CN109950699B - Directional antenna alignment method and device, terminal equipment and medium - Google Patents
Directional antenna alignment method and device, terminal equipment and medium Download PDFInfo
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Abstract
The invention is suitable for the technical field of communication, and provides an alignment method, an alignment device, terminal equipment and a medium of a directional antenna, wherein the method comprises the following steps: acquiring first geographical position information of local terminal equipment, and receiving second geographical position information of opposite terminal equipment; calculating a distance value between the first directional antenna and the second directional antenna based on the first geographical position information and the second geographical position information; according to the distance value, first angle information and second angle information which need to be met by the first directional antenna and the second directional antenna under the tracking alignment condition are respectively determined; and controlling the first directional antenna to rotate based on the first angle information, and sending the second angle information to the opposite terminal equipment so that the opposite terminal equipment controls the second directional antenna to rotate based on the second angle information. The invention overcomes the problem of poor mobility and flexibility of the directional antenna, is suitable for application scenes with strong mobility requirements, and therefore, the relatively stable communication effect between the unmanned ship and the shore base is ensured.
Description
Technical Field
The present invention relates to the field of communications technologies, and in particular, to an alignment method and apparatus for a directional antenna, a terminal device, and a medium.
Background
In a mobile communication system, an antenna is a converter for circuit signals and space radiation electromagnetic waves, and is a key component of the mobile communication system. With the development of mobile communication technology, terminal devices with two ends needing to interact often use an omnidirectional antenna to perform communication. However, the communication distance is not ideal because the signal power radiation of the omni-directional antenna is scattered and tends to interfere with other devices. In the prior art, directional antennas have the characteristics of concentrated energy, narrow beams and small interference to other devices, and therefore, in order to solve the above problem of non-ideal communication distance, existing terminal devices have gradually started to use directional antennas to perform communication.
The unmanned ship is a full-automatic water surface robot which can navigate on the water surface according to preset tasks without remote control. During the navigation of an unmanned ship, it is mostly required to communicate with a shore-based peer-to-peer (P2P) network. However, because the directional antenna has directivity, its mobility and flexibility are poor, so in the technical field of unmanned ship and other fields where mobility needs to be strong, the problem of poor communication effect and flexibility still exists in the existing communication method of the directional antenna.
Disclosure of Invention
In view of this, embodiments of the present invention provide an alignment method, an alignment apparatus, a terminal device, a system, and a medium for a directional antenna, so as to solve the problem of poor communication effect and flexibility of the existing communication method for a directional antenna.
A first aspect of an embodiment of the present invention provides an alignment method for a directional antenna, including:
acquiring first geographical position information of local terminal equipment equipped with a first directional antenna, and receiving second geographical position information of opposite terminal equipment; the opposite terminal equipment is provided with a second directional antenna;
calculating a distance value between the first directional antenna and the second directional antenna based on the first geographical location information and the second geographical location information;
according to the distance value, first angle information and second angle information which need to be met by the first directional antenna and the second directional antenna under the tracking alignment condition are respectively determined;
controlling the first directional antenna to rotate based on the first angle information, and sending the second angle information to the opposite terminal equipment so that the opposite terminal equipment controls the second directional antenna to rotate based on the second angle information;
and performing communication with the opposite terminal device by tracking the aligned first directional antenna and the aligned second directional antenna.
A second aspect of the embodiments of the present invention provides an alignment apparatus for a directional antenna, including:
the device comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring first geographical position information of local terminal equipment equipped with a first directional antenna and receiving second geographical position information of opposite terminal equipment; the opposite terminal equipment is provided with a second directional antenna;
a calculating unit, configured to calculate a distance value between the first directional antenna and the second directional antenna based on the first geographic location information and the second geographic location information;
an alignment unit comprising a first acquisition subunit, a second acquisition subunit, a first alignment subunit, and a second alignment subunit:
the first obtaining subunit is configured to obtain a range interval to which the distance value belongs;
the second obtaining subunit obtains a preset algorithm corresponding to the range section from a preset corresponding relation table, and the corresponding relation table is used for recording the corresponding relation between the range section and the preset algorithm;
the first alignment subunit is configured to, if the preset algorithm is a first algorithm, control the first directional antenna to search for a wireless signal sent by the second directional antenna at a preset beam angle and a preset rotation speed, and establish a communication connection with the peer device when the wireless signal is searched;
recording the signal field intensity at the moment of communication connection;
if the signal field intensity at the communication connection moment is smaller than the signal field intensity recorded at the previous moment, controlling the first directional antenna to rotate and retreat to the position point at the previous moment, and finishing the search operation related to the wireless signal so as to align the first antenna and the second antenna;
the second alignment subunit is configured to, if the preset algorithm is a second algorithm, respectively determine a first coordinate point corresponding to the first geographic position information and a second coordinate point corresponding to the second geographic position information in a preset three-dimensional spherical coordinate system;
calculating the azimuth angle and the inclination angle of the second coordinate point relative to the first coordinate point;
performing operation processing on the azimuth angle and the inclination angle through a preset coordinate transformation algorithm, and determining first angle information and second angle information which need to be met by the first directional antenna and the second directional antenna under a tracking alignment condition;
the antenna alignment device is used for controlling the first directional antenna to rotate based on the first angle information and sending the second angle information to the opposite terminal device so that the opposite terminal device controls the second directional antenna to rotate based on the second angle information and the alignment between the first directional antenna and the second directional antenna is completed;
and the communication unit is used for executing communication with the opposite terminal equipment by tracking the aligned first directional antenna and the aligned second directional antenna.
A third aspect of the embodiments of the present invention provides an alignment system for a directional antenna, including a local device and an opposite device, where the local device is equipped with a first directional antenna, the opposite device is equipped with a second directional antenna, and the local device is configured to obtain first geographic location information and receive second geographic location information about the opposite device;
the local terminal device is further configured to calculate a distance value between the first directional antenna and the second directional antenna based on the first geographical location information and the second geographical location information;
the local terminal device is further configured to respectively determine first angle information and second angle information that need to be satisfied by the first directional antenna and the second directional antenna under a tracking alignment condition according to the distance value;
the local terminal device is further configured to control the first directional antenna to rotate based on the first angle information, and send the second angle information to the opposite terminal device, so that the opposite terminal device controls the second directional antenna to rotate based on the second angle information;
the local terminal device is further configured to perform communication with the opposite terminal device by tracking the aligned first directional antenna and the aligned second directional antenna.
A fourth aspect of the embodiments of the present invention provides an alignment apparatus for a directional antenna, including a memory and a processor, where the memory stores a computer program operable on the processor, and the processor implements the steps of the alignment method for a directional antenna as described above when executing the computer program.
A fifth aspect of the embodiments of the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the processor implements the steps of the alignment method for a directional antenna as described above.
In the embodiment of the invention, the geographical position information of the local terminal equipment and the geographical position information sent by the opposite terminal equipment are obtained, the rotating angles of the directional antennas of the local terminal equipment and the opposite terminal equipment are automatically calculated based on the geographical position information, and the automatic alignment of the two directional antennas is executed according to the calculated angle information, so that the automatic and accurate tracking of the directional antennas of the shore-based equipment and the unmanned ship-side equipment can be realized in the P2P communication process of the unmanned ship, the technical problems of poor mobility and flexibility of the directional antennas are solved, the method and the device are suitable for application scenes with strong mobility requirements, and the stable communication effect between the unmanned ship and the shore-based equipment is also ensured.
Drawings
Fig. 1 is a system architecture diagram to which the alignment method of the directional antenna provided by the embodiment of the present invention is applied;
fig. 2 is a flowchart of an implementation of an alignment method for a directional antenna according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a three-dimensional spherical coordinate system including A, B, C three points according to an embodiment of the present invention;
fig. 4 is a flowchart of a specific implementation of the directional antenna alignment method S203 according to an embodiment of the present invention;
fig. 5 is a block diagram of an alignment apparatus of a directional antenna according to an embodiment of the present invention;
fig. 6 is a schematic diagram of an alignment apparatus of a directional antenna provided in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the embodiment of the present invention, the local device and the peer device are a group of terminal devices that need to perform mutual communication. The opposite terminal equipment can be one or a plurality of. The local terminal equipment and the opposite terminal equipment are both terminal equipment equipped with directional antennas. In each embodiment of the present invention, a shore-based device in an unmanned ship control system is used as the local terminal device, and a ship terminal device is used as the opposite terminal device, so as to explain an alignment method of a directional antenna provided in an embodiment of the present invention. It should be noted that, besides the shore-based equipment and the ship-side equipment in the unmanned ship control system, the alignment method of the directional antenna provided by the embodiment of the present invention is also applicable to other terminal equipment equipped with a directional antenna, and is not limited herein.
Fig. 1 is a diagram illustrating a system architecture to which the alignment method of the directional antenna according to the embodiment of the present invention is applied, and only the relevant parts to this embodiment are shown for convenience of illustration.
Referring to fig. 1, the system consists of a shore-based facility 11 and a ship-side facility 12. The shore-based device 11 is configured to obtain local first geographic position information, receive second geographic position information about the ship-side device 12, and calculate distance values of directional antennas respectively mounted on the first geographic position information and the second geographic position information according to the first geographic position information and the second geographic position information. Meanwhile, the shore-based device 11 is further configured to determine angle information that the directional antenna needs to satisfy under the tracking alignment condition according to the distance value, and then control the rotational alignment of the directional antenna based on the angle information.
The shore-based equipment 11 shown in fig. 1 includes a first servo cradle head, a first controller, a first wireless transmission module, a first Global Positioning System (GPS)/Beidou (BeiDou, BD) signal receiver, and a first directional antenna assembled on the first servo cradle head; the first wireless transmission module, the first servo holder and the first GPS/BD signal receiver are all connected with the first controller. The first GPS/BD signal receiver is used for acquiring first geographical position information of the shore-based equipment 11; the second GPS/BD signal receiver is used to obtain second geographical location information of the end-of-ship device 12.
Preferably, the shore-based installation 11 further comprises a display and control unit connected to the first controller. The display control unit is used for realizing interaction with a user so as to receive the unmanned ship control instruction and display a communication result.
In this system, the end-of-ship device 12 may be a terminal device provided on the unmanned ship, which may be changed in position according to the voyage of the unmanned ship, and used to maintain communication with the shore-based device 11. The ship-side equipment 12 can receive the angle information about the directional antenna sent by the shore-based equipment 11 and control the rotation alignment of the directional antenna according to the angle information.
The ship-end equipment shown in fig. 1 comprises a second servo pan-tilt, a second controller, a second wireless transmission module, a second GPS/BD signal receiver and a second directional antenna assembled on the second servo pan-tilt; and the second wireless transmission module, the second servo holder and the second GPS/BD signal receiver are all connected with the second controller. The second wireless transmission module is used for sending the second geographical location information to the first wireless transmission module of the shore-based device 11.
Fig. 2 shows an implementation flow of the alignment method for a directional antenna according to the embodiment of the present invention, where an execution subject of the embodiment of the present invention is the shore-based device, and the implementation flow is detailed as follows:
s201: acquiring first geographical position information of local terminal equipment equipped with a first directional antenna, and receiving second geographical position information of opposite terminal equipment; the peer device is equipped with a second directional antenna.
S202: calculating a distance value between the first directional antenna and the second directional antenna based on the first geographical location information and the second geographical location information.
S203: and respectively determining first angle information and second angle information which are required to be met by the first directional antenna and the second directional antenna under the tracking alignment condition according to the distance value.
In the embodiment of the invention, the first geographical position information of the local terminal equipment comprises longitude and latitude, altitude and azimuth angle and pitch angle of a first directional antenna assembled by the shore-based equipment.
The first three-dimensional electronic compass and the first directional antenna are assembled on a first servo holder of the shore-based equipment. The first three-dimensional electronic compass is connected with the first directional antenna so as to acquire the pointing direction and the inclination angle of the first directional antenna through the first three-dimensional electronic compass. The latitude and longitude and the altitude of the shore-based equipment are acquired through the first GPS/BD signal receiver. And processing the initialization information of the first servo holder, the first three-dimensional electronic compass and the data information acquired by the first GPS/BD signal receiver through a preset coordinate conversion algorithm so as to calculate an azimuth angle, a pitch angle and geographical azimuth information which respectively correspond to the first servo holder and the first directional antenna.
Similarly, the ship end equipment can calculate second geographical position information of the ship end equipment through a second GPS/BD signal receiver, a second three-dimensional electronic compass, a second directional antenna and a second servo platform which are arranged on the ship end equipment.
Preferably, the second GPS/BD signal receiver of the end-of-ship device is a dual antenna positioning and orientation receiver mounted on the hull of the ship. The dual-antenna positioning and orienting receiver is specifically used for acquiring orientation information related to a ship body, including but not limited to a bow direction, longitude and latitude, an altitude, a ship inclination angle and the like.
In the embodiment of the invention, the first controller of the shore-based equipment receives the second geographical position information uploaded by the ship-side equipment through the first wireless transmission module at preset time intervals. And calculating the distance between the two antennas and the angle information required by the two directional antennas by combining the local first geographical position information and the second geographical position information about the ship-end equipment. Wherein the angle information comprises an azimuth angle and a pitch angle of the directional antenna. And controlling the corresponding directional antenna to rotate according to the calculated angle information.
Preferably, as an embodiment of the present invention, the first directional antenna and the first three-dimensional electronic compass are both mounted on the first servo pan/tilt head and rotate with the first servo pan/tilt head. For the azimuth angle and the inclination angle of the first positioning antenna indicated by the first three-dimensional compass, because a metering error exists between the azimuth angle and the inclination angle of the first positioning antenna and the rotation angle and the inclination angle of the first servo pan-tilt, the first azimuth information of the first three-dimensional electronic compass and the second azimuth information of the first servo pan-tilt are obtained, and the first azimuth information and the second azimuth information are subjected to subtraction processing, so that the corrected first geographical position information of the shore-based equipment can be obtained, and the acquisition accuracy of the geographical position information is improved.
Preferably, if the first geographical position information of the shore-based equipment cannot be acquired through the first directional antenna, switching the communication mode of the second GPS/BD signal receiver from GPS communication to Beidou communication, and acquiring the first geographical position information of the shore-based equipment in a Beidou short message based mode; or starting a standby narrow-band communication module preset in the ship-end equipment to acquire the first geographical position information of the shore-based equipment in a narrow-band communication mode.
For example, in S202, based on the first geographic location information and the second geographic location information, the method for calculating the distance value, the azimuth angle, and the pitch angle between the first directional antenna and the second directional antenna specifically includes:
as shown in fig. 3, the longitude and latitude of A, B are known, where a, B, and C represent three points on the spherical surface, and the point C is located at the north pole. a, B and C represent angles between two end points of an arc of the three points A, B and C and a connecting line of the center of the earth. Wherein A isjIndicates the longitude of point A, AwIndicates the latitude of point A, AhIndicating the altitude of point a. B isjRepresents the longitude of point B, BwIndicates the latitude of point B, BhRepresents the altitude of point B; the included angle between the plane AOC and the plane BOC is c; r is the average radius of the earth, and the value of R is 6371.004 km; l isABThe spherical distance between two points AB is shown, namely the length of a minor arc AB in an arc generated by the intersection of a plane passing through three points AOB and a ball; azimuth denotes Azimuth.
The formula of the cosine of the spherical three-surface angle can be obtained as follows:
cosc＝cosa×cosb+sina×sinb×sinc (1)
after acquiring the longitude and latitude of the point a and the point B, the above equation (1) may be changed to:
cosc＝cos(90-BW)×cos(90-AW)+sin(90-BW)×sin(90-AW)×cos(Bj-Aj) (2)
due to the fact that
And according to the spherical sine formula
By combining the above formulas, the product can be obtained
Assuming that the point a is fixed at the origin, when the point B is at the first quadrant, the Azimuth is a;
when point B is at the second quadrant, Azimuth is 360+ a;
when point B is in the third quadrant, Azimuth 180-a.
When the point B is on the coordinate axis, the Azimuth is determined to be 0, 90, 180 or 270 according to the orientation of the coordinate axis.
In the embodiment of the present invention, according to the above formula (2), the degree of c obtained by the arccosine function is:
the spherical distance L between the point A and the point BAB＝R×c (7)
Pitch angle α is arctan (B)h-Ah/LAB) (8)
Wherein if α >0, the angle is a horizontal upward elevation angle, and α <0, the angle is a horizontal downward depression angle.
S204: and controlling the first directional antenna to rotate based on the first angle information, and sending the second angle information to the opposite terminal equipment so that the opposite terminal equipment controls the second directional antenna to rotate based on the second angle information.
S205: and performing communication with the opposite terminal device by tracking the aligned first directional antenna and the aligned second directional antenna.
In the embodiment of the invention, the first controller controls the local first servo cradle head and the first directional antenna to rotate according to the calculated angle information. Meanwhile, the calculated second angle information about the second directional antenna is sent to the opposite terminal device through the first wireless transmission module, so that the opposite terminal device controls the second directional antenna to rotate based on the second angle information, and tracking alignment of the first directional antenna and the second directional antenna is achieved.
In the embodiment of the invention, the geographical position information of the local terminal equipment and the geographical position information sent by the opposite terminal equipment are obtained, the rotating angles of the directional antennas of the local terminal equipment and the opposite terminal equipment are automatically calculated based on the geographical position information, and the automatic alignment of the two directional antennas is executed according to the calculated angle information, so that the automatic and accurate tracking of the directional antennas of the shore-based equipment and the unmanned ship-side equipment can be realized in the P2P communication process of the unmanned ship, the technical problems of poor mobility and flexibility of the directional antennas are solved, the method and the device are suitable for application scenes with strong mobility requirements, and the stable communication effect between the unmanned ship and the shore-based equipment is also ensured.
As an embodiment of the present invention, fig. 4 shows a specific implementation flow of the directional antenna alignment method S203 provided in the embodiment of the present invention, which is detailed as follows:
s2031: and acquiring the range interval to which the distance value belongs.
S2032: and acquiring a preset algorithm corresponding to the range interval.
S2033: and performing operation processing on the first geographical position information and the second geographical position information through the preset algorithm, and respectively determining first angle information and second angle information which need to be met by the first directional antenna and the second directional antenna under the tracking alignment condition.
When the distance values of the first directional antenna and the second directional antenna are different, the shore-based equipment uses different preset algorithms to calculate the angle information which needs to be met by the first directional antenna and the second directional antenna under the tracking alignment condition.
In the embodiment of the invention, the preset corresponding relation table is loaded. The correspondence table is used for recording the correspondence between the range interval and the preset algorithm. For example, if the distance value is 500 meters and the range section to which the distance value belongs is [0, 2km ], it may be determined that the currently required predetermined algorithm is the first algorithm according to the correspondence table. And if the distance value is 3000 meters and the range interval to which the distance value belongs is [2km, 5km ], determining that the currently used preset algorithm is the second algorithm according to the corresponding relation table.
In the embodiment of the invention, because the positioning error influence of the first GPS/BD signal receiver is possibly large in a short-distance range, the first algorithm corresponding to the range interval below 2 kilometers is determined as the tracking algorithm which takes a step-by-step tracking method as a main part and takes a GPS geographic position information positioning algorithm as an auxiliary part. And determining a second algorithm corresponding to the range interval of more than 2 kilometers as a tracking algorithm which takes a GPS geographic position information positioning algorithm as a main algorithm and takes a step-by-step tracking method as an auxiliary algorithm.
As an embodiment of the present invention, when the preset algorithm corresponding to the range interval is a first algorithm, the method for aligning a directional antenna further includes: controlling the first directional antenna to search for a wireless signal sent by the second directional antenna according to a preset beam angle and a preset rotation speed, and establishing communication connection with the opposite terminal equipment when the wireless signal is searched; recording the signal field intensity at the moment of communication connection; and if the signal field intensity at the communication connection moment is smaller than the signal field intensity recorded at the previous moment, controlling the first directional antenna to rotate and retreat to the position point at the previous moment, and finishing the search operation related to the wireless signal.
In the embodiment of the invention, the maximum signal strength received by the first directional antenna is the basis. And comparing the signal field intensity received by the two moving positions by gradually controlling the first directional antenna to execute the moving operation of the angle position. For example, the first directional antenna is stepped to search for the wireless signal emitted by the peer device according to the 1/10 beam angle and at a certain rotation speed. And when the wireless signal is searched, establishing communication connection with the opposite terminal equipment. At this time, if the field intensity of the signal received at the current moment is greater than that of the signal received at the previous moment, the wireless signal sent by the second directional antenna is continuously searched by the preset beam angle and the preset rotation speed so as to gradually move to the next position in the direction of greater field intensity of the signal.
Preferably, in the embodiment of the present invention, the first directional antenna is controlled to move in the azimuth direction and the elevation direction respectively, so as to find the position point of the maximum value of the signal field strength in each direction.
And if the signal field intensity at the current moment is smaller than the signal field intensity recorded at the previous moment, controlling the first directional antenna to rotate back to the position point at the previous moment, and finishing the search operation related to the wireless signal.
In the embodiment of the invention, the first directional antenna is adjusted at the position point with the strongest signal field intensity, so that stable communication of shore-based equipment and ship-end equipment after the double-transmitter antenna is aligned is ensured, and effective acquisition of geographic position information is realized.
As another embodiment of the present invention, when the preset algorithm corresponding to the range interval is a second algorithm, the method for aligning a directional antenna further includes: respectively determining a first coordinate point corresponding to the first geographical position information and a second coordinate point corresponding to the second geographical position information in a preset three-dimensional spherical coordinate system; calculating the azimuth angle and the inclination angle of the second coordinate point relative to the first coordinate point; and performing operation processing on the azimuth angle and the inclination angle through a preset coordinate transformation algorithm to determine first angle information and second angle information which are required to be met by the first directional antenna and the second directional antenna under the tracking alignment condition.
In the embodiment of the invention, the calculated geographic position and altitude information of the first directional antenna and the second directional antenna are obtained, and a first coordinate point corresponding to the first directional antenna and a second coordinate point corresponding to the second directional antenna are respectively generated in the three-dimensional spherical coordinate system. And connecting the two coordinate points into a straight line, and taking the straight line as a base line. And for each coordinate point, virtualizing the geographic position information of the coordinate point as the sphere center position of a three-dimensional spherical coordinate system, and calculating the azimuth angle and the inclination angle of another coordinate point relative to the sphere center position in the three-dimensional spherical coordinate system. And respectively converting the calculated azimuth angle and the calculated inclination angle into azimuth angle and inclination angle control information required to be met by the first servo holder under the tracking alignment condition through coordinate transformation.
Preferably, as an embodiment of the present invention, a connection status related to the peer device is detected; the connection state is a connected state or a disconnected state; and if the connection state detected within the preset time duration is continuously in a disconnection state, controlling the opposite terminal equipment to execute return operation.
In the embodiment of the invention, in the starting state of the opposite terminal device, according to the preset setting parameters, the opposite terminal device controls the second wireless module to continuously detect the connection state with the shore-based device through the second controller so as to determine whether the connection state is the connected state or the disconnected state. If the detected connection state is continuously in the disconnection state within the preset time, the disconnection state indicates that the disconnection state cannot be communicated with the shore-based equipment all the time within the set time, and therefore the unmanned ship is controlled to return to the starting point in a lowest risk mode, and the out-of-control air route caused by the fact that the unmanned ship cannot be communicated with the shore-based equipment is avoided.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Fig. 5 is a block diagram illustrating an alignment apparatus of a directional antenna according to an embodiment of the present invention, which corresponds to the alignment method of the directional antenna according to the embodiment of the present invention. For convenience of explanation, only the portions related to the present embodiment are shown.
Referring to fig. 5, the apparatus includes:
an obtaining unit 51, configured to obtain first geographic location information of a local device equipped with a first directional antenna, and receive second geographic location information about an opposite device; the peer device is equipped with a second directional antenna.
A calculating unit 52, configured to calculate a distance value between the first directional antenna and the second directional antenna based on the first geographic location information and the second geographic location information.
The alignment unit 53 includes a first acquisition subunit, a second acquisition subunit, a first alignment subunit, and a second alignment subunit:
the first obtaining subunit is configured to obtain a range interval to which the distance value belongs;
the second obtaining subunit obtains a preset algorithm corresponding to the range section from a preset corresponding relation table, and the corresponding relation table is used for recording the corresponding relation between the range section and the preset algorithm;
the first alignment subunit is configured to, if the preset algorithm is a first algorithm, control the first directional antenna to search for a wireless signal sent by the second directional antenna at a preset beam angle and a preset rotation speed, and establish a communication connection with the peer device when the wireless signal is searched;
recording the signal field intensity at the moment of communication connection;
if the signal field intensity at the communication connection moment is smaller than the signal field intensity recorded at the previous moment, controlling the first directional antenna to rotate and retreat to the position point at the previous moment, and finishing the search operation related to the wireless signal so as to align the first antenna and the second antenna;
the second alignment subunit is configured to, if the preset algorithm is a second algorithm, respectively determine a first coordinate point corresponding to the first geographic position information and a second coordinate point corresponding to the second geographic position information in a preset three-dimensional spherical coordinate system;
calculating the azimuth angle and the inclination angle of the second coordinate point relative to the first coordinate point;
performing operation processing on the azimuth angle and the inclination angle through a preset coordinate transformation algorithm, and determining first angle information and second angle information which need to be met by the first directional antenna and the second directional antenna under a tracking alignment condition;
and the second angle information is sent to the opposite terminal equipment, so that the opposite terminal equipment controls the second directional antenna to rotate based on the second angle information, and alignment between the first directional antenna and the second directional antenna is completed.
A communication unit 54, configured to perform communication with the peer device by tracking the aligned first directional antenna and the aligned second directional antenna.
Optionally, the alignment device of the directional antenna further includes:
a detecting unit, configured to detect a connection state related to the peer device; the connection state is a connected state or a disconnected state.
And the return control unit is used for controlling the opposite terminal equipment to execute return operation if the detected connection state is continuously in a disconnection state within a preset time length.
Optionally, the obtaining unit 51 includes:
and the third acquisition subunit is used for acquiring the first azimuth information of the three-dimensional electronic compass and the second azimuth information of the servo holder.
And the corrector subunit is configured to perform subtraction processing on the first azimuth information and the second azimuth information to obtain corrected first geographical location information of the home device.
Fig. 6 is a schematic diagram of an alignment apparatus for a directional antenna according to an embodiment of the present invention. As shown in fig. 6, the alignment apparatus 6 of the directional antenna of this embodiment includes: a processor 60 and a memory 61, said memory 61 having stored therein a computer program 62, such as an alignment program for a directional antenna, operable on said processor 60. The processor 60, when executing the computer program 62, implements the steps in the above-mentioned alignment method embodiments of the respective directional antennas, such as the steps S201 to S205 shown in fig. 2. Alternatively, the processor 60, when executing the computer program 62, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the units 51 to 54 shown in fig. 5.
Illustratively, the computer program 62 may be partitioned into one or more modules/units that are stored in the memory 61 and executed by the processor 60 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions describing the execution of the computer program 62 in the alignment device 6 of the directional antenna.
The alignment device 6 of the directional antenna may be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The terminal device may include, but is not limited to, a processor 60, a memory 61. It will be appreciated by those skilled in the art that fig. 6 is merely an example of the directional antenna alignment device 6 and does not constitute a limitation of the directional antenna alignment device 6 and may include more or less components than those shown, or some components in combination, or different components, e.g. the terminal device may also include input output devices, network access devices, buses, etc.
The Processor 60 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 61 may be an internal storage unit of the directional antenna alignment device 6, such as a hard disk or a memory of the directional antenna alignment device 6. The memory 61 may also be an external storage device of the alignment device 6 of the directional antenna, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the alignment device 6 of the directional antenna. Further, the memory 61 may also comprise both an internal memory unit and an external memory device of the alignment device 6 of the directional antenna. The memory 61 is used for storing the computer program and other programs and data required by the terminal device. The memory 61 may also be used to temporarily store data that has been output or is to be output.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (7)
1. A method of aligning a directional antenna, comprising:
acquiring first geographical position information of local terminal equipment equipped with a first directional antenna, and receiving second geographical position information of opposite terminal equipment, wherein the first geographical position information is acquired through a first GPS/BD signal receiver, and the second geographical position information is acquired through a second GPS/BD signal receiver;
the opposite terminal equipment is provided with a second directional antenna;
calculating a distance value between the first directional antenna and the second directional antenna based on the first geographical location information and the second geographical location information;
acquiring a range interval to which the distance value belongs;
acquiring a preset algorithm corresponding to the range interval from a preset corresponding relation table, wherein the corresponding relation table is used for recording the corresponding relation between the range interval and the preset algorithm;
if the preset algorithm is a first algorithm, controlling the first directional antenna to search for a wireless signal sent by the second directional antenna at a preset beam angle and a preset rotation speed, and establishing communication connection with the opposite terminal equipment when the wireless signal is searched;
recording the signal field intensity at the moment of communication connection;
if the signal field intensity at the communication connection moment is smaller than the signal field intensity recorded at the previous moment, controlling the first directional antenna to rotate and retreat to the position point at the previous moment, and finishing the search operation related to the wireless signal so as to align the first directional antenna and the second directional antenna;
if the preset algorithm is a second algorithm, respectively determining a first coordinate point corresponding to the first geographical position information and a second coordinate point corresponding to the second geographical position information in a preset three-dimensional spherical coordinate system;
calculating the azimuth angle and the inclination angle of the second coordinate point relative to the first coordinate point;
performing operation processing on the azimuth angle and the inclination angle through a preset coordinate transformation algorithm, and determining first angle information and second angle information which need to be met by the first directional antenna and the second directional antenna under a tracking alignment condition;
controlling the first directional antenna to rotate based on the first angle information, and sending the second angle information to the opposite terminal equipment, so that the opposite terminal equipment controls the second directional antenna to rotate based on the second angle information, and the alignment between the first directional antenna and the second directional antenna is completed;
and performing communication with the opposite terminal device by tracking the aligned first directional antenna and the aligned second directional antenna.
2. The method of aligning a directional antenna according to claim 1, further comprising:
detecting a connection state related to the opposite terminal equipment; the connection state is a connected state or a disconnected state;
and if the connection state detected within the preset time duration is continuously in a disconnection state, controlling the opposite terminal equipment to execute return operation.
3. The method for aligning a directional antenna according to claim 1, wherein the local device includes a three-dimensional electronic compass and a servo pan-tilt, and the acquiring first geographical location information of the local device equipped with the first directional antenna and receiving second geographical location information about the opposite device comprises:
acquiring first azimuth information of the three-dimensional electronic compass and second azimuth information of the servo holder;
and performing subtraction processing on the first azimuth information and the second azimuth information to obtain corrected first geographical position information of the home terminal equipment.
4. An alignment apparatus for a directional antenna, comprising a memory and a processor, the memory storing a computer program operable on the processor, the processor implementing the alignment method of the directional antenna according to claim 1 when executing the computer program.
5. An alignment device for a directional antenna, comprising:
the device comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring first geographical position information of local terminal equipment equipped with a first directional antenna and receiving second geographical position information of opposite terminal equipment; the opposite terminal equipment is provided with a second directional antenna, the first geographical position information is acquired through a first GPS/BD signal receiver, and the second geographical position information is acquired through a second GPS/BD signal receiver;
a calculating unit, configured to calculate a distance value between the first directional antenna and the second directional antenna based on the first geographic location information and the second geographic location information;
an alignment unit comprising a first acquisition subunit, a second acquisition subunit, a first alignment subunit, and a second alignment subunit:
the first obtaining subunit is configured to obtain a range interval to which the distance value belongs;
the second obtaining subunit obtains a preset algorithm corresponding to the range section from a preset corresponding relation table, and the corresponding relation table is used for recording the corresponding relation between the range section and the preset algorithm;
the first alignment subunit is configured to, if the preset algorithm is a first algorithm, control the first directional antenna to search for a wireless signal sent by the second directional antenna at a preset beam angle and a preset rotation speed, and establish a communication connection with the peer device when the wireless signal is searched;
recording the signal field intensity at the moment of communication connection;
if the signal field intensity at the communication connection moment is smaller than the signal field intensity recorded at the previous moment, controlling the first directional antenna to rotate and retreat to the position point at the previous moment, and finishing the search operation related to the wireless signal so as to align the first directional antenna and the second directional antenna;
the second alignment subunit is configured to, if the preset algorithm is a second algorithm, respectively determine a first coordinate point corresponding to the first geographic position information and a second coordinate point corresponding to the second geographic position information in a preset three-dimensional spherical coordinate system;
calculating the azimuth angle and the inclination angle of the second coordinate point relative to the first coordinate point;
performing operation processing on the azimuth angle and the inclination angle through a preset coordinate transformation algorithm, and determining first angle information and second angle information which need to be met by the first directional antenna and the second directional antenna under a tracking alignment condition;
the antenna alignment device is used for controlling the first directional antenna to rotate based on the first angle information and sending the second angle information to the opposite terminal device so that the opposite terminal device controls the second directional antenna to rotate based on the second angle information and the alignment between the first directional antenna and the second directional antenna is completed;
and the communication unit is used for executing communication with the opposite terminal equipment by tracking the aligned first directional antenna and the aligned second directional antenna.
6. An alignment system of a directional antenna, comprising a local device and an opposite device, wherein the local device is equipped with a first directional antenna, and the opposite device is equipped with a second directional antenna, and the local device is configured to perform the alignment method of the directional antenna according to claim 1.
7. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method of aligning a directional antenna according to claim 1.
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| CN110336625B (en) * | 2019-07-08 | 2021-11-02 | 中国人民解放军陆军装备部驻北京地区军事代表局驻石家庄地区第一军事代表室 | Antenna alignment method, antenna alignment device and terminal |
| CN110336626B (en) * | 2019-07-08 | 2022-01-14 | 中国人民解放军陆军装备部驻北京地区军事代表局驻石家庄地区第一军事代表室 | Directional antenna alignment method, alignment device and terminal |
| CN112714393B (en) * | 2019-10-09 | 2022-06-10 | 中移物联网有限公司 | Method for self-adaptively locking relative position of station and wireless access point |
| CN111162832B (en) * | 2019-12-25 | 2022-03-25 | 天津海润海上技术股份有限公司 | Method for realizing marine microwave directional communication based on Beidou system |
| CN114598342B (en) * | 2022-05-09 | 2022-07-29 | 上海擎昆信息科技有限公司 | Shipborne equipment communicating with land base station and control method thereof |
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