Device and method for automatically dividing angles and positioning for installing a VOR antenna

Abstract

Device for automatically dividing angles and positioning for installing VOR antennas, comprising a housing. In the middle of the front of the housing, a pan-tilt camera is installed, which is used for video acquisition; a vertical laser emitter is installed below the pan-tilt camera; horizontal laser emitters are installed on the left and right sides of the vertical laser emitter respectively; on the upper left of the housing, antennas are installed, and the number of antennas is 2; on the middle left of the housing, a data port, a type-c interface and a power on / off key are installed in sequence from right to left. The beneficial effects of the present invention are as follows: adopting a portable integrated structure design, it can assist construction workers to achieve high-precision positioning; the direction angle is automatically calculated by the control system of the device; it can emit installation positioning laser beam bundles at the installation site of the VOR antenna array to calibrate the installation position of the sideband antenna; and collect various installation data at the installation site of the VOR antenna array in real time.

Description

Technical Field

[0001] The present invention relates to a Doppler Very High Frequency Omnidirectional Range (VOR) antenna installation device, specifically to a device and method for automatically dividing angles and positioning for installing a VOR antenna, belonging to the technical field of airport / route Doppler Very High Frequency Omnidirectional Range (VOR) antenna installation. Background Art

[0002] A Doppler Very High Frequency Omnidirectional Range (VOR) station refers to a short-range radio navigation system that operates at 112 - 118 MHz and can provide an aircraft with its magnetic azimuth relative to the ground station within a 360° range, a radio navigation system for aviation. Its operating frequency band is the very high frequency band of 112 - 118 MHz, hence the name. The signals transmitted by the VOR transmitter are two: one is a reference signal with a fixed phase; the phase of the other signal changes continuously with the circumferential angle around the beacon station, that is, the phases of the signals transmitted at each angle are different. The signal transmitted at 360 degrees (pointing to the magnetic north pole) is in phase with the reference signal (phase difference is 0), and the signal transmitted at 180 degrees (pointing to the magnetic south pole) has a phase difference of 180 degrees from the reference signal. The VOR receiver on the aircraft can calculate which angle signal from the beacon station it is on according to the phase difference between the two received signals, thereby obtaining all-round guidance information, enabling the aircraft to fly safely along the predetermined route (line) and complete approach and departure flights.

[0003] A Doppler Very High Frequency Omnidirectional Range (VOR) station consists of a VOR transmitting antenna array; the VOR transmitting antenna array consists of 1 central antenna and 48 sideband antennas; the central antenna is used to transmit the reference signal, also known as the first carrier antenna; the 48 sideband antennas are equidistantly installed around the central antenna on the ground network, forming a circle with a diameter of 13.5 m; the distance between two adjacent sideband antennas is 7.5°.

[0004] In order to ensure the accuracy of the signals transmitted by the VOR transmitter, the airport has extremely high installation requirements for the VOR transmitting antenna array.

[0005] Currently, during the installation process of VOR antennas, various instruments such as total stations, spirit levels, and spirit rules are mainly used, and manual installation and debugging are required one by one. In the traditional VOR antenna installation process, to ensure the installation accuracy of the VOR antenna array, it mainly depends on the experience and technical level of the operators. At the same time, the acquisition of various data at the installation site is limited to manual acquisition; so it leads to time-consuming and laborious in the construction process of the VOR transmitting antenna array, and the accuracy is difficult to be adjusted in place at one time; at the same time, the marking and preservation of the measurement results will be damaged during the installation process of the VOR transmitting antenna array, and the process data of the measurement cannot be completely archived and traced.

[0006] Therefore, there is an urgent need for an integrated portable device that can provide high installation accuracy, has a positioning assistance function, can automatically calculate the azimuth angle, project auxiliary positioning light at the installation site, and collect on-site installation data, so as to improve the efficiency and accuracy of measurement construction, reduce manpower, and reduce the impact of environmental factors on the measurement and installation process. Summary of the Invention

[0007] To solve the above problems, the present invention provides a device and method for automatically dividing angles and positioning for installing a VOR antenna, which can solve the problems raised in the prior art, provide more accurate and efficient automated intelligent operation guidance for technicians, and at the same time can electronically archive the installation data of the VOR transmitting antenna array.

[0008] To achieve the above object, the present invention provides the following technical solutions:

[0009] A device for automatically dividing angles and positioning for installing a VOR antenna, including a housing. In the middle of the front of the housing, a pan-tilt camera is installed, which is used for video acquisition; below the pan-tilt camera, a vertical laser emitter is installed, which is used for emitting a laser beam at a vertical angle; on the left and right sides of the vertical laser emitter, horizontal laser emitters are respectively installed, which are used for emitting laser beams at horizontal angles; on the upper left side of the housing, an antenna is installed, and the number of antennas is 2, which is used for receiving wireless signals; in the middle of the left side of the housing, a data port, a type-c interface, and a power on / off key are installed in sequence from right to left; the data port and the type-c interface are used for data transmission; the power on / off key is used to control the power on and off of the device; on the lower left side of the housing, a touch screen is installed, which is electrically connected to the core board, and the core board is used to control the operation of the device and receive data information; on the right side of the housing, a speaker is installed, which is used for emitting a warning sound; on the top of the housing, an electromagnetic compass cover is installed, and inside the electromagnetic compass cover, an electromagnetic compass is installed, which is used for obtaining electromagnetic north azimuth data information; on the bottom of the housing, a base is installed.

[0010] Furthermore, the housing also internally has a Beidou module, an attitude sensor, a stepper motor, a laser range finder, a core board, and a storage module; the Beidou module is a Beidou chip, which is a chipset including an RF radio frequency chip, a baseband chip, and a microprocessor; through the Beidou chip, the signals transmitted by Beidou satellites can be received, so as to complete the functions of positioning and navigation.

[0011] The attitude sensor is a high-performance three-dimensional motion attitude measurement system based on MEMS technology. It includes motion sensors such as a three-axis gyroscope, a three-axis accelerometer, and a three-axis electronic compass. Through an embedded low-power ARM processor, it obtains temperature-compensated three-dimensional attitude and azimuth data, etc. The data output end of the attitude sensor is electrically connected to the input end of the core board. The core board controls the camera angle adjustment of the pan-tilt camera by receiving and analyzing the three-dimensional attitude and azimuth data transmitted by the attitude sensor.

[0012] The stepping motor is mechanically connected to the pan-tilt camera and is used to control the pan-tilt camera to rotate up, down, left, and right at a certain rotation speed.

[0013] The laser ranging sensor is electrically connected to the horizontal laser emitter and the vertical laser emitter and is used to control the horizontal laser emitter and the vertical laser emitter to emit laser beams.

[0014] The core board is an embedded core board. A chip, a 5G communication module, and an audio module are installed on the core board. The chip is used to control the operation of the device. The 5G communication module is used to realize the real-time transmission of data and instruction interaction. The audio module is used for audio playback.

[0015] Furthermore, an external storage module is connected to the core board. The storage module is used to store system data, and the data retention period is not less than 6 months.

[0016] Furthermore, the core board is electrically connected to the Beidou module, the electromagnetic compass, and the attitude sensor. The chip on the core board receives latitude and longitude data, magnetic north pole data, and three-dimensional attitude and azimuth data, etc. through the 5G communication module. The core board is electrically connected to the touch screen, the pan-tilt camera, the stepping motor, the storage module, and the laser ranging sensor.

[0017] Furthermore, the chip is programmed with a control system, and the control system is the "Machine Vision Feature and Behavior Recognition Application System V1.0, Software Registration Number 2021SR1645669".

[0018] The control system controls the operation of the device through the chip and realizes a visual system display on the touch screen. The touch screen controls the operation of the chip by operating the control system.

[0019] Furthermore, the control system controls the laser ranging sensor, and the laser ranging sensor controls the adjustment of the horizontal laser emitter and the vertical laser emitter to emit horizontal and vertical laser beams according to the control system instructions.

[0020] Furthermore, the control system controls the calibration position of the pan-tilt camera by controlling the stepping motor.

[0021] Furthermore, the control system reads the data in the storage module and stores the system data through the chip.

[0022] Usage method of the device for automatically dividing angles and positioning for installing the VOR antenna:

[0023] First step: At the construction site of the VOR antenna, start the device by pressing the power on / off key. After startup, transmit the installation design data of the VOR antenna array to the storage module through the data port, read it through the chip, and be recognized and input by the control system as the reference comparison data for the on-site construction of the VOR antenna array. At the same time, the built-in Beidou module of the device starts to receive the signals emitted by Beidou satellites, accurately locate the latitude and longitude data of the current device, transmit the latitude and longitude data to the control system in the chip, and display it on the touch screen. After the control system compares the latitude and longitude data of the current device with the latitude and longitude data on the input VOR antenna array installation design data, it displays the latitude and longitude deviation information on the touch screen. Then, obtain the magnetic north pole data through the electromagnetic compass. The obtained magnetic north pole mapping data is transmitted to the chip through the 5G communication module, and the chip calculates the true north direction. At the same time, the control system controls the pan-tilt camera 5 to rotate to the true north direction through the stepper motor, and then determines the approximate installation azimuth of the first carrier antenna. The first carrier antenna is located at the central position of the VOR antenna array and there is only 1.

[0024] Second step: After determining the approximate installation azimuth of the first carrier antenna, the control system controls two horizontal laser transmitters and one vertical laser transmitter to emit laser beams respectively through the laser distance sensor, irradiate the approximate installation azimuth of the first carrier antenna, and form a three-point calibration image, so as to accurately locate the installation position of the first carrier antenna.

[0025] At the same time, the control system transmits the captured calibration image information to the chip in real time through the pan-tilt camera. The control system compares the horizontal and vertical degrees of the calibration image information of the first carrier antenna, calculates the installation angle data of the sideband antennas adjacent to the first carrier antenna, and calibrates the magnetic north pole data of the first sideband antenna. If there is a deviation from the magnetic north pole data of the first sideband antenna on the input VOR antenna array installation design data, automatic calibration is performed through the posture sensor, and the calibration data is compared in real time. The control system will automatically loop the above operations until the distance from the first sideband antenna to the first carrier antenna meets the input VOR antenna array installation design data, that is, the deviation ≤ ±5 mm; the delivery deviation ≤ 1'; the height deviation of the sideband antenna ≤ ±5 mm. Thus, the accurate positioning of the installation position of the first sideband antenna is completed.

[0026] Step 3: The control system transmits the installation position data of the first sideband antenna to the touch screen; a projection schematic diagram of the horizontal laser emitter and the vertical laser emitter at the pre-installation position of the first sideband antenna is displayed on the touch screen; the construction personnel perform the ground grid construction according to the positioning positions irradiated by the laser beams emitted by the two horizontal laser emitters and one vertical laser emitter, and install a circular metal track with a diameter of 13.5 m on the ground grid. There are 48 mounting bases evenly distributed on the circular metal track for installing sideband antennas; after the circular metal track is pre-installed, the circular metal track is adjusted according to the positioning positions irradiated by the laser beams emitted by the two horizontal laser emitters and the vertical laser emitter; when a certain mounting base on the circular metal track coincides with the positioning position, the adjustment and calibration are completed, and this is used as the detailed positioning parameter for the installation of the first sideband antenna; the construction personnel start to install the No. 1 sideband antenna on the mounting base of the metal track according to the positioning silk thread, and the control system calibrates the installation process and the data after installation of the first sideband antenna through the pan-tilt camera, the horizontal laser emitter and the vertical laser emitter until the installation of the first sideband antenna is completed;

[0027] Step 4: After the first sideband antenna is pre-installed in place, the pan-tilt camera transmits the reflected image of the first sideband antenna captured in real time to the core board chip; the control system analyzes the video, and the obtained video analysis data will be compared and analyzed with the positioning position information irradiated by the laser beams emitted by the horizontal laser emitter and the vertical laser emitter. If the installation position of the first sideband antenna is offset, the control system will control the speaker to emit a prompt sound through the audio module. The construction personnel make fine-tuning movements forward, backward, left, and right of the metal track according to the prompt sound until the warning sound stops, and the final positioning confirmation is completed; after the installation position of the first sideband antenna is adjusted and confirmed, the construction personnel fix the first sideband antenna on the mounting base of the metal track by tightening the screws; after the first sideband antenna is installed and fixed, the construction personnel use the first sideband antenna as a reference and install the second sideband antenna, the third sideband antenna... until the 48th sideband antenna in a counterclockwise direction. Finally, a No. 1 carrier antenna is installed at the middle position of the metal track.

[0028] The advantages of the present invention are as follows:

[0029] 1. The present invention adopts a portable integrated structure design, which can assist construction personnel to achieve high-precision positioning; the direction angle is automatically calculated by the control system of the device; the installation positioning laser beam can be emitted at the VOR antenna array installation site to calibrate the installation position of the sideband antenna; and various installation data at the VOR antenna array installation site are collected in real time;

[0030] 2. Through the installation method of the present invention, the construction efficiency of the VOR antenna array installation can be improved, and the accuracy of the installation position of the sideband antenna can be increased, while reducing the influence of human and environmental factors on the measurement and installation process of the VOR antenna array.

[0031] The program control logic and module relationship of the present invention will be further described below with reference to the accompanying drawings. Description of the Drawings

[0032] Figure 1 is a front structural schematic diagram of the device for automatically dividing angles and positioning for installing a VOR antenna according to an embodiment of the present invention;

[0033] Figure 2 is a left structural schematic diagram of the device for automatically dividing angles and positioning for installing a VOR antenna according to an embodiment of the invention.

[0034] Figure 3 is a right structural schematic diagram of the device for automatically dividing angles and positioning for installing a VOR antenna according to an embodiment of the invention.

[0035] Figure 4 is a schematic diagram of the device for automatically dividing angles and positioning for installing a VOR antenna according to an embodiment of the invention;

[0036] Figure 5 is a schematic diagram for checking the latitude and longitude position of the device for automatically dividing angles and positioning for installing a VOR antenna according to an embodiment of the present invention;

[0037] Figure 6 is a schematic diagram of the usage method of the device for automatically dividing angles and positioning for installing a VOR antenna according to an embodiment of the present invention;

[0038] In the figure: 1 housing, 2 antenna, 3 electromagnetic compass cover, 4 pan-tilt camera, 5 horizontal laser emitter, 6 vertical laser emitter, 7 base, 8 speaker, 9 touch screen, 10 data port, 11 type-c interface, 12 power on / off key. Detailed Embodiments

[0039] The following are descriptions of the preferred embodiments of the present invention. It should be understood that the preferred embodiments described herein are only for the purpose of illustrating and explaining the present invention, and are not used to limit the present invention.

[0040] As Figure 1-4As shown in the figure, a device for automatically dividing angles and positioning a VOR antenna includes a housing 1. In the middle of the front of the housing 1, a pan-tilt camera 4 is installed for video acquisition. Below the pan-tilt camera 4, a vertical laser emitter 6 is installed for emitting a laser beam at a vertical angle. On the left and right sides of the vertical laser emitter 6, horizontal laser emitters 5 are respectively installed for emitting laser beams at horizontal angles. On the upper left side of the housing 1, two antennas 2 are installed for receiving wireless signals. In the middle of the left side of the housing 1, a data port 10, a type-c interface 11, and a power on / off key 12 are installed in sequence from right to left. The data port 10 and the type-c interface 11 are used for data transmission. The power on / off key 12 is used to control the power on and off of the device. On the lower left side of the housing 1, a touch screen 9 is installed. The touch screen 9 is electrically connected to the core board to control the operation of the device and receive data information through the core board. On the right side of the housing 1, a speaker 8 is provided for emitting a warning sound. On the top of the housing 1, a magnetic compass cover 3 is installed. Inside the magnetic compass cover 3, a magnetic compass is installed for obtaining data information on the electromagnetic north pole orientation. At the bottom of the housing 1, a base 7 is installed.

[0041] Furthermore, the housing 1 also internally contains a Beidou module, an attitude sensor, a stepper motor, a laser ranging sensor, a core board, and a storage module. The Beidou module is a Beidou chip, which is a chipset including an RF radio frequency chip, a baseband chip, and a microprocessor. Through the Beidou chip, signals transmitted by Beidou satellites can be received, thereby completing the functions of positioning and navigation.

[0042] The attitude sensor is a high-performance three-dimensional motion attitude measurement system based on MEMS technology. It includes motion sensors such as a three-axis gyroscope, a three-axis accelerometer, and a three-axis electronic compass. Through the embedded low-power ARM processor, three-dimensional attitude and azimuth data compensated for temperature are obtained. The data output end of the attitude sensor is electrically connected to the input end of the core board. The core board controls the stepper motor to adjust the shooting angle of the pan-tilt camera 4 by receiving and analyzing the three-dimensional attitude and azimuth data transmitted by the attitude sensor.

[0043] The stepper motor is mechanically connected to the pan-tilt camera 4 and is used to control the pan-tilt camera 4 to rotate up, down, left, and right at a certain rotation speed.

[0044] The laser ranging sensor is electrically connected to the horizontal laser emitter 5 and the vertical laser emitter 6 and is used to control the horizontal laser emitter 5 and the vertical laser emitter 6 to emit laser beam bundles.

[0045] The core board is an embedded core board; a chip, a 5G communication module, and an audio module are installed on the core board; the chip is used to control the operation of the device; the 5G communication module is used to achieve real-time transmission of data and instruction interaction; the audio module is used for audio playback;

[0046] Furthermore, a storage module is externally connected to the core board, and the storage module is used to store system data, and the data retention period is not less than 6 months;

[0047] Furthermore, the core board is electrically connected to a Beidou module, an electromagnetic compass, and an attitude sensor. The chip on the core board receives data such as longitude and latitude data, magnetic north pole data, and three-dimensional attitude and azimuth through the 5G communication module; the core board is electrically connected to the touch screen, a pan-tilt camera, a stepper motor, a storage module, and a laser rangefinder;

[0048] Furthermore, the chip is programmed with a control system, and the control system is the "Machine Vision Feature and Behavior Recognition Application System V1.0 (Software Registration Number 2021SR1645669)"; the control system controls the operation of the device through the chip and realizes a visual system display on the touch screen; the touch screen controls the operation of the chip by operating the control system;

[0049] Furthermore, the control system controls the laser rangefinder, and the laser rangefinder controls and adjusts the horizontal and vertical laser beams emitted by the horizontal laser emitter and the vertical laser emitter through the control system instructions;

[0050] Furthermore, the control system controls and adjusts the calibration position of the pan-tilt camera by controlling the stepper motor;

[0051] Furthermore, the control system reads the data in the storage module and stores system data through the chip;

[0052] As Figure 5 shown, import the installation design data of the VOR antenna array into the control system. The installation design data of the VOR antenna array is the installation and design data of a primary carrier antenna and 48 sideband antennas. After importing the installation design data of the VOR antenna array into the control system, the control system calibrates the position of the current device according to the position longitude and latitude data received by the Beidou module. At the same time, the longitude and latitude position of the current device is displayed on the touch screen. The installer adjusts the accurate position of the current device by comparing the installation design data of the VOR antenna array and the Beidou longitude and latitude position data until it meets the design requirements, and the positioning setting is completed.

[0053] As Figure 6As shown, after importing the installation design data of the VOR antenna array into the control system, the control system uses the installation and design data of the first carrier antenna as reference data; the control system calibrates the positioning position of the first carrier antenna by using the magnetic north data automatically collected by the electromagnetic compass, the image data collected by the pan-tilt camera, and the calibration data of the laser beams emitted by the horizontal laser emitter and the vertical laser emitter controlled by the laser rangefinder; by positioning the accurate installation position of the first carrier antenna, the installation position of the first sideband antenna is accurately positioned.

Claims

1. An automatic angle division and positioning method for installing a VOR antenna, characterized in that, It includes the following steps: The first step: At the construction site of the VOR antenna, start the device by pressing the power on / off key. After startup, transmit the installation design data of the VOR antenna array to the storage module through the data port. Read it through the chip and be recognized and input by the control system as the reference comparison data for the on-site construction of the VOR antenna array. At the same time, the built-in Beidou module in the device starts to receive the signals emitted by Beidou satellites, accurately locate the latitude and longitude data of the current device, and transmit the latitude and longitude data to the control system in the chip, and at the same time display it on the touch screen. After the control system compares the latitude and longitude data of the current device with the latitude and longitude data on the input VOR antenna array installation design data, display the latitude and longitude deviation information on the touch screen. Then, obtain the magnetic north pole data through the electromagnetic compass. The obtained magnetic north pole surveying and mapping data is transmitted to the chip through the 5G communication module, and the chip calculates the true north azimuth. At the same time, the control system controls the pan-tilt camera to rotate to the true north direction through the stepping motor, and then determines the approximate installation azimuth of the first carrier antenna. The first carrier antenna is located at the central position of the VOR antenna array and there is only 1; The second step: After determining the approximate installation azimuth of the first carrier antenna, the control system performs the following operations, including: controlling two horizontal laser emitters and one vertical laser emitter to emit laser beams respectively through the laser range finder, irradiating the approximate installation azimuth of the first carrier antenna and forming a three-point calibration image, so as to accurately locate the installation position of the first carrier antenna; At the same time, the control system transmits the captured calibration image information to the chip through the pan-tilt camera in real time. The control system compares the horizontal and vertical degrees of the calibration image information of the first carrier antenna, calculates the installation angle data of the sideband antennas adjacent to the first carrier antenna, and calibrates the magnetic north pole data of the first sideband antenna. If there is a deviation from the magnetic north pole data of the first sideband antenna on the input VOR antenna array installation design data, automatic calibration is performed through the posture sensor, and the calibrated data is compared in real time. The control system will automatically loop the above operations until the distance from the first sideband antenna to the first carrier antenna meets the input VOR antenna array installation design data, that is, the deviation ≤ ±5 mm; the delivery deviation ≤ 1'; the height deviation of the sideband antenna ≤ ±5 mm. Thus, the accurate positioning of the installation position of the first sideband antenna is completed; Step 3: The control system transmits the installation position data of the first sideband antenna to the touch screen; a projection schematic diagram of the horizontal laser emitter and the vertical laser emitter at the pre-installation position of the first sideband antenna is displayed on the touch screen; the construction personnel carry out the ground grid construction according to the positioning positions irradiated by the laser beams emitted by the two horizontal laser emitters and one vertical laser emitter, and install a circular metal track with a diameter of 13.5 m on the ground grid. There are 48 mounting bases evenly distributed on the circular metal track for installing the sideband antennas; when the circular metal track is pre-installed, the circular metal track is adjusted according to the positioning positions irradiated by the laser beams emitted by the two horizontal laser emitters and the vertical laser emitter; when a certain mounting base on the circular metal track coincides with the positioning position, the adjustment and calibration are completed, and this is used as the detailed positioning parameter for the installation of the first sideband antenna; the construction personnel start to install the No. 1 sideband antenna on the mounting base of the metal track according to the positioning silk thread, and the control system calibrates the installation process and the data after installation of the first sideband antenna through the pan-tilt camera, the horizontal laser emitter and the vertical laser emitter until the installation of the first sideband antenna is completed; Step 4: After the first sideband antenna is pre-installed in place, the pan-tilt camera transmits the video image of the position where the first sideband antenna is located in real time to the core board chip; the control system analyzes the video image, and the obtained video image analysis data will be compared and analyzed with the positioning position information irradiated by the laser beams emitted by the horizontal laser emitter and the vertical laser emitter. If the installation position of the first sideband antenna is offset, the control system will control the speaker to emit a prompt sound through the audio module, and the construction personnel will make fine-tuning movements forward, backward, left and right of the metal track according to the prompt sound until the warning sound stops, and the final positioning confirmation is completed; after the installation position of the first sideband antenna is adjusted and confirmed, the construction personnel fix the first sideband antenna on the mounting base of the metal track by tightening the screws; after the first sideband antenna is installed and fixed, the construction personnel use the first sideband antenna as a reference and install the second sideband antenna, the third sideband antenna, and so on until the 48th sideband antenna in a counterclockwise direction. Finally, a No. 1 carrier antenna is installed at the middle position of the metal track.

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