An unmanned aerial vehicle phase correction method, device and apparatus based on off-target quantity fusion calculation, and a storage medium

Abstract

This invention discloses a UAV phase correction method, device, apparatus, and storage medium based on miss distance fusion calculation. The method combines low-light television miss distance extraction with a fast phase correction algorithm. Specifically, the method includes: acquiring hovering deviation data via low-light television using a servo system; calculating accurate angular information data between the UAV and the antenna; recording the antenna encoder angle at the moment the miss distance is zero; adjusting the antenna azimuth and elevation angles; reading the miss distance value and output voltage value respectively; calculating the phase and directional sensitivity coefficients; and adding the obtained phase shift value and directional sensitivity coefficients to the digital baseband. This invention solves the technical problem of errors in fast phase correction algorithms when using UAVs as beacons, where inaccurate directional sensitivity leads to the digital baseband receiving and demodulating error voltage failing to accurately reflect the true target spatial position, ultimately affecting tracking and measurement.

Description

Technical Field

[0001] This invention belongs to the field of radio telemetry and control technology, and in particular relates to a method, equipment, device and storage medium for UAV phase correction based on off-target quantity fusion calculation. Background Technology

[0002] In aerospace and test range tracking and control missions, for tracking and measurement equipment with dual-channel single-pulse or single-channel single-pulse systems, phase calibration (referred to as phase calibration) before tracking is an essential workflow to eliminate the phase difference between the sum and difference channels. Generally, phase calibration work needs to meet the following two conditions: first, the beacon used for phase calibration should meet the far-field spatial distance of the equipment antenna; second, in order to prevent the beacon signal from being affected by ground reflection waves during the phase calibration process, the antenna needs to operate at a certain elevation angle. Therefore, to solve this problem, fixed station tracking and control equipment generally adopts the method of building a calibration tower, land-based mobile tracking and control equipment generally adopts the method of erecting a calibration pole, and marine survey ships generally adopt the method of placing a ball to complete the phase calibration of the equipment. Through the above means, the far-field spatial distance and antenna operating elevation angle required for phase calibration of tracking and control equipment can be met.

[0003] In phase calibration, for low-frequency, small-aperture antennas, a 15-meter-high calibration tower located tens or hundreds of meters away from the antenna can meet the calibration requirements. However, with the development of telemetry and control technology, high-frequency, large-aperture telemetry and control antennas have been widely used in the field. The increase in antenna frequency and aperture will inevitably increase the far-field spatial distance during antenna phase calibration. At the same time, in order to meet a certain elevation angle, the height of the calibration tower needs to be very high. Taking a 3.8-meter-diameter Ka-band mobile telemetry and control antenna as an example, the standard test field needs to be built 2.8km away, and the height of the calibration tower above 3° is 140m. In daily phase calibration, based on a 1 / 4 far-field distance, the calibration tower also needs to be built at a height of 37m and 800m. This is costly for fixed telemetry and control sites, and for mobile telemetry and control equipment, setting up such calibration facilities is not only extremely costly but also difficult and time-consuming. In response, researchers have proposed many new phase calibration methods. Among them, Zhang Yao, Quan Luxian, and others proposed a method using radio satellites for phase calibration. However, this method has significant limitations. Radio satellite phase calibration is suitable for large-aperture antennas such as 35-meter and 66-meter aperture antennas. For small-aperture antennas, G / T... The values ​​are relatively low, making radio satellite phase calibration unsuitable. Hua Lin proposed a phase calibration method using offset-feed calibration memory, also known as the near-field phase calibration method. This method involves marking the tower and offset angle error signals at the dock before the survey vessel sets sail, using equipment at certain frequency intervals and different equipment combinations. After setting sail, the phase calibration value of the marine system can be obtained by offset calibration calculation for any frequency point and equipment combination. Offset-feed calibration memory can overcome the influence of ship rolling and is a relatively simple and easy method. However, because the temperature and humidity conditions at sea are not exactly the same as on land, the accuracy of the obtained angle tracking value is not very high. In addition, after completing the phase calibration using this method, it is necessary to verify the phase calibration results using methods such as launching a ball. Lei Ming proposed a phase calibration method based on a UAV platform. However, due to the influence of UAV hovering accuracy, the UAV is affected by changes in external environmental conditions such as wind while hovering in the air. UAV phase calibration is only suitable for windless environments. There are many limitations in the phase calibration process. To solve the problem of unstable zero point in UAV phase calibration, Hong Yu, Wu Zongqing, and others proposed a Ka-band phase calibration method based on self-tracking and offset superposition of S-band antenna. This method effectively solves the zero point deviation caused by hovering instability during UAV phase calibration. However, this method also has certain limitations, specifically: First, the antenna used for UAV phase calibration must have multi-band tracking and demodulation capabilities, such as Ka, X, and S being of the same origin. Since the calibration conditions required for low-frequency phase calibration of the same antenna are relatively easy to achieve, after completing low-frequency phase calibration, the low-frequency beacon carried by the UAV is tracked using the low-frequency band, and then the high-frequency phase calibration is completed by superimposing an offset on the self-tracking low-frequency signal. In reality, many telemetry and control equipment do not have multi-frequency tracking and demodulation capabilities. Second, the calibration process requires two phase calibrations, and the preparation process for phase calibration is time-consuming.

[0004] One existing technology has a fast phase calibration algorithm that does not require accurately finding the electrical null point of the antenna relative to the beacon, which is beneficial for UAV phase calibration. However, due to the fact that UAVs cannot hover accurately, there are errors in the phase calibration process. Specifically, unstable hovering causes spatial angle deviations, which leads to inaccurate orientation sensitivity. The error voltage deviation caused by unstable hovering will result in inaccurate phase of the calibrated sum and difference channels. Ultimately, the error voltage cannot accurately reflect the true spatial position of the target, which affects tracking and measurement. Summary of the Invention

[0005] To address the errors in UAV phase calibration mentioned above, namely, the inaccurate orientation sensitivity caused by spatial angle deviation due to unstable hovering, and the inaccurate phase of the calibrated sum and difference channels due to error voltage deviation caused by unstable hovering, ultimately preventing the error voltage from accurately reflecting the true spatial position of the target and affecting tracking and measurement.

[0006] This invention provides a method, device, apparatus, and storage medium for UAV phase correction based on miss distance fusion calculation. This method combines low-light television miss distance extraction with a fast phase correction algorithm to propose a novel UAV phase correction method, employing the following scheme:

[0007] At the start of phase calibration, the low-light television provides the UAV's miss distance information to the servo system. The servo system collects the antenna encoder angle information at the moment when the miss distance is zero and at the moment when the azimuth or pitch is pulled. At the same time, it collects the UAV's miss distance value in the low-light television at the moment when the miss distance is zero and at the moment when the azimuth or pitch is pulled, and the error voltage value of the baseband receiver demodulation. It calculates the phase shift value and the orientation sensitivity coefficient and adds them to the digital baseband. The phase calibration is then complete.

[0008] The UAV phase correction method based on miss distance fusion calculation specifically includes the following steps:

[0009] S01 phase calibration begins. The UAV hovers in the designated airspace. The antenna is adjusted to place the UAV in the television field of view. The servo system adopts the television tracking mode. The low-light television captures and tracks the target. It is confirmed that the telemetry and control equipment receives the demodulation beacon signal normally and that the servo system demodulation angle error signal is normal.

[0010] S02 defines that at any given time, the low-light television continuously outputs the miss distance information to the servo system. , ), define the digital baseband demodulation output error voltage information to the servo system at any given time as ( , ), using low-light television tracking and accumulating 20 seconds of tracking data;

[0011] S03 selects two different values ​​corresponding to the miss distance and error voltage from the accumulated data, and extracts the miss distance and error voltage at point O1 as follows: , The pitch miss distance and error voltage are () , The off-target distance and error voltage at point O2 are extracted as follows: , The pitch miss distance and error voltage are () , Based on the data at points 01 and 02, the azimuth miss distance versus azimuth error voltage function curves and the pitch miss distance versus pitch error voltage function curves were fitted respectively.

[0012] S04 At any given moment, the servo system maintains the television tracking mode, and extracts the antenna encoder angle at the moment when the miss distance is zero as ( , The error voltage value is ( , The position of the antenna encoder is defined as follows: point;

[0013] S05 At any given moment, the servo system switches from television tracking mode to pointing mode, pulling the antenna xmil in either azimuth or elevation direction. The point, the angle of the antenna encoder is ( , The servo system reads the miss distance value as ( A gt1 , E gt1 The error voltage value is () U at1 , U et1 );

[0014] S06 calculates the angle compensation value by subtracting the antenna deflection angle from the target miss angle. , The error voltage value under this target miss distance is () , );

[0015] S07 calculates the phase shift value and orientation sensitivity coefficient according to the formula;

[0016] S08 The phase shift value obtained in the phase correction step is... The directional sensitivity coefficient C is added to the digital baseband, cross-coupling is checked, and phase calibration is completed.

[0017] The phase and orientation sensitivity coefficients are calculated using the relevant parameters from steps 4 and 5:

[0018] For left-hand circularly polarized waves, the phase shift value after phase correction is:

[0019] (5)

[0020] For right-hand circularly polarized waves, the phase shift value after phase correction is:

[0021] (6)

[0022] The directional sensitivity coefficient is:

[0023] When the orientation is deviated: (7)

[0024] When the pitch direction is pulled to the side: (8)

[0025] In the formula: Δ ψ — is the phase shift value

[0026] C—the directional sensitivity coefficient

[0027] C0 — the initial gain factor of the channel

[0028] k — the rated directional sensitivity of the antenna.

[0029] Preferably, the present invention also provides a device for calibrating an unmanned aerial vehicle (UAV), including a low-light television tracking and display system, a telemetry and control equipment antenna feeder system, an UAV, and a digital baseband. The UAV carries a miniaturized beacon. The low-light television tracking system mainly consists of a low-light television and related control software, and is installed on the antenna pitch axis to complete the tracking and measurement of visible targets and the extraction of miss distances. The telemetry and control equipment antenna feeder system mainly completes the reception and demodulation of radio signals emitted by the UAV beacon.

[0030] The present invention also provides a measurement and control device for UAV phase calibration, including at least one processor and at least one memory, wherein at least one memory stores program instructions, and at least one processor reads the program instructions and executes the UAV rapid phase calibration method described above.

[0031] The present invention also provides a readable storage medium having a computer program stored thereon, characterized in that the computer program, when executed by a processor, implements the steps of any one of the methods described above.

[0032] Compared with the prior art, the present invention has at least the following advantages:

[0033] Using this method for UAV phase calibration can significantly improve the adaptability of UAV phase calibration in complex environments. Within the requirements of maintaining the accuracy of tracking performance of the telemetry and control equipment and the wind resistance performance of the UAV, the UAV phase calibration work of the telemetry and control equipment can be completed. For most telemetry and control equipment, under the condition of having television tracking, this method can complete the UAV phase calibration work without system hardware modification. It can be achieved by optimizing servo control software and phase calibration algorithms. In engineering practice, it has significant implications for the promotion of large-aperture, high-frequency telemetry and control equipment, especially mobile and shipborne telemetry and control equipment, which have stringent calibration requirements. Attached Figure Description

[0034] Figure 1 This is a block diagram of the UAV phase correction system of the present invention;

[0035] Figure 2 This is a real-time image of low-light television tracking at time t0;

[0036] Figure 3 Image of the miss distance captured by low-light television at time t1;

[0037] Figure 4 A flowchart for the automated process of drone phase calibration. Detailed Implementation

[0038] It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of this invention can be combined with each other. The technical solutions of this invention will be further described below in conjunction with the embodiments of this invention, and this invention is not limited to the specific implementation methods described below.

[0039] In one specific embodiment of the present invention, a UAV phase calibration method based on miss distance fusion calculation includes providing the UAV miss distance information to a servo system via a low-light television. The servo system collects antenna encoder angle information at the moment when the miss distance is zero and at the moment when the azimuth or pitch is pulled. Simultaneously, it collects the miss distance values ​​of the UAV in the low-light television at the moment when the miss distance is zero and at the moment when the azimuth or pitch is pulled, along with the error voltage value of the baseband receiver demodulation. The phase shift value and the orientation sensitivity coefficient are calculated and added to the digital baseband, thus completing the phase calibration.

[0040] Radio telemetry and control equipment is equipped with low-light television for tracking. Low-light television is mainly used for routine tasks such as equipment alignment, satellite alignment, obstruction inspection, and close-range target tracking. This method combines low-light television miss distance extraction with a fast phase correction algorithm, which can solve the phase correction error caused by the instability of UAV hovering when performing UAV phase correction.

[0041] The method specifically includes the following steps:

[0042] S01 phase calibration begins. The UAV hovers in the designated airspace. The antenna is adjusted to place the UAV in the television field of view. The servo system adopts the television tracking mode. The low-light television captures and tracks the target. It is confirmed that the telemetry and control equipment receives the demodulation beacon signal normally and that the servo system demodulation angle error signal is normal.

[0043] S02 defines that at any given time, the low-light television continuously outputs the miss distance information to the servo system. , ), define the digital baseband demodulation output error voltage information to the servo system at any given time as ( , ), using low-light television tracking and accumulating 20 seconds of tracking data;

[0044] S03 selects two different values ​​corresponding to the miss distance and error voltage from the accumulated data, and extracts the miss distance and error voltage at point O1 as follows: , The pitch miss distance and error voltage are () , The off-target distance and error voltage at point O2 are extracted as follows: , The pitch miss distance and error voltage are () , Based on the data at points 01 and 02, the azimuth miss distance versus azimuth error voltage function curves and the pitch miss distance versus pitch error voltage function curves were fitted respectively.

[0045] S04 At any given moment, the servo system maintains the television tracking mode, and extracts the antenna encoder angle at the moment when the miss distance is zero as ( , The error voltage value is ( , The position of the antenna encoder is defined as follows: point;

[0046] S05 At any given moment, the servo system switches from television tracking mode to pointing mode, pulling the antenna xmil in either azimuth or elevation direction. The point, the angle of the antenna encoder is ( , The servo system reads the miss distance value as ( A gt1 , E gt1 The error voltage value is () U at1 , U et1 );

[0047] S06 calculates the angle compensation value by subtracting the antenna deflection angle from the target miss angle. , The error voltage value under this target miss distance is () , );

[0048] S07 calculates the phase shift value and orientation sensitivity coefficient according to the formula;

[0049] S08 The phase shift value obtained in the phase correction step is... The directional sensitivity coefficient C is added to the digital baseband, cross-coupling is checked, and phase calibration is completed.

[0050] In one specific embodiment, step S01, the UAV phase correction method based on miss distance fusion calculation includes the following steps:

[0051] Because of their small aperture, low-light television antennas are typically mounted on the antenna's elevation axis. Following the principle of three-axis consistency for telemetry and control antennas, such as... Figure 2 As shown, when the optical axis of the low-light television is aligned with the drone, the drone is within the main beam of the antenna.

[0052] In one specific embodiment, step S02, the UAV phase correction method based on miss distance fusion calculation includes the following steps:

[0053] The hovering deviation caused by the drone's unstable hovering can be reflected in the low-light television's miss distance information. The low-light television provides the miss distance information to the servo system, and the servo system collects the current antenna encoder angle information and miss distance information.

[0054] In one specific embodiment, step S04, the UAV phase correction method based on miss distance fusion calculation includes the following steps:

[0055] The miss distance information is continuously output to the servo system. During this process, the servo system records the angle of the antenna encoder at the moment when the miss distance is zero. , Record the error voltage value under this target miss distance as ( , ), define this moment as At time, the point is defined as point.

[0056] In one specific embodiment, step S05, the UAV phase correction method based on miss distance fusion calculation includes the following steps:

[0057] At any given moment, the servo system switches from television tracking mode to pointing mode, pulling the antenna xmil in either azimuth or elevation direction. Point, after the antenna stabilizes, the angle of the antenna encoder is ( , The servo system reads the miss distance value as ( A gt1 , E gt1 The error voltage value is () U at1 , U et1 The two sets of values ​​mentioned above are denoted as Phase calculation parameters at a point Figure 3 The off-target amount is extracted by low-light television at time t1.

[0058] In one specific embodiment, step S06, the UAV phase correction method based on miss distance fusion calculation includes the following steps:

[0059] calculate Angle and error voltage compensation values ​​at the point. encoder angles collected at all times ( , The off-target value is () A gt1 , E gt1 The difference is calculated to obtain the angle compensation value. , ), and obtain the error voltage value under this target miss distance ( , ).

[0060] In one specific embodiment, step S07, the UAV phase correction method based on miss distance fusion calculation includes the following steps:

[0061] The phase and orientation sensitivity coefficients are calculated using the relevant parameters from steps 4 and 5:

[0062] For left-hand circularly polarized waves, the phase shift value after phase correction is:

[0063] (5)

[0064] For right-hand circularly polarized waves, the phase shift value after phase correction is:

[0065] (6)

[0066] The directional sensitivity coefficient is:

[0067] When the orientation is deviated: (7)

[0068] When the pitch direction is pulled to the side: (8)

[0069] In the formula: Δ ψ — is the phase shift value

[0070] C—the directional sensitivity coefficient

[0071] C0 — the initial gain factor of the channel

[0072] k — the rated directional sensitivity of the antenna.

[0073] The phase shift value Δ obtained from the phase correction steps ψ The directional sensitivity coefficient C is added to the digital baseband, and the phase coupling is checked. The phase calibration is then completed.

[0074] Furthermore, in step seven above, the principle and calculation process of the angle compensation value are as follows:

[0075] S01 accumulates compensation data;

[0076] The UAV, equipped with a beacon, flies to a predetermined airspace that meets the far-field conditions of the telemetry and control equipment and hovers there. The servo system uses television tracking mode to enable the low-light television to capture and track the target, confirming that the telemetry and control equipment receives and demodulates the beacon signal normally, and that the servo system's demodulation angle error signal is normal; the miss distance information continuously output by the low-light television to the servo system at any given time is defined as ( , ), define the digital baseband demodulation output error voltage information to the servo system at any given time as ( , After the above conditions are met, the servo working mode is switched to pointing mode, and the miss distance and error voltage data are recorded in both TV tracking and pointing modes. The data accumulation time is greater than 5 seconds in TV tracking mode and 15 seconds in pointing mode.

[0077] Fitting the curve of SO2 target miss distance versus error voltage;

[0078] ① Select two different miss distances and error voltage values ​​from the accumulated data, and the miss distance and error voltage at point 01. , ), pitch miss distance and error voltage ( , ), 02 point orientation off-target distance and error voltage ( , ), pitch miss distance and error voltage ( , ),and ≠ , ≠ , ≠ , ≠ Establish information on off-target quantities and corresponding error voltage The orientation fitting equation is as follows:

[0079] (1)

[0080] Establish information about off-target quantities and corresponding error voltage The orientation fitting equation is as follows:

[0081] (2)

[0082] ② From equations (1) and (2), the fitting function of the error voltage with respect to the miss distance is finally obtained, where the azimuth and elevation are respectively:

[0083] (3)

[0084] (4)

[0085] in, These are the fitting coefficients for the azimuth function. are the fitting coefficients of the pitch function, where [- °, °], , [-5V, 5V].

[0086] S03 Angle Compensation Determination;

[0087] The antenna along the azimuth direction from Point pull xmil to point, The miss distance at the target point should be 0. The miss distance at point ( A gt1 , E gt1 )So:

[0088] x- A gt1 =

[0089] In the above formula This is the azimuth angle compensation amount; when this value is zero, no compensation is required.

[0090] Similarly, in the pitch direction, the pitch miss distance... E gt1 This equals the angle compensation amount. No compensation is needed when this value is zero;

[0091] E gt1 =

[0092] S04 Error Voltage Compensation;

[0093] Calculate the angle compensation amount. , Then, by substituting into equations (3) and (4), the error voltage compensation amount under the target miss distance is obtained through the azimuth and elevation fitting functions. , When calculating phase shifter values ​​and directional sensitivity, the compensation amount will be... , Add it to the calculation formula for the corresponding calculation.

[0094] To address the aforementioned technical problems, this invention also relates to a device for calibrating an unmanned aerial vehicle (UAV), comprising a low-light television tracking and display system, a telemetry and control equipment servo system, an UAV, and a digital baseband. The UAV carries a miniaturized beacon. The low-light television tracking system mainly consists of a low-light television and related control software, mounted on the antenna pitch axis, and performs tasks such as tracking and measuring visible targets and extracting miss distances. The telemetry and control equipment servo system mainly receives and demodulates the radio signals emitted by the UAV beacon.

[0095] This method utilizes existing mature systems on the telemetry and control (TT&C) equipment side to perform UAV phase calibration. The TT&C equipment side mainly consists of a low-light television tracking and display system, a TT&C equipment servo system, and a digital baseband. The UAV side mainly consists of a general-purpose UAV platform and a miniaturized beacon. The UAV platform can use commercially available, mature products, with the selection primarily based on parameters such as the required far-field distance for TT&C phase calibration, beacon payload, and UAV control distance. Miniaturized beacons are widely used in current TT&C equipment, and the available beacons for various frequency bands are mature and reliable. The low-light television tracking system, also widely used in current TT&C equipment, mainly consists of a low-light television and related control software, capable of tracking and measuring visible targets and extracting miss distances. The TT&C equipment servo system primarily receives and demodulates the radio signals emitted by the UAV beacon. The system components used for UAV phase calibration are as follows: Figure 1 As shown. By combining this system with a fast phase correction algorithm, phase correction errors caused by drone hovering instability can be resolved during drone phase correction.

[0096] To solve the above-mentioned technical problems, preferably, the present invention also relates to a measurement and control device for UAV phase calibration, including at least one processor and at least one memory, wherein at least one of the memories stores program instructions, and at least one of the processors reads the program instructions and executes the UAV rapid phase calibration method described above.

[0097] To solve the above-mentioned technical problems, preferably, the present invention also relates to a readable storage medium storing a computer program thereon, characterized in that the computer program, when executed by a processor, performs the steps of the method described above.

[0098] Automated phase calibration processes are widely used in measurement and control equipment. In this method, due to the need to extract real-time miss distance and error voltage information, the manual operation process is complex, making automation necessary. The automated process can ensure the accuracy of phase calibration, improve the speed of UAV phase calibration, and reduce the probability of errors during manual operation. The automated phase calibration process, according to the timing sequence, is as follows: Figure 4 As shown.

[0099] Using this method for UAV phase calibration can significantly improve the adaptability of UAV phase calibration in complex environments. Within the requirements of accurate tracking performance of the telemetry and control equipment and the wind resistance performance of the UAV, the UAV phase calibration work of the telemetry and control equipment can be completed. For most telemetry and control equipment, under the condition of having television tracking, this method can complete the UAV phase calibration work without system hardware modification. It can be achieved by optimizing servo control software and phase calibration algorithms. In engineering practice, it has significant implications for the promotion of large-aperture, high-frequency telemetry and control equipment, especially mobile and shipborne telemetry and control equipment, which have stringent calibration requirements.

Claims

1. A UAV phase correction method based on miss distance fusion calculation, characterized in that, The low-light television provides the UAV's miss distance information to the servo system. The servo system collects the antenna encoder angle information at the moment when the miss distance is zero and at the moment when the azimuth or pitch is pulled. At the same time, it collects the UAV's miss distance value in the low-light television at the moment when the miss distance is zero and at the moment when the azimuth or pitch is pulled, and the error voltage value of the baseband receiver demodulation. It calculates the phase shift value and the directional sensitivity coefficient and adds them to the digital baseband. The phase calibration is completed. The combination of low-light television target miss distance extraction and fast phase correction algorithm specifically includes the following steps: Step 1: Phase calibration begins. The UAV hovers in the designated airspace. The antenna is adjusted so that the UAV is in the television field of view. The servo system adopts the television tracking mode. The low-light television captures and tracks the target. It is confirmed that the telemetry and control equipment receives the demodulation beacon signal normally and that the servo system demodulation angle error signal is normal. Step 2: Define the continuous output of miss distance information from the low-light television to the servo system at any given time. , ), define the digital baseband demodulation output error voltage information to the servo system at any given time as ( , ), using low-light television tracking and accumulating 20 seconds of tracking data; Step 3: Select two different miss distances and error voltage values ​​from the accumulated data, and extract the miss distance and error voltage at point 01 as ( , The pitch miss distance and error voltage are () , The off-target distance and error voltage at point 02 are extracted as follows: , The pitch miss distance and error voltage are () , Based on the data at points 01 and 02, the azimuth miss distance versus azimuth error voltage function curves and the pitch miss distance versus pitch error voltage function curves were fitted respectively. Step Four: At any given moment, the servo system maintains the television tracking mode, and extracts the antenna encoder angle at the moment when the miss distance is zero as ( , The error voltage value is ( , The position of the antenna encoder is defined as follows: point; Step 5: At any given moment, the servo system switches from television tracking mode to pointing mode, pulling the antenna xmil in either azimuth or elevation direction. The point, the angle of the antenna encoder is ( , The servo system reads the miss distance value as ( A gt1 , E gt1 The error voltage value is () U at1 , U et1 ); Step Six: Calculate the difference between the antenna deflection angle and the miss angle to obtain the angle compensation value. , The error voltage value under this target miss distance is () , ); Step 7: Calculate the phase shift value and orientation sensitivity coefficient according to the formula; Step 8: Calculate the phase shift value obtained in the previous step. The directional sensitivity coefficient C is added to the digital baseband, cross-coupling is checked, and phase calibration is completed. Left-hand circularly polarized wave, phase shift after phase correction ; Right-hand circularly polarized wave, phase shift after phase correction ; In the formula: Δψ0 — represents the initial phase shift; The orientation sensitivity coefficient when the azimuth direction is deflected is: ; The orientation sensitivity coefficient when the pitch direction is deflected is: ; In the formula: c0 — is the initial channel gain factor, k — is the antenna's rated directional sensitivity.

2. A measurement and control device for UAV phase calibration, characterized in that, It includes at least one processor and at least one memory, wherein at least one of the memory stores program instructions, and at least one of the processor reads the program instructions and executes the UAV rapid phase correction method according to claim 1.

3. A readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method of claim 1.

Images