A beacon rapid positioning and tracking system and method

Abstract

The present invention discloses a beacon rapid positioning and tracking system and method, which belongs to the field of atmospheric measurement. It is composed of a ground receiving end and a transmitting end. The ground receiving end includes a scanning rack, a telescope, a wedge mirror, an imaging unit, a receiving end main antenna, a receiving end radio, and a receiving end auxiliary antenna; the transmitting end includes a transmitting end housing, a transmitting end antenna, a transmitting end radio, a beacon light, a tripod, and a drone. During measurement, the transmitting end sends the position of the transmitting end antenna to the ground receiving end in real time. Combined with the position of the receiving end antenna, the horizontal angle of the line connecting the transmitting end antenna and the receiving end main antenna and the altitude angle with the earth's horizontal plane are obtained by solution. Based on the angle and pitch angle data of its own front and rear antennas and the true north direction, the ground receiving end adjusts the tracking and aiming system in combination with the angle information between the transmitting end and the receiving end, so that the angles of the two match, ensuring stable tracking of the transmitting end beacon in different scenarios. After locking the beacon, parameter measurement can be achieved efficiently and accurately.

Description

Technical Field

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

[0002] Beacons and tracking play a crucial role in atmospheric coherence length measurements: In atmospheric coherence length measurements, beacons serve as signal sources, and their stable tracking is crucial for obtaining accurate measurement data. The beacon acts as a light source, and the receiver tracks the beacon to determine the measurement path and subsequently calculate the atmospheric coherence length. Accurate beacon tracking ensures measurement path stability and reduces measurement errors.

[0003] Limitations of traditional measurement methods:

[0004] Base station and rover coordination issues: Traditional measurement methods have serious shortcomings when it comes to building a coordinated system between base stations and rover stations. While the ground-based base station provides a certain degree of stability and accuracy in its measurement data, it lacks efficient information exchange and coordination mechanisms with the rover (transmitter). As the rover moves, its position and angle changes are difficult for the base station to accurately capture in real time and use for adjusting the measurement equipment. This makes it difficult to precisely align the two, limiting measurement accuracy.

[0005] Outdated beacon and tracking technology: Traditional beacon designs lack the ability to adapt to the changing environments of mobile stations. Mobile stations face complex atmospheric conditions and electromagnetic interference in different scenarios, such as transitioning from ground to air. Traditional beacon signals are easily affected and unstable, making it difficult for base stations to maintain stable tracking. Furthermore, tracking algorithms cannot effectively utilize the angular information between the base station and the mobile station for real-time adjustments. When the mobile station's position changes, the tracking strategy cannot be adjusted promptly and accurately, resulting in tracking loss or large deviations.

[0006] Poor adaptability to measurement scenarios: Traditional measurement methods struggle to achieve effective coordination between base and rover stations in a variety of scenarios. Complex terrain and topography on the ground, as well as volatile weather conditions in the air, pose challenges to their coordinated operation. Traditional technologies also lack the flexibility to adjust measurement parameters and tracking strategies to suit different scenarios, limiting 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 beacons and tracking beacons, achieve more efficient and accurate measurement of atmospheric turbulence parameters, and is suitable for measurement of both ground and air scenes, covering multiple technical innovations such as beacon design, tracking algorithms, and alignment and tracking coordination.

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

[0009] A beacon rapid positioning and tracking system is used 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 mirror, an imaging unit, a receiving end main antenna, a receiving end radio, and a receiving end auxiliary antenna;

[0011] The transmitter includes a transmitter housing, a transmitter antenna, a transmitter radio, 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 comprises:

[0013] Step 1: Install the ground receiving end to the target location and level the scanning rack base;

[0014] Step 2: Install the transmitter to the preset location. If it is installed on the ground, turn on the beacon light.

[0015] Step 3: After the transmitter is fixed at the target position, read the horizontal angle of the scanning rack. , pitch angle ; Get the angle between the line between the main antenna and the secondary antenna of the receiving end and the north direction ; Get the angle between the line connecting the transmitting antenna and the receiving main antenna relative to the north direction ; Get the angle between the line connecting the transmitting antenna and the receiving antenna and the ground ;

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

[0017] Step 5: If , control the pitch rotation of the scanning frame and adjust the pitch angle value until ; It is also the default value;

[0018] Step 6: If the beacon light image appears in the imaging unit, control the scanning gantry to adjust until the beacon light image is at the center of the field of view; the imaging unit automatically adjusts the focus 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 each horizontal movement angle δ1 and each pitch movement angle δ2, until the beacon light image appears, then execute step 6.

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

[0021] Collaborative Innovation between Base Station and Rover: This invention innovatively constructs a highly efficient collaborative system with the ground terminal serving as the base station and the transmitter serving as the rover. The ground terminal (base station) utilizes its own stable tracking and aiming system and a ground receiving station to accurately measure and provide key angular data, such as the angle between its front and rear antennas and true north, as well as the pitch angle. While in motion, the transmitter (rover) transmits information about its horizontal angle with the line connecting the ground terminal's main antenna and its altitude angle with the geoid in real time to the ground terminal via a beacon. This two-way information exchange mechanism enables the ground terminal to quickly and accurately adjust its tracking and aiming system based on its own baseline data and rover data transmitted from the transmitter, achieving precise alignment between the two, significantly improving measurement accuracy and stability.

[0022] Innovations in beacon and tracking technology: A beacon with high interference resistance is designed to address the complex environments of rover stations. This beacon signal is specially modulated, ensuring stable transmission in diverse scenarios. This ensures clear signal reception at the ground-based (base) station, regardless of electromagnetic interference on the ground or atmospheric interference in the air. Furthermore, an advanced scanning tracking algorithm leverages the angular information between the base station and rover, analyzing changes in the rover's position and signal characteristics in real time to automatically adjust tracking parameters. When the rover's position changes, the algorithm quickly adjusts the tracking window size and search step size to maintain continuous and stable tracking of the beacon, significantly improving tracking reliability and measurement continuity.

[0023] Multi-Scenario Adaptability: This measurement method is flexible and adaptable to a variety of scenarios. Through the collaborative work between the base station and rover, as well as innovative beacon and tracking technologies, measurement parameters and tracking strategies can be automatically adjusted based on changing scenarios, whether in varying terrain on the ground or complex meteorological conditions in the air. For ground-based measurements, the stable measurement capabilities of the ground terminal (base station) are combined with the flexible mobility of the transmitting terminal (rover) to accurately acquire atmospheric coherence length data. For aerial measurements, the beacon and tracking algorithms effectively address atmospheric environmental changes, ensuring smooth measurement progress and significantly expanding the scope of application of this measurement method. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0025] Figure 2 This is a schematic diagram of drone beacon positioning and tracking;

[0026] Figure 3 Schematic diagram of tracking scan.

[0027] 1- Scanning rack; 2- Telescope; 3- Wedge mirror; 4- Imaging unit; 5- Main antenna of receiving end; 6- Receiving end radio; 7- Auxiliary antenna of receiving end; 8- Transmitter housing; 9- Transmitter antenna; 10- Transmitter radio; 11- Beacon light; 12- Tripod; 13- UAV. DETAILED DESCRIPTION

[0028] In order to make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may 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, it includes: a ground receiving end and a transmitting end.

[0030] The ground receiving end includes a scanning rack 1, a telescope 2, a wedge mirror 3, an imaging unit 4, a receiving end main antenna 5, a receiving end radio 6, and a receiving end auxiliary antenna 7;

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

[0032] Among them, the receiving end main antenna 5 is installed at the front end of the outer tube of the telescope 2, and the receiving end auxiliary antenna 7 is installed at the rear end of the outer tube of the telescope 2, and it is ensured that the projection of the center line connecting the receiving end main antenna 5 and the receiving end auxiliary antenna 7 in the horizontal plane coincides with the projection of the center line of the imaging unit 4 in the horizontal plane; the receiving end radio station 6 is installed at the clamp position of the scanning frame 1.

[0033] The transmitter radio 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, and the beacon light 11 is installed at the front end of the transmitter housing 8; when the transmitter is installed on the drone 13, the transmitter is connected to the bottom of the drone 13 through a hard 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, the steps of which are as follows:

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

[0036] Step 2: Install the transmitter at a predetermined location. If it is installed at a fixed location on the ground, turn on the beacon light 11 and execute steps 3 to 7. If it is installed at a dynamic location of the drone, execute steps 8 to 10.

[0037] Step 3: After the transmitter is fixed at the target location, ensure that there is no obstruction on the top of the transmitter antenna 9 and that there is no obstruction between the beacon light 11 and the ground receiving terminal. Here, the transmitter station 10 is used to send the position of the transmitter antenna 9, and the receiving terminal station 6 receives the position of the transmitter antenna 9 sent by the transmitter station 10. Here, the transmitter antenna 9 and the receiving terminal main antenna 5 are regarded as two points. Let the coordinates of the receiving terminal main antenna 5 be , the coordinates of the transmitting antenna 9 , then the position vectors of the receiving end main antenna 5 and the transmitting end antenna 9 are:

[0038] (1)

[0039] The projection onto the plane is: , , then the angle between the line connecting the receiving end main antenna 5 and the transmitting end antenna 9 and due 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 angle between the two antennas and the ground plane is:

[0046] (5)

[0047] Open the ground receiving end control software and read the horizontal angle of the scanning rack 1 at this time. , pitch angle ; The angle between the line connecting the main antenna 5 and the secondary antenna 7 at the receiving end and the true north direction is calculated by the same method as above formula (1) and formula (2): ; The angle between the line connecting the transmitting antenna 9 and the receiving main antenna 5 and the north direction is obtained by the same reason as above formula (1) and (2): The angle between the line connecting the transmitting antenna 9 and the receiving antenna 7 and the ground is obtained from the above formulas (3), (4), and (5): .

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

[0049] Step 5: If , similarly Set to . Control the pitch rotation of the scanning gantry 1, that is, adjust the pitch angle value until , stop the pitch rotation of the scanning gantry 1.

[0050] Step 6: If the imaging unit 4 shows an image of the beacon light 11, the scanning gantry 1 is controlled to adjust until the image of the beacon light 11 in the imaging unit 4 is at the center of the field of view. The imaging unit 4 is controlled to automatically focus until the imaging quality reaches the optimal level, and then relevant parameters are measured. If the imaging unit 4 does not show an image of the beacon light 11, step 7 is executed.

[0051] Step 7: Control the scanning gantry 1 to scan counterclockwise around the original field of view, as shown in FIG. Figure 3 The scanning and tracking diagram shown shows clockwise or counterclockwise movement, with the scanning gantry 1 controlled to move horizontally or in elevation each time. Each horizontal movement angle is δ1, and each elevation movement angle is δ2. The magnitude 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, and similarly, ensure that δ2 is slightly smaller than the elevation field of view of the imaging unit 4. If a beacon image appears in the imaging unit 4 after movement, movement of the scanning gantry 1 is stopped, and step 6 is executed. If no beacon image appears in the imaging unit 4 after movement, scanning continues until the beacon light is tracked.

[0052] If installing to a dynamic position on the drone, proceed to steps 8 to 10.

[0053] If the preset position in step 2 is the dynamic position of the drone 13, the position can also be set to any other position as long as it does not exceed the effective control distance of the drone 13 and takes into account the round-trip time of the drone 13; then execute:

[0054] Step 8: Mount the transmitter on the drone 13, power the transmitter, and turn on the beacon light 11.

[0055] Step 9: Start the UAV 13 and control the UAV 13 to fly to a predetermined position, and then execute steps 3 to 7;

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

Claims

1. A beacon rapid positioning and tracking method, characterized in that: include: Step 1: Install the ground receiving end to the target location and level the scanning rack base; Step 2: Install the transmitter to the preset location; If installed on the ground, turn on the beacon light; Step 3: After the transmitter is fixed at the target position, read the horizontal angle of the scanning rack. , pitch angle ; Get the angle between the line between the main antenna and the secondary antenna of the receiving end and the north direction ; Get the angle between the line connecting the transmitting antenna and the receiving main antenna and the true north direction ; Get the angle between the line connecting the transmitting antenna and the receiving antenna and the ground ; Step 4: If , control the horizontal rotation of the scanning frame and adjust the horizontal angle value until ; is the preset value; Step 5: If , control the pitch rotation of the scanning frame and adjust the pitch angle value until ; It is also the default value; Step 6: If the beacon light image appears in the imaging unit, control the scanning gantry to adjust until the beacon light image is at the center of the field of view; the imaging unit automatically adjusts the focus until the imaging quality reaches the best; if the beacon light image does not appear in the imaging unit, execute step 7; Step 7: Control the scanning gantry to scan clockwise or counterclockwise, with each horizontal movement angle δ1 and each pitch movement angle δ2, until the beacon light image appears, then execute step 6.

2. A beacon rapid positioning and tracking method according to claim 1, characterized in that: If the preset position in step 2 is the dynamic position of the drone, then execute: Step 8: Fix the transmitter on the UAV, power the transmitter, and turn on the beacon light on the transmitter. Step 9: Start the drone and control it to fly to a predetermined location, then execute steps 3 to 7. Step 10: After the measurement is completed, the drone is controlled to return to the predetermined location.

3. A beacon rapid positioning and tracking method according to claim 1, characterized in that: In step 7, the size of the horizontal movement angle δ1 depends on the size of the horizontal field of view of the imaging unit.

4. A beacon rapid positioning and tracking method according to claim 1, characterized in that: In step 7, the pitch movement angle δ2 is slightly smaller than the pitch field of view of the imaging unit.

5. A beacon rapid positioning and tracking method according to claim 2, characterized in that: The dynamic position of the drone is set to any position that does not exceed the effective control distance of the drone.

6. A beacon rapid positioning and tracking method according to claim 1, characterized in that: The value is .

7. A beacon rapid positioning and tracking method according to claim 1, characterized in that: The value is .

8. A beacon rapid positioning and tracking method according to claim 2, characterized in that: In step 3, consider the transmitting antenna and the receiving main antenna as two points, and set the coordinates of the receiving main antenna , transmitting antenna coordinates , then the position vectors of the receiving end main antenna and the transmitting end antenna are: （1） The projection onto the plane is: , , then the angle between the line connecting the main antenna of the receiving end and the antenna of the transmitting end and due 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） The angle between the line connecting the main antenna and the secondary antenna at the receiving end and the true north direction is calculated by the same method as above formula (1) and formula (2): ; The angle between the line connecting the transmitting antenna and the receiving main antenna and the true north direction is obtained by the same reason as above formula (1) and (2): ; The angle between the line connecting the transmitting antenna and the receiving antenna and the ground is obtained from the above formulas (3), (4), and (5): .

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