CN104807475A - Method for measuring zero drift values in antenna tilt angle calibration process of satellite communication in motion - Google Patents
Method for measuring zero drift values in antenna tilt angle calibration process of satellite communication in motion Download PDFInfo
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Abstract
The invention discloses a method for measuring zero drift values in an antenna tilt angle calibration process of a satellite communication in motion. The method comprises following steps: adjusting a pitch angle of an antenna to a certain angle, and reading three-axis data of an accelerometer; rotating the antenna for a certain angle in a horizontal plane, reading three-axis data of a gyroscope, and performing accumulation to obtain an accumulated value of the gyroscope rotating for the angle; repeating the steps for n times; calculating a tilt angle (theta i_acc) by the accelerometer, calculating a tilt angle (theta i_gyro) of the position by the gyroscope, and adopting substituted acc_x0i, acc_y0i and acc_z0i as measured zero drift values of the accelerometer when a value obtained according to the formula sigma tan (theta i_gyro)-tan (theta i_acc)]*[tan(theta i_gyro)-tan(theta i_acc)] is minimum. Compared with the prior art, the method is accurate in measurement, simple to operate and can be implemented automatically.
Description
[technical field]
The present invention relates to SOTM satellite antenna tilt angle calibration, particularly relate to the measuring method of zero drift value in a kind of SOTM satellite antenna tilt angle calibration process.
[background technology]
Communication in moving is the abbreviation of " the satellite ground station communication system in mobile ".By communication in moving system, the mobile vehicles such as vehicle, steamer, aircraft can the platform such as real-time follow-up satellite in motion process, transmit the multimedia messagess such as voice, data, image incessantly, the needs of the multimedia communication under various military-civil emergency communication and mobile condition can be met.As an important component part of communication in moving system, antenna for satellite communication in motion is responsible for reception and/or the transmission of signal of communication.If antenna can when attitude of carrier and course change, aim at all the time the telstar select, and recover rapidly when signal momentary loss to communicate.
Dip measuring device is applied to automatic tracking satellite antenna, and for detecting antenna movement attitude in real time, the angle of pitch of adjustment antenna and polarizing angle, make satellite antenna keep accurately to satelloid in the process of motion.Tilt angle calibration device is also widely used in unmanned plane, self-poise dolly etc.
MEMS (micro electro mechanical system) (MEMS, Micro-Electro-Mechanical System) acceleration transducer is adopted the angle of pitch of instrumented satellite antenna and polarizing angle to depart from easily.The acceleration transducer based on MEMS technology of Fig. 1 display, because this sensor is tightly attached on dull and stereotyped satellite antenna, therefore the inclination angle of this sensor measurement is consistent with the inclination angle of plate aerial.
Due to acceleration of gravity all the time vertically downward, so 3 axis accelerometers measure value be respectively:
θ＝arctan(acc_z/(sqrt(acc_x*acc_x+acc_y*acc_y))；
Wherein,
The angle of pitch of θ: 90 °-antenna;
the polarizing angle of antenna;
Acc_x: the measured value of accelerometer X-axis;
Acc_y: the measured value of accelerometer Y-axis;
Acc_z: the measured value of accelerometer Z axis.
Usually Inertial Measurement Unit IMU (Inertial measurement unit), be arranged on the back of antenna, the angle of pitch of antenna is 90 ° of-θ, and the polarizing angle skew for this locality is
by the angle of pitch that calculates and polarizing angle skew, system can according to result of calculation, automatically regulates the angle of pitch of antenna and polarizing angle to angle on target.
Above algorithm requires that the measurement of accelerometer is accurate, particularly when the base horizontal positioned of antenna time, the measuring error of accelerometer can cause Dip countion or polarizing angle to calculate and occur very large error, and specifically, the error being calculated angle by accelerometer is mainly reflected in:
1: sensitivity
2: zero temperature drift
3: sensitivity temperature drift
4: voltage fluctuation is drifted about
5: zero point drift
Such as, the mems accelerometer device of certain cost, sensitivity is 1/1024g, sensitivity temperature drift is 0.02%/degree, and sensitivity voltage drift is: 0.05%/degree, and zero point drift is positive and negative 70mg, zero temperature drift is 1mg/ degree, and voltage fluctuation drift is 0.5mg/V.Can draw from above-mentioned data, if accelerometer can not be calibrated, the measurement result of direct accelerometer calculates, and there will be the error of tilt about 4-10 degree, and this is unacceptable concerning automatic tracking satellite antenna.
Wherein having the greatest impact, is exactly zero point drift and zero temperature drift.By the calibration to accelerometer, the Resolving probiems of zero point drift, thus can greatly improve the accuracy of measurement of dip angle.
For the calibration of demand high precision dip, adopt precision indexer to carry out multiposition and test.
The tested pcb board that accelerometer is housed securely level is installed on precision indexer, in general, record the output signal under 4 kinds of different attitudes of accelerometer sensitive axle, correspond respectively to the 0g acted on this axle, 1g, 0g, the accekeration of-1g, on each position, record a series of data, and will repeat in whole test process for several times.Utilize 1g, the measured value of-1g is averaging, and just can obtain zero drift value, test at different temperature, just can obtain zero temperature drift value.In order to obtain the zero drift value of 3 axis accelerometers, after test completing, needing accelerometer to be vertically mounted on dividing head, retesting, the zero drift value of other axle can be obtained.
In addition, also the verification of accelerometer can be carried out by easy method, some special inclinator equipment have the function of self-checking, such as: inclinator is put in the plane (no matter vertical or level can), and it is fixed in a certain corner or marks its position.Then click on/off button, after approximately waiting for 10 seconds, pin calibration knob, until LCD shows " CAL1 ", then flickering display first measured angular angle value.Decontrol calibration knob, then in selected plane around the vertical axis revolving 180 ° of this plane, and electric slope angle instrument is placed on accurately on the position of same corner or mark, waited for for about 10 seconds, after flickering display second value stabilization that takes measurement of an angle, then pin calibration knob again, until LCD display " CAL2 "; Decontrol calibration knob, " ticking---" one after sound, calibrate complete.Also similar method can be taked to verify for automatic tracking satellite antenna.
Such scheme can obtain test result more accurately, but it is loaded down with trivial details also to have test, the problem that the time is long.As automatic tracking satellite antenna, when dispatching from the factory, accelerometer temperature drift at various temperatures should be tested, and these data have been saved in system.The method that craft in citing is carried out verifying obviously is inappropriate, and this scheme can only complete the verification in a kind of temperature range, when temperature changes time, must again verify.Again it is unallowed for verifying for automatic tracking satellite antenna in operational process.
In order to measure in whole temperature range, the basic parameter of the performance of accelerometer is along with the change of problem, and more feasible way is that the accelerometer of test is arranged on dividing head, and accelerometer is sealed in high-low temperature chamber, high-low temperature chamber can temperature in regulating box, from-40 DEG C to+70 DEG C, when high-low temperature chamber is in " insulation " state time, rotate dividing head, measure 1g respectively, 0g ,-1g, the value of 0g, obtains the zero drift value at certain temperature.Then regulate temperature, at other temperature, measure zero drift value.
The shortcoming of this method is:
1, needing to test, purchasing the first-class device of calibration specially, transformation high-low temperature chamber
2, when test, need manually carefully to adjust dividing head, and record data, or need to write a set of test code specially, automatic record test data also imports in goal systems.Middle manual operation dividing head, record data, import in goal systems, easily occur manual record, typing mistake.
3, for the application of mobile satellite antenna, accelerometer is separated with primary controller, and needing the data inputting of test, in primary controller, needs careful typing and recorded the corresponding relation of accelerometer and primary controller.
4, test job is heavy, because the characteristic of each accelerometer inconsistent, therefore each accelerometer is necessarily tested once, and the test duration is long, and efficiency is low, and workload is very large, and for the product of some consumer level, cost is quite high.
5 products, after operation, if there is the fault of accelerometer or primary controller, need to retest, because on-the-spot without test condition, must after test complete, and the data inputting scene of giving is done, and adds the difficulty of product maintenance.
[summary of the invention]
The technical problem to be solved in the present invention is to provide a kind of measuring method measuring zero drift value in SOTM satellite antenna tilt angle calibration process accurate, simple to operate.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is, the measuring method of zero drift value in a kind of SOTM satellite antenna tilt angle calibration process, the base of satellite antenna is placed on surface level, Inertial Measurement Unit is arranged on the antenna of satellite antenna, and the measuring method of zero drift value comprises the following steps:
101, regulate antenna elevation angle to certain angle, read 3 number of axle certificates of accelerometer;
102, antenna in surface level clockwise or rotate counterclockwise a certain angle, in rotation process, read gyrostatic 3 number of axle certificates, add up, obtain the gyroscope accumulated value rotating this angle;
103, repeat step 101 and 102 n time altogether, obtain acc_xi, acc_yi, acc_zi, gyro_sum_zi, gyro_sum_yi, wherein i=1-n, n >=3; Acc_xi is the measured value of the accelerometer X-axis that i-th time is measured, acc_yi is the measured value of the accelerometer Y-axis that i-th time is measured, acc_zi is the measured value of the accelerometer Z axis that i-th time is measured, gyro_sum_zi is i-th Z axis gyroscope accumulated value measured, and gyro_sum_yi is i-th Y-axis gyroscope accumulated value measured;
104, the inclination angle (θ i_acc) calculated by accelerometer is:
tan(θi_acc)＝(acc_zi-acc_z0i)/(sqrt((acc_xi-acc_x0i)*(acc_xi-acc_x0i)+(acc_yi-acc_y0i)*(acc_yi-acc_y0i))；
The inclination angle (θ i_gyro) calculating this position with gyro is:
tan(θi_gyro)＝gyro_sum_yi/gyro_sum_zi；
Wherein, acc_x0i, acc_y0i and acc_z0i are respectively the zero drift value that accelerometer three axles are measured for i-th time, obtain from the tables of data of accelerometer;
As Σ tan (θ i_gyro)-tan (θ i_acc)] * is [when the value of tan (θ i_gyro)-tan (θ i_acc) is minimum, namely the acc_x0i substituted into, acc_y0i and acc_z0i measure the zero drift value of the accelerometer obtained.
Above-described measuring method, under different temperature environments, repeats step 101-104, after obtaining a plurality of temperature drift data, adopts polynomial curve fitting or piece wire approximation method, obtains the function curve of zero point drift along with temperature variation.
Above-described measuring method, in a step 101, deducts the minimum limit angles of pitching pitching maximum limit angle, then divided by (n-1), obtains the adjusting angle of each angle of pitch.
Above-described measuring method, in a step 102, antenna rotates through n time, the total angle > turned over clockwise or counterclockwise in surface level 90 °.
In SOTM satellite antenna tilt angle calibration process of the present invention, the measuring method of zero drift value is measured accurate, simple to operate, can automatically perform.
[accompanying drawing explanation]
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
The schematic diagram that Fig. 1 utilizes the angle of pitch of acceleration transducer instrumented satellite antenna and polarizing angle to depart from.
[embodiment]
The pacing items that the present invention realizes:
1, the framework of automatic satellite tracking antenna is level and pitching biaxial stabilization system, level can realize 360 ° of automatic rotations, pitching can rotate up and down in limited range, general within the scope of 0-90 °, there is larger or less scope, but generally can not reach 180 °, three-axis stabilization system also can adopt method of the present invention.
2, the motion detector part such as accelerometer of the present invention is arranged on antenna, for measuring the athletic posture of antenna, the position of installation parallel with the normal direction of antenna or vertical 90 ° install.
3, the IMU Inertial Measurement Unit of the present invention's employing, 3 axis accelerometers and 3 axle gyros are generally comprised, if in order to measure inclination angle, then require at least 2 axis accelerometers and 2 axle gyros, and the plane at the plane at this 2 axis accelerometer place and 2 axle gyro places requires parallel with antenna normal direction.Inertial Measurement Unit can comprise the device of multiaxis, and the discrete device of single shaft also can be adopted through appropriate combination.
4, the present invention can be applied on automatic tracking satellite antenna, but is not limited to satellite antenna, 2 axles or 3 axle systems stabilisations, has test inclination angle to require, can adopt method of the present invention.Most 2 axles are stablized or 3 axles are stablized automatic tracking satellite antenna and generally adopted such mounting means.
Method of the present invention is as follows:
The base of automatic tracking antenna is placed on surface level, powers on, start the automatic trace routine of product accelerometer.This program operation process is:
1, software control antenna regulates the angle of pitch to arrive certain angle automatically, static 2 seconds, reads 3 number of axle certificates of accelerometer, reads to average several times to get rid of measuring error more, obtains 3 axle accurate data acc_x1 of accelerometer, acc_y1 and acc_z1;
2, software control antenna automatically in surface level clockwise or rotate counterclockwise a certain angle, in rotation process, read gyrostatic 3 number of axle certificates, add up, obtain the gyroscope accumulated value rotating this angle, gyro_sum_z1, gyro_sum_y1.
Wherein, gyro_sum_z1 is the gyroscope accumulated value of Z axis, and gyro_sum_y1 is the gyroscope accumulated value of Y-axis.
3, repeat the step of 1,2, each adjustment angle of pitch, to different angles, obtains acc_x2, acc_y2 respectively, acc_z2, gyro_sum_z2, gyro_sum_y2, carry out n time always and repeat, obtain acc_xn, acc_yn, acc_zn, gyro_sum_zn, gyro_sum_yn.In order to obtain more accurate result, multiplicity can be more, and n is minimum is 3.N=6 in good situation, and the adjustment of the angle of pitch is uniform, makes every effort to reach good effect.
The even regulation angle of pitch can obtain good test result, and automatic tracking satellite antenna has the scope of the angle of pitch to limit.Be that pitching maximum limit angle is deducted the minimum limit angles of pitching in test process, then divided by (n-1), obtain the adjusting angle of average each measurement angle of pitch; In order to reach the high precision of measurement, antenna angle that is clockwise or that rotate counterclockwise in surface level is aggregated in more than 90 °.
4, utilize minimum variation algorithm to obtain the zero drift value of accelerometer: to establish the zero drift value of accelerometer to be respectively acc_x0, acc_y0, acc_z0, then the inclination angle (θ 1_acc) calculated by accelerometer is:
tan(θ1_acc)＝(acc_z1-acc_z0)/(sqrt((acc_x1-acc_x0)*(acc_x1-acc_x0)+(acc_y1-acc_y0)*(acc_y1-acc_y0))
The inclination angle (θ 1_gyro) calculating this position with gyro is:
tan(θ1_gyro)＝gyro_sum_y1/gyro_sum_z1
Clearly, if there is no error, the result calculated by accelerometer should be identical with the result calculated by gyro:
tan(θ1_gyro)-tan(θ1_acc)＝0
Because there are three unknown quantitys, so at least want 3 equatioies just can obtain the quiescent value (acc_x0, acc_y0 and acc_z0) of accelerometer, because there is measuring error, only have 3 equatioies, the result obtained is accurate not, and application condition is large.Under identical test environment, carry out different tests, the zero drift value obtained is approximately positive and negative 50mg, and the positive and negative 70mg of error range of this numerical value and device itself does not improve significantly.
For this reason, need enough angle of pitch testing times, adopt least square and algorithm: by acc_x0i, acc_y0i and acc_z0i, be updated in formula below, make the value of formula below be minimum:
[tan(θ1_gyro)-tan(θ1_acc)]*[tan(θ1_gyro)-tan(θ1_acc)]+[tan(θ2_gyro)-tan(θ2_acc)]*[tan(θ2_gyro)-tan(θ2_acc)]+...[tan(θn_gyro)-tan(θn_acc)]*[tan(θn_gyro)-tan(θn_acc)]
Wherein, these three values of the acc_x0i under different condition, acc_y0i and acc_z0i (i=1-n) can obtain from the tables of data of accelerometer (datasheet).Above formula is calculated by embedded chip, and all data within the scope of this are calculated once, and the time carrying out so once calculating required cost is approximately 1-2 second.
Calculate obtained minimum acc_x0 by above formula, acc_y0, acc_z0 are exactly the zero drift value of the accelerometer that we need.
Under the test case having 6 different angles, under identical test environment, carry out different tests, the zero drift value obtained is approximately positive and negative 8mg, has greatly improved relative to the positive and negative 70mg of the error range of device itself.
5, being written in the FLASH storage of controller measuring the data obtained, like this in follow-up operational process, these zero point drift data can being utilized to calculate accurately.
6, whole antenna is put in temperature-controlled cabinet, under different temperature environments, repeat the test of step 1-5, software automatically records zero drift value at different temperatures and is written in the storage of controller.This results in the zero drift value of the accelerometer in whole temperature orientation.High-low temperature chamber calibration process in, by temperature sensor, therefore in whole test process, system by automatically recording the relation of temperature and zero point drift, without the need to manual intervention.After obtaining multiple temperature drift data, adopt polynomial curve fitting, or piece wire approximation method, obtain the function curve of zero point drift along with temperature variation, as final result.
The beneficial effect of the above embodiment of the present invention:
1 zero drift value that can accurately measure accelerometer, thus substantially increase the measuring accuracy at inclination angle.
2 hardware and software and the structural members directly utilizing automatic tracking satellite antenna, without the need to purchasing the first-class equipment of calibration.
It is full automatic that 3 schools are surveyed, and without the need to worrying that Human disturbance is made mistakes, also saves artificial simultaneously.
4 can verify at the scene, and for certain specific external environment condition, temperature, humidity, magnetic field sensitivity environment, can once verify at the scene, reflects local situation more accurately.
Claims (4)
1. the measuring method of zero drift value in a SOTM satellite antenna tilt angle calibration process, it is characterized in that, the base of satellite antenna is placed on surface level, and Inertial Measurement Unit is arranged on the antenna of satellite antenna, and the measuring method of zero drift value comprises the following steps:
101, regulate antenna elevation angle to certain angle, read 3 number of axle certificates of accelerometer;
102, antenna in surface level clockwise or rotate counterclockwise a certain angle, in rotation process, read gyrostatic 3 number of axle certificates, add up, obtain the gyroscope accumulated value rotating this angle;
103, repeat step 101 and 102 n time altogether, obtain acc_xi, acc_yi, acc_zi, gyro_sum_zi, gyro_sum_yi, wherein i=1-n, n >=3; Acc_xi is the measured value of the accelerometer X-axis that i-th time is measured, acc_yi is the measured value of the accelerometer Y-axis that i-th time is measured, acc_zi is the measured value of the accelerometer Z axis that i-th time is measured, gyro_sum_zi is i-th Z axis gyroscope accumulated value measured, and gyro_sum_yi is i-th Y-axis gyroscope accumulated value measured;
104, the inclination angle (θ i_acc) calculated by accelerometer is:
tan(θi_acc)＝(acc_zi-acc_z0i)/(sqrt((acc_xi-acc_x0i)*(acc_xi-acc_x0i)+(acc_yi-acc_y0i)*(acc_yi-acc_y0i))；
The inclination angle (θ i_gyro) calculating this position with gyro is:
tan(θi_gyro)＝gyro_sum_yi/gyro_sum_zi；
Wherein, acc_x0i, acc_y0i and acc_z0i are respectively the zero drift value that accelerometer three axles are measured for i-th time, obtain from the tables of data of accelerometer;
As Σ tan (θ i_gyro)-tan (θ i_acc)] * is [when the value of tan (θ i_gyro)-tan (θ i_acc) is minimum, namely the acc_x0i substituted into, acc_y0i and acc_z0i measure the zero drift value of the accelerometer obtained.
2. measuring method according to claim 1, is characterized in that, under different temperature environments, repeat step 101-105, after obtaining a plurality of temperature drift data, adopt polynomial curve fitting or piece wire approximation method, obtain the function curve of zero point drift along with temperature variation.
3. measuring method according to claim 1, is characterized in that, in a step 101, pitching maximum limit angle is deducted the minimum limit angles of pitching, then divided by (n-1), obtains the adjusting angle of each angle of pitch.
4. measuring method according to claim 1, is characterized in that, in a step 102, antenna rotates through n time, the total angle > turned over clockwise or counterclockwise in surface level 90 °.
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| CN201510173211.XA CN104807475B (en) | 2015-04-14 | 2015-04-14 | Method for measuring zero drift values in antenna tilt angle calibration process of satellite communication in motion |
| PCT/CN2015/091952 WO2016165295A1 (en) | 2015-04-14 | 2015-10-14 | Zero-shift value measurement method during satellite-antenna tilt-angle calibration process in satellite communications on-the-move system |
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| CN105466456A (en) * | 2015-12-22 | 2016-04-06 | 中国电子科技集团公司第五十四研究所 | Method for dynamically eliminating zero drift for stabilizing gyroscope of communication-in-moving antenna |
| WO2016165295A1 (en) * | 2015-04-14 | 2016-10-20 | 深圳市宏腾通电子有限公司 | Zero-shift value measurement method during satellite-antenna tilt-angle calibration process in satellite communications on-the-move system |
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| CN112304339A (en) * | 2020-11-06 | 2021-02-02 | 迪泰（浙江）通信技术有限公司 | Inertial navigation calibration method for satellite mobile communication antenna |
| US20230121935A1 (en) * | 2015-06-04 | 2023-04-20 | Viasat Inc. | Antenna with sensors for accurate pointing |
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| WO2016165295A1 (en) * | 2015-04-14 | 2016-10-20 | 深圳市宏腾通电子有限公司 | Zero-shift value measurement method during satellite-antenna tilt-angle calibration process in satellite communications on-the-move system |
| US11699838B2 (en) * | 2015-06-04 | 2023-07-11 | Viasat Inc. | Antenna with sensors for accurate pointing |
| US20230121935A1 (en) * | 2015-06-04 | 2023-04-20 | Viasat Inc. | Antenna with sensors for accurate pointing |
| CN105466456A (en) * | 2015-12-22 | 2016-04-06 | 中国电子科技集团公司第五十四研究所 | Method for dynamically eliminating zero drift for stabilizing gyroscope of communication-in-moving antenna |
| CN105466456B (en) * | 2015-12-22 | 2018-02-23 | 中国电子科技集团公司第五十四研究所 | The method that antenna for satellite communication in motion stabilizing gyroscope dynamic eliminates null offset |
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| CN111693019A (en) * | 2020-05-20 | 2020-09-22 | 西安交通大学 | Attitude sensing device and data fusion and attitude calculation method |
| CN111536999B (en) * | 2020-05-27 | 2023-03-31 | 浙江中星光电子科技有限公司 | Zero voltage calibration method, device, equipment and medium of gyroscope |
| CN111536999A (en) * | 2020-05-27 | 2020-08-14 | 浙江中星光电子科技有限公司 | Zero voltage calibration method, device, equipment and medium of gyroscope |
| CN112304339A (en) * | 2020-11-06 | 2021-02-02 | 迪泰（浙江）通信技术有限公司 | Inertial navigation calibration method for satellite mobile communication antenna |
| WO2023070440A1 (en) * | 2021-10-28 | 2023-05-04 | 华为技术有限公司 | Calibration method and apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104807475B (en) | 2017-05-10 |
| WO2016165295A1 (en) | 2016-10-20 |
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