CN115566428B - Star finding method, device, equipment and medium for communication-in-motion antenna - Google Patents
Star finding method, device, equipment and medium for communication-in-motion antenna Download PDFInfo
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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
- H01Q3/08—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 two co-ordinates of the orientation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The application discloses a star finding method, a star finding device, a star finding equipment and a star finding medium for a communication-in-motion antenna. The method comprises the following steps: acquiring an azimuth angle and a pitch angle of a satellite antenna to be searched; the star antenna to be searched is controlled to scan according to the azimuth angle and the pitch angle; updating the data item group and the sampling accumulated value according to the sampling RSSI value obtained by scanning; and determining the current star finding result according to the accumulated value and the data item group. And scanning in azimuth angle and pitch angle ranges, setting a data item group and a sampling accumulated value, updating the data item group, the sampling accumulated value and a set RSSI maximum value judging mode according to the sampling RSSI value, determining whether the RSSI maximum value exists, and further determining the current star finding result. The method solves the problem of initializing the communication-in-motion antenna based on low-precision inertial navigation, improves the satellite finding efficiency, reduces the satellite finding time of the antenna and improves the accuracy of satellite finding positions.
Description
Technical Field
The present application relates to the field of satellite communications technologies, and in particular, to a method, an apparatus, a device, and a medium for searching for a satellite in a communication-in-motion antenna.
Background
The satellite finding process of the phased array antenna refers to a process that the antenna automatically finds a satellite to be tracked in space, and the process is a precondition for ensuring that the antenna can track the satellite in real time and high precision under dynamic state, and is one of main core technologies of the phased array antenna. The satellite searching of the phased array antenna mainly comprises two aspects of first satellite searching after the system is powered on and re-satellite searching after satellite signals are lost in the tracking process.
Currently, the initial satellite searching process of the phased array antenna mainly refers to calculating a satellite searching instruction angle (pitch angle, polarization angle and azimuth angle) of the antenna by means of position and attitude angle information given by a high-precision inertial navigation system, and controlling the antenna to aim at a satellite. In order to solve the problem of initializing the communication-in-motion antenna based on low-precision inertial navigation, the antenna azimuth axis scanning of 0-360 degrees and satellite beacon signal peak value recognition technology are adopted to realize antenna satellite finding, but the antenna is subjected to omnibearing scanning in the satellite finding process, the satellite finding time is long, and in addition, the currently disclosed communication-in-motion antenna satellite finding method mainly aims at the initial satellite finding method after the system is powered on, and the satellite finding strategy of the communication-in-motion antenna under all conditions in the use process is not considered.
Content of the application
The application provides a satellite searching method, device, equipment and medium for a communication-in-motion antenna, which are used for searching and tracking satellites.
According to a first aspect of the present application, there is provided a satellite finding method for a communication-in-motion antenna, the method comprising:
acquiring an azimuth angle and a pitch angle of a satellite antenna to be searched;
the star antenna to be searched is controlled to scan according to the azimuth angle and the pitch angle;
updating the data item group and the sampling accumulated value according to the sampling RSSI value obtained by scanning;
and determining a current star finding result according to the sampling accumulated value and the data item group.
According to a second aspect of the present application, there is provided a satellite finding device for a communication-in-motion antenna, the device comprising:
the angle acquisition module is used for acquiring the azimuth angle and the pitch angle of the antenna to be sought;
the antenna control module is used for controlling the antenna to be searched to scan according to the azimuth angle and the pitch angle;
the updating module is used for updating the data item group and the sampling accumulated value according to the sampling RSSI value obtained by scanning;
and the result determining module is used for determining the current star finding result according to the sampling accumulated value and the data item group.
According to a third aspect of the present application, there is provided an electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method for satellite finding for a communication-in-motion antenna according to any one of the embodiments of the present application.
According to a fourth aspect of the present application, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement a method for satellite finding for a communication-in-motion antenna according to any one of the embodiments of the present application when executed.
According to the technical scheme, whether the maximum RSSI exists or not is determined by scanning in the azimuth angle range and the pitch angle range, setting the data item group and the sampling accumulated value, and updating the data item group, the sampling accumulated value and the set RSSI maximum judgment mode according to the sampling RSSI value, so that the current star finding result is determined. The method solves the problem of initializing the communication-in-motion antenna based on low-precision inertial navigation, improves the satellite finding efficiency, reduces the satellite finding time of the antenna and improves the accuracy of satellite finding positions.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the application or to delineate the scope of the application. Other features of the present application will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a star finding method of a communication-in-motion antenna according to an embodiment of the present application;
fig. 2 is a flowchart of a star finding method of a communication-in-motion antenna according to a second embodiment of the present application;
fig. 3 is an example flowchart of a star finding method of a communication-in-motion antenna according to a second embodiment of the present application;
fig. 4 is a schematic structural diagram of a star finder of a communication-in-motion antenna according to a third embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device implementing a star finding method of a communication-in-motion antenna according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a star finding method of a communication-in-motion antenna according to an embodiment of the present application, where the method may be performed by a star finding device of the communication-in-motion antenna, the star finding device of the communication-in-motion antenna may be implemented in hardware and/or software, and the star finding device of the communication-in-motion antenna may be configured in an electronic device. As shown in fig. 1, the method includes:
S110, acquiring an azimuth angle and a pitch angle of the antenna to be sought.
In this embodiment, the satellite antenna to be searched can be understood as an antenna that needs to search for satellites. Azimuth angle is understood to mean the horizontal angle between the antenna to be found and the clockwise direction from the north-pointing line of the device from which the antenna is to be found. The pitch angle can be understood as the angle between the antenna to be pointed and the sea level.
Specifically, the antenna to be found can be connected with the high-precision positioning and orientation GNSS module and the antenna controller, and when finding a star, the processor can send an azimuth acquisition instruction to the high-precision positioning and orientation GNSS module, and the GNSS module can detect the current azimuth of the antenna to be found and send the azimuth to the processor. The antenna controller can be connected with an input panel, and a user can input the satellite longitude of the antenna to be searched and the GPS longitude and latitude of the antenna in advance through the panel. The antenna controller receives the satellite longitude and the antenna GPS longitude and latitude input by a user and transmits the satellite longitude and latitude and the antenna GPS longitude and latitude to the processor, and the processor can calculate the pitch angle of the antenna to be searched according to the satellite longitude and the antenna GPS longitude and latitude according to a preset pitch angle calculation method.
S120, the star antenna to be searched is controlled to scan according to the azimuth angle and the pitch angle.
Specifically, the satellite antenna to be searched can be connected with the wave speed main control board and the driving motor, the processor can generate a pitch angle control instruction according to the acquired pitch angle, the pitch angle control instruction is sent to the wave speed main control board, the pitch angle of the wave speed can be set after the pitch angle control instruction is received through the wave speed main control board, namely the wave speed is controlled by the wave speed main control board to perform pitch angle electric scanning. The processor can generate an azimuth control instruction according to the acquired azimuth, send the azimuth control instruction to the driving motor, directly move the antenna to be sought to an initial position with a certain included angle with the azimuth acquired in the negative direction through the driving motor, take the position with a certain included angle between the positive direction and the acquired azimuth as a final position, namely control the antenna to be sought to mechanically scan in the initial position and the final position range through the driving motor, and scan from the initial position to the final position and then transmit the antenna to the initial position.
S130, updating the data item group and the sampling accumulated value according to the sampling RSSI value obtained by scanning.
In this embodiment, the sampled RSSI values may be understood as satellite signal strength indications received during the scanning process. A group of data items may be understood as a set comprising a set number of accumulated values of samples. The sample accumulated value may be understood as an accumulated value of a set number of sample RSSI values.
Specifically, the user may preset parameters, for example, the parameters may include: the number of data items included in the data item group, the number of sampling RSSI values to be accumulated in the sampling accumulated value, a threshold value and a lower limit detection value, the number of initialized sampling times, the number of capturing times and the like. The processor can acquire preset parameters, and can set a sampling buffer area for storing the sampling RSSI value which needs to be accumulated by the sampling accumulated value. The sampling RSSI values at different moments can be obtained in the scanning process, the sampling RSSI values at different moments are updated to corresponding positions in the sampling buffer areas, the sampling RSSI values at the current moment can be stored in the first sampling buffer area, the sampling RSSI values at the next moment are stored in the second sampling buffer area, and so on, until all the sampling buffer areas are full, the sampling RSSI values at the next moment are stored from the beginning, the sampling RSSI values in the first sampling buffer area are replaced, and so on. The sampling accumulated value is the accumulation of sampling RSSI values in all sampling buffer areas, the sampling buffer areas are updated according to the sampling RSSI values at each moment, and the sampling accumulated value can be updated according to the updated sampling buffer areas. The data item groups can comprise a plurality of data item groups, one sampling accumulated value can be correspondingly updated every time one sampling RSSI value is acquired, the first sampling accumulated value can be stored in a first data item in the data item groups, the updated sampling accumulated value can be stored in a second data item in the data item groups, and the like until all data items in the data item groups are stored in the sampling accumulated value, the next updated sampling accumulated value can be stored from the head, the sampling accumulated value stored in the first data item is replaced by the updated sampling accumulated value, and the like.
S140, determining a current star finding result according to the sampling accumulated value and the data item group.
In this embodiment, the current star finding result may be understood as a star finding result indicating whether the current scanning is successful, for example, the maximum duration of scanning is 1 minute, and the duration of scanning from the initial position to the final position is 20s each time, then the maximum duration may be scanned 5 times, and if the current scanning is the 3 rd scanning, the current star finding result corresponds to the 3 rd scanning star finding result.
Specifically, parameters preset by a user can be obtained to obtain a threshold value and a lower limit detection value, the data item group can be traversed, and the smallest data item with the smallest sampling RSSI value in the data item group is determined. When the maximum value does not exist, the current sampling accumulated value, the threshold value and the minimum data item can be brought into a preset judging formula, whether the current sampling accumulated value is the maximum value is determined, whether the next sampling accumulated value is the maximum value is determined according to the next sampling accumulated value, if the continuous set number of sampling accumulated values are all determined to be the maximum value, whether the satellite exists at the current position can be judged according to the current maximum value, the lower limit detection value and the current sampling accumulated value which are substituted into preset satellite judging conditions, when the satellite judging conditions are met, the satellite exists at the current position of the satellite antenna to be searched, the current position of the satellite antenna to be searched is kept, and the current position is used as the satellite position to lock the satellite. If the satellite is not found, the current satellite finding result is that the satellite is not found, namely, the satellite does not exist in the current pitch angle or the current azimuth scanning range, and when the set satellite finding time is not scanned, the pitch angle can be automatically adjusted according to the set step length, and the scanning is performed again. When the scanning is overtime, the scanning parameters, such as the parameters of the step length of the pitch angle, the scanning range of the azimuth angle and the like, can be adjusted, and the star antenna to be searched is controlled to scan again.
According to the star finding method of the communication-in-motion antenna, scanning is conducted in the azimuth angle and pitch angle ranges, the data item group and the sampling accumulated value are set, whether the RSSI maximum value exists or not is determined according to the sampling RSSI value updating data item group, the sampling accumulated value and the set RSSI maximum value judging mode, and then the current star finding result is determined. The method solves the problem of initializing the communication-in-motion antenna based on low-precision inertial navigation, improves the satellite finding efficiency, reduces the satellite finding time of the antenna and improves the accuracy of satellite finding positions.
As a first optional embodiment of the present embodiment, after determining the current star finding result according to the sampling accumulated value and the data item group based on the above embodiment, further optimization may include:
and if the current satellite finding result is satellite position information, tracking the satellite, and when the satellite signal of the satellite is lost, controlling the satellite antenna to be found to find the satellite again.
In this embodiment, the satellite position information may be understood as the position of the satellite to be found by the satellite finding antenna.
It should be noted that, after the satellite is found by the satellite antenna to be found, the satellite antenna to be found is kept at the position when the satellite is found, but in the subsequent process, factors such as shielding and interference may be encountered, so that the satellite signal is lost by the satellite antenna to be found.
Specifically, if the current satellite finding result is satellite position information, namely a satellite is found, the satellite can be tracked, satellite signals are detected in real time in the tracking process, when the satellite signals weaken or disappear, the processor judges that the satellite signals are lost currently, the satellite finding antenna can be controlled to find the satellite again, if the satellite is found, the tracking process is entered again, if the satellite is not found and the set satellite finding time is reached, the satellite finding antenna stops finding the satellite, and a user can adjust parameters to find the satellite again.
In a first alternative embodiment of the first embodiment, the satellite signal is monitored in real time by entering the tracking process after the satellite is found, and when the satellite signal is lost, the satellite antenna to be searched is controlled to search for satellites again. When the signal is interrupted, the star finding can be quickly realized, and the signal interruption time is reduced.
As a second alternative embodiment of the present embodiment, on the basis of the above embodiment, further optimization may include:
a1, if the current satellite finding result is that a satellite is not found and the finding accumulated time length is smaller than the set time length threshold value, adjusting a pitch angle according to the set step length to obtain a new pitch angle, and returning to execute the scanning operation of the satellite antenna to be found again.
In this embodiment, the search cumulative time period may be understood as a time period from the start of the star search to the determination of the current star finding result. The duration threshold may be understood as the set maximum scan time. The step size is understood to be the angle of each adjustment of the pitch angle. Such as 0.05 °, 0.1 °, etc.
Specifically, the timing can be started from the moment when the antenna to be found starts scanning, the antenna to be found is scanned from the initial position to the end position of the azimuth, and the satellite is still found, so that the current satellite finding result is that the satellite is not found, and the finding accumulated time from the moment when the scanning starts to the end position can be obtained. The processor may acquire the set step length, and may add the step length to the pitch angle to obtain a new pitch angle, and return to execute the scanning operation of the antenna to be searched again according to the new pitch angle, that is, return to step S120 according to the new pitch angle.
The time length threshold may be 1 minute, the current satellite finding result is that the finding accumulated time length when the satellite is not found is 20s, the set step length may be 0.1 ° and the current pitch angle is B, if the step length is less than 1 minute after 20s is determined, a new pitch angle can be obtained by adding the step length on the basis of the current pitch angle, that is, the new pitch angle b+0.1°, and then the satellite antenna to be found is continuously controlled to scan according to the azimuth angle and the angle b+0.1° obtained previously.
And b1, if the current satellite finding result is that a satellite is not found and the finding accumulation time length is greater than or equal to a set time length threshold, controlling the antenna to be found to stop scanning, and taking the satellite which is not found as a final satellite finding result.
In this embodiment, the final star finding result may be understood as the star finding result when the duration threshold is reached.
Specifically, if the current satellite finding result is that the satellite is not found and the finding accumulation time length is greater than or equal to the set time length threshold, the antenna to be found can be controlled to stop scanning, and the satellite which is not found is used as the final satellite finding result. The final star finding result may be displayed in the form of a pop-up window in a display panel connected to the antenna controller, such as: prompt "do not find satellite, if change parameters continue to find in display panel? The user can adjust the scanning parameters through the display panel and transmit the scanning parameters into the processor, so that the antenna to be searched for the star can scan according to the new scanning parameters. The scanning parameters may be a step size for adjusting a pitch angle, an angle threshold for adjusting an azimuth angle, a size of a data item group, a size of a sampling buffer area, and the like.
In a second alternative embodiment of the first embodiment, when the current satellite finding result is that the satellite is not found and the set time period threshold is not reached, the pitch angle of the antenna to be found is adjusted, and the antenna to be found is controlled to find satellites in a new pitch angle. The automatic change of the scanning parameters of the antenna to be found is realized, the automation of finding the star is realized, the success rate of finding the star is further improved, the scanning parameters are not required to be changed manually, the efficiency of finding the star is improved, and the time of finding the star is reduced.
Example two
Fig. 2 is a flowchart of a star finding method of a communication-in-motion antenna according to a second embodiment of the present application, where the present embodiment is further refined based on the foregoing embodiment. As shown in fig. 2, the method includes:
s201, acquiring an azimuth angle and a pitch angle of the antenna to be sought.
S202, determining a positive azimuth angle and a negative azimuth angle according to the azimuth angle and the acquired angle threshold.
In the present embodiment, the angle threshold value may be understood as a threshold value for adjusting the angle scanning range. Positive azimuth may be understood as azimuth obtained by adding an angle threshold to azimuth, and negative azimuth may be understood as azimuth obtained by subtracting an angle threshold from azimuth.
Specifically, the azimuth angle may be added to the angle threshold to obtain a positive azimuth angle, and the azimuth angle may be subtracted from the angle threshold to obtain a negative azimuth angle.
Illustratively, the azimuth angle is a, the angle threshold is 10 °, then the positive azimuth angle may be a+10°, and the negative azimuth angle may be a-10 °.
S203, controlling the star antenna to be searched to move to a position corresponding to the pitch angle, and scanning according to the determined current scanning track.
In this embodiment, the current scan trajectory may be understood as the scan range of the antenna to be sought. The current scanning track is from a positive azimuth angle to a negative azimuth angle or from a negative azimuth angle to a positive azimuth angle.
Specifically, the processor can acquire a pitch angle and an azimuth angle, can control the wave speed main control board to set the pitch angle of the wave speed of the antenna to be sought, move the wave speed to a position corresponding to the pitch angle, and can control the driving motor to move the antenna to be sought to the initial position of the current scanning track. And the driving motor controls the antenna to be searched for the star to scan according to the current scanning track.
Illustratively, the pitch angle may be B, the positive azimuth angle may be A+10°, the negative azimuth angle may be A-10 °, and the current scan trajectory is from the negative azimuth angle to the positive azimuth angle. And controlling the pitch angle of the antenna to be searched as B, controlling the antenna to be searched to move to the position A-10 degrees, and scanning according to the current scanning track from A-10 degrees to A+10 degrees and then from A+10 degrees to A-10 degrees.
S204, updating the target sampling buffer area under the corresponding sampling times according to the sampling RSSI value obtained by scanning.
In this embodiment, the sampling number may be understood as counting the sampled RSSI value obtained by each sampling. The target sample buffer may be understood as a sample buffer for storing the current sample RSSI value.
Specifically, after the sampling RSSI value is obtained each time, the sampling frequency is +1, the sampling frequency corresponding to the next sampling RSSI value is obtained, and when the sampling frequency reaches the set maximum sampling buffer area number, the sampling frequency is cleared. The sampling frequency corresponding to the scanning can be found according to the sampling RSSI value obtained by the scanning, the corresponding target sampling buffer area under the sampling frequency is determined, and the target sampling buffer area can be updated according to the sampling RSSI value to replace the sampling RSSI value stored in the target sampling buffer area last time.
By way of example, the number of sample buffers may be set to 16. The sample buffer may be initialized based on the first obtained sample RSSI value and the sample accumulation value may be initialized based on the sample buffer. The expression can be represented by the following formula:
RSSI_buf[x]＝RSSI_adc
AVG＝RSSI_buf[0]+RSSI_buf[2]+…+RSSI_buf[15]
wherein RSSI_buf [ x ] represents an xth sampling buffer region, x is the sampling times, RSSI_adc represents a sampling RSSI value, and AVG represents a sampling accumulated value.
For example, the first acquired sample RSSI value may be adc1, stored in the 0 th sample buffer, and for sample count +1, the next sample count is 1, rssi_buf0=adc 1; the second acquired sampling RSSI value can be adc2, and the sampling RSSI value is stored in the 1 st sampling buffer area, and the sampling frequency is +1, then the next sampling frequency is 2, RSSI_buf1 ] =adc 2; similarly, the sampled RSSI value obtained in the 16 th scan may be adc16, and stored in the 15 th sampling buffer, i.e., rssi_buf15=adc 16, where the number of sampling buffers is 16, the number of sampling times is cleared, the next sampling time is 0, the sampled RSSI value obtained next is stored in the 0 th sampling buffer, and so on.
S205, determining a sampling accumulated value according to the target sampling buffer area and the historical sampling accumulated value.
In the present embodiment, the history sampling accumulated value can be understood as the accumulated value obtained last time.
Specifically, the sampling buffer area corresponding to the target sampling buffer area in the historical sampling accumulated value can be replaced according to the target sampling buffer area, and accumulation can be performed again to obtain the sampling accumulated value.
Illustratively, the target sample buffer corresponds to the sample buffer of the 3 rd sample, and the sample buffer of the 3 rd sample corresponding to the subtracted historical sample accumulation value AVG may be expressed as: AVG' =avg-rssi_buf4 ], updating the target sampling buffer area rssi_buf4 according to the currently obtained sampling RSSI value rssi_adc, that is, rssi_buf4 ] =rssi_adc, and adding the target sampling buffer area and the historical sampling value to obtain a sampling accumulated value AVG ", which can be expressed as: AVG "=avg' +rssi_adc.
S206, updating the target data item under the corresponding sampling times according to the sampling accumulated value to obtain an updated data item group.
In the present embodiment, the target data item may be understood as a data item at the sampling number corresponding to the sampling integrated value.
Specifically, after the sampling accumulated value is obtained each time, the capturing frequency +1 can be used for obtaining the capturing frequency corresponding to the next sampling accumulated value, and when the capturing frequency reaches the set number of the maximum target data items, the capturing frequency can be cleared. The corresponding capturing times of the sampling accumulated value can be found according to the obtained sampling accumulated value, the corresponding target data item under the capturing times is determined, and the target data item can be updated according to the sampling accumulated value to replace the last stored sampling accumulated value of the target data item.
By way of example, the number of maximum data items may be set to 128. The data item may be initialized based on the first obtained sample accumulation value. The expression can be represented by the following formula:
acq_buffer[y]＝AVG
where acq_buffer [ y ] represents the y-th region, y is the number of captures, and AVG represents the accumulated value of samples.
For example, the accumulated value of the first acquired samples may be avg1, stored in item 0, and for capture count +1, then the next capture count is 1, acq_buffer [0] =avg1; the accumulated value of the samples obtained for the second time can be avg2, and the accumulated value of the samples is stored in the 1 st data item, and for the capturing time +1, the capturing time of the next time is 2, acq_buffer [1] =avg2; and so on, the 128 th acquired accumulated value of samples may be a128, and stored in the 127 th capturing buffer, that is, acq_buffer [127] =avg1, when the number of the set maximum data items is 128, the capturing times are cleared, the next capturing times are 0, the next acquired accumulated value of samples is stored in the 0 th data item, and so on.
S207, acquiring a historical target maximum value and a data item minimum value in the data item group.
In this embodiment, the history target maximum value may be understood as a target maximum value determined at the time of the last scan. A data item minimum value is understood to be the data item with the smallest value in the set of data items.
Specifically, the historical target maximum value determined in the last scanning can be obtained, the data item group can be traversed, and the data item with the smallest value in the data item group is determined as the data item minimum value.
S208, judging whether the current target maximum exists according to the historical target maximum and the sampling accumulated value.
In this embodiment, the current target maximum value may be understood as the target maximum value corresponding to the current scan.
Specifically, if the target maximum value is not determined in the last scanning, the historical target maximum value is not found, and the current target maximum value is found. If the last scan determines a target maximum, then there is a historical target maximum, which can be compared with the currently obtained sampled accumulated value. If the historical target maximum is greater than the sampling accumulation value, the historical target maximum can be used as the current target maximum, otherwise, the sampling accumulation value is used as the current target maximum.
And S209, if so, judging whether the current target maximum value, the sampling accumulated value and the acquired lower limit detection value meet satellite conditions.
In the present embodiment, the lower limit detection value may be understood as a minimum detection value set in advance. Satellite conditions may be understood as conditions that determine whether the current maximum corresponds to a satellite.
Specifically, the current target maximum value, the sampling accumulated value and the acquired lower limit detection value can be substituted into a preset satellite condition formula to judge whether the satellite condition is met.
And S210, if yes, taking satellite position information of the found satellite as a current satellite finding result.
Specifically, the maximum value of the current target, the accumulated value of sampling and the obtained lower limit detection value can be substituted into a preset satellite condition formula, when the satellite condition is met, the satellite signal is correspondingly found, the antenna to be found can be kept at the current position, the current position is used as satellite position information of the found satellite, and the satellite position information is used as the current satellite finding result.
Illustratively, satellite conditions may be expressed by the following formula:
AVG″≤(RSSI_max-RAMD*n)
wherein avg″ represents a current sampling accumulated value, rssi_max represents a current target maximum value, RAMD represents a lower limit detection value, and n represents a preset maximum buffer number of the sampling buffer region. When the product of the maximum value of the current target minus the lower limit detection value and the maximum buffer number is larger than or equal to the current sampling accumulated value, the satellite condition is met, the current position is used as the position information of the found satellite, and the satellite position information is used as the current satellite finding result.
S211, otherwise, the satellite is not found as the current satellite finding result.
Specifically, when the satellite condition is not satisfied, the satellite is not found as the current satellite finding result.
S212, if not, the satellite is not found as the current satellite finding result, and whether the current target maximum exists is determined according to the minimum value of the data item and the sampling accumulated value.
Specifically, when the current target maximum value does not exist, the satellite is not found as the current satellite finding result. The minimum value of the data item and the accumulated value of the sample may be substituted into a preset condition, and when the preset condition is satisfied three times in succession, the current accumulated value of the sample is taken as the current target maximum value. When the condition is not satisfied, then there is no current target maximum value corresponding.
Further, the step of determining whether the current target maximum exists according to the data item minimum value and the sampling accumulated value may be further optimized as:
a2, determining the number of times that the minimum value of the data item, the sampling accumulated value and the acquired threshold value continuously meet the set condition.
In this embodiment, the threshold value may be understood as a set threshold. The setting condition may be understood as a condition for judging whether or not it can be the current target maximum value.
Specifically, whether the minimum value of the data item, the sampling accumulated value and the acquired threshold value meet the set condition is judged, and when the set condition is met, the number of times can be +1, and the number of times continuously meeting the set condition can be obtained.
By way of example, the setting conditions may be expressed by the following formula:
AVG″＞(RSSI_min+RTH*n)
wherein avg″ represents a current sampling accumulated value, rssi_min represents a minimum value of a data item, RTH represents a threshold value, and n represents a preset maximum buffer number of a sampling buffer region. When the current sampling accumulated value is larger than the product of the minimum value of the data item plus the threshold value and the maximum buffer number for the first time, the number of times can be +1 when the set condition is met, the current number of times is 1, when the next sampling accumulated value meets the set condition again, the number of times can be +1, the current number of times is 2, and when the next sampling accumulated value does not meet the set condition, the number of times is cleared, and the current number of times is 0.
b2, taking the accumulated value of the sampling as the maximum value of the current target when the times are equal to the set times threshold.
In the present embodiment, the number of times threshold may be understood as a set number of times value satisfying a set condition.
Specifically, when the number of times the set condition is continuously satisfied is equal to the set number of times threshold, the sampling accumulated value may be taken as the current target maximum value.
The number of times threshold may be 3, for example. And judging the setting condition according to the current sampling accumulated value, wherein if the sampling accumulated value is larger than the product of the minimum value of the data item plus the threshold value and the maximum buffer memory number, the setting condition is met, and the number of times is 3 at the moment, is equal to the set number of times threshold value, and the sampling accumulated value is taken as the current target maximum value.
According to the star finding method of the communication-in-motion antenna, the number of sampling buffer areas and the number of data items in the data item groups can be set, the sampling buffer areas are updated according to the sampling RSSI values, further, the sampling accumulated values and the data items in the data item groups are determined, further, whether a target maximum value exists is determined, and finally whether a satellite exists is determined according to the target maximum value. Each parameter can be changed, so that the flexibility of satellite finding is improved, the satellite finding result is determined according to the sampling RSSI value obtained by multiple times of scanning, the satellite finding accuracy is improved, the problem that the accuracy of the communication-in-motion antenna based on low-accuracy inertial navigation is too low is solved, and the satellite finding accuracy is improved.
For the sake of understanding, exemplary showing is performed on the star finding method of the communication-in-motion antenna according to the present application, where preset scan parameters may be obtained, the step size of the pitch angle is set to 0.5, the angle threshold of the azimuth angle is set to 10 °, the size of the sampling buffer is set to 16, the size of the data item group is set to 128, the threshold is set to RTH, and the lower limit detection value is set to RAMD. The current scan trajectory is from a negative azimuth to a positive azimuth. Fig. 3 is an example flowchart of a star finding method of a communication-in-motion antenna according to a second embodiment of the present application. As shown in fig. 3, the steps may be:
S301, acquiring an azimuth angle A and a pitch angle B of a satellite antenna to be searched;
s302, controlling the antenna to be sought to move to the position corresponding to the azimuth angle A-10 degrees and the pitch angle B;
s303, acquiring current sampling RSSI values, initializing 16 sampling buffers, sampling accumulated values and 128 data items in a data item group;
s304, beginning azimuth positive direction scanning;
s305, whether the current azimuth angle is A+10 degrees. If yes, jumping to S306, if not, jumping to S312;
s306, starting azimuth negative direction scanning;
s307, whether the current azimuth angle is A-10 degrees; if yes, jumping to S308, if not, jumping to S312;
s308, whether scanning is overtime; if yes, jump to S311, if not, jump to S309;
s309, adjusting the current pitch angle according to the set step length, namely, the new pitch angle is the current pitch angle plus 0.5 degrees;
s310, adjusting to a new pitch angle position;
s311, the current satellite finding result is that a satellite is not found;
s312, updating the sampling buffer area and the sampling accumulated value according to the sampling RSSI value, and updating the data item group by using the sampling accumulated value;
s313, when the historical target maximum value is less than the sampling accumulated value, the sampling accumulated value is used as the current target maximum value, otherwise, the historical target maximum value is used as the current target maximum value;
S314, judging whether the current maximum value exists, if so, jumping to S315; if not, jump to S318;
s315, (current maximum value-RAMD 16) < the accumulated value of sampling, if yes, jump to S317, if no, jump to S316;
s316, finding satellites according to the current satellite finding result;
s317, no current target maximum value exists;
s318, sampling accumulated value > (RTH 16+ minimum data item), if yes, jumping to S319, if no, jumping to S321;
s319, if so, jumping to S320, and if not, jumping to S321;
s320, the sampling accumulated value is equal to the current target maximum value;
s321, sampling times +1;
s322, if the sampling frequency is 16, jumping to S323 if yes, and if not, jumping to S324;
s323, resetting sampling times;
s324, capturing times +1;
s325, if the capturing frequency is 128, jumping to S326 if yes, and jumping to S304 if no;
s326, the capturing times are cleared.
Example III
Fig. 4 is a schematic structural diagram of a star finder of a communication-in-motion antenna according to a third embodiment of the present application. As shown in fig. 4, the apparatus includes: the device comprises an angle acquisition module 31, an antenna control module 32, an updating module 33 and a result determination module 34. Wherein,
The angle acquisition module 31 is used for acquiring the azimuth angle and the pitch angle of the antenna to be sought;
the antenna control module 32 is used for controlling the antenna to be searched to scan according to the azimuth angle and the pitch angle;
an updating module 33, configured to update the data item group and the sampling accumulated value according to the scanned sampling RSSI value;
the result determining module 34 is configured to determine a current star finding result according to the accumulated sampled values and the data item group.
According to the star finding device of the communication-in-motion antenna, scanning is conducted in the azimuth angle and pitch angle range, the data item group and the sampling accumulated value are set, whether the RSSI maximum value exists or not is determined according to the sampling RSSI value updating data item group, the sampling accumulated value and the set RSSI maximum value judging mode, and then the current star finding result is determined. The method solves the problem of initializing the communication-in-motion antenna based on low-precision inertial navigation, improves the satellite finding efficiency, reduces the satellite finding time of the antenna and improves the accuracy of satellite finding positions.
Optionally, the antenna control module 32 is specifically configured to:
determining a positive azimuth and a negative azimuth according to the azimuth and the acquired angle threshold;
controlling the antenna to be searched to move to a position corresponding to the pitch angle, and scanning according to the determined current scanning track;
Wherein the current scanning track is from positive azimuth to negative azimuth, or from negative azimuth to positive azimuth
Optionally, the updating module 33 is specifically configured to:
updating a target sampling buffer area under corresponding sampling times according to the sampling RSSI value obtained by scanning;
determining a sampling accumulated value according to the target sampling buffer area and the historical sampling accumulated value;
and updating the target data item under the corresponding sampling times according to the sampling accumulated value to obtain an updated data item group.
Optionally, the result determination module 34 includes:
the acquisition unit is used for acquiring a historical target maximum value and a data item minimum value in the data item group;
the judging unit is used for judging whether the current target maximum exists or not according to the historical target maximum and the sampling accumulated value;
the first result determining unit is used for taking the satellite position information of the found satellite as a current satellite finding result when the current target maximum value, the sampling accumulated value and the acquired lower limit detection value meet satellite conditions if the current target maximum value, the sampling accumulated value and the acquired lower limit detection value meet the satellite conditions; otherwise, the satellite is not found as the current satellite finding result;
and the second result determining unit is used for taking the satellite which is not found as the current satellite finding result if the satellite is not found, and determining whether the current target maximum exists according to the minimum value of the data item and the sampling accumulated value.
Further, the second result determining unit is specifically configured to:
determining the number of times that the minimum value of the data item, the sampling accumulated value and the acquired threshold value continuously meet the set condition;
and when the number of times is equal to the set number of times threshold, taking the sampling accumulated value as the current target maximum value.
Optionally, the device further includes:
and the control module is used for tracking the satellite if the current satellite searching result is satellite position information, and controlling the antenna to be searched to search the satellite again when the satellite signal of the satellite is lost.
Optionally, the device further includes:
the angle adjustment module is used for adjusting a pitch angle according to a set step length to obtain a new pitch angle and returning to execute the scanning operation of the antenna to be searched again if the current satellite searching result is that a satellite is not found and the searching accumulated time length is smaller than the set time length threshold;
and the scanning stopping module is used for controlling the antenna to be searched to stop scanning and taking the satellite which is not found as a final satellite searching result if the current satellite searching result is that the satellite is not found and the searching accumulation time length is greater than or equal to the set time length threshold value.
The star finding device of the communication-in-motion antenna provided by the embodiment of the application can execute the star finding method of the communication-in-motion antenna provided by any embodiment of the application, and has the corresponding functional modules and beneficial effects of the executing method.
Example IV
Fig. 5 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the applications described and/or claimed herein.
As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as the satellite finding method of a communication-in-motion antenna.
In some embodiments, the satellite finding method of the communication-in-motion antenna may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the satellite finding method of the communication-in-motion antenna described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the satellite finding method of the mobile communication antenna in any other suitable way (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present application, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a first piece of component (e.g., an application server), or that includes a front-end component (e.g., a user computer with a graphical user interface or web browser through which a user can interact with an implementation of the systems and techniques described here), or that includes any combination of such background, first piece of component, or front-end component. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present application may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present application are achieved, and the present application is not limited herein.
The above embodiments do not limit the scope of the present application. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of the present application.
Claims (7)
1. A satellite finding method for a communication-in-motion antenna, comprising:
acquiring an azimuth angle and a pitch angle of a satellite antenna to be searched;
the star antenna to be searched is controlled to scan according to the azimuth angle and the pitch angle;
updating the data item group and the sampling accumulated value according to the sampling RSSI value obtained by scanning;
determining a current star finding result according to the sampling accumulated value and the data item group;
the controlling the satellite antenna to be searched to scan according to the azimuth angle and the pitch angle comprises the following steps:
Determining a positive azimuth angle and a negative azimuth angle according to the azimuth angle and the acquired angle threshold;
controlling the star antenna to be searched to move to a position corresponding to the pitch angle, and scanning according to the determined current scanning track;
the current scanning track is from a positive azimuth angle to a negative azimuth angle or from a negative azimuth angle to a positive azimuth angle;
the updating of the data item group and the sampling accumulated value according to the scanned sampling RSSI value comprises the following steps:
updating a target sampling buffer area under corresponding sampling times according to the sampling RSSI value obtained by scanning;
determining a sampling accumulated value according to the target sampling buffer area and the historical sampling accumulated value;
updating the target data item under the corresponding sampling times according to the sampling accumulated value to obtain an updated data item group;
the determining the current star finding result according to the sampling accumulated value and the data item group comprises the following steps:
acquiring a historical target maximum value and a data item minimum value in the data item group;
judging whether a current target maximum exists or not according to the historical target maximum and the sampling accumulated value;
if yes, when the maximum value of the current target, the sampling accumulated value and the acquired lower limit detection value meet satellite conditions, satellite position information of the found satellite is used as a current satellite finding result; otherwise, the satellite is not found as the current satellite finding result;
If not, the satellite is not found as the current satellite finding result, and whether the current target maximum exists is determined according to the minimum value of the data item and the sampling accumulated value.
2. The method of claim 1, wherein determining whether a current target maximum exists based on the data item minimum and the sample accumulation value comprises:
determining the times that the minimum value of the data item, the sampling accumulated value and the acquired threshold value continuously meet the set condition;
and when the number of times is equal to the set number of times threshold, taking the sampling accumulated value as a current target maximum value.
3. The method of claim 1, wherein after determining a current star finding result based on the sample accumulation value and the set of data items, further comprising:
and if the current satellite finding result is satellite position information, tracking the satellite, and when the satellite signal of the satellite is lost, controlling the antenna to be found to find the satellite again.
4. The method as recited in claim 1, further comprising:
if the current satellite finding result is that a satellite is not found and the finding accumulated time length is smaller than the set time length threshold value, adjusting the pitch angle according to the set step length to obtain a new pitch angle, and returning to execute the scanning operation of the satellite antenna to be found again;
And if the current satellite finding result is that the satellite is not found and the finding accumulation time length is greater than or equal to the set time length threshold, controlling the antenna to be found to stop scanning, and taking the satellite which is not found as the final satellite finding result.
5. A satellite finding device for a communication-in-motion antenna, comprising:
the angle acquisition module is used for acquiring the azimuth angle and the pitch angle of the antenna to be sought;
the antenna control module is used for controlling the antenna to be searched to scan according to the azimuth angle and the pitch angle;
the updating module is used for updating the data item group and the sampling accumulated value according to the sampling RSSI value obtained by scanning;
the result determining module is used for determining a current star finding result according to the sampling accumulated value and the data item group;
the antenna control module is specifically configured to: determining a positive azimuth and a negative azimuth according to the azimuth and the acquired angle threshold; controlling the antenna to be searched to move to a position corresponding to the pitch angle, and scanning according to the determined current scanning track; the current scanning track is from a positive azimuth angle to a negative azimuth angle or from a negative azimuth angle to a positive azimuth angle;
the updating module is specifically configured to: updating a target sampling buffer area under corresponding sampling times according to the sampling RSSI value obtained by scanning; determining a sampling accumulated value according to the target sampling buffer area and the historical sampling accumulated value; updating the target data item under the corresponding sampling times according to the sampling accumulated value to obtain an updated data item group;
The result determining module includes: the acquisition unit is used for acquiring a historical target maximum value and a data item minimum value in the data item group; the judging unit is used for judging whether the current target maximum exists or not according to the historical target maximum and the sampling accumulated value;
the first result determining unit is used for taking satellite position information of the found satellite as a current satellite finding result when the current target maximum value, the sampling accumulated value and the acquired lower limit detection value meet satellite conditions if the current target maximum value, the sampling accumulated value and the acquired lower limit detection value meet the satellite conditions; otherwise, the satellite is not found as the current satellite finding result;
and the second result determining unit is used for taking the satellite which is not found as the current satellite finding result if the satellite is not found, and determining whether the current target maximum exists according to the minimum value of the data item and the sampling accumulated value.
6. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of satellite finding for a communication-in-motion antenna of any one of claims 1-4.
7. A computer readable storage medium storing computer instructions for causing a processor to perform the method of satellite finding for a communication-in-motion antenna according to any one of claims 1-4.
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| CN116404419A (en) * | 2023-06-07 | 2023-07-07 | 武汉能钠智能装备技术股份有限公司四川省成都市分公司 | Satellite signal broadband outdoor acquisition method and device |
| CN117516549B (en) * | 2024-01-03 | 2024-03-29 | 江苏领创星通卫星通信科技有限公司 | Path planning algorithm based on inertial navigation and satellite |
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