CN1122169A - Satellite-broadcast receiving mobile antenna apparatus - Google Patents
Satellite-broadcast receiving mobile antenna apparatus Download PDFInfo
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- CN1122169A CN1122169A CN95190037A CN95190037A CN1122169A CN 1122169 A CN1122169 A CN 1122169A CN 95190037 A CN95190037 A CN 95190037A CN 95190037 A CN95190037 A CN 95190037A CN 1122169 A CN1122169 A CN 1122169A
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/32—Adaptation for use in or on road or rail vehicles
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/32—Adaptation for use in or on road or rail vehicles
- H01Q1/325—Adaptation for use in or on road or rail vehicles characterised by the location of the antenna on the vehicle
- H01Q1/3275—Adaptation for use in or on road or rail vehicles characterised by the location of the antenna on the vehicle mounted on a horizontal surface of the vehicle, e.g. on roof, hood, trunk
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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
- H01Q3/04—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 for varying one co-ordinate of the orientation
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Abstract
The tracking control apparatus receiving antenna which is installed on mobile body detects the level of a radio wave received by the antenna (AT), and repeatedly rotating the antenna over a certain angle at higher rotation velocity as increment of the received signal level per unit angle associated with the preceding rotation becomes larger, thereby controlling the rotation angle of the antenna. Within a period in which the received signal level is larger than a threshold, the rotation angle of the antenna is held at the current value. When the received signal level is reduced to be less than the threshold, the angular velocity of the mobile body and its integrated value are detected, and determine the type of error on the basis of detecting result.
Description
The present invention relates to be used for the mobile antenna apparatus of receiving satellite broadcast, relate in particular to and have improved automatic tracking system, the satellite-broadcast receiving mobile antenna apparatus that volume is little, cost is low.
Because satellite broadcast reception converter is used widely in recent years, portable antenna has been developed, be contained on the various mobile devices, such as on automobile and the aircraft with receiving satellite broadcast.In the future, will propose and to receive radio wave from mobile-satellite from fixed statellite such as broadcasting satellite, the business that comprises except receiving broadcasting with satellite communication (transmitting and receiving) perhaps will be provided.In this mobile antenna apparatus, especially in the satellite broadcasting receiving antenna device on being loaded on vehicle, be necessary to provide an automatic follow-up mechanism fully, when even satellite is static and mobile, because the direction of moving vehicle all changing, always makes antenna body always point to related satellite all the time.
This automatic follow-up mechanism realizes by the control of azimuth device of control antenna body direction horizontal component (being called " tracking orientation " later on) and the combination of the vertical control device at the control antenna body elevation angle.This automatic tracking system has accounted for the expense of considerable part in comprising the whole satellite broadcast reception systems of circuit part such as transducer and tuner, and has increased the setting height(from bottom) and the area of antenna assembly.Therefore, how much can simplify be one of important techniques target to this device.
Because when the vehicle that antenna has been installed moved, the tracking orientation of antenna body need be controlled in 360 ° of scopes, be feasible so control the tracking orientation by a mechanical rotary device.With top opposite, the elevation angle of antenna body, can especially when antenna sensing fixed statellite such as broadcasting satellite, in quite limited scope, change and be controlled fully according to the variation along road gradient ± 5 of moving ° of the scope of vehicle mobile area and vehicle.Like this, the control range of elevation angle degree is restricted to a less relatively value.
Thereby, satellite-broadcast receiving mobile antenna apparatus has utilized single-shaft tracking system, wherein have only and follow the tracks of the orientation and control, and to utilize vertical direction be system discrete and thick control, thereby realize the miniaturization and the low cost of whole receiving system with the directivity that sets in advance to the antenna of very wide height.It is irrelevant with the vertical control device that carries out any vertical control that track side's level control device keeps substantially.An important relatively tracking control of azimuth will be described below.
We know and are disclosed in Japanese patent application NO.3-350103 by a follow-up control apparatus that is used for mobile model satellite broadcasting receiving antenna device or differs detection system it is identical with assignee of the present invention.Differ in the detection system at this, some separated portions of satellite broadcasting receiving antenna are arranged with a certain direction, and spacing is arranged to each other, make inbound radio wave direction and the mistake between the antenna element orientation, promptly the phase difference between the trail-and-error of the entire antenna radio wave that can receive according to antenna separating component separately obtains detecting.This follow-up control apparatus has many advantages, but expense is very high.
Another kind of follow-up control apparatus rotary antenna becomes maximum up to the signal level that receives.This class follow-up control apparatus is called the automatic threshold system, as disclosed among the Japanese patent application NO.4-176992, or as disclosed vibrational system among the Japanese patent application NO.4-60479.Yet the follow-up control of the follow-up mechanism of this automatic threshold system or vibrational system is very low, is difficult to automobile fast left or turn right and react.
Can consider a direction detection system, it has utilized a direction sensor to detect to have installed the orientation of the mobile device of relevant satellite broadcasting receiving antenna on principle, calculate the tracking orientation of antenna direction according to the orientation of detected mobile device, and according to result of calculation control antenna direction.Yet in this direction detection system, the tracking orientation that calculates depends on the longitude and the latitude of mobile device site.Therefore have some problems, such as needing the such navigation system of GPS receiver, detecting longitude and latitude, and longitude and latitude must generally be provided with and change by the people is manual, and this operation is a trouble.
Difficult point reason is to need high follow-up control mobile device turns left or the quick change of direction when turning right that 90 ° wide-angle changes according to appointment with occurring in of as above mentioning of response in the quite short time in the tracking Control of this portable antenna.
The Another reason that is difficult to carry out tracking Control in portable antenna is when mobile device moves, and the radio wave from the satellite to the mobile device is often stopped by road other electric light bar, telephone pole, building, bridge, Shu Heshan at short notice continually.In this case, the signal level of reception reduces suddenly, though this reduction only continues the very short time late, has so just hindered following function.If the unexpected reduction of this received signal level is owing to barrier occurs over just moment, it is useless continuing to follow the tracks of operation, and the signal level that receives will return to original value immediately.Therefore, when the unexpected reduction of received signal level be by barrier cause the time, need not to change antenna direction, but wait for that it is to get final product that the signal level that receives returns to original value.
Yet, the unexpected reduction of this signal level that receives be since barrier cause or what cause tracking error to increase fast causing is uncertain because vehicle is turned fast.When since the unexpected reduction that the quick turning of vehicle causes by be used as mistakenly by barrier cause the time, received signal level in this case with regard to Wait-to-Restore to original value, therefore, the startup of necessary tracking operation was postponed by this stand-by period.On the contrary, when the quick turning of vehicle because the unexpected reduction that causes of barrier is used as mistakenly caused, unnecessary tracking Control just was activated, and the direction of antenna may depart from correct direction because this unnecessary tracking is operated to change.The time that the received signal level that is caused by barrier descends depends on the size of barrier and the speed of vehicle on the large program very much.This also makes the correct tracking Control of acquisition become difficult, causes the reduction of receiving efficiency.
The follow-up control apparatus that provides one azimuthal quick change is had high follow-up control is provided one object of the present invention.
Another object of the present invention provides a follow-up control apparatus, the unexpected reduction that can differentiate received signal level immediately be cause by barrier or cause by the quick turning of mobile device, and according to circumstances begin control, thereby the control stability when follow-up control when having improved quick turning and signal reduce suddenly.
The follow-up control apparatus that is contained in the mobile model satellite broadcasting receiving antenna on the mobile device according to the present invention has the tracking Control final controlling element, be used to detect level, mobile device angular speed and the angular speed integrated value of the radio wave that receives by antenna, and according to the rotational angle of the received signal level control antenna that detects.
The tracking Control final controlling element has differential control final controlling element, is used for increment when the per unit angle received signal level relevant with previous rotation when big, arrives definite angle with higher velocity of rotation repeated rotation antenna.
The tracking Control final controlling element also has the retentive control final controlling element, be used for detected signal level and predetermined threshold value Lt are compared, if the signal that receives surpasses threshold value Lt, the nearest value that then repeats received signal level detect and with the comparison of threshold value Lt, keep the antenna rotational angle at currency simultaneously.When detected nearest received signal level is reduced to when being lower than threshold value Lt, if angular speed or its integrated value greater than predetermined threshold, then the retentive control final controlling element makes differential control final controlling element start immediately.If any in detected angular speed and its integrated value be during less than threshold value, the retentive control final controlling element final controlling element to be controlled such as makes to start and waits for a definite period, so that the signal level that receives returns to suitable value.
Another follow-up control apparatus that is used to be contained in the mobile model satellite broadcasting receiving antenna on the mobile device of the present invention is constructed such that each internal action can be realized by the part of above-mentioned various control final controlling elements.
This follow-up control apparatus has: rotation angle detection apparatus, carry out the rotational angle that integration detects mobile device by the horizontal component to detected angular speed; The satellite acquisition device, be used for following the tracks of when losing when received signal level is reduced to make less than a certain threshold value, the change amount of the angle of rotation that detects the value of detection by rotation angle detection apparatus detection before tracking is lost, proofread and correct current tracking orientation according to the change amount of this rotational angle, and center on this correction value change tracking orientation in the scope that increases in time, thereby carry out search to satellite.
The received signal level and the relation between the angular error of antenna are roughly followed Gaussian distribution curve, and promptly when angular error became big, it is big that the received signal level change amount (or differential value) of per unit angle just becomes.Therefore, differential control final controlling element is judged the angle error change greatly when the differential quantitative change is big, then with high velocity of rotation to have the step-length rotary antenna of definite angle.Like this, when antenna rotates because differential and and velocity of rotation progressively reduce along with the reduction of angle error, can prevent that angle of rotation from excessively surpassing target.Therefore, it is enough big that follow-up control increases, and can easily handle immediately because the quick received signal level that causes of turning of vehicle reduces suddenly.In the very large zone of angular error, differential value reduces very big.Yet in this zone, received signal level so reduces makes differential control itself to eliminate, thereby this zone needn't be considered.
In addition, according to the retentive control of except differential control, carrying out, if when the up-to-date detected value of received signal level during less than threshold value, the angular speed that detects or its integrated value be greater than definite threshold value, and the reduction of received signal level can be thought and moved and the reduction of the tracking accuracy that produces causes by vehicle.In this case, need not wait for that received signal level returns to suitable value, differential control is activated immediately.On the contrary, if angular speed and its integrated value all less than its threshold value, then the reduction of received signal level is considered to be caused suddenly by barrier.In this case, wait to be controlled being activated to make received signal level wait for a definite period to return to suitable value.Like this, by not only utilizing received signal level, and angular speed or its integrated value of utilizing the indication vehicle to move, the reduction that just may judge received signal level immediately be cause suddenly by barrier or because turn inside diameter increases tracking error causes, and can select suitable control device, improved follow-up control so greatly.
In addition, follow-up control apparatus according to the present invention has rotation angle detecting apparatus and satellite acquisition device, and the tracking orientation of antenna body and the direction of mobile device all can be utilized their relative value.In other words, the tracking orientation of antenna can be always by representing with respect to the angle of measuring as the currency of fiducial value (0) clockwise or counterclockwise.Equally, the direction of mobile device is represented by the angular speed integrated value as the detection of relative value.When occurring following the tracks of lost condition, the corner variable quantity that is detected by rotation angle detecting apparatus before tracking is lost is detected.
In other words, lose because mobile device turns over θ ° in the clockwise direction and causes, then to detect θ ° of the angular speed integrated value change amount that before this tracking is lost, obtain if follow the tracks of.According to detected integrated value change amount, the tracking orientation of current antenna body is corrected in the counterclockwise direction, thereby the central value of following the tracks of bearing range just can be estimated.Then, antenna rotates a scope that increases in time around this central value, thus search of satellite.If in this scope is the search success to satellite of very little initial time, then can reduce or save consumed power.
Fig. 1 is the block diagram of an embodiment of follow-up control apparatus of the present invention, and shows relevant controlled satellite broadcasting receiving antenna.
Fig. 2 is the angular error of expression antenna and the relation of received signal level, the figure of the relation between the differential value of received signal and received signal level and the various threshold value.
Fig. 3 is the flow chart by an example of the differential control of present embodiment follow-up control apparatus execution.
Fig. 4 is the flow chart that the retentive control of present embodiment follow-up control apparatus execution is given an example.
Fig. 5 be the present embodiment follow-up control apparatus carry out etc. flow chart of giving an example to be controlled.
Fig. 6 is the flow chart that the scanning imaging system of present embodiment follow-up control apparatus execution is given an example.
Fig. 7 is the figure that explains mobile device corner and antenna track side interdigit relation.
Fig. 8 is angular speed, angular speed integrated value, tracking orientation central value, scanning angle scope and the oscillogram of sweep speed and time that produces when mobile device is turned.
Fig. 9 is the search process chart that another embodiment of the present invention mobile model satellite broadcasting receiving antenna device is carried out.
Fig. 1 is the block diagram of the mobile model satellite broadcasting receiving antenna follow-up control apparatus of one embodiment of the invention, also shows controlled satellite broadcasting receiving antenna AT.Referring to Fig. 1, represented a microprocessor 1, low-converter 2, rotate coupler 3, tuner 4, received signal level detector 5, input/output interface circuit 6 and turn meter 7 with D/A converter of A/D converter, be used for the integrator 8 of integration, motor driver 9, impulse motor 10 and rotation supporting mechanism 11 by the angular speed of turn meter 7 detections.
The TV signal of the 12GHz bandwidth that receives from broadcasting satellite emission, by satellite broadcasting receiving antenna AT is converted to the TV signal of 1GHz bandwidth intermediate frequency by low-converter 2, the intermediate-freuqncy signal of conversion is delivered to tuner 4 through rotating coupler 3, it is demodulated into vision signal and audio signal there, offers relevant television receiver then.Received signal level detector 5 detects the signal level (or received signal level) that is received by antenna AT according to the noise level that the automatic gain control amplifier in the tuner 4 produces.In other words, when received signal level reduced, the gain of automatic gain control amplifier increased, thereby noise level increases.Received signal level is according to the increase of noise level or reduce detectedly, is converted to digital signal and is delivered to microprocessor 1 by input/output interface circuit 6.
Hereinafter, the angular speed or the received signal level of 6 outputs of input/output interface circuit are not received by microprocessor 1, but detect angular speed or received signal level microprocessor 1 according to the received signal level angular speed that detects by microprocessor 1, the angular speed integrated value is determined the rotation direction and the rotational angle of tracking Control.Provide by microprocessor 1 corresponding to string in the arteries and veins of rotational angle number, deliver to impulse motor 9 through input/output interface circuit 6 and motor driver 8.Rotation direction and velocity of rotation back will describe in detail.The rotation axis of impulse motor 10 is coupled in order to support antenna AT rotationally by supporting mechanism 11 and antenna AT, has so just controlled the deflection of antenna AT.
The threshold value that defines some received signal levels with according to per quarter received signal level change carry out various controls.These threshold values are defined as shown in Figure 2 and ratio peak L p (or relative value).Peak L p is the maximum of the nearest received signal level of microprocessor detection.Each received signal level recently is detected surpass threshold value Lo greater than a definite magnification ratio of peak value (as peak value 110%) time, peak value is then substituted by bigger received signal level.The reason that provides one 10% stagnate be not used to revise peak value is to prevent from frequently to revise uneconomic treatment step of peak value when received signal changes at short notice.
Threshold value Lt is lower than peak L p (as 93%) slightly.As long as received signal level surpasses this threshold value Lt, do not consider just that in following the tracks of operation antenna rotates.Threshold value Lb quite is lower than peak value (as 20%).When received signal level is reduced to when being lower than threshold value Lb, just be considered to produce a big angular error.In this case, microprocessor 1 begins to carry out a scanning imaging system in order to by changing antenna bearingt in 360 °, the direction of search of satellite.Threshold value Lm is the median (as 50%) between peak L p and threshold value Lb, and the implication of this threshold value Lm will be mentioned in the back.
The flow chart of being controlled with reference to Fig. 3 by the differential of microprocessor execution is illustrated.Differential control mainly starts under following situation:
(1). when the received signal level greater than threshold value Lb be detected as carry out scanning imaging system as a result the time;
(2). when received signal level is reduced to threshold value Lt less than peak value about 93%, and when greater than the angular speed of threshold value or greater than the integrated value of the angular speed effective value of threshold value when detected, its is judged when Ackermann steer angle and has produced a big angular error like this.
When starting the execution of differential control, microprocessor 1 judges at first whether the direction that antenna rotates determines (step 11).When scanning imaging system had been performed as tracking Control before differential control, rotation direction was determined in scanning imaging system, because it is to be increased to received signal level in scanning imaging system to be higher than the same direction of value Lb.If differential control starts from angular speed or angular speed integrated value when surpassing a bigger value, antenna can rotate in the opposite direction with the turn inside diameter side that is indicated by the symbol of this value, the direction of antenna rotation can be determined like this, yet, because it may be uncertain that the symbol of angular speed integrated value is compared with the symbol of angular speed, the direction that antenna rotates can only be determined (step 12) under the sort of situation.In other words, microprocessor is at first with the definite angle of direction rotary antenna from the sign prediction of angular speed integrated value.Increase if received signal level rotates with antenna, then this direction is judged as the correct direction that antenna rotates.If received signal level descends, rightabout is judged as the correct direction that antenna rotates.
When rotation direction was completely fixed, microprocessor 1 is provided with the initial value Vo of the velocity of rotation V of antenna, and (step 13) made antenna rotate predetermined angular Δ θ (step 14) at fixed-direction with velocity of rotation Vo.Microprocessor detects increment Delta L then, or the last time difference (step 15) between the received signal level before nearest received signal level L and the current received signal level L rotation.Whether the nearest received signal level of microprocessor judges detection surpasses threshold value Lb (step 16) then.Be "Yes" if answer, program is carried out next step 17.Be "No" if answer, program is carried out scanning imaging system.In step 17, microprocessor 1 changes antenna velocity of rotation V and arrives and the proportional value of Δ L.
In step 18, detect nearest received signal level above behind the threshold value Lt, microprocessor 1 is carried out next step 19, judges that whether the velocity of rotation V that is provided with is less than the threshold value Vth that determines.If be judged as "No", conclude that then antenna does not still accurately point to satellite, program is returned step 14 like this.Microprocessor repeats the control from step 14 to step 19, is reduced to below the threshold value Vth above threshold value Lt and velocity of rotation V up to received signal level L.When nearest received signal level and peak L p enough near the time, the judged result of step 19 becomes "Yes".In this case, microprocessor stops the execution of differential control, starts the execution of retentive control.
The retentive control that microprocessor 1 is carried out is illustrated with reference to the flow chart of Fig. 4.Microprocessor at first is set to the received signal level that detects before this retentive control of startup with the new value of peak L p, calculates threshold value Lt, Lb and the Lm (step 21) that upgrades with respect to peak value then.Then, microprocessor detects the last look (step 22) of received signal level L, and compare with threshold value Lt (step 23).If received signal level L is greater than threshold value Lt, microprocessor execution in step 24 is compared received signal level L with threshold value Lo.If received signal level L is less than threshold value Lo, microprocessor returns step 22, and execution in step 22 to 24 once more.
In other words, stable as long as condition of acceptance keeps, wherein current received signal level keeps greater than threshold value Lt, and step 22 to 24 is repeated to carry out.The processed continuously asynchronous mode that this reprocessing formerly continues after the step to carry out is carried out, or provides in suitable place and to determine to carry out in the synchronous regime that the stand-by period makes treatment step repeat with the fixed cycle.The term of execution of retentive control, on the value that the antenna angle of rotation is provided with before remaining on and carrying out.
If in step 24, received signal level L is judged and surpasses threshold value Lo recently, program is returned step 21, microprocessor 1 utilizes this received signal level as new peak L p, and calculate once more and new relevant threshold value Lt, Lb, the Lm of peak value, if when new received signal level L was judged less than threshold value Lt in step 23, microprocessor detected angular speed and judges whether it exceeds threshold value (step 25).If this detected angular speed is judged as when not surpassing threshold value, microprocessor detects its integrated value and judges whether it exceeds threshold value (step 26).The integrated value of angular speed is introduced into because when vehicle when the expressway operation of medium big curvature is arranged, although, then become very big through long integrated value because the angular speed deviation that tracking error causes is very little.Under the sort of situation, not big the arriving of angular speed itself surpasses threshold value, but its integrated value has surpassed a bigger value.
If received signal level L is lower than threshold value Lt, microprocessor 1 execution in step 25 judges whether angular speed or its integrated value surpass corresponding threshold value.At this moment, surpass corresponding threshold value if any in angular speed or its integrated value is judged, tracking error then is considered to increase with turn inside diameter.Like this, differential control is as the execution that begins with reference to Fig. 3 explanation.If received signal level L is lower than threshold value Lt, if and in step 25 and 26, in angular speed or its integrated value any be judged and also do not exceed corresponding threshold value, and microprocessor thinks that being reduced to by barrier of received signal causes suddenly, and execution to be controlled such as startup.
By microprocessor 1 carry out etc. the flow chart with reference to Fig. 5 to be controlled illustrated.Be mainly used in the monitoring received signal level and return to a higher value greater than threshold value Lt etc. execution to be controlled, perhaps monitoring angle speed is increased to the value greater than threshold value, and antenna is placed under the control according to monitoring result.In other words, if received signal level returns to the value greater than threshold value Lt, the reduction of received signal level is considered to be caused by barrier interim (suddenly), and starts retentive control immediately.If be increased to the value greater than threshold value in angular speed is detected in during this wait, then the reduction of received signal level is considered to not only cause that by barrier the angular error that is also produced by Ackermann steer angle causes, and carries out differential control.These situations for example may appear at when producing compound variation, owing to after the incoming level signal transient that barrier causes reduces, cause the generation of angular error immediately owing to turn inside diameter.
Etc. the first (first etc. to be controlled) that is divided into substantially to be controlled, wherein the monitoring of above-mentioned state variation is repeated in a short time; And second portion (second etc. to be controlled), wherein the monitoring of state variation is repeated in long-term.For example, wait and be set to about 2 seconds to be controlled the term of execution.Be set to about 0.3 second during the first, second portion is about 1.7 seconds.State changes the repetition monitoring time that has or do not have and be set to 10 milliseconds in first, is set to 100 milliseconds in second portion.
When etc. to be controlled when beginning to carry out, microprocessor 1 is initialization time T at first, being gradually changed with Chang Su by counter is initialized as 0 (step 31) with control time and Status Flag F, and microprocessor 1 judges whether acceleration has surpassed a definite threshold value (step 32) then.If quicken the detected threshold value that do not surpass, then detect the new signal level L (step 33) that receives, and judge that whether this received signal level is greater than threshold value Lt (step 34).
If received signal level L is not more than threshold value Lt, microprocessor 1 judge from etc. the elapsed time T that begins of execution to be controlled whether greater than scheduled time Tm first to be controlled (first etc. to be controlled) (step 35) such as to determine.If judged result is a "No", program is returned step 32, and microprocessor repeating step 32 is to step 35.The repetition of these steps can asynchronous mode be carried out, and wherein need not to postpone to continue to carry out subsequent treatment after last time handling not; Perhaps carry out, wherein provide the stand-by period, make to handle and carry out, as representing among Fig. 5 with (as 10 milliseconds) during fixing at appropriate location with the method for synchronization.
If during above-mentioned reprocessing (step 32), quicken detectedly to become very big, microprocessor thinks that the reduction of received signal level is not only also caused by turn inside diameter by barrier, and starts the execution of differential control immediately.On the contrary, if the detected threshold value Lt that surpassed in the received signal level reprocessing in the above (step 34), the reduction of received signal level then is considered to cause suddenly that by barrier retentive control is started by microprocessor 1 immediately.
If during reprocessing (step 35), detect elapsed time T and surpass to determine time T m, microprocessor 1 start carry out step 36 start second etc. to be controlled.After execution to be controlled such as second, whether microprocessor 1 is judged and is quickened to be detected greater than threshold value (step 36).Surpass threshold value if quicken not big arriving, then detect new received signal level L (step 37), judge that whether new received signal is greater than threshold value Lt (step 38).If received signal level L is not more than threshold value Lt, microprocessor 1 judges whether received signal level L surpasses threshold value Lm (step 39).If received signal level L is not more than threshold value Lm, microprocessor is changed to " 0 " (step 40) with Status Flag F, and judges the determined value Tw (step 41) that whether surpasses the execution stand-by period of definition from the time T of these execution to be controlled.
If from etc. execution to be controlled begin elapsed time T less than value Tw, microprocessor 1 execution in step 44 is determined the stand-by period with respect to To during repeating.After step 44, program returns step 36 and step 36 to 44 is repeated.If the same with first etc. (step 36) to be controlled during reprocessing, quicken to be judged that big microprocessor thinks that the reduction of received signal level is not only also caused by turn inside diameter by obstacle to having surpassed threshold value, and start the execution that differential is controlled immediately.If during reprocessing (step 38), received signal level is judged above threshold value Lt, and microprocessor thinks that the reduction of received signal level is caused by barrier suddenly, and starts the execution of retentive control immediately.
If in step 41, judgement from etc. the elapsed time T exceedance Tw of beginning of execution to be controlled, microprocessor 1 thinks that the unexpected reduction of received signal level is not caused by barrier, execution to be controlled such as termination, and begin to carry out scanning imaging system with search of satellite in 360 ° of angular ranges.
If judge new received signal level L less than threshold value Lt but greater than threshold value Lm (step 39), microprocessor 1 checks whether Status Flag F is 1 (step 42).If Status Flag is 0, microprocessor 1 becomes 1 (step 43) with it, and enters step 44 to wait state, and returns step 36.After this, when detecting Status Flag F in step 42 and be 1, microprocessor 1 finishes that these are to be controlled and start differential control.The reason of user mode sign F is in order to carry out differential control immediately and to increase follow-up control by not carrying out scanning imaging system, because be no more than threshold value Lt but double during above threshold value Lm as received signal level L, tracking error can be thought and is not so big.
The scanning imaging system that microprocessor 1 is carried out is illustrated with reference to the flow chart of Fig. 6.Even this scanning imaging system is used for when threshold value Lm relative peak is a quite low value (as 50%) received signal level L when still not surpassing it, perhaps when in a definite period, producing big tracking error continuously, perhaps under an opposite extreme situations, when judging that Satellite Tracking is lost or initially following the tracks of when beginning immediately after operating in energized the direction of search of satellite.
When beginning to carry out scanning imaging system, microprocessor 1 makes antenna repeat to detect received signal level during antenna rotates, and judge that whether received signal level is above threshold value Lb (step 51) to the scope that turns left and right maximum ± 5 ° about current angle of rotation.If received signal level is less than threshold value Lb, microprocessor 1 is carried out next step 52, there the current relatively rotational angle of antenna repeat to turn left and right ± during 20 ° scope, detect received signal level, and judge that whether received signal level is above threshold value Lb.Then, microprocessor progressively changes the slewing area of antenna simultaneously to ± 90 °, and 360 °, and, surpass threshold level Lb up to received signal level L to each slewing area execution scanning imaging system.If in one of step 51 to 54, received signal level L is judged above threshold value Lb, the information (step 55) of microprocessor 1 storage antenna rotation direction, and begin to carry out differential control.
For convenience of explanation, each in the step 51 to 54 all uses a single step to represent.Yet each step in these steps specifically has the cell array of three different steps, is arranged on each rotation direction.The number of unit equals the ratio of (maximum rotation angle/unit angle of rotation), and these three different steps are: with the step of unit angular turn antenna, the step of the new received signal level of detection and the step of comparison received signal level L and threshold value Lb.
According to present embodiment,, follow the tracks of the orientation and change to increase received signal level L as the received signal level L that detects during greater than threshold value Lb.If the received signal level that detects surpasses another threshold value Lt greater than threshold value Lb, and the change speed in current secondary tracking orientation is during less than the threshold value determined, can judge the antenna body sensing satellite that is in the main true,, and follow the tracks of the orientation and remain unchanged by retentive control perhaps in good tracking mode.Like this, by additional this retentive control, can save useless tracking operation.
Yet, tracking system according to the radio wave of this satellite, when received signal level drops to suddenly when approaching because mobile device is turned fast that the tracking error that causes increases the noise level that causes fast, just may not continue the tracking operation of radio wave.Below, this situation is known as " tracking is lost ".In the present embodiment, when received signal level was reduced to less than threshold value Lb, this tracking has taken place decidable lost.According to present embodiment, when this tracking of generation is lost, added scan pattern, when wherein the oscillating movement that increases gradually with vibration amplitude when antenna body rotates, near the search of satellite tracking orientation of antenna direction when tracking is lost.
The quick turning that tracking is lost not only by mobile device causes, and enters in the shade of barrier when mobile device, also can cause when Ru Shan, tree or building even forthright.If this tracking is ended because barrier causes that when scan pattern started, the tracking orientation of antenna may be bigger from right value.Therefore, in the present embodiment, provide angular-rate sensor, and the value that detects therefrom and integrated value thereof be used to determine this tracking lose by mobile device turn fast cause or cause by barrier.
According to the tracking system of present embodiment, losing when tracking is that scan pattern was activated immediately when turning caused fast by vehicle.Yet in this scan pattern, the tracking orientation that antenna rotates along with oscillating movement when mobile device is turned fast may have than large deviation with right value.Therefore, if the time of attempting to make antenna point to satellite once more under the situation that such large deviation is arranged reduces, just require antenna in the very big scope of amplitude, to rotate quickly.The result need provide the enough solid tumbler of structure bearing heavy load, but this just makes volume, weight increase, and cost improves.
According to differential control, antenna is repeated rotation in certain angular range.When the increment of the received signal level of unit angle relative to last time rotating when becoming big, antenna must be with high speed rotating in this determines angular region.In addition, as mentioned above, if if received signal level is higher than greater than the last time velocity of rotation V of the threshold value Lt of threshold value Lb and antenna less than threshold value Vth really, antenna just is considered to point to substantially exactly satellite, or under good tracking mode, and follow the tracks of the orientation and fix by retentive control.In this retentive control, threshold value Lt is defined as and is changed to the ratio of the maximum receiving signal level of detected big received signal level.
In the second embodiment of the present invention, the search pattern of the predicted satellite direction of scan pattern among first embodiment substitutes.In a second embodiment, microprocessor 1 have this time-division mode and above-mentioned radio wave tracking Control executed in parallel vehicle corner trace routine and with the radio wave trace routine of said procedure executed in parallel.In vehicle corner trace routine, the sampled value of angular speed is read from the buffer storage of input/output interface circuit 6 continuously, and is integrated the integrated value that produces angular speed, or the corner of vehicle.This value is written into to be inserted in the memory.In this vehicle corner trace routine, if retentive control with the radio wave trace routine of vehicle corner trace routine executed in parallel in carry out, the vehicle detection corner is reset to 0.
In vehicle corner trace routine, when in the radio wave trace routine, not carrying out under the condition of retentive control, detect when surpassing the corner of determining threshold value, just start search utility.
Fig. 7 represents the relation between mobile device corner and the antenna tracking orientation.When vehicle had changeed the θ angle, the tracking orientation of antenna also departed from θ.
Fig. 8 is when vehicle turns over θ, by the angular speed (A) of turn meter 7 detections; Its integrated value (corner) (B); The central value (C) of the scope of the tracking orientation θ of the antenna body AT that the search utility that begins when tracking is lost is provided with; Center on the scan angle amplitude (D) of the tracking bearing range at trail angle center; Oscillogram with respect to the sweep speed (E) of time.If beginning to turn up to vehicle all keeps good tracking mode, microprocessor 1 is carried out retentive control.In this retentive control, the integrated value of the angular speed that is detected by turn meter 7 is reset to 0 in a definite period.Can prevent the accumulated error that the error by turn meter 7 causes like this.
When vehicle began to turn, antenna had departed from good tracking mode on by the chain-dotted line indicated direction.At this moment, follow the tracks of operation according to the radio wave of differential control and be activated, replace retentive control.After radio wave was followed the tracks of the operation beginning, the integrated value of angular speed (or corner) stopped to reset to 0 and begin to increase.If vehicle is turned suddenly, antenna can not be followed the tracks of the radio wave that sends from satellite.At this moment, be lower than threshold value Lb, cause to follow the tracks of and lose that then search utility, rather than radio wave trace routine is activated if received signal level is reduced to.Take place the time of dotted line indication in the drawings if follow the tracks of to lose, the corner that detects when search utility starts is θ °.
When starting search utility, the rotational angle theta o of detection deducts from current tracking orientation (0 °), and remainder (θ o) is used as the central value of track side's bit scan scope.In addition, before or after this subtraction, the scanning angle range delta θ i of Zeng Jiaing progressively, scan velocity V i and sweep time Ti fix.When the azimuth of antenna around the central value that is provided with fixing sweep speed, through fixing scope with when in the set time, progressively changing, repeat the judgement whether received signal level L surpasses threshold value Lb.During this scan operation, the central value of following the tracks of bearing range also starts the angular speed integrated value of back generation and correction repeatedly according to search utility.Surpass threshold value Lb if judge received signal level L, then recover the radio wave trace routine to substitute search utility.If passed through scheduled time Tmax when search utility starts after, received signal level then starts the afterbody search still less than threshold value Lb, and wherein antenna AT rotates in 360 ° of angular ranges.
Fig. 9 is the flow chart of an example of search utility of microprocessor 1 execution.When search utility begins to carry out, microprocessor 1 will insert timer reset (step 61), and lose from tracking and deduct the rotational angle θ o that mobile device detects in the tracking orientation of generation, make remainder-θ o be used as the central value (step 62) of sweep limits.Then, whether elapsed time T arrived the time T max (step 63) that the afterbody search should be carried out after the microprocessor judges search operation began.Also do not arrive if judge the elapsed time, microprocessor 1 also is provided with scanning angle range delta θ i, scan velocity V i and Ti sweep time (step 64) that progressively increases except being provided with from the elapsed time T of search operation.
Then, microprocessor 1 judges that whether received signal level surpasses threshold value Lb, simultaneously-and the angular range of θ o ± Δ θ i is scanned (step 65, step 66) with angular speed Vi.If received signal level is less than threshold value Lb, microprocessor 1 deducts central value and the corner that the back mobile device causes is set changes from the sweep limits central value-θ o that is provided with, and is that new central value (step 67) is set with remainder.Then, microprocessor 1 is judged the sweep time of overtime Ti (step 68) whether.If judged result is a "No", program is returned step 65, and microprocessor 1 repeating step 65 is to step 68.If surpass setting-up time Ti sweep time, microprocessor execution in step 63 and 64, scan angle range Theta i wherein, scan velocity V i and sweep time Ti once increase a unit and, repeating step 65 to 68 then.
If in step 66, judge that received signal level L has surpassed threshold value Lb; Microprocessor 1 storage current tracking orientation (step 70), and the radio wave tracing mode of beginning differential control.Begin elapsed time T from Search Control and surpassed definite time T max if in step 63, detect, microprocessor 1 changes in 360 ° angular range follows the tracks of the orientation, surpass threshold value Lb (step 69) up to received signal level L, if the received signal level L that detects has surpassed threshold value Lb, microprocessor 1 storage received signal level surpasses the tracking orientation (step 70) at threshold value Lb place, and carries out the radio wave tracing mode of differential control once more.Step 69 is also carried out after the power supply of satellite broadcasting receiving antenna is opened immediately.
The present invention is not limited to the foregoing description.Top embodiment can make amendment in many aspects.
In differential control, velocity of rotation makes with the increment through the received signal level that produced in last time rotating after the definite angle proportional.Yet velocity of rotation also can or can be set up other suitable functional relation for rotating speed with the square proportional of increment.Equally, the increment of received signal level also can be substituted by the arbitrary unit increment of determining angle above being different from after the top definite angle of process, as per 1 ° or per 10 °.
As mentioned above, the integrated value of angular speed is detected together with angular speed, but also can omit according to the kind of mobile device and the measuring accuracy of angular speed.
Have only when the tracking mode of determining the radio wave tracking means has departed from good tracking mode, the integrated value of the angular speed of storage can early start a definite time, makes to detect the rotational angle that mobile device turns over immediately before tracking is lost.
In addition, good tracking mode can only detect from the amplitude of received signal level.
Tracking is lost the corner that moves forward and backward device and can be detected by surpass that beginning integration of determining threshold value from angular speed.
When not considering accepting state, take place to follow the tracks of when losing under the condition of the several nearest values of storage after the angular integral speed periodically, just the integrated value variable quantity of storage can detectedly make and might lose the corner of locating the detection mobile device producing to follow the tracks of losing before.
After the satellite acquisition operation,, follow the tracks of the correction of bearing range central value and can omit in order to reduce the time that need be used for integration.
Sweep amplitude angle and sweep speed are not progressively to increase, but increase smoothly.
Impulse motor can be substituted by the combination of direct current machine and encoder.
Below only the single-shaft tracking system in orientation is described.Yet if necessary, in follow-up control apparatus of the present invention, also can carry out the tracking operation of height.
Follow-up control apparatus of the present invention is not limited to satellite broadcasting receiving antenna, also can be applicable to from or receive and send other antenna assembly of radio wave to another suitable fixed statellite or mobile-satellite such as communications satellite.
In addition, follow-up control apparatus of the present invention is not limited to be installed in the satellite broadcasting receiving antenna on the automobile, also can be applicable to be installed on the antenna on aircraft, train or other mobile device.
As top detailed description, follow-up control apparatus of the present invention has differential control final controlling element, make that when the increment with the per unit angle received signal level that last time rotation was relevant becomes big satellite broadcasting receiving antenna is with high velocity of rotation, once rotate a definite angle.Thereby can realize high follow-up control.
In addition, when received signal level reduced suddenly, follow-up control apparatus of the present invention detected angular speed and its integrated value, and caused owing to barrier or turn inside diameter according to the unexpected reduction of this received signal level, started suitable control immediately.Thereby realize higher follow-up control.
In addition, when the generation tracking was lost, follow-up control apparatus utilization of the present invention produces followed the tracks of the corner of losing place's mobile device, revises current tracking orientation, and made the scope in tracking orientation center on this correction value in the enterprising line scanning of amplitude that increases in time.Therefore, the possibility that overlaps with satellite direction of sweep limits central value is greater than not utilizing this corner to make the former technology of this correction.Like this, under low speed, catch once more satellite direction in case of necessity between with before technology compare and can reduce.
Simultaneously, owing to sweep amplitude, especially sweep speed can increase gradually, along with the reduction power consumption of catching the satellite required time has once more also reduced.
If mobile device is on forthright when mobile in addition, follow the tracks of only to lose and cause by barrier, because the mobile device corner is 0, center on current tracking orientation, the scanning that is used to search for so start execution.Like this, the moment of the influence of barrier elimination might be improved the possibility that satellite direction is caught again.
In addition, though when follow the tracks of lose be turning by barrier and mobile device occur simultaneously and cause the time, need not judge that reason can carry out suitable control.
Claims (26)
1. be installed on the mobile device and be controlled at the follow-up control apparatus that satellite broadcasting receiving antenna on the mobile device receives the radio wave of satellites transmits, it comprises that follow-up control apparatus (20) is used to detect the described radio wave level that is received by described satellite broadcasting receiving antenna, control the angle of rotation of described antenna according to the received signal level of described detection, described follow-up control apparatus comprises differential control device (100), when becoming big, on the angle of determining, rotate described antenna repeatedly with higher velocity of rotation with the increment that last time rotated relevant described per unit angle received signal level.
2. according to the follow-up control apparatus of claim 1, wherein said follow-up control apparatus (20), also comprise retentive control device (200), be used for when described received signal level surpass have been determined threshold value (Lt), keep the angle of rotation of described antenna to control the value that executes the place at described differential, when described received signal level surpasses described definite threshold value (Lt) and when described velocity of rotation is reduced to predetermined value, stops the described retentive control device of back startup at described differential control device (100).
3. the satellite broadcasting receiving antenna that is installed on the mobile device and is controlled on the mobile device receives from the follow-up control apparatus of the radio wave of satellites transmits, and it comprises:
Control device (100) is used to strengthen tracking accuracy;
Wait for control device (300), on definite time interval, recovered in order to wait for received signal level; With
Follow-up control apparatus in order to the described received signal level that detects the described radio wave that described antenna received and the angular speed of described mobile device, and according to the received signal level and the acceleration of described detection, is controlled the angle of rotation of described antenna; Described follow-up control apparatus comprises that retentive control final controlling element (200) is in order to compare first threshold (Lt) and described received signal level; If described received signal is the flat described threshold value that surpasses, then detect repeatedly described received signal level nearest value and with the comparison value of described first threshold (Lt), the described angle of rotation that keeps described antenna simultaneously is at currency; And if surpassed second threshold value when the described received signal level that detects once more is reduced to the described angular speed that detects when being lower than described first threshold (Lt), then start described control device (100) in order to strengthen tracking accuracy, if perhaps the angular speed of described detection is lower than described second threshold value, start described wait control device (300).
4. according to the follow-up control apparatus of claim 3, it is relative value with described received signal level peak value that wherein said retentive control device is provided with (200) described first threshold (Lt), and the described nearest value of each described received signal is when surpassing threshold value greater than its peak value that is amplified by power amplifier, the described peak value of described received signal is changed into the nearest value of the described received signal level of detection, described first threshold (Lt) is changed into described nearest peak value.
5. according to the follow-up control apparatus of claim 3, the described control device (100) that wherein strengthens tracking accuracy is used for when becoming big with the increment that last time rotated the described received signal level of relevant per unit angle rotating described antenna repeatedly on determining and controlling to carry out differential described with higher velocity of rotation.
6. according to the follow-up control apparatus of claim 5, the described control device (100) that wherein is used to strengthen tracking accuracy is when described received signal level surpasses described threshold value Lt and described velocity of rotation when being reduced to predetermined value, be stopped execution, described retentive control device (200) is started.
7. according to the follow-up control apparatus of claim 3, wherein said follow-up control apparatus also has scanning means (500) in order to 360.Maximum magnitude on rotate described antenna, thereby search for described satellite, described wait device (300) comprises first, is used for the operation of value and more described nearest value and described threshold value (Lt) recently of the described received signal level of high frequency duplicate detection; And second portion, be used for operation with the nearest value of the described received signal level of low frequency duplicate detection and more described nearest value and described threshold value (Lt), if and described received signal level returns to the value that surpasses described threshold value (Lt) in described definite wait period, described retentive control device (200) is started, if and described received signal level do not return to described value, start described scanning means (500).
8. according to the follow-up control apparatus of claim 7, wherein said wait control device (300) is stopped execution when surpassing with the described angular speed of determining frequency detecting when determining threshold value in the described stand-by period, make then describedly to start in order to the described control device (100) that strengthens tracking accuracy.
9. the satellite broadcasting receiving antenna that is installed on the mobile device and controls on the mobile device receives from the follow-up control apparatus of the radio wave of satellites transmits, comprising:
Control device (100) is used to strengthen tracking accuracy;
Wait for control device (300), recovered through a definite time in order to wait for described received signal level; With
Follow-up control apparatus, in order to detect the received signal level of the described radio wave that described antenna receives, the angular speed of described mobile device and the integrated value of described angular speed, and in order to received signal level according to described detection, angular speed and described angular speed integrated value, control the rotational angle of described antenna, described follow-up control apparatus comprises retentive control device (200), in order to more described received signal level and definite threshold value (Lt), repeat described received signal level nearest value detection and with the comparison of described threshold value (Lt), if described received signal level surpasses described threshold value simultaneously, keep described wireless angle of rotation at currency; And if one of the angular speed that detects when being reduced to less than described threshold value (Lt) when the described received signal level that detects once more or integrated value of described angular speed are when offering one of described angular speed and described integrated value threshold value accordingly, startup is in order to strengthen the described control device (100) of tracking accuracy, if when perhaps the angular speed of described detection and described integrated value all are lower than described threshold value, start described wait control device (300).
10. according to the follow-up control apparatus of claim 9, wherein said retentive control device (200) is provided with the relative value that described threshold value Lt is described received signal level peak value, and when the nearest value of the described received signal level of each described detection surpasses the threshold value of the described peak value that amplifies greater than the amplifying power of determining, the peak value that changes described received signal level is the described nearest value of described received signal level, changes described threshold value (Lt) and is described nearest peak value.
11. follow-up control apparatus according to claim 9, wherein be used to strengthen the described control device of tracking accuracy, the control of execution differential, be used for when big, with higher velocity of rotation described antenna of repeated rotation on described definite angle with the described received signal level change in the per unit angle that last time rotation was relevant.
12. follow-up control apparatus according to claim 11, the described control device (100) that wherein strengthens tracking accuracy surpasses described threshold value (Lt) and is reduced to predetermined value when following when described velocity of rotation when described received signal level, be stopped execution, and described retentive control device (200) is started.
13. follow-up control apparatus according to claim 9, wherein said follow-up control apparatus also has scanning means (500) in order to rotate described antenna in 360 ° maximum magnitude, thereby search of satellite, described wait control device (300) has first and is used for the operation of value and more described detected value and described threshold value (Lt) recently of the described received signal level of high frequency duplicate detection, be used for the operation of value and more described detected value and described threshold value (Lt) recently of the described received signal level of low frequency duplicate detection with second portion, if and described received signal level returns to the value that surpasses described threshold value (Lt) in described waiting time, described retentive control device (200) is started, if and the not recovery of described received signal level, start described scanning means (500).
14. follow-up control apparatus according to claim 13, wherein said equal controller (300) is when surpassing a definite threshold value with the described angular speed of determining frequency detecting in described waiting time, be stopped execution, and be used in described control device (100) startup that strengthens tracking accuracy.
15. follow-up control apparatus according to claim 13, wherein when the described received signal level that detects in described waiting time occurs determining number of times between the little threshold value (Lm) in described threshold value (Lt) with than it continuously, described wait control device (300) stops to carry out, and the described control device (100) that strengthens tracking accuracy is started.
16. according to the follow-up control apparatus of claim 9, wherein said satellite is the broadcasting satellite on stationary orbit, described mobile device is a vehicle.
17. be installed on the mobile device, and have and be used to receive from the antenna (AT) of the radio wave of satellites transmits and be used to change described antenna direction horizontal component (claiming " tracking orientation " later on) at least so that the mobile model satellite broadcasting receiving antenna device of the automatic tracking section (20) of the described satellite of described antenna direction, wherein said automatic tracking section (20) comprising:
Incoming level checkout gear (5) is used to detect the received signal level of the described radio wave that described antenna (AT) receives;
Angular speed detecting apparatus (17), the angular speed horizontal component when being used to detect described mobile device and turning;
Radio wave tracking means (1) is used for changing described tracking orientation to increase described detected received signal level when described detected received signal level surpass to be determined threshold value;
Rotation angle detecting apparatus (1) is used for detecting the corner of described mobile device by the horizontal component integration to the detected described angular speed of described angular speed detecting apparatus; With
Satellite acquisition device (100), be used for when the described received signal level of described incoming level checkout gear detection is reduced to less than described threshold value, detect the change amount of described rotation angle detecting apparatus detected described corner before described received signal level reduces, described change amount according to described corner is revised current tracking orientation, and on the amplitude that increases with elapsed time, change described tracking orientation around described correction value, thereby carry out search described satellite.
18. mobile model satellite broadcasting receiving antenna device according to claim 17, when the tracking mode that wherein said rotation angle detecting apparatus (1) is carried out when described radio wave tracking means is considered to depart from the good tracking mode with little tracking error, the angular speed horizontal component that begins the described detection of integration from this time point.
19. the mobile model satellite broadcasting according to claim 17 receives the sky through device, wherein said rotation angle detecting apparatus (1) is by the horizontal component of the angular speed of the described detection of integration, detect the corner of described mobile device, and when the tracking mode of described radio wave tracking means execution was considered to have the good tracking mode of little tracking error, it was pre-determined reference value that described detected value is set.
20. according to the mobile model satellite broadcasting receiving antenna device of claim 18, wherein:
Described radio wave tracking means (1) has retentive control device (200) and is used for surpassing when being lower than definite threshold value greater than second threshold value of described threshold value and the last time speed that changes when described tracking orientation when described detected received signal level, stops the change in described tracking orientation; With
Described rotation angle detecting apparatus (1), when described radio wave tracking means (1) in retentive control state following time, judge described good tracking mode.
21. according to the mobile model satellite broadcasting receiving antenna device of claim 20, wherein said second threshold value is defined as and changes over the ratio of the maximum receiving signal of detected big received signal level.
22. receive wireless device according to the mobile model satellite broadcasting of claim 17, wherein said rotation angle detecting apparatus (1) starts described integration when the detected described angular speed of described angular speed detecting apparatus (7) surpasses when determining threshold value.
23. according to the mobile model satellite broadcasting receiving antenna device of claim 17, wherein said satellite acquisition device (1) is according to starting the corner that described mobile device rotates behind the described satellite of search, revise described rotational orientation around the central value of change.
24. according to the mobile model satellite broadcasting receiving antenna device of claim 22, wherein said satellite acquisition device (1) is according to starting the corner that the described mobile device in back rotates to the search of described satellite, revise described tracking orientation around the central value of change.
25. according to the mobile model satellite broadcasting receiving antenna device of claim 17, the rapid change described tracking orientation of wherein said satellite acquisition device (1) to increase with the elapsed time.
26. mobile model satellite broadcasting receiving antenna device according to claim 17, wherein said radio wave tracking means (1) is when becoming big with the increment that last time changed the described received signal level of relevant per unit angle, to change described tracking orientation at a high speed in determining scope.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
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| JP1988694 | 1994-01-20 | ||
| JP19886/94 | 1994-01-20 | ||
| JP93648/94 | 1994-04-07 | ||
| JP9364894 | 1994-04-07 |
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|---|---|
| CN1122169A true CN1122169A (en) | 1996-05-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN95190037A Pending CN1122169A (en) | 1994-01-20 | 1995-01-19 | Satellite-broadcast receiving mobile antenna apparatus |
Country Status (5)
| Country | Link |
|---|---|
| EP (1) | EP0691039A1 (en) |
| KR (1) | KR100205277B1 (en) |
| CN (1) | CN1122169A (en) |
| CA (1) | CA2157108A1 (en) |
| WO (1) | WO1995020249A1 (en) |
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| CN100413146C (en) * | 2004-12-14 | 2008-08-20 | 庞江帆 | Signal levelling detecting and dynamic tracking satellite antenna |
| CN100423362C (en) * | 2003-05-26 | 2008-10-01 | 起亚自动车株式会社 | Method for controlling mobile satellite tracking antenna system |
| CN103037383A (en) * | 2011-08-25 | 2013-04-10 | 快美思科技有限公司 | Wireless cable |
| US8428560B2 (en) | 2004-05-12 | 2013-04-23 | Kyocera Corporation | Mobile telephone having broadcast reception function |
| CN103472726A (en) * | 2013-09-22 | 2013-12-25 | 上海无线电设备研究所 | Non-linear tracing control method capable of prolonging service life of space moving part |
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| JP3627377B2 (en) * | 1996-05-29 | 2005-03-09 | トヨタ自動車株式会社 | In-vehicle satellite signal receiver |
| JP3792013B2 (en) | 1997-08-12 | 2006-06-28 | 富士通株式会社 | Wireless LAN and in-system transmission / reception device |
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| US6396446B1 (en) | 1999-02-16 | 2002-05-28 | Gentex Corporation | Microwave antenna for use in a vehicle |
| DE10332777B3 (en) * | 2003-07-17 | 2005-03-10 | Deutsch Zentr Luft & Raumfahrt | A method of aligning a vehicle-mounted directional antenna of a satellite signal receiver with a communications satellite |
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| JP2580832B2 (en) * | 1990-04-19 | 1997-02-12 | 日本電気株式会社 | Mobile mounted antenna controller |
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- 1995-01-19 CN CN95190037A patent/CN1122169A/en active Pending
- 1995-01-19 EP EP95906486A patent/EP0691039A1/en not_active Withdrawn
- 1995-01-19 WO PCT/JP1995/000047 patent/WO1995020249A1/en not_active Application Discontinuation
- 1995-01-19 KR KR1019950703977A patent/KR100205277B1/en not_active IP Right Cessation
- 1995-01-19 CA CA002157108A patent/CA2157108A1/en not_active Abandoned
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| CN109994822A (en) * | 2019-04-16 | 2019-07-09 | 中国人民解放军国防科技大学 | High-power microwave space beam swept planar array antenna |
| CN111093063A (en) * | 2019-12-23 | 2020-05-01 | 海信电子科技（深圳）有限公司 | Position display method and device for motor device |
| CN111093063B (en) * | 2019-12-23 | 2022-01-14 | 海信电子科技（深圳）有限公司 | Position display method and device for motor device |
Also Published As
| Publication number | Publication date |
|---|---|
| KR100205277B1 (en) | 1999-07-01 |
| EP0691039A1 (en) | 1996-01-10 |
| CA2157108A1 (en) | 1995-07-27 |
| KR960701492A (en) | 1996-02-24 |
| WO1995020249A1 (en) | 1995-07-27 |
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