Automatic monitoring and adjusting device for attitude of SAR (Synthetic Aperture Radar) calibrator

Abstract

The invention provides an automatic monitoring and adjusting device for the attitude of an SAR (Synthetic Aperture Radar) calibrator, which relates to the technical field of remote sensing positioning and comprises an SAR calibrator network, a three-axis sensor module, a Beidou positioning module, a 4G data transmission module, a programmable board card, a remote control computer and a power supply system. A plurality of triangular calibrators are designed into an SAR (Synthetic Aperture Radar) calibrator network, and a three-axis sensor module and a Beidou positioning module are mounted to automatically monitor postures and positioning of the plurality of triangular calibrators at the same time. On the basis, a 4G data transmission module, a programmable board card and a remote control computer are designed to be in remote communication connection with a three-axis sensor module and a Beidou positioning module, automatic collection and processing of attitude and positioning data are completed, then attitude automatic adjustment of the multiple triangular calibrators is achieved, the placement precision of the calibrators is improved, and the installation efficiency of the triangular calibrators is improved. And artificial participation is not needed.

Description

Technical Field

[0001] The invention relates to the technical field of remote sensing positioning, and in particular to a SAR calibrator attitude automatic monitoring and adjustment device. Background Art

[0002] With the development of satellite and airborne microwave synthetic aperture radar (SAR) remote sensing technology, the calibration problem of SAR has become more and more prominent. The calibration effect is directly related to the quantitative application of SAR data. Therefore, improving the accuracy and effect of ground calibrator layout is one of the key steps to improve the calibration accuracy of SAR data.

[0003] There are many installation and monitoring methods for SAR calibrators in the prior art, but there is still a long way to go to meet the application requirements. First, the existing calibrator attitude adjustment methods are diverse and flexible, but they are mainly manual adjustment. Although the calibrator attitude can be checked by adding an attitude adjustment device, the degree of automation is low, and the attitude adjustment after verification is still mainly manual. Secondly, by designing a device based on mechanical adjustment such as a servo motor, the difficulty and workload of manual placement and adjustment can be reduced to a large extent, but real-time network monitoring and automatic adjustment of the calibrator attitude have not yet been achieved. Although the introduction of the GNSS system can achieve real-time positioning of the calibrator, it is insufficient to solve the problem of orientation and attitude determination of the calibrator, and the orientation and attitude of the corner reflector are precisely the key factors that directly affect the calibration accuracy, thereby limiting its application potential in SAR calibration. In addition, the prior art does not fully utilize the mutual constraints between the points in the calibrator observation network, and the corner reflectors are not related to each other after installation. Summary of the invention

[0004] The present invention provides a SAR calibrator attitude automatic monitoring and adjustment device, which is used to solve the problem of dynamic measurement of positioning and orientation and three-dimensional attitude of the calibrator in the prior art, realize automatic monitoring and adjustment of its attitude, improve the placement accuracy of the calibrator, and has a high degree of automation.

[0005] The present invention provides a SAR calibrator attitude automatic monitoring and adjustment device, comprising: SAR calibrator networking, three-axis sensor module, Beidou positioning module, 4G data transmission module, programmable board, remote control computer, power supply system; The SAR calibrator network is composed of a plurality of triangular calibrators, the triangular cone bottom surface of each triangular calibrator is fixedly provided with a triangular sensor included in the triangular sensor module, a positioning base is installed below the triangular calibrator, a servo motor is installed on the positioning base, and the positioning base is fixedly connected to the triangular cone bottom surface of the triangular calibrator through a link rod; The Beidou positioning module is installed in one or more triangulation calibrators in the SAR calibrator network; The programmable board is installed on the remote control computer, and the programmable board is remotely connected with the three-axis sensor module, the Beidou positioning module, the 4G data transmission module and the controller installed on the triangulation calibrator respectively; The power supply system is electrically connected to the Beidou positioning module, the three-axis sensor module and the 4G data transmission module respectively.

[0006] In some embodiments, the Beidou positioning device included in the Beidou positioning module is installed at the vertex of the triangular cone of the triangular calibrator, a level bubble is also installed on the bottom surface of the triangular cone of the triangular calibrator, and a snap structure is installed on the side surface of the triangular cone of the triangular calibrator. The snap structure is used to connect the controller, and the controller is communicatively connected to the servo motor.

[0007] Furthermore, the positioning base installed below the triangular calibrator includes a rotating disk, which is used to rotate the triangular calibrator in the horizontal direction. Three horizontal adjustment knobs are installed on the back of the rotating disk, and the horizontal adjustment knobs are used to fix the rotating disk in a horizontal state.

[0008] Furthermore, the positioning base installed below the triangulator includes a circular rail and three slide rail vehicles; The bottom surface of the triangular cone of the triangular calibrator is fixedly connected to the three slide rail vehicles through three connecting rods, and the three slide rail vehicles are installed on the circular rail.

[0009] Furthermore, the positioning base installed below the triangular calibrator also includes a connecting rod sleeve, each connecting rod adopts a three-section structure, and each section of the connecting rod is connected by a thread of the connecting rod sleeve.

[0010] Furthermore, the servo motors installed on the positioning base include a rolling servo motor and three posture control servo motors, the rolling servo motor is installed on any one of the slide rail vehicles, and the three posture control servo motors are installed on three link rods respectively.

[0011] In some embodiments, in the SAR calibrator network, a three-axis sensor installed on each delta calibrator is used to collect attitude measurement signals of the delta calibrator; The Beidou positioning module is used to collect the positioning signal of each triangulator; The programmable board is used to send the posture measurement signal and the positioning signal to the remote control computer for posture calculation through the 4G data transmission module; The remote control computer is used to send a control command signal according to the result of the posture calculation; The programmable board is also used to receive the control command signal through the 4G data transmission module and send the control command signal to the controller in each triangulator. The control command signal is used to drive the servo motor installed in the positioning base of the triangulator to adjust the posture of the triangulator.

[0012] Furthermore, the posture calculation process of the remotely controlled computer includes: Performing measurement adjustment calculation on the coordinate parameters included in the positioning signal of each triangulator and the azimuth extension line of the triangular cone bottom surface of the triangulator to obtain adjustment coordinates; Determine the azimuth baseline data of the triangulator according to the adjusted coordinates; Calculate the azimuth adjustment amount according to the actual azimuth included in the attitude measurement signal of each delta calibrator and the azimuth baseline data; The azimuth angle adjustment amount is converted into a step amount of a servo motor as a result of the posture calculation.

[0013] Furthermore, the remote control computer is also used to compare the azimuth angle adjustment amount with a preset limit error after calculating the azimuth angle adjustment amount; When the azimuth angle adjustment amount is greater than a preset limit error, a warning signal is sent.

[0014] In some embodiments, the process of the servo motor adjusting the attitude of the triangulator includes: The link rod is adjusted according to the step amount of the servo motor included in the control command signal to adjust the rotation angle parameters of the triangulator, wherein the rotation angle parameters include the heading angle, the pitch angle and the roll angle in the three-axis directions.

[0015] The SAR calibrator attitude automatic monitoring and adjustment device provided by the present invention designs multiple triangulated calibrators into a SAR calibrator network, and installs a three-axis sensor module and a Beidou positioning module to automatically monitor the attitude and positioning of multiple triangulated calibrators at the same time. On this basis, by designing a 4G data transmission module, a programmable board, and a remote control computer to communicate with the three-axis sensor module and the Beidou positioning module, the automatic collection and processing of attitude and positioning data is completed, thereby realizing the automatic adjustment of the attitudes of multiple triangulated calibrators, improving the placement accuracy of the calibrators, and no manual participation is required. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced one by one below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic diagram of the overall structure of the SAR calibrator attitude automatic monitoring and adjustment device provided by the present invention.

[0018] Figure 2 It is a schematic diagram of the application of the triangular calibrator provided by the present invention.

[0019] Figure 3 This is an example structural diagram of the SAR calibrator network provided by the present invention.

[0020] Figure 4 This is one of the structural schematic diagrams of the triangulation calibrator provided by the present invention.

[0021] Figure 5 This is the second structural schematic diagram of the triangulation calibrator provided by the present invention.

[0022] Figure 6 This is the third structural schematic diagram of the triangulation calibrator provided by the present invention.

[0023] Figure 7 This is one of the structural schematic diagrams of the positioning base of the triangulator provided by the present invention.

[0024] Figure 8 This is the second structural schematic diagram of the positioning base of the triangulator provided by the present invention.

[0025] Fig. 9 It is a schematic diagram of the rotation angle parameters of the bottom surface of the triangular cone of the triangular calibrator provided by the present invention.

[0026] Reference numerals: 1. Triangulator; 2. Beidou positioning device; 3. Level bubble; 4. Three-axis sensor; 5. Controller; 501. First link rod; 502. Second link rod; 503. Third link rod; 5031. Calibrator section; 5032. Middle section; 5033. Base section; 6. Rotating disk; 7. Circular rail; 801. First slide rail car; 802. Second slide rail car; 803. Third slide rail car; 800. First connecting rod sleeve; 810. Second connecting rod sleeve; 900. Rolling servo motor; 901. First attitude control servo motor; 902. Second attitude control servo motor; 903. Third attitude control servo motor. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] The following describes the SAR calibrator attitude automatic monitoring and adjustment device of the present invention in conjunction with the accompanying drawings. Figure 1 FIG. 1 is a schematic diagram of the overall structure of the SAR calibrator attitude automatic monitoring and adjustment device provided by the present invention. Figure 1 As shown, the SAR calibrator attitude automatic monitoring and adjustment device specifically includes: SAR calibrator networking, three-axis sensor module, Beidou positioning module, 4G data transmission module, programmable board, remote control computer, and power supply system.

[0029] The SAR calibrator network consists of multiple triangular calibrators. The triangular calibrator is in the shape of a triangular cone. For details, see Figure 2 When a triangular calibrator (usually a regular trihedron, also known as a triangular cone) is used for SAR calibration, the orientation and posture of the bottom surface of the triangular cone (a triangular surface) must be adjusted so that the outer edge of the bottom surface of the triangular cone (that is, the outer edge of the triangular surface) is parallel to the corresponding flight route. The opening surface of the triangular calibrator is generally a side surface of the triangular cone, and the line connecting the center of the opening surface and the corresponding triangular cone vertex is guaranteed to be perpendicular to the corresponding flight route (SAR side-view flight) space.

[0030] At the same time, in order to overcome the defect of the prior art that the mutual constraint relationship between each point in the calibrator observation network is not fully utilized, the embodiment of the present invention constructs a SAR calibrator network with multiple triangular calibrators, and takes each triangular calibrator as a vertex. By connecting the vertices, the azimuth direction of the triangular cone bottom of the triangular calibrator can be calculated according to the direction of the connection line, so as to determine the baseline data of the triangular calibrator. After connecting the triangular calibrators as vertices, a SAR calibrator network can be formed. For example, Figure 3 As shown, Figure 3 The SAR calibrator network composed of eight delta calibrators A, B, C, D, E, F, G, and H is demonstrated.

[0031] A three-axis sensor included in a three-axis sensor module is fixedly installed on the bottom surface of the triangular cone of each triangular calibrator. The three-axis sensor is used to measure the posture angle of the triangular calibrator. Specifically, the three-axis sensor is used to measure the rotation angle of the bottom edge of the triangular cone along the Y, X, and Z axes in a three-dimensional rectangular coordinate system.

[0032] A positioning base is installed under the triangular calibrator to support the triangular locator. A servo motor is installed on the positioning base. The positioning base is fixedly connected to the bottom surface of the triangular cone of the triangular calibrator through a connecting rod. The servo motor can adjust the connecting rod to adjust the posture of the triangular calibrator.

[0033] The Beidou positioning module is installed in one or more triangulation calibrators in the SAR calibrator network. The Beidou positioning module includes at least one Beidou positioning device, that is, in the SAR calibrator network, a Beidou positioning device can be installed on only one triangulation calibrator, or a Beidou positioning device can be installed on some triangulation calibrators, or a Beidou positioning device can be installed on all triangulation calibrators, depending on the specific situation. The embodiment of the present invention is not limited. The Beidou positioning device can simultaneously collect Beidou, GPS, Glonass and other satellite positioning signals.

[0034] The programmable board is installed on the remote control computer, and the programmable board is remotely connected with the three-axis sensor module, Beidou positioning module, 4G data transmission module and the controller installed on the triangulation calibrator, that is, remote wireless network communication. In this way, the positioning signals and attitude measurement signals collected by the three-axis sensor module and Beidou positioning module can be automatically transmitted to the programmable board of the remote control computer through the 4G data transmission module for attitude calculation, so that the remote control computer sends a control command signal. The controller installed on the triangulation calibrator is used to receive the control command signal sent by the remote control computer to drive the servo motor on the positioning base to adjust the link rod, and then adjust the attitude of the triangulation calibrator. In this way, the attitude and positioning of the triangulation calibrator can be automatically monitored at the same time, and the automatic collection and processing of attitude and positioning data can be completed, so as to realize the automatic adjustment of the attitude of the triangulation calibrator.

[0035] In addition, a power supply system is designed for the SAR calibrator attitude automatic monitoring and adjustment device, which is electrically connected to the Beidou positioning module, three-axis sensor module and 4G data transmission module respectively.

[0036] The power supply system can be a battery or a solar panel, which can power the Beidou positioning module, three-axis sensor module and 4G data transmission module to ensure the normal operation of each module.

[0037] In the embodiment of the present invention, multiple triangulation calibrators are designed as SAR calibrators for networking, and a three-axis sensor module and a Beidou positioning module are installed to automatically monitor the attitude and positioning of multiple triangulation calibrators at the same time. On this basis, a 4G data transmission module, a programmable board, and a remote control computer are designed to communicate with the three-axis sensor module and the Beidou positioning module to complete the automatic collection and processing of attitude and positioning data, thereby realizing automatic attitude adjustment of multiple triangulation calibrators, improving the placement accuracy of the calibrators, and eliminating the need for manual intervention.

[0038] Furthermore, if Figure 4 As shown, for each triangulation calibrator in the SAR calibrator network, the Beidou positioning module includes a Beidou positioning device 2 installed at the vertex of the triangulation cone of the triangulation calibrator 1. As the vertex antenna of the triangulation calibrator 1, it can be a global positioning system (GPS) device, which can simultaneously collect satellite positioning signals such as Beidou, GPS, and Glonass to locate the triangulation calibrator 1.

[0039] The bottom surface of the triangular cone of the triangular calibrator 1 is also equipped with a level bubble 3, and it can be clearly determined whether the bottom surface of the triangular cone of the triangular calibrator 1 is in a horizontal state or parallel to the horizontal ground according to the level bubble 3. The triaxial sensor 4 included in the triaxial sensor module is installed on the bottom surface of the triangular cone of the triangular calibrator 1 to measure the rotation angle of the bottom edge of the triangular cone along the three axes of Y, X, and Z in the three-dimensional rectangular coordinate system.

[0040] When the triangulator 1 is initially installed, the Y-axis direction of the three-axis sensor 4 is perpendicular to the outside of the bottom of the triangular cone, the Y-axis is parallel to the vertical line of the bottom, the X-axis is also at the bottom of the triangular cone and perpendicular to the Y-axis, and the Z-axis is perpendicular to the X-axis and Y-axis of the bottom of the triangular cone. The three-axis sensor 4 can measure the relative coordinates of the center position of the three-axis sensor 4 and the Beidou positioning device 2 in the three-axis sensor YX coordinate system, which serves as one of the starting data for the subsequent spatial position relationship. During initial placement, the level bubble 3 is centered by adjusting the positioning base to ensure that the bottom of the triangular cone of the triangulator 1 is horizontal or parallel to the horizontal ground.

[0041] like Figure 5 As shown, a snap-fit ​​structure is installed on the side of the triangular cone of the triangular calibrator 1, and the snap-fit ​​structure is used to connect the controller 5. The controller 5 is connected to the servo motor for communication, such as wireless network communication, for transmitting a control command signal to the servo motor of the positioning base to realize automatic posture adjustment of the triangular calibrator.

[0042] In the embodiment of the present invention, a three-axis sensor module and a Beidou positioning module are installed in each triangulation calibrator in the SAR calibrator network, and the SAR calibrator network and the three-axis sensor are combined. This not only utilizes the mutual verification characteristic of each vertex in the SAR calibrator network, and takes advantage of the stable spatial structure of each vertex in the control network to improve the positioning accuracy, but also utilizes the three-axis sensor to measure the attitude of the triangulation calibrator at each vertex, thereby realizing automatic monitoring of the attitude and positioning of multiple triangulation calibrators at the same time.

[0043] To achieve accurate positioning and attitude measurement of the triangulator, it is necessary to ensure that the triangulator has a certain stability when placed, so how to design the positioning base is particularly critical. The positioning base plays the role of fixing the triangulator, carrying the main body of the triangulator and other components, and also has the function of leveling the bottom surface of the triangulator (ensuring that the bottom surface of the triangulator is in a horizontal state in the initial state). In the embodiment of the present invention, there are two ways to connect the triangulator and the positioning base. The first one is as follows: Figure 5 As shown, the link rod is installed on the side of the triangular cone of the calibrator. Since the triangular cone of the calibrator has three sides, three link rods (including the first link rod 501, the second link rod 502, and the third link rod 503) need to be designed. Figure 6 As shown, the Beidou positioning device 2 is installed at the vertex of the triangular cone of the triangular calibrator, and the link rods (including the first link rod 501, the second link rod 502, and the third link rod 503) are connected to the connecting ridge (i.e., the side edge of the triangular cone) of the triangular calibrator. Generally speaking, when the inclination angle of the attitude adjustment of the triangular calibrator is large, the second method is easier to implement.

[0044] Regarding the design of the positioning base, in some embodiments, such as Figure 7 As shown, the positioning base installed below the triangular calibrator includes a rotating disk 6, that is, the rotating disk 6 is fixedly connected to the triangular calibrator through the first link rod 501, the second link rod 502, and the third link rod 503. The rotating disk 6 is used to rotate the triangular calibrator in the horizontal direction. Three horizontal adjustment knobs are installed on the back of the rotating disk. The horizontal adjustment knobs are used to fix the rotating disk in a horizontal state. When the triangular calibrator is initially placed, the bottom surface of the triangular cone of the triangular calibrator remains parallel to the rotating disk 6, thereby ensuring that the bottom surface of the triangular cone is in a horizontal state. When the posture of the triangular calibrator needs to be adjusted, the servo motor installed on the rotating disk 6 drives the link rod to rise and fall. The link rod adopts a telescopic structure, and the length of the link rod is controlled by telescoping to adjust the posture of the triangular calibrator.

[0045] In the embodiment of the present invention, by designing the positioning base of the triangulator into a rotating disk structure, the rotating disk can be strictly ensured to be in a horizontal state by freely adjusting the horizontal adjustment knob, thereby ensuring that the bottom surface of the triangular cone of the triangulator is also in a horizontal state, making it stable and ensuring the accuracy of posture measurement.

[0046] In some embodiments, in order to facilitate the subsequent automatic adjustment of the attitude of the triangulator, the positioning base of the triangulator can also be designed as a circular track structure, such as Figure 8 As shown, the positioning base installed below the triangular calibrator includes a circular rail 7 and three slide rail vehicles, specifically including a first slide rail vehicle 801, a second slide rail vehicle 802, and a third slide rail vehicle 803, and the bottom surface of the triangular cone of the triangular calibrator is fixedly connected to the three slide rail vehicles through three connecting rods (including a first connecting rod 501, a second connecting rod 502, and a third connecting rod 503), and the three slide rail vehicles are installed on the circular rail 7, and the installation angles between the connecting rods on the three slide rail vehicles are all 120 degrees.

[0047] In this way, the slide rail car slides on the circular rail, which facilitates the automatic adjustment of the attitude of the triangulator. The contact area between the slide rail and the ground is small, and the directionality and stability are good. Under the same conditions, it is lighter than the traditional block base and has stronger wind resistance and anti-disturbance capabilities. In addition, the slide rail can be folded into four parts, reducing the transportation and storage volume.

[0048] Furthermore, if Figure 8 As shown, the positioning base installed below the triangular calibrator also includes a connecting rod sleeve, each connecting rod adopts a three-section structure, and each section of the connecting rod is connected by a threaded connection of a connecting rod sleeve (including a first connecting rod sleeve 800 and a second connecting rod sleeve 810). Figure 8 For example, the third link rod 503 in the embodiment of the present invention adopts a three-section structure, including a calibrator section 5031 connected to the triangular calibrator, an intermediate section 5032, and a base section 5033 connected to the third slide rail vehicle 803 of the positioning base. The calibrator section 5031 and the intermediate section 5032 are connected by the threads of the first connecting rod sleeve 800, and the intermediate section 5032 is connected to the base section 5033 by the threads of the second connecting rod sleeve 810. The threads in the connecting rod sleeve are all provided with hollow margins, which determine the lifting height of the link rod connected thereto, as well as the attitude adjustment margin of the triangular calibrator at this position.

[0049] Through the above design of the link rod, the link rod can be freely extended and retracted in the direction perpendicular to the ground, and through the extension and retraction of the link rod at different heights and the sliding of the slide car, the attitude (azimuth) adjustment of the bottom surface of the triangular cone of the triangulator can be reasonably controlled.

[0050] Furthermore, if Figure 8As shown, the servo motors installed on the positioning base include a rolling servo motor 900 and three posture control servo motors (including a first posture control servo motor 901, a second posture control servo motor 902, and a third posture control servo motor 903). The rolling servo motor 900 is installed on any one of the slide rail vehicles. Figure 8 The example shows that the rolling servo motor 900 is installed on the second slide rail vehicle 802. The rolling servo motor 900 provides the power for the three slide rail vehicles to move, thereby providing the rotation power for the triangulator. The three attitude control servo motors are respectively installed on three link rods (including the first link rod 501, the second link rod 502, and the third link rod 503). Figure 8 The example shows that the first posture control servo motor 901 is installed on the first link rod 501, the second posture control servo motor 902 is installed on the second link rod 502, and the third posture control servo motor 903 is installed on the third link rod 503. The specific positions can be installed at the base section of the link rod.

[0051] When the triangulator is initially installed, the connecting rod sleeves of the three connecting rods are adjusted to achieve a horizontal state for the triangular cone bottom surface of the triangulator. By rotating the slide rail car, the opening of the triangulator faces north, and the vertical direction of the triangulated cone bottom surface points to the north, that is, the Y-axis direction of the three-axis sensor points to the north. When the controller of the triangulator receives a control command signal and needs to drive the servo motor for attitude adjustment, the three connecting rods drive the corresponding connecting rods to rise and fall through the attitude control servo motor to achieve attitude adjustment of the triangulator in the YXZ three-axis direction, and the adjustment amount is measured and monitored by the three-axis sensor.

[0052] Specifically, if Figure 8 As shown, by rotating the thread of the first connecting rod sleeve 800, the scaler section 5031 of the third connecting rod 503 is lifted and lowered. The second connecting rod sleeve 810 is connected to the base section 5033 of the third connecting rod 503 and the third attitude control servo motor 903 through threads. The third attitude control servo motor 903 can control the thread rotation of the second connecting rod sleeve 810 to lift and lower the entire third connecting rod 503, thereby changing the direction and attitude of the bottom surface of the triangular cone of the triangular scaler.

[0053] The embodiment of the present invention is designed with a rolling servo motor and a posture control servo motor in the positioning base part, which can automatically control the movement of the slide rail vehicle and the automatic lifting and lowering of the connecting rod. Combined with the circular rail base design, while ensuring the accurate measurement of the direction and posture of the triangulator, it can also realize automatic adjustment of the direction and posture without any manual operation.

[0054] In some embodiments, the accurate measurement and automatic adjustment of the direction and attitude of the triangulator mainly depends on the controller of the triangulator receiving the control command signal, and the control command signal is received after the attitude calculation of the positioning signal and attitude measurement signal collected by the three-axis sensor module and the Beidou positioning module. Specifically, in the SAR calibrator network, the three-axis sensor installed on each triangulator is used to collect the attitude measurement signal of the triangulator, specifically the actual azimuth angle of the triangular cone bottom surface of the triangulator, that is, the rotation angle of the triangular cone bottom surface along the three axes YXZ.

[0055] The Beidou positioning module is used to collect the positioning signals of each triangulator. It receives the Beidou, GPS, Glonass and other satellite positioning signals through the Beidou positioning device installed on the top antenna of the triangulator to locate the triangulator and obtain the coordinate parameters.

[0056] The attitude calculation of the positioning signal and attitude measurement signal is realized by a remote control computer, which is equipped with a programmable board. After collecting the positioning signal and attitude measurement signal from the three-axis sensor module and the Beidou positioning module, the programmable board sends the attitude measurement signal and the positioning signal to the remote control computer through the 4G data transmission module for attitude calculation.

[0057] The remote control computer is used to send control command signals based on the results of posture calculation, and the programmable board receives the control command signals through the 4G data transmission module and sends the control command signals to the controller in each triangulator. The control command signals are used to drive the servo motor installed in the positioning base of the triangulator to adjust the posture of the triangulator.

[0058] If the positioning base is designed as Figure 7 The rotating disk shown directly drives the servo motor on the rotating disk, operates the extension and retraction of the link rod to control the lifting and lowering, thereby realizing the posture adjustment of the triangular calibrator.

[0059] If the positioning base is designed as Figure 8 The circular rail shown directly drives the rolling servo motor to rotate the slide car on the circular rail, and also drives the attitude control servo motor to operate the thread rotation of the connecting rod sleeve, thereby adjusting the lifting and lowering of the connecting rod to achieve attitude adjustment of the triangular calibrator.

[0060] The embodiment of the present invention completes the automatic collection and processing of attitude and positioning data by designing a 4G data transmission module, a programmable board, a remote control computer, a three-axis sensor module, and a Beidou positioning module for remote communication, and then utilizes the attitude calculation and control command sending of the remote control computer to realize automatic attitude adjustment of multiple triangulation calibrators in a SAR calibrator network, thereby improving the placement accuracy of the calibrator without human intervention.

[0061] The following is an introduction to the attitude calculation process of the remote control computer. First, the coordinate parameters included in the positioning signal of each triangulator and the azimuth extension line of the triangulator's triangular cone bottom surface are measured and adjusted to obtain the adjustment coordinates.

[0062] Because for a single triangulation calibrator, the Beidou positioning module may have multiple Beidou positioning devices, so the collected coordinate parameters have multiple values, and the adjustment calculation is required to determine the most accurate value as the adjustment coordinate. Here, after the control computer obtains the coordinate parameters included in the positioning signal, it can establish the triangulation relationship between each vertex in the SAR calibrator network and connect each vertex through the edge.

[0063] For each triangulation calibrator, considering that the side length of the triangulation cone bottom of the triangulation calibrator is short and cannot meet the baseline length requirement during orientation, the azimuth extension line of the triangulation cone bottom of the triangulation calibrator can be determined. When the baseline length requirement is met, the corresponding azimuth can be determined according to the direction of the azimuth extension line. In addition, it is also necessary to determine the baseline position parameters between adjacent triangulation calibrators (that is, triangulation calibrators with edge connections in the SAR calibrator network). The baseline generally refers to the line between two transceivers (or receivers) on the surface of the earth. The baseline position parameters here are the coordinate parameters between two adjacent triangulation calibrators, that is, the baseline distance.

[0064] Then, the coordinates of the triangulator are recalculated according to the coordinate parameters of the triangulator, the baseline distance and the azimuth, so that an equation can be constructed. The recalculated coordinates of the triangulator are then used for adjustment to obtain the adjusted coordinates.

[0065] To give a simple example, the coordinate parameters of the triangulator are (x, y), the baseline distance is s, the azimuth is w, and the recalculated coordinates are (X, Y). Then the constructed equation is (X, Y) = (x, y) + (s·cos(w), s·sin(w)).

[0066] In the SAR calibrator network, the azimuth angle that needs to be determined for the attitude adjustment of a certain triangulated calibrator has three rotation angle parameters on the XYZ axes. Then the triangulated calibrator continues to construct equations with other adjacent triangulated coordinate machines in the SAR calibrator network, and three equations can be constructed according to the coordinate parameters to form an equation group.

[0067] Here, the multiple coordinate parameters collected by the Beidou positioning module are substituted into the equations to form an equation group, and the three rotation angle parameters on the XYZ axes are calculated by measuring the adjustment method, and the adjustment coordinates of the triangulator can also be recalculated. For example, by substituting multiple coordinate parameters (x, y) into the equation group, the ultimate goal is to calculate the adjusted coordinates (X, Y).

[0068] Next, the azimuth baseline data of the triangulator is determined according to the adjustment coordinates. The baseline (connected edge) of every two adjacent vertices can be calculated in the SAR calibrator network according to the adjustment coordinates of the triangulator. This baseline has an azimuth, which is the azimuth baseline data of two adjacent triangulators.

[0069] In this way, the azimuth adjustment amount is calculated based on the actual azimuth angle and azimuth angle baseline data included in the attitude measurement signal of each triangulator. By comparing the actual azimuth angle collected by the three-axis sensor with the azimuth angle baseline data of the triangulator, the azimuth adjustment amount can be determined, that is, the azimuth angle that the triangulator needs to adjust, that is, the degree of attitude adjustment.

[0070] The triangulator realizes attitude adjustment by driving the servo motor of the positioning base. Therefore, the azimuth adjustment amount is finally converted into the step amount of the servo motor as the result of attitude calculation.

[0071] In the embodiment of the present invention, a remotely controlled computer is used to receive in real time the coordinate parameters included in the positioning signal of the triangulator and the actual azimuth included in the attitude measurement signal to perform attitude calculation, thereby realizing automatic calculation of the attitude adjustment amount of the triangulator. When determining the adjustment coordinates, if the number of triangulators is sufficient, through adjustment calculation, the gross errors can be well eliminated through redundant equations, the solution accuracy of the results can be improved, and the calculated adjustment results have strong stability.

[0072] In some embodiments, the remote control computer is further used to compare the azimuth adjustment amount with a preset tolerance after calculating the azimuth adjustment amount. Because the azimuth adjustment of the triangulator is limited to a range, when the azimuth needs to be adjusted to a degree greater than this range, the automatic adjustment by the remote control computer cannot be fully achieved.

[0073] Therefore, the embodiment of the present invention sets this range as a tolerance, that is, as an adjustment threshold of the azimuth adjustment amount. When the azimuth adjustment amount is greater than the preset tolerance, an early warning signal is sent, and manual adjustment is required at this time. The early warning allows at least staff to conduct on-site inspections.

[0074] When the azimuth adjustment is less than the preset tolerance, it means that the azimuth adjustment of the triangulator is within the range and can be achieved through automatic adjustment of the remote control computer. After the attitude adjustment is completed, the SAR calibrator network is continuously used for measurement and adjustment calculation to obtain the adjustment coordinates until the actual azimuth included in the attitude measurement signal of the triangulator is adjusted to the same as the azimuth baseline data.

[0075] In the embodiment of the present invention, during the automatic adjustment of the remote-controlled computer, the limited range of attitude adjustment is reasonably determined, and different adjustment means are adopted for different azimuth adjustment amounts, thereby solving the problem of high-precision automatic positioning and orientation of a single triangulation calibrator in a SAR calibrator network.

[0076] In some embodiments, after receiving the control instruction signal, the controller in each triangulator drives the servo motor to adjust the posture of the triangulator. The process of adjusting the posture of the triangulator by the servo motor is described below.

[0077] First, in the control command signal, the remote control computer has converted the azimuth angle adjustment amount into the step amount of the servo motor. Therefore, here the link rod is adjusted directly according to the step amount of the servo motor included in the control command signal to adjust the rotation angle parameter of the triangulator. The step amount of this servo motor can be divided into the step amount of the rolling servo motor and the step amount of the attitude control servo motor. Figure 8 Taking the positioning base as an example, the sliding rail car is driven to slide on the circular rail by the step amount of the rolling servo motor, and the step amount of the attitude control servo motor is used to rotate the thread of the connecting rod sleeve to realize the lifting and lowering of the calibrator section of the connecting rod. The attitude control servo motor can control the rotation of the thread of the connecting rod sleeve, thereby realizing the lifting and lowering of the entire connecting rod, and then changing the direction attitude of the bottom surface of the triangular cone of the triangular calibrator. The change of the reverse attitude will change the azimuth angle, resulting in a change in the rotation angle parameter.

[0078] like Fig. 9 As shown, the rotation angle parameters include heading angle, pitch angle and roll angle in three-axis directions, which correspond to the Z-axis, X-axis and Y-axis directions of the triangular cone bottom surface of the triangular calibrator respectively. The rotation angle parameters in these three directions are the actual azimuth angles collected by the three-axis sensor.

[0079] The embodiment of the present invention realizes the movement of the slide rail vehicle and the automatic lifting and lowering of the link rod through the control command signal of the remote control computer, changes the rotation angle parameter, and thus realizes the automatic adjustment of the direction and posture of each triangulation calibrator in the SAR calibrator network.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A SAR calibrator attitude automatic monitoring and adjustment device, characterized in that: include: SAR calibrator networking, three-axis sensor module, Beidou positioning module, 4G data transmission module, programmable board, remote control computer, power supply system; The SAR calibrator network is composed of a plurality of triangular calibrators, the triangular cone bottom surface of each triangular calibrator is fixedly provided with a triangular sensor included in the triangular sensor module, a positioning base is installed below the triangular calibrator, a servo motor is installed on the positioning base, and the positioning base is fixedly connected to the triangular cone bottom surface of the triangular calibrator through a link rod; The Beidou positioning module is installed in one or more triangulation calibrators in the SAR calibrator network; The programmable board is installed on the remote control computer, and the programmable board is remotely connected with the three-axis sensor module, the Beidou positioning module, the 4G data transmission module and the controller installed on the triangulation calibrator respectively; The power supply system is electrically connected to the Beidou positioning module, the three-axis sensor module and the 4G data transmission module respectively.

2. The SAR calibrator attitude automatic monitoring and adjustment device according to claim 1 is characterized in that: The Beidou positioning device included in the Beidou positioning module is installed at the vertex of the triangular cone of the triangular calibrator. The bottom surface of the triangular cone of the triangular calibrator is also installed with a level bubble. The side surface of the triangular cone of the triangular calibrator is installed with a snap-on structure, and the snap-on structure is used to connect the controller, and the controller is communicatively connected with the servo motor.

3. The SAR calibrator attitude automatic monitoring and adjustment device according to claim 2 is characterized in that: The positioning base installed below the triangular calibrator includes a rotating disk, which is used to rotate the triangular calibrator in the horizontal direction. Three horizontal adjustment knobs are installed on the back of the rotating disk, and the horizontal adjustment knobs are used to fix the rotating disk in a horizontal state.

4. The SAR calibrator attitude automatic monitoring and adjustment device according to claim 2, characterized in that: The positioning base installed below the triangulator includes a circular rail and three slide rail vehicles; The bottom surface of the triangular cone of the triangular calibrator is fixedly connected to the three slide rail vehicles through three connecting rods, and the three slide rail vehicles are installed on the circular rail.

5. The SAR calibrator attitude automatic monitoring and adjustment device according to claim 4 is characterized in that: The positioning base installed below the triangular calibrator also includes a connecting rod sleeve. Each connecting rod adopts a three-section structure, and each section of the connecting rod is connected by a thread of the connecting rod sleeve.

6. The SAR calibrator attitude automatic monitoring and adjustment device according to claim 5, characterized in that: The servo motors installed on the positioning base include a rolling servo motor and three posture control servo motors. The rolling servo motor is installed on any one of the slide rail vehicles, and the three posture control servo motors are installed on three connecting rods respectively.

7. The SAR calibrator attitude automatic monitoring and adjustment device according to claim 1, characterized in that: In the SAR calibrator network, a three-axis sensor installed on each triangulation calibrator is used to collect attitude measurement signals of the triangulation calibrator; The Beidou positioning module is used to collect the positioning signal of each triangulator; The programmable board is used to send the posture measurement signal and the positioning signal to the remote control computer for posture calculation through the 4G data transmission module; The remote control computer is used to send a control command signal according to the result of the posture calculation; The programmable board is also used to receive the control command signal through the 4G data transmission module and send the control command signal to the controller in each triangulator. The control command signal is used to drive the servo motor installed in the positioning base of the triangulator to adjust the posture of the triangulator.

8. The SAR calibrator attitude automatic monitoring and adjustment device according to claim 7, characterized in that: The posture calculation process of the remote control computer includes: Performing measurement adjustment calculation on the coordinate parameters included in the positioning signal of each triangulator and the azimuth extension line of the triangular cone bottom surface of the triangulator to obtain adjustment coordinates; Determine the azimuth baseline data of the triangulator according to the adjusted coordinates; Calculate the azimuth adjustment amount according to the actual azimuth included in the attitude measurement signal of each delta calibrator and the azimuth baseline data; The azimuth angle adjustment amount is converted into a step amount of a servo motor as a result of the posture calculation.

9. The SAR calibrator attitude automatic monitoring and adjustment device according to claim 8, characterized in that: The remote control computer is also used to compare the azimuth angle adjustment amount with a preset limit difference after calculating the azimuth angle adjustment amount; When the azimuth angle adjustment amount is greater than a preset limit error, a warning signal is sent.

10. The SAR calibrator attitude automatic monitoring and adjustment device according to claim 7, characterized in that: The process of the servo motor adjusting the posture of the triangulator includes: The link rod is adjusted according to the step amount of the servo motor included in the control command signal to adjust the rotation angle parameters of the triangulator, wherein the rotation angle parameters include the heading angle, the pitch angle and the roll angle in the three-axis directions.

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