Pointing precision motion test method and device, electronic equipment and storage medium

Abstract

The invention relates to the related technical field of phased-array antennas, in particular to a pointing precision motion test method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring basic information of a phased-array antenna; determining motion information of the phased-array antenna based on the basic information; wherein in the process that the phased-array antenna moves according to the motion information, each antenna in the phased-array antenna has a time period of being located at a test position; controlling the phased-array antenna to move according to the motion information, and reading position information and amplitude value information of the phased-array antenna in real time; after the phased-array antenna completes movement, comprehensively analyzing the position information and the amplitude value information to obtain error values of the phased-array antenna and each antenna; and compensating the phased-array antenna based on the error value, and repeating the above steps until the error value of each antenna is smaller than a preset range.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of phased array antennas, and particularly relates to a pointing accuracy motion test method and device, electronic equipment and a storage medium. BACKGROUND

[0002] With the development of modern radar technology, the requirement for beam pointing accuracy of radar antennas is increasingly improved. Beam pointing accuracy is one of the key technical indicators for measuring the performance of radar antennas, which directly affects the target detection capability, tracking accuracy and communication quality of the radar system. In military and civilian fields, such as air defense systems, satellite communications, marine navigation, etc., high-precision beam pointing is crucial to ensure the successful execution of tasks.

[0003] In the prior art, the test of beam pointing accuracy usually adopts static and dynamic test methods. The static test method involves fixing the antenna at a specific angle and then measuring the characteristics of its radiation or received signal. This method is simple and easy to implement, but it cannot comprehensively evaluate the performance of the antenna in different directions. The dynamic test method involves moving the antenna at multiple angles to collect more comprehensive performance data. However, these methods are often time-consuming and have certain limitations in actual operation. SUMMARY

[0004] Therefore, embodiments of the present application aim to provide a pointing accuracy motion test method and device, electronic equipment and a storage medium.

[0005] The present application provides a pointing accuracy motion test method, comprising: obtaining basic information of a phased array antenna; determining motion information of the phased array antenna based on the basic information; wherein, during the movement of the phased array antenna according to the motion information, each theoretical beam pointing direction of the phased array antenna has a period of time at a test position; controlling the phased array antenna to move according to the motion information, and reading the position information and amplitude value information of the phased array antenna in real time; after the movement of the phased array antenna is completed, comprehensively analyzing the position information and amplitude value information to obtain error values of each antenna of the phased array antenna; compensating the phased array antenna based on the error values, and repeatedly executing the above steps until the error values of each antenna are less than a preset range.

[0006] In some embodiments, it further comprises: controlling the movement of the phased array antenna by a mechanical arm.

[0007] In some embodiments, the controlling the phased array antenna to move according to the movement information comprises: controlling the phased array antenna to move according to the movement information by the mechanical arm.

[0008] In some embodiments, the comprehensive analysis comprises: using a differential pattern search pointing method for analysis to determine the actual pointing direction of the antenna beam; searching for an angle value corresponding to a minimum amplitude value to determine the main lobe direction of the antenna beam.

[0009] In some embodiments, the error value is the difference between the actual beam pointing direction and the theoretical pointing direction.

[0010] In some embodiments, the movement information comprises: movement start and end points, and a movement trajectory.

[0011] The application also provides a pointing accuracy movement test device, comprising: an acquisition module for acquiring basic information of a phased array antenna; a determination module for determining movement information of the phased array antenna based on the basic information; wherein, during the movement of the phased array antenna according to the movement information, each antenna in the phased array antenna has a period of time in a test position; a control module for controlling the phased array antenna to move according to the movement information, and reading position information and amplitude value information of the phased array antenna in real time; an analysis module for, after the movement of the phased array antenna is completed, comprehensively analyzing the position information and the amplitude value information to obtain error values of each antenna of the phased array antenna; a compensation module for compensating the phased array antenna based on the error values, and repeatedly performing the above steps until the error values of the each antenna are less than a preset range.

[0012] The application also provides an electronic device, comprising: a processor, and a memory for storing programs executable by the processor; the processor is configured to realize the pointing accuracy movement test method as described above by running the programs in the memory.

[0013] The application also provides a computer readable storage medium, which stores a computer program, and the computer program, when executed by a processor, causes the processor to execute the pointing accuracy movement test method as described above.

[0014] The application further provides a computer program product comprising a computer program which, when executed by a processor, implements the above-mentioned pointing accuracy motion test method.

[0015] The pointing accuracy motion test method provided by the application first acquires basic information of the phased array antenna; based on the basic information, motion information of the phased array antenna is determined; wherein, when the phased array antenna moves according to the motion information, each antenna in the phased array antenna has a period of time in a test position; the phased array antenna is controlled to move according to the motion information, and position information and amplitude value information of the phased array antenna are read in real time; after the phased array antenna completes the movement, the position information and the amplitude value information are comprehensively analyzed to obtain error values of each antenna of the phased array antenna; the phased array antenna is compensated based on the error values, and the above-mentioned steps are repeatedly executed until the error values of each antenna are less than a preset range. In this way, during the pointing accuracy test process, the mechanical arm is always in a moving state; data collection and processing are performed, and compared with the background art, the adjustment speed of the overall scheme provided by the application is faster. BRIEF DESCRIPTION OF DRAWINGS

[0016] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description of embodiments of the present application, when taken in conjunction with the accompanying drawings. The drawings provided in the present application are used to provide further understanding of the embodiments of the present application, and constitute a part of the specification, and are used to explain the present application together with the embodiments of the present application, and do not constitute a limitation of the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0017] Figure 1 is a flowchart of the pointing accuracy motion test method provided by an embodiment of the present application.

[0018] Figure 2 is a flowchart of the pointing accuracy motion test method provided by another embodiment of the present application.

[0019] Figure 3 is a structural schematic diagram of the pointing accuracy motion test device provided by an embodiment of the present application.

[0020] Figure 4 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Summary of the application Beam pointing accuracy refers to the pointing deviation between the ideal beam and the actual beam. With the development of radar technology and the need for target detection and control, phased array antennas have become the mainstream of radar antenna development. The use of controllable phase shifters is the key to realizing the superior performance of phased array antennas. Due to design deficiencies and amplitude and phase errors between phased array elements introduced during production, beam pointing errors of phased array antennas are caused.

[0023] Depending on the functional frequency and manufacturing complexity of different antennas, the linearity error varies considerably. Traditional beam pointing testing methods involve searching for actual pointing data within a certain range around the theoretical pointing position. The steps are as follows: First, a turntable or robotic arm is controlled to rotate the antenna to the theoretical pointing position within a certain angular range. Amplitude and phase data of this range are then collected via mechanical or electronic scanning. Based on the collected amplitude and phase data, an algorithm calculates the antenna pointing error value. If the pointing error value is not found within the current test range, the test range needs to be expanded until the pointing error data is found.

[0024] However, this method requires stopping and starting repeatedly to test and calibrate the pointing accuracy one by one, which is inefficient.

[0025] To address the aforementioned issues, this application provides a solution that controls the phased array antenna to move according to the motion information and reads the position and amplitude information of the phased array antenna in real time. After the phased array antenna completes its movement, the position and amplitude information are comprehensively analyzed to obtain the error values ​​of each antenna in the phased array antenna. In this way, the pointing accuracy test and calibration are completed in a single unified movement.

[0026] After introducing the basic principles of this application, various non-limiting embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0027] Exemplary method Figure 1 This is a flowchart illustrating a pointing accuracy motion testing method provided in one embodiment of this application. Figure 1 As shown, the method includes the following:

[0028] Step S110, obtaining basic information of the phased array antenna; The purpose of this step is to collect the basic parameters and configuration information of the phased array antenna, which is crucial for subsequent testing and analysis. Specifically, the basic information includes but is not limited to the model of the antenna, array configuration, operating frequency, number of array elements, phase control method, etc. These information can be obtained through technical documents, user manuals or directly from the antenna control system.

[0029] Step S120, determining the motion information of the phased array antenna based on the basic information; Wherein, during the process of the phased array antenna moving according to the motion information, each theoretical pointing beam in the phased array antenna is in the time period of the test position; Specifically, according to the basic information of the antenna, the motion trajectory, speed and other related parameters in the test process are determined. In practical application, the physical and electrical characteristics of the antenna are analyzed, and an optimal motion path is designed to ensure the comprehensiveness and efficiency of the test. This involves calculating the scanning range, step angle and expected test position of the antenna. Detailed motion parameters, including motion trajectory, speed, test position, etc., are used to control the actual motion of the antenna.

[0030] According to the scanning range requirements of the phased array antenna (determined by the operating frequency range and application scenario) and the array element arrangement, the trajectory of the antenna motion driven by the mechanical arm or turntable is designed. According to the motion trajectory and speed, the time period required for the phased array antenna to complete a complete motion is calculated. This period should ensure that each theoretical beam of the antenna has enough time to point to the test position during the motion process, and enough number of data points can be collected. For example, for a phased array antenna with a specific motion trajectory and speed, the calculated motion period should ensure that each theoretical beam can be tested when it points to different beam pointing positions, and enough dense data can be collected at key positions (such as areas with large beam pointing changes) to accurately analyze the beam pointing error.

[0031] Step S130, controlling the phased array antenna to move according to the motion information, and reading the position information and amplitude value information of the phased array antenna in real time; The actual test process needs to control the motion of the antenna and monitor its performance in real time. Specifically, using mechanical or electronic control system, the motion of the antenna is accurately controlled according to the motion information determined in step S120. At the same time, using sensors and measuring devices, the position and amplitude value information of the antenna are read in real time. Real-time position and amplitude value data provide raw data for subsequent data analysis Step S140, after the phased array antenna completes the movement, the position information and amplitude value information are comprehensively analyzed to obtain the error value of each antenna of the phased array antenna; By analyzing the collected data, the deviation between the actual pointing direction of the antenna and the expected pointing direction is calculated. Specifically, using data processing software or algorithm, the actual amplitude value and position information of the antenna are compared with the theoretical model or expected value, and the pointing error of each antenna unit is calculated. Through the above steps, the error value of each antenna unit can be obtained, which indicates the deviation degree of the antenna performance.

[0032] Step S150, compensating the phased array antenna based on the error value, and repeating the above steps until the error value of each antenna is less than the preset range.

[0033] Specifically, the antenna performance is adjusted through compensation measures to meet the expected accuracy requirements.

[0034] According to the error value obtained in step S140, the phase control or other related parameters of the antenna are adjusted to correct the pointing error. Then steps S110 to S140 are repeated until the error value of all antenna units is within an acceptable range. The corrected antenna performance can ensure that the error value of each antenna unit meets the preset accuracy requirements.

[0035] Through these steps, the testing and correction process of the phased array antenna can be automated and precisely controlled, thereby improving the performance and reliability of the antenna. This method is particularly suitable for applications that require high-precision beam pointing, such as radar, satellite communication and navigation systems.

[0036] In some embodiments, the movement of the phased array antenna is controlled by a mechanical arm. The control of the phased array antenna according to the movement information includes controlling the phased array antenna to move according to the movement information through the mechanical arm.

[0037] The mechanical arm usually adopts a multi-joint structure, and each joint is equipped with a high-precision motor and a reducer to realize precise position control. For example, a common six-degree-of-freedom mechanical arm, its six joints can move flexibly in space, driving the phased array antenna to reach the specified position. The motor uses a servo motor, which can accurately control the speed and angle according to the instructions of the control system, and the reducer is used to increase the torque to ensure that the mechanical arm can stably carry and move the phased array antenna.

[0038] The driving system of the robot arm includes motor drivers, controllers, power supplies, and other parts. The motor driver receives the control signal from the controller, converts it into the current and voltage required by the motor, and drives the motor to operate. The controller is responsible for generating control signals according to the preset motion information, coordinating the motion of each joint, and achieving precise trajectory tracking and positioning control of the robot arm. The power supply provides stable power support for the entire driving system to ensure the normal operation of the robot arm.

[0039] Advanced trajectory planning algorithms, such as cubic spline interpolation or quintic polynomial interpolation, are used to generate the motion trajectory of each joint of the robot arm based on the motion information of the phased array antenna, including the motion trajectory, speed, and acceleration requirements. These algorithms can ensure that the robot arm smoothly and accurately reaches the target position during the motion process, and the speed and acceleration change continuously on the motion path, reducing the impact and vibration on the phased array antenna, and facilitating the acquisition of accurate test data.

[0040] Closed-loop control algorithms, such as proportional-integral-derivative (PID) control algorithms, are used to monitor the actual position and speed of the robot arm joints in real time and compare them with the preset motion information. According to the error signal, the output of the motor is adjusted to enable the robot arm to quickly and accurately track the preset trajectory. The PID controller optimizes the control performance by adjusting parameters such as the proportional coefficient, integral time constant, and differential time constant, improving the positioning accuracy and dynamic response characteristics of the robot arm.

[0041] The robot arm can achieve high-precision position control, with a positioning accuracy of millimeters or even higher. In the pointing accuracy test of the phased array antenna, this high-precision positioning capability can ensure that the antenna accurately moves to the vicinity of the theoretical pointing position for testing, thereby obtaining accurate amplitude value information. For example, for a precision measurement radar antenna that requires beam pointing accuracy to be one-tenth of a milliradian, the high-precision positioning of the robot arm can enable the antenna to perform accurate testing within a small angle range, improving the accuracy of the test results.

[0042] The robot arm also has high repeatability accuracy, with minimal deviation when repeatedly moving to the same position. This is very important for the phased array antenna pointing accuracy optimization process that requires multiple iterations of testing and compensation. In each iteration, the robot arm can accurately move the antenna to the same test position, ensuring consistency of test conditions, making each set of test data comparable, and facilitating accurate evaluation of compensation effects and speeding up convergence to a state that meets the preset accuracy requirements.

[0043] In some embodiments, comprehensive analysis is performed, including: analysis using a difference pattern search pointing method to determine the actual pointing of the antenna beam; and searching for the angle value corresponding to the minimum amplitude value to determine the main lobe direction of the antenna beam.

[0044] The error value is the difference between the actual beam pointing and the theoretical pointing.

[0045] The error value is a key indicator of the accuracy of the phased array antenna beam pointing, which directly reflects the degree of deviation between the actual beam pointing and the theoretical pointing. In an ideal case, the antenna's beam should accurately point to the predetermined theoretical direction, but due to various factors (such as antenna design errors, manufacturing process deviations, environmental influences, etc.), the actual beam pointing often deviates from the theoretical pointing, and this deviation is quantified by the error value. The calculation of the error value is to subtract the theoretical pointing angle from the actual beam pointing angle, i.e. error value = actual beam pointing angle - theoretical pointing angle.

[0046] The motion information includes: motion start and end points, and motion trajectory.

[0047] The design of the motion trajectory should be optimized according to the scanning requirements and performance characteristics of the phased array antenna. For antennas that need to be scanned in all directions, circular, elliptical or spiral trajectories may be used to ensure that the antenna can uniformly cover all directions in space. For example, in radar applications, in order to achieve comprehensive monitoring of the surrounding airspace, the motion trajectory of the phased array antenna can be designed as a circular trajectory, so that the beam can be directed to different azimuth and elevation angles in turn. When designing the motion trajectory, the motion speed and acceleration requirements of the antenna should also be considered. The trajectory should ensure that the speed and acceleration of the antenna change smoothly during motion, avoiding sharp changes that may cause antenna vibration or mechanical component wear. Mathematical curve fitting and optimization algorithms, such as spline curve interpolation, polynomial fitting, etc., can be used to generate smooth motion trajectories according to the given motion start and end points and speed and acceleration constraints.

[0048] Reasonable motion trajectory helps to improve test accuracy. By accurately designing the trajectory, the antenna can stay in key positions (such as areas with large changes in beam pointing or areas with expected large errors) for sufficient time or collect more data points during testing, thus more accurately obtaining the performance information of the antenna. For example, in areas with high beam pointing accuracy requirements, the motion speed can be appropriately reduced, and the data collection density can be increased to improve the detection capability of small errors.

[0049] The motion trajectory also directly affects the test efficiency. If the trajectory is not reasonably designed, it may lead to excessive test time or repeated motion, wasting resources. For example, overly complex or circuitous trajectories will increase the motion distance and time of the antenna, reducing test efficiency. Therefore, under the premise of ensuring test accuracy, the shortest and most direct motion trajectory should be selected, taking into account the motion characteristics of the antenna and the performance of the test equipment, to improve the efficiency of the entire test process.

[0050] Real-time reading of phased array antenna position information and amplitude value information, including: when there is a preset test position of an antenna, collecting amplitude value information. That is: only when the antenna is at the preset test position, the amplitude value is collected, which can reduce unnecessary data collection and storage. If the amplitude value is collected uninterruptedly during the entire movement process, a large amount of redundant data will be generated, increasing the data processing burden and time cost. While collecting data at key test positions, the amount of data can be more concise, facilitating subsequent data management and analysis, and improving the data processing efficiency of the entire test process. At the same time, in the data processing stage, the collected data can be classified and processed directly according to the relevant information of the preset test position, without the need to screen a large amount of useless data, further optimizing the data processing process.

[0051] The scheme provided by the application will be further described below in combination with various preferred embodiments: Specifically, referring to Figure 2 The specific process of the scheme provided by the application is as follows: 1. Initialize parameters, obtain test key information from the parameter configuration interface: test frequency, test theoretical beam pointing.

[0052] 2. Calculate the mechanical arm movement range according to the test key information, and the mechanical arm movement direction must completely include all test theoretical beam pointing.

[0053] 3. Calculate the mechanical arm movement speed according to the test theoretical beam pointing.

[0054] 4. Control the mechanical arm movement and real-time monitor the current position of the machine.

[0055] 5. When the mechanical position reaches the test theoretical beam test range, control the beam of the measured antenna to be the theoretical beam pointing, and start collecting the amplitude information on the measuring device and recording.

[0056] 6. After the mechanical arm moves to the end position, data analysis is performed.

[0057] 7. Obtain the pointing error value corresponding to each beam according to the data analysis, and store and record 8. Control the mechanical arm to move according to the movement range again.

[0058] 9. Control the mechanical arm movement and real-time monitor the current position of the machine.

[0059] 10. When the mechanical position reaches the test theoretical beam test range, control the beam of the measured antenna to be the theoretical beam pointing and the actual beam pointing calculated by the pointing error value, and start collecting the amplitude information on the measuring device and recording.

[0060] 11. After the mechanical arm moves to the end position, data analysis is performed.

[0061] 12. Analyze the error values ​​corresponding to all theoretical test beams at the current time, and record the beams that meet the indicators and those that do not.

[0062] 13. If there are no beams that do not meet the requirements, the test is complete. Otherwise, for beams that do not meet the requirements, iterate and correct them again, and test them again according to steps 8 to 12.

[0063] Exemplary apparatus The apparatus embodiments of this application can be used to execute the method embodiments of this application. For details not disclosed in the apparatus embodiments of this application, please refer to the method embodiments of this application.

[0064] Figure 3 The diagram shown is a block diagram of a pointing accuracy motion testing device provided in one embodiment of this application. Figure 3 As shown, the device includes: Acquisition module 31 is used to acquire basic information about the phased array antenna; The determining module 32 is used to determine the motion information of the phased array antenna based on the basic information; During the process of the phased array antenna moving according to the motion information, each antenna in the phased array antenna is in the test position for a period of time. The control module 33 is used to control the phased array antenna to move according to the motion information, and to read the position information and amplitude value information of the phased array antenna in real time. Analysis module 34 is used to perform comprehensive analysis on the position information and amplitude value information after the phased array antenna completes its movement, so as to obtain the error value of each antenna of the phased array antenna. The compensation module 35 is used to compensate the phased array antenna based on the error value, and repeat the above steps until the error value of each antenna is less than a preset range.

[0065] Exemplary electronic device Below, for reference Figure 4 This describes an electronic device according to embodiments of the present application. Figure 4 A block diagram of an electronic device according to an embodiment of this application is illustrated.

[0066] like Figure 4 As shown, the electronic device 400 includes one or more processors 410 and memory 420.

[0067] The processor 410 can be a central processing unit (CPU) or other form of processing unit that has data processing and / or instruction execution capabilities and can control other components in the electronic device 400 to perform desired functions.

[0068] The memory 420 can include one or more computer program products that can include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory, for example, can include random access memory (RAM), cache memory, and / or the like. The non-volatile memory, for example, can include read-only memory (ROM), hard disk drives, flash memory, and / or the like. One or more computer program instructions can be stored on the computer-readable storage media, which the processor 410 can run to implement the pointing accuracy motion test method of various embodiments of the present application described above and / or other desired functions. Various content such as a category correspondence relationship and the like can also be stored in the computer-readable storage media.

[0069] In one example, the electronic device 400 can further include an input device 430 and an output device 440, which are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0070] In addition, the input device 430 can further include, for example, a keyboard, a mouse, an interface, and the like. The output device 440 can output various information, including analysis results and the like, to the outside. The output device 440 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0071] Of course, in order to simplify, Figure 4 Only some of the components in the electronic device related to the present application are shown in FIG. 4, and components such as buses, input / output interfaces, and the like are omitted. In addition, the electronic device can further include any other appropriate components according to specific application cases.

[0072] Exemplary computer program product and computer readable storage medium In addition to the above-described method and device, an embodiment of the present application can be a computer program product including computer program instructions that, when executed by a processor, cause the processor to perform the steps of the pointing accuracy motion test method according to various embodiments of the present application described in the above "Exemplary Methods" section of the specification.

[0073] The computer program product can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computing device, partly on the user's computing device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device or entirely on the remote computing device or server. The embodiments of the present application are not related to any specific computer language or computer method. Rather, any conventional computer system that is capable of running a programming language is considered to be an appropriate device for executing the embodiments of the application as described herein.

[0074] Furthermore, embodiments of the present application can also be a computer readable storage medium, having stored thereon computer program instructions which, when run by a processor, cause the processor to perform steps described in the above “Exemplary Method” section of the present specification in accordance with various embodiments of the present application.

[0075] The computer readable storage medium can be any combination of one or more computer readable media. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0076] The above description is given for illustrative and descriptive purposes. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although various example aspects and embodiments have been discussed above, those of ordinary skill in the art will appreciate certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A pointing accuracy motion test method, characterized by, The method comprises: acquiring basic information of the phased array antenna; determining motion information of the phased array antenna based on the basic information; wherein, during the motion of the phased array antenna according to the motion information, each antenna of the phased array antenna exists a period of time at a test position; controlling the phased array antenna to move according to the motion information, and reading position information and amplitude value information of the phased array antenna in real time; after the motion of the phased array antenna is completed, comprehensively analyzing the position information and the amplitude value information to obtain error values of each antenna of the phased array antenna; based on the error values, compensating the phased array antenna, and repeatedly executing the above steps until the error values of each antenna are less than a preset range.

2. The pointing accuracy motion test method of claim 1, wherein, Further comprising: controlling the motion of the phased array antenna by a mechanical arm.

3. The pointing accuracy motion test method of claim 2, wherein, The control of the motion of the phased array antenna according to the motion information comprises: controlling the motion of the phased array antenna according to the motion information by the mechanical arm.

4. The pointing accuracy motion test method of claim 1, wherein, The comprehensive analysis comprises: using a difference pattern search pointing method to analyze to determine the actual pointing direction of the antenna beam; searching for an angle value corresponding to a minimum amplitude value to determine the main lobe direction of the antenna beam.

5. The pointing accuracy motion test method of claim 1, wherein, The error value is the difference between the actual beam pointing direction and the theoretical pointing direction.

6. The pointing accuracy motion test method of claim 5, wherein, The motion information comprises: a motion start and end point, and a motion trajectory.

7. The pointing accuracy motion test method of claim 1, wherein, The reading of the position information and the amplitude value information of the phased array antenna in real time comprises: when there is an antenna at a preset test position, collecting amplitude value information.

8. A pointing accuracy motion testing apparatus, characterized by, The method comprises: an acquisition module, configured to acquire basic information of the phased array antenna; a determination module, configured to determine motion information of the phased array antenna based on the basic information; wherein, during the motion of the phased array antenna according to the motion information, each antenna of the phased array antenna exists a period of time at a test position; a control module, configured to control the phased array antenna to move according to the motion information, and read position information and amplitude value information of the phased array antenna in real time; an analysis module, configured to, after the motion of the phased array antenna is completed, comprehensively analyze the position information and the amplitude value information to obtain error values of each antenna of the phased array antenna; a compensation module, configured to, based on the error values, compensate the phased array antenna, and repeatedly execute the above steps until the error values of each antenna are less than a preset range.

9. An electronic device, comprising: The method comprises: a processor, and a memory for storing programs executable by the processor; the processor is configured to, by running the programs in the memory, implement the pointing accuracy motion test method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer program is stored on the computer readable storage medium, and when the processor runs the computer program, the processor executes the pointing accuracy motion test method according to any one of claims 1 to 7.

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