CN104459682A - Distance measurement method for automatically eliminating dynamic distance zero value - Google Patents
Distance measurement method for automatically eliminating dynamic distance zero value Download PDFInfo
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- CN104459682A CN104459682A CN201410651905.5A CN201410651905A CN104459682A CN 104459682 A CN104459682 A CN 104459682A CN 201410651905 A CN201410651905 A CN 201410651905A CN 104459682 A CN104459682 A CN 104459682A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
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Abstract
The invention provides a distance measurement method for automatically eliminating a dynamic distance zero value. According to the distance measurement method, operation is easy, convenient and reliable, measurement is accurate, the single processing and information processing way is not limited, and the distance zero value caused by signal processing time delay does not need to be calibrated. According to the technical scheme, the method comprises the steps that at first, a satellite-borne terminal achieves downlink signal processing, at the moment, the measurement value for uplink signals is collected and stored, and the current measurement value is inserted into the next frame of downlink data to execute signal processing related steps; then, a ground terminal receives the downlink information, meanwhile collects the measurement value of the uplink signals and sends the measurement value to a computing terminal, measurement information in a data frame is obtained to be sent to the computing terminal, and the computing terminal obtains a satellite-ground two-way distance measurement value by comparing the measurement value collected by the ground terminal with the measurement information obtained in the next frame of data. According to the distance measurement method for automatically eliminating the dynamic distance zero value, restrictions of an existing method to signal processing and information processing way are thoroughly eliminated, and signal processing and information processing do need to be calibrated.
Description
Technical field
The present invention relates to the method for a kind of measurement and control area aircraft by two-way latency measurement target range.Here " aircraft " comprises satellite, spacecraft, aircraft, near space vehicle.
Background technology
In measurement and control system of aircraft, distance is a very important measurement element.Often for side-tone ranging, pseudo-random code ranging, sidetone, to add pseudo-code hybrid ranging etc. several for the system that current range finding adopts.The basic hope reason of sidetone or pseudo-random code ranging system is phase comparing ranging, measures the radial distance of measuring station to target by measuring the receipts sidetone (receipts code) returned from target relative to the phase shift/time delay sending out sidetone (signaling).Tone ranging system adopts Multiple Tones Range signal.Most high side tone is for ensureing distance accuracy, and minimum sidetone is for ensureing without fuzzy detection range.Mate sidetone for solving the ambiguity issue in phase measurement most arranging several between high side tone with minimum sidetone.Because tone ranging system is a phase measuring system, the output quantity of range finder be the receipts sidetone that returned by target relative to the phase shift sending out sidetone, then be converted to the radial distance measured value of measuring station to target by phase measurement.Distance value (phase-shift value) R that range finder exports
t, be made up of three parts: 1. distance (phase shift) the value R of ground system self
g; 2. aircraft device carries distance (phase shift) the value R of answering machine self
s; 3., in required radial distance (phase shift) R from measuring station to target measured, namely the ground-plane antenna rotation heart (surving coordinate system initial point) to aircraft device carries the distance (phase shift) between transponder aerial phase center.In order to obtain the actual distance R of measuring station to target, must from the output data R of range finder
tmiddle by the distance value (R of ground system and answering machine self
g+ R
s) deduction.From the range data that range finder exports, deduct known space length and test the electrical length of cable used, waveguide, antenna, the zero-range set constant of ground system self can be obtained.Target distance measurement is exactly want Accurate Measurement t time delay
r.The major defect of target distance measurement is: be difficult to measure multiple target simultaneously.As for measuring multiple target, a large amount of wave filter and frequency counter etc. must be adopted, making device complicated, thus limiting its range of application.Along with the development of measuring technique, study measurement equation certainly between multiple target, carry out message exchange by communication link, eliminate its high-precision relative distance and independently measure very important.Bidirectional measurement has become the focus of high precision Relative ranging research.Actual distance between two targets and clock correction can be obtained by bidirectional measurement.Distance accuracy depends on its measuring accuracy to time delay, and signal energy is higher, noise energy is lower, and the precision of range observation is also better.Due to route of transmission meet the complicacy of environment, distance time delay error differs greatly because of the difference in the path of transmitting signal.TT & C Telecommunication adopts spread spectrum system, its core is by pseudo-random code ranging, Pseudo Code Spread Spectrum, CDMA, the digital communication technologies such as time-division multiplex are incorporated in TT&C system, realize the remote measurement to satellite, remote control, find range, test the speed, follow the tracks of, angle measurement, function such as number biographies etc., complete TT&C task, realize Multi target TT&C communication by CDMA simultaneously.In Error of Distance Zero formation and Data correction continuous wave tracing measurement system, owing to there is inertance element and size time delay in equipment.Signal will produce fixed delay by equipment, and this fixed delay is called equipment delay (also referred to as zero-range set constant), and it is made up of land station's time delay and transponder delay.The direct influential system distance accuracy of error that equipment delay value is introduced, occupies larger specific gravity in system ranging error.How to accurately measure surface-based observing station and missile-borne transponder delay, be an important topic of research continuous wave tracing measurement system always.In range measurement system, the error introduced by answering machine mainly comprises the null value offset error of answering machine itself and measures the null value measuring error introduced, and the null value variation error caused due to environmental condition change.Traditionally, answering machine null value offset error and null value measuring error will be introduced directly among system accuracy, but all can reduce by improving answering machine performance and measuring accuracy the margin of error that these two kinds of factors introduce, and the measuring error that external environment condition is introduced can not be eliminated in real time, be a kind of comparatively passive measurement means, the raising of system accuracy exists limitation significantly all the time.It is contemplated that.If in the process that measurement and system use, introduce corresponding intelligent body alignment technique, just can break limitation, external status be changed the range error caused and substantially eliminates, what system was introduced is only the answering machine zero-range set constant offset error and measuring error that obtain controlling.Analyze from statistics, under the prerequisite that answering machine is reliable and stable, answering machine dynamic distance null value data are main relevant to the factor such as temperature, power-up time in received signal level, Doppler shift, cabin, overflow under each support having automatic measurement to a certain degree, these data can be obtained by zero-range set constant dynamic measuring tech, thus set up corresponding database framework, corresponding data archival is set up to the answering machine that every platform need use.In order to reach higher system accuracy requirement, the application of data harmonization technology existing newer in the world at present.Though the probability that human error occurs is very little, its existence can have a strong impact on the operation of intelligent correcting system, directly the measuring accuracy of impact to aircraft.Therefore, this kind of data of Timeliness coverage, rejecting and correction are top priorities of Error processing, common method has assumed statistical inspection method (as residual analysis method, correcting value analytic approach etc.), Generalized Likelihood Ratio method and Bayesian Method etc., and these methods also exist a certain distance between Theory and applications.
Two-way latency measurement target range refer to by measure radio signal be sent to by ground the two-way transmission time that aircraft target is forwarded back to ground receiver again, the speed that associated wireless electric signal is propagated in space carries out calculating target range value.The two-way time delay distance measuring method of prior art aircraft is primarily of side-tone ranging, the relevant range finding of spread spectrum, spread spectrum noncoherent distance measurement.The range finding that is concerned with of side-tone ranging and spread spectrum is all the mode of coherent forwarding, and the downgoing signal namely star forwarded and the upward signal received are relevant, there is not signal transacting on star and introduce the problem of time delay.The signal transacting time delay that in noncoherent distance measurement mode, equipment is introduced, is removed by school zero before task.Above-mentioned the deficiencies in the prior art part is:
One is restriction signal transacting being introduced to time delay.Existing noncoherent distance measurement mode needs the time delay calibration adopting the mode in school zero to be introduced by signal transacting to fall, and require that the time delay that signal transacting is introduced in task is fixing, the scope of application is narrower, and higher to the requirement of signal transacting.
Two is the situations not being suitable for the dynamic multiple connection of downlink data.Dynamic multiple connection causes the time delay dynamic change of information processing, if sampled to upward signal with descending frame synchronizing signal, the sampled value obtained does not comprise the time delay of this segment information process, when cannot in the end calculate, deduction falls, and due to its dynamic perfromance, also calibration cannot be carried out by the mode in system school zero.
On the one hand, along with improving constantly of downlink transmission rate, new requirement is proposed to downlink coding, modulation system etc., for the demand that the low elevation angle is transmitted, downgoing signal process introduces balanced grade for signal processing algorithm, ensure that the processing delay of these new introducing signal processing modes is fix to bring higher complexity by for design; On the other hand for application and the expansion demand of multitask load, downlink information carries out a kind of trend that dynamic multiple connection is future development.
Summary of the invention
In order to overcome the above-mentioned deficiency of existing distance-finding method, improve the convenience measured, realize the measurement of target range value under any transmission system, the present invention proposes a kind of reliably easy and simple to handle, measure accurately, signal transacting and information processing manner are not limited, and the dynamic distance null value without the need to causing signal transacting time delay carries out the distance-finding method of calibration.
Above-mentioned purpose of the present invention can be reached by following measures.A kind of distance-finding method of automatic rejection dynamic distance null value, it is characterized in that comprising the steps: in the bidirectional ranging process of the descending and/or upward signal of on ground based terminal, star terminal transmission and reception, first, while on star, terminal completes downgoing signal process, gather and store this moment to the measured value of upward signal sampling, descending sampling instant has been set as framing and coding; The dynamic delay that signal transacting is introduced is included within measured value, the measured value of descending sampling time and sampled value is inserted in the downlink data of the next frame of current transmission information frame, the dynamic delay that signal transacting is introduced is rejected out from equipment null value, settling signal process correlation step; Then, ground based terminal is while receiving downlink information, the measured value gathering upward signal is sent to computing terminal, the metrical information solved, the metrical information in Frame is solved in the measured value of computing terminal contrast ground based terminal collection and next frame data, deduct the equipment of binding in advance and fix null value, obtain star ground bidirectional ranging value.
The present invention has following beneficial effect compared to existing technology:
The dynamic delay that signal transacting is introduced, by designing the insertion position in descending sampling time and sampled value, rejects out by the present invention from equipment null value, to ensure the stable of system null value.The present invention is simple to operate, thoroughly break away from the restriction of existing method to signal transacting and information processing manner, the dynamic delay that signal transacting is introduced being included within measured value, without the need to carrying out calibration to it, being applicable to the system of any signal processing algorithm of descending employing and information processing manner.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, this method is described further.
Fig. 1 is the schematic diagram of automatic rejection dynamic distance null value of the present invention.
Embodiment
Consult Fig. 1.In the range finding embodiment of automatic rejection dynamic distance null value described below, ground based terminal is sent out terminal on upward signal-star and is received the bidirectional ranging process that terminal on upward signal-star sends out downgoing signal-ground based terminal receipts downgoing signal.When the design of each sampled point and range finding calculate, sampled value chooses requirement etc.Ground based terminal sends up survey signal to terminal on star; On star, terminal receives up survey signal, on ground based terminal, star the descending and/or upward signal of terminal transmission and reception bidirectional ranging process in, first, while terminal completes downgoing signal process (comprising dynamic framing, coding etc.) on star, gather and store this moment to the measured value of upward signal sampling.Because current information frame modulates transmission, descending sampling instant framing and coding are set as; The dynamic delay that signal transacting is introduced is included within measured value, the measured value of descending sampling time and sampled value is inserted in the downlink data of the next frame of current transmission information frame, the dynamic delay that signal transacting is introduced is rejected out from equipment null value.Settling signal process correlation step; Then, ground based terminal is while receiving downlink information, the measured value gathering upward signal is sent to computing terminal, metrical information in the Frame solved, the metrical information in Frame is solved in the measured value of computing terminal contrast ground based terminal collection and next frame data, deduct the equipment of binding in advance and fix null value, obtain star ground bidirectional ranging value.Equipment is fixed null value and is carried out calibration by maturation method, does not describe in detail herein.
After on star, terminal completes dynamic framing and coding to downlink data information, while information frame is sent to modulation, the upward signal received is sampled, extract frame count, position counting, yardage number, code phase, carrier wave counting, carrier phase equivalence, this sampled value is presented as and star receives upward signal to the time delay sent between downgoing signal, comprise the time delay of information processing and signal transacting, be expressed as sampled value 1.Because the current information frame sent can not data inserting again, by instance sample value 1 buffer memory of this generation to the position being inserted into next frame DATA REASONING information during next frame data framing.When ground based terminal receives descending distance measuring signal, downlink frame synchronization is utilized to sample to upward signal, extract frame count, position counting, yardage number, code phase, carrier wave counting, carrier phase equivalence, this sampled value is presented as that ground sends uplink distance measurement signals to the time delay receiving distance measuring signal, comprise signal transmitted in both directions time delay and on-board processing time delay, be expressed as sampled value 2.The sampled value 2 that ground based terminal obtains is sent to computing terminal buffer memory, after the sampled value 1 in the descending ranging frame of next frame to be obtained, can be calculated system range finding initial value by contrast sampled value 1 and sampled value 2.
Concrete steps are:
Ground based terminal exists
t 0 moment sends out up survey information frame, on star terminal satellite receiver send up survey information frame complete downlink data information dynamic framing and coding after, while information frame is sent to modulation, the upward signal received is sampled, obtain on-board processing dynamic delay
t 1n ; By dynamic delay
t 1n value buffer memory to next frame information framing time, be inserted into the position of next frame DATA REASONING information; Ground based terminal receives in-hole run information frame, utilizes downlink frame synchronization to sample to upward signal, obtains ground and sends uplink distance measurement signals to the time delay receiving distance measuring signal
t 2n ; Will
t 2n value be sent to computing terminal buffer memory to receiving next frame in-hole run information frame, therefrom extract
t 1n ; Distance measurement value is calculated by computing terminal
r: wherein,
cfor the light velocity,
r 0 for equipment fixes null value.
Claims (9)
1. the distance-finding method of an automatic rejection dynamic distance null value, it is characterized in that comprising the steps: in the bidirectional ranging process of the descending and/or upward signal of on ground based terminal, star terminal transmission and reception, first, while on star, terminal completes downgoing signal process, gather and store this moment to the measured value of upward signal sampling, descending sampling instant has been set as framing and coding; The dynamic delay that signal transacting is introduced is included within measured value, the measured value of descending sampling time and sampled value is inserted in the downlink data of the next frame of current transmission information frame, the dynamic delay that signal transacting is introduced is rejected out from equipment null value, settling signal process correlation step; Then, ground based terminal is while receiving downlink information, the measured value gathering upward signal is sent to computing terminal, the metrical information solved, the metrical information in Frame is solved in the measured value of computing terminal contrast ground based terminal collection and next frame data, deduct the equipment of binding in advance and fix null value, obtain star ground bidirectional ranging value.
2. the distance-finding method of automatic rejection dynamic distance null value according to claim 1, it is characterized in that, after star completes dynamic framing and coding to downlink data information, while information frame is sent to modulation, the upward signal received is sampled, extract frame count, position counting, yardage number, code phase, carrier wave counting, carrier phase value, this sampled value is presented as and star receives upward signal to the time delay sent between downgoing signal, comprise the time delay of information processing and signal transacting, be expressed as sampled value 1.
3. the distance-finding method of automatic rejection dynamic distance null value according to claim 1, it is characterized in that, after on star, terminal completes dynamic framing and coding to downlink data information, while information frame is sent to modulation, the upward signal received is sampled, extract frame count, position counting, yardage number, code phase, carrier wave counting, carrier phase value, this sampled value is presented as and star receives upward signal to the time delay sent between downgoing signal, delay packet contains the time delay of information processing and signal transacting, is expressed as sampled value 1.
4. the distance-finding method of automatic rejection dynamic distance null value according to claim 3, it is characterized in that, the current information frame sent can not data inserting again, by instance sample value 1 buffer memory of generation to the position being inserted into next frame DATA REASONING information during next frame data framing.
5. the distance-finding method of automatic rejection dynamic distance null value according to claim 1, it is characterized in that, when ground receives descending distance measuring signal, downlink frame synchronization is utilized to sample to upward signal, extract frame count, position counting, yardage number, code phase, carrier wave counting, carrier phase value, this sampled value is presented as that ground sends uplink distance measurement signals to the time delay receiving distance measuring signal.
6. the distance-finding method of automatic rejection dynamic distance null value according to claim 5, is characterized in that, described time delay, comprises signal transmitted in both directions time delay and on-board processing time delay, is expressed as sampled value 2.
7. the distance-finding method of automatic rejection dynamic distance null value according to claim 6, it is characterized in that, the sampled value 2 that ground based terminal obtains is sent to computing terminal buffer memory, after sampled value 1 in the descending ranging frame of next frame to be obtained, calculate system range finding initial value by contrast sampled value 1 and sampled value 2.
8. the distance-finding method of automatic rejection dynamic distance null value according to claim 1, it is characterized in that, ground based terminal exists
t 0 moment sends out up survey information frame, on star terminal satellite receiver send up survey information frame complete downlink data information dynamic framing and coding after, while information frame is sent to modulation, the upward signal received is sampled, obtain on-board processing dynamic delay
t 1n ; By dynamic delay
t 1n value buffer memory to next frame information framing time, be inserted into the position of next frame DATA REASONING information.
9. the distance-finding method of automatic rejection dynamic distance null value according to claim 1, it is characterized in that, ground based terminal receives user equipment downlink metrical information frame on star, utilizes downlink frame synchronization to sample to upward signal, obtains ground and sends uplink distance measurement signals to the time delay receiving distance measuring signal
t 2n ; Will
t 2n value be sent to computing terminal buffer memory to receiving next frame in-hole run information frame, therefrom extract
t 1n ; Distance measurement value is calculated by computing terminal
r: wherein,
cfor the light velocity,
r 0 for equipment fixes null value.
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| CN106886028A (en) * | 2017-02-28 | 2017-06-23 | 四川九洲电器集团有限责任公司 | A kind of distance-finding method and terminal device |
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Application publication date: 20150325 |