CN109839632A - A kind of localization method and device of radar antenna feed - Google Patents
A kind of localization method and device of radar antenna feed Download PDFInfo
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- CN109839632A CN109839632A CN201711228940.6A CN201711228940A CN109839632A CN 109839632 A CN109839632 A CN 109839632A CN 201711228940 A CN201711228940 A CN 201711228940A CN 109839632 A CN109839632 A CN 109839632A
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Abstract
The invention discloses a kind of localization method and devices of radar antenna feed, by the satellite location data for obtaining radar antenna feed and first position, obtain the first relative altitude of first position and the second position, obtain the second relative altitude of radar antenna feed and the second position, difference processing determines the second accurate ellipsoid height of first position, according to the second accurate ellipsoid height, first relative altitude and the second relative altitude, determine the ellipsoid height of radar antenna feed, difference processing determines the accurate longitude and latitude of radar antenna feed and first position, according to the difference and ellipsoid height of the height above sea level of first position and ellipsoid height, obtain the height above sea level of radar antenna feed, it overcomes antenna feed and mirror-reflection is generated for laser pulse, the very faint problem of caused backscatter signal, it solves and is unable to measure radar day The problem of height above sea level of line feed, and longitude and latitude and ellipsoid height are obtained using Difference Calculation, improve the accuracy of location data.
Description
Technical field
The present invention relates to field of locating technology, localization method, a kind of radar more particularly to a kind of radar antenna feed
The positioning device of antenna feed.
Background technique
Weather radar is the effective means of monitoring, early warning burst fire-disaster weather, and radar is anti-in Nowcasting, flood control
Great effect has been played in the service processes such as drought, disaster prevention and relief, great meteorological support.
Currently, the point coordinate of Doppler climate radar station used in service operation is the data that each province's radar station reports,
The most of lower handhold GPS of station service precision (global position system) receiver has carried out One-Point Location survey on high building top
Amount, has biggish error with actual coordinate data, affects quantitative fine use and the whole network of Doppler radar data
Comprehensive utilization.
And when carrying out elevation carrection to radar antenna feed source cover using laser, since antenna feed cover swashs transmitting
Light pulse generates mirror surface transmitting, so the signal that back scattering returns to measuring instrument is very weak, instrument is difficult to differentiate.
Summary of the invention
In view of the above problems, a kind of localization method and device of radar antenna feed is proposed, to solve radar antenna feedback
The problem of position inaccurate in source.
According to one aspect of the present invention, a kind of localization method of radar antenna feed is provided, comprising:
Obtain the first satellite location data of radar antenna feed and the second satellite location data of first position, institute
Stating satellite location data includes longitude and latitude data and ellipsoid altitude information；The first position is located at the first of radar antenna feed
In set distance range；
It is observed in the second position, obtains the first relative altitude of the first position and the second position；
It is observed in the second position and the third place, obtain the radar antenna feed and the second position second is opposite
Highly；The second position and the third place and the radar antenna feed are not point-blank；
Difference processing is carried out to the ellipsoid altitude information of second satellite location data, determines the of the first position
Two accurate ellipsoid height；
According to the described second accurate ellipsoid height, the first relative altitude and the second relative altitude determine the radar antenna
The accurate ellipsoid height of the first of feed；
Difference processing is carried out to the longitude and latitude data of first satellite location data, determines the radar antenna feed
Accurate longitude and latitude；
Difference processing is carried out to the longitude and latitude data of second satellite location data, determines the accurate of the first position
Longitude and latitude, and the height above sea level of first position and the difference of the second accurate ellipsoid height are found, according to the difference and first
Accurate ellipsoid height, obtains the accurate height above sea level of the radar antenna feed.
Optionally, the satellite location data includes original binary data, described to obtain the first of radar antenna feed
Satellite location data and the second satellite location data of first position include:
The radar antenna feed and first position are continuously measured respectively, obtain the radar antenna feed and
The original binary data of one position；
The ellipsoid altitude information to second satellite location data carries out difference processing, determines the first position
The second accurate ellipsoid height include:
Difference processing is carried out to the original binary data of second satellite location data, determines the first position
Second accurate ellipsoid height；
The longitude and latitude data to first satellite location data carry out difference processing, determine the radar antenna feedback
The accurate longitude and latitude in source includes:
Difference processing is carried out to the original binary data of first satellite location data, determines the radar antenna feedback
The accurate longitude and latitude in source.
Optionally, described to be observed in the second position and the third place, obtain the radar antenna feed and second
The second relative altitude set includes:
The radar antenna feed is observed in the second position, determines the observation elevation angle；
The third place is observed in the second position, determines the level of the second position and the third place
The first party parallactic angle of distance and the third place with respect to radar antenna feed；
Using the radar antenna feed as reference direction, the second position is observed in the third place,
Determine second party parallactic angle；
According to the observation elevation angle, horizontal distance, first party parallactic angle and second party parallactic angle, it is opposite to be calculated described second
Highly.
Optionally, described to be observed in the second position and the third place, obtain the radar antenna feed and second
The second relative altitude set includes:
Using the first measuring device and the second measuring device of the altitude measurement system of radar antenna feed, described second
Position and the third place are observed；
Observation the data obtained is handled using the data processing equipment of the altitude measurement system of radar antenna feed, is obtained
To the second relative altitude of the radar antenna feed and the second position.
Optionally, the altitude measurement system of the radar antenna feed includes:
First measuring device, the second measuring device and data processing equipment, the measuring device include pedestal, support frame,
Measuring device, level fine motion component, vertical fine motion component processed, focusing eyepiece, slightly takes aim at device, battery case, level circle at transmitting device
Bubble, keyboard, display, the measuring device include laser range sensor and angular measurement sensor；
The distance between first measuring device and the second measuring device are more than given threshold；Support frame as described above setting exists
On pedestal；The measuring device, level fine motion component, vertical fine motion component processed, focusing eyepiece, slightly takes aim at device, electricity at transmitting device
Pond box, level circle bubble, keyboard, display setting are on the support frame；The level fine motion component and vertical fine motion component processed
It is connect with the measuring device；
The data processing equipment is connect by transmitting device with two measuring devices.
Optionally, first satellite location data for obtaining radar antenna feed and the second satellite of first position
Location data includes:
Using the positioning device of radar antenna feed, first satellite location data and the second satellite positioning are obtained respectively
Data；
The positioning device of the radar antenna feed includes:
Mini2440 type arm processor, color touch display screen, CNS-50 type GPS receiver chip, M12M type GPS receiver
Antenna feed, lithium battery；
The GPS receiving antenna feed, GPS receiver chip, arm processor and the color touch display screen successively connect
It connects；
The arm processor, color touch display screen, GPS receiver chip are connect with the lithium battery respectively.
According to another aspect of the invention, a kind of positioning device of radar antenna feed is provided, comprising:
Satellite data obtains module, for obtaining the first satellite location data and the first position of radar antenna feed
The second satellite location data, the satellite location data includes longitude and latitude data and ellipsoid altitude information；The first position
In the first set distance range of radar antenna feed；
First relative altitude obtains module and obtains the first position and second for being observed in the second position
The first relative altitude set；
Second relative altitude obtains module and obtains the radar day for being observed in the second position and the third place
Second relative altitude of line feed and the second position；The second position and the third place and the radar antenna feed be not one
On straight line；
Second ellipsoid height determining module carries out difference for the ellipsoid altitude information to second satellite location data
Processing, determines the second accurate ellipsoid height of the first position；
First ellipsoid height determining module, for according to the described second accurate ellipsoid height, the first relative altitude and second
Relative altitude determines the first accurate ellipsoid height of the radar antenna feed；
Longitude and latitude determining module carries out difference processing for the longitude and latitude data to first satellite location data, really
The accurate longitude and latitude of the fixed radar antenna feed；
Height above sea level conversion module carries out difference processing for the longitude and latitude data to second satellite location data,
It determines the accurate longitude and latitude of the first position, and finds the height above sea level of first position and the difference of the second accurate ellipsoid height
Value, according to the difference and the first accurate ellipsoid height, obtains the accurate height above sea level of the radar antenna feed.
Optionally, the satellite location data includes original binary data, and the satellite data obtains module and includes:
Continuous measurement submodule is obtained for continuously being measured the radar antenna feed and first position respectively
The original binary data of the radar antenna feed and first position；
The second ellipsoid height determining module, specifically for the original binary number to second satellite location data
According to difference processing is carried out, the second accurate ellipsoid height of the first position is determined；
The longitude and latitude determining module is carried out specifically for the original binary data to first satellite location data
Difference processing determines the accurate longitude and latitude of the radar antenna feed.
Optionally, the second relative altitude acquisition mould includes:
The elevation angle determines submodule, for being observed in the second position to the radar antenna feed, determines observation
The elevation angle；
Distance and bearing angle determines submodule, for being observed in the second position to the third place, determines
First orientation of the horizontal distance and the third place of the second position and the third place with respect to radar antenna feed
Angle；
Azimuth determines submodule, is used for using the radar antenna feed as reference direction, in the third place pair
The second position is observed, and determines second party parallactic angle；
Second relative altitude computational submodule, for according to the observation elevation angle, horizontal distance, first party parallactic angle and second
Second relative altitude is calculated in azimuth.
Optionally, the second relative altitude acquisition module includes:
Submodule is observed, for the first measuring device of the altitude measurement system using radar antenna feed and the second measurement
Equipment is observed in the second position and the third place；
Data processing is in module, and the data processing equipment for the altitude measurement system using radar antenna feed is to observation
The data obtained is handled, and the second relative altitude of the radar antenna feed and the second position is obtained.
In conclusion being defended by the second of the first satellite location data and first position that obtain radar antenna feed
Star location data, the satellite location data include longitude and latitude data and ellipsoid altitude information, are observed, obtain in the second position
The first relative altitude for taking the first position and the second position, is observed, described in acquisition in the second position and the third place
Second relative altitude of radar antenna feed and the second position carries out the ellipsoid altitude information of second satellite location data
Difference processing determines the second accurate ellipsoid height of the first position, opposite according to the described second accurate ellipsoid height, first
Height and the second relative altitude, determine the first accurate ellipsoid height of the radar antenna feed, to first satellite positioning
The longitude and latitude data of data carry out difference processing, the accurate longitude and latitude of the radar antenna feed are determined, to second satellite
The longitude and latitude data of location data carry out difference processing, determine the accurate longitude and latitude of the first position, and find first
The difference of the height above sea level and the second accurate ellipsoid height set obtains described according to the difference and the first accurate ellipsoid height
The accurate height above sea level of radar antenna feed calculates reconvert after the ellipsoid height of radar antenna feed using trigonometric function method
For height above sea level, overcomes radar antenna feed and mirror-reflection is generated for laser pulse, caused backscatter signal is very
Faint problem solves the problems, such as to be unable to measure the height above sea level of radar antenna feed, and longitude and latitude and ellipsoid height benefit
It is obtained with Difference Calculation, improves the accuracy of location data.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 shows the flow chart of the localization method of one of embodiment of the present invention one radar antenna feed；
Fig. 2 shows the structural schematic diagrams of the altitude measurement system of one of embodiment of the present invention radar antenna feed；
Fig. 3 shows the structural schematic diagram of the first measuring device of one of embodiment of the present invention；
Fig. 4 shows the structural schematic diagram of the positioning device of one of embodiment of the present invention radar antenna feed；
Fig. 5 shows the structural block diagram of the positioning device of one of embodiment of the present invention two radar antenna feed.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
Embodiment one
Referring to Fig.1, the flow chart of the localization method of one of embodiment of the present invention one radar antenna feed is shown, is had
Body may include:
Step 101, the first satellite location data of radar antenna feed and the second satellite positioning of first position are obtained
Data.
In embodiments of the present invention, satellite location data includes longitude and latitude data and ellipsoid altitude information, wherein ellipsoid is high
Degree is for GPS (satellite according to being height of the measurement point from ellipsoid, that is, the orthogonal distance of measurement point and ellipsoid
Position system) in elevation expression data volume, for the same point under the different high benchmark of ellipsoid, ellipsoid is high different.
First position is located in the first set distance range of radar antenna feed, and the first set distance range includes and thunder
Up to the upper distance limit and lower limit distance of antenna feed, for example, somewhere near radar antenna feed, can specifically include any suitable
The first set distance range, the embodiment of the present invention is without limitation.
For example, GPS positioning instrument, which is mounted on first position, carries out continuous measurement in 24 hours, location data and original number are stored
According to obtaining the second satellite location data.GPS positioning instrument is mounted at radar antenna feed again and carries out continuous measurement in 24 hours,
Storage positioning and initial data, obtain the first satellite location data.Satellite number can be specifically obtained by the way of any suitable
According to the embodiment of the present invention is without limitation.
Step 102, it is observed in the second position, obtains the first relative altitude of the first position and the second position.
In embodiments of the present invention, in the second position to being observed at first position, direct available first position
With the relative altitude of the second position, as the first relative altitude.
Step 103, it is observed in the second position and the third place, obtains the radar antenna feed and the second position
Second relative altitude.
In embodiments of the present invention, the second position and the third place and the radar antenna feed not point-blank,
The second position and the third place can be with radar antenna feed intervisibilities, and can be with intervisibility between the second position and the third place.Benefit
It is observed with observation device in the second position and the third place, obtain radar antenna feed and the second position second is relatively high
Degree.
Between each point of the specific available triangle to first position, the second position and the third place composition away from
From data such as, angles, the second relative altitude of radar antenna feed and the second position is calculated using geometrical relationship.
In embodiments of the present invention, it is preferable that it is described to be observed in the second position and the third place, obtain the radar
Antenna feed and the second relative altitude of the second position may include: to carry out in the second position to the radar antenna feed
Observation, the observation elevation angle of determination with respect to the horizontal plane, is observed the third place in the second position, described in determination
The first orientation of horizontal distance and the third place between the second position and the third place with respect to radar antenna feed
Angle is observed the second position in the third place, is determined second orientation using the radar antenna feed as reference direction
Angle is calculated according to the observation elevation angle, horizontal distance, first party parallactic angle and second party parallactic angle by trigonometric function relationship
Second relative altitude.
For example, suitable distance selects two observation point S outside the high building of radar antenna feed1And S2.The two observation points it
Between can be with intervisibility, and can observe O point where radar antenna feed.In observation point S1Place sets up measuring device, is directed at thunder
It is observed up to antenna feed, obtains angle of elevation alpha 1；It is directed at observation point S2, it is observed to obtain horizontal distance L, azimuthal angle beta 1.?
Observation point S2Place sets up measuring device, using radar antenna feed as reference direction, observes observation point S1, obtain azimuthal angle beta 2.
Triangle relation is considered in the same horizontal plane, calculates radar overhead height, by geometrical relationship, resolves radar antenna
The relative altitude of feed.If O1For O point underface and observation point S1Highly identical point, O2For O point underface and observation point S2It is high
Spend identical point.In Vertical Triangular Δ OO1S1In there are trigonometric function relationshipsIn triangle Δ O1S1S2' in
There are trigonometric function relationship ∠ S1O1S22 He of '=180 °-β 1- βSo radar antenna feed
Relative altitude OO1Through being derived by
In embodiments of the present invention, it is preferable that it is described to be observed in the second position and the third place, obtain the radar
Antenna feed and the second relative altitude of the second position may include: using radar antenna feed altitude measurement system first
Measuring device and the second measuring device are observed in the second position and the third place, utilize the height of radar antenna feed
The data processing equipment for spending measuring system handles observation the data obtained, obtains the radar antenna feed and the second position
The second relative altitude.
In embodiments of the present invention, it is preferable that the altitude measurement system of the radar antenna feed may include:
First measuring device, the second measuring device and data processing equipment, the measuring device include pedestal, support frame,
Measuring device, level fine motion component, vertical fine motion component processed, focusing eyepiece, slightly takes aim at device, battery case, level circle at transmitting device
Bubble, keyboard, display, the measuring device include laser range sensor and angular measurement sensor；
The distance between first measuring device and the second measuring device are more than given threshold；Support frame as described above setting exists
On pedestal；The measuring device, level fine motion component, vertical fine motion component processed, focusing eyepiece, slightly takes aim at device, electricity at transmitting device
Pond box, level circle bubble, keyboard, display setting are on the support frame；The level fine motion component and vertical fine motion component processed
It is connect with the measuring device；
The data processing equipment is connect by transmitting device with two measuring devices.
Wherein, the first measuring device can be erected at the second place, and the second measuring device can be erected at the third place
Place.
The key technical indexes of first measuring device and the second measuring device includes: using single prism ranging 3500m, no rib
Mirror ranging 110m, using prism range measurement accuracy 5mm, angle-measurement accuracy 2 ", -20 DEG C -50 DEG C of operating temperature.
Fig. 2 is the structural schematic diagram of the altitude measurement system of one of embodiment of the present invention radar antenna feed, reference
Fig. 2, the altitude measurement system of radar antenna feed is by the first measuring device 1, the second measuring device 2 and 3 groups of data processing equipment
At.Measuring device is divided into the first measuring device 1, the second measuring device 2.
Fig. 3 is the structural schematic diagram of the first measuring device of one of embodiment of the present invention, the first measuring device and second
The structure of measuring device is identical, is only illustrated below with the first measuring device.Referring to shown in Fig. 3, the first measuring device 1 includes
Pedestal 101, support frame 102, measuring device 103, level fine motion component 104, vertically fine motion component 105 processed, focusing eyepiece
106, device 107, battery case 108, display 109, keyboard 110 and the transmission that 109 left or right side of display is set slightly are taken aim at
Device, top level circle bubble.
Transmitting device is transmitted for data, specifically includes any suitable, and the embodiment of the present invention is without limitation.It is horizontal
Fine motion component processed carries out the component of fine motion for control and measure device in the horizontal direction.Vertical fine motion component processed is surveyed for controlling
Amount device carries out the component of fine motion in vertical direction.Eyepiece focus for adjusting focusing.Device is slightly taken aim at for rough to target
It is aimed at.The component that level circle bubble is made of air level or electrical tilt sensor.For Anping or measurement tiny inclination angle.
Measuring device 103 includes laser range sensor and angular measurement sensor, wherein laser range sensor: first by swashing
Optical diode alignment target emits laser pulse.Laser is scattered to all directions after target reflects.Some scattered light, which returns to, to be passed
Sensor receiver is imaged on avalanche photodide after being received by optical system.Avalanche photodide is a kind of internal tool
There is the optical sensor of enlarging function, therefore it can detect extremely faint optical signal.It records and handles and be issued to from light pulse
Return is received the time experienced, can measure target range.Angular measurement sensor then detection angles, specifically can wrap
Any suitable angular measurement sensor is included, the embodiment of the present invention is without limitation.
In embodiments of the present invention, the distance between the first measuring device and the second measuring device are more than given threshold, tool
Body can set any suitable threshold value according to actual needs, and the embodiment of the present invention is without limitation.Support frame is arranged in base
On seat；The measuring device, level fine motion component, vertical fine motion component processed, focusing eyepiece, slightly takes aim at device, battery at transmitting device
Box, level circle bubble, keyboard, display setting are on the support frame；The level fine motion component and vertical fine motion component processed with
The measuring device connection.Data processing equipment is connect by transmitting device with two measuring devices.Data processing equipment is used for
The measurement data of the first measuring device and the second measuring device is received, and obtains the height of radar antenna feed by operation.Tool
Body can use the distance between observation elevation angle when observation radar antenna feed, and two measuring devices of observation, and opposite
The orientation of radar antenna feed, so that it may obtain the relative altitude of the relatively one of measuring device of radar antenna feed.
Wherein, the key technical indexes of the first measuring device and the second measuring device includes: using single prism ranging
3500m, no prism ranging 110m, using prism range measurement accuracy 5mm, angle-measurement accuracy 2 ", -20 DEG C -50 of operating temperature
℃。
In embodiments of the present invention, it is preferable that transmitting device include in cable transmission device and radio transmitting device at least
It is a kind of.
In embodiments of the present invention, it is preferable that the data processing equipment includes processor, memory.
Step 104, difference processing is carried out to the ellipsoid altitude information of second satellite location data, determines described first
The accurate ellipsoid height of the second of position.
In embodiments of the present invention, difference processing refers to base station directly using the difference of true value and measured value as poor
Point correction amount eliminates satellite clock correction, ephemeris error, ionospheric error and to process error doing direct operation amendment
Deng, that is, directly added and subtracted on measured value using the difference of coordinate as correction amount.
Difference processing is carried out to the ellipsoid altitude information of the second satellite location data, determines that the second of first position is accurate ellipse
Ball height.For example, being equipped with Ground-Based GPS Water Vapor Remote Sensing measuring station, the principle of GPS steam measuring station is exactly caused by utilizing steam
GPS measurement depth displacement carrys out moisture content in atmospheric sounding, so GPS steam measuring station is when carrying out steam survey calculation, first
It needs to remove height error caused by ionosphere, troposphere in atmosphere etc. using post-processing methods such as difference, obtain survey station
Ellipsoid height under 84 coordinate systems.The initial data that GPS positioning instrument measures is converted into RINEX (Receiver
Independent Exchange Format, the exchange format unrelated with receiver) format, as an individual website, benefit
The data processing software measured with GPS steam carries out subsequent difference with one piece of data that same day Ground-Based GPS steam measuring station measures
Processing, obtains accurate ellipsoid height value of the position indicator measuring point under 84 coordinate systems.
Step 105, according to the described second accurate ellipsoid height, the first relative altitude and the second relative altitude, determine described in
The accurate ellipsoid height of the first of radar antenna feed.
In embodiments of the present invention, the second accurate ellipsoid height is the ellipsoid height of first position, and the first relative altitude is
The relative altitude of first position and the second position, the second relative altitude are the relative altitude of radar antenna feed and the second position.
The first relative altitude is subtracted with the second accurate ellipsoid height, the second relative altitude is added, obtains the first of radar antenna feed
Accurate ellipsoid height.
Step 106, difference processing is carried out to the longitude and latitude data of first satellite location data, determines the radar day
The accurate longitude and latitude of line feed.
In embodiments of the present invention, difference processing is carried out to the longitude and latitude data of the first satellite location data, it specifically can be with
The initial data of satellite location data at radar antenna feed and GPS steam measuring station data are subjected to subsequent difference, just
The accurate longitude and latitude of radar antenna feed is obtained.
Step 107, difference processing is carried out to the longitude and latitude data of second satellite location data, determines described first
The accurate longitude and latitude set, and the height above sea level of first position and the difference of the second accurate ellipsoid height are found, according to the difference
Value and the first accurate ellipsoid height, obtain the accurate height above sea level of the radar antenna feed.
In embodiments of the present invention, difference processing is carried out to the longitude and latitude data of second satellite location data, determined
The accurate longitude and latitude of the first position, by tabling look-up to obtain the height above sea level at the accurate longitude and latitude of first position and the second essence
The difference of true ellipsoid height, is added with the first accurate ellipsoid height with the difference, obtains the accurate height above sea level of radar antenna feed
Degree.
For example, specifically measured with radar antenna feed of the above method to somewhere, obtain following measurement data and
Data: the latitude and longitude value at radar antenna feed that difference obtains: 116 ° of 28 ' 18.3972 " E, 39 ° of 48 ' 31.4316 " N are calculated,
The height above sea level at first position that difference obtains: 35.02m, vertical height of the second place relative to radar antenna feed:
67.96m, vertical height of the second position relative to first position: the GPS antenna feed of 7.30m, second place installation are high
Degree: 0.21m, vertical height of the second place relative to GPS steam station antenna feed: 3.66m, at the second position, measurement
The high 1.56m of the tripod of equipment, the difference between the ellipsoid height and height above sea level of first position: -10.05m uses above-mentioned number
According to operation is passed through, the high building height above sea level for obtaining radar is 107.08m, longitude and latitude 116 ° of 28 ' 18.3972 " E, 39 ° 48 '
31.4316”N。
In conclusion being defended by the second of the first satellite location data and first position that obtain radar antenna feed
Star location data, the satellite location data include longitude and latitude data and ellipsoid altitude information, are observed, obtain in the second position
The first relative altitude for taking the first position and the second position, is observed, described in acquisition in the second position and the third place
Second relative altitude of radar antenna feed and the second position carries out the ellipsoid altitude information of second satellite location data
Difference processing determines the second accurate ellipsoid height of the first position, opposite according to the described second accurate ellipsoid height, first
Height and the second relative altitude, determine the first accurate ellipsoid height of the radar antenna feed, to first satellite positioning
The longitude and latitude data of data carry out difference processing, the accurate longitude and latitude of the radar antenna feed are determined, to second satellite
The longitude and latitude data of location data carry out difference processing, determine the accurate longitude and latitude of the first position, and find first
The difference of the height above sea level and the second accurate ellipsoid height set obtains described according to the difference and the first accurate ellipsoid height
The accurate height above sea level of radar antenna feed calculates reconvert after the ellipsoid height of radar antenna feed using trigonometric function method
For height above sea level, overcomes radar antenna feed and mirror-reflection is generated for laser pulse, caused backscatter signal is very
Faint problem solves the problems, such as to be unable to measure the height above sea level of radar antenna feed, and longitude and latitude and ellipsoid height benefit
It is obtained with Difference Calculation, improves the accuracy of location data.
In embodiments of the present invention, it is preferable that the satellite location data includes original binary data, the acquisition thunder
A kind of implementation up to the second satellite location data of the first satellite location data and first position of antenna feed can be with
Include: continuously to be measured the radar antenna feed and first position respectively, obtains the radar antenna feed and first
The original binary data of position, using GPS positioning technology, position is all continuously measured at two, obtains original binary number
According to for subsequent processing.
The ellipsoid altitude information to second satellite location data carries out difference processing, determines the first position
The second accurate ellipsoid height a kind of implementation include: second satellite location data original binary data carry out
Difference processing determines the second accurate ellipsoid height of the first position.
The longitude and latitude data to first satellite location data carry out difference processing, determine the radar antenna feedback
The accurate longitude and latitude in source includes: to carry out difference processing to the original binary data of first satellite location data, determines institute
State the accurate longitude and latitude of radar antenna feed.
In embodiments of the present invention, it is preferable that first satellite location data for obtaining radar antenna feed, Yi Ji
A kind of implementation of second satellite location data of one position includes: to be obtained respectively using the positioning device of radar antenna feed
Take first satellite location data and the second satellite location data.
Wherein, the positioning device of the radar antenna feed may include:
Mini2440 type arm processor, color touch display screen, CNS-50 type GPS receiver chip, M12M type GPS receiver
Antenna feed, lithium battery；
The GPS receiving antenna feed, GPS receiver chip, arm processor and the color touch display screen successively connect
It connects；
The arm processor, color touch display screen, GPS receiver chip are connect with the lithium battery respectively.
The embedded system that high-precision GPS chip and technology maturation can specifically be used, uses EVC
(EmbeddedVisual C++) writes data receiver processing software, self-developing GPS receiver.
Fig. 4 is the structural schematic diagram of the positioning device of one of embodiment of the present invention radar antenna feed, referring to Fig. 4 institute
Show that GPS receiver hardware composition includes: Mini2440 type arm processor 4, color touch display screen 5, CNS-50 type GPS receiver
The hardware such as chip 6, M12M type GPS receiving antenna feed 7, lithium battery 8 composition.
Wherein, the key technical indexes of Mini2440 type arm processor 4 includes: dominant frequency 400MHZ, highest dominant frequency
533MHz；In plate 64MSDRAM, 32bit data/address bus；In plate 64M Nand Flash, 2M Nor Flash, the operation of support
System is Linux 2.6.29/WindowsCE.NET 5.0.
Arm processor can receive the location data and original binary data that GPS receiver chip 7 is sent, to positioning
Data are saved, are statisticallyd analyze and display processing, only carry out preservation processing to initial data.
Wherein, the key technical indexes of CNS-50 type GPS receiver chip 6 includes: 1s thermal starting；35s cold start-up；Stable
1s reacquisition；Positioning output: position, time, speed and auxiliary information；Initial data output: pseudorange, pseudorange rates, navigation message,
Carrier phase, Doppler；Positioning accuracy 5m；Differential positioning precision 0.5m；Operating temperature: -40 DEG C to+85 DEG C；Size:
52x38x10.1mm；Weight: 24g.
Wherein, the specification of color touch display screen 5 is 100*100mm, operating voltage 5V.
Wherein, the lithium battery 8 can provide electricity needed for positioning device is continuously greater than work in 24 hours.
The GPS receiving antenna feed 7, GPS receiver chip 6, arm processor 4 and the color touch display screen 5 according to
Secondary connection；
The arm processor 4, color touch display screen 5, GPS receiver chip 6 are connect with the lithium battery 8 respectively.
In embodiments of the present invention, it is preferable that the GPS receiver chip is connected by serial mode and the arm processor
It connects.
In embodiments of the present invention, it is preferable that the equipment further includes storage card, and the arm processor and storage card connect
It connects.
GPS receiver chip receives GPS satellite data by GPS receiving antenna feed, after processing, forms positioning number
According to and initial data, arm processor is sent to by serial ports, arm processor stores location data and initial data, then to fixed
Position data are for statistical analysis, and show over the display.
In embodiments of the present invention, it is preferable that the size of the color touch display screen is 3.5 inches.
In embodiments of the present invention, it is preferable that the length of the M12M type GPS receiving antenna feed is 96mm.
In embodiments of the present invention, it is preferable that the output voltage of the lithium battery is 8 volts, and capacity is 3000 milliampere hour.
Embodiment two
Referring to Fig. 5, the structural block diagram of the positioning device of one of embodiment of the present invention two radar antenna feed is shown,
It can specifically include:
Satellite data obtain module 201, for obtain radar antenna feed the first satellite location data and first
The second satellite location data set, the satellite location data include longitude and latitude data and ellipsoid altitude information；Described first
Setting in the first set distance range of radar antenna feed；
First relative altitude obtains module 202 and obtains the first position and second for being observed in the second position
First relative altitude of position；
Second relative altitude obtains module 203 and obtains the radar for being observed in the second position and the third place
Second relative altitude of antenna feed and the second position；The second position and the third place and the radar antenna feed do not exist
On straight line；
Second ellipsoid height determining module 204 is carried out for the ellipsoid altitude information to second satellite location data
Difference processing determines the second accurate ellipsoid height of the first position；
First ellipsoid height determining module 205, for according to the described second accurate ellipsoid height, the first relative altitude and the
Two relative altitudes determine the first accurate ellipsoid height of the radar antenna feed；
Longitude and latitude determining module 206 carries out difference processing for the longitude and latitude data to first satellite location data,
Determine the accurate longitude and latitude of the radar antenna feed；
Height above sea level conversion module 207 carries out at difference for the longitude and latitude data to second satellite location data
Reason, determines the accurate longitude and latitude of the first position, and finds the height above sea level and the second accurate ellipsoid height of first position
Difference the accurate height above sea level of the radar antenna feed is obtained according to the difference and the first accurate ellipsoid height.
In embodiments of the present invention, it is preferable that the satellite location data includes original binary data, the satellite number
Include: according to module is obtained
Continuous measurement submodule is obtained for continuously being measured the radar antenna feed and first position respectively
The original binary data of the radar antenna feed and first position；
The second ellipsoid height determining module, specifically for the original binary number to second satellite location data
According to difference processing is carried out, the second accurate ellipsoid height of the first position is determined；
The longitude and latitude determining module is carried out specifically for the original binary data to first satellite location data
Difference processing determines the accurate longitude and latitude of the radar antenna feed.
In embodiments of the present invention, it is preferable that second relative altitude obtains mould and includes:
The elevation angle determines submodule, for being observed in the second position to the radar antenna feed, determines observation
The elevation angle；
Distance and bearing angle determines submodule, for being observed in the second position to the third place, determines
First orientation of the horizontal distance and the third place of the second position and the third place with respect to radar antenna feed
Angle；
Azimuth determines submodule, is used for using the radar antenna feed as reference direction, in the third place pair
The second position is observed, and determines second party parallactic angle；
Second relative altitude computational submodule, for according to the observation elevation angle, horizontal distance, first party parallactic angle and second
Second relative altitude is calculated in azimuth.
In embodiments of the present invention, it is preferable that second relative altitude obtains module and includes:
Submodule is observed, for the first measuring device of the altitude measurement system using radar antenna feed and the second measurement
Equipment is observed in the second position and the third place；
Data processing is in module, and the data processing equipment for the altitude measurement system using radar antenna feed is to observation
The data obtained is handled, and the second relative altitude of the radar antenna feed and the second position is obtained.
In conclusion being defended by the second of the first satellite location data and first position that obtain radar antenna feed
Star location data, the satellite location data include longitude and latitude data and ellipsoid altitude information, are observed, obtain in the second position
The first relative altitude for taking the first position and the second position, is observed, described in acquisition in the second position and the third place
Second relative altitude of radar antenna feed and the second position carries out the ellipsoid altitude information of second satellite location data
Difference processing determines the second accurate ellipsoid height of the first position, opposite according to the described second accurate ellipsoid height, first
Height and the second relative altitude, determine the first accurate ellipsoid height of the radar antenna feed, to first satellite positioning
The longitude and latitude data of data carry out difference processing, the accurate longitude and latitude of the radar antenna feed are determined, to second satellite
The longitude and latitude data of location data carry out difference processing, determine the accurate longitude and latitude of the first position, and find first
The difference of the height above sea level and the second accurate ellipsoid height set obtains described according to the difference and the first accurate ellipsoid height
The accurate height above sea level of radar antenna feed calculates reconvert after the ellipsoid height of radar antenna feed using trigonometric function method
For height above sea level, overcomes radar antenna feed and mirror-reflection is generated for laser pulse, caused backscatter signal is very
Faint problem solves the problems, such as to be unable to measure the height above sea level of radar antenna feed, and longitude and latitude and ellipsoid height benefit
It is obtained with Difference Calculation, improves the accuracy of location data.
All the embodiments in this specification are described in a progressive manner, the highlights of each of the examples are with
The difference of other embodiments, the same or similar parts between the embodiments can be referred to each other.
Those of ordinary skill in the art may be aware that the embodiment in conjunction with disclosed in the embodiment of the present invention describe it is each
Exemplary unit and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In embodiment provided herein, it should be understood that disclosed device and method can pass through others
Mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of device or unit
It connects, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
1. a kind of localization method of radar antenna feed characterized by comprising
The first satellite location data of radar antenna feed and the second satellite location data of first position are obtained, it is described to defend
Star location data includes longitude and latitude data and ellipsoid altitude information；The first position is located at the first setting of radar antenna feed
In distance range；
It is observed in the second position, obtains the first relative altitude of the first position and the second position；
It is observed in the second position and the third place, obtain the radar antenna feed and the second position second is relatively high
Degree；The second position and the third place and the radar antenna feed are not point-blank；
Difference processing is carried out to the ellipsoid altitude information of second satellite location data, determines the second essence of the first position
True ellipsoid height；
According to the described second accurate ellipsoid height, the first relative altitude and the second relative altitude determine the radar antenna feed
The first accurate ellipsoid height；
Difference processing is carried out to the longitude and latitude data of first satellite location data, determines the accurate of the radar antenna feed
Longitude and latitude；
Difference processing is carried out to the longitude and latitude data of second satellite location data, determines the accurate longitude and latitude of the first position
Degree, and the height above sea level of first position and the difference of the second accurate ellipsoid height are found, it is accurate according to the difference and first
Ellipsoid height obtains the accurate height above sea level of the radar antenna feed.
2. the method according to claim 1, wherein the satellite location data includes original binary data,
First satellite location data for obtaining radar antenna feed and the second satellite location data of first position include:
The radar antenna feed and first position are continuously measured respectively, obtain the radar antenna feed and first
The original binary data set；
The ellipsoid altitude information to second satellite location data carries out difference processing, determines the of the first position
Two accurate ellipsoids height include:
Difference processing is carried out to the original binary data of second satellite location data, determines the second of the first position
Accurate ellipsoid height；
The longitude and latitude data to first satellite location data carry out difference processing, determine the radar antenna feed
Accurately longitude and latitude includes:
Difference processing is carried out to the original binary data of first satellite location data, determines the radar antenna feed
Accurate longitude and latitude.
3. being obtained the method according to claim 1, wherein described be observed in the second position and the third place
The second relative altitude for taking the radar antenna feed and the second position includes:
The radar antenna feed is observed in the second position, determines the observation elevation angle；
The third place is observed in the second position, determine the second position and the third place it is horizontal away from
From and the third place with respect to radar antenna feed first party parallactic angle；
Using the radar antenna feed as reference direction, the second position is observed in the third place, is determined
Second party parallactic angle；
According to the observation elevation angle, horizontal distance, first party parallactic angle and second party parallactic angle, it is relatively high to be calculated described second
Degree.
4. being obtained the method according to claim 1, wherein described be observed in the second position and the third place
The second relative altitude for taking the radar antenna feed and the second position includes:
Using the first measuring device and the second measuring device of the altitude measurement system of radar antenna feed, in the second position
It is observed with the third place；
Observation the data obtained is handled using the data processing equipment of the altitude measurement system of radar antenna feed, obtains institute
State the second relative altitude of radar antenna feed and the second position.
5. according to the method described in claim 4, it is characterized in that, the altitude measurement system of the radar antenna feed includes:
First measuring device, the second measuring device and data processing equipment, the measuring device include pedestal, support frame, measurement
Device, level fine motion component, vertical fine motion component processed, focusing eyepiece, slightly takes aim at device, battery case, level circle gas at transmitting device
Bubble, keyboard, display, the measuring device include laser range sensor and angular measurement sensor；
The distance between first measuring device and the second measuring device are more than given threshold；Support frame as described above is arranged in pedestal
On；The measuring device, level fine motion component, vertical fine motion component processed, focusing eyepiece, slightly takes aim at device, battery at transmitting device
Box, level circle bubble, keyboard, display setting are on the support frame；The level fine motion component and vertical fine motion component processed with
The measuring device connection；
The data processing equipment is connect by transmitting device with two measuring devices.
6. the method according to claim 1, wherein the first satellite digit for obtaining radar antenna feed
According to and the second satellite location data of first position include:
Using the positioning device of radar antenna feed, first satellite location data and the second satellite digit are obtained respectively
According to；
The positioning device of the radar antenna feed includes:
Mini2440 type arm processor, color touch display screen, CNS-50 type GPS receiver chip, M12M type GPS receiving antenna
Feed, lithium battery；
The GPS receiving antenna feed, GPS receiver chip, arm processor and the color touch display screen are sequentially connected；
The arm processor, color touch display screen, GPS receiver chip are connect with the lithium battery respectively.
7. a kind of positioning device of radar antenna feed characterized by comprising
Satellite data obtains module, for obtain radar antenna feed the first satellite location data and first position the
Two satellite location datas, the satellite location data include longitude and latitude data and ellipsoid altitude information；The first position is located at
In first set distance range of radar antenna feed；
First relative altitude obtains module, for being observed in the second position, obtains the first position and the second position
First relative altitude；
Second relative altitude obtains module, for being observed in the second position and the third place, obtains the radar antenna feedback
Second relative altitude in source and the second position；The second position and the third place and the radar antenna feed be not straight at one
On line；
Second ellipsoid height determining module carries out at difference for the ellipsoid altitude information to second satellite location data
Reason, determines the second accurate ellipsoid height of the first position；
First ellipsoid height determining module, for according to the described second accurate ellipsoid height, the first relative altitude and second to be relatively
Highly, the first accurate ellipsoid height of the radar antenna feed is determined；
Longitude and latitude determining module carries out difference processing for the longitude and latitude data to first satellite location data, determines institute
State the accurate longitude and latitude of radar antenna feed；
Height above sea level conversion module carries out difference processing for the longitude and latitude data to second satellite location data, determines
The accurate longitude and latitude of the first position, and the height above sea level of first position and the difference of the second accurate ellipsoid height are found,
According to the difference and the first accurate ellipsoid height, the accurate height above sea level of the radar antenna feed is obtained.
8. device according to claim 7, which is characterized in that the satellite location data includes original binary data,
The satellite data obtains module
Continuous measurement submodule obtains described for continuously being measured the radar antenna feed and first position respectively
The original binary data of radar antenna feed and first position；
The second ellipsoid height determining module, specifically for the original binary data to second satellite location data into
Row difference processing determines the second accurate ellipsoid height of the first position；
The longitude and latitude determining module carries out difference specifically for the original binary data to first satellite location data
Processing, determines the accurate longitude and latitude of the radar antenna feed.
9. device according to claim 7, which is characterized in that second relative altitude obtains mould and includes:
The elevation angle determines submodule, for being observed in the second position to the radar antenna feed, determines the observation elevation angle；
Distance and bearing angle determines submodule, for being observed in the second position to the third place, described in determination
First party parallactic angle of the horizontal distance and the third place of the second position and the third place with respect to radar antenna feed；
Azimuth determines submodule, is used for using the radar antenna feed as reference direction, in the third place to described
The second position is observed, and determines second party parallactic angle；
Second relative altitude computational submodule, for according to the observation elevation angle, horizontal distance, first party parallactic angle and second orientation
Second relative altitude is calculated in angle.
10. device according to claim 7, which is characterized in that second relative altitude obtains module and includes:
Submodule is observed, is set for the first measuring device of the altitude measurement system using radar antenna feed and the second measurement
It is standby, it is observed in the second position and the third place；
Data processing obtains observation station in module, the data processing equipment for the altitude measurement system using radar antenna feed
Data are handled, and the second relative altitude of the radar antenna feed and the second position is obtained.
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| CN201711228940.6A CN109839632A (en) | 2017-11-29 | 2017-11-29 | A kind of localization method and device of radar antenna feed |
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| CN201711228940.6A CN109839632A (en) | 2017-11-29 | 2017-11-29 | A kind of localization method and device of radar antenna feed |
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Cited By (1)
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