CN105021191A - Low-cost method for estimating antenna attitude of Satcom on the move measurement and control system - Google Patents
Low-cost method for estimating antenna attitude of Satcom on the move measurement and control system Download PDFInfo
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- CN105021191A CN105021191A CN201510394623.6A CN201510394623A CN105021191A CN 105021191 A CN105021191 A CN 105021191A CN 201510394623 A CN201510394623 A CN 201510394623A CN 105021191 A CN105021191 A CN 105021191A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention discloses a low-cost method for estimating antenna attitude of satellite communication on the move measurement and control system. The method comprises the steps of: 1) sending a control command from a master controller to a servo driver, and according to the control command, controlling a motor to align the beam pointing of the antenna in the mobile-satellite communication system on the move by the servo driver; 2) acquiring an attitude angle differential equation of a carrier; 3) acquiring an pitch angle theta m and roll angle phi m of the carrier; 4) acquiring a pseudo course angle Psi v; and 5) conducting attitude resolution by using improved unscented Kalman filtering according to the attitude angle differential equation of the carrier, theta m, phi m, and Psi v obtained in the previous steps, so as to obtain a three dimensional attitude angle of the carrier, and then controlling the three motors to adjust the antenna beam pointing according to the three dimensional attitude angle of the carrier. The invention can accurately align the carrier to an object satellite and has low cost.
Description
Technical field
The invention belongs to satellite communication system antenna attitude estimation technique field, relate to a kind of low cost communication in moving TT&C system antenna attitude method of estimation.
Background technology
Along with economic globalization and informationalized development, people in the urgent need on the road and special circumstances time can transmit or receive the multimedia messagess such as broadband, jumbo voice, data, image, video in real time, to grasp the fast changing current political situation sooner, more accurately Anywhere, any time as earthquake relief work etc.Satellite communication is the communication system that uniquely simultaneously can provide different business demand under various circumstances.But the bandwidth distributing to mobile satellite service due to ITU is lower, be difficult to the demand meeting wideband communications service." communication in moving " communication system based on fixed-satellite service is that this desirable realization provides possibility.Satellite communications system refers to that the mobile vehicle (as automobile, train, aircraft, steamer etc.) installing satellite antenna can be set up communication link with stationary satellite (i.e. geosynchronous satellite-target satellite) and can keep the unimpeded with the system realizing real-time Communication for Power of communication link in the process of carrier rapid movement.Because stationary satellite is apart from the distance far (about 36000 kilometers) on ground, therefore the wideband multimedia that will realize between mobile vehicle with stationary satellite communicates, and just must adopt the directional antenna of high-gain.Because the wave beam of this antenna is very narrow, ensure that mobile vehicle can carry out normal continual communication with stationary satellite in rapid movement process, then must make antenna beam all the time with certain accurate alignment satellite by TT&C system.
In actual use procedure, the main cause affecting satellite communications system performance is the real-time continual change of attitude of carrier, want to realize satellite communication proper communication all the time in motion process, the antenna beam of communication in moving satellite TT&C system must in orientation, pitching and polarization three axles carry out precision tracking control simultaneously.
The Attitude estimation of carrier is a typical nonlinear problem, but also do not have a kind of method can take into account estimated accuracy in nonlinear estimation field, realize complexity, the various index such as numerical robustness and calculated amount, therefore must according to the selection choosing comprehensively of embody rule occasion, condition and sensor.Herein for reduction communication in moving cost with meet antenna beam accuracy requirement, propose a kind of based on UKF method, merge single baseline GPS, micromechanical gyro and accelerometer information and carry out real-time Attitude estimation method.The method is using micromechanical gyro output information as the quantity of state of algorithm, the output information of accelerometer and single baseline GPS is as the observed quantity of algorithm, and the velocity information utilizing single baseline GPS to measure and yaw angle information are carried out Maneuver Acceleration and compensated and yaw angle compensation.By Unscented kalman filtering device, attitude and gyroscopic drift error are estimated in real time.In order to reduce computation complexity, use suprasphere sampling to reduce the sampling number of traditional UKF, the real-time of raising method, under the prerequisite not affecting precision, significantly reduces the calculated amount of method.2011 invention disclosed patented claim on August 17, CN102157790A (number of patent application is CN201010109461.4) utilize kalman filter method merge attitude measurement, to magnetic strength information, acceleration information and angular rate information combination estimate.But, because low cost gyroscopic drift is comparatively large, velograph measurement noises is comparatively large and magnetoresistive transducer is subject to the impact of electromagnetic interference (EMI), limits performance and the service condition of TT&C system, carrier can not be aimed at accurately with target satellite.
Summary of the invention
The object of the invention is to the shortcoming overcoming above-mentioned prior art, provide a kind of low cost communication in moving TT&C system antenna attitude method of estimation, the method can make carrier accurately aim at target satellite accurately, and cost is low.
For achieving the above object, low cost communication in moving TT&C system antenna attitude method of estimation of the present invention comprises the following steps:
1) master controller sends steering order to servo-driver, servo-driver controls according to described steering order the beam position that motor makes antenna in communication in moving mobile satellite communication system, and the beam position of communication in moving mobile satellite communication system antenna is aimed at the mark satellite;
2) attitude-measuring sensor is placed on carrier, and when the change of carrier transport condition, the attitude of carrier that micromechanical gyro, micro-mechanical accelerometer and single baseline GPS measure changes, and micromechanical gyro measures the angular rate information w of carrier
b, the angular rate information w of the carrier then obtained according to micromechanical gyro measurement
bobtain the attitude angle differential equation of carrier;
3) three axle micro-mechanical accelerometers measure the acceleration information of carrier, the acceleration information of described carrier is the component of gravitational vector g under carrier coordinate system, and the acceleration information of the carrier obtained according to three axle micro-mechanical accelerometer measurements obtains the pitching angle theta of carrier
mand roll angle φ
m;
4) establish the two ends of single baseline GPS respectively to have an antenna, obtain the course angle ψ of carrier according to the gps carrier phase differential of two antennas receptions, obtain the velocity information of carrier according to the course angle ψ of carrier, obtain the pseudo-course angle ψ of carrier according to the velocity information of carrier
v;
5) according to step 2) the attitude angle differential equation, the step 3 of carrier that obtain) pitching angle theta of carrier that obtains
mand roll angle φ
m, and step 4) the pseudo-course angle ψ of carrier that obtains
vuse Unscented kalman filtering to carry out attitude algorithm, obtain the three-dimension altitude angle of carrier, then control the sensing of three motor adjustment antenna beams according to the three-dimension altitude angle of carrier, make antenna alignment target satellite.
Described micromechanical gyro measures the angular rate information w of carrier
bposture renewal form based on Eulerian angle is:
Wherein,
and C
θbe respectively the angle of pitch and direction cosine matrix corresponding to roll angle, ω
x, ω
y, ω
zfor the coordinate of angular speed under carrier coordinate system that micromechanical gyro exports,
be respectively the course angle speed of carrier, pitch rate and rolling angle rate;
The attitude angle differential equation being obtained carrier by formula (1) is:
Step 4) in the pseudo-course angle ψ of carrier
vfor:
Wherein, v
e, v
nbe respectively the east orientation speed of carrier and north orientation speed under the geographic coordinate system that single baseline GPS exports, ψ
sfor the speed of carrier, a is the acceleration information of the carrier that three axle micro-mechanical accelerometers are measured.
The acceleration information of the carrier obtained according to three axle micro-mechanical accelerometer measurements is estimated then to compensate and correct pitching angle theta and the roll angle φ of carrier, obtain the pitching angle theta of carrier to the pitching angle theta and roll angle φ of estimating the carrier obtained
mand roll angle φ
m.
The present invention has following beneficial effect:
Low cost communication in moving TT&C system antenna attitude method of estimation of the present invention is when making antenna alignment target satellite, the attitude angle differential equation of acquisition of information carrier is recorded by micromechanical gyro, the angle of pitch and the roll angle of acquisition of information carrier is recorded by three axle micro-mechanical accelerometers, the pseudo-course angle of the acquisition of information carrier measured by single baseline GPS, thus reduce the cost controlled, then according to the attitude angle differential equation of carrier, the angle of pitch, roll angle and pseudo-course angle use Unscented kalman filtering to carry out attitude algorithm, obtain the three-dimension altitude angle of carrier, then control three motors according to the three-dimension altitude angle of carrier and make antenna alignment target satellite, Unscented kalman filtering is wherein adopted to carry out attitude algorithm, thus effectively improve the precision of antenna alignment target satellite, the present invention is reasonable in design, Attitude estimation is effective, precision is high, estimating speed is fast and simple, it is convenient to realize, system-computed amount reduces, operation efficiency is high, effectively overcome precision existing when antenna attitude is estimated in communication in moving communication system inadequate, poor real, filtering is easily dispersed, defect and the deficiencies such as performance of noiseproof is weak.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of communication in moving TT&C system in the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail:
With reference to figure 1, low cost communication in moving TT&C system antenna attitude method of estimation of the present invention comprises the following steps:
1) master controller sends steering order to servo-driver, servo-driver controls according to described steering order the beam position that motor makes antenna in communication in moving mobile satellite communication system, and the beam position of communication in moving mobile satellite communication system antenna is aimed at the mark satellite;
2) attitude-measuring sensor is placed on carrier, and when the change of carrier transport condition, the attitude of carrier that micromechanical gyro, micro-mechanical accelerometer and single baseline GPS measure changes, and micromechanical gyro measures the angular rate information w of carrier
b, the angular rate information w of the carrier then obtained according to micromechanical gyro measurement
bobtain the attitude angle differential equation of carrier;
3) three axle micro-mechanical accelerometers measure the acceleration information of carrier, the acceleration information of described carrier is the component of gravitational vector g under carrier coordinate system, and the acceleration information of the carrier obtained according to three axle micro-mechanical accelerometer measurements obtains the pitching angle theta of carrier
mand roll angle φ
m;
4) establish the two ends of single baseline GPS respectively to have an antenna, obtain the course angle ψ of carrier according to the gps carrier phase differential of two antennas receptions, obtain the velocity information of carrier according to the course angle ψ of carrier, obtain the pseudo-course angle ψ of carrier according to the velocity information of carrier
v;
5) according to step 2) the attitude angle differential equation, the step 3 of carrier that obtain) pitching angle theta of carrier that obtains
mand roll angle φ
m, and step 4) the pseudo-course angle ψ of carrier that obtains
vuse Unscented kalman filtering to carry out attitude algorithm, obtain the three-dimension altitude angle of carrier, then control the sensing of three motor adjustment antenna beams according to the three-dimension altitude angle of carrier, make antenna alignment target satellite.
Described micromechanical gyro measures the angular rate information w of carrier
bposture renewal form based on Eulerian angle is:
Wherein,
and C
θbe respectively the angle of pitch and direction cosine matrix corresponding to roll angle, ω
x, ω
y, ω
zfor the coordinate of angular speed under carrier coordinate system that micromechanical gyro exports,
be respectively the course angle speed of carrier, pitch rate and rolling angle rate;
The attitude angle differential equation being obtained carrier by formula (1) is:
Step 4) in the pseudo-course angle ψ of carrier
vfor:
Wherein, v
e, v
nbe respectively the east orientation speed of carrier and north orientation speed under the geographic coordinate system that single baseline GPS exports, ψ
sfor the speed of carrier, a is the acceleration information of the carrier that three axle micro-mechanical accelerometers are measured.
The acceleration information of the carrier obtained according to three axle micro-mechanical accelerometer measurements estimates pitching angle theta and the roll angle φ of carrier, then compensates and corrects to obtain the pitching angle theta of carrier to the pitching angle theta of the carrier estimated and roll angle φ
mand roll angle φ
m, wherein
Wherein, a
x, a
y, a
zbe the coordinates of three axle micro-mechanical accelerometer measured values under east northeast ground coordinate system.
Because acceleration derives the angle of pitch and roll angle by measuring gravitation information, therefore, the Maneuver Acceleration of carrier can produce larger interference to it.The velocity information utilizing GPS to record compensates the speed V of the velocity information derivation carrier that M is provided by GPS to it, wherein,
Wherein, v
e, v
n, v
tthat the east orientation speed under geographic coordinate system, north orientation speed and ground are to speed respectively.Then can draw linear acceleration a respectively
x=ω
z× V and radial acceleration a
y=dV/dt.
Carry out acceleration compensation to the angle of pitch, roll angle that accelerometer is estimated, revised observed quantity is θ
m, φ
mfor:
θ
m＝arcsin(f
x-a
x)
φ
m＝-arctan((f
y-a
y)/f
z)
In formula: f
x, f
y, f
zbe respectively the x, y, z three axial ratio power measured value that micro-mechanical accelerometer exports.
Yaw angle is when carrier changes in course angle, speed course ψ
vwith the difference of carrier course ψ, i.e. yaw angle β=ψ-ψ
v;
Now, due to carrier turn produce radial acceleration direction and carrier course inconsistent, accelerometer output valve is not real gravitation information, only estimate that attitude of carrier can exist larger error by the attitude angle output valve after acceleration compensation as observed quantity, need to compensate yaw angle further to the impact of Maneuver Acceleration, to improve the estimated accuracy of carrier when turning further.According to the geometric relationship of body movement, the Maneuver Acceleration a of carrier coordinate system X-axis and Y-axis can be drawn
x, a
yfor:
In formula,
it is the centripetal acceleration that yaw angle causes.
The above; it is only preferred embodiment of the present invention; not the present invention is imposed any restrictions, every above embodiment is done according to the technology of the present invention essence any simple modification, change and equivalent structure change, all still belong in the protection domain of technical solution of the present invention.
Claims (4)
1. a low cost communication in moving TT&C system antenna attitude method of estimation, is characterized in that, comprise the following steps:
1) master controller sends steering order to servo-driver, servo-driver controls according to described steering order the beam position that motor makes antenna in communication in moving mobile satellite communication system, and the beam position of communication in moving mobile satellite communication system antenna is aimed at the mark satellite;
2) attitude-measuring sensor is placed on carrier, and when the change of carrier transport condition, the attitude of carrier that micromechanical gyro, micro-mechanical accelerometer and single baseline GPS measure changes, and micromechanical gyro measures the angular rate information w of carrier
b, the angular rate information w of the carrier then obtained according to micromechanical gyro measurement
bobtain the attitude angle differential equation of carrier;
3) three axle micro-mechanical accelerometers measure the acceleration information of carrier, the acceleration information of described carrier is the component of gravitational vector g under carrier coordinate system, and the acceleration information of the carrier obtained according to three axle micro-mechanical accelerometer measurements obtains the pitching angle theta of carrier
mand roll angle φ
m;
4) establish the two ends of single baseline GPS respectively to have an antenna, obtain the course angle ψ of carrier according to the gps carrier phase differential of two antennas receptions, obtain the velocity information of carrier according to the course angle ψ of carrier, obtain the pseudo-course angle ψ of carrier according to the velocity information of carrier
v;
5) according to step 2) the attitude angle differential equation, the step 3 of carrier that obtain) pitching angle theta of carrier that obtains
mand roll angle φ
m, and step 4) the pseudo-course angle ψ of carrier that obtains
vuse Unscented kalman filtering to carry out attitude algorithm, obtain the three-dimension altitude angle of carrier, then control the sensing of three motor adjustment antenna beams according to the three-dimension altitude angle of carrier, make antenna alignment target satellite.
2. low cost communication in moving TT&C system antenna attitude method of estimation according to claim 1, is characterized in that,
Described micromechanical gyro measures the angular rate information w of carrier
bposture renewal form based on Eulerian angle is:
Wherein,
and C
θbe respectively the angle of pitch and direction cosine matrix corresponding to roll angle, ω
x, ω
y, ω
zfor the coordinate of angular speed under carrier coordinate system that micromechanical gyro exports,
be respectively the course angle speed of carrier, pitch rate and rolling angle rate;
The attitude angle differential equation being obtained carrier by formula (1) is:
。
3. low cost communication in moving TT&C system antenna attitude method of estimation according to claim 1, is characterized in that, step 4) in the pseudo-course angle ψ of carrier
vfor:
Wherein, v
e, v
nbe respectively the east orientation speed of carrier and north orientation speed under the geographic coordinate system that single baseline GPS exports, ψ
sfor the speed of carrier, a is the acceleration information of the carrier that three axle micro-mechanical accelerometers are measured.
4. low cost communication in moving TT&C system antenna attitude method of estimation according to claim 1, it is characterized in that, the acceleration information of the carrier obtained according to three axle micro-mechanical accelerometer measurements estimates pitching angle theta and the roll angle φ of carrier, then the pitching angle theta and roll angle φ of estimating the carrier obtained are compensated and corrected, obtain the pitching angle theta of carrier
mand roll angle φ
m.
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| CN106123927A (en) * | 2016-08-25 | 2016-11-16 | 西安坤蓝电子技术有限公司 | Error of tilt modification method during a kind of carrier accelerated motion |
| CN106403952A (en) * | 2016-08-29 | 2017-02-15 | 中国人民解放***箭军工程大学 | Method for measuring combined attitudes of Satcom on the move with low cost |
| CN107579759A (en) * | 2017-09-19 | 2018-01-12 | 清华大学 | The antihunt means and device of antenna beam in a kind of unmanned plane satellite communication system |
| CN107658565A (en) * | 2017-10-07 | 2018-02-02 | 桑振振 | A kind of remote control adjustment device of mobile radio communication antenna |
| CN107785663A (en) * | 2017-10-10 | 2018-03-09 | 深圳市华讯方舟空间信息产业科技有限公司 | antenna beam attitude control method and system |
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| CN106123927A (en) * | 2016-08-25 | 2016-11-16 | 西安坤蓝电子技术有限公司 | Error of tilt modification method during a kind of carrier accelerated motion |
| CN106403952A (en) * | 2016-08-29 | 2017-02-15 | 中国人民解放***箭军工程大学 | Method for measuring combined attitudes of Satcom on the move with low cost |
| CN107579759A (en) * | 2017-09-19 | 2018-01-12 | 清华大学 | The antihunt means and device of antenna beam in a kind of unmanned plane satellite communication system |
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