CN114397631B - Large-scale radar antenna array plane precision measurement method and system - Google Patents
Large-scale radar antenna array plane precision measurement method and system Download PDFInfo
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Abstract
The invention discloses a method and a system for measuring the accuracy of a large-scale radar antenna array plane, which belong to the technical field of antenna array plane accuracy measurement and comprise the steps of scene construction, task planning, measurement implementation, quality evaluation, processing display and the like. According to the invention, the unmanned aerial vehicle is used for carrying the photogrammetry system to automatically measure the array surface precision of the large-scale radar antenna and visually display the result of the three-dimensional model, so that workers on the radar assembly site can more intuitively and efficiently measure the array surface assembly precision of the large-scale radar antenna, the technical problems of low accuracy measurement efficiency and poor result visual display effect of the array surface precision of the radar antenna in the prior art are solved, and further the technical effects of reducing the field measurement workload and improving the measurement efficiency are achieved, and the method is worthy of popularization and use.
Description
Technical Field
The invention relates to the technical field of antenna array plane precision measurement, in particular to a method and a system for measuring the antenna array plane precision of a large-scale radar.
Background
The flatness accuracy of the antenna array surface has a critical influence on the electrical performance index of the antenna, and the digital photogrammetry detection plays an indispensable key role in the whole assembly and adjustment process from the actual process of the assembly and adjustment of the large-scale antenna array surface. By means of actual measurement and precision adjustment analysis of the antenna array surface, a gravity deformation curve can be calculated, and the optimal profile precision and the adjusted pitching angle of the array surface are obtained, so that reliable data are provided for simulation analysis of load deformation by a designer, and whole-course control of design, production assembly, installation and measurement is completed. The photogrammetry can meet the flatness measurement of the large array surface under various postures, has small requirements on environment and high precision, is particularly suitable for on-line detection during installation and adjustment of a large-sized and high-precision antenna structure system, effectively guides the adjustment of the array surface precision, the deformation monitoring of the antenna array surface and the like, and is completely completed by a computer in data processing, thereby being free from uncertain factors existing in the traditional precise optical instrument and being the development direction of the detection field in the future.
In the prior art, the large-scale radar antenna array plane precision measurement method is usually manual on-site measurement, and an off-line measurement method is mostly adopted, so that real-time flatness measurement and real-time error correction cannot be performed. The real-time monitoring of flatness error can be used as input of electric signal phase compensation, can improve radar precision, and is a key ring of intelligent sensing of the radar. The phase photoelectric position sensor and the dynamic displacement sensor are combined or the acceleration sensor can be used for carrying out real-time measurement on the deformation of the antenna array surface, or a visual measurement means is adopted, and the array surface planeness of each attitude radar can be acquired in real time by adopting an image processing method. The development of similar online real-time high-precision measurement means will be a trend of future large phased array radar flatness measurement. Summary the prior art has the following disadvantages: firstly, the antenna array plane photogrammetry method is more researched, but the unmanned aerial vehicle-based antenna array plane precision measurement method can quickly generate a measurement task plan, is less researched, does not form patents or other intellectual property achievements, and cannot be widely applied; secondly, because no corresponding unmanned aerial vehicle-based antenna array plane precision measurement method exists, the large-scale radar antenna array plane precision measurement efficiency is low, the unmanned aerial vehicle cannot be directly used for antenna array plane precision measurement, and the waste of personnel and time is caused.
Aiming at the technical problems of low accuracy measurement efficiency and poor result visual display effect of a large-scale radar antenna array surface in the prior art, no effective solution is proposed at present, and therefore, the large-scale radar antenna array surface accuracy measurement method and system are provided.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: how to solve the technical problems of low accuracy measurement efficiency and poor visual result display effect of a large-scale radar antenna array surface in the prior art, and provides a large-scale radar antenna array surface accuracy measurement method.
The invention solves the technical problems through the following technical proposal, and the invention comprises the following steps:
s1: setting measurement mark points on an antenna array object, acquiring and matching key characteristic points of the antenna array object and a three-dimensional model through unmanned aerial vehicle photographing initialization measurement, obtaining the caliber of the antenna array, coordinate information of the measurement mark points and the like, mapping and reflecting the obtained information to the three-dimensional model, and constructing a three-dimensional measurement scene;
s2: planning and simulating a measurement task in a three-dimensional measurement scene according to the caliber size of the antenna array surface, equipment parameters, the number of intersecting points of adjacent measurement marking points, the number of measurement marking points and precision requirement information, and obtaining unmanned aerial vehicle flight path and flight point data meeting the requirements of the antenna array surface measurement task after iterative optimization setting of the measurement marking points;
s3: transmitting unmanned aerial vehicle flight path and navigation point data meeting the requirements of an antenna array surface measurement task to an unmanned aerial vehicle system, and carrying out photogrammetry by the unmanned aerial vehicle according to a measurement task preset path to obtain a photogrammetry image;
s4: transmitting the photogrammetric image, judging quality compliance, operating the photogrammetric image which is judged to not meet the requirement, and re-shooting the measurement;
s5: and storing the photogrammetric image and performing image processing to obtain an antenna array surface measurement mark point coordinate value, forming an antenna array surface precision value through data fitting processing, reconstructing a three-dimensional model and displaying antenna array surface measurement precision information.
Still further, the step S1 includes the steps of:
s11: setting measurement mark points on the antenna array surface real object, wherein the measurement mark points are set according to key characteristic points of the antenna array surface real object, the key characteristic points are characteristic elements of important guarantee precision such as antenna array surface caliber outline, antenna array surface flatness, assembly distance precision and the like, and interface positions of the antenna array surface and other mechanical parts, and the antenna array surface caliber and coordinate information of the measurement mark points are obtained through unmanned aerial vehicle photographing initialization measurement;
s12: matching the obtained coordinate information of the caliber of the array surface and the measurement mark point with the three-dimensional model, wherein the matching with the three-dimensional model is to carry out the operations of moving, aligning and overlapping on the dominant characteristic point, so that the dominant characteristic point is matched with the characteristic point corresponding to the three-dimensional model in an overlapping way, and the coordinate information of other measurement mark points is mapped and reflected to the three-dimensional model.
Further, in the step S1, the three-dimensional measurement scene is a fusion information set of the unmanned aerial vehicle, the mounted photogrammetry equipment, the antenna array real object, the three-dimensional model thereof, and the measurement mark point coordinates, which can be visually displayed in the computer.
Furthermore, in the step S2, planning and simulating the measurement task in the three-dimensional measurement scene, that is, by setting the caliber value, the positions and the number of measurement mark points, the number of intersection points of adjacent measurement mark points, the equipment parameter and the value required by the measurement precision, and performing iterative optimization setting on the measurement mark points, the antenna array face measurement mark point coordinates, the measurement mark point numbers, the measurement times and the measurement angle information which meet the requirements of the antenna array face measurement task are obtained.
Further, in the step S2, the obtained coordinates of the measuring mark points, the number of measuring times and the measuring angle information of the antenna array are converted into the track and the waypoint data which can be identified by the unmanned aerial vehicle; the unmanned aerial vehicle flight path and the navigation point data comprise coordinates, navigation point numbers, measurement angles and measurement times information of the unmanned aerial vehicle; the coordinates, the waypoint numbers, the measurement angles and the measurement frequency information of the unmanned aerial vehicle are respectively corresponding and consistent with the coordinates, the measurement marking point numbers, the measurement frequency and the measurement angle information of the antenna array surface, and the coordinates of the measurement marking point of the antenna array surface and the coordinates of the unmanned aerial vehicle are global coordinate systems including the antenna array surface, the photogrammetry system, the measurement marking point and the measurement reference, so that the unmanned aerial vehicle can be visually displayed in a three-dimensional measurement scene.
Still further, the step S3 includes the following steps: the method comprises the steps of defining a measurement task in a segmentation mode, dividing the unmanned aerial vehicle flight path and waypoint data into data with the measurement task, displaying the completion condition of the measurement task in a three-dimensional measurement scene in real time, performing information sleeve connection and association on the measurement task, the unmanned aerial vehicle flight path and waypoint data and photogrammetry images obtained through photogrammetry, and finally transmitting the unmanned aerial vehicle flight path and waypoint data meeting the requirements of the antenna array plane measurement task to an unmanned aerial vehicle system, wherein the unmanned aerial vehicle performs photogrammetry according to a preset path of the measurement task, and obtains photogrammetry images.
Further, in the step S4, a reverse search is performed on the photogrammetric image which is determined not to meet the requirement, a task requiring re-shooting measurement is obtained in batch, the positions of the marking points and corresponding unmanned aerial vehicle tracks and waypoint data are measured, and a shooting measurement path is re-planned to form a re-shooting measurement scheme; and eliminating the photogrammetric image which is judged to not meet the requirement, and replacing and supplementing the retake measurement image.
Further, in the step S4, the quality compliance determination element includes the number of adjacent measurement mark point intersections, sharpness, brightness, color shift, and similarity.
Still further, the step S5 includes the steps of:
s51: storing a photogrammetric image in a three-dimensional measurement scene database, and storing the photogrammetric image in association with a measurement task, a measurement mark point position, and an unmanned aerial vehicle track and a navigation point data;
s52: performing image processing on the photogrammetric image to obtain an antenna array surface measurement mark point coordinate value, and performing data fitting processing to form an antenna array surface precision value;
s53: reconstructing the three-dimensional model according to the antenna array plane precision value and displaying the antenna array plane measurement precision information, wherein the three-dimensional model reconstruction is to perform [ x, y, z, rx, ry, rz ] coordinate six-dimensional value conversion according to the coordinate value of the antenna array plane measurement marking point, and reposition, assemble and update the pose of an array plane component on the three-dimensional model according to the coordinate value;
s54: after the three-dimensional model is reconstructed, the detailed coordinate values of the measurement mark points and the overall flatness error value of the antenna array surface measurement precision are visually and interactively displayed on the three-dimensional model.
The invention also discloses a large-scale radar antenna array plane precision measuring system which adopts the measuring method to measure the large-scale radar antenna array plane precision, comprising the following steps:
the scene construction unit is used for acquiring and matching key characteristic points of the antenna array surface real object and the three-dimensional model, obtaining the caliber of the antenna array surface and coordinate information of the measurement mark points, mapping and reflecting the coordinate information to the three-dimensional model, and constructing a three-dimensional measurement scene;
the task planning unit is used for planning and simulating a measurement task in a three-dimensional measurement scene according to the caliber size of the antenna array surface, the equipment parameters, the number of intersecting points of adjacent measurement mark points, the number of measurement mark points and the precision requirement information, and obtaining unmanned aerial vehicle flight path and flight point data meeting the requirements of the antenna array surface measurement task after iterative optimization setting of the measurement mark points;
the measurement implementation unit is used for transmitting unmanned aerial vehicle flight path and navigation point data meeting the requirements of the antenna array surface measurement task to an unmanned aerial vehicle system, and the unmanned aerial vehicle performs photogrammetry according to a measurement task preset path to obtain a photogrammetry image;
the quality evaluation unit is used for transmitting the photogrammetric image and judging quality compliance, and operating the photogrammetric image which is judged to not meet the requirement and re-shooting the measurement;
and the processing display unit is used for storing the photogrammetric image and performing image processing to obtain the coordinate value of the antenna array surface measurement marking point, forming an antenna array surface precision value through data fitting processing, reconstructing the three-dimensional model and displaying the antenna array surface measurement precision information.
Compared with the prior art, the invention has the following advantages: the unmanned aerial vehicle is used for carrying the photogrammetry system to automatically measure the accuracy of the array surface of the large radar antenna and visually display the result of the three-dimensional model, so that staff on the radar assembly site can more intuitively and efficiently measure the assembly accuracy of the array surface of the large radar antenna, the technical problems of low accuracy measurement efficiency of the array surface of the radar antenna and poor visual display effect of the result in the prior art are solved, further, the technical effects of reducing the field measurement workload and improving the measurement efficiency are achieved, and the method is worthy of popularization and use.
Drawings
FIG. 1 is a flow chart of a method for measuring array plane accuracy of a large-scale radar antenna in an embodiment of the invention;
fig. 2 is a schematic structural diagram of a large-scale radar antenna array plane precision measurement system in an embodiment of the present invention.
Detailed Description
The following describes in detail the examples of the present invention, which are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are given, but the scope of protection of the present invention is not limited to the following examples.
Technical terms involved in the embodiments of the present invention are explained as follows:
three-dimensional measurement scene: the system is an unmanned aerial vehicle visually displayed in a computer, and is provided with a photographic measurement device, an antenna array real object, a three-dimensional model of the antenna array real object, a measurement mark point coordinate and other fusion information sets.
Three-dimensional model: refers to a set of reconfigurable models inherited from the antenna array design model that carry the necessary measurement elements.
In accordance with an embodiment of the present invention, there is provided a method embodiment for large scale radar antenna array accuracy measurement, it being noted that the steps illustrated in the flowchart of the figures may be performed in a computer system, such as a set of computer executable instructions, and that although a logical sequence is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in a different order than what is illustrated herein.
Fig. 1 is a flowchart of a method for measuring accuracy of a large-scale radar antenna array plane according to an embodiment of the present invention, as shown in fig. 1, the method includes steps S1 to S5, in which:
step S1: according to the measurement mark points arranged on the antenna array real object, the key characteristic points of the antenna array real object and the three-dimensional model are obtained and matched through unmanned aerial vehicle photographing initialization measurement, the aperture size of the antenna array, the coordinate information of the measurement mark points and the like are obtained, and are mapped and reflected to the three-dimensional model, and a three-dimensional measurement scene is constructed.
More specifically, measuring mark points are arranged on an antenna array surface physical object, the measuring mark points are arranged according to key characteristic points of the antenna array surface physical object, the key characteristic points are characteristic elements of positions such as the antenna array surface caliber outline, the antenna array surface flatness, the assembly distance precision and the like, the antenna array surface interfaces with other mechanical parts and the like, and the antenna array surface caliber and coordinate information of the measuring mark points and the like are obtained through unmanned aerial vehicle photographing initialization measurement; matching the obtained aperture of the antenna array surface, coordinate information of the measurement mark points and the like with a three-dimensional model, wherein the three-dimensional model is a design model of the antenna array surface, and matching with the three-dimensional model is to carry out operations such as movement, alignment, superposition and the like on the outline of the antenna array surface, the dominant characteristic points of interfaces and the like of other mechanical parts and the like so as to enable the outline of the antenna array surface to be matched with the characteristic points corresponding to the three-dimensional model in a superposition manner, and mapping and reflecting the coordinate information of other measurement mark points to the three-dimensional model; the three-dimensional measurement scene is a fusion information set of unmanned aerial vehicle capable of being visually displayed in a computer, a carried photogrammetry device, an antenna array face real object, a three-dimensional model thereof, measurement mark point coordinates and the like.
Step S2: according to the aperture size of the antenna array, equipment parameters, the number of intersecting points of adjacent measurement mark points, the number of intersecting points of measurement mark points, the precision requirement and other information, the intersecting number of adjacent measurement mark points is the number of intersecting coincidence points between adjacent photos, and the size of an intersecting area is represented; and planning and simulating a measurement task in a three-dimensional measurement scene, and obtaining unmanned aerial vehicle flight path and waypoint data meeting the requirements of the antenna array surface measurement task after performing iterative optimization setting on measurement mark points.
More specifically, planning and simulating a measurement task in a three-dimensional measurement scene to obtain information such as antenna array face measurement mark point coordinates, measurement mark point numbers, measurement times, measurement angles and the like which meet the requirements of the antenna array face measurement task after iterative optimization setting of measurement mark points by setting parameter values such as caliber values, measurement mark point positions and number, adjacent measurement mark point cross points, equipment parameters, measurement precision requirements and the like; the judging indexes meeting the measurement task requirements comprise measurement precision requirements, measurement time, measurement coverage rate and other factors, and different measurement task plans and setting schemes of measurement marking points can be formed for different measurement task requirements through planning simulation; the obtained information such as the coordinates of the measuring mark points, the numbers of the measuring mark points, the measuring times, the measuring angles and the like of the antenna array surface are converted into flight paths and flight point data which can be identified by the unmanned aerial vehicle; the data conversion comprises operations such as data extraction, mapping coding, format specification unification and the like, so that flight path and waypoint data which can be identified by the unmanned aerial vehicle flight control system are formed; the unmanned aerial vehicle flight path and the waypoint data comprise unmanned aerial vehicle coordinates, waypoint numbers, measurement angles, measurement times and the like; the information such as the unmanned aerial vehicle coordinates, the navigation point numbers, the measurement angles, the measurement times and the like are respectively corresponding and consistent with the obtained information such as the measurement mark point coordinates, the measurement mark point numbers, the measurement times, the measurement angles and the like; the measurement mark point coordinates and the unmanned aerial vehicle coordinates are global coordinate systems including an antenna array surface, a photogrammetry system, measurement mark points, measurement references and the like, and can be visually displayed in a three-dimensional measurement scene.
Step S3: and transmitting unmanned aerial vehicle flight path and navigation point data meeting the requirements of the antenna array surface measurement task to an unmanned aerial vehicle system, and carrying out photogrammetry by the unmanned aerial vehicle according to a measurement task preset path to obtain a photogrammetric image.
More specifically, the measurement tasks are defined in a segmented mode, the unmanned aerial vehicle flight path and the waypoint data are divided into data and the tasks, the completion condition of the measurement tasks is displayed in real time in a three-dimensional measurement scene, the measurement tasks are prevented from being interrupted due to the problem of unmanned aerial vehicle endurance, the data are lost, and measurement cannot be continued; performing information sleeving and connection on the measurement task, the unmanned aerial vehicle flight path, the waypoint data and the photogrammetry image obtained by photogrammetry, taking the measurement task as a first-stage node, taking the unmanned aerial vehicle flight path for realizing the measurement task as a second-stage node, hooking the unmanned aerial vehicle flight path to the first-stage node, taking the waypoint data as a third-stage node, hooking the unmanned aerial vehicle flight path to the second-stage node, taking the photogrammetry image as a fourth-stage node, and hooking the unmanned aerial vehicle flight path to the third-stage node; and transmitting unmanned aerial vehicle flight path and navigation point data meeting the requirements of the antenna array surface measurement task to an unmanned aerial vehicle system, and carrying out photogrammetry by the unmanned aerial vehicle according to a measurement task preset path to obtain a photogrammetric image.
Step S4: transmitting the photogrammetric image, judging quality compliance, operating the photogrammetric image which is judged to not meet the requirement, and re-shooting the measurement; the quality compliance determination elements include adjacent measurement mark point crossing points, sharpness, brightness, color shift, similarity, and the like.
More specifically, reverse search and search are carried out on the photogrammetric images which are judged to not meet the requirements, tasks needing to be re-shot and measured are obtained in batches, the positions of marking points and corresponding unmanned aerial vehicle tracks and waypoint data are measured, and a shooting and measuring path is re-planned to form a re-shooting and measuring scheme; and eliminating the photogrammetric image which is judged to not meet the requirement, and replacing and supplementing the retake measurement image.
Step S5: and storing the photogrammetric image and performing image processing to obtain an antenna array surface measurement mark point coordinate value, forming an antenna array surface precision value through data fitting processing, reconstructing a three-dimensional model and displaying antenna array surface measurement precision information.
More specifically, the photogrammetric image is stored in a three-dimensional measurement scene database and is stored in association with a measurement task, measurement mark point positions, and unmanned aerial vehicle tracks and waypoints; image processing such as image uniform color and uniform light, distortion correction processing, layering adjustment calculation and the like is carried out on the photogrammetric image to obtain an antenna array surface measurement mark point coordinate value, and an antenna array surface precision value is formed through data fitting processing; reconstructing a three-dimensional model according to the antenna array plane precision value and displaying the antenna array plane measurement precision information, wherein the three-dimensional model is reconstructed to perform [ x, y, z, rx, ry, rz ] coordinate six-dimensional value conversion according to the coordinate values of the antenna array plane measurement mark points, fitting each measurement mark point into a plurality of detail plane groups, integrating the plurality of detail plane groups to form an integral plane, and integrating the coordinates of the center points of the plurality of detail plane groups to form coordinate values of the center points of the integral plane [ x, y, z, rx, ry, rz ]; (x, y, z) represents coordinate values of the measurement marker point in the xyz coordinate system, and (Rx, ry, rz) represents angles by which the measurement marker point rotates about x, y, and z axes, i.e., euler angles (eular). Repositioning, assembling and updating pose of the array surface component parts on the three-dimensional model according to the coordinate values of the measurement mark points; the displayed antenna array plane measurement precision information comprises detailed coordinate values of measurement mark points, error values such as overall flatness of the antenna array plane measurement precision and the like which are visually and interactively displayed on the three-dimensional model after the three-dimensional model is reconstructed.
In the embodiment of the invention, the aperture of the antenna array surface, the coordinate information of the measurement mark point and the like are obtained by acquiring and matching the key characteristic points of the antenna array surface real object and the three-dimensional model, and are mapped and reflected to the three-dimensional model to construct a three-dimensional measurement scene; planning and simulating a measurement task in a three-dimensional measurement scene according to the caliber size of the antenna array surface, equipment parameters, the number of intersecting points of adjacent measurement marking points, the number of measurement marking points, the precision requirement and other information, and obtaining unmanned aerial vehicle flight path and flight point data meeting the requirement of the antenna array surface measurement task after iterative optimization setting of the measurement marking points; transmitting unmanned aerial vehicle flight path and navigation point data meeting the requirements of an antenna array surface measurement task to an unmanned aerial vehicle system, and carrying out photogrammetry by the unmanned aerial vehicle according to a measurement task preset path to obtain a photogrammetry image; transmitting the photogrammetric image, judging quality compliance, operating the photogrammetric image which is judged to not meet the requirement, and re-shooting the measurement; the quality consistency judging elements comprise adjacent measurement mark point cross points, definition, brightness, color shift, similarity and the like; the method comprises the steps of storing photogrammetry images and carrying out image processing to obtain antenna array face measurement mark point coordinate values, forming an antenna array face precision value through data fitting processing, reconstructing a three-dimensional model and displaying antenna array face measurement precision information, and achieving the purposes of large-scale radar antenna array face precision measurement and result visualization.
Fig. 2 is a schematic structural diagram of a large-scale radar antenna array plane precision measurement system according to an embodiment of the present invention. The large-scale radar antenna array plane precision measuring system comprises: a scene construction unit 1, a task planning unit 2, a measurement implementation unit 3, a quality evaluation unit 4 and a processing display unit 5, wherein:
the scene construction unit 1 is used for acquiring and matching key characteristic points of the antenna array plane real object and the three-dimensional model, obtaining the caliber of the antenna array plane, coordinate information of the measurement mark point and the like, mapping and reflecting the obtained information to the three-dimensional model, and constructing a three-dimensional measurement scene. In the present embodiment, the scene construction unit 1 includes a flag setting module, an initial measurement module, and a feature matching module.
The mark setting module is used for setting measurement mark points on the antenna array surface real object, the measurement mark points are set according to key characteristic points of the antenna array surface real object, the key characteristic points are characteristic elements of positions such as antenna array surface caliber outline, antenna array surface flatness, assembly distance precision and the like, and the antenna array surface interfaces with other mechanical parts.
The initial measurement module is used for measuring and obtaining the aperture size of the antenna array surface, coordinate information of measurement mark points and the like to form a three-dimensional measurement scene, and particularly relates to an unmanned aerial vehicle capable of being visually displayed in a computer, a carried photogrammetry device, an antenna array surface real object, a three-dimensional model of the antenna array surface real object, a fusion information set of measurement mark point coordinates and the like.
The characteristic matching module is used for matching the obtained antenna array surface caliber, coordinate information of the measurement mark points and the like with the three-dimensional model, and specifically, the antenna array surface contour, the interface of other mechanical components and other explicit characteristic points are subjected to operations of moving, aligning, overlapping and the like, so that the antenna array surface contour and the characteristic points corresponding to the three-dimensional model are overlapped and matched, and the coordinate information of the other measurement mark points is mapped and reflected to the three-dimensional model.
The task planning unit 2 is configured to plan and simulate a measurement task in a three-dimensional measurement scene according to the caliber size of the antenna array surface, the equipment parameters, the number of intersecting points of adjacent measurement mark points, the number of measurement mark points, the accuracy requirement and other information, and obtain unmanned aerial vehicle flight path and waypoint data meeting the requirement of the antenna array surface measurement task after performing iterative optimization setting on the measurement mark points. In this embodiment, the mission planning unit 2 includes a scenario generation module and a data conversion module.
The scheme generating module is used for planning and simulating a measurement task in a three-dimensional measurement scene, and obtaining information such as antenna array face measurement mark point coordinates, measurement mark point numbers, measurement times, measurement angles and the like which meet the requirements of the antenna array face measurement task after iterative optimization setting of the measurement mark points by setting parameter values such as caliber size values, measurement mark point positions and number, adjacent measurement mark point crossing points, equipment parameters, measurement precision requirements and the like; the judging indexes meeting the measurement task requirements comprise measurement precision requirements, measurement time, measurement coverage rate and other factors, and different measurement task plans and setting schemes of measurement marking points can be formed for different measurement task requirements through planning simulation;
the data conversion module is used for forming flight path and waypoint data which can be identified by the unmanned aerial vehicle flight control system through operations such as data extraction, mapping coding, format specification unification and the like on the obtained information such as the antenna array surface measurement marking point coordinates, measurement marking point numbers, measurement times, measurement angles and the like; the unmanned aerial vehicle flight path and the waypoint data comprise unmanned aerial vehicle coordinates, waypoint numbers, measurement angles, measurement times and the like; the information such as the unmanned aerial vehicle coordinates, the navigation point numbers, the measurement angles and the measurement times are respectively corresponding and consistent with the information such as the measurement mark point coordinates, the measurement mark point numbers, the measurement times and the measurement angles; the measurement mark point coordinates and the unmanned aerial vehicle coordinates are global coordinate systems including an antenna array surface, a photogrammetry system, measurement mark points, measurement references and the like, and can be visually displayed in a three-dimensional measurement scene.
And the measurement implementation unit 3 is used for transmitting unmanned aerial vehicle flight path and navigation point data meeting the requirements of the antenna array surface measurement task to an unmanned aerial vehicle system, and the unmanned aerial vehicle performs photogrammetry according to a measurement task preset path to obtain a photogrammetric image. In the present embodiment, the measurement implementation unit 3 includes a dividing module, an associating module, and an executing module.
The division module is used for defining the measurement task in a segmentation mode, dividing the unmanned aerial vehicle flight path, the flight point data and the task into data, displaying the completion condition of the measurement task in a three-dimensional measurement scene in real time, and preventing the measurement task from being interrupted, the data from being lost and the measurement from being continued due to the problem of unmanned aerial vehicle endurance.
And the association module is used for carrying out information sleeve connection association on the measurement task, the unmanned aerial vehicle track and waypoint data and a photogrammetry image obtained by photogrammetry.
The execution module is used for transmitting unmanned aerial vehicle flight path and navigation point data meeting the requirements of the antenna array surface measurement task to the unmanned aerial vehicle system, and the unmanned aerial vehicle performs photogrammetry according to the measurement task preset path to obtain a photogrammetry image.
A quality evaluation unit 4 for transmitting the photogrammetric image and making quality conformity judgment, operating the photogrammetric image which is judged not to meet the requirement and re-shooting the measurement; the quality compliance determination elements comprise adjacent measurement mark point crossing points, definition, brightness, color shift, similarity and the like. Performing reverse search and search on the photogrammetric images which are judged to not meet the requirements, obtaining tasks needing to be re-photographed and measured in batches, measuring the positions of the marking points, and re-planning photographing and measuring paths corresponding to the flight paths and the navigation point data of the unmanned aerial vehicle to form a re-photographing and measuring scheme; and eliminating the photogrammetric image which is judged to not meet the requirement, and replacing and supplementing the retake measurement image.
And the processing display unit 5 is used for storing the photogrammetric image and performing image processing to obtain the coordinate value of the antenna array surface measurement marking point, forming an antenna array surface precision value through data fitting processing, reconstructing the three-dimensional model and displaying the antenna array surface measurement precision information. In the present embodiment, the processing display unit 5 includes a processing module, a reconstruction module, and a display module.
The processing module is used for storing the photogrammetric image, the measurement task, the measurement mark point position, and the unmanned aerial vehicle track and the navigation point data in a correlated manner; image processing is carried out on the photogrammetric image to obtain an antenna array surface measurement mark point coordinate value, and an antenna array surface precision value is formed through data fitting processing; reconstructing the three-dimensional model according to the antenna array plane precision value and displaying the antenna array plane measurement precision information.
The reconstruction module is used for carrying out [ x, y, z, rx, ry, rz ] coordinate six-dimensional value conversion according to the coordinate values of the antenna array surface measurement marking points, and repositioning, assembling and updating the pose of the array surface component parts on the three-dimensional model by the coordinate values.
The display module is used for visually and interactively displaying detailed coordinate values of the measurement mark points, the overall flatness of the antenna array surface measurement precision and other error values on the three-dimensional model after the three-dimensional model is reconstructed.
The functional units in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
In summary, according to the method for measuring the accuracy of the array surface of the large-scale radar antenna in the embodiment, the unmanned aerial vehicle is used for carrying the photogrammetry system to automatically measure the accuracy of the array surface of the large-scale radar antenna and visually display the result of the three-dimensional model, so that staff on a radar assembly site can more intuitively and efficiently measure the assembly accuracy of the array surface of the large-scale radar antenna, the technical problems of low accuracy measurement efficiency of the array surface of the radar antenna and poor visual display effect of the result in the prior art are solved, and further the technical effects of reducing the field measurement workload and improving the measurement efficiency are achieved, and the method is worthy of popularization and use.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (10)
1. The method for measuring the array plane precision of the large-scale radar antenna is characterized by comprising the following steps of:
s1: setting measurement mark points on an antenna array object, acquiring and matching key characteristic points of the antenna array object and a three-dimensional model through unmanned aerial vehicle photographing initialization measurement to obtain the caliber of the antenna array, coordinate information of the measurement mark points, mapping and reflecting the coordinate information to the three-dimensional model, and constructing a three-dimensional measurement scene;
s2: planning and simulating a measurement task in a three-dimensional measurement scene according to the caliber size of the antenna array surface, equipment parameters, the number of intersecting points of adjacent measurement marking points, the number of measurement marking points and precision requirement information, and obtaining unmanned aerial vehicle flight path and flight point data meeting the requirements of the antenna array surface measurement task after iterative optimization setting of the measurement marking points;
s3: transmitting unmanned aerial vehicle flight path and navigation point data meeting the requirements of an antenna array surface measurement task to an unmanned aerial vehicle system, and carrying out photogrammetry by the unmanned aerial vehicle according to a measurement task preset path to obtain a photogrammetry image;
s4: transmitting the photogrammetric image, judging quality compliance, operating the photogrammetric image which is judged to not meet the requirement, and re-shooting the measurement;
s5: and storing the photogrammetric image and performing image processing to obtain an antenna array surface measurement mark point coordinate value, forming an antenna array surface precision value through data fitting processing, reconstructing a three-dimensional model and displaying antenna array surface measurement precision information.
2. The method for measuring the array plane precision of the large-scale radar antenna according to claim 1, wherein the method comprises the following steps: the step S1 includes the steps of:
s11: setting measurement mark points on the antenna array surface real object, wherein the measurement mark points are set according to key characteristic points of the antenna array surface real object, the key characteristic points are characteristic elements of the antenna array surface caliber outline, the antenna array surface flatness, the assembly distance precision and the interface positions of the antenna array surface and other mechanical parts, and the antenna array surface caliber and the coordinate information of the measurement mark points are obtained through unmanned aerial vehicle photographing initialization measurement;
s12: matching the obtained coordinate information of the caliber of the array surface and the measurement mark point with the three-dimensional model, wherein the matching with the three-dimensional model is to carry out the operations of moving, aligning and overlapping on the dominant characteristic point, so that the dominant characteristic point is matched with the characteristic point corresponding to the three-dimensional model in an overlapping way, and the coordinate information of other measurement mark points is mapped and reflected to the three-dimensional model.
3. The method for measuring the array plane precision of the large-scale radar antenna according to claim 2, wherein the method comprises the following steps: in the step S1, the three-dimensional measurement scene is a fusion information set of the unmanned aerial vehicle capable of being visually displayed in a computer, the mounted photogrammetry equipment, the antenna array real object, the three-dimensional model thereof, and the measurement mark point coordinates.
4. The method for measuring the array plane precision of the large-scale radar antenna according to claim 1, wherein the method comprises the following steps: in the step S2, planning and simulating the measurement task in the three-dimensional measurement scene, that is, by setting the caliber value, the positions and the number of measurement mark points, the number of intersection points of adjacent measurement mark points, the equipment parameter and the value required by the measurement precision, and performing iterative optimization setting on the measurement mark points, the antenna array face measurement mark point coordinates, the measurement mark point numbers, the measurement times and the measurement angle information which meet the requirements of the antenna array face measurement task are obtained.
5. The method for measuring the array plane precision of the large-scale radar antenna according to claim 1, wherein the method comprises the following steps: in the step S2, the obtained coordinates, numbers, times and angles of the measurement mark points of the antenna array surface are converted into the flight path and the flight point data which can be identified by the unmanned aerial vehicle; the unmanned aerial vehicle flight path and the navigation point data comprise coordinates, navigation point numbers, measurement angles and measurement times information of the unmanned aerial vehicle; the coordinates, the waypoint numbers, the measurement angles and the measurement frequency information of the unmanned aerial vehicle are respectively corresponding and consistent with the coordinates, the measurement marking point numbers, the measurement frequency and the measurement angle information of the antenna array surface, and the coordinates of the measurement marking point of the antenna array surface and the coordinates of the unmanned aerial vehicle are global coordinate systems including the antenna array surface, the photogrammetry system, the measurement marking point and the measurement reference, so that the unmanned aerial vehicle can be visually displayed in a three-dimensional measurement scene.
6. The method for measuring the array plane precision of the large-scale radar antenna according to claim 1, wherein the method comprises the following steps: the step S3 includes the following steps: the method comprises the steps of defining a measurement task in a segmentation mode, dividing the unmanned aerial vehicle flight path and waypoint data into data with the measurement task, displaying the completion condition of the measurement task in a three-dimensional measurement scene in real time, performing information sleeve connection and association on the measurement task, the unmanned aerial vehicle flight path and waypoint data and photogrammetry images obtained through photogrammetry, and finally transmitting the unmanned aerial vehicle flight path and waypoint data meeting the requirements of the antenna array plane measurement task to an unmanned aerial vehicle system, wherein the unmanned aerial vehicle performs photogrammetry according to a preset path of the measurement task, and obtains photogrammetry images.
7. The method for measuring the array plane precision of the large-scale radar antenna according to claim 1, wherein the method comprises the following steps: in the step S4, a reverse search is performed on the photogrammetric image which is determined to not meet the requirement, a task requiring re-shooting measurement is obtained in batch, the positions of the marking points and corresponding unmanned aerial vehicle tracks and waypoint data are measured, and a shooting measurement path is re-planned to form a re-shooting measurement scheme; and eliminating the photogrammetric image which is judged to not meet the requirement, and replacing and supplementing the retake measurement image.
8. The method for measuring the array plane precision of the large-scale radar antenna according to claim 7, wherein the method comprises the following steps: in the step S4, the quality compliance determination element includes the number of adjacent measurement mark point intersections, sharpness, brightness, color shift, and similarity.
9. The method for measuring the array plane precision of the large-scale radar antenna according to claim 1, wherein the method comprises the following steps: the step S5 includes the steps of:
s51: storing a photogrammetric image in a three-dimensional measurement scene database, and storing the photogrammetric image in association with a measurement task, a measurement mark point position, and an unmanned aerial vehicle track and a navigation point data;
s52: performing image processing on the photogrammetric image to obtain an antenna array surface measurement mark point coordinate value, and performing data fitting processing to form an antenna array surface precision value;
s53: reconstructing a three-dimensional model according to the antenna array plane precision value and displaying antenna array plane measurement precision information, wherein the three-dimensional model reconstruction is to perform [ x, y, z, rx, ry, rz ] coordinate six-dimensional value conversion according to the coordinate values of the antenna array plane measurement mark points, fitting each measurement mark point into a plurality of detail plane groups, integrating the plurality of detail plane groups to form an integral plane, and integrating the coordinates of the center points of the plurality of detail plane groups to form coordinate values [ x, y, z, rx, ry, rz ] of the center points of the integral plane; (x, y, z) represents coordinate values of the measurement mark point in the xyz coordinate system, and (Rx, ry, rz) represents angles by which the measurement mark point rotates about x, y, and z axes, i.e., euler angles; repositioning, assembling and updating pose of the array surface component parts on the three-dimensional model according to the coordinate values of the measurement mark points;
s54: after the three-dimensional model is reconstructed, the detailed coordinate values of the measurement mark points and the overall flatness error value of the antenna array surface measurement precision are visually and interactively displayed on the three-dimensional model.
10. A large-scale radar antenna array accuracy measurement system, wherein the measurement method according to any one of claims 1 to 9 is used for measuring the large-scale radar antenna array accuracy, and the system comprises:
the scene construction unit is used for acquiring and matching key characteristic points of the antenna array surface real object and the three-dimensional model, obtaining the caliber of the antenna array surface and coordinate information of the measurement mark points, mapping and reflecting the coordinate information to the three-dimensional model, and constructing a three-dimensional measurement scene;
the task planning unit is used for planning and simulating a measurement task in a three-dimensional measurement scene according to the caliber size of the antenna array surface, the equipment parameters, the number of intersecting points of adjacent measurement mark points, the number of measurement mark points and the precision requirement information, and obtaining unmanned aerial vehicle flight path and flight point data meeting the requirements of the antenna array surface measurement task after iterative optimization setting of the measurement mark points;
the measurement implementation unit is used for transmitting unmanned aerial vehicle flight path and navigation point data meeting the requirements of the antenna array surface measurement task to an unmanned aerial vehicle system, and the unmanned aerial vehicle performs photogrammetry according to a measurement task preset path to obtain a photogrammetry image;
the quality evaluation unit is used for transmitting the photogrammetric image and judging quality compliance, and operating the photogrammetric image which is judged to not meet the requirement and re-shooting the measurement;
and the processing display unit is used for storing the photogrammetric image and performing image processing to obtain the coordinate value of the antenna array surface measurement marking point, forming an antenna array surface precision value through data fitting processing, reconstructing the three-dimensional model and displaying the antenna array surface measurement precision information.
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