CN112799027A - Calibration test method and system for outfield antenna of unmanned aerial vehicle - Google Patents
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Abstract
The invention relates to a calibration test method and a calibration test system for an outfield antenna of an unmanned aerial vehicle, wherein the method comprises the following steps: 1. placing an unmanned aerial vehicle in the test direction; 2. guiding the unmanned aerial vehicle to fly to an ideal test starting point; 3. after reaching the test position, setting each node of the system to enter a state of an appointed test type, setting related working parameters and preparing data storage conditions; 4. controlling the position of the unmanned aerial vehicle, the rotation of the antenna and the beam pointing direction, simultaneously starting data acquisition and recording by the system, monitoring the test process in real time, and displaying the test data in a graphical manner; 5. repeating for 2-4 times when the cruising ability is sufficient, and flying back to a flying point by the unmanned aerial vehicle when the cruising ability is insufficient, supplementing power and repeating for 2-4 times again; 6. collecting, sorting and analyzing data; 7. and (4) sorting the test data to form a filing package or used for radar trimming. The invention completes the calibration test of the external field antenna by using the unmanned aerial vehicle platform mounting test instrument equipment, and can realize effective external field antenna test items in a simple and economic way.
Description
Technical Field
The invention relates to the technical field of phased array radars, in particular to a calibration test method and system for an outfield antenna of an unmanned aerial vehicle.
Background
The radar is a major invention of human beings in the 20 th century in the field of electronic engineering, can detect targets hundreds or thousands of kilometers away, is widely applied to the fields of national defense, weather, measurement and control, navigation management, water conservancy, emergency rescue and disaster relief and the like, and is indispensable in modern construction. The quality of the antenna performance directly affects the detection effect of the radar. The drop in antenna performance can only be discovered and modified by antenna testing. Currently, antenna testing is divided into two stages, the first stage is near-field testing performed in a microwave darkroom, and the second stage is far-field testing performed by a calibration tower in an external test field. The effective antenna test can not be basically completed in an external field due to the lack of conditions such as a microwave darkroom, a calibration tower and the like, and the performance of the detection performance of the radar is greatly influenced. The economical, quick and effective external field antenna test calibration method has great significance for the efficient use of the radar.
At present, the unmanned aerial vehicle technology is widely applied to various fields such as military, industry and agriculture, has higher technical level in the aspects of flight endurance, flight stability, hovering capacity, load carrying capacity and the like, and is gradually improved. In terms of wireless data links, the explosion of 4G and 5G technologies provides a high-quality, low-delay, large-bandwidth, and highly-reliable wireless data transmission channel. The mature development of differential GNSS technology, especially Beidou global positioning technology and the like in China, enables a GNSS system to provide ultra-high-precision positioning and time service. The development of the technologies provides solid technical support for antenna calibration by using an unmanned aerial vehicle mounted instrument to replace a calibration tower, so that the method becomes practical. However, no method for effectively calibrating the antenna by using the unmanned aerial vehicle exists at present.
Disclosure of Invention
In order to solve the prior technical problem, the invention provides a calibration test method and a calibration test system for an outfield antenna of an unmanned aerial vehicle.
The invention specifically comprises the following contents: an unmanned aerial vehicle external field antenna calibration test method comprises the following steps
(1) Placing the unmanned aerial vehicle in the test orientation;
(2) guiding the unmanned aerial vehicle to fly to an ideal test starting point;
(3) after reaching the test position, setting each node of the system to enter a state of an appointed test type, setting related working parameters and preparing data storage conditions;
(4) according to different test items, the position of the unmanned aerial vehicle, the rotation of the antenna and the beam pointing direction are controlled, the system starts data acquisition and recording at the same time, the test process is monitored in real time, the test data is graphically displayed,
(5) when the cruising ability is sufficient, repeating the steps (2) to (4), and when the cruising ability is insufficient, guiding the unmanned aerial vehicle to fly back to the flying point, supplementing power and repeating the steps (2) to (4) again;
(6) collecting, sorting and analyzing data;
(7) and (4) sorting the test data to form a filing package on one hand and to be used for radar trimming on the other hand.
Further, the ideal test starting point in the step (2) includes a position where the signal received by the antenna is maximum in a preset range direction.
Furthermore, calibration test planning is completed before testing, a test scheme is formed for storage and standby, each node is powered on for testing, test communication is normal, test deployment is checked, and testing is ready to start
Further, in the step (4), when the test item is a horizontal lobe test, the unmanned aerial vehicle is controlled to hover at the ideal test point, the direction of the antenna beam is controlled to do circular motion unchanged, and the rotation is not less than 3 cycles.
Further, in the step (4), when the test item is a vertical lobe test, the beam direction and the array plane orientation of the antenna are controlled to be unchanged, the unmanned aerial vehicle is guided to fly up and down at a test point with an angle not less than 60 degrees and an arc track, and the flying is not less than 3 rounds.
Further, in the step (4), when the test item is a two-dimensional lobe test, the unmanned aerial vehicle is sequentially controlled to maintain a hovering state on a set height layer, the antenna maintains the direction of the beam to rotate for not less than 3 circles under the state, all height layer tests are sequentially alternated, and the distance from the unmanned aerial vehicle to the center of the array surface is kept unchanged in the test process.
Further, in the step (4), when the test item is a beam pointing test, according to the beam direction test sampling table, keeping the pointing direction of the array surface unchanged, sequentially controlling the direction of the antenna pointing to the beam in the sampling table, guiding the unmanned aerial vehicle to reach the position where the theoretical signal is maximum, performing blanket type S-shaped flight nearby up and down, finding and recording the position where the signal is maximum, and sequentially completing pointing verification of the sampling table.
The invention also discloses a calibration test system for the outfield antenna of the unmanned aerial vehicle, the test system comprises a hardware part and a software part,
the hardware part comprises a hardware layer, and the software part comprises a communication layer, an analysis layer, a display layer and an output layer;
the hardware layer transmits data to the analysis layer through the communication layer, the analysis layer transmits the analyzed data to the analysis layer, the output layer outputs reports according to analysis results of the analysis layer, and the display layer displays results of the analysis layer.
Further, the hardware layer comprises 1-n equipment modules, the communication layer comprises 1-m communication interfaces, the analysis layer comprises 1-k data analysis modules, the analysis layer comprises 1-l data analysis modules, the display layer comprises 1-i imaging display modules, and the output layer comprises 1-p report output modules; wherein n, m, k, l, i and p are positive integers;
the device modules each provide a unique identifier that includes a class ID and a device unique number.
Further, the hardware part comprises an unmanned aerial vehicle platform, a test platform and a radar platform;
the unmanned aerial vehicle platform comprises an unmanned aerial vehicle router, a signal source, a positioning module and an unmanned aerial vehicle control unit, wherein the unmanned aerial vehicle router is respectively communicated with the signal source, the positioning module and the unmanned aerial vehicle control unit;
the test platform comprises a ground router, a ground control terminal, a comprehensive processing terminal and a spectrometer, wherein the ground router is respectively communicated with the ground control terminal, the comprehensive processing terminal and the spectrometer;
the radar platform comprises a radar control end and an antenna connected with the radar control end, the radar control end is communicated with the ground router, and the antenna is connected with the frequency spectrograph through a feeder line;
the unmanned aerial vehicle router and the ground router are interconnected through a wireless channel, and the ground control end and the unmanned aerial vehicle control unit are interconnected through a wireless channel;
the comprehensive processing terminal controls the test platform and test equipment on the unmanned aerial vehicle platform through unmanned aerial vehicle antenna test calibration software, starts calibration test, monitors the test process in real time, collects and records test data, forms image-text test results according to the test data and generates an antenna fine adjustment guidance suggestion.
The calibration test method and the calibration test system for the outfield antenna of the unmanned aerial vehicle finish calibration test of the outfield antenna by using the platform mounting test instrument equipment of the unmanned aerial vehicle, and can realize effective tests of horizontal lobe test, vertical lobe test, two-dimensional lobe test, pointing calibration and the like of the outfield antenna in a simple and economic way.
Drawings
The following further explains embodiments of the present invention with reference to the drawings.
FIG. 1 is a schematic diagram of a test flow according to the present invention;
FIG. 2 is a schematic diagram of the horizontal lobe test of the present invention;
FIG. 3 is a schematic diagram of the vertical lobe test of the present invention;
FIG. 4 is a schematic diagram of a two-dimensional lobe test of the present invention;
FIG. 5 is a modular schematic of the present invention;
FIG. 6 is a schematic diagram of the connection of the test system of the present invention.
Detailed Description
Example 1
With reference to fig. 1 to 4, the present embodiment discloses a calibration test method for an external field antenna of an unmanned aerial vehicle, which includes the following steps:
before testing, calibration testing planning (newly building or calling an existing task) is completed on the comprehensive processing terminal by using testing calibration software to form a testing scheme, and the testing scheme is stored for later use. And powering up each node to be tested, testing communication to be normal, checking test deployment, and preparing to start testing.
The test items which can be applied by the embodiment comprise a horizontal lobe test, a vertical lobe test, a two-dimensional lobe test and a beam pointing test, and each test item comprises the following general steps:
(1) and (4) flying the unmanned aerial vehicle in the test position, confirming the in-position state of the system again, and starting automatic test on software if the state is intact.
(2) The software guides the unmanned aerial vehicle to fly to an ideal test starting point (the position where the signal received by the antenna is the largest in a preset distance direction) according to a pre-made test plan.
(3) After reaching the test position, setting each node of the system to enter a state of an appointed test type (mainly setting related working parameters, preparing data storage conditions and the like);
(4) according to different test items, the software automatically controls the test actions of the position of the unmanned aerial vehicle, the rotation of the antenna, the direction of the wave beam and the like; simultaneously starting data acquisition and recording; the software provides real-time monitoring of the test process and graphical display of test data; the software provides a necessary human intervention interface for the test process, and the safety and the quality of the test process are ensured.
(5) If a test is carried out in the scheme, repeating the steps (2) to (5) under the condition of cruising ability; when the cruising ability is insufficient, guiding the unmanned aerial vehicle to return to a flying starting point, suspending test control by software, supplementing the power of the unmanned aerial vehicle, resuming the test control again, and starting control by the system to repeat the steps (2) - (5); and (4) until all tests are finished, the unmanned aerial vehicle flies back to the flying point, and the test system terminates the test control.
(6) After the test data is acquired, the software enters a data collection, sorting and analysis stage, and the test results of each stage can be checked according to different time lengths of test items and data in the process after the progress prompt is finished.
(7) And (4) sorting the test data to form a filing package on one hand and apply to radar trimming on the other hand.
In the step (4), differences exist due to different test items, and the specific differences are as follows:
1. horizontal lobe test: controlling the unmanned aerial vehicle to hover at the ideal test point, controlling the direction of the antenna beam to do circular motion unchanged, and rotating for not less than 3 weeks;
2. vertical lobe test: the beam direction and the array surface orientation of the antenna are controlled to be unchanged, the unmanned aerial vehicle is guided to fly up and down (namely, an arc track with an angle not less than 60 degrees) at an ideal test point while the distance from the unmanned aerial vehicle to the center of the array surface is kept unchanged, and the flying is not less than 3 rounds;
3. two-dimensional lobe testing: sequentially controlling the unmanned aerial vehicle to maintain a hovering state on a set altitude layer, maintaining the direction of a wave beam to rotate for not less than 3 weeks by an antenna under the state, sequentially alternating all altitude layer tests, and keeping the distance from the unmanned aerial vehicle to the center of a front surface unchanged in the test process;
4. and (3) beam pointing test: according to the beam direction test sampling table, keeping the direction of the array surface unchanged, sequentially controlling the direction of the antenna pointing to the beam direction in the sampling table, guiding the unmanned aerial vehicle to reach the position with the maximum theoretical signal, performing blanket type S-shaped flight nearby up and down, searching and recording the position with the maximum signal, and sequentially finishing the pointing verification of the sampling table.
The calibration test method for the external field antenna of the unmanned aerial vehicle disclosed by the embodiment can realize effective calibration test of the external field antenna in a simple and economic manner.
Example 2
With reference to fig. 2 to 6, the present embodiment discloses an unmanned aerial vehicle outfield antenna calibration test system, which includes a hardware portion and a software portion, wherein the hardware portion refers to an unmanned aerial vehicle mounting portion that uses different functional modules to provide different test services, and the modules all provide unique identifiers, and are composed of category IDs and unique device numbers, and are used for communication packet identification and device maintenance.
The hardware part comprises a hardware layer, and the software part comprises a communication layer, an analysis layer, a display layer and an output layer;
the hardware layer transmits data to the analysis layer through the communication layer, the analysis layer transmits the analyzed data to the analysis layer, the output layer outputs reports according to analysis results of the analysis layer, and the display layer displays results of the analysis layer.
The hardware layer comprises 1-n equipment modules, the communication layer comprises 1-m communication interfaces, the analysis layer comprises 1-k data analysis modules, the analysis layer comprises 1-l data analysis modules, the display layer comprises 1-i imaging display modules, and the output layer comprises 1-p report output modules; wherein n, m, k, l, i and p are positive integers.
The hardware part specifically comprises: the system comprises an unmanned aerial vehicle platform, a test platform and a radar platform;
the unmanned aerial vehicle platform comprises an unmanned aerial vehicle router, a signal source, a positioning module and an unmanned aerial vehicle control unit, wherein the unmanned aerial vehicle router is respectively in communication connection with the signal source, the positioning module and the unmanned aerial vehicle control unit through network cables; the positioning module is a differential global positioning system, and the signal source is a signal generator;
the test platform comprises a ground router, a ground control terminal, a comprehensive processing terminal and a spectrometer, wherein the ground router is respectively communicated with the ground control terminal, the comprehensive processing terminal and the spectrometer through network cables;
the radar platform comprises a radar control end and an antenna connected with the radar control end, the radar control end is communicated with the ground router through a network cable, and the antenna is connected with the frequency spectrograph through a feeder line;
the unmanned aerial vehicle router and the ground router are interconnected through a wireless channel, and the ground control end and the unmanned aerial vehicle control unit are interconnected through a special wireless channel.
The preferred of this embodiment, six rotors and eight rotor unmanned aerial vehicle that unmanned aerial vehicle equipment adopted, the biggest load can reach 15KG to under the loaded condition, duration can reach more than 20 minutes, hover precision vertical direction +/-0.5 m, horizontal direction +/-1.5 m, satisfy present radar antenna far field lobe test demand. The instrument equipment (mainly refer to equipment such as signal generator, feeder) has chooseed the equipment of miniaturization, lightweight design for use, and weight is about 10KG, satisfies unmanned aerial vehicle load requirement, adopts the mode of fixed frame to settle in selected unmanned aerial vehicle belly department. And the differential positioning system purchases a differential GPS for improving the positioning precision of the unmanned aerial vehicle. The unmanned aerial vehicle of the wireless network communication equipment is provided with a peripheral port of a data link and a communication terminal of 4G/5G and is used for transmitting data of instrument equipment. The ground comprehensive processing terminal selects a mainstream commercial workstation.
The method comprises the steps of firstly compiling a test task or calling a filed test task through test calibration software of a ground comprehensive processing terminal, then starting the test task, controlling a test system to enter an antenna test mode, flying the unmanned aerial vehicle at a selected test distance, and switching the test calibration software to an automatic test state. The whole test system automatically searches the position of the antenna receiving the maximum point signal of the numerical value under the control of test calibration software, and the test calibration software controls the unmanned aerial vehicle and the radar antenna to move according to the test requirement in real time. Meanwhile, the ground comprehensive processing terminal starts to collect and record test data, the test calibration software controls a test process according to the collected data, finishes a test according to the pre-planning, controls the test platform to be in a standby state, then starts to analyze the data and outputs a test result.
The radar platform collects the received signals transmitted by the signal generator by using the frequency spectrograph, draws an antenna lobe pattern in real time, and sends the collected data to the comprehensive processing terminal. The unmanned aerial vehicle platform utilizes the data transceiver module to send the state and the position information of the signal generator to the comprehensive processing terminal in real time through a 4G/5G channel or an unmanned aerial vehicle data link. And the radar platform sends the beam direction and the azimuth information to the comprehensive processing terminal in real time. And the comprehensive processing terminal combines various tested information to fuse and generate a lobe pattern and evaluation information of the antenna.
When the calibration test of the outfield antenna of the unmanned aerial vehicle is carried out through the test system, the horizontal lobe test adopts the hovering of the unmanned aerial vehicle and the rotation of the antenna to carry out the test. The vertical lobe test adopts antenna fixation, and the unmanned aerial vehicle takes a radar as a center, takes a fixed distance as a radius and flies up and down on a fixed test surface to perform the test; the two-dimensional lobe pattern test is carried out in a mode that the unmanned aerial vehicle hovers at preset layers with different heights, the distance is fixed, and the antenna rotates by 60 degrees; data was collected no less than 3 times for each test activity.
The control of the test process is fully automatic, necessary human intervention interfaces are matched, and the standard of success of test data acquisition is based on whether the standard reaches the theoretical calculation numerical standard or not.
This embodiment only needs unmanned aerial vehicle as the carry platform, need not to erect the test tower, and geographical strong adaptability, and the expense is lower, and the test is convenient, and personnel's cost is lower. The system uses a wireless communication network and is matched with a real-time processing system, so that a processing result can be output in real time, rapid and repeated testing after system adjustment is facilitated, and the system maintenance efficiency is improved. The system adopts a modular design, and is convenient for the expansion of system functions.
The invention utilizes the function of a small instrument (such as a signal generator, a feeder line and the like) which is mounted and customized by an unmanned aerial vehicle as a calibration tower to perform calibration test on the performance of the radar antenna, and the measurable technical indexes related to the antenna comprise antenna horizontal lobes, vertical lobes, two-dimensional lobes, beam direction deviation and the like. The limitation brought by traditional test environments such as a microwave darkroom, a calibration tower and the like is eliminated, the frequency of radar return to a factory for test and maintenance is reduced, and the fighting efficiency of equipment is improved. Due to the fact that the system is in modular design, different instruments and corresponding test software can be mounted, good expandability is achieved, and the system is used for radar user actual combat drilling and daily monitoring requirements, including electromagnetic environment testing, shielding angle position surveying, radar precision calibration, radar power testing and the like. The method realized by the patent has the advantages of strong expandability, simple realization, low use cost and ideal test effect.
In the previous description, numerous specific details were set forth in order to provide a thorough understanding of the present invention. The foregoing description is only a preferred embodiment of the invention, which can be embodied in many different forms than described herein, and therefore the invention is not limited to the specific embodiments disclosed above. And that those skilled in the art may, using the methods and techniques disclosed above, make numerous possible variations and modifications to the disclosed embodiments, or modify equivalents thereof, without departing from the scope of the claimed embodiments. Any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the scope of the technical solution of the present invention.
Claims (10)
1. A calibration test method for an outfield antenna of an unmanned aerial vehicle is characterized by comprising the following steps: comprises the following steps
(1) Placing the unmanned aerial vehicle in the test orientation;
(2) guiding the unmanned aerial vehicle to fly to an ideal test starting point;
(3) after reaching the test position, setting each node of the system to enter a state of an appointed test type, setting related working parameters and preparing data storage conditions;
(4) according to different test items, the position of the unmanned aerial vehicle, the rotation of the antenna and the beam pointing direction are controlled, the system starts data acquisition and recording at the same time, the test process is monitored in real time, the test data is graphically displayed,
(5) when the cruising ability is sufficient, repeating the steps (2) to (4), and when the cruising ability is insufficient, guiding the unmanned aerial vehicle to fly back to the flying point, supplementing power and repeating the steps (2) to (4) again;
(6) collecting, sorting and analyzing data;
(7) and (4) sorting the test data to form a filing package on one hand and to be used for radar trimming on the other hand.
2. The unmanned aerial vehicle external field antenna calibration test method according to claim 1, characterized in that: the ideal test starting point in the step (2) includes a position where the signal received by the antenna is maximum in a preset distance azimuth.
3. The unmanned aerial vehicle external field antenna calibration test method according to claim 1, characterized in that: and finishing calibration test planning before testing, forming a test scheme for storage and standby, powering up each test node, testing communication normally, checking test deployment, and preparing to start testing.
4. The unmanned aerial vehicle external field antenna calibration test method according to claim 1, characterized in that: in the step (4), when the test item is a horizontal lobe test, the unmanned aerial vehicle is controlled to maintain hovering at an ideal test point, the direction of an antenna beam is controlled to do circular motion unchanged, and the rotation is not less than 3 weeks.
5. The unmanned aerial vehicle external field antenna calibration test method according to claim 1, characterized in that: in the step (4), when the test item is a vertical lobe test, the beam direction and the array surface orientation of the antenna are controlled to be unchanged, the unmanned aerial vehicle is guided to fly up and down at a test point with an angle not less than 60 degrees and an arc track, and the flying is not less than 3 rounds.
6. The unmanned aerial vehicle external field antenna calibration test method according to claim 1, characterized in that: in the step (4), when the test item is a two-dimensional lobe test, the unmanned aerial vehicle is sequentially controlled to maintain a hovering state on a set height layer, the antenna keeps the direction of the wave beam unchanged and rotates for not less than 3 weeks in the hovering state, all height layer tests are sequentially alternated, and the distance from the unmanned aerial vehicle to the center of the array surface is kept unchanged in the test process.
7. The unmanned aerial vehicle external field antenna calibration test method according to claim 1, characterized in that: in the step (4), when the test item is a beam pointing test, the pointing direction of the array surface is kept unchanged according to the beam direction test sampling table, the direction of the beam pointing to the sampling table by the antenna is sequentially controlled, the unmanned aerial vehicle is guided to reach the position with the maximum theoretical signal, blanket S-type flight is carried out up and down nearby, the position with the maximum signal is found and recorded, and pointing verification of the sampling table is sequentially completed.
8. The utility model provides an unmanned aerial vehicle external field antenna calibration test system which characterized in that: the test system comprises a hardware part and a software part,
the hardware part comprises a hardware layer, and the software part comprises a communication layer, an analysis layer, a display layer and an output layer;
the hardware layer transmits data to the analysis layer through the communication layer, the analysis layer transmits the analyzed data to the analysis layer, the output layer outputs reports according to analysis results of the analysis layer, and the display layer displays results of the analysis layer.
9. The unmanned aerial vehicle external field antenna calibration test system of claim 8, characterized in that: the hardware layer comprises 1-n equipment modules, the communication layer comprises 1-m communication interfaces, the analysis layer comprises 1-k data analysis modules, the analysis layer comprises 1-1 data analysis modules, the display layer comprises 1-i imaging display modules, and the output layer comprises 1-p report output modules; wherein n, m, k, l, i and p are positive integers;
the device modules each provide a unique identifier that includes a class ID and a device unique number.
10. The unmanned aerial vehicle external field antenna calibration test system of claim 8, characterized in that: the hardware part comprises an unmanned aerial vehicle platform, a test platform and a radar platform;
the unmanned aerial vehicle platform comprises an unmanned aerial vehicle router, a signal source, a positioning module and an unmanned aerial vehicle control unit, wherein the unmanned aerial vehicle router is respectively communicated with the signal source, the positioning module and the unmanned aerial vehicle control unit;
the test platform comprises a ground router, a ground control terminal, a comprehensive processing terminal and a spectrometer, wherein the ground router is respectively communicated with the ground control terminal, the comprehensive processing terminal and the spectrometer;
the radar platform comprises a radar control end and an antenna connected with the radar control end, the radar control end is communicated with the ground router, and the antenna is connected with the frequency spectrograph through a feeder line;
the unmanned aerial vehicle router and the ground router are interconnected through a wireless channel, and the ground control end and the unmanned aerial vehicle control unit are interconnected through a wireless channel;
the comprehensive processing terminal controls the test platform and test equipment on the unmanned aerial vehicle platform through unmanned aerial vehicle antenna test calibration software, starts calibration test, monitors the test process in real time, collects and records test data, forms image-text test results according to the test data and generates an antenna fine adjustment guidance suggestion.
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| CN115015862A (en) * | 2022-06-30 | 2022-09-06 | 广东纳睿雷达科技股份有限公司 | Dual-polarization radar calibration method and device and storage medium |
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| CN113419517A (en) * | 2021-07-12 | 2021-09-21 | 海丰通航科技有限公司 | Test method and device of aircraft prevention and control system, storage medium and computing equipment |
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