CN103633417A - Airborne antenna high-precision pointing tracking method based on strapdown flight attitude stability tracking - Google Patents
Airborne antenna high-precision pointing tracking method based on strapdown flight attitude stability tracking Download PDFInfo
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Abstract
The invention provides an airborne antenna high-precision pointing tracking method based on strapdown flight attitude stability tracking. According to the method, firstly, a strapdown flight attitude system completes the initial alignment, secondly, the strapdown flight attitude system enters an inertial navigation state, when satellite tracking signals can be received, the trapdown flight attitude system enters a combined navigation state, and when the satellite tracking signals are interrupted, the strapdown flight attitude system uses an airplane body state just before the satellite tracking signal interruption as the initial state for re-entering the inertia navigation state; the orientation, altitude and polarization angle dial values required by the correct satellite tracking by an airplane airborne antenna are obtained according to the airplane orientation angle, the satellite positioning longitude and the like, further, the airborne antenna is driven to rotate to the corresponding dial value, and the goals of isolating the airplane body movement and aligning the airborne antenna with the satellite can be realized. The airborne antenna high-precision pointing tracking method has the advantages that the problems of poor precision and high dependence of the program tracking are solved, the problem of low availability of the single-pulse self tracking is also solved, and the new research direction is provided for the airborne antenna high-precision pointing tracking.
Description
Technical field
The present invention relates to airborne antenna servo control technique field, be specially a kind of airborne antenna high accuracy based on strapdown attitude tenacious tracking and point to tracking.
Background technology
Airborne Satellite Communication System develops rapidly, installs and gets more and more aboard, and airborne antenna needs accurately to follow the tracks of fast synchronous earth satellite.
Conventionally employing method is a kind of programmed algorithm (is referred to as program here and follows the tracks of).It utilizes aircraft inertial navigation system (hereinafter to be referred as inertial navigation)/GPS to measure the geographic logitude, latitude at aircraft place, highly, inertial navigation system provides aspect parameter (angle of pitch of the roll angle of the course angle of the relative direct north of aircraft, aircraft relative level face, aircraft relative level face), according to the longitude of satellite, by antenna control unit, calculate satellite to the geographic azimuth A of antenna, angle of pitch E and polarizing angle Z again.By coordinate transform, obtain body angle A j, Ej, the Zj of antenna again.Then guide antenna points to satellite in real time.
Program tracking tracking satellite, seriously relies on aircraft inertial navigation, and independence is poor; Meanwhile, do not exist inertial navigation self precision high and point to tracking error along with the large problem of time drift.Due to tracking accuracy problem, program tracking is only adapted at applying in bore antenna system.
For improving tracking accuracy, settlement procedure is followed the tracks of the serious aircraft inertial navigation problem that relies on simultaneously, and researcher has proposed again a kind of tracking mode of monopulse tracking.Monopulse tracking, first according to aircraft inertial navigation/gps data, calculates satellite initial directional, completes the preliminary aligning (this process is catching) to satellite, re-uses monopulse tracking accurately to satelloid, and flow process is shown in Fig. 2.Monopulse tracking is the tracking to satellite beacon signals, through the antenna of particular design, after antenna departs from objectives, by track receiver can calculate depart from objectives number, then by antenna servo system, drive antenna to rotate, eliminate the deviation of target.Monopulse tracking is caught up with after satellite, can depart from inertial navigation utonomous working completely.
Single-pulse track needs the special design of antenna, comprises design TE
21mould tracker, microwave comprise network and track receiver, workflow is summarized as follows: antenna reception is from the beacon signal on satellite, through TE
21mould tracker and microwave comprise network handle and, Composite Signal Wei Yi road tracking signal.When target overlaps with electric axis, in feed, only encouraged basic mode TE
11mould when target departs from electric axis, has not only encouraged basic mode TE in feed
11mould, also can encourage higher mode TE
21mould, forms the error signal that reflects target drift angle and phase place through combinational network.When drift angle hour, the amplitude of error signal is directly proportional to drift angle.First track receiver carries out the angular error signal of reception 0/ π phase modulation, and carrier wave is inhibited, get its sideband signals that contains angle information in adder with through 10dB directional coupler and signal plus, export a road composite signal.Thereby two channels have been become to single channel, then amplified, frequency conversion, phase-locked, angle error demodulation, synchronous detection, output angle error voltage antennas control unit, the direction that driven antenna reduces towards error is rotated, and realizes the monopulse tracking to target.
According to Aircraft Flight Test situation, adopt the mode tracking accuracy of monopulse tracking can reach higher required precision, but monopulse tracking system is complicated, follows the tracks of the track receiver using, be subject to the phase drift that environmental impact causes and be difficult to solve, actual availability is low.
Summary of the invention
The technical problem solving
The strong problem of low precision, dependence of following the tracks of in order to overcome program, solves the low problem of monopulse tracking availability, the present invention proposes a kind of airborne antenna high accuracy based on strapdown attitude tenacious tracking and points to tracking.
Technical scheme
Technical scheme of the present invention is:
Described a kind of airborne antenna high accuracy based on strapdown attitude tenacious tracking is pointed to tracking, it is characterized in that: adopt following steps:
Step 1: before taking off, by Aircraft Main inertial navigation system, the longitude of aircraft starting point, latitude and satellite aximuth are passed to Strapdown Attitude Heading Reference System, Strapdown Attitude Heading Reference System completes initial alignment; Described Strapdown Attitude Heading Reference System comprises three axis optical fibre gyro, three axis accelerometer and resolves platform;
Step 2: after taking off, Strapdown Attitude Heading Reference System is followed and detected attitude variation and the change in location that airplane motion brings by three axis optical fibre gyro, three axis accelerometer, and real-time resolving goes out the azimuth of aircraft;
In the time can accepting Satellite Tracking signal, the airborne antenna control system of aircraft is carried out the azimuth of the aircraft that inverse obtains to the longitude and latitude of the angle-data of satellite, satellite itself according to antenna, and compare with the angle, the bearing of aircraft of Strapdown Attitude Heading Reference System real-time resolving, according to comparing the drift of difference estimation Strapdown Attitude Heading Reference System and the azimuth of Strapdown Attitude Heading Reference System output being revised, obtain angle, the revised bearing of aircraft and enter step 3;
When Satellite Tracking signal interruption, Strapdown Attitude Heading Reference System is usingd the airframe state of Satellite Tracking signal interruption eve as initial state, by three axis optical fibre gyro, three axis accelerometer, followed and detected attitude variation and the change in location that airplane motion brings, real-time resolving goes out the azimuth of aircraft and enters step 3;
Step 3: orientation code-disc value and height code-disc value while following the tracks of according to the azimuth of aircraft, the satellite fix longitude being obtained by airborne antenna control system and while following the tracks of, obtain orientation that the correct tracking satellite of aircraft airborne antenna needs, just, polarization angle code-disc value;
Step 4: the orientation that the correct tracking satellite of aircraft airborne antenna that the airborne antenna control system of aircraft obtains according to step 3 needs, just, polarization angle code-disc value, drive motors drives antenna to rotate to corresponding code-disc value, realizes isolation body movement and makes airborne antenna to satelloid.
Beneficial effect
The present invention adopts Strapdown Attitude Heading Reference System to realize airborne antenna high accuracy and points to tracking, overcome the strong problem of low precision, dependence that program is followed the tracks of, also solve the problem that monopulse tracking availability is low, for airborne antenna high accuracy, point to tracking and proposed new research direction.
Accompanying drawing explanation
Fig. 1: Strapdown Attitude Heading Reference System workflow theory diagram.
Embodiment
Below in conjunction with specific embodiment, the present invention is described:
With reference to accompanying drawing 1, the airborne antenna high accuracy based on strapdown attitude tenacious tracking in the present embodiment is pointed to tracking, adopts following steps:
Step 1: start Strapdown Attitude Heading Reference System, before taking off, by Aircraft Main inertial navigation system, the longitude of aircraft starting point, latitude and satellite aximuth are passed to Strapdown Attitude Heading Reference System, Strapdown Attitude Heading Reference System completes initial alignment; Described Strapdown Attitude Heading Reference System comprises three axis optical fibre gyro, three axis accelerometer and resolves platform;
Step 2: after taking off, Strapdown Attitude Heading Reference System enters inertial navigation mode, Strapdown Attitude Heading Reference System is followed and is detected attitude variation and the change in location that airplane motion brings by three axis optical fibre gyro, three axis accelerometer, and real-time resolving goes out the azimuth of aircraft;
In the time can accepting Satellite Tracking signal, Strapdown Attitude Heading Reference System enters integrated navigation state, the airborne antenna control system of aircraft is carried out the azimuth of the aircraft that inverse obtains to the longitude and latitude of the angle-data of satellite, satellite itself according to antenna, and compare with the angle, the bearing of aircraft of Strapdown Attitude Heading Reference System real-time resolving, according to comparing the drift of difference estimation Strapdown Attitude Heading Reference System and the azimuth of Strapdown Attitude Heading Reference System output being revised, obtain angle, the revised bearing of aircraft and enter step 3;
When Satellite Tracking signal interruption, Strapdown Attitude Heading Reference System is usingd the airframe state of Satellite Tracking signal interruption eve and is reentered inertial navigation mode as initial state, by three axis optical fibre gyro, three axis accelerometer, followed and detected attitude variation and the change in location that airplane motion brings, real-time resolving goes out the azimuth of aircraft and enters step 3; When Satellite Tracking signal is effective, Strapdown Attitude Heading Reference System enters again integrated navigation state automatically;
Step 3: orientation code-disc value and height code-disc value while following the tracks of according to the azimuth of aircraft, the satellite fix longitude (comprising satellite aximuth, the satellite angle of site, satellite polarizing angle) being obtained by airborne antenna control system and while following the tracks of, obtain orientation that the correct tracking satellite of aircraft airborne antenna needs, just, polarization angle code-disc value;
Step 4: the orientation that the correct tracking satellite of aircraft airborne antenna that the airborne antenna control system of aircraft obtains according to step 3 needs, just, polarization angle code-disc value, drive motors drives airborne antenna to rotate to corresponding code-disc value, realizes isolation body movement and makes airborne antenna to satelloid.
Claims (1)
1. the airborne antenna high accuracy based on strapdown attitude tenacious tracking is pointed to a tracking, it is characterized in that: adopt following steps:
Step 1: before taking off, by Aircraft Main inertial navigation system, the longitude of aircraft starting point, latitude and satellite aximuth are passed to Strapdown Attitude Heading Reference System, Strapdown Attitude Heading Reference System completes initial alignment; Described Strapdown Attitude Heading Reference System comprises three axis optical fibre gyro, three axis accelerometer and resolves platform;
Step 2: after taking off, Strapdown Attitude Heading Reference System is followed and detected attitude variation and the change in location that airplane motion brings by three axis optical fibre gyro, three axis accelerometer, and real-time resolving goes out the azimuth of aircraft;
In the time can accepting Satellite Tracking signal, the airborne antenna control system of aircraft is carried out the azimuth of the aircraft that inverse obtains to the longitude and latitude of the angle-data of satellite, satellite itself according to antenna, and compare with the angle, the bearing of aircraft of Strapdown Attitude Heading Reference System real-time resolving, according to comparing the drift of difference estimation Strapdown Attitude Heading Reference System and the azimuth of Strapdown Attitude Heading Reference System output being revised, obtain angle, the revised bearing of aircraft and enter step 3;
When Satellite Tracking signal interruption, Strapdown Attitude Heading Reference System is usingd the airframe state of Satellite Tracking signal interruption eve as initial state, by three axis optical fibre gyro, three axis accelerometer, followed and detected attitude variation and the change in location that airplane motion brings, real-time resolving goes out the azimuth of aircraft and enters step 3;
Step 3: orientation code-disc value and height code-disc value while following the tracks of according to the azimuth of aircraft, the satellite fix longitude being obtained by airborne antenna control system and while following the tracks of, obtain orientation that the correct tracking satellite of aircraft airborne antenna needs, just, polarization angle code-disc value;
Step 4: the orientation that the correct tracking satellite of aircraft airborne antenna that the airborne antenna control system of aircraft obtains according to step 3 needs, just, polarization angle code-disc value, drive motors drives antenna to rotate to corresponding code-disc value, realizes isolation body movement and makes airborne antenna to satelloid.
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| CN104243066A (en) * | 2014-09-05 | 2014-12-24 | 航天东方红卫星有限公司 | Relay satellite tracking program control and autotracking combination mode test system and method |
| CN106253968A (en) * | 2016-08-05 | 2016-12-21 | 航天恒星科技有限公司 | A kind of communication terminal for high dynamic carrier |
| CN106647704A (en) * | 2016-12-19 | 2017-05-10 | 北京空间飞行器总体设计部 | Method for determining tracking precision of GEO orbital data transmission antenna |
| CN108037523A (en) * | 2017-10-26 | 2018-05-15 | 北京航空航天大学 | A kind of electron assistant beam alignment applied to unmanned plane |
| CN108242600A (en) * | 2018-01-04 | 2018-07-03 | 电子科技大学 | A kind of linear polarization pulse Small-slotted Planar Antenna Array |
| CN108493611A (en) * | 2018-03-21 | 2018-09-04 | 北京华力创通科技股份有限公司 | Antenna for satellite communication in motion and telecommunication satellite fast alignment device, method and system |
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| CN112083465A (en) * | 2020-09-18 | 2020-12-15 | 德明通讯（上海）有限责任公司 | Position information acquisition system and method |
| CN112197792A (en) * | 2020-10-10 | 2021-01-08 | 江西洪都航空工业集团有限责任公司 | Course precision improving method for trainer attitude and heading system |
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| CN106253968A (en) * | 2016-08-05 | 2016-12-21 | 航天恒星科技有限公司 | A kind of communication terminal for high dynamic carrier |
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| CN108242600A (en) * | 2018-01-04 | 2018-07-03 | 电子科技大学 | A kind of linear polarization pulse Small-slotted Planar Antenna Array |
| CN108242600B (en) * | 2018-01-04 | 2020-09-15 | 电子科技大学 | Linearly polarized monopulse planar slot antenna |
| CN108493611A (en) * | 2018-03-21 | 2018-09-04 | 北京华力创通科技股份有限公司 | Antenna for satellite communication in motion and telecommunication satellite fast alignment device, method and system |
| CN108493611B (en) * | 2018-03-21 | 2020-07-28 | 北京华力创通科技股份有限公司 | Device, method and system for rapidly aligning communication-in-motion antenna and communication satellite |
| CN109860982A (en) * | 2018-12-17 | 2019-06-07 | 南通先进通信技术研究院有限公司 | A kind of antenna for satellite communication in motion and its sea area broadband access system |
| CN111006659A (en) * | 2019-12-06 | 2020-04-14 | 江西洪都航空工业集团有限责任公司 | Navigation system with multi-navigation-source information fusion function |
| CN112083465A (en) * | 2020-09-18 | 2020-12-15 | 德明通讯（上海）有限责任公司 | Position information acquisition system and method |
| CN112197792A (en) * | 2020-10-10 | 2021-01-08 | 江西洪都航空工业集团有限责任公司 | Course precision improving method for trainer attitude and heading system |
| CN112665614A (en) * | 2020-12-23 | 2021-04-16 | 中电科航空电子有限公司 | Inertial navigation reference calibration method for airborne broadband satellite communication equipment and related components |
| CN112665614B (en) * | 2020-12-23 | 2022-12-06 | 中电科航空电子有限公司 | Inertial navigation reference calibration method for airborne broadband satellite communication equipment and related components |
| CN115149994A (en) * | 2022-05-10 | 2022-10-04 | 深圳市飞思通信技术有限公司 | Satellite tracking method and communication-in-motion equipment |
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