Antenna parameter measurement device and simultaneous localization and mapping device

Abstract

The utility model discloses an antenna technical parameter measurement device and synchronous positioning measurement equipment relates to antenna measurement technical field. The device includes double satellite navigation module, including first satellite navigation unit and second satellite navigation unit, is used for receiving satellite signal and measures the heading angle, inertia measurement unit is used for measuring the pitch angle and the roll angle, microcontrol unit is connected with double satellite navigation module and inertia measurement unit respectively, is used for fusing heading angle, pitch angle and roll angle generation three -dimensional attitude data, communication module is connected with second satellite navigation unit, is used for obtaining real -time dynamic difference positioning information. The device through the multi -source data fusion of double satellite navigation unit and inertia measurement unit has realized high -precision three -dimensional attitude measurement, and combines real -time dynamic difference positioning technology simultaneously, has improved positioning precision and the reliability of attitude measurement significantly, is applicable to the application scene that needs accurate space attitude perception.

Description

Technical Field

[0001] This utility model relates to the field of antenna measurement technology, specifically to an antenna engineering parameter measuring device and a synchronous positioning measuring equipment. Background Technology

[0002] In wireless communication and radar sensing systems, accurate acquisition of antenna operating parameters and clock synchronization among system components are crucial for ensuring stable system operation. However, current technical solutions have significant shortcomings: traditional engineering parameter measurement equipment has low accuracy and cannot meet the high-precision requirements of 5G-A / 6G applications for centimeter-level spatial positioning and attitude measurement within 1°. Existing solutions, such as single-frequency GPS direction finding, can only provide two-dimensional planar positioning and lack three-dimensional attitude measurement capabilities; while the BeiDou Navigation Satellite System (BDS) / GPS dual-mode positioning system lacks clock synchronization functionality, making it impossible to achieve precise alignment between measurement data and the system clock. Utility Model Content

[0003] The main purpose of this invention is to provide an antenna operating parameter measurement device and a synchronous positioning measurement device, which aims to solve at least one technical problem in the high-precision measurement of antenna operating parameters and clock synchronization between system components in wireless communication systems.

[0004] To solve the above-mentioned technical problems, the embodiments of this utility model disclose the following technical solutions:

[0005] In a first aspect, an antenna parameter measurement device is provided, comprising:

[0006] The dual-satellite navigation module includes a first satellite navigation unit and a second satellite navigation unit, which are used to receive satellite signals and measure heading angles.

[0007] Inertial measurement unit (IMU) is used to measure pitch and roll angles.

[0008] The microcontroller unit is connected to the dual-satellite navigation module and the inertial measurement unit respectively, and is used to fuse the heading angle, the pitch angle and the roll angle to generate three-dimensional attitude data;

[0009] The communication module, connected to the second satellite navigation unit, is used to acquire real-time dynamic differential positioning information.

[0010] In some embodiments, both the first satellite navigation unit and the second satellite navigation unit are equipped with onboard antennas, and the two onboard antennas are arranged at a fixed preset distance.

[0011] In some embodiments, both the first satellite navigation unit and the second satellite navigation unit are connected to a remote antenna via an RF connector, and the two remote antennas are set at a preset baseline distance.

[0012] In some embodiments, the communication module includes:

[0013] A wireless real-time dynamic differential positioning access unit is integrated into the communication module. The communication module communicates with the second satellite navigation unit through a universal asynchronous transceiver interface and with an external real-time dynamic differential positioning server through its own configured antenna.

[0014] In some embodiments, the communication module further includes:

[0015] The wired real-time dynamic differential positioning access unit is connected to the microcontroller unit via its universal asynchronous transceiver interface to connect to an external master control device.

[0016] In some embodiments, the communication module is configured with a card slot adapted to a user identification module card, and the user identification module card is electrically connected to the communication module after being inserted into the card slot.

[0017] In some embodiments, the microcontroller unit, the first satellite navigation unit, and the second satellite navigation unit are packaged together as an integrated chip module.

[0018] In some embodiments, the first satellite navigation unit and / or the second satellite navigation unit are configured with a clock synchronization unit, the clock synchronization unit including a second pulse output interface and a current time output interface; wherein, the second pulse output interface is used to provide a synchronization clock to an external master control device, and the current time output interface is used to provide Coordinated Universal Time information.

[0019] In some embodiments, the microcontroller is configured with an industrial serial communication interface, which uses RS232 or RS485 physical layer protocols to periodically report measurement data containing three-dimensional attitude, position information and time information to an external master control device.

[0020] In some embodiments, it also includes:

[0021] The power module is equipped with a power input interface for receiving external power supply, and outputs working power after voltage conversion to power the various modules in the antenna parameter measurement device.

[0022] Secondly, a synchronous positioning and measuring device is provided, comprising:

[0023] Antenna parameter measuring device as described in any of the first aspects;

[0024] Real-time dynamic differential positioning server;

[0025] The main control device is used to acquire the real-time dynamic differential positioning information of the real-time dynamic differential positioning server and forward it to the antenna parameter measurement device.

[0026] Connectors, including:

[0027] Grounding lines are used to establish a common ground connection;

[0028] The power supply line is used to receive DC power from the main control device and provide DC power to the antenna parameter measuring device.

[0029] The first communication interface includes a transmitter and a receiver, and connects the main control device and the communication module of the antenna parameter measurement device for transmitting communication-related data.

[0030] The second communication interface includes a transmitter and a receiver, which connects the main control device and the microcontroller unit of the antenna parameter measurement device for transmitting control-related data.

[0031] A clock synchronization line is used to transmit second pulse signals from the first satellite navigation unit and / or the second satellite navigation unit.

[0032] This invention discloses an antenna parameter measurement device and a synchronous positioning measurement equipment. It receives satellite signals and measures the heading angle through a dual-satellite navigation module (a first satellite navigation unit and a second satellite navigation unit), and obtains the pitch and roll angles using an inertial measurement unit. A microcontroller unit then fuses these data to generate three-dimensional attitude data, achieving precise measurement of antenna parameters. Simultaneously, a communication module acquires real-time dynamic differential positioning information, achieving centimeter-level spatial positioning accuracy. An integrated clock synchronization unit ensures time synchronization between all system components. Therefore, this invention achieves high-precision three-dimensional attitude measurement (heading angle, pitch angle, and roll angle) through multi-source data fusion from dual satellite navigation units and an inertial measurement unit. Furthermore, the combination of real-time dynamic differential positioning technology significantly improves positioning accuracy and the reliability of attitude measurement, making it suitable for applications requiring precise spatial attitude perception. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0034] Figure 1 A circuit block diagram of an antenna parameter measuring device provided in an embodiment of this utility model;

[0035] Figure 2 A circuit block diagram of an antenna parameter measuring device provided in another embodiment of this utility model;

[0036] Figure 3 A circuit block diagram of a synchronous positioning and measuring device provided in another embodiment of the present invention;

[0037] Figure 4 A circuit block diagram of a synchronous positioning and measuring device provided in another embodiment of this utility model.

[0038] Explanation of reference numerals in the attached figures:

[0039] 10: Antenna parameter measuring device; 20: Connector; 30: Main control equipment;

[0040] 40: Real-time Dynamic Differential Positioning (RTK) server;

[0041] 101: Dual satellite navigation module; 102: Inertial measurement unit; 103: Microcontroller unit;

[0042] 104: Communication module; 105: Power module;

[0043] 1011: First satellite navigation unit; 1012: Second satellite navigation unit. Detailed Implementation

[0044] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0045] Furthermore, descriptions in this utility model involving terms such as "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" and "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0046] The antenna parameter measurement device 10 of this utility model adopts a technical solution of coordinated operation of a dual satellite navigation module 101 and an inertial measurement unit 102: the dual satellite navigation module 101 receives satellite signals through two satellite navigation units and measures the precise heading angle based on carrier phase differential technology; the inertial measurement unit 102 (IMU) collects pitch and roll angle data in real time; the microcontroller unit 103 fuses satellite navigation data and inertial measurement data through a multi-source data fusion algorithm to output three-dimensional attitude data. The device also acquires real-time dynamic differential positioning (RTK) information through the communication module 104 to achieve centimeter-level positioning, and utilizes the clock synchronization unit built into the satellite navigation unit to achieve time synchronization between various components of the system. Its functions are: 1) to provide high-precision parameter measurement for 5G / 6G base station antennas; 2) to unify the spatiotemporal reference of each node in the communication system; and 3) to solve the technical defects of insufficient accuracy and lack of time synchronization function in traditional parameter measurement equipment.

[0047] Please see Figure 1 , Figure 1 This is a circuit block diagram of an antenna parameter measuring device 10 provided in an embodiment of the present invention. The antenna parameter measuring device 10 includes a dual satellite navigation module 101, an inertial measurement unit 102, a microcontroller unit 103, and a communication module 104.

[0048] For example, the dual satellite navigation module 101 includes a first satellite navigation unit 1011 and a second satellite navigation unit 1012, for receiving satellite signals and measuring heading angles.

[0049] Understandably, the dual-satellite navigation module 101 includes two independent satellite navigation receiving units (first satellite navigation unit 1011 and second satellite navigation unit 1012). These two units synchronously receive Global Navigation Satellite System (GNSS) signals and use carrier phase differential technology to measure the relative positional relationship between the two antennas, thereby accurately calculating the heading angle. Specifically, when the two satellite navigation units are installed at a fixed interval, they simultaneously receive the same set of satellite signals. By comparing the carrier phase difference received by the two units and combining it with the known baseline distance, a baseline calculation algorithm (such as least squares method or Kalman filtering) is used to calculate the accurate heading angle in real time. This dual-unit design overcomes the technical limitation of traditional single-antenna GPS direction finding systems that cannot directly measure the heading angle.

[0050] For example, the inertial measurement unit 102 is used to measure pitch angle and roll angle.

[0051] Understandably, the inertial measurement unit 102 uses its built-in three-axis accelerometer and three-axis gyroscope (six axes in total) to detect the angular and linear motion of the device in real time; for example, a six-axis inertial measurement unit can be used. The specific working principle is as follows: the gyroscope measures the angular velocity around the X, Y, and Z axes, and obtains the instantaneous changes in pitch and roll angles through integration; the accelerometer measures the linear acceleration of the three axes, and the angle measurement is calibrated using gravity vector decomposition. The microcontroller unit 103 employs a sensor fusion algorithm (such as complementary filtering or Kalman filtering) to combine the dynamic response of the gyroscope with the long-term stability of the accelerometer, ultimately outputting high-precision pitch and roll angles. This design effectively solves the technical challenge of measuring three-dimensional attitude in dynamic environments in pure satellite navigation systems.

[0052] For example, the microcontroller unit 103 is connected to the dual satellite navigation module 101 and the inertial measurement unit 102 respectively, and is used to fuse the heading angle, pitch angle and roll angle to generate three-dimensional attitude data.

[0053] Understandably, the microcontroller unit 103 receives heading angle data from the dual-satellite navigation module 101 and pitch / roll angle data from the inertial measurement unit 102 via a high-speed serial interface (such as a Serial Peripheral Interface (SPI) or a Universal Asynchronous Receiver / Transmitter (UART)). It then employs a multi-sensor fusion algorithm (typically an extended Kalman filter or particle filter) for data fusion processing. Specifically, the satellite navigation data and inertial measurement data are first time-aligned and their coordinate systems unified. Then, the attitude matrix in three-dimensional space is calculated in real time based on a kinematic model, ultimately outputting complete three-dimensional attitude data (including heading angle, pitch angle, and roll angle). This fusion processing preserves the absolute accuracy of the satellite navigation data while leveraging the high dynamic characteristics of inertial measurement, solving the problem that a single sensor cannot simultaneously achieve both measurement accuracy and dynamic response.

[0054] For example, the communication module 104 is connected to the second satellite navigation unit 1012 to acquire real-time dynamic differential positioning (RTK) information.

[0055] Understandably, the communication module 104 establishes a communication link with the RTK server 40 via a cellular network (4G / 5G) or a dedicated data transmission radio, receives carrier phase differential correction data sent by the RTK server 40 in real time, and transmits the differential data to the second satellite navigation unit 1012 via the UART interface. Specifically, when the second satellite navigation unit 1012 of the antenna parameter measurement device 10 receives raw satellite observation data, the communication module 104 simultaneously receives the differential correction data from the RTK server 40, and the two are processed in real time through the RTK calculation engine.

[0056] In some embodiments, both the first satellite navigation unit 1011 and the second satellite navigation unit 1012 are equipped with onboard antennas, and the two onboard antennas are set at a fixed preset distance.

[0057] Understandably, the first satellite navigation unit 1011 and the second satellite navigation unit 1012 each integrate onboard microstrip antennas. The two antennas can be rigidly installed using a shared substrate layout, with a precisely preset spacing (e.g., 30cm). This design establishes a spatial geometric relationship with a known baseline length, enabling the dual-antenna system to calculate the heading angle based on the carrier phase differential principle (e.g., the principle formula: Δφ=2πd·sinθ / λ, where d is the antenna spacing and θ is the heading angle). Its theoretical accuracy is proportional to the baseline length. Compared to external antenna solutions, the onboard integrated design not only reduces deployment complexity but also eliminates mechanical installation errors through factory calibration, meeting the attitude measurement stability requirements of 5G-A integrated sensing devices.

[0058] In some embodiments, both the first satellite navigation unit 1011 and the second satellite navigation unit 1012 are connected to a remote antenna via an RF connector 20, and the two remote antennas are set at a preset baseline distance.

[0059] Understandably, the first satellite navigation unit 1011 and the second satellite navigation unit 1012 are respectively connected to high-gain GNSS antennas via standard RF connectors 20 (such as Sub-Miniature Version A (SMA) or Threaded Neill-Concelman (TNC) connectors). The two remote antennas are rigidly installed at a preset baseline distance (e.g., 1 meter). This design improves the heading angle measurement accuracy by increasing the antenna spacing (baseline length d) (theoretical accuracy δθ≈λ / 2πd·δφ, where λ is the carrier wavelength and δφ is the phase measurement error). When the baseline distance is extended from 30cm on the onboard antenna to 1 meter, the heading angle accuracy can be improved by more than 3 times. At the same time, the remote antenna adopts an anti-multipath choke design, which can effectively suppress environmental reflection signal interference, making it suitable for strong electromagnetic interference scenarios such as base station towers, achieving RTK positioning accuracy and attitude measurement stability better than 3cm, meeting the extreme requirements of 6G integrated sensing equipment for engineering parameter measurement.

[0060] In some embodiments, the communication module 104 includes:

[0061] The wireless real-time dynamic differential positioning access unit is integrated into the communication module 104. The communication module 104 communicates with the second satellite navigation unit 1012 through a universal asynchronous transceiver interface (UTRA) and communicates with the real-time dynamic differential positioning (RTK) server through its own configured antenna.

[0062] Understandably, the communication module 104 has a built-in dedicated wireless real-time dynamic differential positioning (RTK) access unit. It establishes a wired data channel with the second satellite navigation unit 1012 via a universal asynchronous transceiver interface (UART) to transmit raw satellite observation data (such as pseudorange and carrier phase). It also establishes a wireless connection with the RTK server 40 via a wireless communication antenna (such as a 4G / 5G cellular antenna) configured in the module to receive differential correction data in real time. Specifically, the differential data sent by the RTK server 40 and the local raw satellite data are processed in real time using a carrier phase differential algorithm, thereby compressing the meter-level error of ordinary satellite positioning to the centimeter level, solving the technical bottleneck that traditional single-point positioning cannot meet the requirements of high-precision measurement.

[0063] In some embodiments, the communication module 104 further includes:

[0064] The wired real-time dynamic differential positioning access unit is connected to the control interface of the microcontroller unit 103 via the universal asynchronous transceiver interface, and is used to connect to the external master control device 30.

[0065] Understandably, the communication module 104 also integrates a wired real-time dynamic differential positioning (RTK) access unit. The communication module 104 is connected to the external master control device 30 (such as a base station) via the universal asynchronous transceiver interface (UART) of the microcontroller unit 103. After obtaining differential data from the RTK server 40, the external master control device 30 transmits the data to the microcontroller unit 103 through the UART interface, and then transmits it to the satellite navigation units (1011, 1012) to complete the carrier phase differential calculation. This dual-mode (wireless + wired) design can adapt to different deployment scenarios: when 4G / 5G network coverage is insufficient, the wired network enables continuous acquisition of differential data, maintaining centimeter-level positioning accuracy, and solving the technical defects of insufficient reliability of a single wireless communication mode in complex environments.

[0066] In some embodiments, the communication module 104 is configured with a card slot adapted to a User Identification Module (USIM) card, which is electrically connected to the communication module 104 after being inserted into the card slot.

[0067] Understandably, the communication module 104 integrates a standard Subscriber Identity Module (USIM) card slot, employing a pop-out card holder or push-in card tray structure. When a USIM card is inserted, power and data communication are established with the module's internal baseband processor via gold finger contacts. Its function is to achieve identity authentication for cellular networks (4G / 5G): the USIM card stores the IMSI (International Mobile Subscriber Identity) and a key (Ki), enabling the module to access the operator's base station network. This design ensures legitimate access to differential positioning services.

[0068] In some embodiments, the microcontroller unit 103 is packaged together with the first satellite navigation unit 1011 and the second satellite navigation unit 1012 into an integrated chip module.

[0069] Understandably, the microcontroller 103 and the dual satellite navigation units (1011 and 1012) adopt a system-level modular design, achieving integrated design through PCB layout. Specifically, the GNSS baseband processor, RF front-end, and microcontroller are laid out on the same PCB, and internal data exchange is achieved through a high-speed serial interconnect bus.

[0070] In some embodiments, the first satellite navigation unit 1011 and / or the second satellite navigation unit 1012 are equipped with a clock synchronization unit, which includes a second pulse output interface and a current time output interface. The second pulse output interface is used to provide the external master control device 30 (such as a system connected to a high-precision attitude and positioning module) with the real-time dynamic differential positioning server 40's synchronization clock. The current time output interface is used to provide coordinated world time information to solve the problem that the external master control device 30 cannot perform time synchronization due to deployment environment or resource factors, thereby reducing deployment and wiring difficulty and cost.

[0071] Understandably, the first satellite navigation unit 1011 and / or the second satellite navigation unit 1012 have built-in optional clock synchronization output interfaces, which can provide a time synchronization reference for the external master control device 30 that needs to obtain antenna parameters. Specifically, when the external master control device 30 lacks time synchronization functionality, it can obtain a precise time reference through the pulse-per-second (1PPS) hardware signal output by the satellite navigation units (1011, 1012) and the current time (TOD) serial protocol (such as including year, month, day, hour, minute, and second information); if the external master control device 30 already has time synchronization capabilities, it can skip this interface and directly use the original synchronization path. This flexible design effectively solves the time synchronization problem of external master control devices caused by deployment environment limitations or cost factors, significantly reducing the complexity of system deployment and wiring costs.

[0072] In some embodiments, the microcontroller unit 103 is equipped with an industrial serial communication interface, which uses RS232 or RS485 physical layer protocols to periodically report measurement data containing three-dimensional attitude, position information and time information to the external master control device 30.

[0073] Understandably, the fused 3D attitude, RTK positioning coordinates, and UTC timestamp are encapsulated into structured data packets via RS232 (point-to-point) or RS485 (networked) physical layer protocols. The optional time information output function (1PPS / TOD) provides time synchronization support for the external master control device 30 that needs to obtain antenna parameters, meeting the time alignment requirements of clock synchronization and data acquisition for integrated sensing scenarios and other antenna attitude detection systems.

[0074] In some embodiments, the antenna parameter measuring device 10 further includes a power module 105, which is equipped with a power input interface for receiving external power supply, and outputs working power after voltage conversion to power the various modules in the antenna parameter measuring device 10.

[0075] Understandably, the function of the power module 105 is to provide a stable and reliable multi-voltage power supply solution for the antenna parameter measurement device 10. It receives external power supply (such as 12V) and converts it into multiple working voltages (3.3V, etc.). At the same time, it integrates overvoltage / surge protection circuits, enabling high-precision measurement modules (such as dual satellite navigation units and inertial measurement units 102) to achieve the ultra-low noise power supply environment required for positioning and attitude measurement in 5G-A / 6G integrated sensing scenarios.

[0076] In some embodiments, the present invention also provides a synchronous positioning and measuring device, comprising:

[0077] Antenna parameter measuring device 10 as described above;

[0078] Real-time dynamic differential positioning server 40;

[0079] The main control device 30 is used to acquire the real-time dynamic differential positioning information of the real-time dynamic differential positioning server 40 and forward it to the antenna parameter measurement device 10.

[0080] Connector 20 includes:

[0081] Grounding lines are used to establish a common ground connection;

[0082] The power supply line is used to receive DC power from the main control device and provide DC power to the antenna parameter measuring device.

[0083] The first communication interface includes a transmitter and a receiver, and connects the main control device 30 and the communication module 104 of the antenna parameter measurement device 10 for transmitting communication-related data.

[0084] The second communication interface, including a transmitter and a receiver, connects the main control device 30 and the microcontroller unit 103 of the antenna parameter measurement device 10, and is used to transmit control-related data.

[0085] A clock synchronization line is used to transmit second pulse signals from the first satellite navigation unit 1011 and / or the second satellite navigation unit 1012.

[0086] Understandably, a novel synchronous positioning measurement device includes an antenna parameter measurement device 10 (with a built-in communication module 104, microcontroller unit 103, and dual satellite navigation unit), a real-time dynamic differential positioning (RTK) server 40, a main control device 30, and a connector 20. The connector 20 adopts a modular design and includes five types of wiring: a grounding line to connect the system to a common ground; a power supply line to provide 12V DC power; a first communication interface (including TX / RX channels) to enable data interaction between the main control device 30 and the microcontroller unit 103 to obtain differential positioning services; a second communication interface (including TX / RX channels) to establish a data transmission channel between the main control device 30 and the microcontroller unit 103; and a clock synchronization line to transmit a 1PPS pulse signal generated by the dual satellite navigation unit to achieve system-wide time synchronization.

[0087] Please refer to Figure 2 , Figure 2 A circuit block diagram of an antenna parameter measuring device 10 provided in another embodiment of the present invention. Figure 2 This demonstration showcases an antenna parameter measurement device 10 for achieving high-precision attitude measurement. The device 10 comprises multiple modules, including a power module 105 equipped with a power input interface that receives an external 12V power supply, converts it, and outputs operating power to power the various modules within the device. A communication module 104 connects to a User Identification Module Card (USIM) and a 4G / 5G antenna, communicating with an external connector 20 via RS232 and transmitting RTK information to a microcontroller unit 103. This enables the device to interface with an RTK base station service via the 4G / 5G module and corresponding antenna to obtain high-precision RTK positioning services.

[0088] Both the first satellite navigation unit 1011 and the second satellite navigation unit 1012 are equipped with onboard antennas, and can also be connected to remote antennas via RF connector 20. They both transmit 1PPS signals to the microcontroller unit 103 for measuring heading angles using the carrier phase differential principle in high-precision attitude measurement. The inertial measurement unit 102 is connected to the microcontroller unit 103, transmitting the acquired pitch and roll angle information to the microcontroller unit 103. The microcontroller unit 103 is equipped with an industrial serial communication interface, using RS232 or RS485 physical layer protocols. It periodically reports measurement data containing three-dimensional attitude, position, and time information to the external connector 20 via RS232 and TOD, enabling periodic active reporting of technical parameters (three-dimensional attitude and position information) through the RS232 / RS485 interface. The entire antenna technical parameter measurement device 10 can simultaneously provide high-precision technical parameter data and a time synchronization source for the equipment, and supports both wired and wireless RTK service acquisition. In addition, the antenna parameter measurement device 10 is connected to the external main control device 30 through the connector 20, where GND is the ground connection and RST is the reset signal connection.

[0089] Please refer to Figure 3 , Figure 3 A circuit block diagram of a synchronous positioning and measuring device provided in another embodiment of the present invention. Figure 3 The device on display is a synchronous positioning and measurement device capable of high-precision attitude measurement, high-precision RTK position measurement, and time synchronization. This synchronous positioning and measurement device includes a real-time dynamic differential positioning (RTK) server 40, a main control device 30, a connector 20, and an antenna parameter measurement device 10.

[0090] The antenna parameter measurement device 10 contains multiple modules. The power module 105 is equipped with a power input interface, receiving a 12V external power supply from connector 20 (the 12V power supply comes from the main control device 30 (such as a base station) that needs to measure antenna parameters). After voltage conversion, it outputs operating power to power the various modules within the device. The communication module 104 is connected to the User Identification Module Card (USIM) and the 4G / 5G antenna, communicating with connector 20 via an RS232 interface. After the main control device 30 obtains the RTK information from the RTK server 40, it forwards it to the communication module 104 via connector 20. The communication module 104 then transmits the RTK information to the microcontroller unit 103.

[0091] Both the first satellite navigation unit 1011 and the second satellite navigation unit 1012 are equipped with onboard antennas and can also be connected to external antennas via RF connectors. They output a 1PPS (pulse per second) signal to connector 20 and simultaneously transmit the 1PPS signal to the main control device 30 for high-precision time synchronization. These two satellite navigation units interface with the microcontroller unit 103 and use the carrier phase differential principle to measure the heading angle.

[0092] The inertial measurement unit 102 is connected to the microcontroller unit 103, transmitting the acquired pitch and roll angle information to the microcontroller unit 103. The microcontroller unit 103 is equipped with an industrial serial communication interface, using the RS232 or RS485 physical layer protocol, and periodically and actively reports industrial parameter data containing three-dimensional attitude, position information, and time information to the connector 20 through the RS232 and TOD (current time) interfaces.

[0093] The real-time dynamic differential positioning (RTK) server 40 is not directly connected to the main control device 30 and the antenna parameter measurement device 10. The main control device 30 communicates with the RTK server 40 to obtain RTK information, and then establishes a connection with the antenna parameter measurement device 10 through the connector 20. The main control device 30 provides indirect high-precision RTK positioning service support for itself and the antenna parameter measurement device 10, thereby supporting the antenna parameter measurement device 10 to obtain accurate spatial position information.

[0094] The main control device 30 communicates with the satellite navigation module 101 (first satellite navigation unit 1011 and second satellite navigation unit 1012). The frequency synchronization signal 1PPS and UTC time information TOD output by the satellite navigation module 101 are output to the clock network and main control chip of the main control device 30 through an interface for high-precision time synchronization. The entire synchronous positioning and measurement equipment can simultaneously provide high-precision technical parameter data and time synchronization source for both the main control device 30 and the antenna technical parameter measurement device 10, meeting relevant high-precision measurement and synchronization requirements.

[0095] Please refer to Figure 4 , Figure 4 A circuit block diagram of a synchronous positioning and measuring device provided in another embodiment of this utility model. Figure 4 The device on display is a synchronous positioning measurement device that can achieve high-precision attitude measurement, high-precision RTK position measurement, and time synchronization. It includes a main control device 30, an RTK server 40, a connector 20, and an antenna parameter measurement device 10.

[0096] The RTK server 40 is a device that provides high-precision positioning services. The communication module 104 of the antenna parameter measurement device 10 directly interacts with the RTK server 40 via 4G / 5G wireless to obtain high-precision RTK positioning services.

[0097] Connector 20 receives the 12V power supply signal from the main control device 30 and transmits it to the power module 105 of the antenna parameter measurement device 10. Simultaneously, connector 20 also forwards signals generated by various units within device 10 (such as TX_0, RX_0, etc.) to the main control device 30, establishing a partial signal connection bridge between the main control device 30 and the antenna parameter measurement device 10. Furthermore, it receives 1PPS signals (1PPS_1, 1PPS_2) output from the first satellite navigation unit 1011 and the second satellite navigation unit 1012 and transmits them to the main control device 30. The antenna parameter measurement device 10 is the core execution unit of the entire system and includes multiple modules:

[0098] The power module 105 receives the 12V external power supply from the connector 20 through the VIN interface. After voltage conversion, it outputs working power such as VCC_3V3 through the VOUT interface to power the various modules in the device, so that the entire device can operate stably.

[0099] The communication module 104 is connected to the User Identification Module Card (USIM) and also to the antenna, communicating via a UTRA interface. It directly interacts with the RTK server 40 wirelessly (4G / 5G), receiving information from the RTK server 40 to obtain high-precision RTK positioning services, and simultaneously uploading data from the antenna parameter measurement device 10 to the RTK server 40.

[0100] The second satellite navigation unit 1012 is equipped with an onboard antenna and can also be connected to an external antenna via capacitors or other components. It communicates with the microcontroller unit 103 through a UTRA interface, transmitting relevant signals to the microcontroller unit 103, and outputting a 1PPS signal to the connector 20 through a 1PPS_2 interface, participating in tasks such as high-precision time synchronization and heading angle measurement.

[0101] The microcontroller unit 103, as the control core of the antenna parameter measurement device 10, interacts with modules such as the second satellite navigation unit 1012, the first satellite navigation unit 1011, and the inertial measurement unit 102 through multiple UTRA interfaces. It receives pitch and roll angle information from the inertial measurement unit 102, interfaces with the two satellite navigation units, measures the heading angle using the carrier phase differential principle, and periodically and actively reports measurement data containing three-dimensional attitude, position, and time information to the main control device 30 via connector 20 through RS232 or RS485 physical layer protocols.

[0102] The first satellite navigation unit 1011 is equipped with an onboard antenna that can be connected to an external antenna. It communicates with the microcontroller unit 103 via a UTRA interface, transmitting relevant signals to the microcontroller unit 103, and outputting a 1PPS signal to the connector 20 via a 1PPS_1 interface, which helps to achieve functions such as high-precision time synchronization and heading angle measurement.

[0103] The inertial measurement unit 102 is connected to the microcontroller unit 103 via UTRA interfaces (RX_5, TX_5), transmitting the acquired pitch and roll angle information to the microcontroller unit 103 to provide basic data for the device's attitude measurement. Through the collaborative work of these components, the entire device achieves high-precision attitude measurement, position measurement, and time synchronization, meeting the needs of high-precision application scenarios.

[0104] In summary, this invention, through the deep integration of high-precision engineering parameter acquisition and time synchronization technologies, provides accurate spatiotemporal reference support for cutting-edge application scenarios such as radar systems and 5G-A / 6G sensing integration. This invention employs a combination of technologies including dual GNSS carrier phase differential, six-axis IMU attitude fusion, and RTK real-time dynamic positioning, which can meet the requirements of phased array radar array calibration, base station sensing collaboration, and distributed sensing networks. It conforms to the spatiotemporal synchronization specifications for 6G sensing devices, constructing a three-in-one basic support system of "spatial pose - absolute position - precise timescale" for intelligent infrastructure.

[0105] The foregoing has provided a detailed description of an antenna parameter measuring device 10 and a synchronous positioning measuring device provided by embodiments of the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the technical solutions and core ideas of the present invention. Those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An antenna parameter measuring device, characterized in that, include: The dual-satellite navigation module includes a first satellite navigation unit and a second satellite navigation unit, which are used to receive satellite signals and measure heading angles. Inertial measurement unit (IMU) is used to measure pitch and roll angles. The microcontroller unit is connected to the dual-satellite navigation module and the inertial measurement unit respectively, and is used to fuse the heading angle, the pitch angle and the roll angle to generate three-dimensional attitude data; The communication module, connected to the second satellite navigation unit, is used to acquire real-time dynamic differential positioning information.

2. The antenna parameter measuring device according to claim 1, characterized in that, Both the first satellite navigation unit and the second satellite navigation unit are equipped with onboard antennas, and the two onboard antennas are set at a fixed preset distance.

3. The antenna parameter measuring device according to claim 1, characterized in that, Both the first satellite navigation unit and the second satellite navigation unit are connected to remote antennas via radio frequency connectors, and the two remote antennas are set at a preset baseline distance.

4. The antenna parameter measuring device according to claim 1, characterized in that, The communication module includes: A wireless real-time dynamic differential positioning access unit is integrated into the communication module. The communication module communicates with the second satellite navigation unit through a universal asynchronous transceiver interface and with an external real-time dynamic differential positioning server through its own configured antenna.

5. The antenna parameter measuring device according to claim 4, characterized in that, The communication module also includes: The wired real-time dynamic differential positioning access unit is connected to the microcontroller unit via its universal asynchronous transceiver interface to connect to an external master control device.

6. The antenna parameter measuring device according to claim 1, characterized in that, The communication module is equipped with a card slot adapted to the user identification module card. After the user identification module card is inserted into the card slot, it is electrically connected to the communication module.

7. The antenna parameter measuring device according to claim 1, characterized in that, The microcontroller unit, the first satellite navigation unit, and the second satellite navigation unit are packaged together as an integrated chip module.

8. The antenna parameter measuring device according to claim 1, characterized in that, The first satellite navigation unit and / or the second satellite navigation unit are equipped with a clock synchronization unit, which includes a second pulse output interface and a current time output interface; wherein, the second pulse output interface is used to provide a synchronization clock to an external master control device, and the current time output interface is used to provide Coordinated Universal Time information.

9. The antenna parameter measuring device according to claim 1, characterized in that, The microcontroller is equipped with an industrial serial communication interface and adopts RS232 or RS485 physical layer protocol to periodically report measurement data containing three-dimensional attitude, position information and time information to the external master control device.

10. The antenna parameter measuring device according to claim 1, characterized in that, Also includes: The power module is equipped with a power input interface for receiving external power supply, and outputs working power after voltage conversion to power the various modules in the antenna parameter measurement device.

11. A synchronous positioning and measuring device, characterized in that, include: Antenna parameter measuring device as described in any one of claims 1-10; Real-time dynamic differential positioning server; The main control device is used to acquire the real-time dynamic differential positioning information of the real-time dynamic differential positioning server and forward it to the antenna parameter measurement device. Connectors, including: Grounding lines are used to establish a common ground connection; The power supply line is used to receive DC power from the main control device and provide DC power to the antenna parameter measuring device. The first communication interface includes a transmitter and a receiver, and connects the main control device and the communication module of the antenna parameter measurement device for transmitting communication-related data. The second communication interface includes a transmitter and a receiver, which connects the main control device and the microcontroller unit of the antenna parameter measurement device for transmitting control-related data. A clock synchronization line is used to transmit second pulse signals from the first satellite navigation unit and / or the second satellite navigation unit.

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