Spliced antenna sub-module pose measurement method

Abstract

The invention relates to the technical field of antenna profile measurement, in particular to a spliced antenna submodule pose measurement method, which comprises the following steps of: installing a laser ranging device at an antenna feed source of a spliced antenna, and installing a plurality of pyramid reflectors on a to-be-measured module of the spliced antenna; the laser ranging device is controlled to emit laser to the pyramid reflector, and the pyramid reflector reflects the laser back to the laser ranging device; according to the laser emitted and received by the laser ranging device, the distance between each pyramid reflector and the laser ranging device is determined, and the pose of the module to be measured is calculated in combination with a kinematics algorithm. According to the invention, collection of multi-channel distance measurement information is completed by using a laser geometric measurement technology, and pose measurement of each module in the antenna is completed by cooperating with a kinematics algorithm.

Description

Technical Field

[0001] The invention belongs to the technical field of antenna shape measurement, and in particular relates to a method for measuring the posture of a spliced ​​antenna submodule. Background Art

[0002] In order to achieve higher spatial resolution radio astronomy observations and earth remote sensing observations, the aperture of reflective antennas is gradually increasing. Large-aperture reflective antennas are basically composed of several sub-modules. To ensure the normal operation of large-aperture reflective antennas, it is necessary to measure the posture of each sub-module to determine whether it deviates from the theoretical posture. If it deviates, it needs to be adjusted to the theoretical posture. Otherwise, the antenna can work normally. Therefore, it is important to measure the posture of the antenna sub-module. Summary of the invention

[0003] In view of this, the present invention aims to provide a method for measuring the posture of spliced ​​antenna submodules, which uses laser geometric measurement technology to complete the collection of multi-channel ranging information, and cooperates with kinematic algorithms to complete the posture measurement of each module in the antenna.

[0004] To achieve the above object, the technical solution created by the present invention is implemented as follows: A method for measuring the position and posture of a spliced ​​antenna submodule, comprising: S1: Install a laser ranging device at the antenna feed of the spliced ​​antenna, and install multiple corner reflectors on the module to be tested of the spliced ​​antenna; S2: Control the laser distance measuring device to emit laser light to the retroreflector, and the retroreflector reflects the laser light back to the laser distance measuring device; S3: According to the laser emitted and received by the laser ranging device, the distance between each corner reflector and the laser ranging device is determined, and the position and posture of the module to be measured is calculated in combination with the kinematic algorithm.

[0005] Furthermore, a swing mirror is provided between the laser distance measuring device and the spliced ​​antenna; The placement angle of the swing mirror is changed so that the laser emitted by the laser distance measuring device irradiates each corner reflector through the swing mirror; the corner reflector reflects the laser to the swing mirror, and the swing mirror reflects the laser from the corner reflector into the laser distance measuring device.

[0006] Furthermore, the placement angle of the laser distance measuring device is changed so that the laser emitted by the laser distance measuring device irradiates each corner reflector, and the corner reflector reflects the laser into the laser distance measuring device.

[0007] Furthermore, the laser ranging device determines the distance between each corner reflector and the laser ranging device according to the emitted and received lasers, and calculates the position and posture of the module to be measured in combination with the Stewart kinematic algorithm.

[0008] Compared with the prior art, the invention can achieve the following beneficial effects: The present invention creates a method for measuring the posture of a spliced ​​antenna submodule, which utilizes a laser ranging device and a conic reflector to realize laser geometric measurement technology to complete the collection of multi-channel ranging information, and cooperates with a kinematic algorithm to complete the posture measurement of each module in the antenna; the method of the present invention is simple and easy to operate, and has high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The drawings constituting part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings: Figure 1 A schematic diagram of a flow chart of a method for measuring the position and posture of a spliced ​​antenna submodule according to an embodiment of the present invention; Figure 2 A schematic diagram of a method for measuring the position and posture of a spliced ​​antenna submodule according to an embodiment of the present invention; Figure 3 A schematic diagram of a measurement method with a oscillating mirror according to an embodiment of the present invention.

[0010] Description of reference numerals: 1. Laser ranging device; 2. Module to be measured; 3. Cone reflector; 4. Oscillating mirror. DETAILED DESCRIPTION

[0011] In order to make the purpose, technical solution and advantages of the invention more clear, the invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the invention and do not constitute a limitation of the invention.

[0012] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0013] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0014] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0015] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0016] like Figures 1 to 3 As shown, the method for measuring the position and posture of the spliced ​​antenna submodule described in the embodiment of the present invention includes: S1: Install a laser distance measuring device 1 at the antenna feed of a spliced ​​antenna, and install a plurality of corner pyramid reflectors 3 on a module to be measured 2 of the spliced ​​antenna.

[0017] In a certain embodiment, the shape of the module to be measured 2 is a regular hexagon, and a corner reflector 3 is installed on each side of the module to be measured 2. It can be understood that the laser ranging device 1 is installed at the antenna feed of the spliced ​​antenna, and the six corner reflectors on the module to be measured 2 serve as the target sphere of the laser ranging device 1. Since the disturbance displacement of each module in the spliced ​​antenna is relatively small during operation, the caliber of the corner reflector 3 does not need to be very large to meet the working requirements; in addition, the corner reflector 3 is selected as the target sphere of the laser ranging device 1 because the working principle of the corner reflector 3 can ensure that the point on the submodule measured each time is fixed.

[0018] S2: Control the laser distance measuring device 1 to emit laser light to the retroreflector 3 , and the retroreflector 3 reflects the laser light back to the laser distance measuring device 1 .

[0019] In some embodiments, the placement angle of the laser distance measuring device 1 is changed so that the laser emitted by the laser distance measuring device 1 irradiates each corner reflector 3 , and the corner reflector 3 reflects the laser into the laser distance measuring device 1 .

[0020] In one embodiment, the laser distance measuring device 1 rotates at a fixed angle each time so that the laser beam irradiates the corresponding retroreflector 3 on the module to be measured 2. The laser distance measuring device 1 rotates 6 times to obtain 6 channels of laser distance measurement information.

[0021] In other embodiments, a swing mirror 4 is further provided between the laser distance measuring device 1 and the spliced ​​antenna. The swing mirror 4 is placed at an angle such that the laser emitted by the laser distance measuring device 1 irradiates each of the corner reflectors 3 via the swing mirror 4. The corner reflectors 3 reflect the laser light onto the swing mirror 4, and the swing mirror 4 reflects the laser light from the corner reflectors 3 into the laser distance measuring device 1.

[0022] In one embodiment, the oscillating mirror 4 rotates by a fixed angle each time, so that the laser beam irradiates the corresponding retroreflector 3 on the module to be measured 2. The oscillating mirror 4 rotates 6 times, and 6 channels of laser ranging information can be obtained.

[0023] S3: According to the laser emitted and received by the laser ranging device 1, the distance between each corner reflector 3 and the laser ranging device 1 is determined, and the position and posture of the module to be measured 2 is calculated in combination with the kinematic algorithm.

[0024] In some embodiments, the laser distance measuring device 1 determines the distance between each corner reflector 3 and the laser distance measuring device 1 according to the emitted and received lasers, and calculates the position and posture of the module to be measured 2 by Stewart kinematic algorithm.

[0025] It can be understood that the laser distance measuring device 1 determines the distance between the six retroreflectors 3 and the laser distance measuring device 1 according to the emitted and received lasers, and calculates the position and posture of the module to be measured 2 by Stewart kinematic algorithm. The calculation process of the position and posture is as follows: The relationship between the position and six distances of the module 2 to be tested is as follows: ; in, Indicates the posture information of the module 2 to be tested, , where x, y, z are the translation displacements of the module 2 to be tested in the X, Y, and Z directions, respectively, and α, β, γ are the rotation displacements of the module 2 to be tested in the X, Y, and Z directions, respectively. represents a distance matrix composed of 6 distances, ~ They respectively correspond to the distances between the six retroreflectors 3 and the laser ranging device 1, that is, six-channel laser ranging information, and J represents the conversion matrix between the posture information of the module to be measured 2 and the distance matrix, which is specifically: .

[0026] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the disclosure of the present invention can be performed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and this document does not limit this.

[0027] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for measuring the position and posture of a spliced ​​antenna submodule, characterized in that: include: S1: installing a laser ranging device at the antenna feed of a spliced ​​antenna, and installing a plurality of corner pyramid reflectors on the module to be measured of the spliced ​​antenna; S2: Control the laser distance measuring device to emit laser light to the retroreflector, and the retroreflector reflects the laser light back to the laser distance measuring device; S3: Determine the distance between each corner reflector and the laser ranging device according to the laser emitted and received by the laser ranging device, and calculate the position and posture of the module to be measured in combination with a kinematic algorithm.

2. The method for measuring the position and posture of a spliced ​​antenna submodule according to claim 1, characterized in that: A swing mirror is also provided between the laser distance measuring device and the spliced ​​antenna; The placement angle of the oscillating mirror is changed so that the laser emitted by the laser ranging device irradiates each of the corner-concave reflectors through the oscillating mirror; the corner-concave reflector reflects the laser onto the oscillating mirror, and the oscillating mirror reflects the laser from the corner-concave reflector into the laser ranging device.

3. The method for measuring the position and posture of a spliced ​​antenna submodule according to claim 1, characterized in that: The placement angle of the laser distance measuring device is changed so that the laser emitted by the laser distance measuring device irradiates each of the corner reflectors, and the corner reflectors reflect the laser into the laser distance measuring device.

4. The method for measuring the position and posture of a spliced ​​antenna submodule according to claim 2 or 3, characterized in that: The laser distance measuring device determines the distance between each corner reflector and the laser distance measuring device according to the emitted and received lasers, and calculates the position and posture of the module to be measured in combination with the Stewart kinematic algorithm.

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