CN107727945A - Large-scale parabola antenna surface precision test system based on unmanned plane - Google Patents
Large-scale parabola antenna surface precision test system based on unmanned plane Download PDFInfo
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- CN107727945A CN107727945A CN201710940927.7A CN201710940927A CN107727945A CN 107727945 A CN107727945 A CN 107727945A CN 201710940927 A CN201710940927 A CN 201710940927A CN 107727945 A CN107727945 A CN 107727945A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/08—Measuring electromagnetic field characteristics
- G01R29/10—Radiation diagrams of antennas
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/04—Measuring form factor, i.e. quotient of root-mean-square value and arithmetic mean of instantaneous value; Measuring peak factor, i.e. quotient of maximum value and root-mean-square value
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Abstract
The invention discloses a kind of large-scale parabola antenna surface precision test system based on unmanned plane, it is sequentially connected by probe portion and data processing section and formed；Wherein probe portion includes carrying the unmanned plane of camera, identifies that mark, laser scaling receive transmitter module I with reference to subsystem, signal, and data processing section includes signal reception transmitter module II, computer；Camera probe shooting of the system based on UAV flight indicates positioned at the identification of antenna surface, can it is quick in antenna difference observation angle, quasi real time obtain current aerial panel precision, quick tru(e)ing face type can lift antenna performance rapidly, overcome the problems such as angle of pitch in current main flow antenna surface type measurement is taken into account, light pollutes.
Description
Technical field
The present invention relates to the measurement of large-scale parabola antenna and radio astronomy research field, suitable for using large-scale parabola day
Line antenna performance is assessed in real time during radio astronomy observation, obtains current antenna performance.
Background technology
With the development of science and technology, large-scale parabola antenna be applied to terrestrial communication antenna, spaceborne deployable antenna,
All many-sides such as radio astronomical telescope, while also reflector antenna electrical performance indexes are proposed with higher requirement, for example (,) it is high
Gain, narrow beam, high efficiency etc., this necessarily improves the electromagnetic design of parabola antenna and the difficulty of structure design.Reflecting surface day
Line is usually operated at higher frequency range, and in order to pursue more high electrical performance index, higher want is proposed to the precision of antenna structure
Ask；Therefore, it is necessary to influence situation of the various control informations of quantitative description antenna structure to electrical property；Wherein, control information master
To include installation, foozle and systematic error, and the mainly control information of Reflector Panel；Installation, foozle belong to
Random error, is a kind of fast-changing error, and influence of this kind of error to electrical property can be estimated by probabilistic method；
Ruze gives the relation between random error and gain loss earliest, and Vu is extended its formula, to it is uneven with
Chance error difference and the relation of aperture field are studied, and Rahma-t samii give to carry out the research of the parametrization of structure
The mathematical modeling that random error influences on average power pattern；Ruze, Vu, Rahma-t samii et al. only to reflecting surface with
Influence relation of the chance error poor (the panel accuracy of manufacture) to electrical property is studied；Do not consider that systematic error influences；And it is
System error be antenna structure it is intrinsic；Its source is that the load such as deadweight, temperature, inertia, vibration act on institute on antenna structure
Caused, this kind of error is slowly varying, and malformation information can be determined by structural analysis.
Bahadori K in 2005 give the relational model that systematic error influences on electrical property, and analysis system error is to increasing
The influence of benefit and minor level；But Bahadori K do not provide the influence of reflecting surface random error and the backrest of reflecting surface
Support situation；But in the actual condition of antenna, the various control informations (systematic error and random error) of antenna are to deposit simultaneously
.Combined influence situation of the various control informations to electrical property is analyzed, is tallied with the actual situation.For reflection surface panel
Speech, random error depend on the accuracy of manufacture of panel, will not changed with working condition and environment；Systematic error is then by antenna
The influence of working condition, environment and its backrest supporting construction.Based on this, it is same in random error and systematic error to establish reflecting surface
When in the presence of on electrical property influence mathematical modeling.The system error information of reflecting surface is provided using structural analysis, passes through numerical value
Method analysis calculates error ε to parabola antenna gain and the influence of minor level.
There are following methods to aerial panel precision measure both at home and abroad at present：Theodolite method, microwave holography method and numeral are taken the photograph
Shadow method.Theodolite method is already belonging to eliminate method because its precision is not high.
(1) microwave holography method：
Microwave holography method has been reached its maturity by long-felt clear et al. Shanghai Observatory Wang Jin.Its method is：
Because the aperture field of parabola antenna and far field have two-dimensional Fourier transform relation, large aperture can be measured using this relation
The high-frequency phase figure of antenna, so that it is determined that aerial panel precision.
Its microwave holography method major advantage：
1. independent of extraneous light；
2. quickly obtain panel distribution situation.
Major defect：
1. depending critically upon satellite frequency and position, such as 2012 when measuring 40 meter radio telescope of Yunnan Observatory
We employ the satellite same with Shanghai Observatory as far-field signal source, but Kunming, Yunnan geographic latitude this
Star is high nearly 12 ° or so compared to District of Shanghai, and it is too high to cause the testing and debugging angle of 40 meters of antennas, in low pitch position
(less than 35 °) antenna performance declines；
2. frequency electromagnetic waves are had a great influence by weather, measured in rainy weather impacted；
3. measurement pitching face is fixed, multiple pitching faces can not be taken into account.
(2) digital photography method
Photogrammetric general principle and two transits system is much like, if with a camera two positions to being tested mesh
Mark is taken pictures, it is possible to obtains photo of the measured target in two different angles, the photo of the two different angles is with regard to structure
Into stereogram.If measured target point is shot from multiple stations of taking the photograph, it is possible to obtain the multiple of measured target
Stereogram, form multi-eye stereo model.
If target is shot from multiple stations of taking the photograph, you can multiple stereograms of testee are obtained, so as to form
Multi-eye stereo model.Intersect if object space point only takes the photograph station (i bars light) by i, then share i collinearity equation：
Wherein, xs,ysAnd zs,aibiAnd ci(i=1,2,3) be respectively photo elements of exterior orientation translational movement and spin moment
The element of battle array；x0,y0, f, Δ x, Δ y is the inner parameter of photo, has demarcated in advance, can be used as given value；X and y is object space
Picpointed coordinate corresponding to point coordinates X, Y, Z.According to the principle of least square, by the collinearity equation simultaneous solution of multiple light (beam)
(bundle adjustment) can be in the hope of the space coordinates (X, Y, Z) of object space point.According to gained space coordinates, you can rebuild and obtain antenna
3D models.
The millimeter wave Radio Telescope Antenna panel precision measure of 13.7 meters of Purple Mountain Observatory Qinghai Delingha observation station is adopted
With digital photography method, in the measurement of 2009, the trueness error for measuring front panel is：0.768mm, measured after measurement adjustment
The error for obtaining panel precision is：0.083 millimeter.
The submillimeter wave radio telescope kosma of cooperation of China and Germany also uses this kind of method, finally, inner ring panel type essence
Degree reaches 14 μm (r.m.s.), and integral panels surface precision is better than 24 μm (r.m.s.), has reached submillimeter wave 235GHz observations
Surface precision requirement.
Digital photography method major advantage：
1. measurement accuracy is very high, do not influenceed by microwave frequency；
2. taking into account each angle of pitch, and do not influenceed by humidity temperature；
3. surface precision quickly is calculated.
Major defect：
1. work by day is influenceed by sunlight；
2. guide rail or crane are needed during the high pitching of antenna, it is troublesome in poeration；
3. reflectorized material is easily contaminated.
Wind speed, the difference of temperature can cause the antenna surface precision under same luffing angle different, such as Shanghai day
110 proposed meter radio telescopes of 65 newly-built meter radio telescopes of literary platform, Xinjiang observatory and Yunnan Observatory are proposed
The new radio telescopes of Jing Dong consider active profile control.
Camera probe shooting based on UAV flight indicates positioned at the identification of antenna surface, can be in the different observations of antenna
Angle is quick, quasi real time obtains current aerial panel precision, and antenna performance can be lifted rapidly by being subject to quick tru(e)ing face type.
The content of the invention
Present invention aims at a kind of large-scale parabola antenna surface precision test system based on unmanned plane is provided, mainly
Field is observed in radio astronomy suitable for large-scale parabola antenna, is a kind of dress for quickly and safely obtaining antenna surface shape parameter
Put and scheme, overcome the angle of pitch in current main flow antenna surface type measurement take into account, light pollution the problems such as.
The present invention is achieved by the following technical solution：
A kind of large-scale parabola antenna surface precision test system based on unmanned plane is by probe portion and data processing division
Divide and be sequentially connected composition.
Wherein probe portion consists of：
1st, multiaxis unmanned plane during flying device and its camera of carrying form shooting subsystem, and Multi-axis aircraft can be four
Axle, six axles or eight axle aircraft, then hanging cam, the picture photographed can be entered by being integrated with storage card in camera
Row backup storage；
2nd, unmanned plane carries signal and receives transmitter module I, the flight control of the storage card and unmanned plane of the module and camera
Circuit processed is connected, for the image modulation that camera photographs to be sent to the data processing section on ground into wireless signal, together
When receive the stopping shooting instruction that ground data process part is sent, the module is entered using the wireless frequency such as wifi, 3G or 4G
Row transmitting and reception；
3rd, identification mark is pasted on antenna main reflector surface, and it is made up of the material with better photosensitivity, is easy to shot
As head identifies；
Each identification mark can be printed upon the upper photosensitive material of sign with identification features different two-by-two, this feature simultaneously
Numeral made of material or pass through different combination of shapes and form；
4th, laser scaling includes the phase of generating laser and laser absorption device, generating laser and absorber with reference to subsystem
Position then can accurately be determined, the system is fixed on the obvious place of antenna surface, is adapted to unmanned plane to be photographed in any angle
The distance of the laser of the laser beam, wherein laser transmitter projects to laser absorption device can accurately measure to obtain, and this is just to be whole
Individual measurement provides benchmark.
Data processing section with lower part by being formed：
1st, signal receives transmitter module II, receives unmanned plane and sends picture signal and launch flight control command, the module
Received and launched using wireless frequencies such as wifi, 3G or 4G；
2nd, computer, after the image that unmanned plane is sent is identified including conventional pattern processing software for computer, search
Aerial position where the image, and virtual three-dimensional positioning is carried out, realize and the three-dimensional of whole antenna surface type is restored, work as unmanned plane
Complete that after the shootings of all identification marks and after antenna surface type being restored completely, transmitter module II is received to unmanned plane by signal
Send and stop photographing information；
According to taken laser beam length, the relative position between each identification mark of Accurate Calibration is thus extensive
The accurate three-dimensional structure of antenna surface type has been answered, has obtained the error distribution of current paraboloid surface type, has reached measurement antenna surface type essence
The purpose of degree.
The effect of the present invention：
The real-time measurement of large-scale parabola antenna face type is completed, can quickly know the current angle of pitch, wind speed, temperature even
The correlation performance parameters of antenna under sunshine environment, the shadow that this antenna performance parameters observed in data actual radio astronomy is brought
Sound is most important, can lift the observation quality of data；If coordinating active surface type control system simultaneously, it is real that a standard can be formed
When closed-loop control system, the optimization of any luffing angle antenna performance can be truly realized；
Computer vision technique is realized for this proposed by the present invention quickly shot using unmanned plane, for domestic large-scale parabola
Aerial panel precision measure provides new approaches, while project carries also to which achievement to be generalized to the antenna measurement system in future
The high quality of data.
Brief description of the drawings
Fig. 1 is apparatus of the present invention structural representation；
Fig. 2 is antenna surface type error schematic diagram；
Fig. 3 is aerial panel number distribution；
Fig. 4 is sign picture schematic diagram；
Fig. 5 is sign picture schematic diagram.
Embodiment
As Figure 1-5, the large-scale parabola antenna surface precision test system based on unmanned plane is by probe portion sum
Composition is sequentially connected according to process part two parts：
Probe portion is joined by the multiaxis unmanned plane of carrying camera, the identification mark for sticking in antenna surface, laser scaling
Examine subsystem and signal receives transmitter module I and formed；
A, multiaxis unmanned plane during flying device and its camera of carrying form shooting subsystem, and Multi-axis aircraft flies for six axles
Device, then hanging cam, the picture photographed can be made a backup store by being integrated with storage card in camera；
Unmanned plane carries signal and receives transmitter module I, the module and the flight control circuit of camera and unmanned plane simultaneously
It is connected, the module is launched and received using wireless frequencies such as wifi, 3G or 4G；For the image for photographing camera
It is modulated into wireless signal and sends the data processing section on ground to, while receives the stopping shooting that ground data process part is sent
Instruction, ground data process part sends the order for stopping flight after all signs have been shot, and unmanned plane stops flight；
B, position recognition mark is pasted on antenna main reflector surface, and it is made up of the material with better photosensitivity, is easy to
Identified by camera；Each sign can be printed upon the upper light-sensitive material of sign with identification features different two-by-two, this feature
Manufactured numeral, numeral illustrate the numbering (Fig. 4) of the panel of antenna；
Can also be made up of different combination of shapes；Such as：Identification mark is designed as circle, is each circuit of antenna
Panel target spot distribute a kind of color；A kind of color is distributed for the panel of each sector of antenna, in a certain circuit and a certain sector
The target spot of point of intersection panel then forms (Fig. 5) for the semicircle of two kinds of colors；
C, laser scaling includes generating laser and laser absorption device with reference to subsystem；
The laser scaling is fixed on the obvious place of antenna surface with reference to subsystem, is adapted to unmanned plane to be photographed in any angle
The distance of the laser of the laser beam, wherein laser transmitter projects to laser absorption device can accurately measure to obtain, and this is just to be whole
Individual measurement provides benchmark.
Data processing section includes signal and receives transmitter module II, computer.
Signal receives transmitter module II and is received and launched using wireless frequencies such as wifi, 3G or 4G, primary recipient
Unmanned plane sends picture signal transmitting flight control command, is sent after all signs have been shot in unmanned plane to unmanned plane；
Computer after the image sent to each unmanned plane is identified, searches the figure using routine data processing software
As the aerial position at place, and virtual three-dimensional positioning is carried out, realize and the three-dimensional of whole antenna surface type is restored, when unmanned plane is completed
After the shooting of all signs and after antenna surface type being restored completely, sent and stopped to unmanned plane by data send-receive module
Photographing information；
According to taken laser beam length, the relative position between each location mark of Accurate Calibration is thus extensive
The accurate three-dimensional structure of antenna surface type has been answered, has obtained the error distribution of current paraboloid surface type, has reached measurement antenna surface type essence
The purpose of degree.
In test process, it is assumed that it is a to be directed to radius, and focal length is f paraboloidal-reflector antenna, due to reflecting surface position
In the far field of feed, then the electromagnetic wave that is sent by feed, bore face is reached through reflecting surface.Usual surface error also will not be very big,
It is believed that the influence of surface error counterpart diametric plane electromagnetic field magnitude can be ignored, only the phase of electromagnetic field on bore face can be caused to miss
Difference.The representation of surface error has axial error, radial error and normal error, represents that surface is missed using axial error here
Poor information.Dotted line is the position after distorted reflector in wherein Fig. 2, and according to the geometrical relationship in figure, optical path difference is:
Electromagnetic wave reflects the optical path difference caused by Δ z is present through reflector：
Δ δ=Δ z (1+cos ξ)=2 Δ zcos2(ξ/2) (1)
It is for phase error caused by different electromagnetic wave (λ) Δ z：
Δ z includes systematic error and random error：
Δ z=Δs zr+Δzs (3)
So
Random error can be determined by the accuracy of manufacture of panel, generally be represented by manufacturing tolerance, need to be by probability side
Method processing；Systematic error then needs to carry out finite element analysis to antenna structure, to determine its deformation information Δ z；
If the ideal design of reflector antenna is shaped as：z0=f0(ρ',φ')；In the shadow of various load (wind, gravity etc.)
Under sound, the actual form of reflecting surface is：
Z (ρ ', φ ')=z0+Δzs=f0(ρ',φ')+Δzs(ρ',φ') (6)
According to rigidity of structure equation:
[K] { δ }={ p } (7)
Wherein [K] is structural stiffness matrix, and { δ } is modal displacement vector, and { p } is load vectors.
Equation is solved, the modal displacement vector of reflecting surface can be obtained：
{δi}={ Δ ρi',Δφi',Δzi'} (8)
Node coordinate information after antenna surface type deformation is：
{ρi',φi',z0i}+{δi}={ ρi'+Δρi',φi'+Δφi',z0i+Δz0i} (9)
By interpolation or the method for fitting, the shape z (ρ ', φ ') for deforming back reflection face can be provided；Using formula (5), then
The axial error Δ z in deformation back reflection face can be determineds(ρ',φ')；
According to the calculation formula of antenna radiation pattern：
E (θ, φ)=∫ ∫ E0(ρ',φ')ejkρ'sinθcos(φ-φ')ρ'dρ'dφ' (10)
According to aperture field method, the far-field pattern function of Distorted Reflector Antenna is：
Wherein：For the phase error on the A of bore face, E0(ρ ', φ ') is the field distribution function on the A of bore face；Due to
Chance error difference needs to be handled by the method for probability；Therefore, counterpart diametric plane carry out mesh generation, using shown in Fig. 3 radially
N number of ring is divided into, each ring is divided into K againnIndividual grid, it is assumed that random phase error in each gridIt is identical,
And equal to central spot phase error in the net region；
Equation discretization is expressed as (random error effect)：
It can be expressed as (systematic error effect) for far field potential caused by monolithic panel：
The antenna radiated power directional diagram for being write as discrete form is：
Average radiating power directional diagram is：
If the random error between grid is separate, and the random error on every ring meets that average is 0, standard deviation εnεm
Normal distribution, then obtain：
Relation between the root mean square and standard deviation of panel foozle is：
((εrms)nIt is the surface foozle of the n-th ring) (17)
Abbreviation antenna average radiating power formula obtains in the case of surface error contains system and random error, putting down antenna
The error model that equal radiant power directional diagram influences is as follows：
The mathematical modeling influenceed by surface error on reflector antenna electrical property, analyzes random error and systematic error
During individualism, the influence situation to electrical property.
In actually measuring, sign is pasted on parabola antenna surface first, generally the parabola day of 40 meters of bores
Line needs the sign of 1400 or so, and they uniformly paste antenna surface；
Then laser transceiver position is set, transceiver is fixed on the obvious place of antenna, is typically secured to antenna feed not
On same strut, distance is advisable for 3-5 rice, and processing computer is transmitted to after obtaining leaf sight range；
Again, unmanned plane is discharged in the case where weather allows, all signs is shot, while shoot laser in the lump
Length of the scale, it is also noted that the reflection of antenna and sunlight, try not to be polluted by sunlight；
The signal carried while shooting by unmanned plane receives transmitter module I and the image photographed is transmitted into calculating
Machine；
The image in a computer being photographed unmanned plane using the image processing software of AICON Digital Photogrammetric System is entered
Row splicing, while completion and the comparison of laser survey scale length, send stopping shooting to unmanned plane after completion splicing and order, unmanned plane
It is i.e. recoverable.
Concrete operations：1st, identification mark is pasted；2nd, coordinate setting, the identification mark pasted with center of antenna body upper flange are true
Determine reference coordinate；3rd, target each point is positioned through row data acquisition and virtual three-dimensional by Professional Photography measuring system, realization pair
Three recoveries of whole antenna surface type.
Claims (4)
- A kind of 1. large-scale parabola antenna surface precision test system based on unmanned plane, it is characterised in that：By probe portion and Data processing section is sequentially connected composition；Wherein probe portion includes carrying the unmanned plane of camera, identifies that mark, laser scaling receive hair with reference to subsystem, signal Module I is penetrated, identification mark, laser scaling are arranged on large-scale parabola antenna surface with reference to subsystem, and camera passes through storage card Transmitter module I is received with signal to be connected；The flight control circuit of unmanned plane receives transmitter module I with signal and is connected；Data processing section include signal receive transmitter module II, computer, computer by signal receive transmitter module II with Signal receives transmitter module I and connected.
- 2. the large-scale parabola antenna surface precision test system according to claim 1 based on unmanned plane, its feature exist In：Laser scaling includes generating laser and laser absorption device with reference to subsystem.
- 3. the large-scale parabola antenna surface precision test system according to claim 1 based on unmanned plane, its feature exist In：Identification mark has different identification features, different two-by-two.
- 4. the large-scale parabola antenna surface precision test system according to claim 2 based on unmanned plane, its feature exist In：The positional information of the different identification marks of antenna surface is obtained by camera by unmanned plane, while by laser scaling with reference to son The laser beam of system transmitting is obtained the face type situation of current antenna by three-dimensionalreconstruction, deduced paraboloidal as reference signal Surface precision, realize the measurement of surface precision.
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| CN110686615A (en) * | 2019-08-29 | 2020-01-14 | 西安空间无线电技术研究所 | High-precision umbrella-shaped antenna profile evaluation method |
| CN110989677A (en) * | 2019-12-20 | 2020-04-10 | 中国人民解放军63636部队 | Telemetering parabolic antenna electric axis dynamic calibration method based on unmanned aerial vehicle |
| CN113109634A (en) * | 2021-05-07 | 2021-07-13 | 北京和德宇航技术有限公司 | Antenna test method, device, terminal equipment, antenna test system and medium |
| CN114295049A (en) * | 2021-12-23 | 2022-04-08 | 中国电子科技集团公司第三十九研究所 | Antenna reflector space geometric relation calibration method and device |
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| CN110989677A (en) * | 2019-12-20 | 2020-04-10 | 中国人民解放军63636部队 | Telemetering parabolic antenna electric axis dynamic calibration method based on unmanned aerial vehicle |
| CN110989677B (en) * | 2019-12-20 | 2023-05-12 | 中国人民解放军63636部队 | Unmanned aerial vehicle-based telemetering parabolic antenna electric axis dynamic calibration method |
| CN113109634A (en) * | 2021-05-07 | 2021-07-13 | 北京和德宇航技术有限公司 | Antenna test method, device, terminal equipment, antenna test system and medium |
| CN114295049A (en) * | 2021-12-23 | 2022-04-08 | 中国电子科技集团公司第三十九研究所 | Antenna reflector space geometric relation calibration method and device |
| CN114295049B (en) * | 2021-12-23 | 2023-11-03 | 中国电子科技集团公司第三十九研究所 | Antenna reflector space geometric relation calibration method and device |
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| CN107727945B (en) | 2023-10-13 |
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