Method and system for measuring the attitude of a planar near-field antenna

Abstract

The embodiment of the application provides a kind of plane near-field antenna posture measurement method and measurement system, belong to antenna posture measurement technical field.The measurement method includes: in the vicinity of antenna, control measurement total station, correction total station, scanning frame and multiple measurement target balls, wherein, the measurement target ball includes five;Select multiple measurement points on antenna array surface;According to the measurement total station, the correction total station, the scanning frame and multiple measurement target balls, obtain the coordinate vector of multiple measurement points on the antenna array surface;The measurement total station and the correction total station are respectively obtained in the application, and are converted to obtain the coordinate vector of multiple measurement points on the antenna array surface, can be obtained by mutual cooperation and verification the coordinate vector of multiple measurement points, to effectively improve the acquisition accuracy of antenna array surface posture and flatness, and simple and convenient operation.

Description

Technical Field

[0001] This invention relates to the field of antenna attitude measurement technology, and more specifically to a method and system for measuring the attitude of a planar near-field antenna. Background Technology

[0002] For traditional mechanically scanned radar and phased array radar antennas, near-field testing is typically performed using a planar near-field measurement system. The prerequisite for near-field testing is that the antenna array and the sampling plane of the scanning mount are both horizontally and vertically parallel, with a distance of 3~5λ between them. Since the near-field measurement system is fixedly installed, the prerequisite for near-field testing can only be met by adjusting the antenna's attitude.

[0003] Traditional antenna attitude adjustment measurement methods involve operators using laser rangefinders and linear rulers to manually align lines and visually measure to determine the distance and positional relationship between the antenna and the scanning frame. However, this method suffers from poor accuracy, complex operation, and difficulty in measuring elevated antennas and curved antennas.

[0004] In the process of realizing this invention, the inventors of this application discovered that the above-mentioned solutions in the prior art have the defects of poor measurement accuracy and complicated operation. Summary of the Invention

[0005] The purpose of this invention is to provide a method and system for measuring the attitude of a planar near-field antenna, which has the functions of high measurement accuracy and simple operation.

[0006] To achieve the above objectives, embodiments of the present invention provide a method for measuring the attitude of a planar near-field antenna, comprising: A total station, a calibrated total station, a scanning frame, and multiple measuring target balls are deployed near the antenna, wherein the number of measuring target balls includes five. Select multiple measurement points on the antenna array surface; The coordinate vectors of multiple measurement points on the antenna array are obtained using the total station, the calibration total station, the scanning frame, and the multiple measurement target spheres. The attitude and flatness of the antenna array are obtained based on the coordinate vectors of multiple measurement points on the antenna array. The antenna is adjusted according to the orientation and flatness of the antenna array.

[0007] Optionally, obtaining the coordinate vectors of multiple measurement points on the antenna array surface based on the total station, the calibrated total station, the scanning frame, and the multiple measurement target spheres includes: Obtain the rectangular coordinate measurements of each target ball using the calibrated total station; Obtain the first coordinate vector of the calibrated total station and each of the measuring target balls, as well as the scanning coordinate vector of the scanning frame; Obtain the second coordinate vector of the total station and each of the measuring target spheres; The position vector of the scanning frame relative to the measuring target ball is obtained based on the first coordinate vector of the calibrated total station and each of the measuring target balls, as well as the scanning coordinate vector. Based on the second coordinate vectors of the total station and each of the measuring target balls, and the position vector of the scanning frame relative to the measuring target balls, multiple position vectors of the scanning frame relative to the total station are obtained. The vector estimates of the scanning frame and the total station are obtained based on multiple position vectors of the scanning frame relative to the total station.

[0008] Optionally, obtaining the position vector of the scanning frame relative to the measuring target ball based on the first coordinate vector of the calibrated total station and each of the measuring target balls, as well as the scanning coordinate vector, includes: The scanning position vector of the scanning frame relative to each of the measurement target balls is obtained according to formula (1). (1) in, For the scanning frame relative to the first The scanning position vector of the measurement target ball. For the calibration of the total station and the first The first coordinate vector of the measurement target ball. Let be the scanning coordinate vector of the total station and the scanning frame. The number is an integer, and .

[0009] Optionally, obtaining multiple position vectors of the scanning frame relative to the total station based on the second coordinate vectors of the total station and each of the measuring target spheres, and the position vector of the scanning frame relative to the measuring target spheres, includes: According to formula (2), obtain multiple position vectors of the scanning frame relative to the total station. (2) in, Let be the position vector of the scanning frame relative to the total station. For the total station and the first The second coordinate vector of the measurement target ball.

[0010] Optionally, obtaining the vector estimate of the scanning frame and the total station based on multiple position vectors of the scanning frame relative to the total station includes: averaging or using the least squares method on the multiple position vectors of the scanning frame relative to the total station to obtain the corresponding vector estimate.

[0011] Optionally, obtaining the coordinate vectors of multiple measurement points on the antenna array surface based on the total station, the calibrated total station, the scanning frame, and the multiple measurement target spheres further includes: Obtain the coordinate vectors of the total station and the multiple measurement points; The coordinate vectors of the scanning frame and the multiple measurement points are obtained based on the coordinate vectors of the total station and the multiple measurement points, as well as the estimated vector values.

[0012] Optionally, obtaining the coordinate vectors of the scanning frame and the multiple measurement points based on the coordinate vectors of the total station and the multiple measurement points, as well as the estimated vector values, includes: The coordinate vectors of the scanning frame and the multiple measurement points are obtained according to formula (3). (3) in, For the scanning frame and the first The coordinate vectors of the measurement points For the total station and the first The coordinate vectors of the measurement points The estimated value of the vector, The number is an integer.

[0013] Optionally, obtaining the attitude and flatness of the antenna array based on the coordinate vectors of multiple measurement points on the antenna array includes: According to formula (4), obtain two non-parallel vectors among the multiple measurement points. (4) in, For measurement points With measurement point coordinate vector, For measurement points Measurement points The coordinate vector, and and Not parallel , , All are integer numbers, and , , , This refers to the set of measurement points on the antenna array surface; Obtain the plane normal vector according to formula (5). (5) in, For the first The plane normal vectors Numbered by integer; The angles between the antenna array and the three coordinate axes are obtained according to formulas (6)-(8). (6) (7) (8) in, , , These are the angles between the antenna array and the three coordinate axes, respectively. , , These are the three components of the plane normal vector.

[0014] Optionally, obtaining the attitude and flatness of the antenna array based on the coordinate vectors of multiple measurement points on the antenna array further includes: Obtain multiple planar normal vectors of the antenna array; The correlation coefficients of each plane normal vector are obtained according to formula (9). (9) in, For the first The plane normal vector and the first The correlation coefficients of the plane normal vectors For the first The plane normal vectors For the first The plane normal vectors , Numbered by integer. This is a vector modulo operation; The flatness of the antenna array is diagnosed based on the correlation coefficients of the respective plane normal vectors.

[0015] On the other hand, the present invention also provides a planar near-field antenna attitude measurement system, comprising: Multiple measurement target spheres are distributed around the antenna; The scanning frame is positioned so that its front faces the antenna array. A total station is installed on the rear side of the scanning frame and is used to acquire the coordinate vectors of multiple measurement target spheres and multiple measurement points on the antenna array. A total station is calibrated and positioned on the back of the antenna to acquire the coordinate vectors of the scanning frame and the multiple measurement target spheres; A controller, connected to the measuring total station and the calibrating total station, is used to perform the measurement method described above.

[0016] Through the above technical solution, the planar near-field antenna attitude measurement method and system provided by the present invention deploys a total station, a calibrated total station, a scanning frame, and multiple measurement target spheres near the antenna. Based on the coordinate vectors of the total station and the calibrated total station relative to the scanning frame and measurement target spheres, the coordinate vectors of multiple measurement points on the antenna array are obtained. The attitude and flatness of the antenna array can be calculated from the coordinate vectors of these multiple measurement points, allowing for high-precision antenna adjustment. By using a total station and a calibrated total station to separately acquire and convert the coordinate vectors of multiple measurement points on the antenna array, they can work together to verify the coordinate vectors of multiple measurement points, thereby effectively improving the accuracy of obtaining the antenna array attitude and flatness. Furthermore, the operation is simple and convenient.

[0017] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart of a planar near-field antenna attitude measurement method according to an embodiment of the present invention; Figure 2 This is a flowchart of a method for measuring the attitude of a planar near-field antenna according to an embodiment of the present invention, in which a vector estimate is obtained; Figure 3 This is a flowchart illustrating the acquisition of coordinate vectors of multiple measurement points in a planar near-field antenna attitude measurement method according to an embodiment of the present invention. Figure 4 This is a flowchart of a method for measuring the attitude of a planar near-field antenna according to an embodiment of the present invention, which obtains the attitude angle and flatness of the antenna array. Figure 5 This is a planar schematic diagram of a planar near-field antenna attitude measurement system according to an embodiment of the present invention; Figure 6 This is a three-dimensional schematic diagram of a planar near-field antenna attitude measurement system according to an embodiment of the present invention; Figure 7This is a schematic diagram of the structure of a target ball in a planar near-field antenna attitude measurement system according to an embodiment of the present invention.

[0019] Explanation of reference numerals in the attached figures Detailed Implementation

[0020] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0021] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0022] Figure 1 This is a flowchart of a method for measuring the attitude of a planar near-field antenna according to an embodiment of the present invention. Figure 1 In this context, the measurement method may include: In step S10, a total station, a calibration total station, a scanning frame, and five measurement target spheres are deployed near the antenna. Specifically, the deployment of the measurement target spheres can involve placing them around the antenna, and the number of spheres can be determined based on actual needs and accuracy requirements, aiming to cover as much of the area as possible. The scanning frame is positioned directly in front of the antenna array, meaning the front of the scanning frame faces the antenna array. The total station is then positioned diagonally behind the scanning frame to allow observation / line-of-sight of the back of the scanning frame, the antenna array, and the five measurement target spheres. The calibration total station is also positioned diagonally behind the antenna to allow observation / line-of-sight of the scanning frame and the five measurement target spheres. Therefore, since the total station cannot directly locate the sampling probe on the front of the scanning frame, it needs to be combined with the calibration total station to locate and convert the sampling probe. Specifically, the five measuring target spheres can be composed of ground-embedded, wall-prefabricated, and mobile conversion points. Each point uses a 1.5-inch measuring target sphere with a target base of the same size. The measuring target spheres should be arranged to cover as much of the area as possible and be distributed at varying heights. For the total station, a measuring observation pier can be built. The observation pier is made of cement or steel structure and fixed to the ground. Forced centering bolts are installed on the observation pier to ensure the uniqueness of the measuring (total station) coordinate system. Specifically, after the measuring total station coordinate system is fixed, it is not necessary to calibrate the measuring target spheres for each measurement. That is, the second coordinate vector of the measuring total station and each measuring target sphere is not required. Calibration is performed first, and the antenna is brought in later. Therefore, the antenna will not obstruct the measuring total station from acquiring the second coordinate vector of each measuring target sphere. In addition, the total station needs to have a communication function and a programmable mode, with an angle measurement accuracy of 1″ and a distance measurement accuracy of 1mm + 1ppm after calibration.

[0023] In step S11, multiple measurement points are selected on the antenna array surface. The number of measurement points can include nine, and these nine points can be distributed on the antenna array surface in a 3×3 configuration. Specifically, three non-parallel measurement points can be directly selected; however, in engineering practice, more points can be collected for more accurate measurements and to better evaluate the flatness of the array surface.

[0024] In step S12, the coordinate vectors of multiple measurement points on the antenna array are obtained using the total station, the calibration total station, the scanning frame, and multiple measurement target spheres. Specifically, the calibration total station acquires the position vectors of the scanning frame and the five measurement target spheres, while the total station acquires the position vectors of the five measurement target spheres and multiple measurement points. After vector relationship transformation, the coordinate vectors of the multiple measurement points on the antenna array are obtained.

[0025] In step S13, the attitude and flatness of the antenna array are obtained based on the coordinate vectors of multiple measurement points on the antenna array. Specifically, the attitude / attitude angle and flatness of the antenna array are obtained by transforming the coordinate vectors of multiple measurement points on the antenna array, and these attitude and flatness are the current state parameters of the antenna.

[0026] In step S14, the antenna is adjusted according to the attitude and flatness of the antenna array. Specifically, the antenna is adjusted based on its current state parameters and near-field test conditions to ensure it meets the near-field test requirements.

[0027] In steps S10 to S14, a total station, a calibration total station, a scanning frame, and multiple measurement target spheres are first deployed near the antenna, and multiple measurement points are selected on the antenna array. The coordinate vectors of these measurement points on the antenna array are determined based on the relative position coordinates of the total station, calibration total station, scanning frame, and multiple measurement target spheres. The attitude and flatness of the antenna array can then be obtained from these coordinate vectors. Based on the current attitude and flatness of the antenna array, the antenna can be adjusted to meet the testing requirements.

[0028] Traditional antenna attitude adjustment measurement methods involve operators using laser rangefinders and linear rulers to manually align lines and visually measure to determine the distance and positional relationship between the antenna and the scanning frame. However, this method suffers from poor accuracy, complex operation, and difficulty in measuring elevated antennas and curved antennas. In this embodiment of the invention, a total station and a calibrated total station are used to acquire and convert coordinate vectors of multiple measurement points on the antenna array surface. These coordinate vectors can be used to verify the accuracy of obtaining multiple measurement points, thereby effectively improving the accuracy of acquiring the antenna array's attitude and flatness. Furthermore, the operation is simple and convenient.

[0029] In this embodiment of the invention, after arranging the total station, the calibration total station, the scanning frame, and multiple measuring target spheres, multiple measuring points on the antenna array can be selected. Then, based on the coordinate vectors of the total station and the calibration total station relative to the multiple measuring target spheres or the scanning frame, the coordinate vectors of the multiple measuring points on the antenna array are determined. The step of obtaining the coordinate vector of the scanning frame relative to the total station can be as follows: Figure 2 As shown. Specifically, in Figure 2 In this process, the steps for obtaining the coordinate vector of the scanning frame relative to the total station may include: In step S120, the rectangular coordinate measurements of each target sphere are obtained using a calibrated total station. This can be achieved by measuring the rectangular coordinates of each target sphere separately using a calibrated total station. Specifically, these rectangular coordinate measurements are the coordinates of the target sphere in a coordinate system with the center / measurement point of the calibrated total station as the origin and the horizontal plane as the XOY plane. Therefore, the rectangular coordinate measurements, or coordinate values, of each target sphere obtained by the calibrated total station are respectively... , , , , .

[0030] In step S121, the first coordinate vectors of the total station calibration instrument and each measuring target ball, as well as the scanning coordinate vector of the scanning frame, are obtained. The coordinates of the total station calibration instrument may include... The coordinates of the scanning frame can include Therefore, the first coordinate vector for calibrating the total station and each measuring target sphere can include... , , , , Correcting the scanning coordinate vectors of the total station and the scanning gantry can include Furthermore, the first coordinate vector mentioned above can also be used... , , , The following coordinate vectors can be represented as regular arrowed vectors, and will not be explained separately in the following text.

[0031] Specifically, for the calibration total station and the surveying total station, a mutual aiming method is used. The coordinates of the center of the calibration total station / the coordinates of the surveying point are determined within the coordinate system of the calibration total station. The origin is the coordinate system of the total station, which is also the coordinate system of the center of the total station / the coordinate point of the measurement. The origin is the horizontal plane. Therefore, a total station can be understood as a three-dimensional coordinate system with its own center / measurement point as the origin, and all three axes point in the same direction with the horizontal plane as the XOY plane.

[0032] In step S122, the second coordinate vectors of the total station and each measuring target sphere are obtained. The coordinates of the total station may include... For the total station and each measuring target sphere, the second coordinate vector can include , , , , .

[0033] In step S123, the position vector of the scanning frame relative to the measuring target ball is obtained based on the first coordinate vector and the scanning coordinate vector of the total station and each measuring target ball. Specifically, after obtaining the first coordinate vector and the scanning coordinate vector, the position vector of the scanning frame relative to each measuring target ball can be determined based on these vectors, as shown in formula (1). (1) in, For the scanning frame relative to the first The scanning position vector of a measurement target ball. To calibrate the total station and the first The first coordinate vector of the measuring target ball. To calibrate the scanning coordinate vectors of the total station and the scanning gantry, The number is an integer, and Specifically, the position vector of the scanning frame relative to each measurement target ball can also be expressed as shown in formula (10). (10) in, Let be the scanning position vector of the scanning frame relative to the first measurement target ball. Let be the scanning position vector of the scanning frame relative to the second measurement target ball. Let be the scanning position vector of the scanning frame relative to the third measuring target ball. Let be the scanning position vector of the scanning frame relative to the fourth measuring target ball. Let be the scanning position vector of the scanning frame relative to the fifth measurement target ball.

[0034] In step S124, multiple position vectors of the scanning frame relative to the total station are obtained based on the second coordinate vectors of the total station and each measuring target ball, as well as the position vector of the scanning frame relative to the measuring target ball. Specifically, after obtaining the second coordinate vectors and the position vectors of the scanning frame relative to the measuring target ball, the multiple position vectors of the scanning frame relative to the total station can be calculated, as shown in formula (2). (2) in, Let be the position vector of the scanning frame relative to the total station. For measuring total station and the first The second coordinate vector of the measuring target ball. Specifically, the multiple position vectors of the scanning frame relative to the total station can be represented as shown in formula (11). (11) This allows us to obtain the position vectors of the five scanning frames relative to the total station.

[0035] In step S125, the vector estimates of the scanning frame and the total station are obtained based on multiple position vectors of the scanning frame relative to the total station. These vector estimates can be obtained by averaging the five position vectors of the scanning frame relative to the total station or by using the least squares method.

[0036] In steps S120 to S125, the rectangular coordinates of each measuring target ball are first obtained using a calibrated total station. Combining the coordinates of the calibrated total station and the scanning frame, the corresponding first coordinate vector and scanning coordinate vector are obtained. Based on the first coordinate vector and the scanning coordinate vector, the position vector of the scanning frame relative to the measuring target ball is obtained. Then, the second coordinate vector of each measuring target ball is obtained using the total station. Based on the second coordinate vector and the position vector of the scanning frame relative to the measuring target ball, the position vectors of the five scanning frames relative to the total station are obtained. The position vectors of the five scanning frames relative to the total station are then averaged or calculated using the least squares method to obtain the corresponding estimated values, thus obtaining a more accurate position vector of the scanning frame relative to the total station.

[0037] In this embodiment of the invention, in order to accurately measure the attitude, flatness, etc. of the antenna array, multiple measurement points can be selected on the antenna array, and the coordinate vectors of the multiple measurement points can be obtained respectively. Specifically, the acquisition steps can be as follows: Figure 3 As shown. Specifically, in Figure 3 In this process, the steps for obtaining the coordinate vectors of the multiple measurement points may include: In step S126, the coordinate vectors of the total station and multiple measurement points are obtained. The coordinate vectors of the total station and multiple measurement points on the antenna array may include... , , , , , , , , .

[0038] In step S127, the coordinate vectors of the scanning frame and the multiple measurement points are obtained based on the coordinate vectors of the total station and the multiple measurement points, as well as the vector estimation values. Specifically, combining the coordinate vectors of the total station and the multiple measurement points with the vector estimation values ​​yields the coordinate vectors of the multiple measurement points on the antenna array relative to the scanning frame, as shown in formula (3). According to formula (3), the coordinate vectors of the scanning frame and multiple measurement points are obtained. (3) in, For the scanning frame and the first The coordinate vector of each measurement point For measuring total station and the first The coordinate vector of each measurement point For vector estimates, The number is an integer, and Specifically, the coordinate vectors of the scanning frame and each measurement point can be represented as shown in formula (12). (12) in, Let the coordinate vectors of the scanning frame and the first measurement point be denoted as . Let the coordinate vectors of the scanning frame and the second measurement point be denoted as . Let be the coordinate vector of the scanning frame and the third measurement point. Let the coordinate vectors of the scanning frame and the fourth measurement point be denoted as . Let the coordinate vectors of the scanning frame and the fifth measurement point be denoted as . Let the coordinate vectors of the scanning frame and the sixth measurement point be denoted as . Let the coordinate vectors of the scanning frame and the seventh measurement point be denoted as . Let the coordinate vectors of the scanning frame and the eighth measurement point be denoted as . Let be the coordinate vector of the scanning frame and the ninth measurement point.

[0039] In steps S126 and S127, after selecting multiple measurement points on the antenna array, a total station is used to obtain the coordinate vectors of the total station and the multiple measurement points. Based on the coordinate vectors of the total station and each measurement point, as well as the estimated vector values, these vectors can be converted into coordinate vectors between the scanning frame and the multiple measurement points. Using the coordinate vectors of the scanning frame and the multiple measurement points, the attitude and flatness of the current antenna array can be determined.

[0040] In this embodiment of the invention, the coordinate vectors of multiple measurement points on the scanning frame and antenna array can be converted into vector relationships between the measurement points, thereby determining the attitude angle and flatness of the current antenna array. The specific calculation steps are as follows: Figure 4 As shown. Specifically, in Figure 4 In this process, the calculation steps for the attitude angle and flatness of the antenna array may include: In step S130, two non-parallel vectors among multiple measurement points are obtained according to formula (4). (4) in, For measurement points With measurement point coordinate vector, For measurement points Measurement points The coordinate vector, and and Not parallel , , All are integer numbers, and , , , The set of measurement points on the antenna array surface, that is... , , All are less than or equal to 9. Specifically, such as Figure 5 As shown, for two non-parallel vectors, it can include and , and Wait, with and For example, , .

[0041] In step S131, the plane normal vector is obtained according to formula (5). (5) in, For the first Plane normal vectors, Numbered by integers. Specifically, using... and For example, , The three components are respectively , , This process can be repeated to obtain multiple plane normal vectors, the specific number of which depends on the number and location of the measurement points.

[0042] In step S132, the angles between the antenna array and the three coordinate axes are obtained according to formulas (6)-(8). (6) (7) (8) in, , , These represent the angles between the antenna array and the three coordinate axes. , , These are the three components of the plane normal vector. Specifically, the three coordinate axes here correspond to the X, Y, and Z axes in the total station coordinate system. The X and Y axes are in the horizontal plane, and the Z axis is vertically upward, forming a Cartesian coordinate system. The direction of the X axis can be preset by the total station as required. In this invention, the measuring total station coordinate system and the calibrating total station coordinate system are parallel to each other and point in the same direction.

[0043] In step S133, multiple planar normal vectors of the antenna array are obtained. These multiple planar normal vectors of the antenna array may include... , , , The specific number and distribution of measurement points can be determined accordingly.

[0044] In step S134, the correlation coefficients of the normal vectors of each plane are obtained according to formula (9). (9) in, For the first The plane normal vector and the first The correlation coefficient of the plane normal vectors For the first Plane normal vectors, For the first Plane normal vectors, , Numbered by integer. This is the modulo operation for vectors.

[0045] In step S135, the flatness of the antenna array is diagnosed based on the correlation coefficients of the normal vectors of each plane. Specifically, the closer the correlation coefficients of the normal vectors of each plane are to 1, the better the flatness of the antenna array.

[0046] In steps S130 to S135, first, any two non-parallel vectors from multiple measurement points are obtained, and the corresponding plane normal vectors are obtained based on these two non-parallel vectors. The antenna array attitude angle can be obtained from any one of these plane normal vectors, or a comprehensive evaluation can be performed based on the antenna array attitude angles obtained from all plane normal vectors. After obtaining all plane normal vectors, the correlation coefficient between any two plane normal vectors can be calculated. If the correlation coefficient approaches 1, it indicates that the flatness of the current antenna array is good. After obtaining the current antenna array attitude angle and flatness, the antenna attitude can be adjusted by means of state transformation or mounting brackets to ensure that the positional relationship between the current antenna array and the scanning frame meets the near-field testing requirements.

[0047] On the other hand, the present invention also provides a system for measuring the attitude of a planar near-field antenna. For example... Figure 5as well as Figure 6 As shown, the measurement system may include multiple measuring target balls 6, a scanning frame 1, a total station 4, a calibration total station 11, and a controller.

[0048] Multiple measuring target spheres 6 are distributed around antenna 2, with the front of the scanning frame 1 directly facing the antenna array 2. A total station 4 is positioned at the rear of the scanning frame 1 to acquire the coordinate vectors of the multiple measuring target spheres 6 and multiple measuring points on the antenna array 2. A calibration total station 11 is positioned at the back of antenna 2 to acquire the coordinate vectors of the scanning frame 1 and the multiple measuring target spheres 6. A controller is connected to the total station 4 and the calibration total station 11 to execute any of the above measurement methods.

[0049] In this embodiment of the invention, the measurement system may further include an operating console and a display and recording device. The operating console and the display and recording device can be combined into one unit, typically using a laptop or iPad. If a regular laptop is used, coordinate transformation software can also be installed into the system for unified control. Specifically, the controller is located in the operating console, which is used for user interaction and system control. The display and recording device provides measurement results to the measurement personnel and records the measurement data into the device's data storage device. Other equipment mainly includes power cables, data cables, and network cables (or optical cables).

[0050] In this embodiment of the invention, such as Figure 6 As shown, the total station 4 may also include an observation pier 3, on which a forced centering bolt is installed to fix the position of the total station 4.

[0051] In this embodiment of the invention, such as Figure 6 As shown, the total station 4 may also include an operation display console 5 and a cable 7. Specifically, the operation display console 5 is connected to the total station 4 via the cable 7 and is used to display or control the coordinate vector information acquired by the total station.

[0052] In this embodiment of the invention, such as Figure 7 As shown, the measuring target ball 6 may include a target ball mounting frame 9 and a target ball body 10 disposed at one end of the target ball mounting frame 9. By fixing the target ball body 10 with the target ball mounting frame 9, the accuracy of the coordinate vector acquisition of the target ball body 10 by the measuring total station 4 and the calibration total station 11 and the stability of the installation can be guaranteed.

[0053] In this embodiment of the invention, such as Figure 6 As shown, the bottom of the antenna 2 is provided with an antenna mounting turntable 8, which is used to adjust the antenna 2 according to the current attitude angle and flatness of the antenna 2 so as to meet the near-field test requirements of the antenna 2.

[0054] Through the above technical solution, the planar near-field antenna attitude measurement method and system provided by the present invention deploys a total station, a calibrated total station, a scanning frame, and multiple measurement target spheres near the antenna. Based on the coordinate vectors of the total station and the calibrated total station relative to the scanning frame and measurement target spheres, the coordinate vectors of multiple measurement points on the antenna array are obtained. The attitude and flatness of the antenna array can be calculated from the coordinate vectors of these multiple measurement points, allowing for high-precision antenna adjustment. By using a total station and a calibrated total station to separately acquire and convert the coordinate vectors of multiple measurement points on the antenna array, they can work together to verify the coordinate vectors of multiple measurement points, thereby effectively improving the accuracy of obtaining the antenna array attitude and flatness. Furthermore, the operation is simple and convenient.

[0055] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0056] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0057] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0058] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0059] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0060] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0061] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0062] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0063] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for measuring the attitude of a planar near-field antenna, characterized in that, include: A total station, a calibrated total station, a scanning frame, and multiple measuring target balls are deployed near the antenna, wherein the number of measuring target balls includes five. Select multiple measurement points on the antenna array surface; The coordinate vectors of multiple measurement points on the antenna array are obtained using the total station, the calibration total station, the scanning frame, and the multiple measurement target spheres. The attitude and flatness of the antenna array are obtained based on the coordinate vectors of multiple measurement points on the antenna array. Adjust the antenna according to the attitude and flatness of the antenna array; The total station, the calibrated total station, the scanning frame, and the multiple measuring target spheres acquire the coordinate vectors of multiple measuring points on the antenna array, including: Obtain the rectangular coordinate measurements of each target ball using the calibrated total station; Obtain the first coordinate vector of the calibrated total station and each of the measurement target balls, as well as the scanning coordinate vector of the scanning frame; Obtain the second coordinate vector of the total station and each of the measuring target spheres; The position vector of the scanning frame relative to the measuring target ball is obtained based on the first coordinate vector of the calibrated total station and each of the measuring target balls, as well as the scanning coordinate vector. Based on the second coordinate vectors of the total station and each of the measuring target balls, and the position vector of the scanning frame relative to the measuring target balls, multiple position vectors of the scanning frame relative to the total station are obtained. The vector estimates of the scanning frame and the total station are obtained based on multiple position vectors of the scanning frame relative to the total station.

2. The measurement method according to claim 1, characterized in that, The position vector of the scanning frame relative to the measuring target ball is obtained based on the first coordinate vector of the calibrated total station and each of the measuring target balls, as well as the scanning coordinate vector, including: The scanning position vector of the scanning frame relative to each of the measurement target balls is obtained according to formula (1). ，（1） in, For the scanning frame relative to the first The scanning position vector of the measurement target ball. For the calibration of the total station and the first The first coordinate vector of the measurement target ball. Let be the scanning coordinate vector of the total station and the scanning frame. The number is an integer, and .

3. The measurement method according to claim 2, characterized in that, Based on the second coordinate vectors of the total station and each of the measuring target spheres, and the position vector of the scanning gantry relative to the measuring target spheres, multiple position vectors of the scanning gantry relative to the total station are obtained, including: According to formula (2), obtain multiple position vectors of the scanning frame relative to the total station. ，（2） in, Let be the position vector of the scanning frame relative to the total station. For the total station and the first The second coordinate vector of the measurement target ball.

4. The measurement method according to claim 3, characterized in that, Obtaining vector estimates of the scanning frame and the total station based on multiple position vectors of the scanning frame relative to the total station includes: applying an average or least squares method to the multiple position vectors of the scanning frame relative to the total station to obtain the corresponding vector estimates.

5. The measurement method according to claim 1, characterized in that, Obtaining the coordinate vectors of multiple measurement points on the antenna array surface based on the total station, the calibrated total station, the scanning frame, and the multiple measurement target spheres further includes: Obtain the coordinate vectors of the total station and the multiple measurement points; The coordinate vectors of the scanning frame and the multiple measurement points are obtained based on the coordinate vectors of the total station and the multiple measurement points, as well as the estimated vector values.

6. The measurement method according to claim 5, characterized in that, Obtaining the coordinate vectors of the scanning frame and the multiple measurement points based on the coordinate vectors of the total station and the multiple measurement points, as well as the estimated vector values, includes: The coordinate vectors of the scanning frame and the multiple measurement points are obtained according to formula (3). ，（3） in, For the scanning frame and the first The coordinate vectors of the measurement points For the total station and the first The coordinate vectors of the measurement points This is the estimated position vector of the scanning frame relative to the total station. The number is an integer.

7. The measurement method according to claim 6, characterized in that, Obtaining the attitude and flatness of the antenna array based on the coordinate vectors of multiple measurement points on the antenna array includes: According to formula (4), obtain two non-parallel vectors among the multiple measurement points. ，（4） in, For measurement points With measurement point coordinate vector, For measurement points Measurement points The coordinate vector, and and Not parallel , , All are integer numbers, and , , , This refers to the set of measurement points on the antenna array surface; Obtain the plane normal vector according to formula (5). ，（5） in, For the first The plane normal vectors Numbered by integer; The angles between the antenna array and the three coordinate axes are obtained according to formulas (6)-(8). ，（6） ，（7） ，（8） in, , , These are the angles between the antenna array and the three coordinate axes, respectively. , , These are the three components of the plane normal vector.

8. The measurement method according to claim 7, characterized in that, Obtaining the attitude and flatness of the antenna array based on the coordinate vectors of multiple measurement points on the antenna array also includes: Obtain multiple planar normal vectors of the antenna array; The correlation coefficients of each plane normal vector are obtained according to formula (9), where the correlation coefficient of the first plane normal vector is obtained. The plane normal vector and the first The correlation coefficients of the plane normal vectors ，（9） in, For the first The plane normal vector and the first The correlation coefficients of the plane normal vectors For the first The plane normal vectors For the first The plane normal vectors , Numbered by integer. This is a vector modulo operation; The flatness of the antenna array is diagnosed based on the correlation coefficients of the respective plane normal vectors.

9. A system for measuring the attitude of a planar near-field antenna, characterized in that, include: Multiple measurement target spheres are distributed around the antenna; The scanning frame is positioned so that its front faces the antenna array. A total station is installed on the rear side of the scanning frame and is used to acquire the coordinate vectors of multiple measurement target spheres and multiple measurement points on the antenna array. A total station is calibrated and positioned on the back of the antenna to acquire the coordinate vectors of the scanning frame and the multiple measurement target spheres; A controller, connected to the measuring total station and the calibrating total station, is used to perform the measurement method as described in any one of claims 1-8.

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