Radio distance and angle measurement device and method for relative navigation and formation cooperation

Abstract

The invention provides a radio distance and angle measurement device and method for relative navigation and formation cooperation. Comprising a radio antenna processing integrated unit and a radio beacon antenna unit. The antenna processing integrated unit is used as a host to realize distance and angle measurement functions, and is used as a network center to realize communication in a network; the radio beacon antenna unit serves as a slave machine and receives distance and angle measurement information sent by the antenna processing integrated unit; the antenna processing integrated unit completes distance measurement with the radio beacon antenna unit in the formation network under the networking condition; the radio beacon antenna unit receives ranging information from the antenna processing integrated unit; the antenna processing integrated unit completes measurement of a horizontal azimuth angle and a pitching azimuth angle between the antenna processing integrated unit and the radio beacon antenna under a networking condition; and the radio beacon antenna unit receives angle measurement information from the antenna processing integrated unit. And high-precision distance and angle measurement and high synchronous distribution capability of measurement information can be realized.

Description

Technical Field

[0001] This invention pertains to radio relative navigation technology, specifically relating to a radio ranging and angle measuring device and method for relative navigation and formation coordination. Background Technology

[0002] As aircraft's autonomous control capabilities continue to improve, a real demand for high-precision relative navigation has emerged.

[0003] Radio navigation, as a type of navigation technology, is now widely used in civil aviation for route planning, takeoff and landing guidance, obstacle avoidance, and other applications. These technologies include NDB, DME, VOR, LORAN-C, and TACAN. These radio navigation methods are generally used to calculate the heading or latitude and longitude of an aircraft's current location. They cannot directly provide relative navigation information between two vehicles, and their accuracy is limited. Furthermore, they generally require large-scale infrastructure construction in the early stages to meet their long-distance radio navigation needs.

[0004] Differential satellite-based relative navigation is essentially a form of radio navigation. Because satellites are so far from the ground, the radio signal strength received by vehicles operating within the atmosphere is very low. This makes differential satellite-based relative navigation susceptible to environmental interference, thus limiting its application scenarios. Other radio positioning methods, such as UWB, WiFi, and 5G, were not specifically designed for relative navigation, and therefore also suffer from long transmission distances, low measurement accuracy, and susceptibility to environmental influences.

[0005] The methods widely used in the field of autonomous driving, such as vision and lidar, also face the problem of insufficient measurement distance in aviation applications. Therefore, in the scenario of relative navigation at the kilometer level to tens of kilometers, it is necessary to design a radio relative navigation device that can achieve high ranging and angle measurement accuracy and low environmental sensitivity of measurement results. By developing this device, the relative navigation needs between air and air, air and ground, and air and ship in the airborne environment can be met. Summary of the Invention

[0006] The purpose of this invention is to provide a radio ranging and angle measuring device and method for relative navigation and formation coordination, which can calculate and output the relative distance and relative angle between carriers.

[0007] The technical solution of this invention: According to a first aspect of the present invention, a radio ranging and angle measuring device for relative navigation and formation coordination is provided, comprising: Integrated radio antenna processing unit; radio beacon antenna unit; The integrated antenna processing unit acts as the host to perform ranging and angle measurement functions, and as the network center to enable communication within the network; the radio beacon antenna unit acts as the slave to receive ranging and angle measurement information sent from the integrated antenna processing unit. The integrated antenna processing unit completes distance measurement between radio beacon antenna elements within the formation network under networking conditions; The radio beacon antenna unit receives ranging information from the antenna processing integrated unit; The integrated antenna processing unit completes the horizontal azimuth and elevation azimuth measurements between itself and the radio beacon antenna under network conditions; The radio beacon antenna unit receives angle measurement information from the integrated antenna processing unit; The integrated antenna processing unit manages the radio beacon antenna units within the formation, enabling network management functions; The integrated antenna processing unit has non-volatile storage capabilities to save information such as system internal parameters, installation and boom arm errors, and test data. Both the integrated radio antenna processing unit and the radio beacon antenna have output functions. The integrated antenna processing unit outputs the relative distance and angle between itself and all radio beacon antennas in the formation; the radio beacon antenna outputs the relative distance and angle between itself and the only integrated antenna processing unit in the formation.

[0008] In one possible embodiment, the hardware of the integrated radio antenna processing unit is a transceiver, including an aviation plug, a supporting base plate, a power supply, a shielding plate, an RF / baseband processing board, an interface board, an antenna array, and an antenna backplate. Airplane connectors are used to connect internal signals of equipment with external equipment via cables; The base plate is used to isolate internal components from the external environment; The power supply is used to convert the 28V DC power supplied by external devices into the voltage required by internal components and ensure a stable power supply. The shielding plate is used to isolate the power supply from the RF / baseband processing board to prevent electromagnetic interference problems. The RF / baseband processing board is used to process various RF and baseband signals and to perform logic control and interface protocol functions. The interface board is used to enable quick connection and replacement between the RF interface and the antenna array elements; The antenna backplane is used to provide a four-array-cut-tip pyramid structure and ensure that there is enough space for RF cables to be routed. The aircraft connector is mechanically connected to the supporting base plate and electrically connected to the power supply and data connection to the RF / baseband processing board via cables; The power supply is mechanically connected to the supporting base plate and electrically connected to the aviation plug and RF / baseband processing board via cables; The shielding plate is mechanically connected to the RF / baseband processing board. A thermally conductive medium is placed between the high-heat-generating components inside the RF / baseband processing board and the shielding plate to help conduct the heat of the RF / baseband processing board to the metal parts for heat dissipation. Mechanical connection between the RF / baseband processing board and the supporting base plate; The interface board is mechanically connected to the RF / baseband processing board and signals are connected via connectors; Mechanical connection between the antenna backplane and the RF / baseband processing board; The antenna array is mechanically connected to the antenna backplate and is connected to the RF / baseband processing board via cables.

[0009] In one possible embodiment, the hardware device of the radio beacon antenna unit employs a radio beacon antenna, which includes: Aircraft connector, support base plate, power supply, shielding plate, RF / baseband processing board, interface board, and receiving / transmitting antenna; Airplane connectors are used to connect internal signals of equipment with external equipment via cables; The base plate is used to isolate internal components from the external environment; The power supply is used to convert the 28V DC power supplied by external devices into the voltage required by internal components and ensure a stable power supply. The shielding plate is used to isolate the power supply from the RF / baseband processing board to prevent electromagnetic interference problems. The RF / baseband processing board is used to process various RF and baseband signals and to perform logic control and interface protocol functions. The interface board is used to enable quick connection and replacement between the RF interface and the antenna; The aircraft connector is mechanically connected to the supporting base plate and electrically connected to the power supply and data connection to the RF / baseband processing board via cables; The power supply is mechanically connected to the supporting base plate and electrically connected to the aviation plug and RF / baseband processing board via cables; The shielding plate is mechanically connected to the RF / baseband processing board. A thermally conductive medium is placed between the high-heat-generating components inside the RF / baseband processing board and the shielding plate to help conduct the heat of the RF / baseband processing board to the metal parts for heat dissipation. Mechanical connection between the RF / baseband processing board and the supporting base plate; The interface board is mechanically connected to the RF / baseband processing board and signals are connected via connectors; The antenna is mechanically connected to the RF / baseband processing board and is also connected to the RF / baseband processing board via a cable for signal transmission.

[0010] In one possible embodiment, the integrated antenna processing unit has a four-array-cut-tip pyramid shape; The purpose of the four-face design is to improve the scanning angle range of the face; The purpose of the clipped pyramid design is to optimize the rectification design of the equipment under the skin mounting conditions in the airborne environment, and to adjust the direction of the array normal to be more likely to be oriented towards the direction of the incoming wave from the radio beacon antenna.

[0011] In one possible embodiment, the integrated radio antenna processing unit includes a receiver array antenna, a transceiver transmitting antenna, a transceiver RF front-end module, a transceiver spread spectrum transmitter, a transceiver spread spectrum receiver, a transceiver baseband processing module, a signal angle of arrival (DOA) measurement module, a transceiver logic processing module, and a transceiver interface protocol module. The receiving array antenna uses multiple antenna elements to receive radio frequency signals. The transceiver signal DOA measurement module performs incoming wave characteristic analysis on the electromagnetic waves emitted by the radio beacon antenna unit based on the differences in phase, amplitude, etc. between the received signals of the array elements. The transceiver transmitting antenna is used to transmit signals to the radio beacon antenna unit; The transceiver's radio frequency front-end module is used to convert between radio frequency signals and baseband signals; The transceiver baseband processing module is used to process the baseband signal sent from the transceiver radio frequency front end, thereby solving the relative distance and realizing network communication, and solving the relative angle based on the incoming wave characteristic analysis sent from the signal DOA measurement module; The transceiver logic processing module is used to set up functions such as switching usage modes, data packet assembly and unpacking, and reading and writing stored information. The transceiver interface protocol module is used to define the data input and output protocol types, including various configuration modes such as RS232, RS422, Arinc 429, or Ethernet; Connections for transmitting signals from the receiving array antenna to the transceiver RF front-end module; connections for transmitting signals from the transceiver RF front-end module to the transceiver transmitting antenna; connections for transmitting signals from the transceiver spread spectrum transmitter to the transceiver RF front-end module; connections for transmitting signals from the transceiver RF front-end module to the transceiver spread spectrum receiver; connections for transmitting signals from the transceiver RF front-end module to the signal DOA measurement module; connections for transmitting data from the transceiver baseband processing module to the transceiver spread spectrum transmitter; connections for transmitting data from the transceiver spread spectrum receiver to the transceiver baseband processing module; connections for transmitting data from the signal DOA measurement module to the transceiver baseband processing module; bidirectional data connections from the transceiver baseband processing module to the transceiver logic processing module; and bidirectional logical connections between the transceiver interface protocol module and the transceiver logic processing module.

[0012] In one possible embodiment, the radio beacon antenna includes a beacon receiving antenna, a beacon transmitting antenna, a beacon RF front-end module, a beacon spread spectrum transmitter, a beacon spread spectrum receiver, a beacon baseband processing module, a beacon logic processing module, and a beacon interface protocol module; The beacon receiving antenna is used to receive signals from the antenna processing unit. The beacon transmitting antenna is used to transmit signals to the antenna processing unit; The beacon RF front-end module is used to convert between RF signals and baseband signals; The beacon baseband processing module is used to process the baseband signals sent from the beacon radio frequency front end, thereby enabling network communication; The beacon logic processing module is used to configure functions such as mode switching, data packet assembly and unpacking, and reading and writing stored information. The beacon interface protocol module is used to define the data input and output protocol types, including various configuration modes such as RS232, RS422, Arinc429, or Ethernet; Connections for transmitting signals from the beacon receiving antenna to the beacon RF front-end module, the beacon RF front-end module to the beacon transmitting antenna, the beacon spread spectrum transmitter to the beacon RF front-end module, the beacon RF front-end module to the beacon spread spectrum receiver, the beacon baseband processing module to the beacon spread spectrum transmitter, the beacon spread spectrum receiver to the beacon baseband processing module, the bidirectional data connection between the beacon baseband processing module and the beacon logic processing module, and the bidirectional logic connection between the beacon interface protocol module and the beacon logic processing module.

[0013] According to a second aspect of the present invention, a radio ranging and angle measuring method for relative navigation and formation coordination is proposed, employing the aforementioned radio ranging and angle measuring device for relative navigation and formation coordination, comprising the following steps: The baseband processing of the integrated radio antenna unit generates an integrated baseband signal waveform that can simultaneously meet the requirements of communication networking, ranging, and angle measurement functions; The baseband signal of the integrated radio antenna unit is converted by DAC, up-converted, filtered and amplified to generate an integrated radio frequency signal. After being amplified by PA, it is connected to the integrated unit transmitting antenna to transmit the signal to the radio beacon antenna. After receiving the signal, the receiving antenna of the radio beacon antenna unit generates an intermediate frequency signal through radio frequency low noise amplification, mixing, and filtering. After being converted by an ADC, the signal is output to the radio beacon antenna baseband. The radio beacon antenna unit integrates baseband demodulation of the signal, calculates the received signal delay, and adds local delay to the echo signal; The baseband signal of the radio beacon antenna unit will be converted by DAC, up-converted, filtered and amplified after the local time delay is added to generate an RF echo signal. After being amplified by PA, it will be connected to the beacon transmitting antenna to transmit the signal to the radio integrated unit. After receiving multiple array signals, the integrated radio antenna unit receives the antenna array and performs RF low-noise amplification, mixing, and filtering to generate intermediate frequency signals, which are then converted by multiple ADCs and output to the baseband of the integrated radio unit. After the integrated radio antenna unit receives multiple digital signals, one of them demodulates the radio beacon antenna echo signal. The relative distance between the two signals is calculated based on the radio beacon antenna delay information and the time of the corresponding time slot of the integrated radio antenna unit. The array of the integrated radio antenna unit receives digital signals and inputs them into the angle measurement signal processing. The phase and amplitude of the array signals are used to calculate the azimuth and elevation angles of the radio beacon antenna unit relative to the integrated radio antenna unit. The integrated radio antenna unit outputs the measured distance and angle information to the outside world through the interface protocol module; The integrated radio antenna unit adds the measured distance and angle information to the corresponding radio beacon antenna time slot, and then sends the measurement results to the radio beacon antenna unit via the integrated radio antenna unit's transmission link; After receiving the integrated signal containing the measurement results, the radio beacon antenna unit demodulates the signal through the receiving link, analyzes the measurement results, and outputs the measurement information to the outside world through the interface protocol module.

[0014] In one possible embodiment, methods for calculating relative distance include: pulse ranging, sidetone ranging, pseudocode ranging, and bidirectional time synchronization ranging.

[0015] In one possible embodiment, methods for calculating azimuth and elevation angles include: amplitude direction finding, phase interferometry, correlation interferometry, and spatial spectrum estimation direction finding (including: Capon minimum variance method, multiple signal classification (MUSIC) algorithm, rotation invariant subspace (ESPRIT) algorithm, and weighted subspace fitting (WSF) algorithm).

[0016] Advantages and beneficial effects of the present invention: This invention relates to a device for relative navigation and formation coordination using radio waves. It employs a master-slave formation network model, combined with hardware and software resources such as antenna arrays and ranging / angle measurement algorithms. For airborne environments, the integrated antenna processing unit utilizes a four-array, clipped pyramid structure design. This device is primarily applied to relative navigation and formation networking at kilometer to tens of kilometer ranges in air-to-air and air-to-ground communication, enabling high-precision ranging and angle measurement, and high-synchronization distribution of measurement information. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. The drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of a preferred embodiment of the present invention; Figure 2 This is a schematic diagram of the functional modules of the integrated radio antenna processing unit according to a preferred embodiment of the present invention; Figure 3 This is a schematic diagram illustrating the composition of a radio beacon antenna according to a preferred embodiment of the present invention; Figure 4 This is a schematic diagram of the radio beacon antenna structure of the integrated radio antenna processing unit according to a preferred embodiment of the present invention; Among them: 1-Aircraft connector, 2-Supporting base plate, 3-Power supply, 4-Shielding plate, 5-RF / baseband processing board, 6-Interface board, 7-Antenna array, 8-Antenna backplate; Figure 5 This is a schematic diagram of a radio beacon antenna structure according to a preferred embodiment of the present invention; Wherein: 9-antenna radome; 10-shielding cover; 11-receiving antenna; 12-transmitting antenna; 13-RF baseband processing board; 14-interface board; 15-first supporting base plate; 16-power supply; 17-second supporting base plate; 18-aviation plug; Figure 6 This is a schematic diagram illustrating the principle of the high-precision ranging and angle measuring and formation networking method in Embodiment 2 of the present invention; Figure 7 This is a schematic diagram illustrating the technical principle of the single-sided bidirectional ranging method according to Embodiment 2 of the present invention; Figure 8 This is a schematic diagram of the principle of the long-short baseline one-dimensional phase interferometer according to Embodiment 2 of the present invention; Figure 9 This is a schematic diagram of the long-short baseline two-dimensional phase interference principle in Embodiment 2 of the present invention. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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.

[0020] The features and illustrative embodiments of various aspects of the present invention will now be described in detail. Numerous specific details are set forth in the following detailed description to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention may be practiced without requiring some of these specific details. The following description of embodiments is merely intended to provide a better understanding of the invention by illustrating examples of the invention. The invention is by no means limited to any specific setups and methods set forth below, but covers any improvements, substitutions, and modifications to structures, methods, and devices without departing from the spirit of the invention. Well-known structures and techniques are not shown in the drawings and the following description to avoid unnecessarily obscuring the invention.

[0021] In the description of this invention, it should be noted that the directions or positional relationships indicated by terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing and simplifying the invention, and should not be construed as limiting the invention. Furthermore, the use of ordinal numbers (e.g., "first and second," etc.) is for distinguishing objects and is not limited to this order, and should not be construed as indicating or implying relative importance.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly, encompassing both direct connection and indirect connection via an intermediate medium. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0023] It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other, and the various embodiments can be referenced and cited in each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0024] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0025] This device is a master-slave swarm networking device. The networking technology mainly targets MAC technology, which can include: contention-based MAC protocols (such as CSMA protocol), allocation-based MAC protocols (such as Time Division Multiple Access Protocol), and hybrid MAC protocols. The following is an implementation of a high-precision ranging and angle measurement method for formation networking: The angle measurement technique used is a long-short baseline two-dimensional phase interferometer; The ranging technology is a hybrid of unilateral bidirectional ranging and pseudocode ranging; Formation networking technology is time-division multiple access; The communication technology employs a heterodyne digital intermediate frequency pseudocode receiver.

[0026] Example 1: like Figure 1 As shown, in the scheme implemented in this embodiment, a radio ranging and angle measuring device for relative navigation and formation coordination consists of a radio antenna processing integrated unit as the formation master and up to nine radio beacon antennas as formation slaves.

[0027] Among them, such as Figure 2 As shown, the integrated radio antenna processing unit includes connections for transmitting signals from the receiving array antenna to the RF front-end module, connections for transmitting signals from the RF front-end module to the transmitting antenna, connections for transmitting signals from the spread spectrum transmitter to the RF front-end module, connections for transmitting signals from the RF front-end module to the spread spectrum receiver, connections for transmitting signals from the RF front-end module to the signal DOA measurement module, connections for transmitting data from the baseband processing module to the spread spectrum transmitter, connections for transmitting data from the spread spectrum receiver to the baseband processing module, connections for transmitting data from the signal DOA measurement module to the baseband processing module, bidirectional data connections between the baseband processing module and the logic processing module, and bidirectional logical connections between the interface protocol module and the logic processing module.

[0028] like Figure 3As shown, the radio beacon antenna includes connections for transmitting signals from the receiving antenna to the RF front-end module, connections for transmitting signals from the RF front-end module to the transmitting antenna, connections for transmitting signals from the spread spectrum transmitter to the RF front-end module, connections for transmitting signals from the RF front-end module to the spread spectrum receiver, connections for transmitting data from the baseband processing module to the spread spectrum transmitter, connections for transmitting data from the spread spectrum receiver to the baseband processing module, bidirectional data connections between the baseband processing module and the logic processing module, and bidirectional logical connections between the interface protocol module and the logic processing module.

[0029] Example 3: like Figure 5 The overall structural design of the integrated antenna processing unit adopts a four-array-cut-pyramid shape. The purpose of the four-array design is to improve the scanning angle range of the array. The purpose of the cut-pyramid shape design is to optimize the rectification design of the equipment under the skin mounting conditions in the airborne environment, and to adjust the normal direction of the array to be turned towards the direction with a higher probability of the incoming wave from the radio beacon antenna.

[0030] like Figure 4 As shown, the integrated antenna processing unit structure in this embodiment includes an aviation connector, a supporting base plate, a power supply, a shielding plate, an RF / baseband processing board, an interface board, an antenna array, and an antenna backplate. Their respective functions and interconnections are as follows: Application 1: Aviation connectors are used to connect internal signals of equipment with external equipment via cables; Application 2: The base plate is used to isolate internal components from the external environment; Application 3: The power supply is used to convert the 28V DC power supplied by external devices into the voltage required by internal components and ensure a stable power supply; Application 4: The shielding plate is used to isolate the power supply from the RF / baseband processing board to prevent electromagnetic interference problems; Application 5: The RF / baseband processing board is used to process various RF and baseband signals and complete logic control and interface protocol functions; Application 6: The interface board is used to enable quick connection and replacement between the RF interface and the antenna array elements; Application 7: The antenna backplate is used to provide a four-array-cut-tip pyramid structure and ensure that there is enough space for RF cables to be routed.

[0031] like Figure 4 As shown, the various sub-modules of the integrated antenna processing unit are mainly mechanically connected via threaded connections. Specifically: The aircraft plug 1 is mechanically connected to the supporting base plate 2, and is electrically connected to the power supply 3 and data connected to the radio frequency / baseband processing board 5 via cables; The power supply 3 is mechanically connected to the supporting base plate 2 and electrically connected to the aviation plug 1 and the radio frequency / baseband processing board 5 via cables; The shielding plate 4 is mechanically connected to the radio frequency / baseband processing board 5. A heat-conducting medium is placed between the high-heat-generating components inside the radio frequency / baseband processing board 5 and the shielding plate 4 to help conduct the heat of the radio frequency / baseband processing board 5 to the metal parts for heat dissipation. The RF / baseband processing board 5 is mechanically connected to the supporting base plate 2; The interface board is mechanically connected to the RF / baseband processing board 5 and signal connections are made via connectors; Mechanical connection between antenna backplate 8 and RF / baseband processing board 5; The antenna array is mechanically connected to the antenna backplate 8 and is connected to the RF / baseband processing board 5 via a cable.

[0032] Utilize a unified interface board structure.

[0033] like Figure 5 As shown, the radio beacon antenna includes: Aircraft plug 18, first support base plate 15, second support base plate 17, power supply 16, shielding cover 10, radio frequency / baseband processing board 13, interface board 14, receiving antenna 11, transmitting antenna 12, and antenna cover 9; The aviation connector 18 is used to connect internal signals of the device with external devices via cables; The first support base plate 15 and the second support base plate 17 are used to isolate the internal components from the external environment; Power supply 16 is used to convert the 28V DC power supplied by external devices into the voltage required by internal components and ensure stable power supply. The shielding cover 10 is used to isolate the power supply from the RF / baseband processing board to prevent electromagnetic interference problems. The RF / baseband processing board 13 is used to process various RF and baseband signals and to perform logic control and interface protocol functions; Interface board 14 is used to enable quick connection and replacement between the RF interface and the antenna; The aircraft plug 18 is mechanically connected to the second support base plate 17, and is electrically connected to the power supply 16 and data connected to the radio frequency / baseband processing board 13 via cables; The power supply 16 is mechanically connected to the first support base plate 15 and electrically connected to the aviation plug 18 and the radio frequency / baseband processing board 13 via cables; The shielding cover 10 is mechanically connected to the radio frequency / baseband processing board 13. A heat-conducting medium is placed between the high-heat-generating components inside the radio frequency / baseband processing board 13 and the shielding board to help conduct the heat of the radio frequency / baseband processing board 13 to the metal parts for heat dissipation. The radio frequency / baseband processing board 13 is mechanically connected to the first supporting base plate 15; The interface board 14 is mechanically connected to the RF / baseband processing board 13 and is connected to the signal via connectors. The receiving antenna 11 and transmitting antenna 12 are mechanically connected to the radio frequency / baseband processing board 13 and are signal connected to the radio frequency / baseband processing board 13 via cables; the antenna cover 9 is disposed above the radio frequency / baseband processing board 13 and is mechanically connected to it.

[0034] The following are the steps for debugging and using a host computer for a radio ranging and angle measuring device used for relative navigation and formation coordination: Step 1: Prepare two host computers, connect the debugging cables to the integrated radio antenna processing unit and the radio beacon antenna respectively, and connect the power cord of the debugging cable to a 28V DC power supply to start powering it. Connect the RS422 interface of the debugging cable to the corresponding RS422 interface of the two host computers. Step 2: Power on the device and start it up. Once the current stabilizes within the normal range, it is ready for use. Step 3: Open the host computer debugging software "Antenna Processing Integrated Unit.exe" and "Radio Beacon Antenna.exe"; Step 4: Select the corresponding port number, such as COM1, set the baud rate to 115200bps, data bits to 8 bits, stop bits to 1 bit, and parity and flow control to None; Step 5: Click the "Connect" button on the two host computer debugging software programs. The software interface will then output the system information, status information, and measurement information of the two devices. The measurement information output includes raw data output, parsed text output, and image curve output. Step 6: If necessary, the host computer software can also be used to read / load device parameters, set device working modes, and read recorded experimental data. Step 7: After use, disconnect the software connection and directly cut off the DC power supply.

[0035] A radio ranging and angle measuring device for relative navigation and formation coordination, the airborne usage steps of which are as follows: Step 1: Install the equipment in the appropriate location on the aircraft; Step 2: Connect the cables on the machine and turn on the power and data interfaces; Step 3: Once the on-board device reads the status information and outputs the result normally, it can be used.

[0036] Example 2: like Figure 6As shown, the solution implemented in this embodiment adopts a high-precision ranging and angle measurement and formation networking algorithm based on two-dimensional phase interferometer angle measurement technology, bidirectional ranging and pseudo-code ranging hybrid ranging technology, time division multiple access formation networking technology, and heterodyne digital intermediate frequency pseudo-code communication technology.

[0037] A radio ranging and angle measurement method for relative navigation and formation coordination, the algorithm flow steps of which are as follows: Step 1: The networking algorithm adopts the time-division multiple access method, and the communication technology adopts the heterodyne digital intermediate frequency pseudocode receiver technology. If the radio beacon antenna has not yet entered the formation network constructed by the antenna processing integrated unit, when the radio beacon antenna (slave node) first connects to the network, it first receives the signal from the antenna processing integrated unit (master node), and completes time slot synchronization by receiving the master node signal, thereby determining the time slot position of slave nodes 2 to 10, and sending slave node signals in the corresponding time slot according to its pre-assigned child node number.

[0038] Step 2: As Figure 7 The distance measurement implementation uses a one-sided, two-way time-synchronized ranging method. The master node adds a flag bit when sending the polling signal and records the time t1 of adding the flag bit into the polling signal. After receiving the polling signal, slave node n parses the flag bit and records the time t2 of parsing the flag bit into the response signal. When slave node n sends the response signal to the master node, it adds a flag bit and records the time t3 of adding the flag bit into the response signal. After receiving the response signal, the master node parses the response signal and records the time t4 of parsing the flag bit. The signal transmission time can then be calculated using a formula. T f This allows us to calculate the distance between the master node and the slave node n.

[0039]

[0040] Because the communication system uses pseudocode communication technology, the correlation peak of the pseudocode can be used to further improve the ranging accuracy. By determining the position of the correlation function peak, the time delay estimate can be determined, thereby achieving a radio flight time calculation error of less than one chip width.

[0041] Step 3: As Figure 8 The diagram shown illustrates the principle of angle measurement technology in a long-short baseline one-dimensional phase interferometer. Figure 9 The figure shows the angle measurement technique using a long-short baseline two-dimensional phase interferometer implemented with an antenna array in this embodiment.

[0042] in, Figure 8 The schematic diagram utilizes a "long baseline" (the baseline between antenna A and antenna C, and the phase difference between the received signals from the two antennas). To ensure direction finding accuracy, a "short baseline" (the baseline between antenna A and antenna B, the phase difference between the received signals from the two antennas) is used. The wave angle can be calculated using the following formula to resolve phase ambiguity, ensuring both the coverage and accuracy of angle measurements. θ and whole week blur k The formation on the battle surface is as follows: Figure 9 Two orthogonal long-short baseline one-dimensional phase interferometers can be used to realize a long-short baseline two-dimensional phase interferometer.

[0043]

[0044] Step 4: After obtaining the ranging and angle measurement results based on the array coordinate system of arrays 1 to 4, the ranging and angle measurement results are transformed into coordinates. Considering the relative displacement and angle between the equipment installation and the fixed coordinate system of the carrier, the relative displacement and angle between the two fixed coordinate systems of the carrier can be obtained.

[0045] The above detailed embodiments are a description of the present invention. It should not be considered that the specific embodiments of the present invention are limited to these descriptions. For those skilled in the art, several simple deductions and substitutions can be made without departing from the concept of the present invention, and all of these should be considered to fall within the protection scope of the present invention.

Claims

1. A radio ranging and angle measuring device for relative navigation and formation coordination, characterized in that, include: Integrated radio antenna processing unit; radio beacon antenna unit; The integrated antenna processing unit serves as the host to perform ranging and angle measurement functions, and as the network center to enable communication within the network. The radio beacon antenna unit acts as a slave device, receiving ranging and angle measurement information from the antenna processing integrated unit; the antenna processing integrated unit completes distance measurement between itself and the radio beacon antenna unit within the formation network under networking conditions; The radio beacon antenna unit receives ranging information from the antenna processing unit; the antenna processing unit completes the horizontal azimuth and elevation azimuth measurements between itself and the radio beacon antenna under network conditions. The radio beacon antenna unit receives angle measurement information from the antenna processing unit.

2. A radio ranging and angle measuring device for relative navigation and formation coordination according to claim 1, characterized in that, include: The integrated radio antenna processing unit includes a receiving array antenna, a transceiver transmitting antenna, a transceiver RF front-end module, a transceiver spread spectrum transmitter, a transceiver spread spectrum receiver, a transceiver baseband processing module, a signal arrival angle measurement module, a transceiver logic processing module, and a transceiver interface protocol module. Connections for transmitting signals from the receiving array antenna to the transceiver RF front-end module; connections for transmitting signals from the transceiver RF front-end module to the transceiver transmitting antenna; connections for transmitting signals from the transceiver spread spectrum transmitter to the transceiver RF front-end module; connections for transmitting signals from the transceiver RF front-end module to the transceiver spread spectrum receiver; connections for transmitting signals from the transceiver RF front-end module to the signal measurement module; connections for transmitting data from the transceiver baseband processing module to the transceiver spread spectrum transmitter; connections for transmitting data from the transceiver spread spectrum receiver to the transceiver baseband processing module; connections for transmitting data from the signal measurement module to the transceiver baseband processing module; bidirectional data connections from the transceiver baseband processing module to the transceiver logic processing module; and bidirectional logical connections between the transceiver interface protocol module and the transceiver logic processing module.

3. A radio ranging and angle measuring device for relative navigation and formation coordination according to claim 1, characterized in that, The radio beacon antenna includes a beacon receiving antenna, a beacon transmitting antenna, a beacon RF front-end module, a beacon spread spectrum transmitter, a beacon spread spectrum receiver, a beacon baseband processing module, a beacon logic processing module, and a beacon interface protocol module; Connections for transmitting signals from the beacon receiving antenna to the beacon RF front-end module, the beacon RF front-end module to the beacon transmitting antenna, the beacon spread spectrum transmitter to the beacon RF front-end module, the beacon RF front-end module to the beacon spread spectrum receiver, the beacon baseband processing module to the beacon spread spectrum transmitter, the beacon spread spectrum receiver to the beacon baseband processing module, the bidirectional data connection between the beacon baseband processing module and the beacon logic processing module, and the bidirectional logic connection between the beacon interface protocol module and the beacon logic processing module.

4. A radio ranging and angle measuring device for relative navigation and formation coordination according to claim 1, characterized in that, The hardware of the integrated radio antenna processing unit is a transceiver, including an aviation plug, a supporting base plate, a power supply, a shielding plate, an RF / baseband processing board, an interface board, an antenna array, and an antenna backplate. Airplane connectors are used to connect internal signals of equipment with external equipment via cables; The base plate is used to isolate internal components from the external environment; The power supply is used to convert the 28V DC power supplied by external devices into the voltage required by internal components and ensure a stable power supply. The shielding plate is used to isolate the power supply from the RF / baseband processing board to prevent electromagnetic interference problems. The RF / baseband processing board is used to process various RF and baseband signals and to perform logic control and interface protocol functions. The interface board is used to enable quick connection and replacement between the RF interface and the antenna array elements; The antenna backplane is used to provide a four-array-cut-tip pyramid structure and ensure that there is enough space for RF cables to be routed. The aircraft connector is mechanically connected to the supporting base plate and electrically connected to the power supply and data connection to the RF / baseband processing board via cables; The power supply is mechanically connected to the supporting base plate and electrically connected to the aviation plug and RF / baseband processing board via cables; The shielding plate is mechanically connected to the RF / baseband processing board. A thermally conductive medium is placed between the high-heat-generating components inside the RF / baseband processing board and the shielding plate to help conduct the heat of the RF / baseband processing board to the metal parts for heat dissipation. Mechanical connection between the RF / baseband processing board and the supporting base plate; The interface board is mechanically connected to the RF / baseband processing board and signals are connected via connectors; Mechanical connection between the antenna backplane and the RF / baseband processing board; The antenna array is mechanically connected to the antenna backplate and is connected to the RF / baseband processing board via cables.

5. A radio ranging and angle measuring device for relative navigation and formation coordination according to claim 1, characterized in that, The hardware of the radio beacon antenna unit employs a radio beacon antenna, which includes: Aircraft connector, first support base plate, second support base plate, power supply, shielding cover, RF / baseband processing board, interface board, receiving antenna, transmitting antenna, and radome; Airplane connectors are used to connect internal signals of equipment with external equipment via cables; The first and second support base plates are used to isolate the internal components from the external environment; The power supply is used to convert the 28V DC power supplied by external devices into the voltage required by internal components and ensure a stable power supply. The shielding cover is used to isolate the power supply from the RF / baseband processing board to prevent electromagnetic interference problems; The RF / baseband processing board is used to process various RF and baseband signals and to perform logic control and interface protocol functions. The interface board is used to enable quick connection and replacement between the RF interface and the antenna; The aircraft connector is mechanically connected to the second support base plate and electrically connected to the power supply and data connected to the RF / baseband processing board via cables; The power supply is mechanically connected to the first support base plate and electrically connected to the aviation plug and the radio frequency / baseband processing board via cables; The shielding cover is mechanically connected to the RF / baseband processing board. A heat-conducting medium is placed between the high-heat-generating components inside the RF / baseband processing board and the shielding board to help conduct the heat of the RF / baseband processing board to the metal parts for heat dissipation. The RF / baseband processing board is mechanically connected to the first supporting base plate; The interface board is mechanically connected to the RF / baseband processing board and signals are connected via connectors; The receiving antenna and transmitting antenna are mechanically connected to the RF / baseband processing board and are signal-connected to the RF / baseband processing board via cables; the antenna cover is disposed above the RF / baseband processing board and is mechanically connected to it.

6. A radio ranging and angle measuring device for relative navigation and formation coordination according to claim 1, characterized in that, The integrated antenna processing unit has a four-array-cut-tip pyramid shape.

7. A radio ranging and angle measurement method for relative navigation and formation coordination, characterized in that... The radio ranging and angle measuring device for relative navigation and formation coordination as described in any one of claims 1-6 includes the following steps: The baseband processing of the integrated radio antenna unit generates an integrated baseband signal waveform that can simultaneously meet the requirements of communication networking, ranging, and angle measurement functions; The baseband signal of the integrated radio antenna unit is converted by DAC, up-converted, filtered and amplified to generate an integrated radio frequency signal. After being amplified by PA, it is connected to the integrated unit transmitting antenna to transmit the signal to the radio beacon antenna. After receiving the signal, the receiving antenna of the radio beacon antenna unit generates an intermediate frequency signal through radio frequency low noise amplification, mixing, and filtering. After being converted by an ADC, the signal is output to the radio beacon antenna baseband. The radio beacon antenna unit integrates baseband demodulation of the signal, calculates the received signal delay, and adds local delay to the echo signal; The baseband signal of the radio beacon antenna unit will be converted by DAC, up-converted, filtered and amplified after the local time delay is added to generate an RF echo signal. After being amplified by PA, it will be connected to the beacon transmitting antenna to transmit the signal to the radio integrated unit. After receiving multiple array signals, the integrated radio antenna unit receives the antenna array and performs RF low-noise amplification, mixing, and filtering to generate intermediate frequency signals, which are then converted by multiple ADCs and output to the baseband of the integrated radio unit. After the integrated radio antenna unit receives multiple digital signals, one of them demodulates the radio beacon antenna echo signal. The relative distance between the two signals is calculated based on the radio beacon antenna delay information and the time of the corresponding time slot of the integrated radio antenna unit. The array of the integrated radio antenna unit receives digital signals and inputs them into the angle measurement signal processing. The phase and amplitude of the array signals are used to calculate the azimuth and elevation angles of the radio beacon antenna unit relative to the integrated radio antenna unit. The integrated radio antenna unit outputs the measured distance and angle information to the outside world through the interface protocol module; The integrated radio antenna unit adds the measured distance and angle information to the corresponding radio beacon antenna time slot, and then sends the measurement results to the radio beacon antenna unit via the integrated radio antenna unit's transmission link; After receiving the integrated signal containing the measurement results, the radio beacon antenna unit demodulates the signal through the receiving link, analyzes the measurement results, and outputs the measurement information to the outside world through the interface protocol module.

8. A radio ranging and angle measurement method for relative navigation and formation coordination according to claim 7, characterized in that, Methods for calculating relative distance include one of the following: pulse ranging, sidetone ranging, pseudocode ranging, and two-way time synchronization ranging.

9. A radio ranging and angle measurement method for relative navigation and formation coordination according to claim 7, characterized in that, Methods for calculating azimuth and elevation angles include: amplitude direction finding, phase interferometry, correlation interferometry, and spatial spectrum estimation direction finding.

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