Beacon rapid positioning and tracking system and method

Abstract

The invention discloses a beacon rapid positioning and tracking system and method, and belongs to the field of atmospheric measurement. The ground receiving end comprises a scanning rack, a telescope, a wedge mirror, an imaging unit, a receiving end main antenna, a receiving end radio station and a receiving end auxiliary antenna; the transmitting end comprises a transmitting end shell, a transmitting end antenna, a transmitting end radio station, a beacon light, a tripod and an unmanned aerial vehicle. During measurement, the transmitting end transmits the position of the transmitting end antenna to the ground receiving end in real time, and the horizontal included angle between the transmitting end antenna and the receiving end main antenna and the height included angle between the transmitting end antenna and the ground horizontal plane are obtained through calculation by combining the position of the receiving end antenna. The ground receiving end adjusts a tracking and pointing system to enable the angles of the transmitting end and the receiving end to be matched based on the included angle and pitch angle data between the front and rear end antennas of the ground receiving end and the due north direction in combination with the angle information between the transmitting end and the receiving end, so that the beacon of the transmitting end can be stably tracked in different scenes, and parameter measurement can be efficiently and accurately realized after the beacon is locked.

Description

Technical Field

[0001] The present invention relates to the field of atmospheric optical measurement, and particularly relates to a beacon rapid positioning and tracking system and method. Background Art

[0002] The key role of beacon and tracking in the measurement of atmospheric coherence length: In the measurement of atmospheric coherence length, the beacon serves as a signal source, and its stable tracking is crucial for obtaining accurate measurement data. The beacon emits light as a light source, and the receiving end determines the measurement path by tracking the beacon, and then calculates the atmospheric coherence length. Accurately tracking the beacon can ensure the stability of the measurement path and reduce measurement errors.

[0003] Limitations of traditional measurement methods:

[0004] The coordination problem between the reference station and the mobile station: When constructing a coordination system between the reference station and the mobile station using traditional measurement methods, there are serious deficiencies. Although the stability and accuracy of the measurement data of the ground end as the reference station are somewhat guaranteed, there is a lack of an efficient information interaction and coordination mechanism with the mobile station (the transmitting end). During the movement of the mobile station, it is difficult for the reference station to obtain and use the changes in its position and angle in real time and accurately to adjust the measurement equipment, resulting in difficulties in precise docking between the two and limited measurement accuracy.

[0005] Backwardness of beacon and tracking technology: The traditional beacon design lacks the ability to adapt to the changing environment of the mobile station. When the mobile station is in different scenarios, such as during the transition from the ground to the air, it faces complex atmospheric conditions and electromagnetic interference. The traditional beacon signal is easily affected and becomes unstable, making it difficult for the reference station to continuously and stably track. At the same time, the tracking algorithm cannot effectively utilize the angle information between the reference station and the mobile station for real-time adjustment. When the position of the mobile station changes, it is unable to adjust the tracking strategy in a timely and accurate manner, resulting in tracking loss or large deviations.

[0006] Poor adaptability to measurement scenarios: Traditional measurement methods are difficult to achieve effective cooperation between the reference station and the mobile station in various scenarios. Whether it is the complex terrain and landforms on the ground or the changing meteorological conditions in the air, they pose challenges to the coordination between the reference station and the mobile station. Traditional technologies cannot flexibly adjust measurement parameters and tracking strategies according to different scenarios, restricting the measurement range and accuracy. Summary of the Invention

[0007] To solve the above technical problems, the present invention provides a beacon rapid positioning and tracking system and method to overcome the limitations of traditional measurement methods in beacon and tracking the beacon, achieve more efficient and accurate measurement of atmospheric turbulence parameters, and be applicable to measurements in both ground and air scenarios, covering multiple aspects of technological innovation such as beacon design, tracking algorithm, and alignment and tracking coordination.

[0008] The technical solution of the present invention is as follows:

[0009] A beacon rapid positioning and tracking system for atmospheric turbulence measurement in different scenarios, including: a ground receiving end and a transmitting end.

[0010] The ground receiving end includes a scanning rack, a telescope, a wedge prism, an imaging unit, a main receiving antenna, a receiving end radio station, and a secondary receiving antenna;

[0011] The transmitting end includes a transmitting end housing, a transmitting end antenna, a transmitting end radio station, a beacon light, a tripod, and a drone.

[0012] A beacon rapid positioning and tracking method using the above-mentioned beacon rapid positioning and tracking system, including:

[0013] Step 1: Install the ground receiving end at the target position and level the base of the scanning rack;

[0014] Step 2: Install the transmitting end at the preset position; if installed on the ground, turn on the beacon light;

[0015] Step 3: After installing and fixing the transmitting end at the target position, read the horizontal angle and the pitch angle of the scanning rack; obtain the angle between the line connecting the main receiving antenna and the secondary receiving antenna at the receiving end and the due north direction ; obtain the angle between the line connecting the transmitting end antenna and the main receiving antenna at the receiving end relative to the due north direction ; obtain the angle between the line connecting the transmitting end antenna and the secondary receiving antenna at the receiving end and the ground ;

[0016] Step 4: If , control the horizontal rotation of the scanning rack and adjust the value of the horizontal angle until ; is a preset value;

[0017] Step 5: If , control the pitch rotation of the scanning rack and adjust the value of the pitch angle until ; is also a preset value;

[0018] Step 6: If the beacon light image appears in the imaging unit, control the adjustment of the scanning rack until the beacon light image is at the center position of the field of view; the imaging unit automatically focuses until the imaging quality reaches the best; if the beacon light image does not appear in the imaging unit, execute Step 7;

[0019] Step 7: Control the scanning gantry to scan clockwise or counterclockwise, with a horizontal movement angle of δ1 each time and a pitch movement angle of δ2 each time, until the beacon light imaging appears, and then execute Step 6.

[0020] The present invention has the following beneficial effects:

[0021] Collaborative innovation between the reference station and the mobile station: The present invention creatively constructs an efficient collaborative system with the ground end as the reference station and the transmitting end as the mobile station. The ground end (reference station) uses its own stable tracking system and ground receiving station to accurately measure and provide key angle data such as the angles between the front and rear antennas and the due north direction and the pitch angle. During the movement of the transmitting end (mobile station), it sends the horizontal angle between its connection line with the main antenna of the ground end and the height angle with the earth's horizontal plane to the ground end in real time through the beacon. This two-way information interaction mechanism enables the ground end to quickly and accurately adjust the tracking system according to its own reference data and the mobile station data transmitted by the transmitting end, realizing the precise alignment of the two, and greatly improving the accuracy and stability of measurement.

[0022] Innovation in beacon and tracking technology: A beacon with high anti-interference ability is designed for the complex environment of the mobile station. The beacon signal is specially modulated and can stably transmit signals in different scenarios. Whether it is electromagnetic interference on the ground or atmospheric interference in the air, it can ensure that the signal is clearly received by the ground end (reference station). At the same time, an advanced scanning and tracking algorithm is adopted. This algorithm can make full use of the angle information between the reference station and the mobile station, analyze the position change of the mobile station and the signal characteristics in real time, and automatically adjust the tracking parameters. When the position of the mobile station changes, the algorithm reacts quickly, adjusts the size of the tracking window and the search step length, and continuously and stably tracks the beacon, greatly improving the reliability of tracking and the continuity of measurement.

[0023] Innovation in multi-scenario adaptability: The measurement method of the present invention can flexibly adapt to various scenarios. Whether it is different terrains on the ground or complex meteorological conditions in the air, through the collaborative work between the reference station and the mobile station and the innovation of beacon and tracking technology, it can automatically adjust the measurement parameters and tracking strategies according to the scenario changes. When measuring on the ground, using the stable measurement advantage of the ground end (reference station) and combining the flexible movement characteristics of the transmitting end (mobile station), the atmospheric coherence length data can be accurately obtained; when measuring in the air, the beacon and tracking algorithm can effectively cope with the changes in the atmospheric environment and ensure the smooth progress of the measurement work, greatly expanding the application range of the measurement method. Description of the Drawings

[0024] Figure 1 It is a schematic diagram of ground beacon positioning and tracking;

[0025] Figure 2 It is a schematic diagram of UAV beacon positioning and tracking;

[0026] Figure 3 It is a schematic diagram of tracking and scanning.

[0027] 1 - Scanning frame; 2 - Telescope; 3 - Wedge prism; 4 - Imaging unit; 5 - Main receiving antenna; 6 - Receiver radio station; 7 - Sub - receiving antenna; 8 - Transmitter housing; 9 - Transmitter antenna; 10 - Transmitter radio station; 11 - Beacon light; 12 - Tripod; 13 - UAV. Detailed implementation manners

[0028] In order to make the objectives, technical solutions and advantages of the present invention more clear and understandable, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. To achieve the above - mentioned objectives, the present invention adopts the following technical solutions.

[0029] The present invention provides a beacon rapid positioning and tracking system for atmospheric turbulence measurement in different scenarios, such as Figure 1 , Figure 2 as shown, including: a ground receiving end and a transmitting end.

[0030] The ground receiving end includes a scanning frame 1, a telescope 2, a wedge prism 3, an imaging unit 4, a main receiving antenna 5, a receiver radio station 6, and a sub - receiving antenna 7;

[0031] The transmitting end includes a transmitter housing 8, a transmitter antenna 9, a transmitter radio station 10, a beacon light 11, a tripod 12, and a UAV 13.

[0032] Among them, the main receiving antenna 5 is installed at the front - most end of the outer cylinder of the telescope 2, the sub - receiving antenna 7 is installed at the rearmost end of the outer cylinder of the telescope 2, and it is ensured that the projection of the center line connecting the main receiving antenna 5 and the sub - receiving antenna 7 on the horizontal plane coincides with the projection of the center line of the imaging unit 4 on the horizontal plane; the receiver radio station 6 is installed at the hoop position of the scanning frame 1.

[0033] The transmitter radio station 10 is installed on the side wall of the transmitter housing 8. When the transmitter is placed on the ground, the transmitter is installed on the tripod 12, the transmitter antenna 9 is installed at the upper end of the transmitter housing 8 while the beacon light 11 is installed at the front end of the transmitter housing 8; when the transmitter is installed on the UAV 13, the transmitter is connected to the lower part of the UAV 13 through a rigid rod, and the transmitter antenna 9 and the beacon light 11 are respectively installed at the upper and lower ends of the transmitter housing 8.

[0034] The present invention further proposes a beacon rapid positioning and tracking method, and the steps are as follows:

[0035] Step 1: Install the ground receiving end at the target position and adjust the position of the scanning frame 1 to keep it horizontal.

[0036] Step 2: Install the transmitting end at the predetermined position. If it is installed at a fixed position on the ground, turn on the beacon light 11 and execute Steps 3 to 7. If it is installed at the dynamic position of the UAV, execute Steps 8 to 10.

[0037] Step 3: After installing and fixing the transmitting end at the target position, ensure that there is no obstruction above the top of the transmitting end antenna 9, and at the same time ensure that there is no obstruction between the beacon light 11 and the ground receiving end. Here, the function of the transmitting end radio 10 is to send the position of the transmitting end antenna 9, and the receiving end radio 6 receives the position of the transmitting end antenna 9 sent by the transmitting end radio 10. Here, the transmitting end antenna 9 and the receiving end main antenna 5 are regarded as two points. Let the coordinates of the receiving end main antenna 5 be , and the coordinates of the transmitting end antenna 9 be , then the position vector between the receiving end main antenna 5 and the transmitting end antenna 9 is:

[0038] (1)

[0039] The projection on the plane is: , , then the included angle between the line connecting the receiving end main antenna 5 and the transmitting end antenna 9 and the true north is:

[0040] (2)

[0041] The vertical component of the baseline vector is:

[0042] (3)

[0043] The horizontal component is calculated from the plane coordinates as:

[0044] (4)

[0045] The included angle between the two antennas and the ground plane is:

[0046] (5)

[0047] Open the control software of the ground receiving end and read the horizontal angle of the scanning frame 1 at this time as , the pitch angle ; Similarly, the included angle between the line connecting the receiving end main antenna 5 and the receiving end sub-antenna 7 and the true north direction is calculated by the methods of the above formulas (1) and (2) as ; Similarly, the included angle between the line connecting the transmitting end antenna 9 and the receiving end main antenna 5 and the true north direction is obtained by the above formulas (1) and (2) as ; The included angle between the line connecting the transmitting antenna 9 and the receiving sub-antenna 7 and the ground is obtained from the above formulas (3), (4), and (5). .

[0048] Step 4: If , is a preset value determined by the field of view of the imaging unit and set through preliminary experiments is . Control the horizontal rotation of the scanning rack 1, that is, adjust the value of the horizontal angle until , and stop the horizontal rotation of the scanning rack 1.

[0049] Step 5: If , similarly is set to . Control the pitching rotation of the scanning rack 1, that is, adjust the value of the pitching angle until , and stop the pitching rotation of the scanning rack 1.

[0050] Step 6: If the imaging unit 4 captures the image of the beacon light 11, control the scanning rack 1 to adjust until the image of the beacon light 11 in the imaging unit 4 is at the center of the field of view. Then control the imaging unit 4 to perform automatic focusing until the imaging quality reaches the best, and then perform relevant parameter measurements. If the imaging unit 4 does not capture the image of the beacon light 11, then execute Step 7.

[0051] Step 7: Control the scanning rack 1 to perform a counterclockwise scan around the original field of view. As shown in the scanning and tracking schematic diagram of Figure 3 , move clockwise or counterclockwise. Each time, control the scanning rack 1 to move horizontally or pitch. Each time the horizontal movement angle is δ1, and each time the pitching movement angle is δ2. Here, the size of δ1 depends on the horizontal field of view of the imaging unit 4. Ensure that δ1 is slightly smaller than the horizontal field of view of the imaging unit 4. Similarly, ensure that δ2 is slightly smaller than the vertical field of view of the imaging unit 4. If the imaging unit 4 captures the beacon image after the movement, stop the movement of the scanning rack 1, and then execute Step 6. If the imaging unit 4 does not capture the beacon image after the movement, continue the scan until the beacon light is tracked.

[0052] If it is installed at the dynamic position of the unmanned aerial vehicle, then execute Steps 8 - 10.

[0053] If the preset position in Step 2 is the dynamic position of the unmanned aerial vehicle 13, this position can also be set to any other position as long as it does not exceed the effective control distance of the unmanned aerial vehicle 13 and the round-trip time of the unmanned aerial vehicle 13 is considered; then execute:[[]]

[0054] Step 8: Mount and fix the transmitter on the drone 13, supply power to the transmitter, and turn on the beacon light 11;

[0055] Step 9: Start the drone 13, and after controlling the drone 13 to fly to a predetermined position, execute Steps 3 to 7;

[0056] Step 10: After the measurement is completed, control the drone 13 to return to the predetermined location.

Claims

1. A beacon rapid positioning and tracking system for measuring atmospheric turbulence parameters in different scenarios, characterized in that, Comprising: A ground receiving end and a transmitting end; The ground receiving end includes a scanning frame, a telescope, a wedge prism, an imaging unit, a main receiving antenna, a receiving-end radio station, and a secondary receiving antenna; The transmitting end includes a transmitting-end housing, a transmitting antenna, a transmitting-end radio station, a beacon light, a tripod, and a drone.

2. The beacon rapid positioning and tracking system according to claim 1, characterized in that, The main receiving antenna is installed at the forefront of the outer barrel of the telescope, and the secondary receiving antenna is installed at the rearmost end of the outer barrel of the telescope. Moreover, the projection of the central connection line of the main receiving antenna and the secondary receiving antenna on the horizontal plane coincides with the projection of the central line of the imaging unit on the horizontal plane; the receiving-end radio station is installed at the top position of the scanning frame; The transmitting-end radio station is installed on the side wall of the transmitting-end housing. When the transmitting end is placed on the ground, the transmitting end is installed on the tripod, the transmitting antenna is installed at the upper end of the transmitting-end housing, and the beacon light is installed at the front end of the transmitting-end housing; When the transmitting end is installed on the drone, the transmitting end is connected to the lower part of the drone through a rigid rod, and the transmitting antenna and the beacon light are respectively installed at the upper and lower ends of the transmitting-end housing.

3. A beacon fast positioning and tracking method using the beacon fast positioning and tracking system according to any one of claims 1-2, characterized in that, Comprising: Step 1: Install the ground receiving end at the target position and level the base of the scanning frame; Step 2: Install the transmitting end at the preset position; If installed on the ground, turn on the beacon light; Step 3: After installing and fixing the transmitting end at the target position, read the horizontal angle of the scanning gantry , the pitch angle ; Obtain the angle between the line connecting the main antenna and the secondary antenna of the receiving end and the due north direction ; Obtain the angle between the line connecting the transmitting end antenna and the main antenna of the receiving end relative to the due north direction ; Obtain the angle between the line connecting the transmitting antenna and the receiving sub-antenna and the ground ; Step 4, if , control the horizontal rotation of the scanning gantry and adjust the value of the horizontal angle until ; is a preset value; Step 5, if , control the pitching rotation of the scanning gantry and adjust the pitching angle value until ; is also a preset value; Step 6: If the beacon light imaging appears in the imaging unit, control the scanning frame to adjust until the beacon light imaging is at the center position of the field of view; the imaging unit automatically focuses until the imaging quality reaches the best; if the beacon light imaging does not appear in the imaging unit, then execute Step 7; Step 7: Control the scanning frame to scan clockwise or counterclockwise, with a horizontal movement angle of δ1 each time and a pitch movement angle of δ2 each time, until the beacon light imaging appears, then execute Step 6.

4. A beacon fast positioning and tracking method according to claim 3, characterized in that If the preset position in Step 2 is the dynamic position of the drone; then execute: Step 8: Install and fix the transmitting end on the drone, supply power to the transmitting end, and turn on the beacon light on the transmitting end; Step 9: Start the drone, and after controlling the drone to fly to the predetermined position, execute Steps 3 to 7; Step 10: After the measurement is completed, control the drone to return to the predetermined location.

5. A beacon fast positioning and tracking method according to claim 3, characterized in that, In Step 7, the magnitude of the horizontal movement angle δ1 depends on the horizontal field of view size of the imaging unit.

6. A beacon fast positioning and tracking method according to claim 3, wherein, In Step 7, the pitch movement angle δ2 is slightly smaller than the vertical field of view size of the imaging unit.

7. A beacon rapid positioning and tracking method according to claim 4, characterized in that The dynamic position of the drone is set to any position within the effective control distance of the drone.

8. A beacon fast positioning and tracking method according to claim 3, characterized in that The value is .

9. A beacon fast positioning and tracking method according to claim 3, characterized in that takes the value of .

10. A beacon rapid positioning and tracking method according to claim 4, characterized in that, In step 3, the transmitting antenna and the receiving main antenna are regarded as two points. Let the coordinates of the receiving main antenna be , and the coordinates of the transmitting antenna be . Then the position vector between the receiving main antenna and the transmitting antenna is: （1） The projection on the plane is: , then the included angle between the line connecting the main antenna at the receiving end and the antenna at the transmitting end and the true north is: （2） The vertical component of the baseline vector is: （3） The horizontal component is calculated from the plane coordinates as: （4） The angle between the two antennas and the ground plane is: （5） Similarly, the included angle between the line connecting the main antenna at the receiving end and the secondary antenna at the receiving end and the due north direction is calculated by the methods of the above formulas (1) and (2). ; Similarly, the included angle between the line connecting the transmitting end antenna and the main antenna at the receiving end and the due north direction is obtained from the above formulas (1) and (2). ; The included angle between the line connecting the transmitting end antenna and the secondary antenna at the receiving end and the ground is obtained from the above formulas (3), (4), and (5). .

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