Ngokuthuthuka okuqhubekayo kanye nokuthuthukiswa kobuchwepheshe bokumisa isathelayithi, ubuchwepheshe bokumisa okunembayo busetshenziswe kuzo zonke izigaba zokuphila empilweni yesimanje, njengokuhlola nokubhala amamephu, ukunemba kwezolimo, i-uav, ukushayela okungenamuntu kanye neminye imikhakha, ubuchwepheshe bokumisa okunembayo kuyabonakala yonke indawo.Ikakhulukazi, ngokuphothulwa kwenethiwekhi yesizukulwane esisha se-Beidou navigation system satellite kanye nokufika kwenkathi ye-5G, ukuthuthukiswa okuqhubekayo kwe-Beidou +5G kulindeleke ukuthi kukhuthaze ukusetshenziswa kobuchwepheshe bokubeka ngokunemba okuphezulu emikhakheni yokuhlela isikhumulo sezindiza. , ukuhlolwa kwerobhothi, ukuqapha imoto, ukuphathwa kwezinto kanye neminye imikhakha.Ukugcwaliseka kobuchwepheshe bokumisa ukunemba okuphezulu akunakuhlukaniswa nokusekelwa kwe-antenna enembayo ephezulu, i-algorithm yokunemba okuphezulu kanye nekhadi lebhodi elinembayo eliphezulu.Leli phepha lethula kakhulu ukuthuthukiswa nokusetshenziswa kwe-antenna enembayo ephezulu, isimo sobuchwepheshe nokunye.

1. Ukuthuthukiswa nokusebenzisa i-antenna ye-GNSS enembayo ephezulu

1.1 I-antenna enembayo ephezulu

ENSIMINI ye-GNSS, i-antenna enembayo iwuhlobo lwe-antenna enezidingo ezikhethekile zokuzinza kwesikhungo sesigaba se-antenna.Ivamise ukuhlanganiswa nebhodi enembayo ephezulu ukuze kubonwe ukuma okunembe okuphezulu kwezinga lesentimitha noma ileveli yemilimitha.Ekwakheni i-antenna enembayo ephezulu, kuvame ukuba nezidingo ezikhethekile zezinkomba ezilandelayo: ububanzi be-antenna beam, ukuphakama okuphansi kokukhuphuka, okungeyona eyindilinga, i-roll drop coefficient, isilinganiso sangaphambili nengemuva, ikhono lokulwa nomzila omningi, njll. Lezi zinkomba zizokwenza kuthinte ngokuqondile noma ngokungaqondile ukuzinza kwesikhungo se-antenna, bese kuthinta ukunemba kokuma.

1.2 Ukusetshenziswa nokuhlukaniswa kwe-antenna enembayo ephezulu

I-antenna ye-GNSS enembayo ephezulu ekuqaleni yasetshenziswa emkhakheni wokuhlola nokubhala ukuze kuzuzwe ukunemba kokuma kweleveli yemilimitha emile kunqubo yokwakhiwa kobunjiniyela, imephu yendawo kanye nezinhlolovo ezihlukahlukene zokulawula.Njengoba ubuchwepheshe bokubeka ngokunemba okuphezulu bukhula ngokwengeziwe, i-antenna enembayo ephezulu isetshenziswa kancane kancane emikhakheni eminingi, okuhlanganisa isiteshi sereferensi esiqhubekayo, ukuqapha ukuguquguquka, ukuqapha ukuzamazama komhlaba, ukukalwa kokuhlola nokubhala imephu, izimoto zasemoyeni ezingenamuntu (ama-uavs), izindawo ezinembayo. ezolimo, ukushayela okuzenzakalelayo, ukuqeqeshwa kokuhlolwa kokushayela, imishini yobunjiniyela nezinye izindawo zezimboni, ekusetshenzisweni okuhlukile kwemfuneko yenkomba ye-antenna nakho kunomehluko osobala.

1.2.1 Uhlelo lwe-CORS, ukuqapha ukuguquguquka, ukuqapha kokuzamazama komhlaba - uthi lwesiteshi senkomba

I-antenna enembayo ephezulu isebenzise isiteshi sereferensi sokusebenza okuqhubekayo, ngokubheka isikhathi eside ukuze uthole ulwazi olunembile lwendawo, futhi ngohlelo lokuxhumana kwedatha ngesikhathi sangempela ukudluliswa kwedatha esikhungweni sokulawula, iphutha lendawo yesikhungo sokulawula esibaliwe ngemva kwemingcele yokulungisa ukuthuthukisa uhlelo lomhlabathi, kanye nenkanyezi ku-waas ukuthuthukisa uhlelo, njll., ukuthumela imilayezo yephutha ku-rover (iklayenti), Ekugcineni, umsebenzisi angathola ulwazi olunembile lokuxhumanisa [1].

Ekusetshenzisweni kokuqapha ukuguquguquka, ukuqapha ukuzamazama komhlaba nokunye, ngenxa yesidingo sokuqapha ngokunembile inani lokuguquguquka, ukutholakala kokuguqulwa okuncane, ukuze kubikezelwe ukuthi kwenzekani izinhlekelele zemvelo.

Ngakho-ke, ekwakhiweni kwe-antenna enembayo ephezulu yezinhlelo zokusebenza ezifana nesiteshi sereferensi sokusebenza okuqhubekayo, ukuqapha ukuguquguquka nokuqapha kokuzamazama komhlaba, ukucatshangelwa kokuqala kufanele kube ukuzinza kwesikhungo sesigaba esihle kakhulu kanye nekhono lokulwa nokuphazanyiswa kwezindlela eziningi, ukuze kuhlinzekwe okunembile ngesikhathi sangempela. imininingwane yesikhundla yezinhlelo ezahlukahlukene ezithuthukisiwe.Ukwengeza, ukuze kuhlinzekwe ngemingcele yokulungiswa kwesathelayithi eminingi ngangokunokwenzeka, uthi kufanele lwamukele amasathelayithi amaningi ngangokunokwenzeka, ibhendi yefrikhwensi egcwele yesistimu isiphenduke ukucushwa okujwayelekile.Kulolu hlobo lohlelo lokusebenza, i-antenna yesiteshi esiyinkomba (i-antenna yesiteshi esiyinkomba) emboza lonke ibhendi yezinhlelo ezine ivame ukusetshenziswa njengothi lokubuka lohlelo.

1.2.2 Ukuhlola nokubhala imephu - uthi lokuhlola olwakhelwe ngaphakathi

Emkhakheni wokuhlola nokubhala imephu, kuyadingeka ukuklama i-antenna yokuhlola eyakhelwe ngaphakathi okulula ukuyihlanganisa.I-antenna ivamise ukwakhelwa phezulu kwesamukeli se-RTK ukuze kuzuzwe ukuma kwesikhathi sangempela nokunemba okuphezulu emkhakheni wokuhlola nokubhala imephu.

Ukumbozwa kwe-antenna eyakhelwe ngaphakathi ekucatshangelweni okuyinhloko ekwakhiweni kokuzinza kwefrikhwensi, ukumbozwa kwensimbi, isikhungo sesigaba, usayizi we-antenna, njll., ikakhulukazi ngokusetshenziswa kwenethiwekhi ye-RTK, ehlanganiswe ne-4 g, i-bluetooth, i-WiFi yonke i-netcom eyakhelwe- ekulinganiseni i-antenna kancane kancane ithatha isabelo semakethe esikhulu, kusukela yethulwa ngo-2016 iningi labakhiqizi bezamukeli be-RTK, Isetshenziswe kabanzi futhi yakhuthazwa.

1.2.3 Ukuhlolwa kokushayela nokuqeqeshwa kokushayela, ukushayela okungenamuntu - uthi lokukala lwangaphandle

Uhlelo lokuhlola ukushayela oluvamile lunokubi okuningi, njengezindleko ezinkulu zokufakwayo, izindleko eziphezulu zokusebenza nokunakekelwa, umthelela omkhulu wendawo, ukunemba okuphansi, njll. Ngemva kokusetshenziswa kwe-antenna enembayo ephezulu ohlelweni lokuhlola ukushayela, isistimu iyashintsha kusukela ekuhloleni okwenziwa ngesandla. ekuhlolweni okuhlakaniphile, futhi ukunemba kokuhlola kuphezulu, okunciphisa kakhulu izindleko zomuntu nezempahla zokuhlolwa kokushayela.

Eminyakeni yamuva nje, uhlelo lokushayela olungenamuntu luthuthuke ngokushesha.Ekushayeleni okungenamuntu, ubuchwepheshe bokumisa be-RTK bokubeka ukunemba okuphezulu kanye nokuzulazula kwe-inertial ukuma okuhlanganisiwe kuvame ukwamukelwa, okungafinyelela ukunemba kokuma okuphezulu ezindaweni eziningi.

Ekuqeqesheni ukushayela ukuhlolwa kokushayela, njengamasistimu angenamuntu, imvamisa i-antenna ikalwa ngefomu langaphandle, isidingo sokusebenza imvamisa, i-multi-frequency antenna enohlelo oluningi ingafinyelela ukunemba kokuma okuphezulu, isignali ye-multipath inokuvimbela okuthile, kanye nemvelo enhle. ukuzivumelanisa nezimo, kungaba ukusetshenziswa isikhathi eside endaweni yangaphandle ngaphandle kokwehluleka.

1.2.4 UAV — I-antenna enembayo ephezulu

Eminyakeni yamuva, imboni ye-uav ithuthuke ngokushesha.I-Uav isetshenziswe kakhulu ekuvikelweni kwezitshalo zezolimo, ukuhlola nokubhala amamephu, ukugada ngezintambo zikagesi nezinye izimo.Ezimweni ezinjalo, ifakwe kuphela i-antenna enembayo ephezulu ingaqinisekisa ukunemba, ukusebenza kahle nokuphepha kwemisebenzi ehlukahlukene.Ngenxa yezimpawu zejubane eliphezulu, umthwalo okhanyayo kanye nokubekezela okufushane kwe-uav, idizayini ye-uav enembayo ephezulu igxile kakhulu esisindweni, usayizi, ukusetshenziswa kwamandla nezinye izici, futhi ibona idizayini ye-broadband ngangokunokwenzeka esizeni sokuqinisekisa. isisindo kanye nosayizi.

2, isimo sobuchwepheshe be-antenna ye-GNSS ekhaya naphesheya

2.1 Isimo samanje sobuchwepheshe be-antenna bangaphandle bokunemba okuphezulu

Ucwaningo lwangaphandle mayelana ne-antenna enembayo ephezulu luqale kusenesikhathi, futhi uchungechunge lwemikhiqizo ye-antenna enembayo ephezulu esebenza kahle senziwe, njengochungechunge lwe-GNSS 750 oluminyanisa i-antenna ye-NoVatel, i-antenna yochungechunge lwe-Zepryr ye-Trimble, i-Leica AR25 antenna, njll., phakathi okukhona amafomu amaningi e-antenna anokubaluleka okukhulu kokusungula.Ngakho-ke, esikhathini esidlule isikhathi eside, imakethe ye-antenna yaseShayina enembayo ephezulu iphumile ekuphathweni kwemikhiqizo yangaphandle.Kodwa-ke, eminyakeni eyishumi yamuva nje, ngokukhuphuka kwenani elikhulu labakhiqizi basekhaya, ukusebenza kwe-antenna yangaphandle kwe-GNSS akunanzuzo ngokuyisisekelo, kodwa abakhiqizi basekhaya abanembile baqala ukwandisa imakethe emazweni angaphandle.

Ngaphezu kwalokho, abanye abakhiqizi bezinti ze-GNSS abasha nabo bathuthukile eminyakeni yamuva nje, njengoMaxtena, Tallysman, njll., imikhiqizo yabo ikakhulukazi izimpondo ezincane ze-GNSS ezisetshenziselwa uav, imoto nezinye izinhlelo.Ifomu le-antenna imvamisa kuba i-microstrip antenna ene-dielectric ephezulu engaguquki noma i-4-arm spiral antenna.Kulolu hlobo lobuchwepheshe bokuklama i-antenna, abakhiqizi bangaphandle abanalo inzuzo, imikhiqizo yasekhaya neyangaphandle ingena esikhathini sokuncintisana okulinganayo.

2.2 Isimo samanje sobuchwepheshe be-antenna yasekhaya bokunemba okuphezulu

Kule minyaka eyishumi edlule, inani labakhiqizi bezinti ezisezingeni eliphezulu basekhaya baqala ukukhula futhi dethuthukisa, njenge-Huaxin Antenna, i-Zhonghaida, i-Dingyao, i-Jiali Electronics, njll., ethuthukise uchungechunge lwemikhiqizo ye-antenna enembayo enamalungelo azimele empahla yobuhlakani.

Isibonelo, emkhakheni we-antenna yesiteshi sereferensi kanye ne-antenna yokulinganisa eyakhelwe ngaphakathi, i-antenna ye-HUaxin's 3D yokuminyanisa kanye ne-full-netcom ehlanganisiwe ayifinyeleli ezingeni elihamba phambili lamazwe ngamazwe lokusebenza, kodwa futhi ihlangabezana nezidingo zezinhlelo zokusebenza ezihlukahlukene zemvelo ezinokwethembeka okuphezulu, impilo ende yesevisi kanye nezinga lokuhluleka eliphansi kakhulu.

Embonini yezimoto, i-uav nezinye izimboni, ubuchwepheshe bokuklama be-antenna yokulinganisa yangaphandle kanye ne-four-arm spiral antenna sekuvuthiwe, futhi busetshenziswe kabanzi ekusetshenzisweni kohlelo lokuhlola ukushayela, ukushayela okungenamuntu, i-uav nezinye izimboni, futhi uthole izinzuzo ezinhle zezomnotho nezenhlalo.

3. Isimo samanje kanye nethemba lemakethe ye-antenna ye-GNSS

Ngo-2018, inani eliphelele lokukhiphayo lokuzulazula kwesathelayithi yaseChina kanye nemboni yesevisi yendawo lifinyelele ku-YUAN eyizigidi eziyizinkulungwane ezingu-301.6, likhuphuke ngo-18.3% uma liqhathaniswa nowezi-2017 [2], futhi lizofinyelela kuma-yuan ayizigidi eziyizinkulungwane ezingu-400 ngo-2020;Ngo-2019, inani eliphelele lemakethe yokuzulazula ngesathelayithi yomhlaba wonke lalingama-euro ayizigidi eziyizinkulungwane eziyi-150, kanti isibalo sabasebenzisi be-GNSS terminal safinyelela ku-6.4 billion.Imboni ye-GNSS ingenye yezimboni ezimbalwa ezibambe iqhaza ekuwohlokeni komnotho emhlabeni jikelele.I-European GNSS Agency ibikezela ukuthi imakethe yomhlaba wonke yokuzulazula ngesathelayithi izophindeka kabili ibe ngaphezu kwama-euro ayizigidi eziyizinkulungwane ezingama-300 kule minyaka eyishumi ezayo, nenani lamatheminali e-GNSS likhuphukela ku-9.5 billion.

Imakethe yokuzulazula ngesathelayithi yomhlaba wonke, esetshenziswa esiminyaminya emgwaqeni, izimoto zasemoyeni ezingenamuntu ezindaweni ezifana nemishini yokugcina isineminyaka eyi-10 ezayo ingxenye ekhula ngokushesha yemakethe: ubuhlakani, imoto engenamuntu iyindlela enkulu yentuthuko, ikusasa lemoto yomgwaqo ikhono lokushayela elizenzakalelayo. yemoto kufanele ifakwe i-antenna ye-GNSS inokunemba okuphezulu, ngakho-ke isidingo esikhulu semakethe sokushayela okuzenzakalelayo kwe-antenna ye-GNSS.Ngokuthuthuka okuqhubekayo kokuthuthukiswa kwezolimo eChina, ukusetshenziswa kwe-uav efakwe i-antenna yokubeka indawo enembayo ephezulu, efana ne-uav yokuvikela izitshalo, kuzoqhubeka nokukhula.

4. Ithrendi yokuthuthukiswa ye-antenna ye-GNSS enembayo ephezulu

Ngemuva kweminyaka yokuthuthuka, ubuchwepheshe obuhlukahlukene be-antenna ye-GNSS sebuvuthiwe, kodwa kusenezikhombisi-ndlela eziningi okufanele zephulwe:

1. I-Miaturization: I-miniaturization yezinto ze-elekthronikhi iyindlela yentuthuko yaphakade, ikakhulukazi ezinhlelweni ezifana ne-uav nokubamba ngesandla, isidingo sothi oluncane luphuthuma kakhulu.Kodwa-ke, ukusebenza kwe-antenna kuzoncishiswa ngemuva kwe-miniaturization.Indlela yokunciphisa usayizi we-antenna kuyilapho uqinisekisa ukusebenza okuphelele kuyisiqondiso esibalulekile socwaningo lwe-antenna enembayo ephezulu.

2. Ubuchwepheshe bokulwa nokuningi: Ubuchwepheshe bokulwa nobuningi be-antenna ye-GNSS ikakhulukazi buhlanganisa ubuchwepheshe bekhoyili yokuminyanisa [3], ubuchwepheshe bezinto ezibonakalayo ze-electromagnetic material [4][5], njll. Nokho, bonke banokungalungi njengosayizi omkhulu, ibhande elincane. ububanzi nezindleko eziphezulu, futhi ayikwazi ukufeza umklamo wendawo yonke.Ngakho-ke, kuyadingeka ukutadisha ubuchwepheshe bokulwa ne-multipath enezici ze-miniaturization kanye ne-broadband ukuze kuhlangatshezwane nezidingo ezihlukahlukene zohlelo lokusebenza.

3. Imisebenzi eminingi: Namuhla, ngaphezu kwe-antenna ye-GNSS, i-antenna yokuxhumana engaphezu kweyodwa ihlanganiswe kumadivayisi ahlukahlukene.Amasistimu okuxhumana ahlukene angabangela ukuphazamiseka okuhlukahlukene kwesignali ku-antenna ye-GNSS, kuthinte ukwamukela okujwayelekile kwesathelayithi.Ngakho-ke, idizayini edidiyelwe ye-antenna ye-GNSS kanye ne-antenna yokuxhumana ibonakala ngokuhlanganiswa kwemisebenzi eminingi, futhi umphumela wokuphazamiseka phakathi kwezimpondo uyacatshangelwa ngesikhathi somklamo, ongathuthukisa izinga lokuhlanganisa, uthuthukise izici zokuhambisana kwe-electromagnetic futhi uthuthukise ukusebenza kwe-antenna. umshini wonke.