CN106229680B - Application method of device for carrying out real-time satellite alignment on satellite antenna in motion - Google Patents
Application method of device for carrying out real-time satellite alignment on satellite antenna in motion Download PDFInfo
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- CN106229680B CN106229680B CN201610793764.XA CN201610793764A CN106229680B CN 106229680 B CN106229680 B CN 106229680B CN 201610793764 A CN201610793764 A CN 201610793764A CN 106229680 B CN106229680 B CN 106229680B
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention discloses a device for carrying out real-time satellite alignment on a moving satellite antenna, which comprises: a satellite antenna; the support driving unit is connected with the satellite antenna and comprises a support assembly and a driving assembly which is arranged on the support assembly and can adaptively adjust the space orientation of the satellite antenna; the real-time tracking control unit comprises a microcontroller MCU, an inertial measurement module IMU, a GPS and/or BD positioning module and a beacon receiving module, wherein the microcontroller MCU is respectively in communication connection with the microcontroller MCU to acquire current attitude data, geographic position data and beacon data of a satellite antenna; the IMU comprises a driving component, a driving component and a temperature sensor, wherein the IMU further comprises a thermometer for acquiring real-time temperature to compensate gesture data according to the real-time temperature state, and the MCU is in communication connection with the driving component. The invention provides a device for real-time satellite alignment of a satellite antenna in motion, which has the effects of small volume, light weight, low power consumption and low price.
Description
Technical Field
The invention relates to a satellite aligning device used under the communication condition. More particularly, the present invention relates to an apparatus and method for real-time satellite alignment with a moving satellite antenna for use in communication applications.
Background
Satellite antennas are energy form conversion devices that function to efficiently convert the transmitted power into electromagnetic wave energy and transmit it to space, while also feeding the receiver with high frequency power that efficiently converts the very weak electromagnetic wave energy received from space into a common frequency signal. The ability and efficiency of a satellite communications antenna to transmit and receive satellite transponder signals directly determines the quality of satellite communications.
When the carrier with the antenna is moving, the geographic position of the carrier and the posture of the carrier are changed continuously, so that the antenna is deviated from the beam center of the alignment satellite, and communication is interrupted.
At present, similar mature products exist at home and abroad, but the price is high. The device adopts simplified design, seeks an antenna tracking control device with small volume, light weight, low power consumption and low price, so that satellite communication is widely applied, and the environmental factors are not taken into consideration in the existing products, so that the alignment effect is affected by certain environment, and the accuracy is not high.
Disclosure of Invention
It is an object of the present invention to address at least the above problems and/or disadvantages and to provide at least the advantages described below.
The invention also aims to provide a device for real-time satellite alignment of the satellite antenna in motion, which is characterized in that all components of the device are optimally designed, so that the device can realize real-time satellite alignment of the satellite antenna by adopting domestic electronic components, and meanwhile, the device also has the effects of small volume, light weight, low power consumption and low price, for example, the cost can be controlled to be 1/3-1/5 of the existing cost, and the device has good application space, and in addition, a thermometer is added in an IMU, so that the device can correspondingly acquire environmental factors of the satellite antenna, and further acquire more accurate data to realize accurate alignment.
It is a further object of the present invention to provide a method for applying a device for real-time satellite alignment to a moving satellite antenna that increases the parameter variables during data computation by introducing environmental factors during the data acquisition phase to achieve better satellite alignment accuracy.
To achieve these objects and other advantages and in accordance with the purpose of the invention, there is provided an apparatus for real-time satellite alignment of a moving satellite antenna, comprising:
a satellite antenna;
the support driving unit is connected with the satellite antenna and comprises a support assembly and a driving assembly which is arranged on the support assembly and can adaptively adjust the space orientation of the satellite antenna;
the real-time tracking control unit comprises a microcontroller MCU, an inertial measurement module IMU, a GPS and/or BD positioning module and a beacon receiving module, wherein the microcontroller MCU is respectively in communication connection with the microcontroller MCU to acquire current attitude data, geographic position data and beacon data of a satellite antenna;
the IMU comprises a driving component, a driving component and a thermometer, wherein the driving component is used for driving the driving component to perform real-time star-aiming actions, and the driving component is used for driving the driving component to perform real-time star-aiming actions.
Preferably, wherein the support assembly comprises:
the mechanical transmission module is used for adjusting the attitude angle of the satellite antenna;
the base is matched with the mechanical transmission module and is further arranged on the mounting surface;
and a positioning mechanism for auxiliary support and guide is further arranged between the mechanical transmission module and the base.
Preferably, the mechanical transmission module includes: the first frame is connected with the satellite antenna and used for adjusting the polarization angle of the first frame, and the second frame and the third frame are respectively matched with the first frame so as to adjust the pitching angle and the azimuth angle of the satellite antenna;
the driving module includes: a polarization motor disposed on the first frame;
a pitching motor arranged on the second frame and a first speed reducer connected with the pitching motor;
the azimuth motor is arranged on the third frame, and the second speed reducer is connected with the azimuth motor;
the first frame, the second frame and the third frame are arranged in a layer-by-layer sleeved mode through the matched rotating shafts, and then the satellite antenna is driven to be adjusted in a corresponding angle through the action of the driving module.
Preferably, the positioning mechanism comprises a supporting member, a chute is arranged on the base, one end of the supporting member extends into the chute and rotates for 360 degrees, and
and one end of the supporting piece matched with the sliding groove is provided with a shock pad.
Preferably, the real-time control unit further comprises an upper computer in communication connection with the MCU;
the support component and the MCU form a data transmission link through a polarization encoder, a signal conversion plate and an interface conversion module which are sequentially connected.
A method for applying a device for real-time satellite alignment to a moving satellite antenna, comprising:
acquiring real-time attitude angle information and temperature data information of the support assembly through the IMU respectively, and performing primary data fusion processing through the MCU to obtain angle value information required to be compensated by the satellite antenna under different temperature environments;
acquiring real-time GPS information of the supporting component through the GPS and/or BD positioning module, and comparing and judging the real-time GPS information with target GPS information of a target satellite through the MCU to obtain first antenna pointing angle information;
and carrying out second data fusion processing on the angle value information and the first antenna pointing angle information through the MCU so as to obtain second antenna pointing angle information, and driving each motor in the driving module to perform corresponding execution action through the servo control module based on the second antenna pointing angle information by the MCU so as to realize real-time satellite alignment action of the satellite antenna in motion.
Preferably, the acquiring the data information of the attitude angle includes:
the method comprises the steps that 5 first parameter variables related to angles are obtained through extraction processing of 100 times per second of MCU (micro control Unit) through a 3-axis accelerometer and a 3-axis rate gyroscope in the IMU, and then first attitude angle information and second attitude angle information of a supporting component are obtained;
the temperature data information is used for acquiring the current ambient temperature of the supporting component through the thermometer, 2 parameter variables related to the temperature are obtained through MCU extraction processing, and then a corresponding temperature compensation value is calculated;
the first data fusion process includes:
the MCU obtains angle value information of the supporting component through coordinate system reference calibration conversion, data fusion iteration processing and Kalman filtering through the obtained first attitude angle information, second attitude angle information and temperature compensation value, and the angle value information comprises a first course angle, a first pitch angle, a first rolling angle and a first speed parameter.
Preferably, the GPS and/or BD positioning module demodulates the acquired real-time GPS information through a demodulation card, and further obtains 5 second parameter variables related to angles through MCU extraction processing, where the first antenna pointing angle information includes: a second heading angle, a second pitch angle, a second roll angle, and a second speed parameter.
Preferably, the MCU is based on a beacon receiving module connected with the MCU to obtain a voltage signal corresponding to the beacon signal, so as to compare with a pre-stored beacon threshold value in the MCU, if the voltage signal is higher than the beacon threshold value, the MCU accurately locates the MCU, otherwise, coarsely locates the antenna;
the coarse positioning is to circularly search for satellites in a scanning range of +/-5 degrees in a preset direction and +/-10 degrees in a pitching mode within preset time;
the accurate positioning is to adopt a Z-shaped star finding method, adjust the azimuth pitching angle to rotate towards the maximum direction, and adopt a cone positioning method to carry out real-time azimuth and pitching adjustment and tracking in a micro range so as to realize star finding.
Preferably, the second data fusion process includes: the MCU obtains Euler angles of all axes of the antenna frame through Euler conversion or a four-element method according to the obtained angle value information and the first antenna pointing angle information, and further obtains corresponding second antenna pointing angle information through attitude data fusion and data filtering;
the MCU realizes the configuration of the internal storage parameter data through an upper computer connected with the MCU, wherein the parameter data comprises a beacon threshold value, an antenna azimuth, a pitching and polarization calibration value, and an inertial navigation heading, a pitching and a rolling calibration value.
The invention at least comprises the following beneficial effects: firstly, the invention optimizes the components of the satellite antenna in motion in real time, so that the satellite antenna can be real-time aligned by adopting domestic electronic components, and meanwhile, the invention has the effects of small volume, light weight, low power consumption and low price, for example, the cost can be controlled to be 1/3-1/5 of the existing cost, and the invention has good application space, and in addition, the IMU is added with a thermometer, so that the environmental factors of the satellite antenna are correspondingly acquired, and more accurate data are acquired, so as to realize accurate alignment.
Secondly, a positioning component is arranged between the supporting component and the base, and the positioning component is arranged with the sliding groove on the base, so that the positioning component can keep stable supporting to the antenna in movement, the guiding effect is good, and the physical structure stability of the product is strong.
It is a further object of the present invention to provide a method for applying a device for real-time satellite alignment to a moving satellite antenna that increases the parameter variables during data computation by introducing environmental factors during the data acquisition phase to achieve better satellite alignment accuracy.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a block diagram schematically illustrating an apparatus for real-time satellite alignment of a moving satellite antenna according to an embodiment of the present invention;
FIG. 2 is a schematic view of a support assembly according to another embodiment of the present invention;
FIG. 3 is a schematic block diagram of the antenna-to-star attitude compensation and tracking control in accordance with another embodiment of the present invention;
FIG. 4 is a schematic diagram of gesture resolution in another embodiment of the present invention;
FIG. 5 is a flow chart of a tracking control algorithm according to another embodiment of the present invention;
FIG. 6 is a schematic diagram of a software process flow of each part in another embodiment of the invention.
Detailed Description
The present invention is described in further detail below with reference to the drawings to enable those skilled in the art to practice the invention by referring to the description.
It will be understood that terms, such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
Figures 1-4 show an implementation of an apparatus for real-time satellite-versus-satellite positioning of a moving satellite antenna according to the present invention, comprising:
a satellite antenna 1;
the support driving unit 2 is connected with the satellite antenna and comprises a support assembly 210, a driving assembly 220 and a control unit, wherein the support assembly is used for receiving driving pulses and direction pulses of a motor driver and realizing antenna azimuth, pitching, polarization satellite finding and satellite alignment through a gear transmission mechanism, and the driving assembly 220 is arranged on the support driving unit and can adaptively adjust the space azimuth of the satellite antenna;
the real-time tracking control unit 3 comprises a microcontroller MCU 30 which is used for communicating with the ACU/an upper computer and receiving the control of the ACU, and can receive the data of the inertial navigation unit; capable of receiving data of a beacon; capable of demodulating GPS signals; the position information and the antenna attitude information are reported to the ACU, and driving pulses and direction pulses can be sent to the motor driver to control the rotation of azimuth, pitching and polarization motors so as to control the corresponding actions of the antenna; can receive the signal of the limit device. The system is a pointing working mode, the mode is according to the tracking information and the current angular position information, the completed position and speed control and the communication connection respectively with the tracking information and the current attitude data, the geographical position data and the beacon data of the satellite are obtained, the inertial measurement module IMU 31 is used for carrying out pitching, rolling and angle detection of the course and angle detection of the pitching, rolling and course angular speed detection of the antenna base, ensuring accurate satellite alignment, the GPS and/or BD positioning module 32 and the beacon receiving module 33, the GPS and/or BD positioning module can be regarded as a GPS positioning module and/or BD Beidou module, is used for receiving GPS (BD) satellite positioning signals, determining longitude and latitude of the satellite antenna, providing the position information to the antenna control system, calculating the azimuth, the pitching and the polarization theoretical values of the antenna, the beacon receiving module is used for receiving satellite beacon signals, converting the beacon signals into digital signals, providing the digital signals for open-loop satellite tracking and closed-loop tracking of the antenna tracking control device, and has better universality and adaptability to adapt to different requirements;
the IMU further includes a thermometer 34 for acquiring a real-time temperature to compensate the gesture data according to the real-time temperature state, and the MCU is communicatively connected to the driving component, so as to control the driving component to execute the real-time gesture. The adoption of the scheme makes an optimal design of each component, so that the satellite antenna can realize real-time satellite alignment by adopting domestic electronic components, and has the effects of small volume, light weight, low power consumption and low price, for example, the cost can be controlled to be 1/3-1/5 of the existing cost, the application space is very good, and in addition, the IMU is provided with the thermometer, so that the environmental factors of the satellite antenna are correspondingly acquired, and more accurate data are acquired, so that the advantage of accurate alignment is realized. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
As shown in fig. 2, in another example, the support assembly includes:
the mechanical transmission module 211 is used for matching with the driving module to realize the adjustment of the space position of the satellite antenna;
the base 212 is matched with the mechanical transmission module and is further arranged on the mounting surface and is used for positioning and mounting the mechanical transmission module;
the positioning mechanism (not shown) for assisting in supporting and guiding is further arranged between the mechanical transmission module and the base and is used for assisting in positioning the driving module in space so that the driving module has better stability in operation, and the probability of antenna deviation is greatly reduced. The scheme has the advantages of good implementation effect, strong operability and good stability. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
As shown in fig. 1-2, in another example, the mechanical transmission module includes: a first frame 213 connected to the satellite antenna for adjusting its polarization angle, a second frame 214 and a third frame 215 respectively cooperating with the first frame for adjusting the pitch angle and azimuth angle of the satellite antenna, wherein the three frames are provided with cooperating rotating shafts for completing the angle adjustment of the three-dimensional space based on the driving of the motor cooperating therewith;
the driving module includes: a polarization motor 221 provided on the first frame;
a pitch motor 222 provided on the second frame and a first decelerator 223 connected thereto;
and an azimuth motor 224 provided on the third frame and a second decelerator 225 connected thereto;
the first frame, the second frame and the third frame are arranged in a layer-by-layer sleeved mode through the matched rotating shafts, and then the satellite antenna is driven to be adjusted in a corresponding angle through the action of the driving module. A power module 226 is arranged between the first frame and the base, the first frame is matched with the azimuth motor through a gear fixedly arranged in the first frame, the first frame rotates on the base by 360 degrees, azimuth adjustment is carried out, the second frame is arranged on the first frame through a pitching rotating shaft and a clamp spring 216 matched with the pitching rotating shaft, and the second frame can do pitching motion in space based on the action of the pitching motor, pitching adjustment is carried out on the second frame, and the motors are further connected through a spring pad 7, a flat pad 8 and a nut 9 matched with the first frame so as to keep the stability of connection. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
As shown in FIG. 2, in another example, the positioning mechanism comprises a supporting member, a chute (not shown) is provided on the base for one end of the supporting member to extend into and rotate 360 degrees, so as to match the supporting member to rotate when the supporting member rotates, and the supporting member can be supported at any rotation angle, thereby having the advantages of good implementation effect and strong operability, and
one end of the supporting piece matched with the sliding groove is provided with a shock pad (not shown) which is used for shock absorption protection of all parts in supporting movement so that the supporting piece has a better use effect. The scheme has the advantages of good stability, good implementation effect and strong operability. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user
As shown in fig. 1, in another example, the real-time control unit further includes an upper computer 35 communicatively connected to the MCU, and configured to receive the uploaded position information and antenna gesture information, implement operation through a man-machine monitoring interface of a keyboard and a display screen, implement a monitoring function (RS 422 control interface) of an outdoor unit, implement real-time fault automatic alarm, and receive monitoring management and status query of a remote station through an IP port, and at the same time, may also be used to adaptively adjust pre-stored data in the MCU or internal parameter data thereof;
the support component and the MCU form a data transmission link through a polarization encoder 4, a signal conversion plate 5 and an interface conversion module 6 which are sequentially connected. The scheme has the advantages of good implementation effect, strong operability and good adaptability. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
As shown in fig. 3, the object of the present invention can be further achieved by a method for applying a device for real-time satellite positioning to a moving satellite antenna, comprising:
acquiring real-time attitude angle information and temperature data information of the support assembly through the IMU respectively, and performing primary data fusion processing through the MCU to obtain angle value information required to be compensated by the satellite antenna under different temperature environments;
acquiring real-time GPS information of the supporting component through the GPS and/or BD positioning module, and comparing and judging the real-time GPS information with target GPS information of a target satellite through the MCU to obtain first antenna pointing angle information;
and carrying out second data fusion processing on the angle value information and the first antenna pointing angle information through the MCU so as to obtain second antenna pointing angle information, and driving each motor in the driving module to perform corresponding execution action through the servo control module based on the second antenna pointing angle information by the MCU so as to realize real-time satellite alignment action of the satellite antenna in motion. The specific implementation of the method mainly needs three steps: (1) The real-time attitude angle of the carrier is obtained by utilizing IMU analysis, and the calculated compensating angle required by the antenna for overcoming the disturbance influence of the carrier is calculated through coordinate conversion; (2) Calculating the direction of the antenna beam in the geographic coordinates by combining the carrier GPS and the target satellite GPS information; (3) The data fusion processing is carried out on the two groups of angle information, and the method comprises the following steps: the method has the advantages of good stability, high precision and good implementation effect. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
In another example, the data information acquisition of the attitude angle includes:
the method comprises the steps that 5 first parameter variables related to angles are obtained through extraction processing of 100 times per second of MCU (micro control Unit) through a 3-axis accelerometer and a 3-axis rate gyroscope in the IMU, and then first attitude angle information and second attitude angle information of a supporting component are obtained;
the temperature data information is used for acquiring the current ambient temperature of the supporting component through the thermometer, 2 parameter variables related to the temperature are obtained through MCU extraction processing, and then a corresponding temperature compensation value is calculated;
the first data fusion process includes:
the MCU obtains angle value information of the supporting component through coordinate system reference calibration conversion, data fusion iteration processing and Kalman filtering through the obtained first attitude angle information, second attitude angle information and temperature compensation value, and the angle value information comprises a first course angle, a first pitch angle, a first rolling angle and a first speed parameter. The solution of the carrier attitude by adopting the scheme obtains the information of pitching, rolling and heading angles of the carrier in a specific geographic coordinate system, which is a precondition for realizing the antenna beam pointing control and is also a key important content in the antenna satellite following control software design. In the design of the device, an inertial measurement unit IMU is selected, three accelerometers and three rate gyroscopes are integrated in the IMU, and the angular relationship between the plane where the accelerometers are positioned and the ground, namely the roll angle and the pitch angle, can be respectively sensed through the three accelerometers fixedly connected with the carrier; the gyroscope is used for measuring angular velocity signals of a relative inertial coordinate system, and the inertial attitude angle value of the carrier can be obtained through angular velocity integration; however, the two devices have inherent advantages and disadvantages, the gyroscope has the disadvantage of generating output drift errors when working for a long time, and the accelerometer generates angle calculation errors due to superposition of carrier movement acceleration by output when the carrier performs variable speed movement; the system precision of the attitude angle calculation can be improved by carrying out specific data fusion processing on the two outputs, and the working principle of the process is shown in the figure 4, so that the method has the advantages of good implementation effect, strong operability and controllable precision. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
In another example, the GPS and/or BD positioning module demodulates the acquired real-time GPS information through a demodulation card, and further obtains 5 second parameter variables related to angles through MCU extraction processing, where the first antenna pointing angle information includes: a second heading angle, a second pitch angle, a second roll angle, and a second speed parameter. By adopting the scheme, the inertial measurement module is matched with the inertial measurement module to integrate secondary data so as to obtain better data parameters and further obtain the advantage of better accuracy. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
In another example, the MCU is based on the beacon receiving module connected with the MCU to obtain a voltage signal corresponding to the beacon signal, to compare with a beacon threshold value stored in the MCU in advance, if the voltage signal is higher than the beacon threshold value, accurately positioning the MCU, otherwise coarsely positioning the antenna;
the coarse positioning is to circularly search for satellites in a scanning range of +/-5 degrees in a preset direction and +/-10 degrees in a pitching mode within preset time;
the accurate positioning is to adopt a Z-shaped star finding method, adjust the azimuth pitching angle to rotate towards the maximum direction, and adopt a cone positioning method to carry out real-time azimuth and pitching adjustment and tracking in a micro range so as to realize star finding. The tracking control algorithm software adopting the scheme is the most core part in the system software design, the software realizes the whole processes of starting self-checking, automatic star finding, tracking, star changing, manual control and the like of the communication-in-motion antenna, the detailed working flow is shown in the figure 5, the communication-in-motion satellite antenna can keep the carrier to track the satellite in high-speed, bumpy, impact, swaying and other irregular movements, and the high-performance tracking algorithm is started to have the key effect, and comprises the key points of gesture analysis, coordinate transformation, dynamic alignment, dynamic tracking and the like. Gesture analysis: and after the gyroscope, the accelerometer and the GPS data are sampled in real time, carrying out combined calculation to obtain attitude information such as azimuth, pitching, roll angle and the like of the carrier. Coordinate transformation: according to the attitude information of the carrier, the attitude data of the carrier in a geographic coordinate system is calculated, and the azimuth, pitching and polarization angle data of an antenna axis aligned with a target satellite in an antenna coordinate system is obtained through coordinate conversion. Dynamic alignment: when the satellite antenna is powered on for the first time, the carrier is in irregular motion, so that the initial analysis process of the attitude of the carrier is complex, disturbance filtering and combined navigation solution are required to be introduced, and the output data of the gyroscope, the accelerometer and the GPS in an initial period of time are integrated, so that disturbance influence is eliminated rapidly, and accurate initial attitude information of the carrier and initial angle information of the antenna axis aligned with a target satellite are obtained. Dynamic tracking: after the initial attitude of the carrier is obtained, the carrier still keeps irregular motion, and continuous filtering and resolving are carried out by utilizing real-time data output by a gyroscope, an accelerometer and a GPS (global positioning system) so as to keep real-time tracking of dynamic attitude information and antenna axis alignment target satellite angle information, so that the method has the advantages of good implementation effect, good operability and good stability. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
As shown in fig. 2-5, in another example, the second data fusion process includes: the MCU obtains Euler angles of all axes of the antenna frame through Euler conversion or a four-element method according to the obtained angle value information and the first antenna pointing angle information, and further obtains corresponding second antenna pointing angle information through attitude data fusion and data filtering;
the MCU realizes the configuration of the internal storage parameter data through an upper computer connected with the MCU, wherein the parameter data comprises a beacon threshold value, an antenna azimuth, a pitching and polarization calibration value, and an inertial navigation heading, a pitching and a rolling calibration value. According to the scheme, based on the gesture analysis of the IMU, the real-time gesture angle of the carrier in the geographic coordinate system is obtained, the GPS information of the GPS and the target satellite mounted on the carrier is combined, the target pointing angle of the antenna beam in the geographic coordinate system can be obtained, then Euler angles of all axes of the antenna frame are obtained through Euler conversion or a four-element method, a motor shaft is driven to rotate by a servo control system, disturbance influence on the pointing of the antenna caused by movement of the carrier is compensated, the pointing tracking control of the antenna to the target satellite is realized, and the control effect is also a key function index checked by the system design. Has the advantages of good implementation effect, strong operability and good adaptability. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
The detailed description of the various sensor data acquisition (IMU, GPS/BD, beacon, etc.), attitude calculation, coordinate rotation transformation, and satellite finding and dynamic satellite tracking control algorithms in the present invention is shown in fig. 6, so it can be known that the technical effects of the present invention can be implemented by those skilled in the art through the present description, and the "communication-in-motion" satellite communication is an important communication mode for the communication requirements of mobile carriers (such as vehicles, boats, etc.). At present, mature products exist at home and abroad, but the price is high; the device makes a satellite communication product of 'communication in motion' with small volume, light weight, low power consumption and low price possible, and has practical significance for the wide application of the satellite communication product.
The number of equipment and the scale of processing described herein are intended to simplify the description of the present invention. The application, modification and variation of the apparatus and method of application of the present invention to a moving satellite antenna in real time will be apparent to those skilled in the art.
Although embodiments of the invention have been disclosed above, they are not limited to the use listed in the specification and embodiments. It can be applied to various fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. Therefore, the invention is not to be limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (4)
1. An application method of a device for real-time satellite alignment of a moving satellite antenna, which is characterized in that the device for real-time satellite alignment of the moving satellite antenna comprises the following steps:
a satellite antenna;
the support driving unit is connected with the satellite antenna and comprises a support assembly and a driving assembly which is arranged on the support assembly and can adaptively adjust the space orientation of the satellite antenna;
the real-time tracking control unit comprises a microcontroller MCU, an inertial measurement module IMU, a GPS and/or BD positioning module and a beacon receiving module, wherein the microcontroller MCU is respectively in communication connection with the microcontroller MCU to acquire current attitude data, geographic position data and beacon data of a satellite antenna;
the IMU comprises a driving component, a driving component and a temperature sensor, wherein the driving component is used for driving the driving component to perform real-time star-to-star actions;
acquiring real-time attitude angle information and temperature data information of the support assembly through the IMU respectively, and performing primary data fusion processing through the MCU to obtain angle value information required to be compensated by the satellite antenna under different temperature environments;
acquiring real-time GPS information of the supporting component through the GPS and/or BD positioning module, and comparing and judging the real-time GPS information with target GPS information of a target satellite through the MCU to obtain first antenna pointing angle information;
performing a second data fusion process on the angle value information and the first antenna pointing angle information through the MCU to obtain second antenna pointing angle information, wherein the MCU drives each motor in the driving assembly to perform corresponding execution actions through a servo control module based on the second antenna pointing angle information, so that real-time satellite alignment actions of the satellite antenna in the motion are realized;
the real-time star tracking control algorithm comprises gesture analysis, coordinate transformation, dynamic alignment and dynamic tracking;
the dynamic alignment is to introduce disturbance filtering and combined navigation resolving in the primary analysis of the attitude of the carrier, integrate the output data of the gyroscope, the accelerometer and the GPS in an initial period of time so as to quickly eliminate disturbance influence and obtain accurate initial attitude information of the carrier and initial angle information of the antenna axis aligned with a target satellite;
the dynamic tracking is that after the initial attitude of the carrier is obtained, the carrier still keeps irregular motion, and real-time data output by a gyroscope, an accelerometer and a GPS are utilized for continuous filtering and resolving so as to keep real-time tracking of dynamic attitude information and antenna axis alignment target satellite angle information;
the data information acquisition of the attitude angle comprises the following steps:
the method comprises the steps that 5 first parameter variables related to angles are obtained through extraction processing of 100 times per second of MCU (micro control Unit) through a 3-axis accelerometer and a 3-axis rate gyroscope in the IMU, and then first attitude angle information and second attitude angle information of a supporting component are obtained;
the temperature data information is used for acquiring the current ambient temperature of the supporting component through the thermometer, 2 parameter variables related to the temperature are obtained through MCU extraction processing, and then a corresponding temperature compensation value is calculated;
the first data fusion process includes:
the MCU obtains angle value information of the supporting component through coordinate system reference calibration conversion, data fusion iteration processing and Kalman filtering through the obtained first attitude angle information, second attitude angle information and temperature compensation value, and the angle value information comprises a first course angle, a first pitch angle, a first rolling angle and a first speed parameter;
the second data fusion process includes: the MCU obtains Euler angles of all axes of the antenna frame through Euler conversion or a four-element method according to the obtained angle value information and the first antenna pointing angle information, and further obtains corresponding second antenna pointing angle information through attitude data fusion and data filtering;
the MCU realizes the configuration of the internal storage parameter data through an upper computer connected with the MCU, wherein the parameter data comprises a beacon threshold value, an antenna azimuth, a pitching and polarization calibration value, an inertial navigation heading, a pitching and a rolling calibration value;
the support assembly includes:
the mechanical transmission module is used for adjusting the attitude angle of the satellite antenna;
the base is matched with the mechanical transmission module and is further arranged on the mounting surface;
wherein, a positioning mechanism for auxiliary support and guide is also arranged between the mechanical transmission module and the base;
the mechanical transmission module comprises: the first frame is connected with the satellite antenna and used for adjusting the polarization angle of the first frame, and the second frame and the third frame are respectively matched with the first frame so as to adjust the pitching angle and the azimuth angle of the satellite antenna;
the drive assembly includes: a polarization motor disposed on the first frame;
a pitching motor arranged on the second frame and a first speed reducer connected with the pitching motor;
the azimuth motor is arranged on the third frame, and the second speed reducer is connected with the azimuth motor;
the first frame, the second frame and the third frame are arranged in a layer-by-layer sleeved mode through matched rotating shafts, and then the satellite antenna is driven to be adjusted in a corresponding angle through the action of the driving assembly;
the base is provided with a chute which can allow one end of the supporting piece to extend into and rotate 360 degrees, and
and one end of the supporting piece matched with the sliding groove is provided with a shock pad.
2. The application method of claim 1, wherein the real-time tracking control unit further comprises an upper computer in communication connection with the MCU;
the support component and the MCU form a data transmission link through a polarization encoder, a signal conversion plate and an interface conversion module which are sequentially connected.
3. The application method according to claim 1, wherein the GPS and/or BD positioning module demodulates the acquired real-time GPS information by using a demodulation card, and further obtains 5 second parameter variables related to angles by using MCU extraction, and the first antenna pointing angle information includes: a second heading angle, a second pitch angle, a second roll angle, and a second speed parameter.
4. The application method of claim 1, wherein the MCU is based on a beacon receiving module connected to the MCU to obtain a voltage signal corresponding to the beacon signal, to compare with a beacon threshold value stored in the MCU in advance, and if the voltage signal is higher than the beacon threshold value, to precisely locate the MCU, otherwise to roughly locate the antenna;
the coarse positioning is to circularly search for satellites in a scanning range of +/-5 degrees in a preset direction and +/-10 degrees in a pitching mode within preset time;
the accurate positioning is to adopt a Z-shaped star finding method, adjust the azimuth pitching angle to rotate towards the maximum direction, and adopt a cone positioning method to carry out real-time azimuth and pitching adjustment and tracking in a micro range so as to realize star finding.
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| CN107689480B (en) * | 2017-07-26 | 2020-09-18 | 北京空间飞行器总体设计部 | On-orbit effective evading method for gain concave area of high-orbit remote sensing satellite measurement and control antenna |
| CN108540150A (en) * | 2017-12-29 | 2018-09-14 | 南京云清普为通信科技有限公司 | A kind of modified satellite-finding device |
| CN108540203A (en) * | 2018-03-19 | 2018-09-14 | 四川九州电子科技股份有限公司 | The method that direct satellite direct broadcast system Integrated Receive Decoder seeks star is realized based on the Big Dipper |
| CN109828269B (en) * | 2019-03-19 | 2020-10-16 | 北京遥感设备研究所 | Velocity loop angle tracking method based on position loop filtering |
| CN110361032B (en) * | 2019-08-20 | 2021-07-13 | 中国民用航空总局第二研究所 | Automatic test system and method for vehicle-mounted measurement civil aviation navigation equipment |
| CN113532428B (en) * | 2020-04-14 | 2024-03-01 | 中国电信股份有限公司 | Data processing method, device, communication-in-motion terminal and computer readable storage medium |
| CN114361793A (en) * | 2021-12-28 | 2022-04-15 | 北京微纳星空科技有限公司 | Intelligent monitor of satellite antenna |
| CN117074798B (en) * | 2023-08-11 | 2024-05-17 | 河北斐然科技有限公司 | Satellite antenna test turntable applied to navigation function aircraft |
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