CN109444809B - Unmanned aerial vehicle measurement and control method based on intelligent antenna - Google Patents
Unmanned aerial vehicle measurement and control method based on intelligent antenna Download PDFInfo
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- CN109444809B CN109444809B CN201811275383.8A CN201811275383A CN109444809B CN 109444809 B CN109444809 B CN 109444809B CN 201811275383 A CN201811275383 A CN 201811275383A CN 109444809 B CN109444809 B CN 109444809B
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- 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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
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Abstract
The invention belongs to the technical field of wireless measurement and control communication, and particularly relates to an unmanned aerial vehicle measurement and control method based on an intelligent antenna. According to the method, the space azimuth angle of the unmanned aerial vehicle relative to the measurement and control base station is calculated in real time according to the known position of the measurement and control base station and airborne POS data, the calculation problem of the estimation of the arrival angle of the intelligent antenna is replaced, the weight of an array element is further adjusted, and the main beam of an antenna directional pattern points to the direction of the measurement and control base station. The method can improve the measurement and control distance of the unmanned aerial vehicle, provide higher-quality link conditions for load data acquisition and real-time return processing, effectively avoid instantaneous measurement and control signal loss caused by airplane steering shielding, solve the relay measurement and control problem of multiple base stations of a vehicle-mounted measurement and control terminal and expand application scenes.
Description
Technical Field
The invention belongs to the technical field of wireless measurement and control communication, and particularly relates to an unmanned aerial vehicle measurement and control method based on an intelligent antenna.
Background
A smart antenna is an array antenna, also called a digital beam forming antenna array, which can adaptively adjust the transmit-receive characteristics to achieve enhanced antenna performance through some established criteria or algorithms. The intelligent antenna has the greatest characteristic that space division multiple access can be realized due to the active directivity of the wave beam, the communication characteristic can improve the system capacity, reduce the interference of the channel supply and weaken the influence of the multipath effect, the judgment of the arrival direction of the expected signal can be realized under the condition of no reference signal and training sequence, and the intelligent antenna is mature relatively and plays an important role in the field of mobile communication at present.
With the wider application field of the lightweight civil unmanned aerial vehicle, the market is rapidly developed. How to provide a more reliable, stable, high-quality measurement and control communication link for the unmanned aerial vehicle, still must compromise communication module consumption, cost, complexity low simultaneously, become the research hotspot. Unmanned aerial vehicle volume is little, and the carrying capacity is weak, and is required highly to airborne equipment integration, and the airborne antenna that is used commonly at present still takes omnidirectional antenna as the owner. Some research institutions and manufacturers have tried to apply the smart antenna technology to the base station antenna, and the contradiction is how to realize the fast solution of the estimation of the direction of arrival with low-complexity design, so as to further achieve the dynamic alignment of the beam.
In order to meet the positioning tracking and aerial survey requirements of the unmanned aerial vehicle, information such as the space position and the attitude angle of the aircraft needs to be acquired, the unmanned aerial vehicle is provided with a GPS, an IMU and a barometer, airborne POS data can be automatically generated, and basic data conditions are provided for the realization of the unmanned aerial vehicle.
Disclosure of Invention
Technical problem to be solved
The invention provides an unmanned aerial vehicle measurement and control method based on an intelligent antenna, which aims to solve the technical problems of realizing directional measurement and control of an unmanned aerial vehicle based on an algorithm, reducing the power consumption of a system, improving the measurement and control distance and the communication bandwidth, inhibiting channel interference and multipath interference, and providing high-quality and stable link conditions for remote operation, data acquisition and real-time return of the unmanned aerial vehicle.
(II) technical scheme
In order to solve the technical problem, the invention provides an unmanned aerial vehicle measurement and control method based on an intelligent antenna, which comprises the following steps:
s1, resolving the beam direction of the antenna array, and solving a space pitch angle theta and an azimuth angle phi of an antenna surface relative to a ground measurement and control base station
Performing projection calculation on the antenna surface according to the Euler coordinate transformation principle to obtain a space transformation vector
θ 1 、φ 1 Respectively representing the pitching difference and the azimuth difference between the antenna surface and the projection surface, wherein the projection surface is parallel to the ground level surface, and the height is the aircraft height:
wherein, ω is 1 、ω 2 、ω 3 Respectively is the roll angle, pitch angle and yaw angle of the airplane;
by taking the unmanned aerial vehicle as an original point, knowing the longitude and latitude of two points of the unmanned aerial vehicle and the base station and taking the ground level as a reference, the horizontal azimuth angle phi of the unmanned aerial vehicle and the base station after projection is obtained 2 And the horizontal distance d is used for further solving the pitch angle theta from the projection surface of the unmanned aerial vehicle to the base station 2 ：
Note the book
The direction of the antenna array beam is the sum of two vectors when the antenna plane is taken as the level surface
Namely to obtain
Wherein
S2, calculating the weight w (k) of the antenna array
The antenna array weight adopts a Kaiser-Bessel weight:
w mn ＝a m ·b n
wherein, a m 、b n Expressing the row and column weight values of the equidistant plane antenna array;
s3, solving array factors
Wherein, AF x 、AF y Representing rows and columnsArray factor, beta x And beta y Respectively representing the phase delays of the x-axis and y-axis, k representing the angular wavenumber, d x Representing the x-axis array element spacing, d y And (3) representing the y-axis array element spacing, wherein i is the row and column number of the equidistant planar antenna array.
(III) advantageous effects
According to the unmanned aerial vehicle measurement and control method based on the intelligent antenna, the space azimuth angle of the unmanned aerial vehicle relative to the measurement and control base station is calculated in real time according to the known position of the measurement and control base station and airborne POS data, the calculation problem of the estimation of the arrival angle of the intelligent antenna is replaced, the weight of an array element is further adjusted, and the main beam of an antenna directional pattern points to the direction of the measurement and control base station. The invention can improve the measurement and control distance of the unmanned aerial vehicle, provides higher-quality link conditions for load data acquisition and real-time return processing, can effectively avoid instantaneous measurement and control signal loss caused by aircraft steering shielding, can solve the relay measurement and control problem of multiple base stations of a vehicle-mounted measurement and control terminal, and expands application scenes.
Drawings
FIG. 1 is a schematic diagram of a working mode of a measurement and control method of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a beam forming simulation diagram according to an embodiment of the present invention.
Detailed Description
In order to make the objects, contents and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
The embodiment provides an unmanned aerial vehicle measurement and control method based on an intelligent antenna.
Smart antennas are mainly classified into two types of beam steering: fixed beam switching antennas and adaptive beamforming antennas. The fixed beam switching antenna is simpler to implement, but the beam resolution is limited by the antenna structure, and the flexibility is not sufficient. Therefore, the present embodiment finally selects the adaptive beamforming antenna. In the array antenna, an antenna array far-field directional diagram is the product of an array element directional diagram and an array factor directional diagram, wherein the array element directional diagram is determined by the geometric arrangement of the array elements, so that the key problem is to dynamically solve antenna array factors at an unmanned aerial terminal.
The unmanned aerial vehicle measurement and control method of the embodiment specifically comprises the following steps:
s1, resolving the beam direction of the antenna array, and solving a space pitch angle theta and an azimuth angle phi of an antenna surface relative to a ground measurement and control base station
Considering that the antenna is installed on unmanned aerial vehicle, for reducing the influence of structure to flight power as far as possible, adopt rectangle plane array antenna (the simulation adopts 8*8 array element), the antenna is installed in the aircraft belly, even the antenna position is with attitude angle calculation origin coincidence, so that calculate.
The known onboard POS data is as follows:
ground measuring and controlling base station longitude and latitude Z (x) z ,y z )。
According to the design, the attitude angle of the airplane is the attitude angle of the airborne antenna.
If the airborne end takes the antenna surface as the leveling surface, the problem is changed into the problem of solving the pitch angle theta and the azimuth angle phi of the antenna surface relative to the ground measurement and control base station, and the problem is counted as
Given the space attitude parameters of the airplane, the projection calculation is carried out on the antenna surface according to the Euler coordinate conversion principle to obtain the space conversion vector
θ 1 、φ 1 Respectively representing the pitching difference and the azimuth difference between the antenna surface and the projection surface, wherein the projection surface is parallel to the ground level surface, and the height is the height of the airplane.
By using the unmanned aerial vehicle as an original point, knowing the longitude and latitude of two points of the unmanned aerial vehicle and the base station, and using the ground level as a reference, the unmanned aerial vehicle after projection can be obtainedHorizontal azimuth angle phi of same base station 2 And the horizontal distance d can further obtain the pitch angle theta from the projection surface of the unmanned aerial vehicle to the base station 2 ：
note the book
Representing the azimuth vector of the antenna horizontal projection to the base station. When the antenna surface is taken as the level surface, the beam direction of the antenna array is the sum of two partial vectors
Namely to obtain
Wherein
S2, calculating the weight w (k) of the antenna array
8*8 an equi-spaced planar antenna array can be viewed as 8 linear arrays of 8 elements,
w mn ＝a m ·b n ，(a m 、b n weight of row and column representation
The antenna array weight preferably adopts a Kaiser-Bessel weight because the side lobe level of the antenna array is minimum while the beam width is maintained as large as the uniform weight. Binomial weights or gaussian weights may also be employed.
S3, solving array factors
The array antenna is arranged in a planar matrix form, and a directional diagram meets the row-column product principle.
Therefore, the array factor AF satisfies:
wherein AF x 、AF y Representing the line and array factors, beta x And beta y Denotes the phase delay of the x-axis and the y-axis, k denotes the angular wave number, d x Representing the x-axis array element spacing, d y Representing the y-axis array element spacing.
S4, simulation: antenna array d x ＝d y ＝0.5λ，θ 0 The antenna gain is obvious and has no obvious side lobe in the planned direction as can be seen from a simulation diagram of fig. 2.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (1)
1. An unmanned aerial vehicle measurement and control method based on an intelligent antenna is characterized by comprising the following steps:
s1, resolving the beam direction of the antenna array, and solving a space pitch angle theta and an azimuth angle phi of an antenna surface relative to a ground measurement and control base station
Performing projection calculation on the antenna surface according to the Euler coordinate conversion principle to obtain a space conversion vector
θ 1 、φ 1 Respectively representing the pitching difference and the azimuth difference between the antenna surface and the projection surface, wherein the projection surface is parallel to the ground level surface, and the height is the aircraft height:
wherein, ω is 1 、ω 2 、ω 3 Respectively is the roll angle, pitch angle and yaw angle of the airplane;
by taking the unmanned aerial vehicle as an original point, knowing the longitude and latitude of two points of the unmanned aerial vehicle and the base station and taking the ground level as a reference, the horizontal azimuth angle phi of the unmanned aerial vehicle and the base station after projection is obtained 2 And the horizontal distance d is used for further solving the pitch angle theta from the projection surface of the unmanned aerial vehicle to the base station 2 ：
Wherein h is the vertical height of the unmanned aerial vehicle from the ground;
note book
The direction of the antenna array beam is the sum of two vectors when the antenna plane is taken as the level surface
Namely to obtain
Wherein
S2, calculating the weight w (k) of the antenna array
The antenna array weight adopts a Kaiser-Bessel weight:
w mn ＝a m ·b n
wherein, a m 、b n Expressing the row and column weight values of the equidistant planar antenna array;
s3, solving array factors
Wherein, AF x 、AF y The factors of the row and the array are shown,β x and beta y Respectively representing the phase delays of the x-axis and y-axis, k representing the angular wavenumber, d x Representing the x-axis array element spacing, d y And (3) representing the y-axis array element spacing, wherein i is the row and column number of the equidistant planar antenna array.
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| CN110635830B (en) * | 2019-09-30 | 2021-03-23 | 北京信成未来科技有限公司 | Unmanned aerial vehicle measurement and control cellular communication method based on TS-ALOHA |
| CN110677917B (en) * | 2019-09-30 | 2021-07-13 | 北京信成未来科技有限公司 | Unmanned aerial vehicle measurement and control cellular communication method based on CS-ALOHA |
| CN110635831B (en) * | 2019-09-30 | 2020-08-14 | 北京信成未来科技有限公司 | FDMA-based unmanned aerial vehicle measurement and control cellular communication method |
| CN111342875B (en) * | 2020-03-04 | 2021-01-26 | 电子科技大学 | Unmanned aerial vehicle communication robust beam forming method based on DoA estimation |
| CN111624414A (en) * | 2020-05-09 | 2020-09-04 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Method for assisting in testing antenna directional diagram in large-maneuvering flight state by unmanned aerial vehicle |
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