CN103915673B - Boat-carrying A-E-C three-axis satellite communication antenna beam position tracking and controlling method - Google Patents
Boat-carrying A-E-C three-axis satellite communication antenna beam position tracking and controlling method Download PDFInfo
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Abstract
The present invention relates to a kind of boat-carrying A-E-C three-axis satellite communication antenna beam position tracking and controlling method, belong to the test communication technical field of space telemetry and control technology.Present invention application boat-carrying satellite communication earth station A-E-C triaxial antennas Coordinate calculation method, derive the computing formula of boat-carrying satellite communication earth station antenna pedestal Angle of Heel and Angle of Trim under dynamic condition, feature according to triaxial antennas, it is proposed that the control method of each axle of triaxial antennas A, E, C under marine dynamic condition.The application of the present invention can improve boat-carrying satellite communication earth station antenna trapping and follow the tracks of efficiency and beam position tracking accuracy.
Description
Technical field
The present invention relates to a kind of boat-carrying three-axis stabilization antenna servo control technology, be specifically related to a kind of boat-carrying A-E-C three-axis satellite communication antenna beam position tracking and controlling method, belong to the test communication technical field of space telemetry and control technology.
Background technology
Three axis stabilized satellite communication antenna has the advantage of uniqueness, the disturbance that it can bring efficiently against ship motion, reliably follows the tracks of zenith target, it is achieved the ideal stability of wave beam.But owing to structure and axle system move more complicated, thus sky line traffic control be it is also proposed higher requirement.
Boat-carrying satellite communication earth station antenna mount is generally adopted A-E-C tri-axle form, a three axles-intersecting axle (C axle) is added between azimuth axis (A axle) and pitch axis (E axle), it and pitch axis are at orthogonal space, C axle may utilize secant compensation effect, enabling the antenna to enough reliably follow the tracks of zenith target, the structure of triaxial antennas is as shown in Figure 1.
Certain type surveying vessel boat-carrying satellite communication earth station antenna servo system adopts three-axis stabilization, two axle tracking systems.Three-axis stabilization refers to servo-actuated course, orientation, and the isolation course change impact on antenna direction, trim and the roll impact on antenna direction of hull is isolated in pitching, intersecting axle；Two axles are followed the tracks of and are referred to that receiver receives satellite beacon signals by antenna, demodulate the error signal to star, realize star is followed the tracks of by pitching, intersecting axle.
At the beginning of the design of boat-carrying satellite earth station, according to satellite resource situation at that time, boat-carrying satellite communication, to use circular polarisation mode to work, does not therefore account for the impact that the electrical boresight of antenna rolls in the design；And Ship Inertial Navigation System can't provide accurate ship appearance position information to boat-carrying satellite communication earth station at any time at that time, defending logical antenna servo system based on homeostasis, need to rely on the gyro being arranged on antenna to provide stabilized platform isolation hull to wave disturbance.According to this Series Design thought, boat-carrying satellite communication earth station A-E-C triaxial antennas has only to simple geographical coordinate and calculates when code acquisition satellite, catch target aft antenna by autotracking ring closed loop control, guide antenna is carried out, so the accurate coordinates of boat-carrying satellite communication earth station A-E-C triaxial antennas calculates always out in the cold for a long time without calculating axle system angle.
But along with communication technology of satellite development at sea is more and more deep, antenna stabilization tracking system originally exposes antenna coordinate gradually and calculates the series of problems that imperfection brings, as: servosystem height relies on the reliability of gyro, under severe sea condition, antenna trapping target is because of difficulty, single-pulse track lacks other standby means of tracking with outside antenna, during tracker wire polarization satellite, polarizing angle error can not correction in real time etc., and once autotracking ring lost efficacy, antenna at sea can not implement Mono-pulse Tracking Receiver under dynamic condition to star school phase because lacking the means of stable sensing target satellite, before stopping harbour, boat-carrying satellite communication earth station will be unable to normal operation.
Set up boat-carrying satellite communication earth station A-E-C triaxial antennas Coordinate Computational Mathematics Model, ship's inertial navigation system signal is utilized to carry out correlation computations and as external stabilization platform courses antenna, realize digital guidance tracking, be boat-carrying satellite communication earth station A-E-C antenna overcome disadvantages described above, improve servo tracking control system in the urgent need to.
Although the past boat-carrying satellite communication earth station A-E-C triaxial antennas control field also it is proposed that cross some axle system angles theoretical analysis and calculation result, but it is limited only to use method of geometry to calculate single problematic portion conclusion for special problem, and derivation is complicated, computational methods are architectonical not.Patent of the present invention passes through theory analysis, the method adopting matrixing.Establish a set of complete mathematical model being applicable to the calculating of boat-carrying satellite communication earth station A-E-C triaxial antennas coordinate, it is achieved that the digital designation that boat-carrying satellite communication earth station A-E-C controlling antenna wave beam to point is followed the tracks of controls.
Summary of the invention
It is an object of the invention to overcome above-mentioned deficiency, a kind of boat-carrying A-E-C three-axis satellite communication antenna beam position tracking and controlling method is provided, it effectively utilizes ship's inertial navigation system can provide the advantage of accurate Attitude information for boat-carrying satellite communication earth station A-E-C triaxial antennas, systematically analyze boat-carrying satellite communication earth station A-E-C triaxial antennas mounting structures and the characteristics of motion, set up antenna coordinate system, and by derivation geographic coordinate system, transformational relation between deck coordinate system and antenna coordinate system, set up a set of complete boat-carrying satellite communication earth station A-E-C triaxial antennas Coordinate Computational Mathematics Model, realize the digital guidance tracking at controlling antenna wave beam to point angle, solve many practical problems that under boat-carrying satellite communication earth station sea dynamic condition, servo-control system faces, boat-carrying satellite communication earth station antenna trapping can be effectively improved and follow the tracks of efficiency and beam position tracking accuracy.
The object of the present invention is achieved like this: one boat-carrying A-E-C three-axis satellite communication antenna beam position tracking and controlling method of the present invention, and it includes following three partial contents:
1), coordinate system definition
For boat-carrying satellite communication earth station A-E-C triaxial antennas, definition antenna coordinate system initial point O is positioned at antenna stabilized platform three axle center, antenna direction axle OZ is perpendicular to the plane of pitch axis and intersecting axle place, OX axle is parallel to pitch axis, OY axle is parallel to intersecting axle, OX, OY and OZ axle meets right-hand rule, when antenna bearingt and intersect be 90o for 0o, pitching time, antenna coordinate system overlaps with deck coordinate system；
2), the conversion method between boat-carrying satellite communication earth station A-E-C triaxial antennas geographic coordinate system, deck coordinate system and antenna coordinate system
Definition geographic coordinate system OXYZ, initial point O are positioned at antenna stabilized platform three axle center, and OX axle is parallel to horizontal plane and points to due east, and OY axle is parallel to horizontal plane and points to positive north, and OZ axle is perpendicular to plane OXY, and vertical is just upwards.
Definition deck coordinate system OXdYdZd, initial point O is positioned at antenna stabilized platform three axle center, OYdIt is just that axle is parallel to fore and aft line sensing stem, OXdAxle and OYdVertical and be parallel to deck level, pointing to starboard is just, OZdAxle and OXd、OYdConstitute right hand rectangular coordinate system.
The course change of boats and ships carrier, pitching change, rolling change matrix form describe, respectively conversion matrix mh, pitching transformation matrix mp, rolling transformation matrix mr:
,,
Wherein H is course angle, and P is pitch angle, and R is roll angle.
Geographic coordinate system OXYZ to deck coordinate system OXdYdZdCoordinate transform:
Deck coordinate system OXdYdZdCoordinate transform to geographic coordinate system OXYZ:
The computing formula being transformed into deck coordinate system rectangular coordinate by antenna geographic azimuth A, geographical angle of pitch E is:
Calculated deck plane orientation angle on the bow Ac by deck coordinate system rectangular coordinate, the computing formula of deck plane angle of pitch Ec is:
For boat-carrying satellite communication earth station A-E-C triaxial antennas, definition antenna coordinate system initial point O is positioned at antenna stabilized platform three axle center, antenna direction axle OZ is perpendicular to the plane of pitch axis and intersecting axle place, OX axle is parallel to pitch axis, OY axle is parallel to intersecting axle, and OX, OY and OZ axle meets right-hand rule.When antenna bearingt and intersect be 90o for 0o, pitching time, antenna coordinate system overlaps with deck coordinate system.
A-E-C triaxial antennas orientation rotation matrix, pitching spin matrix and the spin matrix that intersects are represented by:
,,
The math equation of triaxial antennas motion:
On the right of the equation of above formula, right-to-left is each axle rotation order of antenna.
The step of antenna coordinate system it is transformed into from deck coordinate system:
Orientation turns clockwise A angle, and namely XOY face rotates-A angle about the z axis；Pitch axis rotates down (90o-E) angle, and namely YOZ face rotates-(90o-E) angle around X-axis；Intersecting axle turns right C angle, and namely XOZ face rotates C angle around Y-axis.Transition matrix is as follows:
Wherein:
The formula being transformed into the coordinate transform of antenna coordinate system by deck coordinate system is:
The transformation for mula being transformed into deck coordinate system by antenna coordinate system is:
Boat-carrying satellite communication earth station servo monitoring calculation machine utilizes above mathematical formulae to be calculated, it is possible to achieve the mutual conversion between satellite communication antena geographic coordinate system, deck coordinate system and antenna coordinate system；
3), the digital designation control method that under marine dynamic condition, boat-carrying satellite communication earth station A-E-C triaxial antennas beam position is followed the tracks of；
Control antenna isolation ship to shake, it is simply that control the corresponding antenna axis of boat-carrying satellite communication earth station A-E-C triaxial antennas and rotate, offset the impact that antenna base tilts.The inclination angle of antenna base refers to Angle of Heel and the Angle of Trim of antenna when orientation angle on the bow is A.
Above-mentioned boat-carrying satellite communication earth station A-E-C triaxial antennas Coordinate Computational Mathematics Model is utilized to derive, it is possible to obtain the expression formula of Angle of Heel Z:
The expression formula of Angle of Trim L:
Orientation angle on the bow A is obtained by ship compass signal, roll angle R and pitch angle P is obtained by inertial navigation signal, above formula is utilized to be calculated just obtaining the result of calculation of Angle of Heel and Angle of Trim, for boat-carrying satellite communication earth station A-E-C triaxial antennas, just can on the basis in the servo-actuated course of azimuth axis of antenna, guide at antenna E axle and angle is revised-L angle, guide at C axle and angle is revised ZsinE angle.The each shaft position circulating application of antenna is added control with new guiding in real time angle by servosystem, it may be assumed that A=Ad-H, E=Ed-L, C=-Zsin(E), antenna just can isolate ship shake maintenance beam position stabilize.
Compared with prior art, the method have the advantages that
1, it is accustomed to value mode for the construction features of boat-carrying satellite communication earth station A-E-C triaxial antennas and Ship Inertial Navigation System signal, the each axle of Rational choice coordinate system of the present invention points to the direction of rotation with coordinate spin matrix, derive the transformational relation between geographic coordinate system, deck coordinate system and antenna coordinate system, it is ensured that the real-time of antenna axis system angle computing and correctness；
2, in inventing each digital designation derivation of equation, for antenna axis system complicated movement, the feature that reference frame is changeable, it is proposed to the method that unit reference vectorial coordinate is analyzed.The method is to be conducive to coordinate figure to be calculated as main standard, and selected reference vector can be analyzed after coordinate transform and find coordinate figure in new coordinate system is the coordinate of zero, consequently facilitating utilize equilibrium relationships finally to determine the computing formula of institute's Solve problems；
3, from practical application effect, boat-carrying satellite communication earth station A-E-C triaxial antennas Coordinate Computational Mathematics Model has good versatility, and model robustness is good.No matter antenna is two axles is followed the tracks of or the tracking of three axles, and the conclusion of this model inference can be suitable for.Task ensure that the unimpeded of satellite communication, describe reasonability and the accuracy of this mathematics model analysis result；
4, the present invention is abundant and perfect, and boat-carrying satellite communication is theoretical, and the control for optimizing boat-carrying satellite communication antena provides strong tool of mathematical analysis.Apply mathematical model provided by the invention boat-carrying three axis stabilized satellite communication antenna is controlled, antenna trapping can be improved and follow the tracks of efficiency, under marine dynamic condition, digital designation antenna direction is followed the tracks of, polarizing angle revises in real time and solid foundation is established in the equal application in school, track receiver sea.
Accompanying drawing explanation
Fig. 1 is the structural representation of A-E-C triaxial antennas.
Fig. 2 is deck coordinate schematic diagram.
Fig. 3 is the schematic diagram of antenna coordinate system.
Fig. 4 is that the longitudinal and transverse of hull shakes change curve schematic diagram.
Detailed description of the invention
For illustrating the present invention, first boat-carrying A-E-C triaxial antennas tenacious tracking system is analyzed as follows:
1) A-E-C three-axis mount form
Boat-carrying satellite communication antena mounting is generally adopted A-E-C tri-axle form, a three axles-intersecting axle (C axle) is added between azimuth axis (A axle) and pitch axis (E axle), it and pitch axis are at orthogonal space, C axle may utilize secant compensation effect, enabling the antenna to enough reliably follow the tracks of zenith target, the structure of triaxial antennas is (in figure, dotted line is antenna boresight) as shown in Figure 1.
2) antenna stabilization tracking system
Certain type surveying vessel satellite earth station A-E-C servosystem adopts three-axis stabilization, two axle tracking systems.Three-axis stabilization refers to servo-actuated course, orientation, and the isolation course change impact on antenna direction, trim and the roll impact on antenna direction of hull is isolated in pitching, intersecting axle；Two axles are followed the tracks of and are referred to that receiver receives satellite beacon signals by antenna, demodulate the error signal to star, realize star is followed the tracks of by pitching, intersecting axle.
3) defect of existing servo tracking system
At the beginning of boat-carrying satellite earth station A-E-C design, according to satellite resource situation, to use circular polarisation mode to work, design does not consider further that the impact that the electrical boresight of antenna rolls；And inertial navigation at that time can't provide accurate ship appearance position information to boat-carrying satellite communication earth station at any time, defending logical antenna servo system based on homeostasis, need to rely on the gyro being arranged on antenna to provide stabilized platform isolation hull to wave disturbance.According to this Series Design thought, antenna only needs simple coordinate to calculate when code acquisition satellite, so the accurate coordinates of boat-carrying three-axis stabilization antenna calculates always out in the cold for a long time.
But along with the application development of sea use linear polarization satellite communication is more and more deep, antenna stabilization tracking system originally exposes antenna coordinate gradually and calculates the series of problems that brings of imperfection, as: catch under severe sea condition target because of difficult, polarizing angle error can not be revised in real time, follows the tracks of ring disengages that aft antenna lacks means that long-time high-accuracy stable points to, feedback gyro becomes the problems such as system single point failure link.
1. severe sea condition antenna trapping target difficulty problem
Boat-carrying satellite communication earth station is before antenna trapping tracking satellite, and first the footpath degree according to position information and star calculates the antenna geodetic coordinates angle to satellite, and computing formula is:
... ... ... ... (1)
... ... ... ... (2)
... ... ... ... (3)
In formula:
Satellite longitude；
The longitude of ship；
The latitude of ship；
Ad1、Ed1Antenna geodetic coordinates angle；
P0Antenna polarization angle；
Earth mean radius (is about 6400km)；
The R satellite synchronization track distance (35786km ≈ 36000km) from the earth's core.
After obtaining geodetic coordinates angle, it is necessary to convert the instantaneous geographical angle A of antenna deck plane tod2、Ed2, the instantaneous geographical angle calculating formula that current satellite earth station A-E-C adopts is:
... ... ... ... ... (4)
... ... ... ... ... (5)
In formula: H is course angle；ELFor horizontal pivot angle；Aj、EjFor angle, antenna deck.
Boat-carrying satellite communication earth station servosystem applies the result of calculation of (3), (4), (5) formula, antenna polarization angle, deck bearing, the deck angle of pitch is driven to forward theoretical position to, then searching position ring is started, antenna beam is made to be scanned in the certain limit centered by theoretical sighted direction, if Mono-pulse Tracking Receiver locking satellite beacon signal in scanning process, then servosystem closes autotracking ring, and antenna proceeds to autotracking working method, otherwise continues to scan on.Shake in relatively stable situation at ship, adopt above scan mode can comparatively fast catch target satellite.
But, the instantaneous geographical angle drawn in above Theoretical Calculation process is with earth coordinates for reference, and the deck coordinate system used by rotary antenna there occurs change because of hull disturbance, still use above instantaneous geographical angle can not make the direction at antenna alignment target satellite place as deck coordinate.Following antenna beam is scanned round this theoretical aiming center under the effect of gyro ring, but owing to scanning center itself exists error, capture time will extend relatively, (such as severe sea condition) under serious conditions, the sweep limits that the deviation of scanning center and theoretical sighted direction sets more than servosystem, antenna cannot catch target automatically.
2. polarizing angle error problem
When using linear polarization satellite communication, the roll and pitch of hull can cause the electrical boresight of antenna to roll generation polarizing angle deviation；Additionally, triaxial antennas is in the process rotating C axle, Antenna aperture also can produce the torsion of certain angle, in tracking process, deviates zero-bit such as C axle center and can produce polarizing angle deviation equally.
Owing to simply thinking that polarizing angle is revised in real time in antenna tracking process, past is when using linear polarization satellite communication, the result of calculation that employing (3) formula is set of polarizing angle, only when the geographical position residing for ship changes, after calculating polarizing angle change reaches certain angle, antenna just carries out polarizing angle adjustment.Until when an antenna height elevation angle job, antenna polarization isolation severe exacerbation is caused owing to C axle deviates zero-bit, have influence on normal Tracking And Communications, polarization offset issue just causes enough attention, staff employs a kind of method of geometry and derives the compensation formula of polarizing angle during the change of C axle, and derivation is complex.
4) solution route of problem
Set up boat-carrying satellite communication earth station A-E-C triaxial antennas coordinate computation model, utilize ship's inertial navigation system signal to carry out correlation computations and as external stabilization platform courses antenna, be satellite earth station A-E-C overcome disadvantages described above, improve servo tracking and control system in the urgent need to.
Some the calculated results that past proposes are limited only to for special problem, use method of geometry to calculate single problematic portion conclusion, and derivation is complicated, and computational methods are architectonical not.The purpose of patent of the present invention is through theory analysis, explores and sets up a set of complete Coordinate calculation method being applicable to boat-carrying three-axis satellite communication antenna.
In order to set up boat-carrying satellite communication earth station A-E-C triaxial antennas coordinate transform mathematical model, specifically comprise the following steps that
(1) definition attitude of ship angle and relative coordinate system
The angle symbol definition relevant with deck is as follows:
The pitch angle P of deck level is the angle between ship fore and aft line and horizontal plane, measures in vertical guide.Stem in the horizontal plane side time P take on the occasion of.
The roll angle R of deck level is the angle between the intersection of hull cross section and horizontal plane and hull transverse axis, measures plane and is perpendicular to deck level and is perpendicular to fore and aft line.When deck starboard has a down dip R take on the occasion of.
Course angle H starts, clockwise to the angle in stem direction, to measure in horizontal plane from positive north, is just clockwise.
Patent of the present invention, in mathematical formulae is derived, adopts right hand rectangular coordinate system.The sign convention of the coordinate axes anglec of rotation is: the order anglec of rotation along X-Y-Z-X is just, otherwise is negative.
Definition geographic coordinate system OXYZ, initial point O are positioned at antenna stabilized platform three axle center, and OX axle is parallel to horizontal plane and points to due east, and OY axle is parallel to horizontal plane and points to positive north, and OZ axle is perpendicular to plane OXY, and vertical is just upwards.
Definition deck coordinate system OXdYdZd, initial point O is positioned at antenna stabilized platform three axle center, OYdIt is just that axle is parallel to fore and aft line sensing stem, OXdAxle and OYdVertical and be parallel to deck level, pointing to starboard is just, OZdAxle and OXd、OYdConstitute right hand rectangular coordinate system.
(2) coordinate transformation method between geographic coordinate system and deck coordinate system
Owing to surveying vessel INS Platform adopts karr pellet ring stand structure, ship geographical coordinate is tied to the coordinate transform of deck coordinate system must be undertaken by the order that conversion, pitching conversion and rolling convert.It is to say, OXYZ must first press conversion (rotating H around OZ axle) to OXhYhZ, then convert (around OX by pitchinghAxle rotates P) to OXhYdZ′, finally convert (around OY by rolling againdAxle rotates R) to OXdYdZd(deck coordinate system).
First we discuss conversion.As in figure 2 it is shown, the coordinate system that OXYZ coordinate system is after OZ axle rotation-H is OXhYhZ.IfFor unit vector, B point coordinate in OXYZ coordinate system is, at OXhYhCoordinate in Z coordinate system is, B point horizontal plane be projected as some B ', r=OB ', a r and Y-axis angle be azimuth A, OB and OB ' angle be angle of pitch E.
As shown in Figure 2:
Various matrix form describes above:
In like manner can try to achieve pitching transformation matrix mp and rolling transformation matrix mr:
,
Thus obtain, geographic coordinate system OXYZ to deck coordinate system OXdYdZdCoordinate transform:
... ... ... ... (6)
Deck coordinate system OXdYdZdCoordinate transform to geographic coordinate system OXYZ:
... ... ... ... (7)
Definition antenna beam azimuth angle A is the positive northern angle with controlling antenna wave beam to point at horizontal plane projection line, measures, be just clockwise in horizontal plane.
Definition antenna beam angle of pitch E is controlling antenna wave beam to point and its angle at horizontal plane projection line, measures in vertical guide, and angle is just on horizontal plane.
Definition antenna beam deck level orientation angle of chord ACFor angle at deck level projection line of stem line and controlling antenna wave beam to point, measure in deck level, is just clockwise.
Definition antenna beam deck level angle of pitch ECFor controlling antenna wave beam to point and its angle at deck level projection line, measurement plane is perpendicular to deck level, is just on deck level.
1. orientation, pitching Coordinate Conversion are rectangular coordinate
Can be obtained by Fig. 2, unit vector end points coordinate in rectangular coordinate systemCan be expressed from the next with the relation in the orientation residing for this vector, the angle of site:
The formula being transformed into deck coordinate system rectangular coordinate by antenna geographic orientation, the angle of pitch is:
... ... ... (8)
2. rectangular coordinate is converted to orientation, pitching coordinate
According to Fig. 2 and (8) formula, we can obtain calculating deck plane orientation angle on the bow Ac according to deck coordinate system rectangular coordinate, the computing formula of deck plane angle of pitch Ec is:
... ... ... (9)
From deck coordinate system to the coordinate transform of geographic coordinate system, after having carried out rolling conversion and pitching conversion, the relative bearing now tried to achieve is (in level measurement, start clockwise for just from fore and aft line) only differ from a course with azimuth A, and now the angle of pitch is unrelated with course angle, when namely calculating radar beam azimuth and the angle of pitch, it is not necessary to carry out course inverse transformation again.
If:
In formula:
Geographic azimuth, angle of pitch reduction formula be:
... ... ... (10)
3) coordinate transform of boat-carrying satellite communication earth station A-E-C triaxial antennas
1. antenna coordinate system definition
For boat-carrying triaxial antennas, we define antenna coordinate system initial point O and are positioned at antenna stabilized platform three axle center, and antenna direction axle OZ is perpendicular to the plane of pitch axis and intersecting axle place, and OX axle is parallel to pitch axis, OY axle is parallel to intersecting axle, and OX, OY and OZ axle meets right-hand rule.When antenna bearingt and intersect be 90o for 0o, pitching time, antenna coordinate system overlaps with deck coordinate system.
2. antenna movement math equation
Such as Fig. 3, the order that our regulation antenna rotates is followed successively by: A axle (azimuth axis) turns clockwise A angle, and namely XOY face rotates-A angle about the z axis；E axle (pitch axis) rotates up E angle, and namely YOZ face rotates E angle around X-axis；C axle (intersecting axle) is to right rotation C angle, and namely XOZ face rotates C angle around Y-axis.Above A, E, C axle rotates and can represent with transformation matrix of coordinates.
Orientation rotation matrix, pitching spin matrix, the spin matrix that intersects can be expressed as:
,,
So just obtain the math equation of triaxial antennas motion:
... ... ... (11)
(11) formula be it should be noted that, and on the right of equation, right-to-left is each axle rotation order of antenna.
The math equation of its inverse transformation is:
3. the conversion between antenna coordinate system and deck coordinate system
The step being transformed into antenna coordinate system from deck coordinate system is: orientation turns clockwise A angle, and namely XOY face rotates-A angle about the z axis；Pitch axis rotates down (90o-E) angle, and namely YOZ face rotates-(90o-E) angle around X-axis；Intersecting axle turns right C angle, and namely XOZ face rotates C angle around Y-axis.Transition matrix is as follows:
Wherein:
The formula being transformed into the coordinate transform of antenna coordinate system by deck coordinate system is:
... ... ... (12)
The transformation for mula being transformed into deck coordinate system by antenna coordinate system is:
... ... ... (13)
Comprehensive use above-mentioned all kinds of ordinate transform relations, it is possible to much applied, the problem solving boat-carrying A-E-C three axis stabilized satellite communication antenna digital guidance tracking, below several typical application are discussed respectively:
1) antenna fast Acquisition target
Boats and ships are in the middle of advancing, the theoretical the earth orientation of boat-carrying satellite communication earth station A-E-C triaxial antennas, the angle of pitch and polarizing angle can be calculated according to (1) formula, (2) formula and (3) formula, finally being calculated deck plane orientation angle on the bow Ac, deck plane angle of pitch Ec by (9) formula, the two angle value is exactly the guiding in real time value that guide antenna catches target.
Calculating process is taken into account ship course change, pitching and the rolling impact on antenna coordinate, thus antenna beam can point at real-time target satellite sighted direction, makes antenna fast Acquisition target.
Consider the factors such as inertial guidance data network transfer delay, computer disposal time delay and servosystem be delayed impact, when carrying out digital guidance tracking, also need to be aided with the extrapolation algorithm guiding data, currently used more be Lagrange's interpolation.
2) control of three-axis stabilization system
Ship motion disturbance makes deck plane run-off the straight, and the also run-off the straight simultaneously of antenna base face, if not applying real-time control, antenna beam can deviate from original target direction.Control antenna isolation ship to shake, it is simply that control corresponding antenna axis and rotate the impact offsetting seat surface inclination.
The inclination angle of antenna base refers to Angle of Heel and the Angle of Trim of antenna when orientation angle on the bow is A.
Examine the structure of A-E-C triaxial antennas, it has been found that Angle of Heel Z is exactly the angle of E axle and horizontal plane, and Angle of Trim L is exactly the angle of C axle and horizontal plane.Because of antenna C axle and E axle in antenna surface orthogonal, control C axle and rotate-ZsinE angle, it is possible to offset Angle of Trim impact, equally, control E axle and rotate-L angle, it is possible to offset Angle of Heel impact.
For the ease of obtaining the mathematic(al) representation at two inclination angles, select the unit reference vector under geographical coordinate here, this vector is through mp、mrMatrixing is to OXdYdZdCoordinate system, then azimuth axis rotates A angle, then makes X-axis rotate around Y-axis Z axis, and X-axis forwards to horizontal level, and corner is Angle of Heel Z.Now unit vector is at OX4Y4Z4Coordinate in coordinate system is:
... ... ... ... (18)
Wherein:
Due to X4Axle is in horizontal plane, therefore unit reference vector is at X4On component x4Should be zero.(18) formula is launched, and makes x4Equal to zero, then arranged, just can be obtained the expression formula of Angle of Heel Z:
... ... ... ... (19)
In order to obtain the Angle of Trim L at angle on the bow A place, then make Y4Axle is around X4Axial Z4Direction of principal axis rotates to horizontal plane, and its corner is L.Transformation matrix mLFor:
Now unit vector is at OX5Y5Z5Coordinate in coordinate system is:
... ... ... ... (20)
Due to Y5Axle is in horizontal plane, therefore unit reference vector is at Y5On component y5Should be zero.(20) formula is launched, makes y5Equal to zero, then arranged, just can be obtained the expression formula of Angle of Trim L:
... (21)
There is the result of calculation of Angle of Heel and Angle of Trim, just can on the basis in the servo-actuated course of azimuth axis of antenna, guide at antenna E axle and angle is revised-L an angle, guide at C axle and angle is revised-ZsinE an angle, with new guiding in real time angle, each shaft position circulating application of antenna is added control, such antenna just can be isolated ship and be shaken, and keeps beam position to stabilize.That is: A=Ad-H, E=Ed-L, C=-Zsin(E).
(20), (21) formula also has an important application, it is simply that using Angle of Heel and Angle of Trim result of calculation as the feedforward compensation link following the tracks of ring, it is possible to improve the Ship Rocking Isolation following the tracks of ring.
After following table illustrates use this patent, different ships shakes under situation, the relation between each axle of antenna angle, real-time deck and ship cradle angle.
Antenna each axle guiding in real time angle as can be seen from the table, the impact that ship shakes can be overcome by adjustment E, C shaft angle degree.
In actual applications, the digital designation beam position of antenna is followed the tracks of and is also needed to consider the factor impacts such as inertial guidance data network transfer delay, computer disposal time delay and servosystem be delayed, antenna also needs to be aided with data extrapolation algorithm when carrying out digital guidance tracking angle calculation, currently used more be Lagrange's interpolation.
The present invention is in conjunction with surveying vessel satellite communication actual demand, use for reference multiple carrier-borne, the derivation method of airborne antenna electric axis stability equations, systematically propose the Coordinate calculation method of a set of boat-carrying A-E-C three axis stabilized satellite communication antenna first, the all conclusions derived are all correct through MATLAB simulation calculating and numerical value analysis verification, for some obscure understandings of antenna axis system relation when having clarified the polarization satellite of ship-board antenna tracker wire for a long time, some algorithm and derivation result are applied to the amendment of satellite earth station A-E-C servo control software and perfect, improve the performance of boat-carrying satellite communication antena.Boat-carrying A-E-C three axis stabilized satellite communication antenna digital guidance tracking method is abundant and perfect, and boat-carrying satellite communication is theoretical, improve antenna trapping and follow the tracks of efficiency, follow the tracks of for digital designation antenna direction under marine dynamic condition, polarizing angle revises in real time and solid Fundamentals of Mathematics have been established in the equal application in track receiver school, is also that the control optimizing boat-carrying satellite communication antena provides strong tool of mathematical analysis simultaneously.
Claims (2)
1. a boat-carrying A-E-C three-axis satellite communication antenna beam position tracking and controlling method, it is characterised in that it is made up of following three parts:
(1) coordinate system definition
For boat-carrying satellite communication earth station A-E-C triaxial antennas, definition antenna coordinate system initial point O is positioned at antenna stabilized platform three axle center, antenna direction axle OZ is perpendicular to the plane of pitch axis and intersecting axle place, OX axle is parallel to pitch axis, OY axle is parallel to intersecting axle, OX, OY and OZ axle meets right-hand rule, when antenna bearingt and intersect be 90o for 0o, pitching time, antenna coordinate system overlaps with deck coordinate system；
(2) digital guidance tracking Coordinate calculation method
Construction features and marine Inertial navigation signal according to boat-carrying satellite communication earth station A-E-C three-axis stabilization antenna are accustomed to value mode, set up orientation rotation matrix, pitching spin matrix and the spin matrix that intersects is represented by:
,,
The math equation of boat-carrying triaxial antennas motion:
On the right of the equation of above formula, right-to-left is each axle rotation order of antenna, is transformed into the step of antenna coordinate system from deck coordinate system:
1. orientation turns clockwise A angle, and namely XOY face rotates-A angle about the z axis；
2. pitch axis rotates down (90o-E) angle, and namely YOZ face rotates-(90o-E) angle around X-axis；
3. intersecting axle turns right C angle, and namely XOZ face rotates C angle around Y-axis；
Transition matrix is as follows:
Wherein:
The transformation for mula being transformed into antenna coordinate system by deck coordinate system is:
The transformation for mula being transformed into deck coordinate system by antenna coordinate system is:
(3) use boat-carrying satellite communication earth station A-E-C triaxial antennas coordinate to calculate transformation for mula to derive, it is possible to obtain:
The expression formula of Angle of Heel Z:
The expression formula of Angle of Trim L:
Wherein P is pitch angle, and R is roll angle；
For boat-carrying satellite communication earth station A-E-C triaxial antennas, on the basis of the servo-actuated ship compass course of antenna A axle, guide at antenna E axle and angle is revised-L angle, guide in angle at C axle and reviseAngle；The each shaft position circulating application of antenna is added control with new guiding in real time angle by boat-carrying satellite communication earth station servosystem, it may be assumed that A=Ad-H, E=Ed-L, C=-Zsin(E), antenna just can be isolated ship and be shaken maintenance beam position stably, wherein, AdFor azimuth axis of antenna geography angle theoretical value, EdFor elevation axis of antenna geography angle theoretical value.
2. a kind of boat-carrying A-E-C three-axis satellite communication antenna beam position tracking and controlling method according to claim 1, it is characterized in that: the feedforward compensation link that Angle of Heel and Angle of Trim result of calculation are followed the tracks of as each axle pulse of antenna from ring, it is possible to improve the Ship Rocking Isolation following the tracks of ring.
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