CN118276073A - Method and system for tracking over-top of antenna on dynamic target applied to aerospace measurement and control - Google Patents
Method and system for tracking over-top of antenna on dynamic target applied to aerospace measurement and control Download PDFInfo
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Abstract
The invention discloses a method and a system for tracking the over-top of a dynamic target by an antenna applied to spaceflight measurement and control, wherein the method comprises the following steps: when the antenna carries out high elevation angle overhead tracking on the space dynamic target, the dynamic target moves from the horizon to the highest elevation angle point of the relative antenna along the motion track on the space virtual sphere, namely the overhead point, and then descends to the ground line; in the process that the target moves from one point to another point on the motion track, the antenna moves along the target, and when the antenna rotates beyond the vertex, the projection of the antenna on the virtual sphere automatically rotates, the self-rotation brings additional angular acceleration to the pitch angle of the antenna angle tracking, and the self-tracking performance of the antenna when the antenna is beyond the vertex is improved by eliminating the angular acceleration of the antenna in the pitch direction. The invention does not need complex circuits, has simple implementation method and reduces the design cost of the system.
Description
Technical Field
The invention relates to the technical field of satellite measurement, in particular to a method and a system for tracking a dynamic target through the top of an antenna applied to spaceflight measurement and control.
Background
Since the antenna must keep the main beam of the antenna directed at the dynamic target during operation in order to transceive signals, this is achieved by the antenna's self-tracking system. Therefore, the design of the self-tracking system of the antenna has been an important research topic in the design and application process of the antenna.
Because the antenna generally adopts a tracking mode of azimuth angle plus pitch angle for self-tracking of a dynamic target, the antenna over-top tracking problem caused by rapid change of azimuth angle can occur when the antenna over-top tracks the target with high elevation angle over-top. Much research has been done on antenna over-top tracking and the existing literature also provides various solutions to the antenna over-top tracking problem. The main scheme is generally divided into two types, one is to adopt a third axis deflection mode to reduce the maximum overhead elevation angle of the antenna to the target so as to solve the overhead tracking problem of the antenna at a high elevation angle; one is to use a method of converting the self-tracking mode into a digital guiding mode or a program guiding mode before and after passing the vertex to solve the problem of high elevation angle over-top tracking. Although both methods can handle the problem of antenna over-top tracking at high elevation angles, the adopted methods are passive avoidance methods, the mechanism of the over-top tracking problem is not clear, and the problem of antenna over-top tracking cannot be fundamentally eliminated.
Disclosure of Invention
In view of the above, the invention provides a method and a system for tracking the over-top of a dynamic target by an antenna applied to spaceflight measurement and control.
The invention discloses a method for tracking the over-top of a dynamic target by an antenna applied to spaceflight measurement and control, which comprises the following steps:
When the antenna carries out high elevation angle overhead tracking on the space dynamic target, the dynamic target moves from the horizon to the highest elevation angle point of the relative antenna along the motion track on the space virtual sphere, namely the overhead point, and then descends to the ground line; in the process that the target moves from one point to another point on the motion track, the antenna moves along the target, and when the antenna rotates beyond the vertex, the projection of the antenna on the virtual sphere automatically rotates, the self-rotation brings additional angular acceleration to the pitch angle of the antenna angle tracking, and the self-tracking performance of the antenna when the antenna is beyond the vertex is improved by eliminating the angular acceleration of the antenna in the pitch direction.
Further, the azimuth angle direction and the pitch angle direction of the antenna self-tracking generated by the azimuth angle self-tracking loop and the pitch angle self-tracking loop are sent to the self-tracking overhead processing unit, and the azimuth angle direction and the pitch angle generated by the self-tracking overhead processing unit are sent to the azimuth angle direction and the pitch angle direction of the antenna, and the antenna direction is controlled by the pitch angle control unit.
Further, the self-tracking overhead processing unit comprises an overhead tracking judgment module and an overhead tracking processing module of a pitch angle; the over-roof tracking judgment module receives the azimuth angle direction theta A (t) of the antenna self-tracking sent by the azimuth angle self-tracking loop, and the over-roof tracking processing module of the pitch angle receives the pitch angle direction theta E (t) of the antenna self-tracking sent by the pitch angle self-tracking loop; the over-roof tracking judgment module judges an over-roof tracking state through the change of the azimuth angle direction theta A (t) of the line self-tracking, and controls the over-roof tracking processing module of the pitch angle according to the change of the over-roof tracking state;
The over-roof tracking processing module of the pitch angle processes the pitch angle direction theta E (t) of the antenna self-tracking according to the over-roof control state sent by the over-roof tracking judging module, and generates and sends out the pitch angle phi E (t) of the antenna direction; the self-tracking overhead processing unit does not process the azimuth angle direction theta A (t) of the self-tracking of the antenna, and directly sends out the azimuth angle phi A (t) as the azimuth angle of the antenna direction, namely: phi A(t)＝θA (t).
Further, the over-top tracking judgment module calculates an absolute value |dθ A (t) | of the angular velocity of the azimuth angle of the antenna tracking target in real time according to the azimuth angle direction theta A (t) of the antenna self-tracking, sets a judgment threshold lambda according to the design of an antenna system, and divides the state of the antenna tracking dynamic target into a normal tracking state and an over-top tracking state according to the |dθ A (t) | and the judgment threshold lambda; in the over-roof tracking state, the over-roof tracking judgment module sets the control of the over-roof tracking processing module of the pitch angle to be in an over-roof tracking state, and simultaneously sends |dθ A (t) | to the over-roof tracking processing module of the pitch angle in real time; under the normal state, the over-top tracking judgment module sets the control of the over-top tracking processing module of the pitch angle to be in a normal working state.
Further, the calculation formula of the absolute value |dθ A (t) | of the angular velocity of the azimuth angle of the antenna tracking target is:
Wherein, theta A (t) is the azimuth direction of the self-tracking at the current moment; θ A(t1) is the azimuth direction of the last moment self-tracking; t-t 1 is the time difference between two moments;
comparing |dθ A (t) | to a decision threshold Λ by the following equation:
Further, the pitching angle over-top tracking processing module calculates the angular speed dθ E (t) of the pitching angle of the antenna tracking target in real time according to the pitching angle direction θ E (t) of the antenna self-tracking; calculating an over-top mark delta (t) of the antenna tracking in real time according to an absolute value |dθ A (t) | of the angular speed of the azimuth angle of the antenna tracking target sent by the over-top tracking judgment module; meanwhile, the pitch angle overhead tracking processing module switches the working mode according to the control state sent by the overhead tracking judging module, and switches the working mode to the overhead tracking mode when the control state is the overhead tracking state, and switches the working mode to the normal working mode when the control state is the normal working state.
Further, the calculation formula of the angular velocity dθ E (t) of the pitch angle of the antenna tracking target is:
Wherein, theta E (t) is the pitch angle direction of the self-tracking at the current moment; θ E(t1) is the pitch angle direction of the self-tracking at the last moment; t-t 1 is the time difference between two moments;
the calculation formula of the antenna tracking overhead mark delta (t) is as follows:
wherein, |dθ A (t) | is the absolute value of the angular velocity of the azimuth of the antenna tracking target at the current moment; d theta A(t1) is the absolute value of the angular velocity of the azimuth of the antenna tracking target at the previous time; t-t 1 is the time difference between the two moments.
Further, the pitch angle overhead tracking processing module switches working modes according to the control state sent by the overhead tracking judgment module, and the method comprises the following steps:
In the over-top tracking operation mode, the time for switching to the over-top tracking operation mode is recorded as t 0, the angle of the pitch angle of the antenna tracking target calculated at the moment of t 0 is recorded as theta E(t0), and the angular speed is recorded as dtheta E(t0);
Judging whether the target has crossed the over-vertex of the antenna according to the over-vertex mark delta (t) tracked by the antenna; under the condition that the target does not cross the over vertex of the antenna, calculating the pitch angle phi E (t) pointed by the antenna;
Under the condition that the target is overturned by the top point of the antenna, calculating a pitching angle phi E (t) pointed by the antenna;
In the normal operation mode, the pitch angle phi E (t) of the antenna pointing is set to be the pitch angle theta E (t) of the antenna self-tracking, namely:
ΦE(t)＝θE(t)。
Further, according to the antenna tracking over-top flag Δ (t), it is determined whether the target has crossed the antenna over-top point by the following formula:
determining that the target does not cross over the excessive peak of the antenna as delta (t) is equal to or greater than 0
Delta (t) <0 determines that the target has crossed the over-vertex of the antenna
Under the condition that the target does not cross the over vertex of the antenna, the pitch angle phi E (t) pointed by the antenna is calculated according to the following formula:
ΦE(t)＝θE(t0)+dθE(t0)(t-t0)
wherein t is the current time; t 0 is the time of switching to the overhead tracking mode;
Under the condition that the target has crossed the over-vertex of the antenna, the pitch angle phi E (t) pointed by the antenna is calculated according to the following formula:
ΦE(t)＝θE(t0)-dθE(t0)(t-t0)
wherein t is the current time; t 0 is the time at which the over-top tracking mode is switched.
The invention also discloses a system for tracking the overtop of the antenna applied to the aerospace measurement and control on the dynamic target, which realizes the method for tracking the overtop of the antenna applied to the aerospace measurement and control on the dynamic target, and comprises the following steps: the system comprises an antenna, a tracking receiver, a pitch angle self-tracking loop, an azimuth angle self-tracking loop, a self-tracking overhead processing unit, an azimuth angle of the antenna and a pitch angle control unit; the self-tracking overhead tracking processing unit comprises an overhead tracking judgment module and an overhead tracking processing module of a pitch angle which are sequentially connected; the antenna is connected with the pitch angle self-tracking loop and the azimuth angle self-tracking loop through the tracking receiver respectively; the pitch angle self-tracking loop and the azimuth angle tracking loop are respectively connected with an azimuth angle and pitch angle control unit of the antenna through a self-tracking overhead processing unit; the azimuth angle and pitch angle control unit of the antenna is connected with the antenna.
Due to the adoption of the technical scheme, the invention has the following advantages:
1. The problem of overhead tracking of the antenna self-tracking is solved. The invention divides the antenna angle tracking into two states of normal tracking and over-top tracking according to the given algorithm through the change of the antenna azimuth angle, and processes the over-top angle tracking of the antenna according to the given over-top tracking algorithm. By the method, the performance of the antenna during over-top tracking can be guaranteed to meet the design requirement, and a key problem in the design of an antenna system is solved.
2. The realization is simple, the occupied resources are less, and the design cost of the system is reduced. The invention does not need complex circuits, and the implementation method is simpler. The invention only uses the original equipment of the system without adding extra equipment, and realizes the processing function of the overhead tracking algorithm of the system through a software algorithm, thereby being convenient for automatic operation and reducing the design cost of the system.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, 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 described in the embodiments of the present invention, and other drawings may be obtained according to these drawings for those skilled in the art.
FIG. 1 is a schematic diagram of the self-rotation of the antenna projection during over-the-top tracking;
FIG. 2 is a schematic diagram of the self-rotation of the overhead tracking antenna projection in a top view;
FIG. 3 is a dynamic simulation of azimuth and elevation angle of a low-rail target 300 km in height over the 86 degree elevation of the antenna;
FIG. 4 is a dynamic simulation of azimuth and elevation angle of a low-rail target 300 km in height over the 73 degree elevation of the antenna;
FIG. 5 is a schematic diagram of the composition of a self-tracking system of a conventional antenna;
FIG. 6 is a schematic diagram of the composition of a self-tracking system for an antenna using a self-tracking over-the-top process;
FIG. 7 is a schematic diagram of the composition of a self-tracking over-the-top processing unit of the antenna self-tracking system employing the self-tracking over-the-top processing method;
FIG. 8 is an information processing flow diagram of an over-roof tracking decision module of an antenna self-tracking system employing a self-tracking over-roof processing method;
fig. 9 is an information processing flow chart of an over-roof tracking processing module of a pitch angle of an antenna self-tracking system adopting a self-tracking over-roof processing method.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and examples, wherein the examples are shown only in a partial, but not in all embodiments of the invention. All other embodiments obtained by those skilled in the art are intended to fall within the scope of the embodiments of the present invention.
The invention provides an embodiment of an over-top tracking method of an antenna applied to spaceflight measurement and control on a dynamic target, which comprises the following steps:
As shown in fig. 1, when the antenna performs high-elevation over-top tracking on a space dynamic target, the dynamic target moves from the horizon to the highest elevation point of the relative antenna along the motion track on the space virtual sphere, namely over-top point, and then descends to the ground line. As illustrated in the vicinity of the over-vertex, the projection of the antenna onto the virtual sphere rotates as the antenna follows the rotation of the target as the target moves from point r1 to point r 2. As shown in fig. 2, the projection of the antenna on the virtual sphere rotates when the antenna follows the rotation of the target in the process of moving from the point r1 to the point r 2. Such projected spin rotations of the antenna can introduce additional angular acceleration in the pitch angle for angular tracking of the antenna.
When the antenna tracks a target with high elevation angle and over-top, if the angular speed of the target at the over-top point relative to the antenna in azimuth angle is omega degree/second, the additional angular acceleration caused by the self-rotation of the projection of the antenna on the virtual sphere on the pitch angle of the antenna angular tracking isDegrees/second 2.
Referring to fig. 3, a dynamic simulation of the antenna over-top by a space object simulates experimental conditions: target track height: 300 km; target flight speed: 7.75 km/s; earth radius: 6378.14103 km; target overhead elevation (based on conventional coordinate system): 86 degrees. In fig. 3, (a) is the azimuth angle and pitch angle of the motion trajectory of the spatial target with respect to the antenna; (b) The angular velocity of the azimuth angle and the angular velocity of the pitch angle of the space target motion trail relative to the antenna; (c) Angular acceleration, which is the azimuth angle of the spatial target motion trail relative to the antenna, and angular acceleration, which is the pitch angle.
From the simulation (b), the absolute value of the azimuthal angular velocity of the target relative to the antenna increases before reaching the zenith, the absolute value of the azimuthal angular velocity of the target relative to the antenna reaches a maximum of 21.17 degrees/sec, and the absolute value of the azimuthal angular velocity of the target relative to the antenna decreases after reaching the zenith.
From the simulation (c), it can be seen that the angular acceleration of the target relative to the antenna in azimuth before and after crossing the vertex jumps from 4.5 degrees/sec 2 to-4.5 degrees/sec 2, and the absolute value of the maximum angular acceleration is 4.5 degrees/sec 2; at the over-peak, the absolute value of the angular acceleration of the target relative to the antenna in elevation is 0.53 degrees/second 2.
According to the calculation formula of the additional angular acceleration of the antenna caused by the self-rotation of the antenna projection on the pitch angle of the antenna angle tracking during the tracking process, the additional acceleration of the antenna caused by the self-rotation of the antenna projection on the pitch angle of the antenna can be calculated to be 7.82 degrees/second 2. According to the simulation of the space target track with the highest elevation angle of the antenna, it can be seen that the angular acceleration in the pitching direction caused by the self-rotation of the projection of the antenna is far greater than the angular acceleration of the dynamic target relative to the antenna in the azimuth and pitching directions at the over-vertex of the tracking target.
Referring to fig. 4, a dynamic simulation of the antenna over-top by a space object simulates experimental conditions: target track height: 300 km; target flight speed: 7.75 km/s; earth radius: 6378.14103 km; target overhead elevation (based on conventional coordinate system): 73 degrees. In fig. 4, (a) is the azimuth angle and pitch angle of the motion trajectory of the spatial target with respect to the antenna; (b) The angular velocity of the azimuth angle and the angular velocity of the pitch angle of the space target motion trail relative to the antenna; (c) Angular acceleration, which is the azimuth angle of the spatial target motion trail relative to the antenna, and angular acceleration, which is the pitch angle.
From the simulation (b), the absolute value of the azimuthal angular velocity of the target relative to the antenna increases before reaching the over-peak, the absolute value of the azimuthal angular velocity of the target relative to the antenna reaches a maximum of 5 degrees/sec, and the absolute value of the azimuthal angular velocity of the target relative to the antenna decreases after reaching the over-peak.
From the simulation (c), the angular acceleration of the target relative to the antenna in azimuth before and after crossing the vertex jumps from 0.28 degrees/sec 2 to-0.28 degrees/sec 2, and the absolute value of the maximum angular acceleration is 0.28 degrees/sec 2; at the over-peak, the absolute value of the angular acceleration of the target relative to the antenna in elevation angle is 0.12 degrees/sec 2.
According to the calculation formula of the additional angular acceleration of the antenna caused by the self-rotation of the antenna projection on the pitch angle of the antenna angle tracking during the tracking process, the additional acceleration of the antenna caused by the self-rotation of the antenna projection on the pitch angle of the antenna can be calculated to be 0.44 degrees/second 2. According to the simulation of the space target track with the highest elevation angle of the antenna, it can be seen that the angular acceleration in the pitching direction caused by the self-rotation of the projection of the antenna is far greater than the angular acceleration of the dynamic target relative to the antenna in the azimuth and pitching directions at the over-vertex of the tracking target.
According to a second-order phase-locked loop theory adopted by the antenna self-tracking system, the constant angular velocity has no influence on the second-order loop, and the angular acceleration can bring about a steady-state angular error of the second-order phase-locked loop. Thus, from the above analysis, it is known that when an antenna tracks a dynamic target over-top, angular acceleration in the antenna pitch direction due to spin of the antenna projection is a major factor affecting the antenna over-top tracking. The self-tracking performance of the antenna at the time of over-jacking can be improved by eliminating the angular acceleration of the antenna in the pitch direction.
The self-tracking system of the conventional antenna is shown in fig. 5, the antenna transmits downlink signals containing sum and difference signals to a tracking receiver, the tracking receiver demodulates azimuth error voltage and pitching error voltage, then transmits azimuth error voltage and pitching error voltage to an azimuth self-tracking loop and a pitching self-tracking loop respectively, and the azimuth angle and pitching angle of the self-tracking of the antenna generated by the two tracking loops are directed to an azimuth angle and pitching angle control unit for transmitting the antenna, and the control unit controls the antenna to be directed to a target.
Referring to fig. 6, the method for improving the antenna overhead tracking performance provided by the invention is that an overhead processing unit for self-tracking is added between an antenna self-tracking loop and an azimuth angle and pitch angle control unit of an antenna, azimuth angle direction and pitch angle direction of the antenna self-tracking generated by the azimuth angle self-tracking loop and the pitch angle self-tracking loop are sent to the overhead processing unit for self-tracking for processing, and the azimuth angle direction and the pitch angle direction of the antenna direction generated by the processing unit are sent to the azimuth angle and pitch angle control unit of the antenna for controlling the antenna direction.
Referring to fig. 7, the self-tracking over-top processing unit receives a self-tracking azimuth angle direction theta A (t) and a self-tracking pitch angle direction theta E (t) sent by the antenna from the tracking loop, and the unit comprises an over-top judging module and an over-top tracking processing module of the pitch angle. The over-top judgment module judges an over-top tracking state through the change of the azimuth angle direction theta A (t) of the antenna self-tracking and controls the over-top tracking processing module through the change of the tracking state; and the over-roof tracking processing module processes the self-tracking pitch angle direction theta E (t) of the antenna according to the over-roof control state sent by the over-roof judging module, and generates the antenna-directed pitch angle phi E (t) to send. The self-tracking over-ceiling processing unit directly sends out the azimuth angle phi A (t) as the antenna direction without processing the self-tracking azimuth angle direction theta A (t), namely: phi A(t)＝θA (t).
Referring to fig. 8, the over-top tracking decision module calculates the absolute value |dθ A (t) | of the angular velocity of the azimuth angle of the antenna tracking target in real time according to the azimuth angle direction θ A (t) of the antenna self-tracking, and the algorithm is as follows:
Wherein θ A (t) is the azimuth direction of the current moment self-tracking; θ A(t1) is the azimuth direction of the last moment self-tracking; t-t 1 is the time difference between the two moments.
And the decision threshold Λ is set according to the design of the antenna system, typically taking the absolute value of the maximum angular velocity of the spatial target at the zenith azimuth angle between 70 and 80 degrees at maximum elevation angle, e.g. 5 degrees/sec at the maximum azimuthal angular velocity of the target at the zenith angle, which may be taken as the target at 73 degrees zenith at maximum elevation angle in fig. 4.
The control of the overhead tracking processing module of the pitch angle by the overhead tracking judgment module is divided into two states: 1. is in a normal working state; 2. is an over-top tracking state. The two states are judged according to the magnitude of |dθ A (t) |, and the judgment algorithm is as follows:
and judging that the d theta A (t) is equal to or more than the lambda is in an over-top tracking state
The d theta A (t) is determined as the normal working state
In the overhead tracking state, the overhead tracking judgment module sets the control of the overhead tracking processing module of the pitch angle to be in the overhead tracking state, and simultaneously sends |dθ A (t) | to the overhead tracking processing module in real time. Under the normal state, the over-top tracking judgment module sets the control of the over-top tracking processing module of the pitch angle to be in a normal working state.
Referring to fig. 9, the pitch angle over-top tracking processing module calculates the angular velocity dθ E (t) of the pitch angle of the antenna tracking target in real time according to the pitch angle direction θ E (t) of the antenna self-tracking, and the algorithm is as follows:
Wherein theta E (t) is the pitch angle direction of the self-tracking at the current moment; θ E(t1) is the pitch angle direction of the self-tracking at the last moment; t-t 1 is the time difference between the two moments.
And calculating an antenna tracking overhead mark delta (t) in real time according to the |dθ A (t) | sent by the overhead tracking judgment module, wherein the algorithm is as follows:
Wherein |dθ A (t) | is the absolute value of the angular velocity of the azimuth of the antenna tracking target at the current time; d theta A(t1) is the absolute value of the angular velocity of the azimuth of the antenna tracking target at the previous time; t-t 1 is the time difference between the two moments.
Meanwhile, the pitch angle overhead tracking processing module switches the working mode according to the control state sent by the overhead tracking judging module, and switches the working mode to the overhead tracking mode when the control state is the overhead tracking state, and switches the working mode to the normal working mode when the control state is the normal working state. The working mode is processed as follows:
a) In the over-top tracking operation mode, the time for switching to the over-top tracking operation mode is denoted as t 0, the angle of the pitch angle of the antenna tracking target calculated at time t 0 is denoted as θ E(t0), and the angular velocity is denoted as dθ E(t0).
And judging whether the target has crossed the over-vertex of the antenna according to the over-vertex mark delta (t) of the antenna tracking, wherein a judgment algorithm is as follows:
determining that the target does not cross over the excessive peak of the antenna as delta (t) is equal to or greater than 0
Delta (t) <0 determines that the target has crossed the over-vertex of the antenna
Under the condition that the target does not cross the over-vertex of the antenna, calculating the pitch angle phi E (t) pointed by the antenna according to the following algorithm:
ΦE(t)＝θE(t0)+dθE(t0)(t-t0)
Wherein t is the current time; t 0 is the time at which the over-top tracking mode is switched.
The pitch angle phi E (t) of the antenna pointing is calculated according to the following algorithm in case the target has crossed the over-vertex of the antenna:
ΦE(t)＝θE(t0)-dθE(t0)(t-t0)
Wherein t is the current time; t 0 is the time at which the over-top tracking mode is switched.
B) In the normal operation mode, the pitch angle phi E (t) of the antenna pointing is set to be the pitch angle theta E (t) of the antenna self-tracking, namely:
ΦE(t)＝θE(t)
the over-top tracking method provided by the invention is not only suitable for the traditional parabolic antenna, but also suitable for the spherical phased array antenna, the planar phased array antenna and other types of antennas.
Referring to fig. 6, the invention further provides an embodiment of an over-top tracking system of an antenna applied to aerospace measurement and control on a dynamic target, which implements the over-top tracking method of the antenna applied to aerospace measurement and control on the dynamic target described in the above embodiment, and includes: the system comprises an antenna, a tracking receiver, a pitch angle self-tracking loop, an azimuth angle self-tracking loop, a self-tracking overhead processing unit, an azimuth angle of the antenna and a pitch angle control unit; the self-tracking overhead tracking processing unit comprises an overhead tracking judgment module and an overhead tracking processing module of a pitch angle which are sequentially connected; the antenna is connected with the pitch angle self-tracking loop and the azimuth angle self-tracking loop through the tracking receiver respectively; the pitch angle self-tracking loop and the azimuth angle tracking loop are respectively connected with an azimuth angle and pitch angle control unit of the antenna through a self-tracking overhead processing unit; the azimuth angle and pitch angle control unit of the antenna is connected with the antenna.
Specifically, the antenna is used for sending downlink signals containing sum and difference signals to the tracking receiver; the tracking receiver is used for demodulating azimuth error voltage and pitching error voltage from the received downlink signal, sending the pitching error voltage to the pitching angle self-tracking loop, and sending the azimuth error voltage to the azimuth angle self-tracking loop;
the azimuth self-tracking loop is used for obtaining the azimuth direction of the antenna self-tracking based on azimuth error voltage; the pitch angle self-tracking loop is used for obtaining the pitch angle direction of the antenna self-tracking based on the pitch error voltage;
The overhead tracking judgment module is used for judging an overhead tracking state through the change of the azimuth direction of the antenna self-tracking, and controlling the overhead tracking processing module of the pitch angle according to the change of the overhead tracking state;
The overhead tracking processing module is used for processing the self-tracking pitch angle direction of the antenna according to the overhead control state sent by the overhead tracking judgment module and generating the pitch angle of the antenna direction; the self-tracking overhead processing unit does not process the azimuth angle direction of the self-tracking antenna and directly takes the azimuth angle direction as the azimuth angle of the antenna direction;
The azimuth angle and pitch angle control unit of the antenna is used for controlling the antenna to point to the target according to the pitch angle of the antenna pointing sent by the over-top tracking processing module of the pitch angle and the azimuth angle of the antenna pointing sent by the over-top tracking processing unit of the self-tracking.
It should be noted that the contents of the present system embodiment and the foregoing method embodiment may be referred to each other.
Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.
Claims (10)
1. The method for tracking the overtop of the antenna to the dynamic target applied to the aerospace measurement and control is characterized by comprising the following steps:
When the antenna carries out high elevation angle overhead tracking on the space dynamic target, the dynamic target moves from the horizon to the highest elevation angle point of the relative antenna along the motion track on the space virtual sphere, namely the overhead point, and then descends to the ground line; in the process that the target moves from one point to another point on the motion track, the antenna moves along the target, and when the antenna rotates beyond the vertex, the projection of the antenna on the virtual sphere automatically rotates, the self-rotation brings additional angular acceleration to the pitch angle of the antenna angle tracking, and the self-tracking performance of the antenna when the antenna is beyond the vertex is improved by eliminating the angular acceleration of the antenna in the pitch direction.
2. The method for tracking the antenna on the dynamic target through the top, which is applied to aerospace measurement and control according to claim 1, is characterized in that the azimuth angle direction and the pitch angle direction of the antenna self-tracking generated by the azimuth angle self-tracking loop and the pitch angle self-tracking loop are sent to a self-tracking top processing unit, and the azimuth angle direction and the pitch angle direction generated by the self-tracking top processing unit are sent to the azimuth angle direction and the pitch angle direction of the antenna, and the antenna direction is controlled by a pitch angle control unit.
3. The method for tracking the overtop of the antenna applied to the aerospace measurement and control on the dynamic target according to claim 2, wherein the overtop self-tracking processing unit comprises an overtop tracking judgment module and an overtop tracking processing module of a pitch angle; the over-roof tracking judgment module receives the azimuth angle direction theta A (t) of the antenna self-tracking sent by the azimuth angle self-tracking loop, and the over-roof tracking processing module of the pitch angle receives the pitch angle direction theta E (t) of the antenna self-tracking sent by the pitch angle self-tracking loop; the over-roof tracking judgment module judges an over-roof tracking state through the change of the azimuth angle direction theta A (t) of the line self-tracking, and controls the over-roof tracking processing module of the pitch angle according to the change of the over-roof tracking state;
The over-roof tracking processing module of the pitch angle processes the pitch angle direction theta E (t) of the antenna self-tracking according to the over-roof control state sent by the over-roof tracking judging module, and generates and sends out the pitch angle phi E (t) of the antenna direction; the self-tracking overhead processing unit does not process the azimuth angle direction theta A (t) of the self-tracking of the antenna, and directly sends out the azimuth angle phi A (t) as the azimuth angle of the antenna direction, namely: phi A(t)＝θA (t).
4. The method for tracking the over-ceiling of the antenna on the dynamic target for spaceflight measurement and control according to claim 3, wherein the over-ceiling tracking judgment module calculates the absolute value |dθ A (t) | of the angular velocity of the azimuth angle of the antenna tracking target in real time according to the azimuth angle direction theta A (t) of the antenna self-tracking, sets a judgment threshold lambda according to the design of an antenna system, and divides the state of the antenna tracking dynamic target into a normal tracking state and an over-ceiling tracking state according to the |dθ A (t) | and the judgment threshold lambda; in the over-roof tracking state, the over-roof tracking judgment module sets the control of the over-roof tracking processing module of the pitch angle to be in an over-roof tracking state, and simultaneously sends |dθ A (t) | to the over-roof tracking processing module of the pitch angle in real time; under the normal state, the over-top tracking judgment module sets the control of the over-top tracking processing module of the pitch angle to be in a normal working state.
5. The method for tracking the over-ceiling of the antenna on the dynamic target for aerospace measurement and control according to claim 4, wherein the absolute value |dθ A (t) | of the angular velocity of the azimuth angle of the antenna tracking target is calculated as follows:
Wherein, theta A (t) is the azimuth direction of the self-tracking at the current moment; θ A(t1) is the azimuth direction of the last moment self-tracking; t-t 1 is the time difference between two moments;
comparing |dθ A (t) | to a decision threshold Λ by the following equation:
6. The method for tracking the overtravel of the antenna on the dynamic target for spaceflight measurement and control according to claim 4, wherein the pitching angle overtravel tracking processing module calculates the angular speed dθ E (t) of the pitching angle of the antenna tracking target in real time according to the pitching angle direction θ E (t) of the antenna self-tracking; calculating an over-top mark delta (t) of the antenna tracking in real time according to an absolute value |dθ A (t) | of the angular speed of the azimuth angle of the antenna tracking target sent by the over-top tracking judgment module; meanwhile, the pitch angle overhead tracking processing module switches the working mode according to the control state sent by the overhead tracking judging module, and switches the working mode to the overhead tracking mode when the control state is the overhead tracking state, and switches the working mode to the normal working mode when the control state is the normal working state.
7. The method for tracking the excessive top of the antenna on the dynamic target for spaceflight measurement and control according to claim 6, wherein the calculation formula of the angular velocity dθ E (t) of the pitch angle of the antenna tracking target is:
Wherein, theta E (t) is the pitch angle direction of the self-tracking at the current moment; θ E(t1) is the pitch angle direction of the self-tracking at the last moment; t-t 1 is the time difference between two moments;
the calculation formula of the antenna tracking overhead mark delta (t) is as follows:
wherein, |dθ A (t) | is the absolute value of the angular velocity of the azimuth of the antenna tracking target at the current moment; d theta A(t1) is the absolute value of the angular velocity of the azimuth of the antenna tracking target at the previous time; t-t 1 is the time difference between the two moments.
8. The method for tracking the excessive top of the antenna applied to the aerospace measurement and control on the dynamic target according to claim 6, wherein the pitch angle excessive top tracking processing module switches the working mode according to the control state sent by the excessive top tracking judgment module, and the method comprises the following steps:
In the over-top tracking operation mode, the time for switching to the over-top tracking operation mode is recorded as t 0, the angle of the pitch angle of the antenna tracking target calculated at the moment of t 0 is recorded as theta E(t0), and the angular speed is recorded as dtheta E(t0);
Judging whether the target has crossed the over-vertex of the antenna according to the over-vertex mark delta (t) tracked by the antenna; under the condition that the target does not cross the over vertex of the antenna, calculating the pitch angle phi E (t) pointed by the antenna;
Under the condition that the target is overturned by the top point of the antenna, calculating a pitching angle phi E (t) pointed by the antenna;
In the normal operation mode, the pitch angle phi E (t) of the antenna pointing is set to be the pitch angle theta E (t) of the antenna self-tracking, namely:
ΦE(t)＝θE(t)。
9. The method for tracking the excessive top of the antenna for the dynamic target for the aerospace measurement and control according to claim 8, wherein whether the target has crossed the excessive top of the antenna is determined according to an excessive top mark delta (t) tracked by the antenna by the following formula:
determining that the target does not cross over the excessive peak of the antenna as delta (t) is equal to or greater than 0
Delta (t) <0 determines that the target has crossed the over-vertex of the antenna
Under the condition that the target does not cross the over vertex of the antenna, the pitch angle phi E (t) pointed by the antenna is calculated according to the following formula:
ΦE(t)＝θE(t0)+dθE(t0)(t-t0)
wherein t is the current time; t 0 is the time of switching to the overhead tracking mode;
Under the condition that the target has crossed the over-vertex of the antenna, the pitch angle phi E (t) pointed by the antenna is calculated according to the following formula:
ΦE(t)＝θE(t0)-dθE(t0)(t-t0)
wherein t is the current time; t 0 is the time at which the over-top tracking mode is switched.
10. An antenna-to-dynamic target over-top tracking system for aerospace measurement and control, which realizes the antenna-to-dynamic target over-top tracking method for aerospace measurement and control according to any one of claims 1-9, and is characterized by comprising the following steps: the system comprises an antenna, a tracking receiver, a pitch angle self-tracking loop, an azimuth angle self-tracking loop, a self-tracking overhead processing unit, an azimuth angle of the antenna and a pitch angle control unit; the self-tracking overhead tracking processing unit comprises an overhead tracking judgment module and an overhead tracking processing module of a pitch angle which are sequentially connected; the antenna is connected with the pitch angle self-tracking loop and the azimuth angle self-tracking loop through the tracking receiver respectively; the pitch angle self-tracking loop and the azimuth angle tracking loop are respectively connected with an azimuth angle and pitch angle control unit of the antenna through a self-tracking overhead processing unit; the azimuth angle and pitch angle control unit of the antenna is connected with the antenna.
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