overall accuracy of the corrected track measurement data of the embodiment of the present application is greatly improved, which is conducive to obtaining a more accurate antenna radiation pattern.

[0125] The technical solutions and beneficial effects of the embodiments of the present application will be further explained below with reference to specific examples.

[0126] Table 1 shows the parameter information of a transmitting antenna.

[0127] Parameter name Parameter Value Location longitude 116.8541724° Location Latitude 40.1063175° Azimuth 45° Antenna height from ground 18 meters

[0128] Table 1

[0129] Figure 8 The figure shows the location of the collected track data, where the horizontal coordinate of curve a is longitude, and the vertical coordinate is altitude, which is a bird's-eye view of the location point along the latitude direction; the horizontal coordinate of curve b is latitude, and the vertical coordinate is altitude, which is a bird's-eye view along the longitude direction; the horizontal coordinate of curve c is longitude, and the vertical coordinate is latitude, which is a bird's-eye view from top to bottom; the five-pointed star in the middle is the location of the transmitting antenna. It can be seen from the figure that the UAV has carried out multiple horizontal and vertical track measurements, but there will be deviations in the measurement data each time. Fig. 9 The figure shows the corresponding data position diagram after correction, where the correction coefficient and All use 1. It can be seen from the figure that after correction, each horizontal track and vertical track measurement is basically consistent with a small deviation, indicating that the accuracy and precision of the data have been significantly improved. Fig.10 The figure shows the antenna radiation pattern, where curves c and d are the antenna radiation pattern curves in the horizontal and vertical directions obtained by processing the data before correction, and c' and d' are the corresponding antenna radiation pattern gas phases obtained by processing the data after correction. It can be seen from the figure that the corrected antenna radiation pattern curve has some changes in details, which is closer to the actual antenna radiation pattern curve.

[0130] On the other hand, in one embodiment, Fig.11 , provides a data correction device for an antenna pattern, the device comprising:

[0131] The data acquisition module 1101 is configured to acquire the position data of the transmitting antenna, the horizontal track planning height, and acquire the measurement data of the horizontal track position points and the measurement data of the vertical track position points of the UAV around the transmitting antenna according to the preset marks, wherein the measurement data of the horizontal track position points include the position measurement data and the height measurement data of the horizontal track position points, and the measurement data of the vertical track position points include the position measurement data and the height measurement data of the vertical track position points;

[0132] The horizontal track data correction module 1102 is configured to correct the measurement data of the horizontal track position point according to the position data of the transmitting antenna and the horizontal track planning height to obtain horizontal track correction data;

[0133] The vertical track data correction module 1103 is configured to correct the vertical track measurement data according to the position data of the transmitting antenna, the horizontal track planning height and the measurement data of the horizontal track position point to obtain the vertical track correction data;

[0134] The track correction acquisition module 1104 is configured to obtain corrected track measurement data according to the horizontal track correction data and the vertical track correction data.

[0135] For the specific definition of the data correction device without antenna pattern, please refer to the definition of the data correction method for antenna pattern above, which will not be repeated here. Each module in the above-mentioned data correction device for antenna pattern can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0136] Fig.12 A block diagram of a computer device provided in an embodiment of the present application, the computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Fig.12As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for data processing of a satellite visible arc segment is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the housing of the electronic device, or an external keyboard, touchpad or mouse, etc.

[0137] Those skilled in the art will understand that Fig.12 The structure shown in the figure is only a block diagram of a part of the structure related to the scheme of the present disclosure, and does not constitute a limitation on the computer device to which the scheme of the present disclosure is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0138] In an exemplary embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program to implement the data correction method of the antenna pattern in the embodiment of the present disclosure.

[0139] In an exemplary embodiment, a computer-readable storage medium is also provided, on which a computer program is stored, and when the computer program stored in the computer-readable storage medium is executed by a processor of a computer device, the computing device is enabled to execute the data correction method of the antenna pattern in the embodiment of the present disclosure. The computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0140] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0141] It should be understood that the above embodiments are exemplary and are not intended to include all possible implementations included in the claims. Various modifications and changes may be made on the basis of the above embodiments without departing from the scope of the present disclosure. Similarly, the various technical features of the above embodiments may be arbitrarily combined to form other embodiments of the present invention that may not be explicitly described. Therefore, the above embodiments only express several implementations of the present invention and do not limit the scope of protection of the patent of the present invention.

Claims

1. A method for correcting antenna pattern data, characterized in that: The method comprises: Acquire the position data of the transmitting antenna, the horizontal track planning height, and acquire the measurement data of the horizontal track position points and the measurement data of the vertical track position points of the UAV around the transmitting antenna according to the preset marks, wherein the measurement data of the horizontal track position points include the position measurement data and the height measurement data of the horizontal track position points, and the measurement data of the vertical track position points include the position measurement data and the height measurement data of the vertical track position points; Correcting the measurement data of the horizontal track position point according to the position data of the transmitting antenna and the horizontal track planning height to obtain horizontal track correction data; Correcting the vertical track measurement data according to the position data of the transmitting antenna, the horizontal track planning height and the measurement data of the horizontal track position point to obtain vertical track correction data; Obtaining corrected track measurement data according to the horizontal track correction data and the vertical track correction data; The step of correcting the measured data of the horizontal track position point according to the position data of the transmitting antenna and the horizontal track planning height to obtain the horizontal track correction data includes: Correcting the height measurement data of the horizontal track position point according to the horizontal track planning height to obtain height correction data of the horizontal track position point; Obtaining a position change of a theoretical position point of a horizontal track according to the position data of the transmitting antenna, the measurement data of the horizontal track position point and the horizontal track planning height; Correcting the position measurement data of the horizontal track position point according to the position data of the transmitting antenna and the position change of the horizontal track theoretical position point to obtain the position correction data of the horizontal track position point; The horizontal track correction data is obtained according to the altitude correction data of the horizontal track position point and the position correction data of the horizontal track position point.

2. The method for correcting antenna pattern data according to claim 1, characterized in that: The height measurement data of the horizontal track position point is corrected according to the horizontal track planning height in the horizontal track planning height to obtain the height correction data of the horizontal track position point, specifically using the following formula: Among them, H adj Indicates the corrected height of the horizontal track position point, H m Indicates the height of the horizontal track position point before correction, H p Indicates the horizontal track planning altitude; Indicates the horizontal track altitude correction factor.

3. The antenna pattern data correction method according to claim 1, characterized in that: The step of obtaining the position change of the theoretical position point of the horizontal track according to the position data of the transmitting antenna, the measurement data of the horizontal track position point and the horizontal track planning height comprises: Replacing the altitude measurement data in the measurement data of the horizontal track position point with the horizontal track planning altitude to obtain the data of the replaced horizontal track position point; Obtaining data on the center position of the horizontal track according to the data on the replaced horizontal track position point; Calculate the average distance from the transmitting antenna to the horizontal track position point according to the position data of the transmitting antenna and the data of the replaced horizontal track position point; The position change of the theoretical position point of the horizontal track is obtained according to the position data of the transmitting antenna, the average distance from the transmitting antenna to the horizontal track position point, the data of the replaced horizontal track position point and the data of the center position of the horizontal track position point.

4. The method for correcting antenna pattern data according to claim 1, wherein: The position measurement data of the horizontal track position point is corrected according to the position data of the transmitting antenna and the position change of the horizontal track position point to obtain the position correction data of the horizontal track position point, specifically using the following formula: Among them, Lon' i For and Lat' i They represent the corrected longitude and latitude of the i-th position point on the horizontal track, Lon i and Lat i They represent the longitude and latitude of the i-th position point on the horizontal track before correction, Lon tx and Lat tx denote the longitude and latitude of the transmitting antenna, Δ loni and Δ lati They represent the changes in longitude and latitude of the i-th position point on the horizontal track, Indicates the horizontal track position correction factor.

5. The method for correcting antenna pattern data according to claim 1, wherein: The step of correcting the vertical track measurement data according to the position data of the transmitting antenna, the horizontal track planning height, and the measurement data of the horizontal track position point to obtain vertical track correction data includes: Acquire the center position data of the vertical track position point according to the measurement data of the vertical track position point; Correcting the position measurement data of the vertical track position point according to the position data of the transmitting antenna and the center position data of the vertical track position point to obtain the position correction data of the vertical track position point; Obtain theoretical height data of the vertical track position point according to the position data of the transmitting antenna, the planned height of the horizontal track, the measurement data of the horizontal track position point, and the measurement data of the vertical track position point; Correcting the height measurement data of the vertical track position point according to the theoretical height data of the vertical track position point to obtain height correction data of the vertical track position point; The vertical track correction data is obtained according to the altitude correction data of the vertical track position point and the position correction data of the vertical track position point.

6. The method for correcting antenna pattern data according to claim 5, characterized in that: The position measurement data of the vertical track position point is corrected according to the position data of the transmitting antenna and the central position data of the vertical track position point to obtain the position correction data of the vertical track position point, specifically using the following formula: Among them, Lon' ci For and Lat' ci They represent the corrected longitude and latitude of the i-th position point on the vertical track, Lon ci and Lat ci They represent the longitude and latitude of the i-th position point on the vertical track before correction, Lon Cv and Lat Cv Respectively represent the longitude and latitude of the center position of the vertical track position point, △ lonci and latci They represent the changes in longitude and latitude of the ith position point on the vertical track, Indicates the vertical track position correction factor.

7. The method for correcting antenna pattern data according to claim 5, characterized in that: The obtaining of theoretical height data of the vertical track position point according to the position data of the transmitting antenna, the horizontal track planning height, the measurement data of the horizontal track position point and the measurement data of the vertical track position point comprises: Calculate the vertical track planning radius according to the position data of the transmitting antenna, the horizontal track planning height and the data of the horizontal track position point; According to the measurement data of the vertical track position point, obtain the position point of the vertical track position point projected on the horizontal plane, and according to the data of the position point of the horizontal plane projection, obtain the position point data of the horizontal plane projection position point projected on the vertical track plane; The theoretical height data of the vertical track position point is calculated according to the position data of the transmitting antenna, the vertical track planning radius and the position point data of the vertical track plane projection.

8. The method for correcting antenna pattern data according to claim 5, wherein: The height measurement data of the vertical track position point is corrected according to the theoretical height data of the vertical track position point to obtain the height correction data of the vertical track position point, specifically using the following formula: Among them, H' v Indicates the corrected altitude of the vertical track position point, H v Indicates the height of the vertical track position point before correction, H P' Indicates the theoretical height of the vertical track position point; Indicates the vertical track altitude correction factor.

9. A method for correcting antenna pattern data, characterized in that: The method comprises: Acquire the position data of the transmitting antenna, the horizontal track planning height, and acquire the measurement data of the horizontal track position points and the measurement data of the vertical track position points of the UAV around the transmitting antenna according to the preset marks, wherein the measurement data of the horizontal track position points include the position measurement data and the height measurement data of the horizontal track position points, and the measurement data of the vertical track position points include the position measurement data and the height measurement data of the vertical track position points; Correcting the measurement data of the horizontal track position point according to the position data of the transmitting antenna and the horizontal track planning height to obtain horizontal track correction data; Correcting the vertical track measurement data according to the position data of the transmitting antenna, the horizontal track planning height and the measurement data of the horizontal track position point to obtain vertical track correction data; Obtaining corrected track measurement data according to the horizontal track correction data and the vertical track correction data; The step of correcting the vertical track measurement data according to the position data of the transmitting antenna, the horizontal track planning height, and the measurement data of the horizontal track position point to obtain the vertical track correction data includes: Acquire the center position data of the vertical track position point according to the measurement data of the vertical track position point; Correcting the position measurement data of the vertical track position point according to the position data of the transmitting antenna and the center position data of the vertical track position point to obtain the position correction data of the vertical track position point; Obtain theoretical height data of the vertical track position point according to the position data of the transmitting antenna, the planned height of the horizontal track, the measurement data of the horizontal track position point, and the measurement data of the vertical track position point; Correcting the height measurement data of the vertical track position point according to the theoretical height data of the vertical track position point to obtain height correction data of the vertical track position point; The vertical track correction data is obtained according to the altitude correction data of the vertical track position point and the position correction data of the vertical track position point.

10. The method for correcting antenna pattern data according to claim 9, characterized in that: The position measurement data of the vertical track position point is corrected according to the position data of the transmitting antenna and the central position data of the vertical track position point to obtain the position correction data of the vertical track position point, specifically using the following formula: Among them, Lon' ci For and Lat' ci They represent the corrected longitude and latitude of the i-th position point on the vertical track, Lon ci and Lat ci They represent the longitude and latitude of the i-th position point on the vertical track before correction, Lon Cv and Lat Cv Respectively represent the longitude and latitude of the center position of the vertical track position point, △ lonci and latci They represent the changes in longitude and latitude of the ith position point on the vertical track, Indicates the vertical track position correction factor.

11. The method for correcting antenna pattern data according to claim 9, wherein: The obtaining of theoretical height data of the vertical track position point according to the position data of the transmitting antenna, the horizontal track planning height, the measurement data of the horizontal track position point and the measurement data of the vertical track position point comprises: Calculate the vertical track planning radius according to the position data of the transmitting antenna, the horizontal track planning height and the data of the horizontal track position point; According to the measurement data of the vertical track position point, obtain the position point of the vertical track position point projected on the horizontal plane, and according to the data of the position point of the horizontal plane projection, obtain the position point data of the horizontal plane projection position point projected on the vertical track plane; The theoretical height data of the vertical track position point is calculated according to the position data of the transmitting antenna, the vertical track planning radius and the position point data of the vertical track plane projection.

12. The method for correcting antenna pattern data according to claim 9, wherein: The height measurement data of the vertical track position point is corrected according to the theoretical height data of the vertical track position point to obtain the height correction data of the vertical track position point, specifically using the following formula: Among them, H' v Indicates the corrected altitude of the vertical track position point, H v Indicates the height of the vertical track position point before correction, H P' Indicates the theoretical height of the vertical track position point; Indicates the vertical track altitude correction factor.

13. A data correction device for an antenna pattern, characterized in that: The device comprises: A data acquisition module is configured to acquire the position data of the transmitting antenna, the horizontal track planning height, and acquire the measurement data of the horizontal track position points and the measurement data of the vertical track position points of the UAV around the transmitting antenna according to the preset marks, wherein the measurement data of the horizontal track position points include the position measurement data and the height measurement data of the horizontal track position points, and the measurement data of the vertical track position points include the position measurement data and the height measurement data of the vertical track position points; A horizontal track data correction module is configured to correct the measurement data of the horizontal track position point according to the position data of the transmitting antenna and the horizontal track planning height to obtain horizontal track correction data; A vertical track data correction module is configured to correct the vertical track measurement data according to the position data of the transmitting antenna, the horizontal track planning height and the measurement data of the horizontal track position point to obtain vertical track correction data; A track correction acquisition module, configured to obtain corrected track measurement data according to the horizontal track correction data and the vertical track correction data; The step of correcting the measured data of the horizontal track position point according to the position data of the transmitting antenna and the horizontal track planning height to obtain the horizontal track correction data includes: Correcting the height measurement data of the horizontal track position point according to the horizontal track planning height to obtain height correction data of the horizontal track position point; Obtaining a position change of a theoretical position point of a horizontal track according to the position data of the transmitting antenna, the measurement data of the horizontal track position point and the horizontal track planning height; Correcting the position measurement data of the horizontal track position point according to the position data of the transmitting antenna and the position change of the horizontal track theoretical position point to obtain the position correction data of the horizontal track position point; The horizontal track correction data is obtained according to the altitude correction data of the horizontal track position point and the position correction data of the horizontal track position point.

14. A data correction device for an antenna pattern, characterized in that: The device comprises: A data acquisition module is configured to acquire the position data of the transmitting antenna, the horizontal track planning height, and acquire the measurement data of the horizontal track position points and the measurement data of the vertical track position points of the UAV around the transmitting antenna according to the preset marks, wherein the measurement data of the horizontal track position points include the position measurement data and the height measurement data of the horizontal track position points, and the measurement data of the vertical track position points include the position measurement data and the height measurement data of the vertical track position points; A horizontal track data correction module is configured to correct the measurement data of the horizontal track position point according to the position data of the transmitting antenna and the horizontal track planning height to obtain horizontal track correction data; A vertical track data correction module is configured to correct the vertical track measurement data according to the position data of the transmitting antenna, the horizontal track planning height and the measurement data of the horizontal track position point to obtain vertical track correction data; A track correction acquisition module, configured to obtain corrected track measurement data according to the horizontal track correction data and the vertical track correction data; The step of correcting the vertical track measurement data according to the position data of the transmitting antenna, the horizontal track planning height, and the measurement data of the horizontal track position point to obtain the vertical track correction data includes: Acquire the center position data of the vertical track position point according to the measurement data of the vertical track position point; Correcting the position measurement data of the vertical track position point according to the position data of the transmitting antenna and the center position data of the vertical track position point to obtain the position correction data of the vertical track position point; Obtain theoretical height data of the vertical track position point according to the position data of the transmitting antenna, the planned height of the horizontal track, the measurement data of the horizontal track position point, and the measurement data of the vertical track position point; Correcting the height measurement data of the vertical track position point according to the theoretical height data of the vertical track position point to obtain height correction data of the vertical track position point; The vertical track correction data is obtained according to the altitude correction data of the vertical track position point and the position correction data of the vertical track position point.

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