CN102662188A - Initializing method of mobile satellite communication antenna - Google Patents

Initializing method of mobile satellite communication antenna Download PDF

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CN102662188A
CN102662188A CN2012101035437A CN201210103543A CN102662188A CN 102662188 A CN102662188 A CN 102662188A CN 2012101035437 A CN2012101035437 A CN 2012101035437A CN 201210103543 A CN201210103543 A CN 201210103543A CN 102662188 A CN102662188 A CN 102662188A
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antenna
angle
satellite
formula
instruction
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徐烨烽
李耀鹏
薛宏滨
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BEIJING STARNETO TECHNOLOGY Co Ltd
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BEIJING STARNETO TECHNOLOGY Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
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Abstract

The invention relates to an initializing method of a mobile satellite communication antenna. According to the method, the mobile satellite communication antenna provided with a low-cost inertia navigation system can fast align a satellite and accurately estimate an initial course angle of the low-cost inertia navigation system. The method comprises the steps of: firstly calculating a satellite searching instruction by utilizing the initial course and gesture information of the low-cost inertia navigation system, then controlling a pitch axis and a polarization axis of the antenna to rotate according to calculated pitch instruction angle and polarization instruction angle; controlling an azimuth axis to scan between 0 and 360 degrees at a constant speed, and finding out an accurate course instruction angle through a satellite beacon recognition technology; accurately estimating the initial course angle error of the low-cost inertia navigation system by utilizing three-coordinate calculation and an iterative algorithm; finally calculating the satellite searching instruction of the antenna again according to the estimated inertia navigation course and gesture information, and controlling the antenna to rotate according to the instruction angle and accurately align the satellite. After finishing initialization of the antenna by using the method, the antenna can track the satellite in real time with high precision.

Description

A kind of initial method of mobile satellite communication antenna
Technical field
The application relates to a kind of initial method of mobile satellite communication antenna, relates to automatic control, inertial navigation and mobile satellite communications field.The described method of the application can be widely used in various mobile satellite communications equipment, like vehicle-mounted, boat-carrying, airborne mobile satellite communication antenna etc.
Background technology
Mobile satellite communication equipment can make satellite antenna on the carrier that moves, aim at geostationary satellite all the time, realizes the realtime graphic and the data transmission of high bandwidth, in departments such as national defence, frontier defense, anti-terrorism, emergency disaster relief, the government prospect that is widely used.
The mobile satellite communication antenna is made up of antenna-feedback system and servo-control system two parts.Antenna-feedback system comprises parts such as antenna surface, diplexer, wave filter, low-converter, upconverter, waveguide, constitutes the fundamental of satellite communication system; Servo-control system needs driven antenna face completion scanning to seek functions such as star, tenacious tracking, guarantees that antenna surface accurately points to satellite in the carrier moving process.
The initialization procedure of mobile satellite communication antenna is meant accomplishes the process of initially seeking star and confirming the carrier initial heading after antenna powers on; This process is to guarantee that antenna can also be one of main core technology of mobile satellite communication antenna in the dynamic prerequisite of real-time high-precision tracking satellite down.Current, the initialized process of antenna mainly be meant rely on that position that the vehicle-mounted inertial navigation system of high precision provides and attitude angle information calculates antenna seek star instruction angle (angle of pitch, polarizing angle, position angle), and control antenna is to satelloid.This scheme is had relatively high expectations to inertial navigation system; Can lock maximum satellite-signal in order to ensure antenna; The autonomous north finding precision of inertial navigation system must reach more than 0.1 °; And the cost of high-precision inertial navigation system like this is considerably beyond the cost of mobile satellite communication antenna itself, and this is that most of research institutes and user are unaffordable.In order to reduce cost effectively, must select the vehicle-mounted inertial navigation system of low precision for use, and the correct course of output, north can't be independently sought in low precision inertial navigation, therefore, antenna can't obtain accurately to the star instruction angle.In order to solve mobile satellite communication antenna initialization problem based on low precision inertial navigation; Present most of research institute all adopts 0 ° of-360 ° of scanning of azimuth axis of antenna to add satellite beacon signals peak value recognition technology and realizes that antenna seeks star; Utilize the supplementary of seeking star to calculate the difficult problem of inertial navigation system initial heading but still can not solve well; Especially the carrier that fixes up an aerial wire is under the situation of the big angle of pitch or big roll angle; The course error of the inertial navigation that at present existing method estimation obtains is bigger, thereby makes the tracking performance of mobile satellite communication antenna descend greatly.
Summary of the invention
To above-mentioned technical matters; The application proposes a kind of initial method of mobile satellite communication antenna; This method utilizes 0 ° of-360 ° of scanning of antenna to seek satellite, adds the angle, initial heading that algorithm that iteration goes forward one by one is estimated the low vehicle-mounted inertial navigation system of precision through true coordinates conversion again.This method has environmental suitability preferably, and applicable to initially the seek star process of carrier under any attitude angle, after initialization finished, utilization was sought the star supplementary and calculated that the initial heading precision of the inertial navigation system that obtains can reach more than 0.1 °.Compare the existing initialization algorithm of calculating based on planimetric coordinates, the method that the application proposes can accurately estimated the initial heading of vehicle-mounted inertial navigation system in the attitude environment arbitrarily, thereby guarantees antenna tracking satellite accurately after initialization finishes.
A kind of antenna initial method mentality of designing that the application proposes is: that utilizes at first that initial heading and the attitude information (course information contains than mistake) of low-cost inertial navigation system calculate antenna seeks the star instruction; The pitch axis of control antenna, polaxis are according to pitch demand angle that calculates and the rotation of polarization instruction angle; The control azimuth axle scans between 0 °-360 ° with a constant speed again, and the beacon recognition technology finds directional command angle accurately via satellite; Utilize three-dimensional to calculate again and add the iterative approach algorithm, accurately estimate angle, the initial heading angle error of low-cost inertial navigation system; At last, seek the star instruction according to what the course of correct inertial navigation and attitude information recomputated antenna, control antenna is according to the instruction angle rotation and accurately to satelloid.After utilizing this method to accomplish the antenna initialization, can guarantee antenna real-time follow-up satellite accurately.
The concrete performing step of this method is following:
One, selected satellite to be tracked calculates satellite to be tracked at the on-site geographic coordinate system O-X of antenna according to formula 1 tY tZ tIn coordinate figure (X Ta, Y Ta, Z Ta) T:
X Ta Y Ta Z Ta = - ( R + H ) Sin Δ λ - ( R + H ) Cos Δ λ Sin L a ( R + H ) Cos Δ λ Cos L a - R Formula 1
In the formula 1, R is an earth radius, and H is the height of satellite to be tracked; Δ λ=λ A-λ sPoor for on-site longitude of antenna and satellite location longitude, wherein λ aBe the on-site longitude of antenna, λ sBe the on-site longitude of satellite; L aThe on-site latitude value of expression antenna.
Two, behind the antenna electrification reset, suppose sensing of antenna beam center and antenna geographic coordinate system OY tAxle is consistent, and then the angle of pitch of the required rotation of controlling antenna wave beam to point satellite, position angle, polarizing angle can be expressed as:
Figure BSA00000698522400031
formula 2
In the formula 2, θ t, γ tPitching, orientation and the polarization tracking instruction angle of representing antenna under the geographic coordinate system respectively.
Three, calculating antenna coordinate is O-X aY aZ aThe pitch demand angle θ of following antenna direction satellite p, the orientation instruction angle
Figure BSA00000698522400033
Polarization instruction angle γ pValue, its calculation procedure is:
The rotation matrix of the antenna coordinate system (a system) when (1) calculating geographic coordinate system (t system) extremely to satelloid
formula 3
(2) calculate the rotation matrix
Figure BSA00000698522400036
of antenna carrier coordinate system (b system, consistent) to geographic coordinate system with the antenna base coordinate system
Figure BSA00000698522400037
formula 4
In the formula 4, θ b, γ b,
Figure BSA00000698522400038
Be respectively the angle of pitch, roll angle, the position angle of the said antenna carrier that measures of inertial navigation system.North can't independently be sought because the inertial navigation system precision is low, therefore
Figure BSA00000698522400039
There are bigger error, θ with real position angle b, γ bInitial precision depend primarily on accelerometer, generally speaking, its output accuracy is higher, ratio error is less mutually with real attitude angle, can satisfy seeking star and following the tracks of index request of antenna.
Rotation matrix
Figure BSA00000698522400041
between the antenna coordinate system when (3) finding the solution antenna carrier coordinate system (b system, consistent) to the antenna alignment satellite with the antenna base coordinate system
C b a = C b t × C t a = c 11 c 12 c 13 c 21 c 22 c 23 c 31 c 32 c 33 Formula 5
(4) behind the antenna electrification reset, antenna coordinate system overlaps with carrier coordinate system, and at this moment, the computations angle of antenna alignment satellite to be tracked is:
formula 6
In the formula 6, θ p, γ p,
Figure BSA00000698522400044
For seeking the star instruction angle in the antenna pitching, polarization, the orientation that calculate according to low precision inertial navigation output.After inertial navigation system initially powers on, θ b, γ bTry to achieve through initial alignment, precision is higher;
Figure BSA00000698522400045
Try to achieve through automatically north seeking, because the inertia device precision is lower,
Figure BSA00000698522400046
Contain bigger error.Therefore, antenna seeks star instruction angle θ p, γ p,
Figure BSA00000698522400047
All have bigger error, antenna still can't be to satelloid after executing above instruction.
Four, control antenna pitching and polarization motor are according to instruction angle θ pAnd γ pRotation; Antenna bearingt control system control antenna rotates a week around azimuth axis with certain angular velocity lentamente; And in rotation process the amplitude of the satellite beacon signals that receives of monitoring aerial all the time, and the maximum antenna constantly of record satellite-signal is the position angle of zero-bit with respect to antenna coordinate
Figure BSA00000698522400048
Five, the angle, initial heading that value is calculated inertial navigation system according to
Figure BSA00000698522400049
, its computing formula is following:
Figure BSA000006985224000410
formula 7
Wherein,
C b t = C b a × C a t = C Bt 11 C Bt 12 c Bt 13 C Bt 21 C Bt 22 C Bt 23 C Bt 31 C Bt 32 C Bt 33 Formula 8
Figure BSA00000698522400052
formula 9
In the formula 9, θ p, γ pSeek the star instruction angle for what formula 6 calculated,
Figure BSA00000698522400053
Write down the position angle of the maximum antenna constantly of satellite-signal that obtains for step 4;
Figure BSA00000698522400054
The matrix that calculates for formula 3
Figure BSA00000698522400055
Transposed matrix, that is:
Figure BSA00000698522400056
Course angle
Figure BSA00000698522400057
the substitution step 3 of the inertial navigation that six, calculates step 5;
Figure BSA00000698522400059
repeating step three in usefulness
Figure BSA00000698522400058
alternative steps three formulas 4 is to step 5; Calculate inertial navigation course angle
Figure BSA000006985224000510
again course angle
Figure BSA000006985224000511
substitution step 3;
Figure BSA000006985224000512
repeating step three in alternative steps three formulas 4 is to step 5; Calculate inertial navigation course angle so iteration and recursion, the angle, initial heading that can calculate inertial navigation is n>=5 wherein for .
Seven, substitution step 3; Calculate the final star instruction angle
Figure BSA000006985224000516
of seeking according to this instruction angle control antenna rotation, can so that antenna accurately to satelloid.
Description of drawings
Fig. 1 is the required instruction angle synoptic diagram of antenna alignment satellite under the said geographic coordinate system of the application.
Fig. 2 is related geographic coordinate system of the application and the relation between the carrier coordinate system.
Fig. 3 is the initialized process flow diagram of mobile satellite communication antenna of the present invention.
Specific embodiment
Suppose that satellite to be tracked is No. 5 satellites of culminant star, its longitude is 110.5 °, the on-site longitude λ of mobile satellite communication antenna aBe 116 degree, latitude L aBe 40 degree, earth radius R=6378.17km, satellite altitude H=36000km; Suppose that antenna is respectively in the angle of pitch, roll angle, the course angle of seeking star moment carrier coordinate system (the antenna carrier coordinate system is consistent with the antenna base coordinate system): 0 °, 6 °, 0 °; Because low-cost inertial navigation system can't provide course angle exactly; But can provide the angle of pitch and roll angle exactly, suppose that then the angle of pitch, roll angle, the course angle of the carrier that inertial navigation system measures is respectively: 0 °, 6 °; 10 °, the course angle error of inertial navigation output is 10 °.
Can calculate the coordinate figure of satellite in geographic coordinate system according to formula 1 is:
X ta Y ta Z ta = - ( R + H ) sin Δλ - ( R + H ) cos Δλ sin L a ( R + H ) cos Δλ cos L a - R = - 4061.76 - 27114.75 25935.94 km
The instruction that calculates according to formula 2 is comparatively:
Figure BSA00000698522400062
The star instruction angle of seeking that calculates according to formula 6 is:
Figure BSA00000698522400063
Actual position according to satellite and antenna can calculate, and the value of the corner
Figure BSA00000698522400064
of the moment corresponding antenna of satellite-signal maximum is 194.68 degree during antenna 0-360 ° of scanning.
Formula 7 according to step 5 can calculate:
Figure BSA00000698522400065
Through calculating after the iteration:
Figure BSA00000698522400072
Figure BSA00000698522400073
Can know by above result of calculation; Through after 3 iteration, the position angle of inertial navigation system and real azimuthal error are superior to 0.005 °, therefore; Under the situation of iterations n >=5, can guarantee to estimate that the position angle of the inertial navigation that obtains is consistent with real position angle.

Claims (2)

1. the initial method of a mobile satellite communications antenna, it is characterized in that: described method performing step is:
The first step: selected satellite to be tracked, calculate the coordinate figure of satellite to be tracked in said antenna geographic coordinate system;
Second step: calculate geographic coordinate system and point to the angle of pitch, position angle and the polarization tracking instruction angle that satellite need rotate;
The 3rd step: calculate pitch demand angle, orientation instruction angle and polarization instruction angle that the controlling antenna wave beam to point satellite need rotate;
The 4th step: the pitch demand angle, orientation instruction angle and the polarization instruction angle that obtain according to the 3rd step, and combine 0-360 ° of scanning technique of antenna and iteration recursive algorithm to calculate the angle, initial heading of the inertial navigation system that is installed on the antenna;
The 5th step: recomputate antenna according to the angle, initial heading of the 4th inertial navigation system that obtain of step and seek the star instruction angle;
The 6th the step: according to the 5th the step obtain seek star instruction angle control antenna to satelloid.
2. the initial method of a mobile satellite communication antenna is characterized in that, the performing step of described method is:
The first step: selected satellite to be tracked, calculate satellite to be tracked at the on-site geographic coordinate system O-X of antenna according to formula 1 tY tZ tIn coordinate figure (X Ta, Y Ta, Z Ta) T:
X Ta Y Ta Z Ta = - ( R + H ) Sin Δ λ - ( R + H ) Cos Δ λ Sin L a ( R + H ) Cos Δ λ Cos L a - R Formula 1
In the formula 1, R is an earth radius, and H is the height of satellite to be tracked; Δ λ=λ a-λ sPoor for on-site longitude of antenna and satellite location longitude, wherein λ aBe the on-site longitude of antenna, λ sBe the on-site longitude of satellite; L aThe on-site latitude value of expression antenna.
Second step: behind the antenna electrification reset, suppose sensing of antenna beam center and antenna geographic coordinate system OY tAxle is consistent, and then the angle of pitch of the required rotation of controlling antenna wave beam to point satellite, position angle, polarizing angle can be expressed as:
Figure FSA00000698522300021
formula 2
In the formula 2, θ t,
Figure FSA00000698522300022
γ tPitching, orientation and the polarization tracking instruction angle of representing antenna under the geographic coordinate system respectively.The 3rd step: calculating antenna coordinate is O-X aY aZ aThe pitch demand angle θ of following antenna direction satellite p, the orientation instruction angle
Figure FSA00000698522300023
Polarization instruction angle γ pValue, its calculation procedure is:
The rotation matrix
Figure FSA00000698522300024
of the antenna coordinate system (a system) when (1) calculating geographic coordinate system (t system) extremely to satelloid
Figure FSA00000698522300025
formula 3
(2) calculate the rotation matrix
Figure FSA00000698522300026
of antenna carrier coordinate system (b system, consistent) to geographic coordinate system with the antenna base coordinate system
Figure FSA00000698522300027
formula 4
In the formula 4, θ b, γ b,
Figure FSA00000698522300028
Be respectively the angle of pitch, roll angle, the position angle of the said antenna carrier that measures of inertial navigation system.North can't independently be sought because the inertial navigation system precision is low, therefore
Figure FSA00000698522300029
There are bigger error, θ with real position angle b, γ bInitial precision depend primarily on accelerometer, generally speaking, its output accuracy is higher, ratio error is less mutually with real attitude angle, can satisfy seeking star and following the tracks of index request of antenna.
Rotation matrix
Figure FSA00000698522300031
between the antenna coordinate system when (3) finding the solution antenna carrier coordinate system (b system, consistent) to the antenna alignment satellite with the antenna base coordinate system
C b a = C b t × C t a = c 11 c 12 c 13 c 21 c 22 c 23 c 31 c 32 c 33 Formula 5
(4) behind the antenna electrification reset, antenna coordinate system overlaps with carrier coordinate system, and at this moment, the computations angle of antenna alignment satellite to be tracked is:
formula 6
In the formula 6, θ p, γ p, For seeking the star instruction angle in the antenna pitching, polarization, the orientation that calculate according to low precision inertial navigation output.After inertial navigation system initially powers on, θ b, γ bTry to achieve through initial alignment, precision is higher;
Figure FSA00000698522300035
Try to achieve through automatically north seeking, because the inertia device precision is lower,
Figure FSA00000698522300036
Contain bigger error.Therefore, antenna seeks star instruction angle θ p, γ p,
Figure FSA00000698522300037
All have bigger error, antenna still can't be to satelloid after executing above instruction.
The 4th step: control antenna pitching and polarization motor are according to instruction angle θ pAnd γ pRotation; Antenna bearingt control system control antenna rotates a week around azimuth axis with certain angular velocity lentamente; And in rotation process the amplitude of the satellite beacon signals that receives of monitoring aerial all the time, and the maximum antenna constantly of record satellite-signal is the position angle of zero-bit with respect to antenna coordinate
Figure FSA00000698522300038
The 5th step: value is calculated the angle, initial heading of inertial navigation system according to
Figure FSA00000698522300039
, and its computing formula is following:
formula 7
Wherein,
C b t = C b a × C a t = C Bt 11 C Bt 12 c Bt 13 C Bt 21 C Bt 22 C Bt 23 C Bt 31 C Bt 32 C Bt 33 Formula 8
Figure FSA00000698522300042
formula 9
In the formula 9, θ p, γ pSeek the star instruction angle for what formula 6 calculated,
Figure FSA00000698522300043
Write down the position angle of the maximum antenna constantly of satellite-signal that obtains for step 4;
Figure FSA00000698522300044
The matrix that calculates for formula 3 Transposed matrix, that is:
Figure FSA00000698522300046
The 6th step: course angle the substitution step 3 of the inertial navigation that calculates step 5; repeating step three in usefulness alternative steps three formulas 4 is to step 5; Calculate inertial navigation course angle
Figure FSA000006985223000410
again course angle
Figure FSA000006985223000411
substitution step 3;
Figure FSA000006985223000412
repeating step three in alternative steps three formulas 4 is to step 5; Calculate inertial navigation course angle
Figure FSA000006985223000413
so iteration and recursion, the angle, initial heading that can calculate inertial navigation is n>=5 wherein for
Figure FSA000006985223000414
.
The 7th step:
Figure FSA000006985223000415
substitution step 3; Calculate the final star instruction angle
Figure FSA000006985223000416
of seeking according to this instruction angle control antenna rotation, can so that antenna accurately to satelloid.
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CN104124528A (en) * 2014-05-05 2014-10-29 北京星网卫通科技开发有限公司 Inertia/GNSS (Global Navigation Satellite System)/satellite beacon based integrated communication on the move antenna stabilization tracking method
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Application publication date: 20120912