CN104407326B - Radio-frequency autonomous relative attitude measurement system applied between cluster objects - Google Patents
Radio-frequency autonomous relative attitude measurement system applied between cluster objects Download PDFInfo
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- CN104407326B CN104407326B CN201410602701.2A CN201410602701A CN104407326B CN 104407326 B CN104407326 B CN 104407326B CN 201410602701 A CN201410602701 A CN 201410602701A CN 104407326 B CN104407326 B CN 104407326B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
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Abstract
The invention relates to a radio-frequency autonomous relative attitude measurement system applied between cluster objects. The system comprises two sets of relative attitude measurement devices with identical structures. Each set of devices include two transmitting antennas, three receiving antennas, two radio-frequency transmitting channels, three radio-frequency receiving channels, an auxiliary radio-frequency receiving channel, two dual-mode auxiliary radio-frequency channels, a baseband processing module, and a high-stability time-based module. The two sets of relative attitude measurement devices respectively receive and sending ranging signals, so that relative attitude measurement of a master member and a slave member can be completed without the need to use observation data provided by other cluster members. Therefore, when parts of members in the target cluster become valid, the relative attitude measurement function can still be provided normally. In addition, with the system, the real-time performance of whole-cycle calculation as well as the real-time performance and operation flexibility of the equipment can be improved.
Description
Technical field
The present invention relates to a kind of radionavigation positioner, a kind of be applicable between complex target penetrate
Frequently Autonomous relative attitude measurement system, it is adaptable to the Autonomous relative attitude measurement between complex target, belongs to navigation
Positioning field.
Background technology
Along with the development of the technology of measurement, the research that the relative attitude between multiple targets is measured technology becomes
Being an important directions, its application includes that between star, relative status is measured, spacecraft crosses docking and space flight
Relative attitude measurement etc. between device.
Radio frequency Autonomous relative attitude measuring, by multiple transmitting antennas, reception antenna, radio frequency sending set,
Radio-frequency transmitter and baseband processing module composition.Radio frequency Autonomous relative attitude measuring is used for complex target
Between Autonomous relative attitude measurement time, need each member that a set of Autonomous relative attitude measuring is installed, each
Device on member is launched distance measuring signal, Mei Gecheng by its multiple transmitters through launching sky other members of alignment
The device of member utilizes its reception antenna and radio-frequency transmitter to collect the distance measuring signal that other member sends simultaneously, and
Give the process that baseband processing module carries out distance measuring signal.Distance measuring signal is modulated at by fixing pseudo-random code sequence
Being formed on radio-frequency carrier, device can measure phase place and the load obtaining pseudo-code sequence after receiving distance measuring signal
The phase place of ripple signal, must use carrier signal phase to come as ranging information to realize high-precision range finding
Source, owing to each transmitting antenna uses unique fixing pseudo-random code sequence, reception antenna can be by fixing puppet
Random code sequence identifies the distance measuring signal launching antenna from difference.Device on each member utilizes it to connect
The distance measuring signal received, can resolve and obtain between its each reception antenna and each transmitting antenna of other member
Distance, utilize these range informations, can determine between each dual-mode antenna according to space intersection's method principle
Relative position, utilize the relative position bonding position cosine formula of dual-mode antenna can extrapolate each member
Between relative attitude.
At present, the antenna part of radio frequency Autonomous relative attitude measuring is frequently with a transmitting antenna and one
Reception antenna, a transmitting antenna and two reception antennas, three duplexers worked alone, one
The several ways such as individual duplexer and two reception antennas, these devices can realize between two targets
Relative distance or the measurement of relative position, in these devices, some cannot measure relative attitude, other
Part needs multiple member the most mutually measure and just can obtain relative appearance after the measurement data of comprehensive multiple member
State information, these equipment all cannot realize direct relative attitude between two targets and measure.It addition, at present
Radio frequency Autonomous relative attitude measuring all use the working method of time-division, the most each time slot only one of which becomes
The measurement apparatus of member launches signal and other member can only receive signal, so complete through multiple time slots ability
Becoming one to measure the cycle, it is the longest that the number of members in cluster measures the cycle the most at most, this reality impact measured
Shi Xing, or in order to ensure that real-time has to limit the number of members in cluster.
Summary of the invention
Present invention solves the technical problem that and be: overcome the deficiencies in the prior art, it is provided that one is applicable to cluster
Between target radio frequency Autonomous relative attitude measurement without by other members in cluster can realize a pair member it
Between independent direct relative attitude measure system.
The technical solution of the present invention is: a kind of radio frequency Autonomous relative attitude being applicable between complex target is surveyed
Amount system, including the relative attitude measurement apparatus that two nested structures are identical, be designated as respectively main member device with from becoming
Member device, main member device and receive respectively from member device and send distance measuring signal complete relative attitude measure:
Main member device includes: main transmitting antenna T1, main transmitting antenna T2, main reception antenna R1, master connect
Receive antenna R2, main reception antenna R3, main radio frequency transmitting channel TC1, main radio frequency transmitting channel TC2, master
Radio frequency reception channel RC1, main radio frequency reception channel RC2, main radio frequency reception channel RC3, main double mode
Auxiliary radio-frequency channel AC1, main double mode auxiliary radio-frequency channel AC2, main auxiliary radio frequency reception channel AC3
With main baseband processing module, wherein:
Main baseband processing module, including main digital signal processor unit, main field programmable gate array unit,
Main D/A converter unit, main a/d converter unit；
Main digital signal processor unit, obtains upper epoch from member device two from launching antenna respectively to master
The pseudorange of three main reception antennas of member device, carries out coding and forms transmitting data, will launch data pseudorange
Deliver to main field programmable gate array unit；Receive the demodulated signal that main field programmable gate array unit sends,
It is compiled obtaining in main member device upper epoch two main transmitting antennas respectively to three from member device
From the pseudorange of reception antenna, then obtain this epoch of two from member device from launching antenna respectively to master
The pseudorange of three main reception antennas in member device, finally utilizes space intersection's principle to be calculated main member
The integer ambiguity of device, relative position and attitude angle；
Main field programmable gate array unit, receives the transmitting data of main digital signal processor unit transmission also
Spread, obtain spread-spectrum signal and be modulated obtaining modulated signal, then modulated signal filtering is obtained
Digital medium-frequency signal also delivers to main D/A converter unit；Receive in the numeral that main a/d converter unit sends
Frequently signal being demodulated, delivers to main digital signal processor unit after obtaining demodulated signal；
Main D/A converter unit, receives the digital medium-frequency signal that main field programmable gate array unit sends,
Digital medium-frequency signal is converted into analog if signal, and deliver to main radio frequency transmitting channel TC1, main radio frequency is sent out
Penetrate passage TC2, main double mode auxiliary radio-frequency channel AC1, main double mode auxiliary radio-frequency channel AC2；
Main a/d converter unit, receive respectively main radio frequency reception channel RC1, main radio frequency reception channel RC2,
Main radio frequency reception channel RC3, main double mode auxiliary radio-frequency channel AC1, main double mode auxiliary radio-frequency channel
The analog if signal that AC2, main auxiliary radio frequency reception channel AC3 send, is converted into analog if signal
Digital medium-frequency signal also sends to main field programmable gate array unit；
Main radio frequency transmitting channel TC1, receives the analog if signal that main D/A converter unit sends, by mould
Intend intermediate-freuqncy signal be converted to fd frequency and obtain fd frequency RF signal, fd frequency RF signal is delivered to main
Launch antenna T1；
Main radio frequency transmitting channel TC2, receives the analog if signal that main D/A converter unit sends, by mould
Intend intermediate-freuqncy signal be converted to fd frequency and obtain fd frequency RF signal, fd frequency RF signal is delivered to main
Launch antenna T2；
Main double mode auxiliary radio-frequency channel AC1, receives the analog if signal that main D/A converter unit sends,
Analog if signal is converted to fad frequency and obtains fad frequency RF signal, fad frequency RF is believed
Number deliver to main transmitting antenna T1；Receive the fau frequency RF signal of main reception antenna R1 transmission and become
Frequency is analog if signal, and the analog if signal obtained is delivered to main a/d converter unit；
Main double mode auxiliary radio-frequency channel AC2, receives the analog if signal that main D/A converter unit sends,
Analog if signal is converted to fad frequency and obtains fad frequency RF signal, fad frequency RF is believed
Number deliver to main transmitting antenna T2；Receive the fau frequency RF signal of main reception antenna R2 transmission and become
Frequency is analog if signal, and the analog if signal obtained is delivered to main a/d converter unit；
Main auxiliary radio frequency reception channel AC3, receives the fau frequency RF signal that main reception antenna R3 sends
And be analog if signal by its frequency conversion, the analog if signal obtained is delivered to main a/d converter unit；
Main transmitting antenna T1, receives the fd frequency RF that main member device main radio frequency transmitting channel TC1 sends
The fad frequency RF signal that signal, main double mode auxiliary radio-frequency channel AC1 send, by main transmitting antenna
T1 fixes pseudo-random code sequence and fd frequency RF signal, main transmitting antenna T1 fix pseudo-random code sequence and
Fad frequency RF signal modulates formation two-way distance measuring signal on carrier wave respectively, and is sent out by two-way distance measuring signal
It is incident upon from member device from reception antenna；
Main transmitting antenna T2, receives the fd frequency RF that main member device main radio frequency transmitting channel TC2 sends
The fad frequency RF signal that signal, main double mode auxiliary radio-frequency channel AC2 send, by main transmitting antenna
T2 fixes pseudo-random code sequence and fd frequency RF signal, main transmitting antenna T2 fix pseudo-random code sequence and
Fad frequency RF signal modulates formation two-way distance measuring signal on carrier wave respectively, and is sent out by two-way distance measuring signal
It is incident upon from member device from reception antenna；
Main reception antenna R1, receives from member device 2 from launching the multichannel distance measuring signal that antenna is launched, solves
Adjust and identify from member device 2 from the different distance measuring signals of transmitting antenna, obtaining from member device from transmitting
Fu frequency RF signal and fau frequency RF signal that antenna T1 sends, from member device from launching antenna
The fu frequency RF signal that T2 sends and fau frequency RF signal, and the fu frequency that will send from member device
Rate radiofrequency signal delivers to main radio frequency reception channel RC1 of main member device, the fau frequency that will send from member device
Rate radiofrequency signal delivers to the double mode auxiliary radio-frequency channel AC1 of the master in main member device；Described fd with fad is
2 frequencies that each main transmitting antenna of main member device can be launched, fu Yu fau is from member device
Each from launching two frequencies can launching of antenna；
Main reception antenna R2, receives from member device 2 from launching the multichannel distance measuring signal that antenna is launched, solves
Adjust and identify from member device 2 from the different distance measuring signals of transmitting antenna, obtaining from member device from transmitting
Fu frequency RF signal and fau frequency RF signal that antenna T1 sends, from member device from launching antenna
The fu frequency RF signal that T2 sends and fau frequency RF signal, and the fu frequency sent from device is penetrated
Frequently signal delivers to main radio frequency reception channel RC2 of main member device, the fau frequency sent from member device is penetrated
Frequently the master double mode auxiliary radio-frequency channel AC2 during signal delivers to this member device；
Main reception antenna R3, receives from member device 2 from launching the multichannel distance measuring signal that antenna is launched, solves
Adjust and identify from member device 2 from the different distance measuring signals of transmitting antenna, obtaining from member device from transmitting
Fu frequency RF signal and fau frequency RF signal that antenna T1 sends, from member device from launching antenna
The fu frequency RF signal that T2 sends and fau frequency RF signal, and will be from member device from launching antenna
T1, from launch antenna T2 send fu frequency RF signal deliver to the main radio frequency reception channel of main member device
RC3, by from member device from launch antenna T1, from launch antenna T2 send fau frequency RF signal
Deliver to main member device main auxiliary radio frequency reception channel AC3；
Main radio frequency reception channel RC1, receives the two-way fu frequency RF signal of main reception antenna R1 transmission also
It is to deliver to main a/d converter unit after two-way analog if signal by its frequency conversion；
Main radio frequency reception channel RC2, receives the two-way fu frequency RF signal of main reception antenna R2 transmission also
It is to deliver to main a/d converter unit after two-way analog if signal by its frequency conversion；
Main radio frequency reception channel RC3, receives the two-way fu frequency RF signal of main reception antenna R3 transmission also
It is to deliver to main a/d converter unit after two-way analog if signal by its frequency conversion；
Include from member device: from launching antenna T1, from launching antenna T2, from reception antenna R1, from connecing
Receive antenna R2, from reception antenna R3, from radio frequency transmitting channel TC1, from radio frequency transmitting channel TC2, from
Radio frequency reception channel RC1, from radio frequency reception channel RC2, from radio frequency reception channel RC3, from double mode
Assist radio-frequency channel AC1, from double mode auxiliary radio-frequency channel AC2, from auxiliary radio frequency reception channel AC3
And baseband processing module, wherein:
From baseband processing module, including from DSP unit, from field programmable gate array unit,
From D/A converter unit, from a/d converter unit；
From DSP unit, obtain 2 main transmitting antennas of main member device upper epoch arrive respectively from
Pseudorange, from reception antenna R1, from reception antenna R2, from the pseudorange of reception antenna R3, is entered by member device
Row coding is formed launches data, delivers to transmitting data from field programmable gate array unit；Receive from scene
The demodulated signal that programmable gate array unit sends, be compiled obtaining upper epoch from member device two from
Launch antenna respectively to the pseudorange of three main reception antennas in main member device, then obtain this epoch of main one-tenth
2 main transmitting antennas in member's device respectively to three from member device from the pseudorange of reception antenna,
Rear space intersection's principle is utilized to be calculated from the integer ambiguity of member device, relative position and attitude angle；
From field programmable gate array unit, receive the transmitting of the coding sent from DSP unit
Data also spread, and obtain spread-spectrum signal and are modulated obtaining modulated signal, then modulated signal are filtered
Ripple obtains digital medium-frequency signal and delivers to, from D/A converter unit, receive from the transmission of a/d converter unit
Digital medium-frequency signal is also demodulated, and delivers to from DSP unit after obtaining demodulated signal；
From D/A converter unit, receive the digital medium-frequency signal sent from field programmable gate array unit,
Digital medium-frequency signal is converted into analog if signal, and delivers to from radio frequency transmitting channel TC1, send out from radio frequency
Penetrate passage TC2, from double mode auxiliary radio-frequency channel AC1, from double mode auxiliary radio-frequency channel AC2；
From a/d converter unit, receive respectively from radio frequency reception channel RC1, from radio frequency reception channel RC2,
From radio frequency reception channel RC3, from double mode auxiliary radio-frequency channel AC1, from double mode auxiliary radio-frequency channel
AC2, the analog if signal sent from auxiliary radio frequency reception channel AC3, be converted into analog if signal
Digital medium-frequency signal also sends to from field programmable gate array unit；
From radio frequency transmitting channel TC1, receive the analog if signal sent from D/A converter unit, by mould
Intend intermediate-freuqncy signal be converted to fu frequency and obtain fu frequency RF signal, fu frequency RF signal is delivered to from
Launch antenna T1；
From radio frequency transmitting channel TC2, receive the analog if signal sent from D/A converter unit, by mould
Intend intermediate-freuqncy signal be converted to fu frequency and obtain fu frequency RF signal, fu frequency RF signal is delivered to from
Launch antenna T2；
From double mode auxiliary radio-frequency channel AC1, receive the analog if signal sent from D/A converter unit,
Analog if signal is converted to fau frequency and obtains fau frequency RF signal, fau frequency RF is believed
Number deliver to, from launching antenna T1, to receive the two-way fad frequency RF signal sent from reception antenna R1 general
Its frequency conversion is two-way analog if signal, delivers to the two-way analog if signal obtained from a/d converter list
Unit；
From double mode auxiliary radio-frequency channel AC2, receive the analog if signal sent from D/A converter unit,
Analog if signal is converted to fau frequency and obtains fau frequency RF signal, fau frequency RF is believed
Number deliver to, from launching antenna T2, to receive the two-way fad frequency RF signal sent from reception antenna R2 general
Its frequency conversion is two-way analog if signal, delivers to the two-way analog if signal obtained from a/d converter list
Unit；
From auxiliary radio frequency reception channel AC3, receive the two-way fad frequency RF sent from reception antenna R3
Signal be two-way analog if signal by its frequency conversion, delivers to the two-way analog if signal obtained from AD
Converter unit；
From launching antenna T1, receive the fu frequency RF letter sent from member device radio frequency transmitting channel TC1
Number, from double mode auxiliary radio-frequency channel AC1 send fau frequency RF signal, will from launch antenna T1
Fix pseudo-random code sequence and fu frequency RF signal, fix pseudo-random code sequence and fau from transmitting antenna T1
Frequency RF signal is modulated respectively and is formed two-way distance measuring signal on carrier wave, and by two-way transmitting ranging signals extremely
Main reception antenna in main member device；
From launching antenna T2, receive the fu frequency RF letter sent from member device radio frequency transmitting channel TC2
Number, from double mode auxiliary radio-frequency channel AC2 send fau frequency RF signal, will from launch antenna T2
Fix pseudo-random code sequence and fu frequency RF signal, fix pseudo-random code sequence and fau from transmitting antenna T2
Frequency RF signal is modulated respectively and is formed two-way distance measuring signal on carrier wave, and by two-way transmitting ranging signals extremely
Main reception antenna in main member device；
From reception antenna R1, receive the multichannel distance measuring signal that the main transmitting antenna of main member device 2 is launched, solve
Adjust and identify the different distance measuring signals of the main transmitting antenna of main member device 2, obtain the main transmitting of main member device
The fd frequency RF signal that antenna T1 sends and fad frequency RF signal, main member device main transmitting antenna
The fd frequency RF signal that T2 sends and fad frequency RF signal, and the fd frequency that main member device is sent
Rate radiofrequency signal is delivered to from member device from radio frequency reception channel RC1, the fad sent by main member device frequency
Rate radiofrequency signal deliver to from member device from double mode auxiliary radio-frequency channel AC1；
From reception antenna R2, receive the multichannel distance measuring signal that the main transmitting antenna of main member device 2 is launched, solve
Adjust and identify the different distance measuring signals of the main transmitting antenna of main member device 2, obtain the main transmitting of main member device
The fd frequency RF signal that antenna T1 sends and fad frequency RF signal, main member device main transmitting antenna
The fd frequency RF signal that T2 sends and fad frequency RF signal, and the fd frequency of transmission will be filled from member
Radiofrequency signal is delivered to from member device from radio frequency reception channel RC2, the fad frequency sent by main member device
Radiofrequency signal deliver to from member device from double mode auxiliary radio-frequency channel AC2；
From reception antenna R3, receive the multichannel distance measuring signal that the main transmitting antenna of main member device 2 is launched, solve
Adjust and identify the different distance measuring signals of the main transmitting antenna of main member device 2, obtain the main transmitting of main member device
The fd frequency RF signal that antenna T1 sends and fad frequency RF signal, main member device main transmitting antenna
The fd frequency RF signal that T2 sends and fad frequency RF signal, and the fd frequency that main member device is sent
Rate radiofrequency signal is delivered to from member device from radio frequency reception channel RC3, the fad sent by main member device frequency
Rate radiofrequency signal is delivered to from member's auxiliary radio frequency reception channel AC3 from device；
From radio frequency reception channel RC1, receive from the two-way fd frequency RF signal of reception antenna R1 transmission also
It is to deliver to from a/d converter unit after two-way analog if signal by its frequency conversion；
From radio frequency reception channel RC2, receive from the two-way fd frequency RF signal of reception antenna R2 transmission also
It is to deliver to from a/d converter unit after two-way analog if signal by its frequency conversion；
From radio frequency reception channel RC3, receive from the two-way fd frequency RF signal of reception antenna R3 transmission also
It is to deliver to from a/d converter unit after two-way analog if signal by its frequency conversion.
Five antennas in described main member device or five antennas from member device are arranged on square
In plane, a transmitting antenna is positioned at the center of square-shaped planar, and remaining four antenna is positioned at square and puts down
Four summits in face.
Bimodulus auxiliary radio-frequency channel in described main member device or from member device includes auxiliary transmission list
Unit, auxiliary reception unit, switch control unit, wherein
Switch control unit, if receiving the analog if signal of corresponding baseband processing unit output, then controls
Auxiliary transmission cell operation, otherwise controls auxiliary reception cell operation；
Auxiliary transmission unit, including first order upconverter, filter amplifier, second level upconverter,
One band filter, high frequency amplifier, numerical-control attenuator, power amplifier；First order upconverter receives
Analog if signal that corresponding baseband processing unit sends also carries out frequency conversion, by the frequency variation signal obtained through filtering
Twt amplifier delivers to second level upconverter after filtering and amplifying, signal is sent out after the upconverter frequency conversion of the second level
Delivering to the first band-pass filter, the signal after then using high frequency amplifier to amplify signal and will amplify send
To the power of numerical-control attenuator control signal, finally use power amplifier to amplify signal and send to corresponding
Launch antenna；
Auxiliary reception unit, including first order low-noise amplifier, the second band filter, second level low noise
Acoustic amplifier, local oscillator frequency multiplication and low-converter, first order filter amplifier, second level low-converter, second
Level filter amplifier；First order low-noise amplifier receives the radiofrequency signal of corresponding reception antenna transmission and carries out
Removing noise and amplification, the signal after amplifying delivers to second level low noise after using the second band-pass filter
Acoustic amplifier is removed noise and amplifies, and then the signal obtained is sent to local oscillator frequency multiplication and low-converter frequency conversion,
Signal after frequency conversion uses first order filter amplifier remove noise and amplify, and the signal after amplification is through second
Delivering to second level filter amplifier after level low-converter frequency conversion, the signal after finally removing noise and amplify is sent out
Deliver to corresponding baseband processing unit.
Present invention advantage compared with prior art is:
(1) present system is installed 23 and is received antenna, is installed on the surface of cluster member, any pair
Can set up about 7 unknown phases equation group to attitude parameter between member, equation group is effective by 12
Observational equation forms, and the most directly can measure the relative attitude between a pair aircraft, it is not necessary to by it
The observation data that its cluster member provides, when few members is invalid, cluster still can provide relative normally
Attitude measurement function；
(2) present system uses the mode that frequency division combines with code division, can effectively distinguish different sending out
Penetrate antenna, avoid the sequencing contro of complexity simultaneously, can persistently carry out rather than special at certain owing to measuring
Regularly gap just can be carried out, and therefore shortens observation cycle, improves real-time；
(3) present system devises auxiliary radio-frequency channel, is linked by the auxiliary radio-frequency channel of master-slave equipment,
One group of supplementary observation amount can be obtained, by supplementary observation amount equation and subjective measurement equations simultaneousness, can solve
Go out integer ambiguity, it is only necessary to the data of current epoch can calculate integer ambiguity, it is not necessary to fly control system
The complex operations of system, it is not required that accumulation data, therefore can improve the real-time and whole that complete cycle resolves
The real-time of device, operating flexibility；
(4) present system devises auxiliary radio-frequency channel, when breaking down in main radio-frequency channel, Ke Yidai
For main radio-frequency channel, play backup effect.
Accompanying drawing explanation
Fig. 1 is the general arrangement figure of present system device；
Fig. 2 is the main radio frequency transmitting channel in present system device；
Fig. 3 is the main radio frequency reception channel in present system device；
Fig. 4 is the auxiliary radio frequency reception channel in present system device；
Fig. 5 is the double mode auxiliary radio frequency reception channel in present system device；
Fig. 6 is the connection side of the main radio frequency reception channel in present system device and auxiliary radio frequency reception channel
Formula；
Fig. 7 is the connection side of the main radio-frequency channel in present system device and double mode auxiliary radio-frequency channel
Formula；
Fig. 8 is the baseband processing module composition in present system device；
Fig. 9 is that the base band in present system device sends handling process；
Figure 10 is the Baseband Receiver handling process in present system device.
Detailed description of the invention
A kind of radio frequency Autonomous relative attitude measurement system being applicable between complex target of the present invention, including two nooses
The relative attitude measurement apparatus that structure is identical, is received respectively by two devices and sends distance measuring signal and complete relative
Attitude measurement.The radio frequency Autonomous relative attitude measurement system device of present invention design, as it is shown in figure 1, include
2 transmittings antenna T1, T2,3 reception antennas R1, R2, R3,2 radio frequency transmitting channel TC1,
TC2,3 radio frequency reception channel RC1, RC2, RC3,3 auxiliary radio-frequency channel AC1, AC2,
The part compositions such as AC3,1 baseband processing module, and high steady time base module, 3 auxiliary therein are penetrated
Frequently passage is divided into again 1 auxiliary radio frequency reception channel, 2 double mode auxiliary radio-frequency channels, double mode auxiliary
Radio-frequency channel can be controlled to make it work in emission state and reception pattern respectively by base band.
2 transmitting antennas and 2 radio frequency transmitting channel are respectively connected with, and 3 reception antennas and 3 receptions are logical
Road is respectively connected with, two accessory channels of AC1, AC2 the most as required from different transmission channels or reception
Passage is in parallel, and AC3 auxiliary radio-frequency channel is connected with receiving passage.All of transmitting radio-frequency channel, reception are penetrated
Frequently passage and auxiliary radio-frequency channel are all connected to baseband processing module, base letter during high steady time base module output multi-channel
Number, it is supplied respectively to each radio-frequency channel and baseband processing module.
This device uses space intersection's principle realize location and determine appearance, i.e. measures the multiple transmitting-receivings between a pair member
Distance between antenna, utilizes space intersection's principle to determine these antenna position under relative coordinate system,
After determined the attitude of antenna place member by aerial position.For determining the relative attitude of two members, need
Each member is upper installs at least 3 transmittings (or reception) antenna, and the installation site of these antenna is not
Can conllinear, upper simultaneously at least needs of each member installs 2 reception (or transmitting) antenna, by measurement one
3 transmitting antennas of individual member or reception antenna receive to other member's correspondence or launch the signal between antenna
The transmission time can draw the distance between these dual-mode antennas, then draws the relative attitude between member,
The upper antenna configurations of the most each member is at least 2 reception antennas of 3 transmitting antennas or 3 reception antennas and 2
Individual transmitting antenna.
This device uses 3 to receive and the configuration of 2 transmitting antennas, so reduces the quantity launching antenna,
The corresponding quantity reducing transmitter, owing to the power amplifier part of transmitter generally consumes bigger power, reduces
The quantity of transmitter can reduce power consumption.This device uses the multi-access mode that frequency division multiple access is combined with CDMA,
For distinguishing different transmitting antennas and reception antenna.Wherein each transmitting antenna of any member in cluster
A corresponding fixing pseudo-random code sequence.
Each member in complex target is required for installing this device, arbitrary transmitting sky of the device of a member
Line can obtain 3 range finding amounts between three reception antennas of other any member, and each device has two
Launching antenna, therefore can obtain 6 range finding amounts, other any member is between the device of this member on the contrary
Can there be 6 range finding amounts, 12 range finding amounts between arbitrary a pair member, can be obtained.Cluster aircraft
Relative attitude measurement need to measure the X-axis coordinate under relative coordinate system, Y-axis coordinate, Z between aircraft
7 unknown parameters such as axial coordinate, clock correction between three Eulerian angles and aircraft.Each range finding above-mentioned
Amount is all determined by 7 unknown parameters, i.e. can list the equation group being made up of 12 equations, Mei Gefang
Journey is all the equation about above-mentioned 7 unknown parameters.The most each equation can be expressed as:
Ri=RGi+Rτ=(ri Tri)1/2+c·Δτ (1)
Wherein Ri, i=1,2 ... 12 is 12 range finding amounts, RGi=(ri Tri)1/2, i=1,2 ... 12 is that signal is true in space
Real distance corresponding to the propagation time, i.e. actual distance between antenna, ri, i=1,2 ... 12 is relative coordinate
The vector that the location point of lower a pair dual-mode antenna of system is formed, Rτ=c Δ τ is the clock between the device of two members
The measurement error that difference causes, Δ τ is the clock correction value between device.And wherein riCan be expressed as again
ri=[pR+Q(ψR,θR,φR)μR]-[pT+Q(ψT,θT,φT)μT] (2)
Wherein pRFor certain reception antenna place cluster member coordinate vector under relative coordinate system, this member
Three attitude angle use ψ respectivelyR、θR、φRRepresent, Q (ψR,θR,φR) refer to the attitude of reception antenna place target
Angular direction cosine matrix, the most each array element all can use ψR、θR、φRRepresent, pTAntenna place is launched for certain
Cluster member coordinate vector under relative coordinate system, three attitude angle of this member use ψ respectivelyT、θT、φTTable
Show, Q (ψT,θT,φT) refer to launch the attitude angle direction cosine matrix of antenna place target, the most each array element
Use ψT、θT、φTRepresent.Owing to relative measurement determines that the relative coordinate of above-mentioned two member, wherein
The relative coordinate of one member for it is known that and another one is unknown, might as well assume that certain is launched antenna place and becomes
The relative coordinate of member is it is known that then unknown quantity is exactly pR、ψR、θR、φR, wherein vector pRBy three the unknowns
Elementary composition, and μRFor certain reception antenna relative to the body coordinate of the member at its place, for known quantity,
Same μTLaunch the antenna body coordinate relative to its place member for certain, be also known quantity.In sum,
(1) equation shown in illustrates the relation between 7 unknown parameters and each range finding amount, arbitrary a pair member
Between can obtain 12 range finding amounts, it is possible to obtain the equation group of 12 equations composition, utilize a young waiter in a wineshop or an inn
The above-mentioned equation of principle solving is taken advantage of i.e. to can get the value of 7 unknown parameters.The initial point of described relative coordinate system is one
The barycenter of individual member device, x-axis, y-axis, z-axis are pointed to and are arbitrarily designated.
R in above equation groupi, i=1,2 ... 12 these 12 range finding amounts can be obtained by pseudo-random sequence, but
The result obtained is that relative attitude is slightly worth, and brings equation group into, the most relatively as next step initial value calculated
Attitude value is obtained by carrier phase measurement, and process is as follows.
The corresponding fixing pseudo-random code sequence of each transmitting antenna of the main member in cluster, each transmitting sky
Line can launch two frequencies fd and fad, and other in cluster can receive master from arbitrary reception antenna of member
The signal of member's all transmittings antenna, reception antenna connects two and receives passage, receives fd and fad two respectively
The signal of individual frequency, baseband processing module divides tranmitting frequency according to receiving channel region, wraps according to receiving in signal
The pseudo random code information contained is distinguished autonomous member's difference and is launched the signal of antenna.Arbitrary from member in cluster
The corresponding fixing pseudo-random sequence of each transmitting antenna, different can not take from the transmitting antenna of member
Identical pseudo-random sequence, but can take identical with the transmitting antenna of main member from the transmitting antenna of member
Pseudo-random sequence, each transmitting antenna from member can launch two frequencies fu and fau, and main member appoints
One reception antenna can receive all signals launching antenna from member, and reception antenna connects two and receives passage,
Receiving the signal of fu and fau two frequency bins respectively, baseband processing module divides tranmitting frequency according to receiving channel region,
Distinguish from difference from the different letters launching antenna of member according to receiving the pseudo random code information comprised in signal
Number.
The accurate relative attitude of cluster aircraft is measured based on carrier phase measurement, carrier-phase measurement
Can be divided into carrier phase integer part and carrier phase fractional part, wherein integer part needs to be carried by resolving
Ripple integer ambiguity obtains, and fractional part can record at passage receiving.This device is by controlling main member
Link with the auxiliary radio-frequency channel of other member, in that context it may be convenient to calculate ambiguity of carrier in full period.
Two main transmission channels when resolving the integer ambiguity that main member sends signal, on the device of main member
Using fd carrier wave to launch distance measuring signal, 2 bimodulus auxiliary radio-frequency channels work in emission mode through coordinated signals
And use fad to launch distance measuring signal, the now main reception of 3 from the device of member channel reception fd frequency
On main member's signal, 1 auxiliary radio frequency reception channel is in parallel with 1 main radio frequency reception channel and at fad
Receiving the signal that main member launches in frequency, 2 bimodulus auxiliary radio-frequency channels work in reception through coordinated signals
Pattern also receives the signal that main member launches in fad frequency.
When resolving the integer ambiguity sending signal from member, two main transmission channels from the device of member
Using fu carrier wave to launch distance measuring signal, 2 bimodulus auxiliary radio-frequency channels work in emission mode through coordinated signals
And use fau to launch distance measuring signal, 3 main reception channel reception fu frequencies on the device of the most main member
On from member's signal, 1 auxiliary radio frequency reception channel is in parallel with 1 main radio frequency reception channel and at fau
Receiving the signal launched from member in frequency, 2 bimodulus auxiliary radio-frequency channels work in reception through coordinated signals
Pattern also receives the signal launched from member in fau frequency.
Main member based on auxiliary radio-frequency structure launches signal Carrier Phase Ambiguity Resolution process and is, it is assumed that at t epoch
In the moment, certain receives passage and obtains 4 observations(carrier wave fd, carrier wave fadCarrier phase little
Fractional part observation), ρd、ρad(code phase pseudo range observation), above four numerical value can receive passage
Directly obtain.If launching signal initial phase is 0, only consider ionosphere delay error and time error, can
It is listed below equation:
Wherein, R be between two members true away from；Δ t is the clock correction between two members；Φd、ΦadFor correspondence
In pseudorange ρd、ρadCarrier phase observation data；Nd、NadFor fd、fadIn frequency, carrier phase is whole
All fuzzinesses；For ionosphere delay error in phase place, A is the survey that ionosphere delay causes
Away from error, for given value, and code and the ionospheric error of carrier wave are equal in magnitude on same frequency, and symbol is contrary.
The equation between all dual-mode antennas can be set up in order to upper type, all can be calculated by resolving
Penetrate the integer ambiguity of signal.Utilize auxiliary radio-frequency channel to resolve integer ambiguity and rely only on the number of current epoch
According to, it is not necessary to former cumulative observations amount, the resolving of integral circumference ambiguity can be carried out flexibly, both can use and hold
Continuous time division way is carried out, it is also possible to use the working method periodically or non-periodically updated as required.
A kind of structure of the better embodiment of apparatus of the present invention as it is shown in figure 1, include 2 transmitting antennas, 3
Individual reception antenna, 2 radio frequency transmitting channel, 3 radio frequency reception channel, 3 auxiliary radio-frequency channels, 1
The part composition such as baseband processing module and high steady time base module.Realize apparatus of the present invention to need to realize antenna and set
The design of meter, antenna arrangement, main radio frequency transmitting channel, the design of main radio frequency reception channel, auxiliary radio frequency reception lead to
The parts such as road design, the radio-frequency channel design of bimodulus auxiliary and baseband processing module design.
Apparatus of the present invention are that principle based on tellurometer survey and space intersection realizes the position between any pair target
Putting and measure with attitude parameter, the flow process of its work can be divided into transmitting ranging signals flow process and ranging signal reception
Flow process.
Transmitting ranging signals flow process is:
1) the DSP digital signal processing unit of the machine produces and launches data, and data to be launched mainly include this
Machine reception antenna launches the propagation time of signal upper the other side recorded epoch, i.e. go up one epoch the other side
Launching the antenna pseudorange to each reception antenna of the machine, data to be launched layout in dsp is frame format, and
Encode；
2) the machine FPGA unit is treated transmitted data symbols carry out spread spectrum and obtain spread-spectrum signal, spread-spectrum signal
Carry out BPSK modulation and obtain modulated signal, signal filtering after modulation is obtained digital medium-frequency signal；
3) digital medium-frequency signal is converted into analog if signal by the machine D/A converter unit；
4) analog if signal up-conversion is obtained radiofrequency signal by the machine radio frequency transmitting channel, if using double frequency
Double mode auxiliary radio-frequency channel is configured to emission mode by mode of operation the most simultaneously, and is connect by analog if signal
Logical double mode auxiliary radio-frequency channel, obtains two-way radiofrequency signal, i.e. two-frequency signal；
5) the machine launch antenna one road simple signal or two-way are merged into the two-frequency signal on a road be transmitted to right
Side's reception antenna.
Ranging signal reception flow process is:
1) locally received antenna receive the other side member launch antenna launch a road simple signal or two-way double frequency letter
Number；
2) radiofrequency signal is down-converted to analog if signal by the machine radio frequency reception channel, if what the other side launched
Be two-frequency signal, then the machine then needs double mode auxiliary radio-frequency channel is configured to reception pattern, the signal of reception
It is decomposed into two paths of signals through power splitter, delivers to main reception passage and auxiliary reception passage respectively or bimodulus is auxiliary
Help passage, after down coversion, obtain two-way analog intermediate frequency signal.
3) road or two-way analog intermediate frequency analogue signal are transformed to digital intermediate frequency signal by the machine A/D changer.
4) two-way digital intermediate frequency signal to a road digital intermediate frequency signal or is carried out by the machine FPGA unit respectively
Acquisition and tracking, locks its carrier wave and pseudo-code phase, and signal is carried out BPSK demodulation.
5) the machine DSP carries out decoding to BPSK demodulated signal and recovers transmitting data, according to known form
Extracting the pseudo-range information that the other side provides, DSP utilizes the machine pseudo-range information the most extracted in FPGA and right
The pseudo-range information that side provides, uses space intersection's principle to carry out the phase that clearing can obtain between the machine with the other side
The position information such as position and attitude.
The design conditions of each several part is as follows:
Antenna Design: Antenna Design depends primarily on the requirement of system ovelay range, can select electromagnetic horn
Or Waveguide slot antenna.
Device antenna arrangement: antenna is installed in a plane, one of them transmitting antenna is in planar central,
Another one launches antenna and other 3 antennas are then in foursquare four summits.
Main radio frequency transmitting channel: transmitter unit uses the difficulty that multistage frequency conversion scheme designs with minimizing wave filter,
Reduce harmonic wave and the impact of local oscillator leakage.The realization of main radio frequency transmitting channel is as in figure 2 it is shown, main by one-level
Upconverter, filter amplifier, two grades of upconverter, band filter, high frequency amplifier, numerical control attenuation
The part composition such as device, power amplifier, emission control switch.When main transmission channel cisco unity malfunction,
Provided control signal by baseband processing module, control emission control switch and close, thus cut off main transmission channel.
Main radio frequency reception channel: main radio frequency reception channel is as it is shown on figure 3, controlled switch, the first order by receiving
Low-noise amplifier, band filter, second level low-noise amplifier, local oscillator frequency multiplication and low-converter,
First-level filtering twt amplifier, second level low-converter, second level filter amplifier form.Main radio frequency reception channel
When breaking down, control signal can be provided by baseband processing module, close main radio frequency reception channel.
Auxiliary radio frequency reception channel: auxiliary radio frequency reception channel as shown in Figure 4, by receive control switch, the
One-level low-noise amplifier, band filter, second level low-noise amplifier, local oscillator frequency multiplication and low-converter,
First order filter amplifier, second level low-converter, second level filter amplifier form.Auxiliary radio frequency reception
Passage is connected with reception antenna by controlling switch, and main radio-frequency channel is simultaneously connected with reception with auxiliary radio-frequency channel
During antenna, both connect reception antenna jointly by power splitter.Main radio-frequency channel is simultaneously connected with accessory channel
The structure of reception antenna is as shown in Figure 6
Bimodulus auxiliary radio-frequency channel: bimodulus auxiliary radio-frequency channel include auxiliary transmission part, auxiliary reception part,
Switching control section and shared inverter unit are grouped into, double mode auxiliary radio-frequency channel and main radio frequency transmitting channel with
And the attachment structure of main radio frequency reception is as it is shown in figure 5, control switch and transmitting-receiving switching by base band, it is achieved receive
Send out two kinds of mode of operations.
The emitting portion of bimodulus auxiliary radio-frequency channel is as it is shown in figure 5, mainly put by one-level upconverter, filtering
Big device, two grades of upconverter, band filter, high frequency amplifier, numerical-control attenuator, power amplifier,
The part composition such as emission control switch.Transmitter unit uses multistage frequency conversion scheme to reduce the difficulty of wave filter design
Degree, reduces harmonic wave and the impact of local oscillator leakage.Auxiliary transmission passage is connected with baseband processing unit, receives
The intermediate-freuqncy signal of baseband processing unit output, when working in auxiliary transmission pattern, dual-mode mixer is by opening
Closing switching and introduce emission medium-frequency local oscillation signal 1, intermediate frequency local oscillator signal 1 mixing obtains modulated signal, through filtering
After twt amplifier, second level upconverter etc. process, it is connected with launching antenna through emission control switch.
The receiving portion of double mode auxiliary radio frequency reception channel as it is shown in figure 5, by receive control switch, first
Level low-noise amplifier, band filter, second level low-noise amplifier, local oscillator frequency multiplication and low-converter,
First order filter amplifier, second level low-converter, second level filter amplifier form.Reception passage passes through
Receive to control to switch and be connected with reception antenna, receive the distance measuring signal that other member launches, through the first order
After low-noise amplifier, bandpass filtering, second level low-noise amplifier process, input is to local oscillator machine down coversion
Unit, through first order filter and amplification, when working in auxiliary reception pattern, bimodulus converter, by switch
Switching introduces and receives intermediate frequency local oscillator signal 2, and mixing obtains intermediate-freuqncy signal, and intermediate-freuqncy signal sends to Base-Band Processing list
Unit processes.
The effect of auxiliary radio-frequency channel is to assist main radio-frequency channel to carry out solving integral circumference ambiguity when carrying out carrier wave and measuring
Degree processes, and auxiliary radio-frequency channel includes assisting radio frequency reception channel and double mode auxiliary radio-frequency channel.Auxiliary is penetrated
Frequency receives the main radio frequency reception channel RC3 formation dual frequency reception passage of passage AC3 and device, its connection side
As shown in Figure 6, dual frequency reception passage connects an antenna by power splitter to formula jointly, can receive other
The double frequency that member launches launches signal.Double mode auxiliary radio-frequency channel AC1/AC2 is configurable to reception pattern
Emission mode can also be configured to, respectively with main transmission channel TC1/TC2 or main reception passage
RC1/RC2 is connected formation double frequency transmission channel or dual frequency reception passage, its connected mode such as Fig. 7 institute
Show: when bimodulus auxiliary radio-frequency channel is configured to emission mode, bimodulus auxiliary radio-frequency channel AC1 and main radio frequency
Passage TC1 forms double frequency transmission channel, and bimodulus auxiliary radio-frequency channel AC2 and main radio-frequency channel TC2 is formed
Double frequency transmission channel；When bimodulus auxiliary radio-frequency channel is configured to reception pattern, bimodulus auxiliary radio-frequency channel AC1
Dual frequency reception passage, bimodulus auxiliary radio-frequency channel AC2 and main radio-frequency channel is formed with main radio-frequency channel TC1
TC2 forms dual frequency reception passage.
Baseband processing module: as shown in Figure 8, baseband processing module is by a/d converter, D/A converter, existing
Field programmable gate array (FPGA), digital signal processor (DSP), clock circuit, various interface circuit
(include RS422 circuit synchronization with two-way communication, asynchronous 422 circuit, LAN circuit, 1553B bus
The interface that interface etc. need, and outside pulse per second (PPS) (1PPS) interface of reception for time synchronized measurement),
Power circuit etc..A/d converter has 6 tunnels, respectively with the three main reception in road passage RC1, RC2, RC3,
One tunnel auxiliary reception passage AC3 and two-way double mode accessory channel AC1, AC2 are connected, in order to connect
Receive the distance measuring signal that other member launches.D/A converter has 6 tunnels, respectively radio frequency reception channel main with two-way
TC1, TC2, two-way double mode auxiliary transmission passage AC1, AC2 are connected.Field programmable gate array
(FPGA) it is connected reception base-band input signal with a/d converter, calculates pseudo-code phase and carrier phase,
Launch the antenna range information to local reception antenna to other member, be connected with D/A converter simultaneously, will
Local distance measuring signal exports to transmission channel, is transmitted to other member through antenna.Digital signal processor with
Field programmable gate array (FPGA) is connected, and receives 12 between all dual-mode antennas of a pair member
Individual pseudo-code phase and 12 ranging by measuring carrier phase, use positioning calculation algorithm to obtain the phase position between member
And attitude, when accessory channel is connected formation double frequency transmitting or dual frequency reception with main transmitting or main reception passage,
The integer ambiguity resolving carrier phase can be utilized.Interface circuit is used for the communication of the internal other parts of member,
Can by synchronize the interface such as RS422 circuit, asynchronous 422 circuit, LAN circuit, 1553B bus with
Member's inner computer connects, and position and the attitude data of member is submitted to navigation control program, it is achieved right
The control of member.
Base-Band Processing flow process: the transmission flow of Base-Band Processing is as it is shown in figure 9, data to be sent are compiled through form
Row is formed and sends symbol stream, and the content of transmission mainly includes that the other side member that local member's measurement obtains respectively launches
Antenna, to the distance between local each reception antenna, sends symbol stream and carries out DSSS through pseudo-code and obtain
To Pseudo Code Spread Spectrum signal, Pseudo Code Spread Spectrum signal uses BPSK modulation system to form modulated signal, filters through molding
Ripple obtains digital medium-frequency signal, digital medium-frequency signal be sent to DA changer and via radio frequency transmitting channel and send out
Penetrate antenna and be sent to other member.The reception flow process of Base-Band Processing as shown in Figure 10, analog if signal warp
Obtain digital medium-frequency signal after crossing AD sampling, through capture locking carrier frequency and pseudo-code phase, through with
Track circuit keeps carrier phase and pseudo-code phase, and the output signal of acquisition and tracking is demodulated by BPSK demodulation
Obtain data message, data content include its each reception antenna that the other side member records to local launch antenna it
Between distance, the local ranging information such as pseudo-code phase and carrier phase information, local range finding can be obtained simultaneously
Information has collectively constituted observation data with the ranging information of other member received, and altogether may be used between a pair member
To obtain 12 pseudo-codes and carrier phase information, utilize above-mentioned observation to resolve and obtain between member
Position and attitude relatively.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (3)
1. the radio frequency Autonomous relative attitude measurement system being applicable between complex target, including two nested structure phases
With relative attitude measurement apparatus, be designated as main member device respectively and from member device, main member device and from
Member device receives and sends distance measuring signal respectively and completes relative attitude measurement, it is characterised in that:
Main member device includes: main transmitting antenna T1, main transmitting antenna T2, main reception antenna R1, master connect
Receive antenna R2, main reception antenna R3, main radio frequency transmitting channel TC1, main radio frequency transmitting channel TC2, master
Radio frequency reception channel RC1, main radio frequency reception channel RC2, main radio frequency reception channel RC3, main double mode
Auxiliary radio-frequency channel AC1, main double mode auxiliary radio-frequency channel AC2, main auxiliary radio frequency reception channel AC3
With main baseband processing module, wherein:
Main baseband processing module, including main digital signal processor unit, main field programmable gate array unit,
Main D/A converter unit, main a/d converter unit；
Main digital signal processor unit, obtains upper epoch from member device two from launching antenna respectively to master
The pseudorange of three main reception antennas of member device, carries out coding and forms transmitting data, will launch data pseudorange
Deliver to main field programmable gate array unit；Receive the demodulated signal that main field programmable gate array unit sends,
It is compiled obtaining in main member device upper epoch two main transmitting antennas respectively to three from member device
From the pseudorange of reception antenna, then obtain this epoch of two from member device from launching antenna respectively to master
The pseudorange of three main reception antennas in member device, finally utilizes space intersection's principle to be calculated main member
The integer ambiguity of device, relative position and attitude angle；
Main field programmable gate array unit, receives the transmitting data of main digital signal processor unit transmission also
Spread, obtain spread-spectrum signal and be modulated obtaining modulated signal, then modulated signal filtering is obtained
Digital medium-frequency signal also delivers to main D/A converter unit；Receive in the numeral that main a/d converter unit sends
Frequently signal being demodulated, delivers to main digital signal processor unit after obtaining demodulated signal；
Main D/A converter unit, receives the digital medium-frequency signal that main field programmable gate array unit sends,
Digital medium-frequency signal is converted into analog if signal, and deliver to main radio frequency transmitting channel TC1, main radio frequency is sent out
Penetrate passage TC2, main double mode auxiliary radio-frequency channel AC1, main double mode auxiliary radio-frequency channel AC2；
Main a/d converter unit, receive respectively main radio frequency reception channel RC1, main radio frequency reception channel RC2,
Main radio frequency reception channel RC3, main double mode auxiliary radio-frequency channel AC1, main double mode auxiliary radio-frequency channel
The analog if signal that AC2, main auxiliary radio frequency reception channel AC3 send, is converted into analog if signal
Digital medium-frequency signal also sends to main field programmable gate array unit；
Main radio frequency transmitting channel TC1, receives the analog if signal that main D/A converter unit sends, by mould
Intend intermediate-freuqncy signal be converted to fd frequency and obtain fd frequency RF signal, fd frequency RF signal is delivered to main
Launch antenna T1；
Main radio frequency transmitting channel TC2, receives the analog if signal that main D/A converter unit sends, by mould
Intend intermediate-freuqncy signal be converted to fd frequency and obtain fd frequency RF signal, fd frequency RF signal is delivered to main
Launch antenna T2；
Main double mode auxiliary radio-frequency channel AC1, receives the analog if signal that main D/A converter unit sends,
Analog if signal is converted to fad frequency and obtains fad frequency RF signal, fad frequency RF is believed
Number deliver to main transmitting antenna T1；Receive the fau frequency RF signal of main reception antenna R1 transmission and become
Frequency is analog if signal, and the analog if signal obtained is delivered to main a/d converter unit；
Main double mode auxiliary radio-frequency channel AC2, receives the analog if signal that main D/A converter unit sends,
Analog if signal is converted to fad frequency and obtains fad frequency RF signal, fad frequency RF is believed
Number deliver to main transmitting antenna T2；Receive the fau frequency RF signal of main reception antenna R2 transmission and become
Frequency is analog if signal, and the analog if signal obtained is delivered to main a/d converter unit；
Main auxiliary radio frequency reception channel AC3, receives the fau frequency RF signal that main reception antenna R3 sends
And be analog if signal by its frequency conversion, the analog if signal obtained is delivered to main a/d converter unit；
Main transmitting antenna T1, receives the fd frequency RF that main member device main radio frequency transmitting channel TC1 sends
The fad frequency RF signal that signal, main double mode auxiliary radio-frequency channel AC1 send, by main transmitting antenna
T1 fixes pseudo-random code sequence and fd frequency RF signal, main transmitting antenna T1 fix pseudo-random code sequence and
Fad frequency RF signal modulates formation two-way distance measuring signal on carrier wave respectively, and is sent out by two-way distance measuring signal
It is incident upon from member device from reception antenna；
Main transmitting antenna T2, receives the fd frequency RF that main member device main radio frequency transmitting channel TC2 sends
The fad frequency RF signal that signal, main double mode auxiliary radio-frequency channel AC2 send, by main transmitting antenna
T2 fixes pseudo-random code sequence and fd frequency RF signal, main transmitting antenna T2 fix pseudo-random code sequence and
Fad frequency RF signal modulates formation two-way distance measuring signal on carrier wave respectively, and is sent out by two-way distance measuring signal
It is incident upon from member device from reception antenna；
Main reception antenna R1, receives from member device 2 from launching the multichannel distance measuring signal that antenna is launched, solves
Adjust and identify from member device 2 from the different distance measuring signals of transmitting antenna, obtaining from member device from transmitting
Fu frequency RF signal and fau frequency RF signal that antenna T1 sends, from member device from launching antenna
The fu frequency RF signal that T2 sends and fau frequency RF signal, and the fu frequency that will send from member device
Rate radiofrequency signal delivers to main radio frequency reception channel RC1 of main member device, the fau frequency that will send from member device
Rate radiofrequency signal delivers to the double mode auxiliary radio-frequency channel AC1 of the master in main member device；Described fd with fad is
2 frequencies that each main transmitting antenna of main member device can be launched, fu Yu fau is from member device
Each from launching two frequencies can launching of antenna；
Main reception antenna R2, receives from member device 2 from launching the multichannel distance measuring signal that antenna is launched, solves
Adjust and identify from member device 2 from the different distance measuring signals of transmitting antenna, obtaining from member device from transmitting
Fu frequency RF signal and fau frequency RF signal that antenna T1 sends, from member device from launching antenna
The fu frequency RF signal that T2 sends and fau frequency RF signal, and the fu frequency sent from device is penetrated
Frequently signal delivers to main radio frequency reception channel RC2 of main member device, the fau frequency sent from member device is penetrated
Frequently the master double mode auxiliary radio-frequency channel AC2 during signal delivers to this member device；
Main reception antenna R3, receives from member device 2 from launching the multichannel distance measuring signal that antenna is launched, solves
Adjust and identify from member device 2 from the different distance measuring signals of transmitting antenna, obtaining from member device from transmitting
Fu frequency RF signal and fau frequency RF signal that antenna T1 sends, from member device from launching antenna
The fu frequency RF signal that T2 sends and fau frequency RF signal, and will be from member device from launching antenna
T1, from launch antenna T2 send fu frequency RF signal deliver to the main radio frequency reception channel of main member device
RC3, by from member device from launch antenna T1, from launch antenna T2 send fau frequency RF signal
Deliver to main member device main auxiliary radio frequency reception channel AC3；
Main radio frequency reception channel RC1, receives the two-way fu frequency RF signal of main reception antenna R1 transmission also
It is to deliver to main a/d converter unit after two-way analog if signal by its frequency conversion；
Main radio frequency reception channel RC2, receives the two-way fu frequency RF signal of main reception antenna R2 transmission also
It is to deliver to main a/d converter unit after two-way analog if signal by its frequency conversion；
Main radio frequency reception channel RC3, receives the two-way fu frequency RF signal of main reception antenna R3 transmission also
It is to deliver to main a/d converter unit after two-way analog if signal by its frequency conversion；
Include from member device: from launching antenna T1, from launching antenna T2, from reception antenna R1, from connecing
Receive antenna R2, from reception antenna R3, from radio frequency transmitting channel TC1, from radio frequency transmitting channel TC2, from
Radio frequency reception channel RC1, from radio frequency reception channel RC2, from radio frequency reception channel RC3, from double mode
Assist radio-frequency channel AC1, from double mode auxiliary radio-frequency channel AC2, from auxiliary radio frequency reception channel AC3
And baseband processing module, wherein:
From baseband processing module, including from DSP unit, from field programmable gate array unit,
From D/A converter unit, from a/d converter unit；
From DSP unit, obtain 2 main transmitting antennas of main member device upper epoch arrive respectively from
Pseudorange, from reception antenna R1, from reception antenna R2, from the pseudorange of reception antenna R3, is entered by member device
Row coding is formed launches data, delivers to transmitting data from field programmable gate array unit；Receive from scene
The demodulated signal that programmable gate array unit sends, be compiled obtaining upper epoch from member device two from
Launch antenna respectively to the pseudorange of three main reception antennas in main member device, then obtain this epoch of main one-tenth
2 main transmitting antennas in member's device respectively to three from member device from the pseudorange of reception antenna,
Rear space intersection's principle is utilized to be calculated from the integer ambiguity of member device, relative position and attitude angle；
From field programmable gate array unit, receive the transmitting of the coding sent from DSP unit
Data also spread, and obtain spread-spectrum signal and are modulated obtaining modulated signal, then modulated signal are filtered
Ripple obtains digital medium-frequency signal and delivers to, from D/A converter unit, receive from the transmission of a/d converter unit
Digital medium-frequency signal is also demodulated, and delivers to from DSP unit after obtaining demodulated signal；
From D/A converter unit, receive the digital medium-frequency signal sent from field programmable gate array unit,
Digital medium-frequency signal is converted into analog if signal, and delivers to from radio frequency transmitting channel TC1, send out from radio frequency
Penetrate passage TC2, from double mode auxiliary radio-frequency channel AC1, from double mode auxiliary radio-frequency channel AC2；
From a/d converter unit, receive respectively from radio frequency reception channel RC1, from radio frequency reception channel RC2,
From radio frequency reception channel RC3, from double mode auxiliary radio-frequency channel AC1, from double mode auxiliary radio-frequency channel
AC2, the analog if signal sent from auxiliary radio frequency reception channel AC3, be converted into analog if signal
Digital medium-frequency signal also sends to from field programmable gate array unit；
From radio frequency transmitting channel TC1, receive the analog if signal sent from D/A converter unit, by mould
Intend intermediate-freuqncy signal be converted to fu frequency and obtain fu frequency RF signal, fu frequency RF signal is delivered to from
Launch antenna T1；
From radio frequency transmitting channel TC2, receive the analog if signal sent from D/A converter unit, by mould
Intend intermediate-freuqncy signal be converted to fu frequency and obtain fu frequency RF signal, fu frequency RF signal is delivered to from
Launch antenna T2；
From double mode auxiliary radio-frequency channel AC1, receive the analog if signal sent from D/A converter unit,
Analog if signal is converted to fau frequency and obtains fau frequency RF signal, fau frequency RF is believed
Number deliver to, from launching antenna T1, to receive the two-way fad frequency RF signal sent from reception antenna R1 general
Its frequency conversion is two-way analog if signal, delivers to the two-way analog if signal obtained from a/d converter list
Unit；
From double mode auxiliary radio-frequency channel AC2, receive the analog if signal sent from D/A converter unit,
Analog if signal is converted to fau frequency and obtains fau frequency RF signal, fau frequency RF is believed
Number deliver to, from launching antenna T2, to receive the two-way fad frequency RF signal sent from reception antenna R2 general
Its frequency conversion is two-way analog if signal, delivers to the two-way analog if signal obtained from a/d converter list
Unit；
From auxiliary radio frequency reception channel AC3, receive the two-way fad frequency RF sent from reception antenna R3
Signal be two-way analog if signal by its frequency conversion, delivers to the two-way analog if signal obtained from AD
Converter unit；
From launching antenna T1, receive the fu frequency RF letter sent from member device radio frequency transmitting channel TC1
Number, from double mode auxiliary radio-frequency channel AC1 send fau frequency RF signal, will from launch antenna T1
Fix pseudo-random code sequence and fu frequency RF signal, fix pseudo-random code sequence and fau from transmitting antenna T1
Frequency RF signal is modulated respectively and is formed two-way distance measuring signal on carrier wave, and by two-way transmitting ranging signals extremely
Main reception antenna in main member device；
From launching antenna T2, receive the fu frequency RF letter sent from member device radio frequency transmitting channel TC2
Number, from double mode auxiliary radio-frequency channel AC2 send fau frequency RF signal, will from launch antenna T2
Fix pseudo-random code sequence and fu frequency RF signal, fix pseudo-random code sequence and fau from transmitting antenna T2
Frequency RF signal is modulated respectively and is formed two-way distance measuring signal on carrier wave, and by two-way transmitting ranging signals extremely
Main reception antenna in main member device；
From reception antenna R1, receive the multichannel distance measuring signal that the main transmitting antenna of main member device 2 is launched, solve
Adjust and identify the different distance measuring signals of the main transmitting antenna of main member device 2, obtain the main transmitting of main member device
The fd frequency RF signal that antenna T1 sends and fad frequency RF signal, main member device main transmitting antenna
The fd frequency RF signal that T2 sends and fad frequency RF signal, and the fd frequency that main member device is sent
Rate radiofrequency signal is delivered to from member device from radio frequency reception channel RC1, the fad sent by main member device frequency
Rate radiofrequency signal deliver to from member device from double mode auxiliary radio-frequency channel AC1；
From reception antenna R2, receive the multichannel distance measuring signal that the main transmitting antenna of main member device 2 is launched, solve
Adjust and identify the different distance measuring signals of the main transmitting antenna of main member device 2, obtain the main transmitting of main member device
The fd frequency RF signal that antenna T1 sends and fad frequency RF signal, main member device main transmitting antenna
The fd frequency RF signal that T2 sends and fad frequency RF signal, and the fd frequency of transmission will be filled from member
Radiofrequency signal is delivered to from member device from radio frequency reception channel RC2, the fad frequency sent by main member device
Radiofrequency signal deliver to from member device from double mode auxiliary radio-frequency channel AC2；
From reception antenna R3, receive the multichannel distance measuring signal that the main transmitting antenna of main member device 2 is launched, solve
Adjust and identify the different distance measuring signals of the main transmitting antenna of main member device 2, obtain the main transmitting of main member device
The fd frequency RF signal that antenna T1 sends and fad frequency RF signal, main member device main transmitting antenna
The fd frequency RF signal that T2 sends and fad frequency RF signal, and the fd frequency that main member device is sent
Rate radiofrequency signal is delivered to from member device from radio frequency reception channel RC3, the fad sent by main member device frequency
Rate radiofrequency signal is delivered to from member's auxiliary radio frequency reception channel AC3 from device；
From radio frequency reception channel RC1, receive from the two-way fd frequency RF signal of reception antenna R1 transmission also
It is to deliver to from a/d converter unit after two-way analog if signal by its frequency conversion；
From radio frequency reception channel RC2, receive from the two-way fd frequency RF signal of reception antenna R2 transmission also
It is to deliver to from a/d converter unit after two-way analog if signal by its frequency conversion；
From radio frequency reception channel RC3, receive from the two-way fd frequency RF signal of reception antenna R3 transmission also
It is to deliver to from a/d converter unit after two-way analog if signal by its frequency conversion.
A kind of radio frequency Autonomous relative attitude being applicable between complex target the most according to claim 1 is surveyed
Amount system, it is characterised in that: five antennas in described main member device or five from member device
Antenna is arranged in square-shaped planar, and a transmitting antenna is positioned at the center of square-shaped planar, and remaining four
Antenna is positioned at four summits of square-shaped planar.
A kind of radio frequency Autonomous relative attitude being applicable between complex target the most according to claim 1 is surveyed
Amount system, it is characterised in that: the bimodulus auxiliary radio frequency in described main member device or from member device leads to
Road includes auxiliary transmission unit, auxiliary reception unit, switch control unit, wherein
Switch control unit, if receiving the analog if signal of corresponding baseband processing unit output, then controls
Auxiliary transmission cell operation, otherwise controls auxiliary reception cell operation；
Auxiliary transmission unit, including first order upconverter, filter amplifier, second level upconverter,
One band filter, high frequency amplifier, numerical-control attenuator, power amplifier；First order upconverter receives
Analog if signal that corresponding baseband processing unit sends also carries out frequency conversion, by the frequency variation signal obtained through filtering
Twt amplifier delivers to second level upconverter after filtering and amplifying, signal is sent out after the upconverter frequency conversion of the second level
Delivering to the first band-pass filter, the signal after then using high frequency amplifier to amplify signal and will amplify send
To the power of numerical-control attenuator control signal, finally use power amplifier to amplify signal and send to corresponding
Launch antenna；
Auxiliary reception unit, including first order low-noise amplifier, the second band filter, second level low noise
Acoustic amplifier, local oscillator frequency multiplication and low-converter, first order filter amplifier, second level low-converter, second
Level filter amplifier；First order low-noise amplifier receives the radiofrequency signal of corresponding reception antenna transmission and carries out
Removing noise and amplification, the signal after amplifying delivers to second level low noise after using the second band-pass filter
Acoustic amplifier is removed noise and amplifies, and then the signal obtained is sent to local oscillator frequency multiplication and low-converter frequency conversion,
Signal after frequency conversion uses first order filter amplifier remove noise and amplify, and the signal after amplification is through second
Delivering to second level filter amplifier after level low-converter frequency conversion, the signal after finally removing noise and amplify is sent out
Deliver to corresponding baseband processing unit.
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| CN110839278B (en) * | 2018-08-17 | 2021-01-12 | 中国移动通信有限公司研究院 | Indoor base station and positioning method |
| CN110865532B (en) * | 2019-11-25 | 2021-04-02 | 北京无线电计量测试研究所 | Satellite-ground bidirectional time frequency synchronization method |
| CN113109800A (en) * | 2019-12-24 | 2021-07-13 | 财团法人金属工业研究发展中心 | Radio frequency positioning method for measuring position of transceiver |
| CN113075450B (en) * | 2021-02-22 | 2023-04-25 | 中国电子科技集团公司第二十九研究所 | Method for analyzing radio frequency and intermediate frequency of broadband frequency compressed signal based on sampling rate |
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| US6246376B1 (en) * | 2000-06-28 | 2001-06-12 | Texas Instruments Incorporated | Wireless location and direction indicator for multiple devices |
| CN101526613B (en) * | 2009-03-11 | 2012-01-25 | 哈尔滨工业大学 | Inter-satellite relative distance measurement device based on inter-satellite information exchange |
| EP2546674B1 (en) * | 2011-07-15 | 2014-12-31 | Airbus DS GmbH | Plarform relative navigation using range measurements |
| CN102778678A (en) * | 2012-08-03 | 2012-11-14 | 浙江大学 | High-precision carrier ranging system and method |
| CN203299390U (en) * | 2013-06-09 | 2013-11-20 | 北京宇航系统工程研究所 | System for dynamic GPS pseudo-range differential rang finding between on-orbit aircrafts |
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