A coordinate measurement-based multi-facet array system installation attitude field calibration method

Abstract

The application provides a multi-array system installation attitude field calibration method based on coordinate measurement. The method introduces a transition adjustment frame between a single array surface and a mast skeleton. The adjustment frame calibration can be regarded as array surface calibration. A precise total station type electronic angle measurement range finder is used to measure reference target point coordinates. General commercial three-dimensional software is used for data processing and analysis. After single array surface target point measurement is completed each time, data is checked. Array surface correction direction and correction amount are simulated in a three-dimensional model. Array surface installation attitude is corrected one by one by referring to the simulation. The correction process is monitored. The application converts array surface calibration into adjustment frame calibration, does not depend on array surface equipment, avoids repeated measurement and correction of expensive and heavy array surface, reduces workload, improves calibration efficiency, protects array surface and reduces damage.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of phased array electronic device calibration, and particularly relates to a multi-surface array system installation posture field calibration method based on coordinate measurement. BACKGROUND

[0002] The phased array electronic device antenna array has the functional characteristics of high-precision orientation, multi-beam operation, rapid switching, strong anti-interference capability and high reliability, and is widely used in the fields of communication, radar, navigation, integrated radio frequency and the like, especially in occasions requiring high precision, high reliability and rapid response, such as satellite communication, aerospace and the like. The multi-surface array system is a system in which multiple planar phased array antennas are arranged in a ring in space, and two-dimensional electric scanning is used to realize hemispherical coverage of the working airspace. A typical multi-surface array system is a system in which multiple phased array planar antennas are uniformly arranged at certain angles in the azimuth direction, and each array is independently responsible for a certain angle airspace, for example, each array in a four-surface array is responsible for a 90° airspace, or a transceiver separation design is used, and each pair of receiving and transmitting arrays is responsible for a certain angle airspace.

[0003] The multi-surface array system beam pointing error mainly comes from the following two aspects: one is the single array beam pointing error; and the other is the installation error caused by the deformation of the large installation framework, the installation error, the time-dependent deformation and the loading elastic deformation when the multi-array system is formed.

[0004] The single array beam pointing error is composed of mechanical shaft error, electric shaft error and wave control calculation error, and the mechanical error caused by mechanical processing and installation can be controlled by accurate processing, accurate positioning and mechanical calibration. The electric shaft error and the wave control calculation error can usually be controlled by amplitude and phase compensation. For a small or medium-sized array, the single array beam pointing error calibration can be completed in a microwave anechoic chamber.

[0005] Although the single array is calibrated accurately in the field, and a certain redundancy is left for the array beam azimuth and elevation coverage angle when the system is designed, the installation posture angle deviation will inevitably occur during the formation of the system, and this deviation will exceed the design margin, resulting in beam coverage airspace blind area and beam pointing rolling. Especially for the array system using transceiver separation layout, the receiving array and the transmitting array need to be accurately matched in terms of unit beam angle.

[0006] Whether the relative attitude relationship of each array in the multi-array system is accurate depends on the machining accuracy, installation accuracy and structural rigidity of the mast skeleton, generally, the mast skeleton of the multi-array system is a large metal shell component, which is welded by using steel or aluminum alloy based on light weight consideration, due to the reasons such as large size and welding deformation, the size of the component is usually difficult to accurately control, and after forming, due to the large size or as a part of the superstructure of the ship, the component is often unable to be precisely machined, and it is almost impossible to meet the installation accuracy requirement of the phased array antenna only by welding, and the error is further increased by the factors such as installation error, time-dependent deformation and elastic deformation, therefore, the multi-array system needs to be measured and calibrated in installation attitude, and if necessary, it also needs to be corrected. Moreover, the calibration work should be carried out during the machining and construction process of the mast skeleton and before the installation of the array, and after the installation of the multi-array system, the deviation information of the final azimuth angle, pitch angle and roll angle of each array antenna is measured again, and the measurement data is substituted into the wave control calculation program for further compensation.

[0007] For large mast skeleton parts with high installation accuracy requirements, such as the structure designed by using independent components and installed on the superstructure of the ship, the installation surface of each array can be precisely machined by using a large multi-axis CNC machining center at one time, or the component can be formed by using local precise machining and fire correction after welding; if the mast skeleton is a part of the ship, the fire correction method can be used. SUMMARY

[0008] The application provides a multi-array system installation attitude field calibration method based on coordinate measurement.

[0009] The technical scheme for achieving the object of the application is as follows: a multi-array system installation attitude field calibration method based on coordinate measurement, comprising the following steps.

[0010] An adjustment frame is arranged between the mast skeleton and the array of the multi-array system;

[0011] The coordinates of three reference target points on each adjustment frame in the multi-array system are measured, and an adjustment frame three-dimensional model component of the reference target points and a bounded plane formed by the reference target points in the instrument built-in coordinate system at the current measurement site is established;

[0012] The relay surfaces of each adjustment frame measured at different sites are subjected to overlap constraint, an assembly model of the adjustment frame three-dimensional model components at each site is established, and the relative attitude relationship between the arrays is spliced;

[0013] An ideal plane model of the attitude of the eight-array is established and incorporated into the assembly model;

[0014] The angle difference between the bounded plane of each adjustment frame and the ideal plane is measured in the assembly model to determine the deviation size and direction of each attitude angle; the bounded plane corresponding to each adjustment frame is moved in the assembly model to coincide with the corresponding ideal plane according to the deviation size and direction of each attitude angle, and the adjustment direction and adjustment amount are recorded;

[0015] Each adjustment frame is corrected based on the adjustment direction and adjustment amount in the assembly model, and the adjustment frame is fixed to the mast skeleton after the correction is completed.

[0016] Preferably, the coordinates of the three reference target points on each adjustment frame in the multi-array system are measured, and the specific process of establishing the adjustment frame three-dimensional model component of the reference target points and the bounded plane formed by the reference target points in the instrument built-in coordinate system at the current station point is as follows:

[0017] The adjustment frame three-dimensional model component of the reference target points and the bounded plane formed by the reference target points in the instrument built-in coordinate system at the current station point is established, the length and included angle data of any two adjacent sides formed by the three reference target points on the adjustment frame three-dimensional model component are measured, and the length and included angle design values of the three reference target points are compared; if the difference between the two is greater than the set threshold, the measurement is repeated; otherwise, the next adjustment frame visible at the current station point is measured, and the above process is repeated until the measurement of all visible adjustment frames at the current station point is completed; the station point position is changed, and the above process is repeated until the coordinate measurement and data checking of all adjustment frame base target points are completed.

[0018] Preferably, the array surface and the radome are installed on the adjustment frame, and the adjustment frame is fixed to the mast skeleton; three reference target points are processed on the surface of the adjustment frame for installing the array surface, and the line and surface formed by the reference target points can express the azimuth angle, elevation angle and roll angle information of the array surface.

[0019] Preferably, the array surface is sealed with the adjustment frame by using a sealing strip, and the radome is sealed with the adjustment frame by using a sealing gasket.

[0020] Preferably, adjustment screw holes and positioning holes are arranged on the adjustment frame; the adjustment screw holes are matched with adjustment bolts for adjusting the azimuth angle, elevation angle and roll angle of the adjustment frame on the mast skeleton; and the positioning holes are used for positioning and installing the array surface, and the positioning holes are matched with positioning pins to accurately control the installation precision of the array surface on the adjustment frame.

[0021] Preferably, a total station type electronic angle measuring range finder is used to measure the coordinates of the three reference target points on each adjustment frame in the multi-array system.

[0022] Preferably, the last adjustment frame base target point of the last station point is repeatedly measured after each station moving, and the relative position relationship between the internal coordinate systems of the total station type electronic angle measuring range finder measured by adjacent two station moving is established by overlapping a surface, so as to realize the splicing of the relative position relationship between the adjustment frames in the system, and the overlapped surface is the relay surface.

[0023] Preferably, the adjusting frame adopts a sunken square basin structure, including two installation planes, a plane installation surface of the basin bottom and a radome installation surface of the basin top.

[0024] Compared with the prior art, the present application has the following advantages:

[0025] The array surface calibration is converted into adjusting frame calibration, which does not rely on array surface equipment, avoids repeated measurement and correction of expensive and bulky array surface, reduces workload, improves calibration efficiency, and protects the array surface from damage;

[0026] The widely used conventional general measuring instrument is selected to collect data, and commercial three-dimensional modeling software is used to process and analyze data, which greatly reduces the use cost of equipment;

[0027] The calibration principle is simple and easy to understand, the measuring equipment and data processing software are highly universal, the measuring equipment and software are stable, the error is small, the precision is high, the operation is simple, professional personnel are not required, the labor cost is saved, and the efficiency is high;

[0028] The reference target point measurement method is adopted, the data amount is small, and the data processing is simple and efficient;

[0029] The station moving measurement is adopted, the non-contact measurement mode is adopted, the measuring equipment does not need to be installed and fixed, the reference installation surface is avoided to be set on the equipment, the requirement for the measurement environment is low, the equipment is convenient to erect, accurate leveling is not required, the calibration efficiency is greatly improved;

[0030] Each group of measurement data is checked, invalid data caused by random error is eliminated, the probability of repeated work is reduced, and the accuracy and calibration efficiency are further improved;

[0031] The three-dimensional simulation guidance, instrument synchronous monitoring, screw hole and bolt cooperation correction method are adopted, the correction process is continuous, adjustable, measurable and controllable, the realizability is high, and the calibration effect is good;

[0032] The adjusting frame, the array surface and the radome locally form a sealed system, the closed protection effect is good, and after correction, the adjusting frame, the array surface and the radome can be flexibly installed on the array surface framework through spot welding, riveting, screwing and the like, the use of explosive correction and large-area welding is avoided, and secondary deformation is prevented.

[0033] The present application will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 is the implementation flowchart of the eight-panel array system installation posture field calibration method of the present application.

[0035] Figure 2 is a structural schematic diagram of the eight-panel array system of the present application.

[0036] Figure 3 is the adjustment frame structure diagram of the present application.

[0037] Figure 4 is the station moving measurement and relay surface repeated measurement schematic diagram of the present application.

[0038] Figure 5 is the bounded plane of the reference target point and the corresponding ideal plane modeling, comparison, simulation correction schematic diagram of the present application.

[0039] Figure 6 is the real correction structure schematic diagram of the present application.

[0040] Figure 7 is the local self-sealing system structure diagram of the present application.

[0041] The figure number explanation: 1 mast skeleton, 2 array surface, 3 adjustment frame, 3-1 reference target point, 3-2 adjusting screw hole, 3-3 positioning hole, 4 total station type electronic angle ranging instrument, 5 bounded plane, 6 ideal plane, 7 adjusting bolt, 8 antenna cover, 9 sealing gasket, 10 sealing rubber strip, 11 positioning pin. DETAILED DESCRIPTION

[0042] A multi-array system installation attitude field calibration method based on coordinate measurement, which introduces a transition adjustment frame between a single array surface and a mast skeleton. The calibration of the adjustment frame can be regarded as the calibration of the array surface 2. A precise total station type electronic angle ranging instrument 4 widely used in modern surveying and mapping measurement engineering is used to measure the reference target point coordinates. The method of station moving measurement and relay surface repeated measurement is used to solve the problem of peripheral ring measurement visibility. A general array surface commercial three-dimensional software is used for data processing and analysis. After each single array surface target point measurement, the data is checked and corrected in the three-dimensional model. The array surface installation attitude is corrected one by one by referring to the simulation. The correction process is monitored. After correction, the adjustment frame is fixed on the mast skeleton, the gap is processed, the array surface is sealed and installed, the final real attitude angle of the array surface is measured, the antenna cover is sealed and installed, and the final test angle data is input into the wave control software for compensation, thereby completing the entire calibration process.

[0043] The calibration method is a non-contact three-dimensional coordinate measurement method. General surveying and mapping equipment is used for measurement, and commercial three-dimensional software is used for data analysis and processing. The method has the advantages of less equipment, low cost, strong universality, small test workload, small data volume, high efficiency, high precision, low requirement for terrain and environment, simple operation, and no need for professional surveying and mapping and data processing personnel. The calibration construction cost is low, the correction process is measurable, adjustable and controllable, and the correction is completed before the array surface installation. The array surface equipment does not require a power-on state.

[0044] A multi-array system installation attitude field calibration method based on coordinate measurement, which realizes the process as shown in Figure 1As shown, the calibration object instance octagonal array system structure is as shown in Figure 2 As shown, the mast skeleton 1 is an octagonal pyramid structure, and each side is provided with a local sealing system composed of an adjusting frame 3, a sealing strip 10, an array surface 2, a sealing pad 9, and a radome 8. The octagonal array system mast skeleton 1 is placed on an open ground, and the bottom surface is flat to ensure that it does not shake during calibration. The adjusting frame 3 is placed in the corresponding window of the mast skeleton 1, and the adjusting bolt 7 is used as a clamping member for preliminary fixation. An initial station is selected to erect a total station electronic angle ranging instrument 4, which is simply leveled without other professional setting operations, and a coordinate measurement mode is selected.

[0045] The coordinates of the three reference target points 3-1 on the first adjusting frame 3 are measured, and a three-dimensional model component of the reference target points 3-1 and the bounded plane 5 formed thereby in the instrument built-in coordinate system at the current station is established. The length and angle data of any two adjacent sides formed by the three reference target points 3-1 are measured on the adjusting frame three-dimensional model component, and are compared with the design values of the length and angle of the adjacent sides of the three reference target points 3-1. If the values do not meet the requirements, the measurement is repeated. Otherwise, the next adjusting frame 3 visible at the current station is measured, and the above measurement, modeling, and checking process is repeated until the measurement of all adjusting frames 3 at the current station is completed. The station position is changed, and the above process is repeated until the coordinate measurement and data checking of all adjusting frame 3 base target points 3-1 in the system are completed.

[0046] The relay surface is subjected to overlap constraint, and an assembly model of the adjusting frame three-dimensional model components at each station is established to splice the relative attitude relationship between the array surfaces 2.

[0047] An ideal plane 6 model of the octagonal array is established, and is loaded into the above assembly model. The bounded plane 5 of a certain adjusting frame is used as a reference to constrain the assembly model. The angle difference between the bounded plane 5 of each adjusting frame 3 and the ideal plane 6 is measured in the assembly model to determine the deviation size and direction of each attitude angle. The bounded plane 5 of each adjusting frame 3 is moved in the assembly model to coincide with the corresponding ideal plane 6, and the adjustment direction and adjustment amount are recorded.

[0048] Based on the above adjustment direction and adjustment amount, the adjusting frame is corrected one by one using the adjusting screw hole 3-2 and the adjusting bolt 7. During the correction process, the total station electronic angle ranging instrument 4 is erected near the adjusting frame to monitor the correction effect until the angle deviation meets the requirements. The adjusting frame is fixed on the mast skeleton, the sealing treatment is performed, the array surfaces are sealed and installed, the final true attitude angle of the array surfaces is re-measured, the radome is sealed and installed, and the final test angle data is input into the wave control software for compensation to complete the entire calibration process. Specifically:

[0049] After calibration, the adjusting bolts 7 are used to secure the frame, and the adjusting frame 3 is fixed to the mast frame 1. The fixing method can be spot welding, riveting or bolt connection. The gaps at the fixing points need to be leveled, and then the connection surface is sealed with a weather-resistant sealant such as polysulfide putty. After the connection is completed, the array face 2 is positioned and installed using the positioning pins 11. After all array faces 2 are installed, the above-mentioned station relocation measurement and modeling analysis methods are used to perform the final direct calibration of the relative attitude relationship of each array face 2 in the system. Three reference target points are reserved in advance on the outer end face of the array face flange. The attitude angle values ​​are measured in the three-dimensional model and the data is recorded. The radome 9 is sealed and installed. The final calibration data is provided to the wave control system for algorithm compensation, thereby completing the entire calibration process.

[0050] In a further embodiment, the structure of adjustment box 3 is as follows: Figure 3 The aforementioned component serves as a transitional installation between the array surface 2 and the mast frame 1. It employs a sunken square basin structure design, containing two important mounting surfaces: the array surface 2 mounting surface at the bottom of the basin and the radome 8 mounting surface at the top. The array surface mounting surface is equipped with array mounting holes, positioning holes 3-3, and sealing grooves. The radome mounting surface is equipped with radome mounting holes and three base target points 3-1. The reference target point 3-1 is positioned on the radome mounting surface for good visibility and easy coordinate measurement. Both mounting surfaces are precision-machined to ensure dimensional and geometric tolerance accuracy; their parallelism does not exceed 0.3mm, pin hole positioning deviation does not exceed 0.1mm, and attitude angle deviation between them does not exceed 2''. The reference target point 3-1 has a "cross" structure, achieved through precision machining with engraving lines of 0.2mm width and 0.2mm depth. The outer periphery of the adjustment frame 3 is its mounting flange fixed to the mast frame 1. Four adjusting screw holes 3-2 with M12 threads are provided on the flange edge. These, along with two adjusting screw holes and adjusting bolts 7 on the mast frame 1 at the bottom of the adjustment frame 3, allow for adjustment and correction of the pitch, azimuth, and roll angles. The introduction of this adjustment frame 3 enables precise installation of the array surface; the calibration of the adjustment frame can be considered as the calibration of the array surface. The recessed structure not only meets the conformal requirements of the radome and the frame but also improves the electromagnetic isolation effect between the array surfaces.

[0051] In a further embodiment, the data measurement method is as follows: Figure 4As shown, a conventional total station electronic angle and distance measuring instrument 4 is used to measure the three-dimensional coordinates of the base target point 3-1 on the adjustment frame 3. The problem of line of sight in the external circumferential measurement is solved by the method of station relocation measurement and repeat measurement on relay surfaces. Taking an eight-sided array as an example, the coordinates of the reference target point 3-1 of three adjustment frames 3 are measured at each station. After each station relocation, the last adjustment frame of the previous station is used as the relay surface, and the relay surface is measured again. Four stations A, B, C, and D are set up, and the system circumferential measurement can be completed with three relay surfaces. Since the relative installation posture relationship between each adjustment frame is spliced ​​by the relay surface overlap method, there is no need to refer to the geodetic coordinate system. Therefore, a series of professional surveying and mapping settings such as accurate leveling and station setting are avoided. Only simple rough leveling is required. The measurement mode is selected as coordinate measurement, and the coordinate data is directly read and stored. This measurement method greatly reduces the surveying difficulty and workload and improves the measurement efficiency.

[0052] In a further embodiment, data processing and analysis utilize the commercial 3D modeling software Siemens NX. This software is widely used, highly versatile, easy to operate, and provides intuitive and reliable results, requiring no specialized data processing software, equipment, or operators. The measured coordinates of the benchmark target point 3-1 are directly input into the software to construct a 3D model of the benchmark target point 3-1 within the built-in coordinate system of the total station electronic angle and distance measuring instrument 4. Then, the corresponding bounded plane 5 is constructed using these three points, as shown... Figure 5 As shown. The calibration process involves three stages requiring data processing using 3D modeling software: initial data acquisition and post-processing analysis of installation posture, simulation calibration, and real-world calibration synchronous monitoring and analysis. In the initial data processing and analysis stage, three bounded planes 5 are constructed at each station, one of which is a relay plane. An assembly model file is created using the software's assembly module, and the bounded plane 5 model components from each station are loaded. Overlap constraints are applied to the relay plane, thus achieving the splicing of the relative posture relationships between the bounded planes 5 throughout the system. Then, an ideal plane 6 is loaded for comparison, allowing the measurement of the direction and magnitude of the installation posture angle deviation of each adjustment frame 3. In the simulation calibration stage, based on the posture angle deviation and direction of each adjustment frame 3, the corresponding bounded plane 5 is copied in the assembly model. This copied plane is then rotated and translated to coincide with the corresponding ideal plane 6. The rotation process and data are recorded, completing the simulation calibration. Based on the coordinate data of the reference target point 3-1 of the current adjustment frame 3 obtained before the calibration begins, a component model of the corresponding bounded plane 5 is established, loaded into the assembly file for coincidence constraint, and then after each adjustment action, a process of data measurement, modeling, measuring attitude angle data, and observing and analyzing the calibration effect is performed until the accuracy requirements are met.

[0053] In a further embodiment, after each measurement of the coordinates of the three reference target points 3-1 on an adjustment frame 3, the measurement data must be input into the 3D modeling software to construct the corresponding bounded plane 5 model. The adjacent edge length and included angle of the bounded plane are measured and compared with the design value. If the deviation exceeds the allowable value, the measurement is repeated until the deviation is less than the allowable value, thereby eliminating invalid data before moving the station and avoiding repeated station measurements. In this example's eight-sided array system, the design value of the included angle of the target points is 90°, the lengths of the line connecting the reference target points are 700mm and 580mm, the allowable range of the included angle is 90±0.2°, and the allowable ranges of the lengths of the line connecting the reference target points are 700±1mm and 580±1mm.

[0054] In a further embodiment, the calibration process first involves simulation correction within a 3D model, see... Figure 5 By rotating and translating the bounded plane 5 of the adjustment frame 3 to coincide with the corresponding ideal plane, the rotation process, rotation direction, and rotation angle are recorded; next, the actual calibration work is carried out with reference to the simulated calibration process, such as... Figure 6 As shown, in this example, the roll angle is corrected angle by angle in the order of roll, pitch, and azimuth. The roll angle is corrected by rotating the adjusting bolts 7 mounted on the mast frame 1 at the bottom of the adjusting frame 3 according to the simulated correction direction. Then, the pitch and azimuth angles are corrected by rotating the bolts 7 mounted on the flange of the adjusting frame 3. To evaluate the correction effect during the actual correction process, a total station electronic angle and distance measuring instrument 4 is set up directly in front of the current correction adjusting frame 3 before starting the correction. The frame is initially leveled, and the three-dimensional coordinate data of the adjusting frame in the built-in coordinate system of the total station electronic angle and distance measuring instrument 4 is measured. This data is then input into the 3D modeling software to create the corresponding bounded plane component model 5. The data validity is verified, and then the model is loaded into the assembly model file for overlap constraints. After each adjustment of the adjusting bolts 7, a measurement, verification, and modification of the bounded plane component model parameters are performed, and the correction effect is observed until the deviation is within the set deviation range of ±0.2° in this example. This correction method achieves adjustable, measurable, and controllable array installation attitude, and has good operability and feasibility.

[0055] In a further embodiment, the calibration object adopts a locally self-sealing system structure design, such as... Figure 7As shown, the array surface 2 and the radome 8 are both mounted on the adjustment frame 3. The relative position of the array surface 2 and the adjustment frame 3 must be strictly maintained, and they must be rigidly connected and sealed with sealing strips 10. The radome 8 and the adjustment frame 2 can be flexibly connected and sealed with sealing gaskets 9. The radome, adjustment frame, and array surface form a self-contained local sealing system, providing good protection for the antenna and electronic components inside the array surface. The array surface 2 and the adjustment frame 3 are designed with positioning holes 3-3, which, together with positioning pins 11, ensure the installation accuracy of the array surface 2 on the adjustment frame 3. This local sealing system avoids the need for a reliable sealing structure between the equipment and the mast frame 1. The two can be fixed together by local spot welding, riveting, screwing, etc., providing the prerequisite for flexibly adjusting the installation posture of the adjustment frame 3 on the mast frame 1. In addition, after the adjustment frame 3 is fixed to the mast frame 1, a simple waterproofing treatment is sufficient, without the need for precision machining of the sealing surface on the large mast frame 1, effectively improving the molding processability of the mast frame 1.

[0056] The table below compares the initial values ​​of the attitude angle deviations of each adjustment frame in the eight-sided array system of this invention with the calibrated values ​​of the array face after correction. The array faces are numbered in the table: ~ ,in The number is used as the benchmark.

[0057]

[0058] As can be seen from the table, although various deformation reduction techniques were adopted during the welding of the mast frame, such as using profile tubes as the keel and stiffening plates as the skin for spot welding, diagonal welding, segmented welding, time-sharing welding, post-weld aging, fire correction, and accurate control of parting dimensions, the deformation was still relatively large. After the adjustment frame was installed into the mast frame, the maximum deviation angle was 1.54°, while the eight-sided array system requires the installation attitude angle error to be controlled within 0.3°, which obviously does not meet the requirements. After correction using the correction method described in this invention, the array surface was finally re-measured and calibrated, and the maximum angle deviation was 0.287°. The array surface installation attitude angle deviation was significantly reduced and met the requirements. Later, the corrected data was provided to the beam control software for compensation, and the eight-sided system beam worked normally.

[0059] This invention discloses a field calibration method for the installation attitude of a multi-faceted array system based on coordinate measurement. It can calibrate the installation attitude of each facet within the multi-faceted array system. The calibration process is adjustable, measurable, and controllable. It uses general-purpose surveying equipment to measure data and commercial software to process the data. The equipment and labor costs are low, and no professional testing and data processing equipment, software, or operators are required. Test data can be verified one by one, and the calibration data is stable, reliable, and highly accurate. It uses reference target point coordinate measurement and correction, resulting in a small data volume. It adopts a station-moving measurement method, which has low requirements for the calibration environment.

[0060] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for field calibration of the installation attitude of a multi-faceted array system based on coordinate measurement, characterized in that, include: An adjustment frame (3) is set between the mast frame (1) and the array face (2) of the multi-faceted array system; The coordinates of three reference target points (3-1) on each adjustment frame (3) in the multi-faceted array system are measured, and the three-dimensional model component of the adjustment frame in the instrument's built-in coordinate system at the current measurement station is established by the reference target point (3-1) and the bounded plane (5) formed by the reference target point (3-1). Overlap constraints are applied to the relay surfaces of each adjustment frame (3) measured at different stations, and an assembly model of the three-dimensional model components of each adjustment frame is established to splice the relative attitude relationship between each array surface (2). Establish an ideal planar model of the eight-sided array and incorporate it into the assembly model; In the assembly model, measure the angle difference between the bounded plane (5) of each adjustment frame (3) and the ideal plane (6) to determine the magnitude and direction of the deviation of each attitude angle; according to the magnitude and direction of the deviation of each attitude angle, move the bounded plane (5) corresponding to each adjustment frame (3) in the assembly model so that it coincides with the corresponding ideal plane (6), and record the adjustment direction and adjustment amount. Based on the adjustment direction and adjustment amount in the assembly model, the adjustment frame (3) is corrected one by one. After the correction is completed, the adjustment frame (3) is fixed to the mast frame (1).

2. The method for calibrating the installation attitude of a multi-faceted array system based on coordinate measurement according to claim 1, characterized in that, The specific process of measuring the coordinates of the three reference target points (3-1) on each adjustment frame (3) in the multi-faceted array system, and establishing the three-dimensional model component of the adjustment frame in the instrument's built-in coordinate system at the current measurement station, based on the reference target points (3-1) and the bounded plane (5) formed by the reference target points (3-1), is as follows: Establish a reference target point (3-1) and the bounded plane (5) formed by it. In the instrument's built-in coordinate system, the three-dimensional model component of the adjustment frame is used at the current measurement station. The length and included angle data of any two adjacent sides formed by the three reference target points (3-1) are measured on the three-dimensional model component of the adjustment frame. The data are compared with the design values ​​of the length and included angle of the adjacent sides of the three reference target points (3-1). If the difference between the two is greater than the set threshold, the measurement is repeated. Otherwise, the measurement is moved to the next visible adjustment frame (3) at the current station. The above process is repeated until all visible adjustment frames (3) at the current station are measured. The station position is changed, and the above process is repeated until the coordinate measurement and data verification of all adjustment frames (3) base target points (3-1) are completed.

3. The method for calibrating the installation attitude of a multi-faceted array system based on coordinate measurement according to claim 1, characterized in that, The array (2) and radome (8) are mounted on the adjustment frame (3), which is fixed on the mast frame (1). Three reference target points (3-1) are machined on the surface of the adjustment frame (3) used to mount the array (2). The lines and surfaces formed by the reference target points (3-1) can express the azimuth, pitch and roll information of the array (2).

4. The method for calibrating the installation attitude of a multi-faceted array system based on coordinate measurement according to claim 3, characterized in that, The array surface is sealed with a sealing strip (10) and the adjustment frame (3), and the radome is sealed with a sealing gasket (9) and the adjustment frame (3).

5. The method for field calibration of the installation attitude of a multi-faceted array system based on coordinate measurement according to claim 1, characterized in that, The adjustment frame (3) is provided with adjustment screw holes (3-2) and positioning holes (3-3). The adjustment screw holes (3-2) are used in conjunction with the adjustment bolts (7) to adjust the azimuth, pitch and roll angles of the adjustment frame (3) on the mast frame (1). The positioning holes (3-3) are used to position the mounting surface (2). The positioning holes (3-3) are used in conjunction with the positioning pins (11) to accurately control the installation accuracy of the mounting surface (2) on the adjustment frame (3).

6. The method for calibrating the installation attitude of a multi-faceted array system based on coordinate measurement according to claim 1, characterized in that, The coordinates of three reference target points (3-1) on each adjustment frame (3) in the multi-faceted array system are measured using a total station electronic angle and distance measuring instrument (4).

7. The method for calibrating the installation attitude of a multi-faceted array system based on coordinate measurement according to claim 1, characterized in that, After each station relocation, the last adjustment frame (3) base target point (3-1) of the previous station is measured again. The relative position relationship between the internal coordinate system of the total station type electronic angle measuring and distance measuring instrument (4) is established by overlapping a surface. This realizes the splicing of the relative position relationship between each adjustment frame (3) of the system. The overlapping surface is the relay surface.

8. The method for calibrating the installation attitude of a multi-faceted array system based on coordinate measurement according to claim 1, characterized in that, The adjustment frame (3) adopts a sunken square basin structure, including two mounting planes: the array mounting surface at the bottom of the basin and the antenna cover mounting surface at the top of the basin.

9. The method for calibrating the installation attitude of a multi-faceted array system based on coordinate measurement according to claim 1, characterized in that, During the process of correcting the adjustment frame (3) one by one based on the adjustment direction and adjustment amount in the assembly model, a total station type electronic angle measuring and distance measuring instrument (4) is set up within a set range around the adjustment frame to monitor the correction effect until the angle deviation meets the requirements.

Images