CN110233665A - Radio frequency/laser collaboration fast Acquisition tracks alignment methods - Google Patents
Radio frequency/laser collaboration fast Acquisition tracks alignment methods Download PDFInfo
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- CN110233665A CN110233665A CN201910453396.8A CN201910453396A CN110233665A CN 110233665 A CN110233665 A CN 110233665A CN 201910453396 A CN201910453396 A CN 201910453396A CN 110233665 A CN110233665 A CN 110233665A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/07—Arrangements for monitoring or testing transmission systems; Arrangements for fault measurement of transmission systems
- H04B10/075—Arrangements for monitoring or testing transmission systems; Arrangements for fault measurement of transmission systems using an in-service signal
- H04B10/079—Arrangements for monitoring or testing transmission systems; Arrangements for fault measurement of transmission systems using an in-service signal using measurements of the data signal
- H04B10/0793—Network aspects, e.g. central monitoring of transmission parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/07—Arrangements for monitoring or testing transmission systems; Arrangements for fault measurement of transmission systems
- H04B10/075—Arrangements for monitoring or testing transmission systems; Arrangements for fault measurement of transmission systems using an in-service signal
- H04B10/079—Arrangements for monitoring or testing transmission systems; Arrangements for fault measurement of transmission systems using an in-service signal using measurements of the data signal
- H04B10/0795—Performance monitoring; Measurement of transmission parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
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Abstract
A kind of radio frequency of disclosure of the invention/laser collaboration fast Acquisition tracks alignment methods, it is desirable to provide a kind of to capture the acquisition and tracking alignment methods to collimated light beam in the remote complete quick high probability in airspace.The present invention is achieved by following technical methods: in the Radio Frequency Tracking stage, beam point steering device is according to radio frequency omni-beam, radio frequency directional beam detection information, the alignment error between target direction and currently practical direction is extracted as feedback quantity, it assists quickly finding capture laser beam by radio frequency beam within the scope of full airspace, and is switched to laser tracking；In laser tracking phase, beam point steering device is utilized respectively the beam information of the thick visual field of optics and smart field detection, the alignment error between target direction and currently practical direction is extracted as feedback quantity, laser beam is controlled to be directed toward, beam alignment error is further decreased within the scope of Radio Frequency Tracking alignment error, ensures that laser communication link continues precision tracking alignment.
Description
Technical field
The present invention relates to a kind of suitable for wireless laser communication, laser between high motor platform/radio frequency integrated communication light
Beam fast Acquisition tracks alignment methods.
Background technique
For wireless laser communication using laser as information carrier, free space or atmosphere are transmission channel, realize the biography of information
It is defeated.Its main feature includes: 1, communication bandwidth height: laser communication system mostly uses the laser of infrared band, carrier frequency
It in several hundred THz, is several orders of magnitude higher than radio communication, carrier frequency increase expands available transmission bandwidth, it is possible to provide
Data transmission rate up to more than 10Gbps magnitude, the data transmission rate of Mbpss several hundred much larger than current radio communication.2, wave beam
The angle of divergence is small: carrier wavelength is shorter, and antenna gain is higher, and dual-mode antenna bore needed for designing same Angle of beam divergence is got over
It is small, therefore laser communication also can guarantee the Angle of beam divergence of very little in the case where high motor platform antenna aperture is limited, it is required
Antenna aperture is centimetres.3, confidentiality and strong antijamming capability: since Angle of beam divergence is small, laser beam energy, which is concentrated, to be passed
It is defeated, it is difficult to disturbed, intercepting and capturing, and common radio communication can not reliably work under electromagnetic interference environment, therefore laser is logical
Letter has a wide range of applications in the anti-interference Wideband fading field of complex electromagnetic environment.
High-rate laser communication link is established between two motor platforms, it is necessary first to complete mutual beam alignment.By
Complicated in high motor platform motion profile and attitudes vibration is fast, laser beam is narrow also to bring light to believe while bringing many advantages
Number defy capture the problem of detection.Inaccurate beam alignment will lead to receiving end optical signal largely lose and communication performance it is tight
Decline again, or even make link down, this requires laser communication terminals to be caught using a kind of quick, efficient, stable method
Light beam is obtained, recovery when foundation and link down for laser link.Therefore, light beam fast Acquisition, tracking and precision are right
Standard is to restrict the practical key technology of motor platform high-rate laser communication.Beam-capturing refers within the scope of full airspace, optics
Detector searches out the process of target terminal transmitting light beam；Tracking, which refers to, resolves alignment angular error according to the light beam received,
Adjustment light beam is directed toward the process for reducing both sides' alignment error in real time；Alignment refers to that pencil tracing is gradually reduced due to error in pointing
And the light signal energy loss generated ensures optical link normal transmission until meeting the fine registration precision of optic communication requirement
State.
Light beam fast Acquisition is the most important condition of laser communication link between establishing motor platform, and tracks alignment precision to light
Communication performance plays a decisive role.In the prior art, beam-capturing tracks alignment methods mainly by using the light of the big angle of divergence
Beam is scanned, and cooperates the optical detector of big field angle to carry out beam-capturing, then be switched to the optical detector for neglecting rink corner
Carry out tracking alignment.The major defect of this method is: first is that the beam Propagation distance of the big angle of divergence is limited, it can only be in short distance
It realizes capture, is not used to remote motor platform；Second is that the optical detector of big visual field needs to adopt before capturing light beam
With image trace, in the case where background complexity, image object is extracted and the automatic adjustment of visual field size is difficult, needs to assist with one
Fixed manual operation cannot achieve full automatic light beam fast Acquisition；Third is that applying ring at high maneuverability and strong vibration mild-natured
In border, arrow beam of light pickup electrode is easily lost, and prior art optical detector is difficult to quickly weigh in small range once losing optical signal
Capture laser link.
Summary of the invention
In view of Radio Frequency Tracking is suitable for the large-scale wave beam fast Acquisition in full airspace, laser tracking is suitable for small-scale
Wave beam fine registration, the purpose of the present invention is to provide one kind can be in the remote complete quick high probability capture in airspace to collimated light beam
Radio frequency/laser cooperate with acquisition and tracking alignment methods.
The present invention realizes that above-mentioned purpose method and step is: a kind of radio frequency/laser collaboration fast Acquisition tracking alignment methods, tool
Have following technical characteristic: in the collaboration fast Acquisition tracking of radio frequency/laser in Barebone, by acquisition and tracking alignment be divided into radio frequency with
Track and laser tracking；In the Radio Frequency Tracking stage, beam point steering device is visited according to radio frequency omni-beam, radio frequency directional beam respectively
Measurement information, extract target be directed toward and currently practical direction between alignment error be used as feedback quantity, control radio frequency directional beam with
Laser beam is directed toward, and assists quickly finding capture laser beam by radio frequency beam within the scope of full airspace, then be switched to laser
Tracking；In laser tracking phase, beam point steering device is utilized respectively the beam information of the thick visual field of optics and smart field detection, mentions
The alignment error for taking target to be directed toward between currently practical direction controls laser beam and is directed toward, in Radio Frequency Tracking as feedback quantity
Beam alignment error is further decreased within the scope of alignment error, ensures that laser communication link continues precision tracking alignment.
It can be seen from the above technical proposal that the present invention has the advantages that compared with the prior art.
Full automatic high efficiency capture: the present invention is directed to and is limited to current laser output power and laser acquisition sensitivity,
Remote link alignment is not suitable for using the catching method of big angle of divergence light beam, acquisition probability is low and seeks sometimes for human assistance
The shortcoming for looking for target terminal, the feature big in conjunction with radio frequency beam coverage area, detectivity is high are remote by supporting
The Radio Frequency Tracking auxiliary automatically captured finds light beam, then is switched to laser tracking and guarantees wave beam fine registration, realizes full airspace
The arrow beam of light fast capturing signal of range is aligned with precision tracking, effectively reduces the capture alignment time, and full automatic high efficiency is established remote
Apart from laser link, the practicability of system is improved.
Sweep time is short: the present invention is limited by sweep time of the light beam in uncertain region for capture time, passes through
Radio Frequency Tracking is cooperateed with what laser tracked, has compressed the uncertain region of light beam scanning, and light beam only needs to be aligned in Radio Frequency Tracking
It is scanned in error range, simultaneously because scanning range reduces, is scanned using the fast micromechanics low-angle light beam of scanning speed
Device can complete scanning in 1~2 second, and existing mechanical light beam scanning usually requires tens seconds, and sweep time reduces
One magnitude.
Reacquisition probability is high: the present invention for high motor platform motion profile it is difficult to predict and attitudes vibration it is fast, arrow beam of light
Pickup electrode is easily lost, and the prior art is difficult to the defect in the quick reacquisition laser link of small range, is covered using radio frequency beam
The characteristics of lid range is big, still can keep Radio Frequency Tracking when laser link is lost, need to only scan to a very small extent
Light beam can realize the recapture of high probability in a short time, improve laser link reliability.
Device structure is simple: the present invention is applied to radio frequency/laser integration and transmits data-link, can make full use of in equipment
Radio frequency component and laser module do not increase redundant component compared with prior art, without increase it is unrelated with long-distance optical communication
Big angle of divergence light beam, the extra device such as big visual field optical detector.
The present invention is quickly caught suitable for wireless laser communication, laser/radio frequency integrated communication light beam between high motor platform
Obtain tracking alignment.
Detailed description of the invention
Fig. 1 is radio frequency of the present invention/laser collaboration fast Acquisition tracking alignment work model process figure；
Fig. 2 is beam point steering functional block diagram；
Fig. 3 is the wave beam alignment flow chart of five operating modes of the invention；
Fig. 4 is optical scanner trajectory diagram.
Specific embodiment
Refering to fig. 1.According to the present invention, in the collaboration fast Acquisition tracking of radio frequency/laser in Barebone, by acquisition and tracking pair
Standard is divided into Radio Frequency Tracking and laser tracking；In the Radio Frequency Tracking stage, beam point steering device respectively according to radio frequency omni-beam, penetrate
Frequency directional beam detection information extracts the alignment error between target direction and currently practical direction as feedback quantity, and control is penetrated
Frequency directional beam and laser beam are directed toward, and assist quickly finding capture laser beam by radio frequency beam within the scope of full airspace,
It is switched to laser tracking again；In laser tracking phase, beam point steering device is utilized respectively the thick visual field of optics and smart field detection
Beam information, extract target be directed toward and currently practical direction between alignment error be used as feedback quantity, control laser beam refer to
To, further decrease beam alignment error within the scope of Radio Frequency Tracking alignment error, ensure laser communication link continue it is accurate with
Track alignment.Wherein, Radio Frequency Tracking is divided into two program tracking, signal trace operating modes, and laser tracking is divided into optical scanner, light
Rough tracking, optics essence three operating modes of tracking, five modes step by step compression beam alignment error since full airspace, finally
The light beam precision alignment for realizing differential of the arc measurement level, ensures laser communication link normal transmission.
Program tracing mode: beam point steering device utilizes the position of omni-beam interaction both sides, attitude data, extraction pair
Quasi- control information is directed toward as feedback from full airspace scope control radio frequency directional beam and laser beam, reduces alignment error, directly
Signal is detected to radio frequency directional aerial, is transferred to signal trace mode.
Signal trace mode: beam point steering device is carried out to received radio frequency directional beam signal and poor angle measurement, extracts
Alignment error information controls beam position as feedback.If dropout, signal is not detected in radio frequency directional aerial, then is returned
Program tracing mode；Otherwise continuous service signal trace mode reduces alignment error, until the thick visual field coverage goal of optics is whole
End enters scanning range, is transferred to optical scanner mode.
Optical scanner mode: the scan angle that beam point steering device is exported according to light beam scan angle calculation procedure controls light
Shu Zhixiang is persistently scanned in scanning range, and until scanning light beam enters the thick visual field of optics, realization beam-capturing is transferred to optics
Rough tracking mode.
Optics rough tracking mode: beam point steering device is extracted using the hot spot coordinate of the thick field of view detector capture of optics
Beam alignment control information is directed toward as feedback, control light beam.If optical signal is lost, optical signal is not detected in the thick visual field of optics,
Then return signal tracing mode；Otherwise continuous service optics rough tracking mode reduces alignment error, until light beam enters optics essence
Visual field is transferred to optics essence tracing mode.
Optics essence tracing mode: beam point steering device utilizes the high-precision light of high frame frequency optics essence field of view detector measurement
Spot coordinate extracts beam alignment control information as feedback, and control light beam precision is directed toward, and further suppressing optics rough tracking can not
The high frequency low-angle light beam of compensation vibrates.If optical signal is lost, optical signal is not detected in optics essence visual field, then return optics slightly with
Track mode；Otherwise continuous service optics essence tracing mode ensures the fine registration of laser communication link.
Refering to Fig. 2.Beam point steering device generally includes positioner and speed control, and positioner extracts mesh
Mark is directed toward ydAlignment error e between currently practical direction y, calculates inertial space control instruction according to positional control algorithm
u；The platform for the inertial space control instruction u and spinning top rake that speed control is inputted according to positioner disturbs w and holds
Itself revolving speed s of row mechanism speed measure feedback, speed of service control algolithm calculate speed driving instruction v, drive executing agency's tune
Save the direction of radio frequency directional beam and laser beam.
Operating mode is tracked in different radio frequencies/laser, beam point steering device exports control amount and refers to different wave beams
To executing agency.In program tracking, signal trace, optics rough tracking operating mode, it is servo turntable that light beam, which is directed toward executing agency,；
In optical scanner operating mode, it is micromechanics scanning mirror that light beam, which is directed toward executing agency,；Operating mode is tracked in optics essence, light beam refers to
It is high-speed, high precision galvanometer to executing agency.
Position control, speed control algorithm select PID control, and plug-in software adjusts scale parameter by control program
P, integral parameter I and differential parameter D, mentions high control precision.
Refering to Fig. 3.(a) program tracing mode: receive range Theta when alignment error e is less than radio frequency directional beam1, wave at this time
Beam pointing controller detects directional beam signal, is transferred to signal trace mode.(b) signal trace mode: when alignment error e is small
In the thick visual field θ of optics2, the thick visual field coverage goal terminal of optics is transferred to optical scanner mode into scanning range at this time.(c) light
Learn scan pattern: beam point steering device is using the progress light beam scanning of light beam scan angle calculation procedure, when to enter optics thick for light beam
Field of view detector is transferred to optics rough tracking mode after realizing beam-capturing；(d) optics rough tracking mode: when alignment error e is less than
Optics essence visual field θ3, light beam enters optics essence field of view detector at this time, is transferred to the tracking of optics essence.(e) optics essence tracing mode: when
Alignment error e is less than beam divergence angle θ, and beam alignment precision reaches differential of the arc measurement level at this time, can be coupled into optic communication detection
Device establishes laser communication transmission link.
Refering to Fig. 4.Light beam scan angle calculation procedure is according to scanning light beam angle of divergence θ, the thick visual field θ of optics2It is overlapped with wave beam
Factor η calculates scan angle, and output scan angle is expressed as azimuth Az and pitch angle El.η value range 0-1, value is bigger, wave beam
Overlapping is more, and acquisition probability is higher, but numbers of beams needed for scanning one time is more.
Step 1, it is N=ceil { θ that light beam scan angle calculation procedure, which calculates the helical scanning week number of needs,2/[(1-η)
θ] }, it is transferred to step 2；
Step 2, all counter n=1 of order scanning, scan angle polar coordinates polar angle φ=0, polar diameter ρ=0, azimuth Az=0 bow
Elevation angle El=0, is transferred to step 3；
Step 3, numbers of beams M=ceil (2 π n) needed for calculating n-th week spiral, is transferred to step 4；
Step 4, beam count device m=1, polar angle increment d φ=2 π/M, polar diameter increment d ρ=(1- η) θ/M is enabled to be transferred to step 5；
Step 5, scan angle is updated, φ=φ+d φ, ρ=ρ+d ρ obtains scan position angle Az=ρ cos φ, pitch angle El=ρ
Sin φ, is transferred to step 6；
Step 6, judge whether beam count device m reaches M, if m<M, enable m=m+1, be transferred to step 5, otherwise m>=M, is transferred to step
Rapid 7；
Step 7, judge to scan whether all counter n reach N, if n<N, enable n=n+1, be transferred to step 3, otherwise n>=N, light
Learn the end of scan, entire scanning process beam distribution track such as Fig. 4.
Above in conjunction with attached drawing to the present invention have been described in detail, it is to be noted that being described in examples detailed above
Preferred embodiment only of the invention, is not intended to restrict the invention, and for those skilled in the art, the present invention can
To there is various modifications and variations, all within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on,
It should be included within scope of the presently claimed invention.
Claims (10)
1. a kind of radio frequency/laser collaboration fast Acquisition tracks alignment methods, there is following technical characteristic: in radio frequency/laser collaboration
Acquisition and tracking alignment is divided into Radio Frequency Tracking and laser tracks by fast Acquisition tracking in Barebone；In the Radio Frequency Tracking stage, wave
Beam pointing controller is extracted target and is directed toward and currently practical direction according to radio frequency omni-beam, radio frequency directional beam detection information
Between alignment error as feedback quantity, control radio frequency directional beam and laser beam be directed toward, by penetrating within the scope of full airspace
Frequency wave beam auxiliary quickly finds capture laser beam, then is switched to laser tracking；In laser tracking phase, beam point steering device
It is utilized respectively the beam information of the thick visual field of optics and smart field detection, extracts the alignment that target is directed toward between currently practical direction
Error controls laser beam and is directed toward as feedback quantity, and beam alignment mistake is further decreased within the scope of Radio Frequency Tracking alignment error
Difference ensures that laser communication link continues precision tracking alignment.
2. radio frequency as described in claim 1/laser collaboration fast Acquisition tracks alignment methods, it is characterised in that: Radio Frequency Tracking
It is divided into two program tracking, signal trace operating modes, laser tracking is divided into optical scanner, optics rough tracking, the tracking of optics essence
Three operating modes, five modes step by step compression beam alignment error since full airspace realize the light beam essence of differential of the arc measurement level
Close alignment ensures laser communication link normal transmission.
3. radio frequency as described in claim 1/laser collaboration fast Acquisition tracks alignment methods, it is characterised in that: program with
In track mode, beam point steering device utilizes the position of omni-beam interaction both sides, attitude data, extracts alignment error information and makees
It for feedback, is directed toward from full airspace scope control radio frequency directional beam and laser beam, reduces alignment error, until radio frequency orients day
Line detects signal, is transferred to signal trace mode；In signal trace mode, beam point steering device orients received radio frequency
Beam signal carries out and poor angle measurement, extracts alignment error information as feedback, controls beam position, if dropout, radio frequency is fixed
Signal is not detected to antenna, then returns to program tracing mode, otherwise continuous service signal trace mode, reduces alignment error,
Until the thick visual field coverage goal terminal of optics, that is, enters scanning range, be transferred to optical scanner mode.
4. radio frequency as described in claim 1/laser collaboration fast Acquisition tracks alignment methods, it is characterised in that: swept in optics
It retouches in mode, the scan angle that beam point steering device is exported according to light beam scan angle calculation procedure, control light beam is directed toward, and is being scanned
It is persistently scanned in range, until scanning light beam enters the thick visual field of optics, realization beam-capturing is transferred to optics rough tracking mode；Into
After entering optics rough tracking mode, beam point steering device extracts light beam using the hot spot coordinate of the thick field of view detector capture of optics
As feedback, control light beam is directed toward alignment error information, if optical signal is lost, the thick visual field of optics is not detected optical signal, then returns
Letter in reply tracing mode, otherwise continuous service optics rough tracking mode, reduces alignment error, until light beam enters optics essence view
, it is transferred to optics essence tracing mode；In optics essence tracing mode, beam point steering device is visited using high frame frequency optics essence visual field
The high-precision hot spot coordinate of device measurement is surveyed, extracts beam alignment control information as feedback, control light beam precision is directed toward, further
The high frequency low-angle light beam vibration for inhibiting optics rough tracking that can not compensate, if optical signal is lost, light is not detected in optics essence visual field
Signal then returns to optics rough tracking mode, otherwise continuous service optics essence tracing mode, ensures that the precision of laser communication link is right
It is quasi-.
5. radio frequency as described in claim 1/laser collaboration fast Acquisition tracks alignment methods, it is characterised in that: beam position
Controller includes positioner and speed control, and positioner extracts target and is directed toward ydBetween currently practical direction y
Alignment error e, inertial space control instruction u is calculated according to positional control algorithm；Speed control is according to positioner
Itself revolving speed s of platform the disturbance w and executing agency's speed measure feedback of the inertial space control instruction u and spinning top rake of input,
Speed of service control algolithm calculates speed driving instruction v, and driving executing agency adjusts radio frequency directional beam and laser beam
It is directed toward.
6. radio frequency as described in claim 1/laser collaboration fast Acquisition tracks alignment methods, it is characterised in that: different
Under radio frequency/laser tracking operating mode, beam point steering device exports control amount to different beam position executing agencies；In journey
Sequence tracking, signal trace, optics rough tracking operating mode, it is servo turntable that light beam, which is directed toward executing agency,；It works in optical scanner
Mode, it is micromechanics scanning mirror that light beam, which is directed toward executing agency,；Operating mode is tracked in optics essence, it is height that light beam, which is directed toward executing agency,
Fast high-precision galvanometer.
7. radio frequency as described in claim 1/laser collaboration fast Acquisition tracks alignment methods, it is characterised in that: position control,
Speed control algorithm selects PID control, and plug-in software adjusts scale parameter P, integral parameter I and differential by control program
Parameter D, mentions high control precision.
8. radio frequency as described in claim 1/laser collaboration fast Acquisition tracks alignment methods, it is characterised in that: when program with
Track alignment error e is less than radio frequency directional beam and receives range Theta1, beam point steering device detects directional beam signal, is transferred to letter
Number tracing mode；When signal trace alignment error e is less than the thick visual field θ of optics2, the thick visual field coverage goal terminal of optics at this time, into
Enter scanning range, is transferred to optical scanner mode；Beam point steering device carries out light beam scanning using light beam scan angle calculation procedure,
When scanning light beam enters the thick field of view detector of optics, optics rough tracking mode is transferred to after realizing beam-capturing；When optics rough tracking
Alignment error e is less than optics essence visual field θ3, light beam enters optics essence field of view detector at this time, is transferred to the tracking of optics essence；Work as optics
Essence tracking alignment error e is less than beam divergence angle θ, and beam alignment precision reaches differential of the arc measurement level at this time, is coupled into optic communication spy
Device is surveyed, laser communication transmission link is established.
9. radio frequency as described in claim 1/laser collaboration fast Acquisition tracks alignment methods, it is characterised in that: light beam scanning
Angle calculation procedure is according to scanning light beam angle of divergence θ, the thick visual field θ of optics2Scan angle, output scanning are calculated with wave beam overlap factor η
Angle is expressed as azimuth Az and pitch angle El.
10. radio frequency as described in claim 1/laser collaboration fast Acquisition tracks alignment methods, it is characterised in that: light beam scanning
The helical scanning week number that angle calculation procedure calculates needs is N=ceil { θ2/ [(1- η) θ] }, it enables and scans all counter n=
1, scan angle polar coordinates polar angle φ=0, polar diameter ρ=0, azimuth Az=0, pitch angle El=0 are calculated needed for n-th week spiral
After numbers of beams M=ceil (2 π n), beam count device m=1, polar angle increment d φ=2 π/M, polar diameter increment d ρ=(1- η) θ/M are enabled,
M-th of beam scanning angle φ=φ+d φ, ρ=ρ+d ρ is updated, scan position angle Az=ρ cos φ, pitch angle El=ρ sin are obtained
φ；Then judge whether beam count device m reaches M, if m < M, enable m=m+1, continue to update the m+1 beam scanning angle, otherwise
M>=M judges to scan whether all counter n reach N, if n<N, enables n=n+1, continues helical scanning in (n+1)th week, otherwise n>
=N, the end of scan.
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| CN117728182A (en) * | 2024-02-07 | 2024-03-19 | 成都点阵科技有限公司 | Automatic alignment method and system for relay machine antenna based on Beidou |
| CN117728182B (en) * | 2024-02-07 | 2024-05-07 | 成都点阵科技有限公司 | Automatic alignment method and system for relay machine antenna based on Beidou |
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