CN108052122A - A kind of method of the antenna tracking of boat-carrying communication in moving - Google Patents
A kind of method of the antenna tracking of boat-carrying communication in moving Download PDFInfo
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Abstract
The invention discloses a kind of methods of the antenna tracking of boat-carrying communication in moving, it is related to technical field of satellite communication, the sea environment to jolt in view of complexity, in order to enable communication in moving real-time tracking satellite, technical scheme improves star coordinate computation model on existing antenna, it is proposed that more accurately to star angle calculation.Improve traditional PID controller, it is proposed that PID Fuzzy segmentations combine controller, improve the dynamic property of system, meet the demand of real-time Communication for Power on sea.
Description
Technical Field
The invention relates to the technical field of satellite communication, in particular to a shipborne satellite communication-in-motion antenna tracking method.
Background
The field of satellite communication has occupied an important position in the modern society, and nowadays, fixed satellite communication technology is quite mature, but mobile satellite communication is still to be perfected. Since 70% or more of the earth is in the sea environment, it is a subject to be urgently studied to realize real-time communication in the sea environment. The following disadvantages are present in some conventional mobile phones:
1. when the communication-in-motion is started and initialized, the star angle is not accurate enough by the theory of CPU calculation.
2. The traditional control algorithm is not advanced enough, has poor stability and can not keep the state of aligning the satellite for a long time.
Therefore, the influence of the motion of the carrier on the stability of the attitude of the antenna platform can be well isolated. In addition, the antenna is required to keep stable in attitude in the movement process and keep accurate satellite tracking for a long time, so that continuous satellite communication is realized. The problems are all the problems to be solved in the shipborne communication-in-motion.
The method aims at the problems that the traditional method is not accurate enough in satellite angle, the time for searching the satellite is long, and the antenna on the sea surface cannot be aligned to the satellite for a long time to keep communication.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method for tracking an antenna of a shipborne communication-in-motion device.
The invention adopts the following technical scheme for solving the technical problems:
the invention provides a method for tracking an antenna of shipborne communication-in-motion, which comprises the following steps:
acquiring a geographical position, a rolling angle, a pitching angle and an azimuth angle of a shipborne mobile communication in a driving process;
step two, according to the geographical position, the rolling angle, the pitching angle and the azimuth angle of the ship-borne communication-in-motion device in the running process, which are obtained in the step one, the following improved satellite coordinate calculation model is adopted to calculate the satellite azimuth angle and the pitching angle of the antenna in the ship-borne communication-in-motion device in a geographical coordinate system and a carrier coordinate system respectively as follows;
wherein
β a ＝arcsin[sinCcosβ i sin(α i -A)-cosCsinBcosβ i cos(α i -A)+cosCcosBsinβ i ]
Wherein alpha is i Is the azimuth angle of the antenna to the satellite, beta, in the geographic coordinate system i For the angle of elevation of the antenna in the geographical coordinate system, α a For the azimuth angle, beta, of the antenna to the star in a carrier coordinate system a The pitch angle of the antenna to the star in a carrier coordinate system, R is the radius of the earth, L is the height from the surface of the earth, A is the azimuth angle of the antenna, B is the pitch angle of the antenna, C is the roll angle of the antenna, and lambda is i Is the local latitude, θ i The longitude of the satellite is lambda, the longitude of the satellite is theta, a is the long radius of the earth standard model, and b is the short radius of the earth standard model.
As a further optimization scheme of the shipborne satellite communication-in-motion antenna tracking method, a third step is further included after the second step;
step three: detecting an AGC value received by an antenna in a shipborne communication-in-motion in real time, and if the detected AGC value does not exceed a preset threshold value, adopting a step tracking technology to enable the antenna to automatically track a satellite; if the detected AGC value exceeds the preset threshold value, the cone scanning tracking technology is adopted to enable the antenna to track the strongest signal of the locked satellite all the time.
As a further optimization scheme of the shipborne satellite communication-in-motion antenna tracking method, a fourth step is included after the third step;
step four: by adopting a PID-Fuzzy subsection combined control method, the aim of isolating the motion of the carrier is achieved by controlling the motion of a motor in the shipborne communication-in-motion, so that the antenna stably points to the target, and the communication function is realized;
the PID-Fuzzy segment combination control method comprises the following steps:
when the detected deviation angle error of the antenna is larger than a preset threshold value, a fuzzy controller is adopted to control a shipborne motor which is communicated in motion to rotate;
and when the detected deviation angle error of the antenna is not larger than a preset threshold value, switching to a PID controller to control the rotation of a motor which is on board and communicated in motion.
As a further optimization scheme of the shipborne satellite communication in motion antenna tracking method, the threshold value is 0.4 degrees.
As a further optimization scheme of the method for tracking the antenna of the shipborne mobile communication, the GPS is adopted to acquire the geographical position of the shipborne mobile communication in the driving process.
As a further optimization scheme of the method for tracking the antenna of the shipborne communication-in-motion communication, the roll angle, the pitch angle and the azimuth angle in the process of driving the shipborne communication-in-motion communication are acquired by adopting an HMR3000 electronic compass.
Compared with the prior art, the technical scheme adopted by the invention has the following technical effects:
(1) The invention can obtain the geographic position information, the rolling angle, the pitching angle and the azimuth angle of the communication-in-motion at the moment by the GPS and the electronic compass according to the shipborne communication-in-motion system; then, calculating the azimuth angle and the pitch angle of the satellite to be aligned relative to the local according to the improved alignment star angle, and driving a motor to rotate to drive an antenna to move towards the theoretical azimuth angle and pitch angle; after walking to a theoretical position, tracking nearby by using a tracking mode combining stepping tracking and conical scanning tracking until required signal intensity is obtained, and entering a tracking state;
(2) By utilizing a PID-Fuzzy subsection combined control method, the aim of isolating the motion of the carrier is achieved by controlling the motion of the motor, so that the antenna stably points to a target, and a communication function is realized;
(3) The invention can realize accurate satellite alignment, and enables the antenna in motion to keep the satellite alignment state for a long time.
Drawings
Fig. 1 is a flow chart of the communication-in-motion work in the embodiment of the invention.
Fig. 2 is a schematic diagram of the antenna in the geocentric and geographic coordinate system in the embodiment of the invention.
FIG. 3 is a block diagram of a Fuzzy-PID segment controller in accordance with an embodiment of the present invention.
FIG. 4 is Fuzzy membership of Fuzzy in an example of the present invention.
FIG. 5 is a Fuzzy rule table for Fuzzy in the present example.
FIG. 6 is a diagram of a Fuzzy-PID controller in accordance with an embodiment of the invention.
FIG. 7 is a simulation of the improved control algorithm in an example of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The ship-borne communication-in-motion system adopts a stable tracking platform calculated by a digital algorithm, and avoids the interference of uncertain factors such as extra mechanical price, maintenance, environment and the like caused by a mechanical stable structure. Motors are arranged on the three axes of the antenna, namely the rolling axis, the pitching axis and the azimuth axis, so that the follow-up of the three axes can be ensured at any time, and the aim of aligning the target satellite in real time is fulfilled. The invention relates to a shipborne communication-in-motion work flow, which is shown in figure 1.
When the shipborne communication-in-motion device is started, firstly, the GPS and the electronic compass acquire the geographic position of the communication-in-motion device, then, the azimuth angle and the pitch angle which need to be rotated to reach the specified satellite position are calculated according to the CPU, and at the moment, the azimuth angle and the pitch angle which need to be theoretically rotated are accurately calculated.
Preferably, the star alignment angle in the geographic coordinate system is deduced by introducing the curvature radius of the unitary-mortise ring through a space rotation coordinate system method and a plane geometric triangle change method.
The traditional satellite-to-satellite angle relates to the distance from an antenna to the geocenter and the distance from a satellite to the geocenter when calculating the pitch angle and the azimuth angle in a geographic coordinate system, and the earth is assumed to have a radius R 0 The complete sphere of (2).
In calculating the pitch and azimuth angles in the geographic coordinate system, the distance from the antenna to the geocenter and the distance from the satellite to the geocenter are involved, and the derivation assumes that the earth has a radius R 0 The schematic diagram of the antenna at the geocentric and the geographic coordinate system is shown in fig. 2.
Where h is the distance of the satellite from the earth's surface.
In fact, the earth is not a standard sphere, and aiming at the characteristic, a standard earth model which is closer to a real earth model is established at present. Under the standard, the distance from the satellite to the geocenter is approximately equal to the radius of curvature of the unitary circle at the point, so the relationship of the satellite A with the height L from the earth surface in the coordinate system is as follows:
wherein λ i Is the local latitude, θ i Is the local longitude, theta is the longitude of the satellite, e 1 Is the first curvature radius of an ellipsoid, R is the curvature radius of a prime circle, a is the long radius of a standard earth model, b is the short radius of the standard earth model, and lambda is the satelliteThe latitude of (c). According to the curvature principle of the unitary-mortise ring, the method comprises the following steps:
the above derived formula is that the distance of the antenna from the earth's center becomes more accurate when the earth is considered as a true ellipsoid. Therefore, the accurate theoretical azimuth and elevation angle in the geographic coordinate system can be deduced.
The invention considers the calculation of the star angle in the geographic coordinate system, but when the antenna works in the external severe environment, certain motion angle and inclination angle are inevitable, and at this time, the attitude information needs to be considered to be added into the satellite calculation of the carrier coordinate system, and the coordinate rotation method is used for obtaining the azimuth angle and the pitch angle of the satellite in the carrier coordinate system:
β a ＝arcsin[sinCcosβ i sin(α i -A)-cosCsinBcosβ i cos(α i -A)+cosCcosBsinβ i ]
in engineering application, the azimuth angle A, the pitch angle B and the roll angle C of the antenna can be obtained through an attitude measurement system respectively, and the theoretical azimuth angle alpha in a carrier coordinate system i And a pitch angle β i Respectively, can be derived from the above formulas. Therefore, according to the 5 parameters, the problem that the earth is not a complete sphere and the carrier coordinate system and the geographic coordinate system are not coincident can be solvedDeducing the azimuth angle alpha of the antenna in the carrier coordinate system according to the adverse factors a And a pitch angle beta a . And according to the calculated azimuth angle and the pitch angle, the driving motor points to a theoretical satellite alignment angle, so that the antenna is aligned to the satellite.
Preferably, the traditional antenna control system adopts a classical PID controller which has the defects of large overshoot and instability, and in order to improve the performance of the system, an improved PID-Fuzzy segmented combination controller is provided. Therefore, the characteristics of good dynamic performance and strong adaptive capacity of the Fuzzy controller can be exerted, and the characteristics of no static error and good static performance of the traditional PID controller can be exerted.
Due to an unstable environment on the sea surface, in order to enable the antenna to be constantly aligned with the satellite and overcome disturbance, the system adopts a PID-Fuzzy controller. To improve the precision and tracking performance of the Fuzzy controller, it is necessary to grade it as fine as possible, i.e., take more linguistic values. However, the fuzzy control table is difficult to be grasped, and the calculation amount is relatively large. One way to solve this problem is to implement the control by segmentation. When the error detected by the beacon receiver is larger than the threshold value, the fuzzy controller is used for controlling, the advantage of good dynamic performance of the fuzzy controller is played, and overshoot is reduced as much as possible; when the system is about to enter a steady state, the system is switched to a traditional PID controller for control, so that the steady error of the system is reduced. For a closed-loop system, the switching threshold values are equal, so that Fuzzy control is used when the error angle is larger than 0.4 degrees, overshoot is reduced, dynamic performance is guaranteed, once the error angle reaches 0.4 degrees, the traditional PID control is used, static errors are eliminated, steady-state accuracy is guaranteed, and the control structure is shown in fig. 3.
In the system, the object to be controlled is a brushless direct current motor, the brushless direct current motor is firstly modeled, and the following principles are known according to the brushless direct current motor:
back electromotive force of motor:
E b ＝C e *ω
rotational torque of the motor:
M d ＝C m *i a
motor torque balance equation:
motor armature voltage balance equation:
assuming that the rotational angular velocity of the motor armature is ω =0 in the initial condition, the above equation is changed by las:
E b (s)＝C e *ω(s)
M a (s)＝C m *i a (s)
Jsω(s)＝M d (s)-M f (s)
E a (s)-E b (s)＝R a *i a (s)+L a si a (s)
wherein E is b Is the back electromotive voltage, C, of the motor e Is the back electromotive force coefficient of the motor, w is the rotational angular velocity of the armature of the motor, M d Is the rotating torque of the motor, C m Is the torque coefficient, i, of the motor a Current of the circuit, J rotational inertia of the motor shaft, M f For external disturbance of moment, E a Inputting control voltage R for motor a Is motor armature resistance, L a Is the motor armature inductance. When the torque generated by the external interference of the direct current brushless motor is 0, the mathematical model of the direct current brushless motor is as follows:whereinR a ＝0.8，C e ＝0.05，C m ＝0.056，J＝0.0014，L a ＝1.6。
And when the angle | e | is more than 0.4 degrees, a fuzzy controller is adopted, and the fuzzy controller of the antenna control system is designed by using a table look-up method. The domain of discourse for e, ec and u is selected as follows: [ -6,6], where e is a membership function for the error, ec is a membership function for the rate of change of the error, and u is an output membership function. The linguistic value of e is { NB, NM, NS, ZE, PS, PM, PB }, and because the resolution of the triangular membership function is high, the fuzzy subsets of e, ec, u all adopt the triangular membership function, and the function is shown in FIG. 4. The core of the design of the Fuzzy controller is to summarize the practical operation experience and technical knowledge of an engineer and establish a proper Fuzzy rule table, seven levels of positive large PB, positive PM, positive small PS, zero ZE, negative small NS, negative medium NM and negative large NB are enough to be set according to a model, and the Fuzzy rule inference table is shown in figure 5.
According to PID-Fuzzy segmentation combined control, simulation is carried out by adopting MATLAB language, and the structural diagram of simulink is shown in FIG. 6. The step response of the PID-Fuzzy segment combined control system is shown in fig. 7, and it can be observed from the figure that the improved system basically reaches the control requirement when the rise time is 3 seconds, and can accurately align the star after 4 seconds, without overshoot. And the traditional PID controller overshoots 4.8%, and the adjusting time is about 15 seconds. Therefore, the improved segment controller has short regulation time, no overshoot, no static error and better steady-state precision, and improves the satellite alignment performance of the communication-in-motion system.
In conclusion, aiming at a control method combining a PID (proportion integration differentiation) controller and a Fuzzy controller of system design, the effect that a conventional PID controller is difficult to control a system is overcome, different control modes are adopted at different stages of the whole control process, namely the characteristics of good dynamic performance and strong adaptability of a Fuzzy controller are inherited, and the characteristics of good static performance and no static error of the traditional PID controller are also met.
The method can be used in the shipborne communication-in-motion system, and the shipborne communication-in-motion system comprises a servo control unit, a driving unit and a beacon receiver: the servo control unit includes: the lower computer is controlled by the antenna, and the gyroscope, the GPS, the electronic compass HMR3000 and the inclinometer are connected with the lower computer. The driving unit includes: the device comprises a driver of the motor, a pitching motor for controlling the motion of the communication-in-motion antenna, an azimuth motor and a rolling motor. The GPS provides accurate positioning information of the shipborne satellite communication in motion. The GPS sends protocol words to the serial port, and the specific position of the mobile phone communication in motion, namely longitude and latitude and other information of the ship-borne mobile phone communication in motion are calculated.
The electronic compass HMR3000 is used for acquiring a roll angle, a pitch angle and an azimuth angle in the process of shipborne communication-in-motion driving.
The gyroscope is arranged on the three-axis mechanical arm and used for measuring the angular velocities of the azimuth axis, the pitch axis and the roll axis, and then the angular velocities are obtained through integration, so that the angular displacement at the next moment is judged, and the real-time performance of the communication-in-motion system is ensured.
In the running process of the ship, in order to overcome the interference of the motion of sea waves to a ship body, a PID-Fuzzy segmented combination algorithm is adopted as a control algorithm of the system. The motor is typically controlled using conventional PI or PID devices. In practice, these conventional controllers are typically developed through a bold system model that satisfies the basic and necessary assumptions prior to tuning through the use of established methods traditionally using mathematical models of motors with fixed parameters to address these techniques. However, machine non-linearity and parameter variations can degrade system performance over the entire motor operating range, and under extreme conditions, this can lead to instability. Therefore, the PID-Fuzzy segmented control controller is provided, and the dynamic performance of the system is improved.
The motor set is used for controlling the rotation of the azimuth, the pitching angle and the roll angle of the antenna.
Due to the complex sea surface bumpiness environment, in order to overcome the interference of the motion of sea waves on a ship body, a PID-Fuzzy segmentation combination algorithm is adopted, and an antenna of a stabilizing system is aligned to a target satellite for a long time in the bumpy environment, so that real-time communication is realized. The dynamic performance of the system is improved, and the function of stable communication of the system in motion is realized.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (6)
1. A method for tracking an antenna of shipborne communication-in-motion is characterized by comprising the following steps:
acquiring a geographical position, a rolling angle, a pitching angle and an azimuth angle of a shipborne mobile communication in a driving process;
step two, according to the geographical position, the rolling angle, the pitching angle and the azimuth angle of the shipborne satellite communication in motion in the driving process, which are obtained in the step one, the following improved satellite coordinate calculation model is adopted to calculate the azimuth angle and the pitching angle of the antenna in the shipborne satellite communication in motion in the geographical coordinate system and the carrier coordinate system as follows;
wherein
β a ＝arcsin[sinCcosβ i sin(α i -A)-cosCsinBcosβ i cos(α i -A)+cosCcosBsinβ i ]
Wherein alpha is i Is the azimuth angle of the antenna to the satellite, beta, in a geographic coordinate system i Is a dayAngle of pitch, alpha, of the line in a geographic coordinate system a Azimuth angle of the star, beta, in a carrier coordinate system for the antenna a The pitch angle of the antenna to the satellite in a carrier coordinate system, R is the radius of the earth, L is the height from the surface of the earth, A is the azimuth angle of the antenna, B is the pitch angle of the antenna, C is the roll angle of the antenna, and lambda is i Is the local latitude, θ i The longitude of the satellite is lambda, the longitude of the satellite is theta, a is the long radius of the earth standard model, and b is the short radius of the earth standard model.
2. The method for antenna tracking of on-board satellite communication in ship of claim 1, characterized in that, step two is followed by step three;
step three: detecting an AGC value received by an antenna in a shipborne communication-in-motion system in real time, and if the detected AGC value does not exceed a preset threshold value, adopting a stepping tracking technology to enable the antenna to automatically track a satellite; if the detected AGC value exceeds the preset threshold value, the cone scanning tracking technology is adopted to enable the antenna to track the strongest signal of the locked satellite all the time.
3. The method for antenna tracking of on-board satellite communication in ship of claim 2, characterized in that, step three is followed by step four;
step four: by adopting a PID-Fuzzy subsection combined control method, the aim of isolating the motion of the carrier is achieved by controlling the motion of a motor in the shipborne communication-in-motion, so that the antenna stably points to the target, and the communication function is realized;
the PID-Fuzzy segment combination control method comprises the following steps:
when the detected deviation angle error of the antenna is larger than a preset threshold value, a fuzzy controller is adopted to control a shipborne motor which is communicated in motion to rotate;
and when the detected deviation angle error of the antenna is not larger than a preset threshold value, switching to a PID controller to control the rotation of a motor which is on board and communicated in motion.
4. The method of claim 3, wherein the threshold is 0.4 °.
5. The method for tracking the antenna of the shipborne mobile phone in motion according to claim 1, wherein a geographical position of the shipborne mobile phone in motion during a driving process is obtained by using a GPS.
6. The method for tracking the antenna of the shipborne mobile communication-in-motion communication system according to claim 1, wherein a roll angle, a pitch angle and an azimuth angle during the shipborne mobile communication-in-motion communication driving process are acquired by using an HMR3000 electronic compass.
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| CN108763786A (en) * | 2018-05-31 | 2018-11-06 | 中国电子科技集团公司第五十四研究所 | A kind of antenna for satellite communication in motion system identifying method |
| CN109542128A (en) * | 2018-11-02 | 2019-03-29 | 北京爱科迪通信技术股份有限公司 | A kind of manual automatic star-seeking error control method and system |
| CN111137453A (en) * | 2019-11-05 | 2020-05-12 | 西安羚控电子科技有限公司 | Measurement and control tracking system and method for carrier-based vertical take-off and landing detection unmanned aerial vehicle |
| CN111864348B (en) * | 2020-06-24 | 2021-03-09 | 宁波大学 | Initial satellite finding method of VICTS antenna |
| CN113608432A (en) * | 2021-08-06 | 2021-11-05 | 中国人民解放军63691部队 | High-dynamic loop parameter adjusting method and system for shipborne two-degree-of-freedom servo system |
| CN113608432B (en) * | 2021-08-06 | 2023-11-10 | 中国人民解放军63691部队 | Ship-borne two-degree-of-freedom servo system high dynamic loop parameter adjusting method and system |
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| CN113964476B (en) * | 2021-10-13 | 2024-06-11 | 北京微纳星空科技有限公司 | Communication-in-motion antenna system and carrier |
| CN114583451A (en) * | 2022-04-28 | 2022-06-03 | 成都迅翼卫通科技有限公司 | Satellite tracking method, device and system for communication in motion and computer equipment |
| CN114583451B (en) * | 2022-04-28 | 2022-07-22 | 成都迅翼卫通科技有限公司 | Satellite tracking method, device and system for communication in motion and computer equipment |
| CN115360516A (en) * | 2022-10-19 | 2022-11-18 | 南京中网卫星通信股份有限公司 | Satellite searching control method of satellite antenna in inclined state |
| CN115360516B (en) * | 2022-10-19 | 2023-01-24 | 南京中网卫星通信股份有限公司 | Satellite searching control method of satellite antenna in inclined state |
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Application publication date: 20180518 |