An antenna subarray mounting structure and a high-precision compensation method thereof

Abstract

This invention discloses an antenna subarray mounting structure and its high-precision compensation method, which optimizes the arrangement of the antenna subarrays. Only the levelness of the upper and lower platforms needs to be adjusted to ensure that the levelness of the four subarray support platforms is consistent, thereby improving the accuracy of the reference coordinates during radar detection. At the same time, through the dynamic adaptive compensation control closed-loop conditions of the horizontal, vertical and azimuth of adjacent subarrays, high-precision compensation in the horizontal, vertical and azimuth directions of adjacent subarrays can be achieved. Therefore, there is no need to detect and measure the deformation of the upper platform, lower platform and drive mechanism. The distance difference between adjacent subarrays can be directly detected, reducing the influence of the transmission chain and the cyclic judgment, and the deformation compensation accuracy is higher.

Description

Technical Field

[0001] This invention relates to the field of antenna subarray technology, and in particular to an antenna subarray mounting structure and its high-precision compensation method. Background Technology

[0002] During radar installation, the support platform and installation mechanism undergo varying degrees of deformation due to gravity, wind resistance, and temperature variations, significantly impacting the accuracy of the radar antenna array. This is particularly true for radars with deformable capabilities, where the deformation is complex and cannot be pre-programmed with variable compensation. Traditional mechanical compensation methods are insufficient for high-precision requirements. Therefore, this paper proposes a high-precision adaptive compensation method for antenna subarray installation, combining sensor-based closed-loop dynamic adaptive compensation technology to achieve high-precision compensation during deformation. Summary of the Invention

[0003] To address the technical problems existing in the background art, this invention proposes an antenna subarray mounting structure and its high-precision compensation method.

[0004] The present invention proposes an antenna subarray mounting structure, comprising: a first subarray, a second subarray, a third subarray, a fourth subarray, an upper platform, a lower platform, a horizontal sensing device, and a displacement sensing device;

[0005] A support and adjustment device is provided on the lower platform, and the upper platform is installed above the lower platform through the support and adjustment device. A subarray space is formed between the upper and lower platforms to accommodate the first subarray, the second subarray, the third subarray, and the fourth subarray. The first subarray is provided with a first driving mechanism, and the second subarray is provided with a second driving mechanism. The first and second subarrays are respectively installed on the bottom plate of the upper platform through the first and second driving mechanisms. The first and second driving mechanisms are used to drive the first and second subarrays to move horizontally, vertically, and rotationally, respectively. A third driving mechanism is provided on the third subarray, and a fourth driving mechanism is provided on the fourth subarray. The third and fourth subarrays are respectively installed on the top of the lower platform through the third and fourth driving mechanisms. The third and fourth driving mechanisms are used to drive the third and fourth subarrays to move horizontally, vertically, and rotationally, respectively.

[0006] The first, second, third, and fourth subarrays are located on the same plane and arranged in a matrix. The horizontal sensing device is used to detect the levelness of the upper platform and / or the lower platform, and the displacement sensing device is used to detect the distance between two adjacent subarrays.

[0007] Preferably, the displacement sensing device is used to detect the distance between at least two different positions of two adjacent subarrays.

[0008] Preferably, the support adjustment device is connected to the horizontal sensing device, and the parallelism of the upper and lower platforms is adjusted according to the detection signal of the horizontal sensing device.

[0009] Preferably, the second subarray is located above the first subarray, the fourth subarray is located above the third subarray, the second and fourth subarrays are arranged side by side, and the first and third subarrays are arranged side by side, with the rotation axes of the four subarrays arranged in parallel.

[0010] Preferably, the support adjustment device includes a plurality of hydraulic support legs distributed around the outer periphery of the subarray space.

[0011] This invention also proposes a high-precision compensation method for antenna subarrays, implemented through the aforementioned antenna subarray erection structure; the compensation method includes the following steps:

[0012] S1, Position Detection: Detect the position coordinates (xn, yn, θn) of the four subarrays and the levelness αn of the upper and lower platforms;

[0013] S2. Levelness Compensation: Based on the levelness of the lower platform, the upper platform is adjusted using a support adjustment device to make the levelness of the upper and lower platforms equal.

[0014] S3, adjacent subarray distance compensation, including:

[0015] S31. Detect the distance between two different positions in the horizontal direction of two adjacent subarrays, and determine whether the distance between the two different positions is equal; if they are not equal, rotate at least one of the subarrays for dynamic compensation until they are equal.

[0016] Detect the distance between two different positions in the vertical direction of two adjacent subarrays, and determine whether the distances between the two different positions are equal; if they are not equal, rotate at least one of the subarrays for dynamic compensation until they are equal.

[0017] S32. Determine whether the horizontal or vertical distance between two adjacent subarrays is equal to the preset index distance. If not, move at least one subarray horizontally or vertically to perform dynamic compensation of the horizontal or vertical distance until it is equal to the preset index distance.

[0018] S4. Compensation Record: Records the coordinates (x'n, y'n, θ'n) of the four subarrays after compensation.

[0019] Preferably, in S2, the support adjustment device includes multiple hydraulic support legs distributed around the outer periphery of the subarray space. The level of the upper platform is adjusted by the hydraulic support legs. After the adjustment is completed, the weight of the support legs is cyclically checked to see if it meets the preset value.

[0020] Preferably, in S3, the adjacent subarray distance compensation specifically includes:

[0021] S31. Detect the distances δ1 and δ2 between two adjacent vertical positions of the first and third subarrays arranged along the horizontal direction, and determine whether δ1 and δ2 are equal. If they are not equal, rotate at least one of the subarrays for dynamic compensation until δ1 and δ2 are equal.

[0022] Detect the distances δ3 and δ4 at two different positions on the adjacent sides of the third and fourth subarrays arranged vertically, and determine whether δ3 and δ4 are equal; if they are not equal, rotate at least one of the subarrays for dynamic compensation until δ3 and δ4 are equal.

[0023] S32. Determine whether δ1 or δ2 is equal to the preset index distance δ'. If δ1 or δ2 is not equal to δ', move the first subarray and / or the third subarray horizontally to perform dynamic horizontal distance compensation until δ1 or δ2 is equal to δ'.

[0024] Determine whether δ3 or δ4 is equal to the index distance δ”. If δ3 or δ4 is not equal to δ”, move the third or fourth subarray vertically to perform dynamic vertical distance compensation until δ3 or δ4 is equal to δ”.

[0025] Preferably, the adjacent subarray distance compensation further includes:

[0026] S33. Detect the lateral distances δ5 and δ6 between the adjacent sides of the vertically arranged second subarray and the first subarray, and determine whether δ5 and δ6 are equal. If they are not equal, rotate at least one subarray for dynamic compensation until δ5 and δ6 are equal.

[0027] S34. Determine if the sum of δ5 and δ6 is twice the preset index distance δ”'. If the sum of δ5 and δ6 is not equal to 2δ”', then move vertically by at least one subarray until δ5 + δ6 = 2δ”'.

[0028] The proposed antenna subarray mounting structure and its high-precision compensation method optimize the arrangement of the antenna subarrays. Only the levelness of the upper and lower platforms needs to be adjusted to ensure that the levelness of the four subarray support platforms is consistent, thereby improving the accuracy of the reference coordinates during radar detection. At the same time, through the dynamic adaptive compensation control closed-loop conditions of the horizontal, vertical and azimuth of adjacent subarrays, high-precision compensation in the horizontal, vertical and azimuth directions of adjacent subarrays is achieved. Therefore, there is no need to detect and measure the deformation of the upper platform, lower platform and drive mechanism. The distance difference between adjacent subarrays is directly detected, reducing the influence of the transmission chain and cyclic judgment, and the deformation compensation accuracy is higher. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of one embodiment of the antenna subarray mounting structure proposed in this invention.

[0030] Figure 2This is an antenna subarray arrangement diagram in one embodiment of the antenna subarray mounting structure proposed in this invention.

[0031] Figure 3 This is a schematic diagram of the driving mechanism of a single subarray in one embodiment of the antenna subarray mounting structure proposed in this invention.

[0032] Figure 4 This is a cross-sectional view of the driving mechanism of a single subarray in one direction, according to one embodiment of the antenna subarray mounting structure proposed in this invention.

[0033] Figure 5 This is a cross-sectional view from another direction of the driving mechanism of a single subarray in one embodiment of the antenna subarray mounting structure proposed in this invention.

[0034] Figure 6 This is a flowchart illustrating one implementation of a high-precision compensation method for an antenna subarray proposed in this invention. Detailed Implementation

[0035] Reference Figure 1 and 2 The present invention proposes an antenna subarray mounting structure, comprising: a first subarray 100, a second subarray 200, a third subarray 300, a fourth subarray 400, an upper platform 500, a lower platform 600, a horizontal sensing device, and a displacement sensing device.

[0036] A support adjustment device is provided on the lower platform 600. The upper platform 500 is installed above the lower platform 600 through the support adjustment device. A subarray space is formed between the upper platform 500 and the lower platform 600 to accommodate the first subarray 100, the second subarray 200, the third subarray 300, and the fourth subarray 400. A first drive mechanism is provided on the first subarray 100, and a second drive mechanism is provided on the column of the second subarray 200. The first subarray 100 and the second subarray 200 are respectively installed on the bottom plate of the upper platform 500 through the first drive mechanism and the second drive mechanism. The first drive mechanism and the second drive mechanism are respectively used to drive the first subarray 100 and the second subarray 200 to move horizontally, vertically, and rotationally. A third drive mechanism is provided on the third subarray 300, and a fourth drive mechanism is provided on the column of the fourth subarray 400. The third subarray 300 and the fourth subarray 400 are respectively installed on the top of the lower platform 600 through the third drive mechanism and the fourth drive mechanism. The third drive mechanism and the fourth drive mechanism are respectively used to drive the third subarray 300 and the fourth subarray 400 to move horizontally, vertically, and rotationally.

[0037] The first subarray 100, the second subarray 200, the third subarray 300, and the fourth subarray 400 are located on the same plane and arranged in a matrix. The horizontal sensing device is used to detect the levelness of the upper platform 500 and / or the lower platform 600, and the displacement sensing device is used to detect the distance between two adjacent subarrays.

[0038] In this embodiment, the proposed antenna subarray mounting structure optimizes the arrangement of the antenna subarrays. Only the levelness of the upper and lower platforms needs to be adjusted to ensure that the levelness of the four subarray support platforms is consistent, thereby improving the accuracy of the reference coordinates during radar detection. At the same time, through the dynamic adaptive compensation control closed-loop conditions of the horizontal, vertical and azimuth of adjacent subarrays, high-precision compensation in the horizontal, vertical and azimuth directions of adjacent subarrays can be achieved. Therefore, there is no need to detect and measure the deformation of the upper platform, lower platform and drive mechanism. The distance difference between adjacent subarrays can be directly detected, reducing the influence of the transmission chain and cyclic judgment, and the deformation compensation accuracy is higher.

[0039] Reference Figure 3-5 In the specific configuration of the driving mechanism of a single antenna subarray, the driving mechanism of a single subarray includes: a horizontal driving unit, a vertical driving unit, and a rotating component;

[0040] The horizontal drive unit includes a horizontal motor 7, a horizontal lead screw 11, and a slide 10. The horizontal lead screw 11 is rotatably mounted on the upper or lower platform via a bearing seat. The slide 10 is slidably mounted on the platform via a slide rail and is threadedly engaged with the horizontal lead screw 11. The horizontal motor 7 is used to drive the horizontal lead screw 11 to rotate, thereby moving the slide 10 along the extension direction of the horizontal lead screw 11. In a specific design, a nut can be set on the slide, and the lead screw achieves threaded engagement with the slide by engaging with the nut.

[0041] The vertical drive unit includes a vertical motor 15, a vertical lead screw 22, a vertical push rod 20, and a lifting nut 23. The vertical lead screw 22 is vertically mounted on the slide table 10, and the lifting nut 23 is threaded onto the vertical lead screw 22. The slide table 10 is provided with a circumferential limiting member 2 for circumferentially limiting the lifting nut 23. The vertical push rod 20 is fixed to the lifting nut 23 and extends upward. The vertical motor 15 is used to drive the vertical lead screw 22 to rotate, thereby moving the lifting nut 23 and the vertical push rod 20 in the vertical direction.

[0042] The rotating assembly includes an antenna frame 3, an antenna mount 41, and a turntable 42. The antenna frame 3 is mounted on a vertical push rod 20, the antenna mount 41 is mounted on the antenna frame 3, the turntable 42 is rotatably mounted on the antenna mount 41, and the subarray is mounted on the turntable.

[0043] In this embodiment, the first subarray and the second subarray are mounted on the bottom of the upper platform via the first driving mechanism and the second driving mechanism, respectively, and the third subarray and the fourth subarray are mounted on the top of the lower platform via the third driving mechanism and the fourth driving mechanism, respectively. The second subarray 200 is located above the first subarray 100, and the fourth subarray 400 is located above the third subarray 300. The second subarray 200 and the fourth subarray 400 are arranged side by side, and the first subarray 100 and the third subarray 300 are arranged side by side. The rotation axes of the four subarrays are arranged in parallel.

[0044] In the specific design of the sensing device, the displacement sensing device is used to detect the distance between at least two different positions of two adjacent subarrays. The support adjustment device is connected to the horizontal sensing device and adjusts the parallelism of the upper platform 500 and the lower platform 600 according to the detection signal of the horizontal sensing device.

[0045] To facilitate level adjustment of the upper platform, in a specific embodiment, the support adjustment device includes multiple hydraulic support legs 700 distributed around the outer periphery of the subarray space. Precise adjustment of the upper platform is achieved by adjusting the extension and retraction of different hydraulic support legs.

[0046] Reference Figure 6 This embodiment also proposes a high-precision compensation method for antenna subarrays, which is implemented through the aforementioned antenna subarray erection structure; characterized in that the compensation method includes the following steps:

[0047] S1, Position Detection: Detect the position coordinates xn, yn, θn of the four subarrays and the levelness αn of the upper platform 500 and the lower platform 600;

[0048] S2. Levelness compensation: Based on the levelness of the lower platform 600, the upper platform 500 is adjusted through the support adjustment device to make the levelness of the upper and lower platforms 600 equal.

[0049] Specifically, the level of the upper platform 500 is adjusted by the hydraulic support leg 700. After the adjustment is completed, the support leg weight is checked cyclically to see if it meets the preset value.

[0050] S3, adjacent subarray distance compensation, including:

[0051] S31. Detect the distance between two different positions in the horizontal direction of two adjacent subarrays, and determine whether the distance between the two different positions is equal; if they are not equal, rotate at least one of the subarrays for dynamic compensation until they are equal.

[0052] Detect the distance between two different positions in the vertical direction of two adjacent subarrays, and determine whether the distances between the two different positions are equal; if they are not equal, rotate at least one of the subarrays for dynamic compensation until they are equal.

[0053] Specifically, the distances δ1 and δ2 between two adjacent vertical positions of the first subarray 100 and the third subarray 300 arranged along the horizontal direction are detected, and it is determined whether δ1 and δ2 are equal. If they are not equal, at least one of the subarrays is rotated for dynamic compensation until δ1 and δ2 are equal.

[0054] The distances δ3 and δ4 at two different positions on the adjacent sides of the third subarray 300 and the fourth subarray 400 arranged in the vertical direction are detected, and it is determined whether δ3 and δ4 are equal. If they are not equal, at least one of the subarrays is rotated for dynamic compensation until δ3 and δ4 are equal.

[0055] S32. Determine whether the horizontal or vertical distance between two adjacent subarrays is equal to the preset index distance. If not, move at least one subarray horizontally or vertically to perform dynamic compensation of the horizontal or vertical distance until it is equal to the preset index distance.

[0056] Specifically, determine whether δ1 or δ2 is equal to the preset index distance δ'. If δ1 or δ2 is not equal to δ', move the first subarray 100 and / or the third subarray 300 horizontally to perform dynamic horizontal distance compensation until δ1 or δ2 is equal to δ'.

[0057] Determine whether δ3 or δ4 is equal to the index distance δ”. If δ3 or δ4 is not equal to δ”, move the third subarray 300 or the fourth subarray 400 vertically to perform dynamic vertical distance compensation until δ3 or δ4 is equal to δ”.

[0058] S33. Detect the lateral distances δ5 and δ6 between the adjacent sides of the vertically arranged second subarray 200 and the first subarray 100, and determine whether δ5 and δ6 are equal. If they are not equal, rotate at least one subarray for dynamic compensation until δ5 and δ6 are equal.

[0059] S34. Determine if the sum of δ5 and δ6 is twice the preset index distance δ”'. If the sum of δ5 and δ6 is not equal to 2δ”', then move vertically by at least one subarray until δ5 + δ6 = 2δ”'.

[0060] S4. Compensation Record: Records the coordinates of the four subarrays now and the four subarrays after compensation: x'n, y'n, θ'n.

[0061] The antenna subarray setup structure and its high-precision compensation method in this embodiment will be described in detail below through specific examples.

[0062] Reference Figure 1-6 The antenna subarray mounting structure in this embodiment includes: four antenna subarrays, a horizontal sensor, a displacement sensor, a lower platform, and an upper platform;

[0063] The four antenna subarrays have horizontal, vertical and rotation functions. The first subarrays 100 and 2 are integrated in the lower part of the upper platform, and the third subarrays 300 and 4 are integrated in the upper part of the lower platform.

[0064] The level sensor is used to collect the levelness of the upper and lower platforms. By installing it along the horizontal direction, an X and Y coordinate system is established to detect the levelness and tilt of the upper and lower platforms.

[0065] The displacement sensor is used to collect the horizontal and vertical distance between two adjacent subarrays, and is installed around the subarray in the horizontal and vertical directions.

[0066] The lower platform serves as a subarray movement and support platform for the third subarray 300 and the fourth subarray 400, ensuring that the third subarray 300 and the fourth subarray 400 can move horizontally, vertically, and in the azimuth rotation direction above the lower platform.

[0067] The upper platform is supported on the upper part of the lower platform by a vertical drive mechanism, and at the same time serves as a subarray moving and supporting platform for the first subarray 100 and the second subarray 200, ensuring that the first subarray 100 and the second subarray 200 can move in the horizontal, vertical and azimuth rotation directions on the upper part of the lower platform.

[0068] The four antenna subarrays, viewed from the platform, are named the first subarray 100-4, and the distances between the two subarrays are denoted as δ1-δ8.

[0069] Each subarray is mounted on a corresponding platform via a drive mechanism, which includes a horizontal drive unit, a vertical drive unit, a rotating assembly, a subarray, and a drag chain. The vertical drive unit is fixed to the upper side of the slide of the horizontal drive mechanism and can reciprocate linearly in the horizontal direction under the action of the horizontal drive unit. The antenna frame is fixed to the top of the vertical drive unit and can reciprocate vertically along its vertical axis under the action of the vertical drive unit. The rear end of the antenna mount is fixed to the front end of the antenna frame, and the front end of the antenna mount is fixed to the radar subarray. The antenna mount can drive the radar subarray to rotate clockwise or counterclockwise along its axis. Under the coupling action of the horizontal drive unit, the vertical drive unit, and the antenna mount, the radar subarray achieves horizontal, vertical, and rotational degrees of freedom.

[0070] The horizontal drive unit includes a horizontal geared motor 7, two bearing seats, a nut, a slide 10, a lead screw 11, a horizontal position encoder 12, and a preload nut 14. The horizontal geared motor 7 is fixedly connected to the base 1 above, and the output shaft is fixedly connected to one end of the horizontal lead screw 11 through a coupling. The lead screw 11 is hinged to the horizontal drive mechanism 1 above through two bearing seats 8. A preload nut 14 is provided at the shoulder of the other end of the horizontal lead screw 11. The shaft end is fixedly connected to the horizontal displacement encoder 12 through a coupling. The nut is screwed onto the outside of the horizontal lead screw 11. The slide 10 is fixedly connected to the nut.

[0071] The lead of the lead screw and nut pair is L1, and the horizontal position encoder 12 is a multi-turn absolute encoder with n bits per unit. Therefore, the position accuracy of the lead screw rotating one revolution is L1 / 2n. The preload nut 14 is used for axial preload of the lead screw, and at the same time eliminates axial transmission errors caused by long-stroke lead screw pairs.

[0072] In the specific design of the horizontal drive unit, displacement limit blocks are set on both sides of the base to limit the horizontal drive mechanism from sliding out of the slide table in the state of loss of control.

[0073] The vertical drive unit includes a vertical geared motor 15, a drive gear 16, a driven gear 17, a backlash-free gear 18, a vertical displacement encoder 19, a vertical lead screw 22, a nut 23, and a push rod 20. The vertical geared motor 15 drives the driven gear 17 to rotate by driving the drive gear 16. One end of the lead screw 22 is fixedly connected to the driven gear 17. The rotation of the lead screw 22 drives the nut 23 to reciprocate vertically. The lower end of the push rod 20 is fixedly connected to the nut 23, and the upper end is fixedly connected to the antenna frame 3. The other side of the driven gear meshes with the double-plate backlash-free gear 18. The upper end of the double-plate backlash-free gear 18 is coaxially fixedly connected to the vertical displacement encoder 19.

[0074] Wherein, the speed ratio between the driven gear and the meshing gear is i; the lead of the lead screw and nut pair is L2; ​​the vertical position encoder 19 is a multi-turn absolute encoder with a unit bit depth of n2; therefore, the position accuracy of one revolution of the lead screw is L2 / 2n2*i. The double-plate backlash-free gear 19 is used in the rotation mechanism of the lead screw angle and the vertical displacement encoder angle, which can effectively achieve zero-error transmission and improve the detection accuracy of vertical displacement transmission.

[0075] The rotating assembly includes an antenna frame 3, an antenna mount 41, a turntable 42, an angle encoder 24, and an adapter. The antenna mount 41 and the turntable 42 are coaxially hinged through a slewing bearing. The base 41 is fixedly connected to the angle encoder 24. The output shaft of the angle encoder 24 is coaxially fixedly connected to the turntable 42 through the adapter. The angle encoder 24 can coaxially measure the rotation angle of the subarray 5 with high precision.

[0076] During operation, the horizontal drive unit 1 drives the vertical drive unit to reciprocate linearly in the horizontal direction, the vertical drive unit 2 drives the antenna frame 3 to reciprocate linearly in the vertical direction, and the antenna mount 4 turntable 4-2 rotates to drive the subarray to rotate its axis counterclockwise or clockwise, realizing the horizontal, vertical and axial rotation of the subarray.

[0077] The high-precision compensation method for the antenna subarray in this embodiment includes five stages: in-situ detection, adjustment of the first subarray 100, adjustment of the second subarray 200, adjustment of the third subarray 300, and adjustment of the fourth subarray 400.

[0078] Specifically, the following control steps are included:

[0079] S1: Detect the position coordinates (xn, yn, θn) of the four subarrays and the levelness (αn) of the upper and lower horizontal sensors;

[0080] S2: Based on the horizontality of the lower horizontal sensor, drive the upper platform drive mechanism to dynamically supplement and iterate until the horizontality of the upper and lower platforms is equal, thus completing the horizontality compensation of the upper and lower platforms.

[0081] S3: Detect the horizontal vertical distances δ1 and δ2 between adjacent sides of the first subarray 100 and the third subarray 300, and determine whether δ1 and δ2 are equal. If they are not equal, the first subarray 100 and the third subarray 300 cannot be guaranteed to be parallel. Then continue to determine the magnitude of δ1 and δ2. If δ1 > δ2, the first subarray 100 rotates counterclockwise by arctan((δ1-δ2) / 2L) degrees for dynamic compensation until δ1 and δ2 are equal. If δ1 < δ2, the first subarray 100 rotates clockwise by arctan((δ2-δ1) / 2L) degrees for dynamic compensation until δ1 and δ2 are equal. Where L is the straight-line distance between the two displacement sensors of the subarray.

[0082] Simultaneously, the horizontal vertical distances δ3 and δ4 between adjacent sides of the third subarray 300 and the fourth subarray 400 are detected. It is determined whether δ3 and δ4 are equal. If they are not equal, the third subarray 300 and the fourth subarray 400 cannot be guaranteed to be parallel. Then, the magnitudes of δ3 and δ4 are further determined. If δ3 > δ4, the fourth subarray 400 is rotated counterclockwise by arctan((δ3-δ4) / 2L) degrees for dynamic compensation until δ3 and δ4 are equal. If δ3 < δ4, the first subarray 100 is rotated clockwise by arctan((δ4-δ3) / 2L) degrees for dynamic compensation until δ1 and δ2 are equal.

[0083] S4: After the first subarray 100, the third subarray 300, and the fourth subarray 400 meet the requirements for levelness and parallelism, determine whether δ1 or δ2 is equal to the index distance δ. If δ1 or δ2 > δ, the first subarray 100 moves horizontally to the right by δ1 - δ to perform dynamic horizontal distance compensation until δ1 and δ are equal. If δ1 or δ2 < δ, the first subarray 100 moves horizontally to the left by δ - δ1 to perform dynamic horizontal distance compensation until δ1 and δ are equal. At the same time, determine whether δ3 or δ4 is equal to the index distance δ. If δ3 or δ4 > δ, the fourth subarray 400 moves vertically downward by δ4 - δ to perform dynamic vertical distance compensation until δ4 and δ are equal. If δ3 or δ4 < δ, the fourth subarray 400 moves vertically upward by δ - δ4 to perform dynamic horizontal distance compensation until δ4 and δ are equal.

[0084] S5: Detect the horizontal vertical distances δ5 and δ6 between adjacent sides of the second subarray 200 and the first subarray 100 (or the fourth subarray 400), and determine whether δ5 and δ6 are equal. If they are not equal, the second subarray 200 and the first subarray 100 cannot be guaranteed to be parallel. Then continue to determine the magnitude of δ5 and δ6. If δ5 > δ6, the second subarray 200 rotates clockwise by arctan((δ5-δ6) / 2L) degrees for dynamic compensation until δ5 and δ6 are equal (or δ7 and δ8 are equal). If δ5 < δ6, the second subarray 200 rotates counterclockwise by arctan((δ6-δ5) / 2L) degrees for dynamic compensation until δ5 and δ6 are equal (or δ7 and δ8 are equal).

[0085] S6: Determine if the sum of δ5 and δ6 is twice the index distance δ. If δ5 + δ6 > 2δ, the second subarray 200 moves downwards by δ5 + δ6 - 2δ to dynamically replenish until δ5 + δ6 = 2δ; if δ5 + δ6 > 2δ, the second subarray 200 moves upwards by 2δ - δ5 - δ6 to dynamically replenish until δ5 + δ6 = 2δ. Determine if the sum of δ7 and δ8 is twice the index distance δ. If δ7 + δ8 > 2δ, the second subarray 200 moves to the right by δ7 + δ8 - 2δ to dynamically replenish until δ7 + δ8 = 2δ; if δ7 + δ8 > 2δ, the second subarray 200 moves to the left by 2δ - δ7 - δ8 to dynamically replenish until δ7 + δ8 = 2δ.

[0086] S7: Record the coordinates (x'n, y'n, θ'n) of the four subarrays after compensation.

[0087] The speed of the six hydraulic support legs is set to 0.5 mm / s, and they run simultaneously until (Leg[i]Pos]_set-[Leg[i]Pos]_act) is within ±0.1. The leveling movement ends, the unlocking valve is closed, and finally the weight of each support leg is checked to ensure that there are no loose legs.

[0088] The accuracy of the subarray is measured in real time by displacement sensors, and the algorithm is used to calculate the accuracy. After calculation, the subarray is dynamically supplemented by horizontal, vertical and azimuth rotation, and finally high-precision adaptive compensation of the four subarrays is achieved.

[0089] Compared with the prior art, the present invention has the following advantages:

[0090] By setting up two level sensors to dynamically supplement the levelness of the upper and lower platforms in real time, the levelness of the four subarray support platforms is kept consistent, thereby improving the accuracy of the reference coordinates during radar detection.

[0091] Real-time detection of the distance between two subarrays using displacement sensors can serve as a closed-loop condition for dynamic adaptive compensation control of the horizontal, vertical, and azimuth terms of adjacent subarrays, enabling high-precision compensation of the horizontal, vertical, and azimuth terms of adjacent subarrays.

[0092] There is no need to detect and measure the deformation of the upper platform, lower platform and drive mechanism. The distance difference between adjacent subarrays is directly detected, which reduces the influence of the transmission chain and the cyclic judgment, and the anti-deformation compensation accuracy is higher.

[0093] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An antenna subarray mounting structure, characterized in that, include: First subarray (100), second subarray (200), third subarray (300), fourth subarray (400), upper platform (500), lower platform (600), horizontal sensing device and displacement sensing device; A support adjustment device is provided on the lower platform (600), and the upper platform (500) is installed above the lower platform (600) through the support adjustment device. A subarray space is formed between the upper platform (500) and the lower platform (600) to accommodate the first subarray (100), the second subarray (200), the third subarray (300), and the fourth subarray (400). A first drive mechanism is provided on the first subarray (100), and a second drive mechanism is provided on the second subarray (200). The first subarray (100) and the second subarray (200) are respectively installed on the upper platform through the first drive mechanism and the second drive mechanism. The platform (500) base plate, the first drive mechanism and the second drive mechanism are used to drive the first subarray (100) and the second subarray (200) to move horizontally, vertically and rotaryly, respectively; the third subarray (300) is provided with a third drive mechanism, the fourth subarray (400) is provided with a fourth drive mechanism, the third subarray (300) and the fourth subarray (400) are respectively installed on the top of the lower platform (600) through the third drive mechanism and the fourth drive mechanism, the third drive mechanism and the fourth drive mechanism are used to drive the third subarray (300) and the fourth subarray (400) to move horizontally, vertically and rotaryly, respectively; The first subarray (100), the second subarray (200), the third subarray (300), and the fourth subarray (400) are located on the same plane and arranged in a matrix. The horizontal sensing device is used to detect the levelness of the upper platform (500) and the lower platform (600), and the displacement sensing device is used to detect the distance between two adjacent subarrays.

2. The antenna subarray mounting structure according to claim 1, characterized in that, Displacement sensing devices are used to detect the distance between at least two different positions of two adjacent subarrays.

3. The antenna subarray mounting structure according to claim 1, characterized in that, The support adjustment device is connected to the horizontal sensing device, and the parallelism of the upper platform (500) and the lower platform (600) is adjusted according to the detection signal of the horizontal sensing device.

4. The antenna subarray mounting structure according to claim 1, characterized in that, The second subarray (200) is located above the first subarray (100), the fourth subarray (400) is located above the third subarray (300), the second subarray (200) and the fourth subarray (400) are arranged side by side, and the first subarray (100) and the third subarray (300) are arranged side by side, with the rotation axes of the four subarrays arranged in parallel.

5. The antenna subarray mounting structure according to claim 1, characterized in that, The support adjustment device includes multiple hydraulic support legs (700) distributed around the periphery of the subarray space.

6. A high-precision compensation method for an antenna subarray, implemented using the antenna subarray mounting structure according to any one of claims 1-5; characterized in that, The compensation method includes the following steps: S1, Position Detection: Detect the position coordinates (xn, yn, θn) of the four subarrays and the levelness αn of the upper platform (500) and the lower platform (600); S2, Levelness Compensation: Based on the levelness of the lower platform (600), the upper platform (500) is adjusted by the support adjustment device to make the levelness of the upper and lower platforms equal; S3, adjacent subarray distance compensation, including: S31. Detect the distance between two different positions in the horizontal direction of two adjacent subarrays, and determine whether the distance between the two different positions is equal; if they are not equal, rotate at least one of the subarrays for dynamic compensation until they are equal. Detect the distance between two different positions in the vertical direction of two adjacent subarrays, and determine whether the distances between the two different positions are equal; if they are not equal, rotate at least one of the subarrays for dynamic compensation until they are equal. S32. Determine whether the horizontal or vertical distance between two adjacent subarrays is equal to the preset index distance. If not, move at least one subarray horizontally or vertically to perform dynamic compensation of the horizontal or vertical distance until it is equal to the preset index distance. S4. Compensation Record: Record the coordinates of the four subarrays (x'n, y'n, θ'n) after compensation.

7. The high-precision compensation method for antenna subarrays according to claim 6, characterized in that, In S2, the support adjustment device includes multiple hydraulic support legs (700) distributed around the outer periphery of the subarray space. The level of the upper platform (500) is adjusted by the hydraulic support legs (700). After the adjustment is completed, the weight of the support legs is checked cyclically to see if it meets the preset value.

8. The high-precision compensation method for antenna subarrays according to claim 6, characterized in that, In S3, the adjacent subarray distance compensation specifically includes: S31. Detect the distances δ1 and δ2 between two adjacent different positions of the first subarray (100) and the third subarray (300) arranged along the horizontal direction, and determine whether δ1 and δ2 are equal. If they are not equal, rotate at least one of the subarrays for dynamic compensation until δ1 and δ2 are equal. Detect the distances δ3 and δ4 at two different positions on the adjacent sides of the third subarray (300) and the fourth subarray (400) arranged in the vertical direction, and determine whether δ3 and δ4 are equal; if they are not equal, rotate at least one of the subarrays for dynamic compensation until δ3 and δ4 are equal. S32. Determine whether δ1 or δ2 is equal to the preset index distance δ'. If δ1 or δ2 is not equal to δ', move the first subarray (100) and / or the third subarray (300) horizontally to perform dynamic horizontal distance compensation until δ1 or δ2 is equal to δ'. Determine whether δ3 or δ4 is equal to the index distance δ''. If δ3 or δ4 is not equal to δ'', move the third subarray (300) or the fourth subarray (400) vertically to perform vertical distance dynamic compensation until δ3 or δ4 is equal to δ''.

9. The high-precision compensation method for antenna subarrays according to claim 8, characterized in that, The adjacent subarray distance compensation also includes: S33. Detect the lateral distances δ5 and δ6 between the adjacent sides of the vertically arranged second subarray (200) and the first subarray (100), and determine whether δ5 and δ6 are equal. If they are not equal, rotate at least one subarray for dynamic compensation until δ5 and δ6 are equal. S34. Determine whether the sum of δ5 and δ6 is twice the preset index distance δ'''. If the sum of δ5 and δ6 is not equal to 2δ''', then move vertically at least one subarray until δ5+δ6=2δ'''.

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