CN115406354B - Intelligent alignment correction method for linear polarization phased array antenna - Google Patents
Intelligent alignment correction method for linear polarization phased array antenna Download PDFInfo
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Abstract
The invention relates to the technical field of communication, in particular to an intelligent alignment correction method of a linearly polarized phased array antenna.
Description
Technical Field
The application relates to the technical field of communication, in particular to an intelligent alignment correction method for a linearly polarized phased array antenna.
Background
The current common near-field test system of the millimeter wave phased array antenna mainly comprises a motion control system, a motion control system and a near-field test system, wherein the motion control system is used for installing and carrying an antenna probe to acquire the data of the array antenna aperture; the antenna probe is used for acquiring channel signals of an antenna array surface and transmitting the channel signals to a data acquisition and fusion instrument (such as a vector network analyzer) for data processing; and the wave control module is used for transmitting a control signal to the antenna to be tested, switching the working state of the antenna to be tested, opening or closing a channel of a wave array surface of the antenna to be tested and transmitting the phase-shifting attenuation data to the antenna chip. The most common calibration method of the near field at present comprises single-channel calibration, phase-toggle calibration and the like, wherein before the calibration, the array surface of an antenna to be measured needs to be adjusted horizontally and is axially parallel to a motion system, the calibration process is that the motion system moves an antenna probe to a position 1 lambda-3 lambda above one channel of the antenna array surface, the antenna to be measured is switched to a required working state through a wave control module, the channel of the array surface corresponding to the antenna to be measured is opened, the amplitude and phase data acquisition of the current channel is completed, then the probe is moved to the position above the next channel, the previous action is repeated, and the like is performed until the amplitude and phase data extraction of the last channel is completed.
As described above, in the calibration process of the current phased array antenna near field test system, there is a problem that before formal calibration is started, the antenna array surface needs to be manually adjusted to a horizontal state and the edge channel connecting line is made parallel to the coordinate axis of the motion system, so as to ensure that the antenna probe and the array surface channel are aligned accurately, otherwise, the accuracy of data acquisition of each channel amplitude and phase of the antenna array surface is affected, and finally, the whole calibration data has a large deviation, and the performance of the antenna array is affected to meet the required technical index. The manual adjustment of the spatial position of the antenna array surface consumes more time, has poor accuracy, is greatly influenced by human factors, and can cause poor alignment consistency between a probe and an antenna array surface channel in the calibration process due to installation errors of a motion system, so that accurate calibration data is difficult to extract.
Disclosure of Invention
In order to solve the problems that an antenna probe and a front surface channel are poor in alignment accuracy and the plane of an antenna to be measured is low in adjustment efficiency in the calibration process of an existing near field test system, the application provides an intelligent alignment correction method for a linearly polarized phased array antenna.
In order to achieve the technical effects, the technical scheme of the application is as follows:
an intelligent alignment correction method for a linearly polarized phased array antenna comprises the following steps:
the first step is as follows: placing a phased array antenna to a region to be tested;
the second step is that: acquiring digital image information and pixel coordinates of a phased array antenna to be detected which is randomly placed in a region to be detected through a first industrial camera;
further, the digital image information comprises a digital image pixel array; searching and matching pixel coordinates of the phased array antenna to be detected in the digital image information aiming at the acquired digital image information;
the third step: acquiring pixel coordinates of three groups of reference lines and pixel coordinates of intersection point arrays thereof;
further, the third step is specifically:
firstly, searching corner edges of a phased array antenna to be detected, using two intersected edge lines as reference lines, searching at least three groups of reference lines in total, wherein the first group of reference lines comprises a first longitudinal reference line and a first transverse reference line, calculating intersection pixel coordinates (Px 1 and Py 1) of the first longitudinal reference line and the first transverse reference line, the second group of reference lines comprises a second transverse reference line and a second longitudinal reference line, calculating intersection pixel coordinates (Px 2 and Py 2) of the second transverse reference line and the second longitudinal reference line, the third group of reference lines comprises a third longitudinal reference line and a third transverse reference line, and calculating intersection pixel coordinates (Px 3 and Py 3) of the third transverse reference line;
the fourth step: resolving the pixel coordinates of the intersection point array in the third step into world coordinates (X1, Y1), (X2, Y2) and (X3, Y3) of the motion mechanism shown in figure 3 through calibration, and calculating the included angle of the phased array antenna to be measured relative to the XY coordinate axes of the motion mechanism according to the world coordinates resolved by the intersection point array;
the fifth step: detecting the pixel distance from the corner channel of the phased array antenna array surface to be detected to the intersection point of the nearest reference line, resolving the pixel distance into a distance in world coordinates through calibration, and then calculating the non-precise world coordinates of the center of the corner channel of the phased array antenna array surface according to the intersection point array coordinates and the phased array antenna included angle in the fourth step;
further, three groups of reference line intersection point world coordinates are calculated through digital image calibration and solution and are respectively a first group (X1, Y1), a second group (X2, Y2) and a third group (X3, Y3), for a first array angle channel on the phased array antenna to be tested, which is closest to the first group of reference lines, the non-precise world coordinates (Tx 1, ty 1) of the center of the first array angle channel, the non-precise world coordinates (Tx 2, ty 2) of the center of a second corner channel, which is closest to the second group of reference lines, and the non-precise world coordinates (Tx 3, ty 3) of the center of the third corner channel, which is closest to the third group of reference lines, can be calculated through the intersection points (X1, Y1) and the actual distances from the center of the first array angle channel to the first longitudinal reference line and the first transverse reference line;
and a sixth step: moving the laser induction system to the position above the center of the N channel at the corner of the phased array antenna to be detected through the movement mechanism, wherein N =1, and acquiring the optimal shooting height and the current channel height of the second industrial camera;
the seventh step: and calculating the actual distance from the second industrial camera to the center of the N channel at the corner of the phased array antenna array surface to be detected to obtain the height from the sensing system to the center of the N channel according to the optimal shooting height in the sixth step and the actual size from the second industrial camera to the laser sensing system, wherein N =1.
Furthermore, accurate positioning is completed through a local alignment system, and the local alignment system is provided with a moving mechanism connecting clamp, an adapter plate, a camera fixing plate, a second industrial camera, a second industrial lens, a second industrial annular light source, an induction system fixing plate, an induction system and an antenna probe;
the second industrial camera, the second industrial lens and the second industrial annular light source form a second vision system, the connecting clamp is connected with an adapter plate of the local alignment system and a flange end of the movement mechanism, and the adapter plate is connected with the antenna probe, the induction system and the second vision system.
The local alignment system moving induction system aligns the coordinate position (Tx 1, ty 1) of the center of the first array angular falling channel, then moves to the optimal shooting height of the second industrial camera perpendicular to the center of the first array angular falling channel, and obtains the distance L1 from the center of the first array angular falling channel to the induction system;
the eighth step: moving a second industrial camera to the center of an N channel at the corner of the array surface of the phased array antenna to be detected through a motion mechanism, wherein N =1, and acquiring digital image information of the current corner channel;
the ninth step: and according to the digital image information obtained in the eighth step, obtaining pixel coordinates of preset reference lines, wherein the reference lines are at least 2 groups, each group is at least 2 non-parallel reference lines, calculating intersection points of the reference lines in each group, and obtaining the pixel coordinates of the intersection points in the image.
The tenth step: and resolving the pixel coordinates of the intersection point array in the ninth step into world coordinates of the motion mechanism through calibration.
The eleventh step: and calculating the accurate world coordinate (Tx 1', ty 1') of the center of the N channel at the corner of the phased array antenna to be tested according to the resolved world coordinate of the intersection point array, wherein N =1.
Further, assuming that the intersection point of the longitudinal reference line at the upper channel corner and the transverse reference line at the upper channel corner is (Cx 1, cy 1) and the intersection point of the transverse reference line at the lower channel corner and the longitudinal reference line at the lower channel corner is (Cx 2, cy 2), the precise world coordinates Tx1'= (Cx 1+ Cx 2)/2, ty1' = (Cy 1+ Cy 2)/2 of the channel center P are provided.
A twelfth step: and calculating the world coordinate of the center of the N channels at the corners of the array surface aligned with the center of the probe according to the accurate world coordinate of the center of the N channels at the corners of the phased array to be detected in the eleventh step and the size from the second industrial camera to the center of the probe, wherein N =1.
Further, the local alignment system moves the antenna probe to align to the coordinate position (Tx 1', ty 1') of the center of the angular landing channel of the first array, obtains the precise world coordinate (Ax 1', ay 1') of the current antenna probe, moves the antenna probe to a preset distance H required by test calibration, and sets the distance H as TL, wherein the distance H is a fixed value from the center of the antenna probe to the center of the second industrial camera
Ax1′= Tx1′+TL*sinα
Ay1′= Ty1′+TL*cosα
H = L1-L2-H, wherein L2 is the distance from the bottom end of the antenna probe to the bottom end of the induction system, and H is the distance required to move when the height from the antenna probe to the center of the first array corner channel is H;
and a thirteenth step of: similarly, repeating the sixth step to the tenth step to calculate the world coordinate of the center of the corresponding corner channel when the center of the probe is aligned to the corner N of the phased array antenna to be tested, wherein N = N +1;
further, repeating the above steps, obtaining the accurate world coordinates (Ax 2', ay 2') of the probe when the antenna probe is aligned with the coordinate position of the center of the second array-surface corner channel and the accurate world coordinates (Ax 3', ay 3') of the probe when the antenna probe is aligned with the coordinate position of the center of the third array-surface corner channel.
The fourteenth step is that: according to the world coordinates of the centers of the 3 angular channels obtained in the twelfth step and the thirteenth step, the world coordinates of the centers of the other channels of the antenna array surface aligned to the center of the probe are calculated;
furthermore, the antenna channels are arranged in m × n, where m is the number of channel rows, n is the number of channel columns, and the distance between two adjacent channels is consistent, where d is the channel distance, the world coordinate of the center of the first corner channel at the lower left corner in the XYZ space coordinate system is (x 1, y1, z 1), then the center coordinate of the first adjacent channel at the right side in the horizontal direction is (x 1+ d, y1, z 1), the center of the second channel is (x 1+2d, y1, z 1) … …, and so on, the center coordinates of all channels can be calculated, and then the world coordinates of the centers of the other channels can be calculated according to the world coordinates of the centers of the channel at the corners of the antenna array 3.
The fifteenth step: and finishing the alignment correction.
Further, in the alignment calibration process, the distance from the center of the antenna probe to the center of the antenna array surface channel is a fixed value within the range of 1 λ -3 λ, taking 1 λ as an example, through the above steps, when the probe is aligned to the center of the channel of the first array surface angle of the array surface as shown in fig. 2, and the distance is 1 λ, the world coordinate P1 (x 1, y1, z 1) of the probe in the motion mechanism at this moment is obtained; p1 (x 1, y1, Z1) is a spatial point in the XYZ coordinate system, (Ax 1', ay 1') is a point on the XOY coordinate plane, since (Ax 1', ay 1') is calculated from a pixel point on the image photographed by the camera in the foregoing, and the point on the image is a two-dimensional plane point, all the related coordinate data in the foregoing is only xy, and at this time, x1= Ax1', y1= Ay1', Z1 of P1 is a Z-direction coordinate when the probe is at H from the center of the wavefront channel. Moving the probe to a position above a corner channel of the second array surface of the array surface and aligning to the center, wherein the distance is still 1 lambda, acquiring a world coordinate P2 (x 2, y2, z 2) of the probe in the motion mechanism at the moment, finally moving the probe to a position above a corner channel of the third array surface and aligning to the center, wherein the distance is also 1 lambda, and acquiring a world coordinate P3 (x 3, y3, z 3) of the probe in the motion mechanism at the moment; can obtain a probe moving plane which is parallel to the antenna array surface and has a distance of 1 lambda, namely a plane where P1, P2 and P3 are positioned, and the normal vector of the plane is
n = P1P2 × P1P3= (a, B, C), which may be calculated
A=(y2-y1)*(z3-z1)-(z2-z1)*(y3-y1)
B=(x3-x1)*(z2-z1)-(z3-z1)*(x2-x1)
C=(x2-x1)*(y3-y1)-(y2-y1)*(x3-x1)
The equation of a plane obtainable By the dot method is Ax + By + Cz + D =0, wherein D = - (a × x1+ B × y1+ C × z 1); for a point P4 (x 4, y4, 0) in the normal direction of the vertical plane passing through P1, P1P 4/, then (x 4-x 4)/A = (y 4-y 1)/B
= z4/C, then P4 can be determined;
setting P2P3P4 as a new coordinate system, translating the new coordinate system to the origin of the current motion system coordinate system (0,0,0) by taking P1 as the origin to obtain a coordinate system (X ', Y', Z '), and setting the coordinates of the rotated point P as (X', Y ', Z') for the point P (X, Y, Z) in the current motion system coordinate system
Where A is a rotation matrix defined as follows:
wherein α 1, β 1 and γ 1 are the orientation angles of the X ' axis relative to X, Y and the Z axis, α 2, β 2 and γ 2 are the orientation angles of the Y ' axis relative to X, Y and the Z axis, α 3, β 3 and γ 3 are the orientation angles of the Z ' axis relative to X, Y and the Z axis;
therefore, no matter how the phased array antenna is placed in the area to be measured, a calibration or test point matrix which is parallel to the array surface and has a certain distance can be generated, and then the calibration or test point matrix is converted into a probe motion path of a motion system coordinate system through translation and rotation, so that the alignment correction of the phased array antenna is completed.
The application has the advantages that:
the invention provides an intelligent high-efficiency alignment method for a phased array antenna near field test, which can solve probe coordinate positions corresponding to other channels on a plane where an array plane channel is located by respectively and accurately positioning the centers of three corner channels of an antenna probe and the antenna array plane because the positions of all channels of the phased array antenna array plane are relatively fixed, thereby completing the accurate positioning of all channels on the whole array plane, and further ensuring that the center of the antenna probe is aligned with the center of the array plane channel in the test process.
Drawings
Fig. 1 is a schematic diagram of obtaining position information of a phased array antenna in a region to be measured.
Fig. 2 is a schematic diagram of phased array antenna imaging.
FIG. 3 is a geometric diagram of corner channel non-exact world coordinate calculations.
FIG. 4 is a schematic diagram of a local alignment system.
Fig. 5 is a schematic diagram of an antenna channel photographed by a second industrial camera.
Fig. 6 is a flowchart of alignment correction for a phased array antenna.
In the figure, 10-a mounting surface, 11-a first light source, 12-a first industrial camera, 13-a first lens, 14-a phased array antenna to be tested, 15-a placing platform of the phased array antenna to be tested, 20-a phased array antenna array surface to be tested, 21-a first longitudinal reference line, 22-a first transverse reference line, 23-a first array angular falling channel, 24-a third longitudinal reference line, 25-a third transverse reference line, 26-a second transverse reference line, 27-a second longitudinal reference line, 28-a second array surface corner channel, 29-a third array surface corner channel, 30-a moving mechanism connecting clamp, 31-a transfer plate, 32-a camera fixing plate, 33-a second industrial camera, 34-a second industrial lens, 35-a second industrial annular light source, 36-an induction system fixing plate, 37-an induction system, 38-an antenna probe, 300-a local lower angle alignment system, 51-a channel upper angle longitudinal reference line, 52-a channel upper angle transverse reference line, 53-a channel transverse reference line, 54-a channel longitudinal reference line, and a P-a central channel lower angle. In fig. 3, (X1, Y1) is the world coordinate of the intersection point of the first longitudinal reference line and the first transverse reference line of the reference line of fig. 2 in the XOY plane, (X2, Y2) is the world coordinate of the intersection point of the second transverse reference line and the second longitudinal reference line of the reference line of fig. 2 in the XOY plane, (X3, Y3) is the world coordinate of the intersection point of the third longitudinal reference line and the third transverse reference line of the reference line of fig. 2 in the XOY plane, D1 is the actual distance from the channel at the first corner of the phased array to the intersection point of the closest reference line (X1, Y1), D2 is the actual distance from the channel at the second corner of the phased array to the intersection point of the closest reference line (X2, Y2), D3 is the actual distance from the channel at the third corner of the phased array to the intersection point of the closest reference line (X3, Y3), α is the angle included angle between the phased array antenna and the longitudinal edge of the phased array with respect to the motion mechanism Y.
Detailed Description
Example 1
An intelligent alignment correction method for a linear polarization phased array antenna is used for completing alignment correction of near field test and calibration of the phased array antenna through a movement mechanism, a vision system and an induction system. The antenna to be detected can be placed in an area to be detected at will, position angle information of a phased array antenna 14 to be detected is obtained through a first vision system, non-precise world coordinates of the center of a corner channel of the antenna 3 are obtained through image processing, a shooting position and the height of an antenna array surface of the vision system are obtained through an induction system, precise world coordinates of the center of the corner channel of the antenna 3 are obtained through the vision system, further, the world coordinates of the center of a probe aligned with the center of the corner channel of the array surface 3 are calculated, and the alignment of the center of the channel is carried out by moving a second vision system, the induction system and the probe through a movement mechanism, so that the alignment correction of the antenna array surface is completed.
The motion mechanism may be a six axis robot, a SCARA robot, a gantry, and a servo module, which is used to move the antenna probe 38, the sensing system, and the vision system.
The visual system is a binocular visual system, the first visual system comprises a first camera, a first lens 13 and a first light source 11, and the first visual system is used for acquiring the position information of the phased array antenna in the area to be detected; the second vision system comprises a second camera, a second lens and a second light source and is used for acquiring accurate position information of the center of the phased array antenna channel.
The sensing system is a laser ranging device and is used for detecting the optimal shooting distance and the current channel height of the antenna channel.
The first camera and the second camera are area array CCD cameras or CMOS cameras, and the first lens 13 and the second lens are industrial fixed focus lenses.
The detection range of the laser ranging device during alignment is 65mm-300mm, and the precision is 0.03mm.
Example 2
As shown in fig. 6, an intelligent alignment correction method for a linearly polarized phased array antenna includes the following steps:
the first step is as follows: placing a phased array antenna to a region to be measured;
as shown in fig. 1, a to-be-tested phased array antenna 14 is placed on a placing platform 15 of the to-be-tested phased array antenna, a mounting surface 10 is arranged above the to-be-tested phased array antenna 14, a first light source 11 and a first industrial camera 12 are mounted on the mounting surface 10, and a first lens 13 is mounted on the first industrial camera 12.
The second step is that: acquiring digital image information and pixel coordinates of a phased array antenna 14 to be detected which is randomly placed in a region to be detected through a first industrial camera 12;
further, the digital image information comprises a digital image pixel array; each picture is composed of a plurality of pixel points, the picture can be regarded as a two-dimensional array, each element of the array is a pixel point, the gray value (range of 0-255) of the pixel point represents the bright-dark state, the pixel points with different gray values are combined to represent a picture, and the pixel array of the array image is the pixel point array with different gray values. Searching and matching pixel coordinates of the phased array antenna 14 to be detected in the digital image information aiming at the acquired digital image information;
the third step: acquiring pixel coordinates of three groups of reference lines and pixel coordinates of an intersection point array thereof;
the third step is specifically:
taking an imaging schematic diagram 2 of an antenna array as an example, firstly searching corner edges of a phased array antenna 14 to be detected, and taking two intersected edge lines as reference lines, searching at least three groups of reference lines in total, wherein the intersection points of the at least three groups of reference lines can determine the plane of the antenna, the first group of reference lines comprises a first longitudinal reference line 21 and a first transverse reference line 22, and calculating intersection pixel coordinates (Px 1, py 1) of the two intersected edge lines, the first group of reference lines is two reference lines searched on the image and is formed by vertical and horizontal pixel points, each pixel point in the image has pixel coordinates, the upper left corner is an origin, a certain pixel point is 10 pixels away from the origin in the horizontal direction, and the vertical direction is 15 pixels, so that the pixel coordinates are (10,15), and therefore, straight line pixel equations of the first group of reference lines can be calculated through the pixel coordinates of the first group of reference lines, further, the pixel coordinates of the intersection points of the first longitudinal reference line 21 and the first transverse reference line 22 are calculated, the second group of reference lines comprises a second transverse reference line 26 and a second longitudinal reference line 27, and the intersection pixel coordinates (Px 2, py2, and Py 3) of the third group of reference lines are calculated;
the fourth step: the pixel coordinates of the intersection point array in the third step are resolved into world coordinates (X1, Y1), (X2, Y2) and (X3, Y3) of the motion mechanism shown in figure 3 through calibration, the calibration is a mature method, a conversion relation can be established between the coordinates of a certain pixel point in a picture and the actual coordinates of the certain pixel point in the motion mechanism coordinate system, therefore, the world coordinates of the certain pixel point in the picture in the motion mechanism coordinate system can be converted, and the included angle of the phased array antenna 14 to be tested relative to the XY coordinate axis of the motion mechanism is calculated according to the world coordinates after the intersection point array is resolved; the motion mechanism refers to a robotic arm or gantry that carries the probe and local vision system motion as shown in fig. 4. And (3) an included angle calculation process: taking two points in the intersection point array, and according to world coordinates (X1, Y1) and (X2, Y2) of the XOY planes, α = arctan ((X2-X1)/(Y2-Y1)), wherein α is an included angle of the phased array antenna relative to a Y axis of the motion mechanism;
the fifth step: detecting the pixel distance from the corner channel of the phased array antenna array surface 20 to be detected to the intersection point of the nearest reference line, resolving the pixel distance into a distance in world coordinates through calibration, and calculating the non-precise world coordinates of the center of the corner channel of the phased array antenna array surface according to the intersection point array coordinates and the included angle of the phased array antenna in the fourth step in the same way as the fourth step;
calculating three groups of reference line intersection point world coordinates which are respectively a first group (X1, Y1), a second group (X2, Y2) and a third group (X3, Y3) through digital image calibration, and calculating the imprecise world coordinates (Tx 1, ty 1) of the center of the first array angle channel 23, the imprecise world coordinates (Tx 2, ty 2) of the center of the second corner channel 28 closest to the second group of reference lines and the imprecise world coordinates (Tx 3, ty 3) of the center of the third corner channel 29 closest to the third group of reference lines through the actual distances from the intersection point (X1, Y1) and the center of the first array angle channel 23 to the first longitudinal reference line 21 and the first transverse reference line 22 on the phased array antenna 14 to be tested, which are closest to the first group of reference lines;
the calculation process is as follows:
setting actual distances Dx1 and Dy1 from the first array angular passage 23 to the first longitudinal reference line 21 and the first transverse reference line 22 of the phased array antenna array surface 20 to be measured, and setting the actual distance D1= sqrt (Dx 1+ Dy 1) from the first array angular passage 23 to the nearest reference line intersection point (X1, Y1), so that the imprecise world coordinates of the center of the first array angular passage 23 are (Tx 1, ty 1) = (X1-D1: sin (θ + α), Y1-D1: cos (θ + α)); similarly, the non-precise world coordinates of the centers of the other two corner channels can be calculated as (Tx 2, ty 2) = (X2-D2 × sin (θ + α), Y2+ D2 × cos (θ + α)) and (Tx 3, ty 3) = (X3 + D3 × sin (θ + α), Y3-D3 × cos (θ + α)), where θ = arctan (Dx 1/Dy 1), and α is the Y-axis angle of the phased array antenna relative to the moving mechanism.
And a sixth step: moving the laser induction system 37 to the position above the center of the N channel at the corner of the phased array antenna 14 to be detected through the movement mechanism, wherein N =1, and acquiring the optimal shooting height and the current channel height of the second industrial camera 33; wherein the motion mechanism can be a mechanical arm or a scanning frame carrying the probe and the local vision system to move; the optimal shooting height is the clearest height of the shot picture of the industrial camera, is a fixed value, is set to be JL1, the distance from the antenna array surface to the laser sensing system 37 can be acquired through the laser sensing system 37, and is set to be JL2, because the distance from the laser sensing system 37 to the second industrial camera 33 is fixed, the distance is set to be JL3, and the movement mechanism moves the laser sensing system 37 until JL2+ JL3= JL1, which is the optimal shooting height. The current channel height is the distance JL2 from the antenna array to the laser sensing system 37;
the seventh step: and calculating the actual distance to be moved from the second industrial camera 33 to the center of the N channel at the corner of the phased array antenna array surface 20 to be detected according to the optimal shooting height in the sixth step and the actual size from the second industrial camera 33 to the laser induction system 37, and acquiring the height from the induction system to the center of the N channel, wherein N =1. The first array corner channel 23 of figure 2 is the center of the phased array antenna array corner 1 channel.
The local alignment system 300 is used to complete the precise positioning, as shown in fig. 4, the local alignment system 300 is provided with a moving mechanism connecting clamp, an adapter plate 31, a camera fixing plate 32, a second industrial camera 33, a second industrial lens 34, a second industrial annular light source 35, an induction system fixing plate 36, a laser induction system 37 and an antenna probe 38;
an antenna probe 38 is arranged below the adapter plate 31, a moving mechanism connecting clamp 30 is arranged above the adapter plate 31, a second industrial camera 33 is mounted on the camera fixing plate 32, a second industrial lens 34 is arranged below the second industrial camera 33, an induction system fixing plate 36 is further arranged below the adapter plate 31, and a laser induction system 37 and a second industrial annular light source 35 are mounted on the induction system fixing plate 36.
The second industrial camera 33, the second industrial lens 34 and the second industrial annular light source 35 form a second vision system, the connecting clamp connects the adapter plate 31 of the local alignment system 300 and the flange end of the moving mechanism, and the adapter plate 31 connects the antenna probe 38, the laser sensing system 37 and the second vision system.
The local alignment system 300 moves the sensing system to align with the coordinate position (Tx 1, ty 1) of the center of the first array angular drop passage 23, then moves to the optimal shooting height of the second industrial camera 33 perpendicular to the center of the first array angular drop passage 23, and obtains the distance L1 from the center of the first array angular drop passage 23 to the sensing system, wherein the value of L1 is the same as that of JL2;
eighth step: moving a second industrial camera 33 to the center of an N channel at the corner of the phased array antenna array surface 20 to be tested through a motion mechanism, wherein N =1, and acquiring digital image information of the current corner channel;
the ninth step: acquiring pixel coordinates of preset reference lines according to the digital image information in the eighth step, wherein the reference lines are at least 2 groups, and each group comprises at least 2 non-parallel reference lines, such as two groups of reference lines, namely a channel upper corner longitudinal reference line 51, a channel upper corner transverse reference line 52, a channel lower corner transverse reference line 53 and a channel lower corner longitudinal reference line 54 in fig. 5; the preset reference line here refers to a reference line of a picture taken by the second industrial camera 33, which is different from the reference line of a picture taken by the first industrial camera 12 at the third step. And calculating the intersection point of each group of reference lines, and acquiring the pixel coordinates of the intersection point in the image.
The tenth step: and resolving the pixel coordinates of the intersection point array in the ninth step into the world coordinates of the motion mechanism through calibration. The calculation method is the same as the calibration calculation method in the fourth step.
The eleventh step: and calculating the accurate world coordinate (Tx 1', ty 1') of the center of the channel N at the corner of the phased array antenna 14 to be measured according to the world coordinate obtained by resolving the intersection point array, wherein N =1.
Assuming that the intersection point of the channel upper corner longitudinal reference line 51 and the channel upper corner transverse reference line 52 is (Cx 1, cy 1) and the intersection point of the channel lower corner transverse reference line 53 and the channel lower corner longitudinal reference line 54 is (Cx 2, cy 2), the exact world coordinates Tx1'= (Cx 1+ Cx 2)/2, ty1' = (Cy 1+ Cy 2)/2 of the channel center P are obtained.
A twelfth step: and calculating the world coordinate of the center of the probe aligned to the corner N channel of the front surface according to the accurate world coordinate of the corner N channel of the phased array to be detected in the eleventh step and the size from the second industrial camera 33 to the center of the probe, wherein N =1.
Further, the local alignment system 300 moves the antenna probe 38 to align with the coordinate position (Tx 1', ty 1') of the center of the first array corner channel 23, obtains the precise world coordinates (Ax 1', ay 1') of the current antenna probe 38, and moves the antenna probe 38 to the preset distance H required by the test calibration, where the distance from the center of the antenna probe 38 to the center of the second industrial camera 33 is a fixed value, set as TL, and then
Ax1′= Tx1′+TL*sinα
Ay1′= Ty1′+TL*cosα
H = L1-L2-H, where L2 is a distance from the bottom end of the antenna probe 38 to the bottom end of the sensing system, and H is a distance that the antenna probe 38 needs to move when the height from the center of the first array corner channel 23 is H;
and a thirteenth step of: similarly, repeating the sixth step to the tenth step to calculate the world coordinate of the center of the corresponding corner channel when the center of the probe is aligned with the corner N of the phased array antenna 14 to be measured, wherein N = N +1;
the above steps are repeated to obtain the probe precise world coordinates (Ax 2', ay 2') when the antenna probe 38 is aligned with the coordinate position of the center of the second wavefront corner channel 28 and the probe precise world coordinates (Ax 3', ay 3') when the antenna probe 38 is aligned with the coordinate position of the center of the third wavefront corner channel 29.
A fourteenth step of: according to the world coordinates of the centers of the 3 angular channels obtained in the twelfth step and the thirteenth step, the world coordinates of the centers of the other channels of the antenna array surface aligned to the center of the probe are calculated;
the antenna channels are arranged according to m × n, wherein m is the number of channel rows, n is the number of channel columns, the distance between two adjacent channels is consistent, the channel distance is d, the world coordinate of the center of the first corner channel at the lower left corner in an XYZ space coordinate system is (x 1, y1, z 1), the center coordinate of the first adjacent channel at the right side of the antenna channel in the horizontal direction is (x 1+ d, y1, z 1), the center of the second channel is (x 1+2d, y1, z 1), … …, and the like, the center coordinates of all the channels can be calculated, and then the world coordinates of the centers of other channels can be calculated according to the world coordinates of the centers of the corner channels at the 3 antenna array planes.
The fifteenth step: and finishing the alignment correction.
In the alignment calibration process, the distance from the center of the antenna probe 38 to the center of the antenna array surface channel is a fixed value within the range of 1 λ -3 λ, taking 1 λ as an example, through the above steps, when the probe is aligned to the center of the array surface first array angle channel 23 as shown in fig. 2 and the distance is 1 λ, the world coordinate P1 (x 1, y1, z 1) of the probe in the motion mechanism at the moment is obtained; p1 (x 1, y1, Z1) is a spatial point in the XYZ coordinate system, (Ax 1', ay 1') is a point on the XOY coordinate plane, since (Ax 1', ay 1') is calculated from a pixel point on the image photographed by the camera in the foregoing, and the point on the image is a two-dimensional plane point, all the related coordinate data in the foregoing is only xy, and at this time, x1= Ax1', y1= Ay1', Z1 of P1 is a Z-direction coordinate when the probe is at H from the center of the wavefront channel. Moving the probe to be above the corner channel 28 of the second wavefront of the wavefront and aligning the center with the distance of 1 lambda, acquiring a world coordinate P2 (x 2, y2, z 2) of the probe in the motion mechanism at the moment, finally moving the probe to be above the corner channel 29 of the third wavefront of the wavefront and aligning the center with the distance of 1 lambda, and acquiring a world coordinate P3 (x 3, y3, z 3) of the probe in the motion mechanism at the moment; can obtain a probe moving plane which is parallel to the antenna array surface and has a distance of 1 lambda, namely a plane where P1, P2 and P3 are positioned, and the normal vector of the plane is
n = P1P2 × P1P3= (a, B, C), which may be calculated
A=(y2-y1)*(z3-z1)-(z2-z1)*(y3-y1)
B=(x3-x1)*(z2-z1)-(z3-z1)*(x2-x1)
C=(x2-x1)*(y3-y1)-(y2-y1)*(x3-x1)
The equation of a plane obtainable By the dot method is Ax + By + Cz + D =0, wherein D = - (a × x1+ B × y1+ C × z 1); for a point P4 (x 4, y4, 0) in the normal direction of the vertical plane passing through P1, P1P 4/, then (x 4-x 4)/A = (y 4-y 1)/B
= z4/C, then P4 can be determined;
setting P2P3P4 as a new coordinate system, translating the new coordinate system to the origin of the current motion system coordinate system (0,0,0) by taking P1 as the origin to obtain a coordinate system (X ', Y', Z '), and setting the coordinates of the rotated point P as (X', Y ', Z') for the point P (X, Y, Z) in the current motion system coordinate system
Where A is a rotation matrix defined as follows:
wherein α 1, β 1 and γ 1 are the orientation angles of the X ' axis relative to X, Y and the Z axis, α 2, β 2 and γ 2 are the orientation angles of the Y ' axis relative to X, Y and the Z axis, α 3, β 3 and γ 3 are the orientation angles of the Z ' axis relative to X, Y and the Z axis;
therefore, no matter how the phased array antenna is placed in the area to be measured, a calibration or test point matrix which is parallel to the array surface and has a certain distance can be generated, and then the calibration or test point matrix is converted into a probe motion path of a motion system coordinate system through translation and rotation, so that the alignment correction of the phased array antenna is completed.
Claims (10)
1. An intelligent alignment correction method for a linearly polarized phased array antenna is characterized by comprising the following steps: the method comprises the following steps:
the first step is as follows: placing a phased array antenna to a region to be measured;
the second step: digital image information and pixel coordinates of a phased array antenna (14) to be tested which is placed at will in the area to be tested are obtained through a first industrial camera (12);
the third step: acquiring pixel coordinates of three groups of reference lines and pixel coordinates of an intersection point array thereof;
the fourth step: resolving the pixel coordinate of the intersection point array in the third step into the world coordinate of the motion mechanism through calibration, and calculating the included angle of the phased array antenna (14) to be measured relative to the XY coordinate axis of the motion mechanism according to the world coordinate resolved by the intersection point array;
the fifth step: detecting the pixel distance from the corner channel of the phased array antenna array surface (20) to be detected to the intersection point of the nearest reference line, resolving the pixel distance into a distance in world coordinates through calibration, and then calculating the non-precise world coordinates of the center of the corner channel of the phased array antenna array surface according to the intersection point array coordinates and the included angle of the phased array antenna in the fourth step;
and a sixth step: moving a laser induction system (37) to the position above the center of an N channel at the corner of a phased array antenna (14) to be detected through a motion mechanism, wherein N =1, and acquiring the optimal shooting height and the current channel height of a second industrial camera (33);
the seventh step: according to the optimal shooting height of the sixth step and the actual size from the second industrial camera (33) to the laser induction system (37), calculating the actual distance from the second industrial camera (33) to the center of the N channel at the corner of the phased array antenna array surface (20) to be measured, and acquiring the height from the induction system to the center of the N channel, wherein N =1;
eighth step: moving a second industrial camera (33) to the center of an N channel at the corner of a phased array antenna array surface (20) to be detected through a motion mechanism, wherein N =1, and acquiring digital image information of the current corner channel;
the ninth step: according to the digital image information obtained in the eighth step, obtaining pixel coordinates of preset reference lines, wherein the reference lines are at least 2 groups, each group is at least 2 non-parallel reference lines, calculating intersection points of the reference lines in each group, and obtaining the pixel coordinates of the intersection points in the image;
the tenth step: resolving the pixel coordinates of the intersection point array in the ninth step into world coordinates of the motion mechanism through calibration;
the eleventh step: calculating the accurate world coordinate (Tx 1', ty 1') of the center of the N channel at the corner of the phased array antenna (14) to be tested according to the world coordinate after the intersection point array is solved, wherein N =1;
the twelfth step: according to the accurate world coordinate of the center of the N channel at the corner of the phased array to be detected in the eleventh step and the size from the second industrial camera (33) to the center of the probe, calculating the world coordinate of the center of the probe aligned with the center of the N channel at the corner of the array surface, wherein N =1;
the thirteenth step: repeating the sixth step to the tenth step, and calculating the world coordinate of the center of the corresponding corner channel when the center of the probe is aligned with the corner N of the phased array antenna (14) to be detected, wherein N = N +1;
the fourteenth step is that: according to the world coordinates of the centers of the 3 angular channels obtained in the twelfth step and the thirteenth step, the world coordinates of the centers of the probes aligned with the centers of the other channels of the array surface of the antenna are calculated;
the fifteenth step: and finishing the alignment correction.
2. The intelligent alignment correction method for the linearly polarized phased array antenna according to claim 1, characterized in that: the digital image information comprises a digital image pixel array; and searching pixel coordinates of the phased array antenna (14) to be tested in the digital image information according to the acquired digital image information.
3. The intelligent alignment correction method for the linearly polarized phased array antenna according to claim 1, characterized in that: the third step is specifically:
the method comprises the steps of firstly searching corner edges of a phased array antenna (14) to be tested, using two intersected edge lines as reference lines, searching at least three groups of reference lines in total, wherein the first group of reference lines comprises a first longitudinal reference line (21) and a first transverse reference line (22), calculating intersection pixel coordinates (Px 1, py 1) of the first group of reference lines, the second group of reference lines comprises a second transverse reference line (26) and a second longitudinal reference line (27), calculating intersection pixel coordinates (Px 2, py 2) of the second group of reference lines, the third group of reference lines comprises a third longitudinal reference line (24) and a third transverse reference line (25), and calculating intersection pixel coordinates (Px 3, py 3) of the third group of reference lines.
4. The intelligent alignment correction method for the linearly polarized phased array antenna according to claim 1, characterized in that: and fifthly, calculating three groups of reference line intersection point world coordinates which are respectively a first group (X1, Y1), a second group (X2, Y2) and a third group (X3, Y3) through digital image calibration, wherein for a first array angle channel (23) on the phased array antenna (14) to be tested, which is closest to the first group of reference lines, the non-precise world coordinates (Tx 1, ty 1) of the center of the first array angle channel (23), the non-precise world coordinates (Tx 2, ty 2) of the center of a second array angle channel (28), which are closest to the second group of reference lines and the non-precise world coordinates (Tx 3, ty 3) of the center of a third array angle channel (29), which is closest to the third group of reference lines, can be calculated through the actual distances from the intersection points (X1, Y1) and the center of the first array angle channel (23) to a first longitudinal reference line (21) and a first transverse reference line (22).
5. The intelligent alignment correction method for the linearly polarized phased array antenna according to claim 1, characterized in that: in the seventh step, accurate positioning is completed through a local alignment system (300), wherein the local alignment system (300) is provided with a moving mechanism connecting clamp, an adapter plate (31), a camera fixing plate (32), a second industrial camera (33), a second industrial lens (34), a second industrial annular light source (35), an induction system fixing plate (36), an induction system and an antenna probe (38); a second industrial camera (33), a second industrial lens (34) and a second industrial annular light source (35) form a second visual system, a connecting clamp is connected with an adapter plate (31) of the local alignment system (300) and a flange end of the movement mechanism, and the adapter plate (31) is connected with an antenna probe (38), an induction system and the second visual system; and the local alignment system (300) moves the induction system to align the coordinate position (Tx 1, ty 1) of the center of the first array angular falling channel (23), then moves to the optimal shooting height of the second industrial camera (33) perpendicular to the center of the first array angular falling channel (23), and obtains the distance L1 from the center of the first array angular falling channel (23) to the induction system.
6. The intelligent alignment correction method for the linearly polarized phased array antenna according to claim 1, characterized in that: in the tenth step, the intersection point of the channel upper corner longitudinal reference line (51) and the channel upper corner transverse reference line (52) is (Cx 1, cy 1), the intersection point of the channel lower corner transverse reference line (53) and the channel lower corner longitudinal reference line (54) is (Cx 2, cy 2), and then the accurate world coordinates Tx1'= (Cx 1+ Cx 2)/2 and ty1' = (Cy 1+ Cy 2)/2 of the channel center P are set.
7. The intelligent alignment correction method for the linearly polarized phased array antenna according to claim 4, characterized in that: in the twelfth step, the local alignment system (300) moves the antenna probe (38) to align with the coordinate position (Tx 1', ty 1') of the center of the first array angular drop channel (23), acquires the current precise world coordinate (Ax 1', ay 1') of the antenna probe (38), and moves the antenna probe (38) to the preset distance H required by the test calibration, wherein the distance from the center of the antenna probe (38) to the center of the second industrial camera (33) is a fixed value and is set as TL, and then
Ax1′= Tx1′+TL*sinα
Ay1′= Ty1′+TL*cosα
H = L1-L2-H, wherein L2 is the distance from the bottom end of the antenna probe (38) to the bottom end of the induction system, and H is the distance required to move when the height from the antenna probe (38) to the center of the first array corner channel (23) is H; wherein alpha is an included angle of the phased array antenna relative to the Y axis of the moving mechanism, and L1 is a distance from the center of the angular channel of the first array to the induction system.
8. The intelligent alignment correction method for the linearly polarized phased array antenna according to claim 4, characterized in that: in a thirteenth step, the above steps are repeated, and the probe precise world coordinates (Ax 2', ay 2') when the antenna probe (38) is aligned with the coordinate position of the center of the second wavefront corner channel (28) and the probe precise world coordinates (Ax 3', ay 3') when the antenna probe (38) is aligned with the coordinate position of the center of the third wavefront corner channel (29) are obtained.
9. The intelligent alignment correction method for the linearly polarized phased array antenna according to claim 1, characterized in that: in the fourteenth step, the antenna channels are arranged in m × n, where m is the number of channel rows, n is the number of channel columns, and the distance between two adjacent channels is consistent, where d is the channel distance, the world coordinate of the center of the first corner channel at the lower left corner in the XYZ space coordinate system is (x 1, y1, z 1), then the center coordinate of the first adjacent channel at the right side in the horizontal direction is (x 1+ d, y1, z 1), and the center of the second channel is (x 1+2d, y1, z 1) … …, and the center coordinates of all channels can be calculated, so the world coordinates of the centers of the other channels can be calculated according to the world coordinates of the centers of the channel at the corners of 3 antenna arrays.
10. The intelligent alignment correction method for the linearly polarized phased array antenna according to claim 4, characterized in that: in the fifteenth step, in the alignment calibration process, the distance from the center of the antenna probe (38) to the center of the antenna array channel is a fixed value within the range of 1 lambda-3 lambda, and through the steps, when the probe is aligned to the center of the first array angle channel (23) and the distance is 1 lambda, the world coordinates P1 (x 1, y1, z 1) of the probe in the motion mechanism at the moment are obtained; p1 (x 1, y1, Z1) is a spatial point in XYZ coordinate system, (Ax 1', ay 1') is a point on the XOY coordinate plane, and at this time, x1= Ax1', y1= Ay1', Z1 of P1 is a Z-direction coordinate of the probe at a distance H from the center of the wavefront channel, the probe is moved above and aligned with the center of the wavefront second wavefront corner channel (28), the distance is still 1 λ, the world coordinates P2 (x 2, y2, Z2) of the probe in the motion mechanism at this moment are acquired, finally the probe is moved above and aligned with the center of the wavefront third wavefront corner channel (29), the distance is also 1 λ, the world coordinates P3 (x 3, y3, Z3) of the probe in the motion mechanism at this moment are acquired; the normal vector of the probe moving plane parallel to the antenna array surface and at a distance of 1 lambda, namely the plane where P1, P2 and P3 are located and the plane can be obtained
n = P1P2 × P1P3= (a, B, C), which can be calculated
A=(y2-y1)*(z3-z1)-(z2-z1)*(y3-y1)
B=(x3-x1)*(z2-z1)-(z3-z1)*(x2-x1)
C=(x2-x1)*(y3-y1)-(y2-y1)*(x3-x1)
The equation of a plane obtainable By the dot method is Ax + By + Cz + D =0, wherein D = - (a × x1+ B × y1+ C × z 1); for a point P4 (x 4, y4, 0), P1P 4/n, (x 4-x 4)/A = (y 4-y 1)/B
= z4/C, then P4 can be determined;
setting P2P3P4 as a new coordinate system, translating the new coordinate system to the origin of the current motion system coordinate system (0,0,0) by taking P1 as the origin to obtain a coordinate system (X ', Y', Z '), and setting the coordinates of the rotated point P as (X', Y ', Z') for the point P (X, Y, Z) in the current motion system coordinate system, then
Where A is a rotation matrix defined as follows:
wherein α 1, β 1 and γ 1 are the orientation angles of the X ' axis relative to X, Y and the Z axis, α 2, β 2 and γ 2 are the orientation angles of the Y ' axis relative to X, Y and the Z axis, α 3, β 3 and γ 3 are the orientation angles of the Z ' axis relative to X, Y and the Z axis;
no matter how the phased array antenna is placed in the area to be measured, a calibration or test point matrix which is parallel to the array surface and has a certain distance can be generated, and then the calibration or test point matrix is converted into a probe motion path of a motion system coordinate system through translation and rotation, so that the alignment correction of the phased array antenna is completed.
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