CN117723849B - Space two-dimensional high-frequency antenna pointing precision ground calibration method, equipment and medium - Google Patents
Space two-dimensional high-frequency antenna pointing precision ground calibration method, equipment and medium Download PDFInfo
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Abstract
The invention provides a space two-dimensional high-frequency antenna pointing precision ground calibration method, equipment and medium. Belongs to the technical field of spacecraft systems. The calibration method is carried out in two parts; a first part: calibrating the relation between the electric axis direction and the prism coordinate system in the environment of the microwave darkroom, and calibrating the relation between the antenna electric axis vector and the antenna prism coordinate system in the microwave darkroom by adopting a planar near-field test system; a second part: and (3) dividing four theodolites into two groups in the relation between the clean room calibration antenna prism coordinate system and the reference prism, establishing measuring stations, and respectively establishing a driver reference prism coordinate system and an antenna prism coordinate system. The method can unload the influence of the earth gravity on the antenna deformation and calibrate the antenna pointing error with higher precision.
Description
Technical Field
The invention belongs to the technical field of spacecraft systems, and particularly relates to a space two-dimensional high-frequency antenna which is applied to satellites and works in Q/V wave bands, in particular to a space two-dimensional high-frequency antenna pointing precision ground calibration method, equipment and medium.
Background
The satellite high-frequency communication has the advantages of wide coverage, long transmission distance, large communication capacity, good transmission quality, flexible and rapid networking, high confidentiality and the like, and becomes a communication means with great competitiveness at present. With the rapid development of satellite communication networks, the service demands of large capacity, high speed and ultra wideband are continuously increased, and the high speed antenna of Q/V frequency band becomes the main communication frequency band of the future high flux satellite, and the characteristics of low cost and miniaturized terminal promote the antenna to occupy more and more specific weight in the process of building and operating the global broadband satellite communication system and fusing the global broadband satellite communication system with the ground communication system.
The inter-satellite high-frequency communication is used as an important link of communication, the antenna is required to have extremely high pointing precision, and meanwhile, the antenna has an automatic tracking function and keeps stability, and the high pointing precision is a necessary premise for realizing high gain and high performance of the antenna. Therefore, in the antenna ground development stage, the pointing precision of the high-frequency inter-satellite communication antenna is tested, and the method becomes an essential important link for testing the antenna performance.
Currently, there are various methods for measuring the pointing accuracy of a space antenna. The mechanical pointing direction of the antenna can be fitted by measuring characteristic measuring points arranged on the surface of the antenna through a laser tracker or a camera and the like, but the method cannot meet the requirement of measuring the electrical pointing precision due to errors between the electrical pointing direction of the antenna and the mechanical pointing direction. The pointing precision of the antenna can be measured through the high-precision two-axis turntable and the auto-collimator, but the method does not consider the error between the electric pointing and the mechanical pointing, and cannot be applied to the measurement of the electric pointing precision. The antenna electric pointing measurement can be completed by combining the plane field with the theodolite test system, but the efficiency of the method is lower because the plane field measurement time is longer and the antenna electric axis pointing is required to be measured by the plane field for any two-axis angle combination. In addition, most of the current testing methods do not consider the influence of ground gravity on the measurement accuracy, so that the measurement result accuracy is low and the reference is limited.
Therefore, the invention provides a space two-dimensional high-frequency antenna pointing precision ground calibration method, which can calibrate the pointing precision of any angle two-dimensional antenna under the condition of gravity unloading and has the characteristics of high precision, simple operation, high efficiency and suitability for popularization.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a method, equipment and a medium for calibrating the pointing precision of a space two-dimensional high-frequency antenna. The method can unload the influence of the earth gravity on the antenna deformation and calibrate the antenna pointing error with higher precision.
The invention is realized by the following technical scheme, and provides a space two-dimensional high-frequency antenna pointing precision ground calibration method which is carried out in two parts; a first part: calibrating the relation between the electric axis direction and the prism coordinate system in the environment of the microwave darkroom, and calibrating the relation between the antenna electric axis vector and the antenna prism coordinate system in the microwave darkroom by adopting a planar near-field test system; a second part: and (3) dividing four theodolites into two groups in the relation between the clean room calibration antenna prism coordinate system and the reference prism, establishing measuring stations, and respectively establishing a driver reference prism coordinate system and an antenna prism coordinate system.
Further, in the first part, the vector network provides one path of local oscillation, which is respectively supplied to the spread spectrum module of the transmitting end and the receiving end through the power divider and the amplifier, and the other path of radio frequency signal, which is supplied to the spread spectrum module of the transmitting end through the amplifier, is emitted by the probe/antenna after being multiplied by the frequency of the spread spectrum module; the probe/antenna receives and enters a receiving end spread spectrum module, and after mixing by the two spread spectrum modules, two paths of intermediate frequency signals are obtained, wherein the two paths of intermediate frequency signals are actually collected signals.
Further, during testing, firstly, the antenna and the tool are installed in a dark field, and the scanner is reset; secondly, starting a scanning frame to enable a probe to move to form a scanning plane, sending a TTL pulse to an RTC real-time controller at each sampling point of the scanning frame by a test system according to sampling steps, sending a high-level trigger signal to a vector network after the RTC receives the pulse of the scanning frame, and simultaneously returning low-level trigger signals by the vector network to collect data to finish sampling measurement; then, performing FFT (fast Fourier transform) on the acquired near-field data to obtain a far-field directional diagram of the antenna, and calculating the electric axis position of the antenna installation state by an electric axis measurement system, and outputting two angles of az and el; and finally, erecting a high-precision theodolite, establishing a measuring station, and calibrating the physical relationship between an antenna prism coordinate system and a scanner coordinate system.
Further, the physical coordinate system of the scanner is established by calibrating the target point through the theodolite, and then the transformation matrix Rx is output.
Further, the representation of the antenna electric axis vector in the antenna prism coordinate system is represented by the following formula
(1)
Wherein,Is the electric axis vector in the antenna prism coordinate system,/>，/>，/>Coordinates in three directions of x, y and z axes,/>Calculated by the following formula:
(2)
wherein, For a3 x3 rotation transformation matrix,/>For translating the transformation matrix,/>For the pointing vector in the target motion coordinate system, a homogeneous transformation matrix/>, is definedThe homogeneous transformation matrix comprises a rotation transformation matrix and a translation transformation matrix:
(3)
here, the translation transformation matrix is ignored, only the angular relationship is considered, and the antenna electric axis vector is expressed as:
(4)。
Further, the whole antenna is of a cantilever structure, and the antenna structure is deformed by unloading gravity during test.
Further, the calibration method adopts the mode of positive and negative calibration of the antenna, when the antenna is pitching the axis alpha and the antenna is azimuth the axis angle beta, the antenna is installed in the positive direction and installed in the reverse direction respectively, and the conversion matrixes M 1 and M 2 between the reference prism coordinate system and the antenna prism coordinate system are measured in the two installation states; in the experiment, after the antenna reaches a specified angle, the antenna is kept in an electrified state, namely, the position of the antenna is fixed by using a holding moment.
Further, calculating the calibration data;
calculating the pointing precision according to the following formula by taking a pitch angle and an azimuth angle as 0, 0 as references:
(5)
(6)
(7)
(8)
wherein, 、/>The directions of the antenna in the reference prism coordinate system during the forward and reverse installation are respectively shown; /(I)The antenna is pointed after unloading gravity; /(I)、/>Is a transition matrix; /(I)、/>The system is a conversion matrix of two coordinate systems of a reference prism coordinate system and an antenna prism coordinate system; alpha and beta are antenna pitching angle and azimuth axis angle respectively; /(I)The pointing accuracy deviation is the same for alpha and beta,To the pointing vector/>, when the pitch angle is alpha and the azimuth angle is betaMeasurement results in reference prism coordinate System,/>To point to vector/>, when pitch angle is 0 and azimuth angle is 0Measuring results in a reference prism coordinate system; /(I)To the pointing vector/>, when the pitch angle is alpha and the azimuth angle is betaTheoretical calculation result in reference prism coordinate system,/>To point to vector/>, when pitch angle is 0 and azimuth angle is 0Theoretical calculation results in a reference prism coordinate system.
The invention provides electronic equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the space two-dimensional high-frequency antenna pointing precision ground calibration method when executing the computer program.
The invention provides a computer readable storage medium for storing computer instructions which when executed by a processor implement the steps of the space two-dimensional high frequency antenna pointing precision ground calibration method.
Compared with the prior art, the method has the beneficial effects that:
The invention provides a space two-dimensional high-frequency antenna pointing precision ground calibration method. The pointing precision of the antenna is obtained by a method combining optical calibration and far field test. The method can eliminate deformation influence of earth gravity on the antenna, and the antenna is close to the space weightlessness state. The method is not limited by the attitude and the rotation angle of the antenna, and can realize the measurement of any pitch angle and azimuth angle with higher precision (the measurement precision is better than 0.015 DEG). The calibration method is simple and feasible, is easy to realize, and has universality.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of a method for calibrating the pointing precision of a space two-dimensional high-frequency antenna according to the invention.
Fig. 2 is a schematic diagram of a dark field calibration link.
Fig. 3 is a schematic diagram of antenna pointing accuracy calibration.
Fig. 4 is a schematic diagram of the principle of intersection measurement.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Term interpretation:
(1) Photoelectric theodolite: the method is used for establishing a reference coordinate system, an antenna prism coordinate system and a scanning system coordinate system.
(2) Antenna near field scanning system: for scanning the antenna pattern and calculating the electrical axis direction.
(3) Reference ruler: for establishing a dimensional reference for the theodolite.
(4) High stable foot rest: for mounting and adjusting theodolite position and attitude.
(5) SMN data measurement system: the photoelectric theodolite calculation system comprises photoelectric theodolite calculation software, an online test box and a cable, and is used for calculating and converting a coordinate system.
Referring to fig. 1-4, the invention provides a space two-dimensional high-frequency antenna pointing precision ground calibration method, which is carried out in two parts; a first part: calibrating the relation between the electric axis direction and the prism coordinate system in the environment of the microwave darkroom, and calibrating the relation between the antenna electric axis vector and the antenna prism coordinate system in the microwave darkroom by adopting a planar near-field test system; a second part: and (3) dividing four theodolites into two groups in the relation between the clean room calibration antenna prism coordinate system and the reference prism, establishing measuring stations, and respectively establishing a driver reference prism coordinate system and an antenna prism coordinate system. The calibration flow is shown in fig. 1.
In the first part, in the microwave darkroom, a planar near field test system is used for calibrating the relation between the antenna electric axis vector and the antenna prism coordinate system. The plane near field test system adopts an indoor automatic test technology, and can realize the antenna point frequency and sweep frequency test function. The test speed can be greatly improved, and the requirements on the test field are reduced. The working frequency of the test system is covered by 2-67 GHz. Because the test antenna has higher frequency and larger cable loss, the system adopts a frequency conversion scheme. The vector network provides one path of local oscillation, which is respectively supplied to the spread spectrum module of the transmitting end and the receiving end through the power divider and the amplifier, and the other path of radio frequency signal, which is supplied to the spread spectrum module of the transmitting end through the amplifier, is emitted by the probe/antenna after being multiplied by the frequency of the spread spectrum module; the probe/antenna receives and enters a receiving end spread spectrum module, and after mixing by the two spread spectrum modules, two paths of intermediate frequency signals are obtained, wherein the two paths of intermediate frequency signals are actually collected signals.
During testing, firstly, an antenna and a tool are installed in a dark field, and a scanner is reset; secondly, starting a scanning frame to enable a probe to move to form a scanning plane, sending a TTL pulse to an RTC real-time controller at each sampling point of the scanning frame by a test system according to sampling steps, sending a high-level trigger signal to a vector network after the RTC receives the pulse of the scanning frame, and simultaneously returning low-level trigger signals by the vector network to collect data to finish sampling measurement; then, performing FFT (fast Fourier transform) on the acquired near-field data to obtain a far-field directional diagram of the antenna, and calculating the electric axis position of the antenna installation state by an electric axis measurement system, and outputting two angles of az and el; and finally, erecting a high-precision theodolite, establishing a measuring station, and calibrating the physical relationship between an antenna prism coordinate system and a scanner coordinate system. The physical coordinate system of the scanner is established by calibrating the target point through the theodolite, and then the transformation matrix Rx is output, as shown in fig. 2.
The representation of the antenna electric axis vector in the antenna prism coordinate system is represented by the following formula
(1)
Wherein,Is the electric axis vector in the antenna prism coordinate system,/>，/>，/>Coordinates in three directions of x, y and z axes,/>Calculated by the following formula:
(2)
wherein, For a3 x3 rotation transformation matrix,/>For translating the transformation matrix,/>For the pointing vector in the target motion coordinate system {1}, a homogeneous transformation matrix/>, is defined(4×4 Matrix), the homogeneous transformation matrix includes both rotation and translation transformation matrices:
(3)
here, the translation transformation matrix is ignored, only the angular relationship is considered, and the antenna electric axis vector is expressed as:
(4)。
In the second part, the relation between the antenna prism coordinate system and the reference prism is calibrated. Four theodolites are divided into two groups, measuring stations are established, and a driver reference prism coordinate system {3} and an antenna prism coordinate system {2} are respectively established. The whole antenna is of a cantilever structure, and the antenna structure is deformed by unloading gravity during a test. The calibration method adopts the positive and negative calibration modes of the antenna, when the antenna is at the pitching axis alpha and the azimuth axis angle beta, the antenna is respectively installed in the positive direction and in the reverse direction (rotated 180 degrees), and the conversion matrixes M 1 and M 2 between the reference prism coordinate system and the antenna prism coordinate system are measured in the two installation states; in the experiment, after the antenna reaches a specified angle, the antenna is kept in an energized state, that is, the antenna position is fixed by using a holding torque (cogging torque). The calibration schematic is shown in fig. 3.
Calculating the calibration data;
calculating the pointing precision according to the following formula by taking a pitch angle and an azimuth angle as 0, 0 as references:
(5)
(6)
(7)
(8)
wherein, 、/>The directions of the antenna in the reference prism coordinate system during the forward and reverse installation are respectively shown; /(I)The antenna is pointed after unloading gravity; /(I)、/>Is a transition matrix; /(I)、/>The system is a conversion matrix of two coordinate systems of a reference prism coordinate system and an antenna prism coordinate system; alpha and beta are antenna pitching angle and azimuth axis angle respectively; /(I)The pointing accuracy deviation is the same for alpha and beta,To the pointing vector/>, when the pitch angle is alpha and the azimuth angle is betaMeasurement results in reference prism coordinate System,/>To point to vector/>, when pitch angle is 0 and azimuth angle is 0Measuring results in a reference prism coordinate system; /(I)To the pointing vector/>, when the pitch angle is alpha and the azimuth angle is betaTheoretical calculation result in reference prism coordinate system,/>To point to vector/>, when pitch angle is 0 and azimuth angle is 0Theoretical calculation results in a reference prism coordinate system.
Fig. 4 is an illustration of the intersection measurement principle used in the antenna darkroom test. In fig. 4,1 is an optical-electrical encoder, and 2 is a target point P on a scanner. The system measurement is based on three-dimensional space intersection theory. In the case of a calibrated scale, the coordinates of the target point P within the theodolite station can be given by the following formula.
(9)
Wherein,Is the projection distance of the original points of the two photoelectric encoders and is also the projection line of AB,/>Is the included angle between the connection line of the photoelectric encoder with the number 1 and the projection point of the target P and the projection line AB, and is/isFor the included angle between the connection line of the photoelectric encoder with the number 2 and the projection point of the target P and the projection line AB, h is the height difference of the two photoelectric encoders,/>Is the included angle between the AP connecting line and the horizontal plane,/>Is the included angle between the BP connecting line and the horizontal plane.
Examples
In the dark field calibration stage and the reference prism calibration stage, to ensure the measurement precision of the photoelectric theodolite, the number of the theodolites can be determined to be 3,4 or 5 according to actual measurement conditions and measurement requirements.
In the first part, four theodolites are taken as an example in the dark field calibration stage. And aligning the antenna with the scanning frame, starting the scanning frame to scan the antenna, and establishing the relation between the antenna electric axis vector and the scanner coordinate system. Four theodolites are placed, wherein two theodolites collimate the antenna prism, and the rest two theodolites firstly scan target points at two ends of the reference ruler and then scan target points on the scanner; and then, the four theodolites are mutually aimed in pairs, and coordinate system calculation is carried out through SMN software to establish the relation between the antenna prism coordinate system and the scanner coordinate system. And (5) establishing the relation between the antenna electric axis vector and the antenna prism coordinate system through coordinate conversion (formulas 1-4).
In the second part, four theodolites are taken as an example in the calibration stage of the reference prism. And turning the antenna to a zero position, collimating the antenna prism and the reference prism by two pairs of four theodolites, and mutually aiming to establish the coordinate system relation of the antenna prism and the reference prism at the zero position. The antenna pitching and the azimuth are respectively rotated by a designated angle, and the coordinate system relation between the rotated antenna prism and the reference prism is established through the theodolite. And reversing the antenna by 180 degrees to fix, and establishing the coordinate system relation of the antenna prism and the reference prism in the zero position and the coordinate system relation of the antenna prism and the reference prism after rotating by a fixed angle in the same process.
Finally, the pointing accuracy of the two-dimensional antenna can be obtained through coordinate transformation (formulas 5-8).
The invention provides electronic equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the space two-dimensional high-frequency antenna pointing precision ground calibration method when executing the computer program.
The invention provides a computer readable storage medium for storing computer instructions which when executed by a processor implement the steps of the space two-dimensional high frequency antenna pointing precision ground calibration method.
The memory in embodiments of the present application may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile memory may be a Read Only Memory (ROM), a Programmable ROM (PROM), an erasable programmable ROM (erasable PROM), an electrically erasable programmable EPROM (EEPROM), or a flash memory. The volatile memory may be random access memory (random access memory, RAM) which acts as external cache memory. By way of example, and not limitation, many forms of RAM are available, such as static random access memory (STATIC RAM, SRAM), dynamic random access memory (DYNAMIC RAM, DRAM), synchronous Dynamic Random Access Memory (SDRAM), double data rate synchronous dynamic random access memory (double DATA RATE SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (ENHANCED SDRAM, ESDRAM), synchronous link dynamic random access memory (SYNCHLINK DRAM, SLDRAM), and direct memory bus random access memory (direct rambus RAM, DR RAM). It should be noted that the memory of the methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the processes or functions described in accordance with embodiments of the present application are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a high-density digital video disc (digital video disc, DVD)), or a semiconductor medium (e.g., a solid-state disk (solid-state drive STATE DISC, SSD)), or the like.
In implementation, each step of the method may be implemented by an integrated logic circuit of hardware in a processor or an instruction in a form of a software component. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in a hardware processor for execution, or in a combination of hardware and software modules in the processor for execution. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory, and the processor reads the information in the memory and, in combination with its hardware, performs the steps of the above method. To avoid repetition, a detailed description is not provided herein.
It should be noted that the processor in the embodiments of the present application may be an integrated circuit chip with signal processing capability. In implementation, the steps of the above method embodiments may be implemented by integrated logic circuits of hardware in a processor or instructions in software form. The processor may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, or discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory, and the processor reads the information in the memory and, in combination with its hardware, performs the steps of the above method.
The above describes in detail a method, apparatus and medium for calibrating pointing accuracy of a space two-dimensional high-frequency antenna, and specific examples are applied to describe the principle and implementation of the invention, and the description of the above examples is only used to help understand the method and core idea of the invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (7)
1. The space two-dimensional high-frequency antenna pointing precision ground calibration method is characterized by comprising two parts; a first part: calibrating the relation between the electric axis direction and the prism coordinate system in the environment of the microwave darkroom, and calibrating the relation between the antenna electric axis vector and the antenna prism coordinate system in the microwave darkroom by adopting a planar near-field test system; a second part: dividing four theodolites into two groups in relation between a clean room calibration antenna prism coordinate system and a reference prism, establishing measuring stations, and respectively establishing a driver reference prism coordinate system and an antenna prism coordinate system;
during testing, firstly, an antenna and a tool are installed in a dark field, and a scanner is reset; secondly, starting a scanning frame to enable a probe to move to form a scanning plane, sending a TTL pulse to an RTC real-time controller at each sampling point of the scanning frame by a test system according to sampling steps, sending a high-level trigger signal to a vector network after the RTC receives the pulse of the scanning frame, and simultaneously returning low-level trigger signals by the vector network to collect data to finish sampling measurement; then, performing FFT (fast Fourier transform) on the acquired near-field data to obtain a far-field directional diagram of the antenna, and calculating the electric axis position of the antenna installation state by an electric axis measurement system, and outputting two angles of az and el; finally, erecting a high-precision theodolite, establishing a measuring station, and calibrating the physical relationship between an antenna prism coordinate system and a scanner coordinate system;
The calibration method adopts the positive and negative calibration modes of the antenna, when the antenna is at the pitching axis alpha and the azimuth axis angle beta, the antenna is respectively installed in the positive direction and in the reverse direction, and the conversion matrixes M 1 and M 2 between the reference prism coordinate system and the antenna prism coordinate system are measured in the two installation states; when the experiment is carried out, after the antenna reaches a specified angle, the antenna is kept in an electrified state, namely, the position of the antenna is fixed by using a holding moment;
Calculating the calibration data;
Calculating the pointing precision according to the following formula by taking a pitch angle and an azimuth angle as references:
3P＝(3Pup+3Pdown)/2 (7)
Wherein 3Pup、3Pdown is the direction of the antenna in the reference prism coordinate system when the antenna is installed in the forward direction and the reverse direction respectively; 3 P is the antenna orientation after unloading gravity; r r′、Rr is a transition matrix; The system is a conversion matrix of two coordinate systems of a reference prism coordinate system and an antenna prism coordinate system; alpha and beta are antenna pitching angle and azimuth axis angle respectively; direction precision deviation,/>, when delta is alpha and beta The measurement result of the pointing vector P in the reference prism coordinate system when the pitch angle is alpha and the azimuth angle is beta is thatThe measurement result of the pointing vector P in the reference prism coordinate system is that when the pitch angle is 0 and the azimuth angle is 0; /(I)The theoretical calculation result of the pointing vector P in the reference prism coordinate system when the pitch angle is alpha and the azimuth angle is beta is thatThe theoretical calculation result of the pointing vector P in the reference prism coordinate system is obtained when the pitch angle is 0 and the azimuth angle is 0.
2. The method of claim 1 wherein in the first section, the vector network provides a local oscillator to the spreading module at the transmitting end and the receiving end through the power divider and the amplifier, respectively, and the other radio frequency signal to the spreading module at the transmitting end through the amplifier, and after being multiplied by the spreading module, the radio frequency signal is transmitted by the probe/antenna; the probe/antenna receives and enters a receiving end spread spectrum module, and after mixing by the two spread spectrum modules, two paths of intermediate frequency signals are obtained, wherein the two paths of intermediate frequency signals are actually collected signals.
3. A method according to claim 2, characterized in that the physical coordinate system of the scanner is established by theodolite calibration of the target points, after which the transformation matrix Rx is output.
4. A method according to claim 3, wherein the representation of the antenna electric axis vector in the antenna prism coordinate system is represented by the following formula
Wherein 2 P is an electric axis vector under an antenna prism coordinate system, P x,py,pz is coordinates of x, y and z axes in three directions, and 2 P is calculated by the following formula:
wherein, For a 3×3 rotation transformation matrix, 2PBORG is a translation transformation matrix, 1 P is a pointing vector in a target motion coordinate system, a homogeneous transformation matrix/>, is definedThe homogeneous transformation matrix comprises a rotation transformation matrix and a translation transformation matrix:
here, the translation transformation matrix is ignored, only the angular relationship is considered, and the antenna electric axis vector is expressed as:
5. the method of claim 4, wherein the antenna is entirely of cantilevered construction, and wherein the antenna construction is deformed by unloading gravity during testing.
6. An electronic device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1-5 when the computer program is executed.
7. A computer readable storage medium storing computer instructions which, when executed by a processor, implement the steps of the method of any one of claims 1-5.
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