Mechanical arm action planning method and system based on outdoor antenna calibration site position

Abstract

The invention provides a mechanical arm action planning method and system based on an outdoor antenna calibration field position, and the method comprises the steps: calculating the latitude and longitude of a calibration field according to the coordinates of an outdoor calibration field; according to the satellite ephemeris, calculating the maximum elevation angle of the calibration place in a static state in a sub-satellite point repetition period; according to the calibration field coordinates and the maximum elevation angle of the satellite under the actual measurement data, the mechanical arm action is determined, the mechanical arm action starts from the starting point, a certain amount of stepping is conducted on the inclination angle and the rotation angle at the same time, and when the inclination angle or the rotation angle reaches the physical tolerance of the mechanical arm, stepping is conducted in the opposite direction; and calculating the satellite coverage condition of the antenna disc surface according to the actual satellite track and the mechanical arm motion planning, and checking the mechanical arm motion planning effect. According to the calibration site position information and the satellite constellation design, adaptive planning can be carried out on the action of the mechanical arm, so that observation values in the antenna disc face are evenly and comprehensively covered, and the antenna phase calibration precision and calibration speed are improved.

Description

technical field [0001] The invention belongs to the field of antenna measurement technology and satellite navigation and positioning, and specifically relates to a technical scheme of manipulator action planning based on outdoor antenna calibration site position, which realizes manipulator action planning in outdoor absolute calibration of ground receiver antenna phase center. Background technique [0002] For ground receiving antennas, the phase receiving position of the signal changes as the signal is incident from different azimuths, resulting in differences in phase observations in different directions, which has a greater impact on high-precision satellite navigation applications. Therefore, in practical applications, it is necessary to calibrate the antenna phase center model (Antenna Phase Model, APC) and establish a corresponding antenna phase correction model. [0003] Due to the constellation design, for a fixed calibration field, the trajectory of the satellite ch...

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Problems solved by technology

[0007] The technical problem to be solved by the present invention is: in the outdoor absolute calibration of the GNSS antenna, due to the limitation of the calibration site and constellation design, the satellite cannot completely cover the defect of the entire antenna disk. Therefore, based on the position information of the calibration site, a mechanical arm is proposed. A method of planning movements so that satellites can evenly cover the antenna

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