CN113532428A - Data processing method and device, communication-in-motion terminal and computer readable storage medium - Google Patents

Data processing method and device, communication-in-motion terminal and computer readable storage medium Download PDF

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CN113532428A
CN113532428A CN202010290042.9A CN202010290042A CN113532428A CN 113532428 A CN113532428 A CN 113532428A CN 202010290042 A CN202010290042 A CN 202010290042A CN 113532428 A CN113532428 A CN 113532428A
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terminal
satellite
error
inertial navigation
navigation system
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CN113532428B (en
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寇保华
刘虎
陈怡�
朱棣
蒋林艳
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China Telecom Corp Ltd
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China Telecom Corp Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • G01S19/235—Calibration of receiver components
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • 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
    • H04B7/1851—Systems using a satellite or space-based relay
    • H04B7/18519—Operations control, administration or maintenance

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Manufacturing & Machinery (AREA)
  • Astronomy & Astrophysics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The disclosure relates to a data processing method, a data processing device, a communication-in-motion terminal and a computer readable storage medium, and relates to the technical field of satellite communication. The method of the present disclosure comprises: determining a third error range of the azimuth data measured by the inertial navigation system of the terminal according to the first error corresponding to the calculated satellite position information, the second error of the positioning system of the terminal and the antenna tracking precision; determining a calibration time range of the orientation data of the inertial navigation system according to the third error range; calibrating the inertial navigation system within a calibration time range; and determining an azimuth angle to be adjusted and a pitch angle to be adjusted of the terminal antenna pointing to the satellite according to azimuth data measured by the inertial navigation system.

Description

Data processing method and device, communication-in-motion terminal and computer readable storage medium
Technical Field
The present disclosure relates to the field of satellite communications technologies, and in particular, to a data processing method and apparatus, a mobile communication terminal, and a computer-readable storage medium.
Background
The Satellite alignment method of a traditional High-altitude Orbit Satellite (HEO) Satellite-in-motion (Satcom on the move) terminal is that based on the known position information of the High-precision High-Orbit Satellite, the position and attitude information of the terminal is obtained through positioning and inertial navigation, after the pointing direction of the antenna of the terminal is obtained through calculation, the antenna is controlled to rotate, the maximum gain direction of the antenna points to the Satellite, and then signals (carrier signals, beacon signals and the like) received in real time are processed, so that Satellite alignment is completed.
In recent years, the development of Middle Orbit Satellite (MEO) and Low Orbit Satellite (LEO) systems has been rapidly progressing. The medium and low orbit satellite, especially the low orbit satellite, has the characteristics of large constellation number, high-speed operation of the satellite, short overhead time, high working frequency, no beacon signal and the like. Therefore, the terminal of the medium and low orbit satellite has higher requirements on accuracy and efficiency in the process of satellite reception.
Disclosure of Invention
The inventor finds that: for a medium-orbit or low-orbit satellite, a communication-in-motion terminal, particularly a ship-borne communication-in-motion terminal, needs to estimate the position of the satellite because stored ephemeris information is not high-precision ephemeris received in real time at the time of cold start, but a certain error exists in the estimation. In addition, because a positioning system and an inertial navigation system of the terminal also generate measurement errors, the terminal can aim at the satellite after the terminal needs to calibrate the position information and the attitude measurement information. How to select a proper time for calibrating azimuth angle information of a terminal measured by an inertial navigation system to ensure the accuracy of the satellite is a main research problem of the application.
One technical problem to be solved by the present disclosure is: aiming at a medium-orbit or low-orbit satellite, when a shipborne communication-in-motion terminal is in cold start, the azimuth angle information of the terminal measured by an inertial navigation system is calibrated by selecting a proper time, so that the accuracy of the satellite is improved.
According to some embodiments of the present disclosure, there is provided a data processing method including: determining a third error range of the azimuth data measured by the inertial navigation system of the terminal according to the first error corresponding to the calculated satellite position information, the second error of the positioning system of the terminal and the antenna tracking precision; determining a calibration time range of the orientation data of the inertial navigation system according to the third error range; calibrating the inertial navigation system within a calibration time range; and determining an azimuth angle to be adjusted and a pitch angle to be adjusted of the terminal antenna pointing to the satellite according to azimuth data measured by the inertial navigation system.
In some embodiments, the first error is zero in the case where the satellite is a high orbit geostationary orbit satellite, or in the case where the satellite is a medium orbit or low orbit satellite and the terminal receives ephemeris information for the satellite in real time; in the case of cold start when the satellite is a medium-orbit or low-orbit satellite and the terminal is a ship-borne communication-in-motion terminal, the position information of the satellite is estimated by using an ephemeris extrapolation algorithm according to the historical ephemeris information of the satellite, and the first error is determined according to a model error corresponding to the ephemeris extrapolation algorithm.
In some embodiments, determining the third error range for the orientation data measured by the inertial navigation system of the terminal comprises: determining a first azimuth angle error of the terminal relative to the satellite according to the first error; determining a second azimuth error of the terminal relative to the satellite according to the second error; determining an azimuth angle error range of the terminal relative to the satellite, which is caused by the measurement of the inertial navigation system, according to the first azimuth angle error, the second azimuth angle error and an azimuth angle error range corresponding to the tracking precision of the preset antenna; determining a third error range of the azimuth angle of the terminal measured by the inertial navigation system according to the azimuth angle error range of the terminal relative to the satellite due to the inertial navigation system measurement.
In some embodiments, in the case that the antenna tracking accuracy is a product of a preset ratio and a half-power beam width, the half-power beam width is determined according to an antenna operating frequency and a caliber of the terminal.
In some embodiments, determining the calibration time range for the position data of the inertial navigation system based on the third error range comprises: and determining a time range formed by the time reaching the maximum value of the third error range and the previous calibration time according to the relation between the azimuth angle error accumulation and the time of the inertial navigation system, and taking the time range as the calibration time range of the azimuth data of the inertial navigation system.
In some embodiments, determining the azimuth angle to be adjusted and the pitch angle to be adjusted for the terminal antenna pointing to the satellite according to the azimuth data measured by the inertial navigation system comprises: determining position information of the satellite at the moment of the azimuth data measured by the inertial navigation system according to the estimated position information of the satellite at the moment and the first error; determining the position information of the terminal at the moment according to the positioning data and the second error measured by the positioning system at the moment; determining the azimuth angle of the terminal at the moment according to the azimuth data measured by the inertial navigation system at the moment; and determining the azimuth angle to be adjusted and the pitch angle to be adjusted of the antenna of the terminal pointing to the satellite according to the position information of the satellite at the moment, the position information of the terminal at the moment, the azimuth angle of the terminal at the moment and the pitch angle of the terminal measured by the inertial navigation system at the moment.
In some embodiments, the following formula is used to determine the azimuth angle to be adjusted when the antenna of the terminal points to the satellite:
Figure BDA0002450054810000031
determining the pitch angle to be adjusted of the terminal antenna pointing to the satellite by adopting the following formula:
Figure BDA0002450054810000032
wherein the content of the first and second substances,
Figure BDA0002450054810000033
which indicates the azimuth angle to be adjusted,
Figure BDA0002450054810000034
indicating the pitch angle to be adjusted,
Figure BDA0002450054810000035
represents the longitude difference of the terminal and the satellite, delta represents the latitude difference of the terminal and the satellite,
Figure BDA0002450054810000036
which represents the azimuth angle of the terminal,
Figure BDA0002450054810000037
representing the pitch angle, R, of the terminalEIs the radius of the earth, hEIs the orbital altitude of the satellite.
According to further embodiments of the present disclosure, there is provided a data processing apparatus including: the error determination module is used for determining a third error range of the azimuth data measured by the inertial navigation system of the terminal according to a first error corresponding to the calculated satellite position information, a second error of the positioning system of the terminal and a preset tracking error range; the time determination module is used for determining a calibration time range of the azimuth data of the inertial navigation system according to the third error range; the calibration module is used for calibrating the inertial navigation system within a calibration time range; and the satellite aligning module is used for determining an azimuth angle to be adjusted and a pitch angle to be adjusted of the terminal antenna pointing to the satellite according to the azimuth data measured by the inertial navigation system.
In some embodiments, the first error is zero in the case where the satellite is a high orbit geostationary orbit satellite, or in the case where the satellite is a medium orbit or low orbit satellite and the terminal receives ephemeris information for the satellite in real time; in the case of cold start when the satellite is a medium-orbit or low-orbit satellite and the terminal is a ship-borne communication-in-motion terminal, the position information of the satellite is estimated by using an ephemeris extrapolation algorithm according to the historical ephemeris information of the satellite, and the first error is determined according to a model error corresponding to the ephemeris extrapolation algorithm.
In some embodiments, the error determination module is configured to determine a first azimuthal error of the terminal relative to the satellite based on the first error; determining a second azimuth error of the terminal relative to the satellite according to the second error; determining an azimuth angle error range of the terminal relative to the satellite, which is caused by the measurement of the inertial navigation system, according to the first azimuth angle error, the second azimuth angle error and an azimuth angle error range corresponding to the antenna tracking precision; determining a third error range of the azimuth angle of the terminal measured by the inertial navigation system according to the azimuth angle error range of the terminal relative to the satellite due to the inertial navigation system measurement.
In some embodiments, in the case that the antenna tracking accuracy is a product of a preset ratio and a half-power beam width, the half-power beam width is determined according to an antenna operating frequency and a caliber of the terminal.
In some embodiments, the time determination module is configured to determine, as the calibration time range of the orientation data of the inertial navigation system, a time range formed by the time when the maximum value of the third error range is reached and the previous calibration time, according to a relationship between the accumulated azimuth angle error of the inertial navigation system and time.
In some embodiments, the satellite-to-satellite module is configured to determine, at a time of the azimuth data measured by the inertial navigation system, position information of the satellite at the time according to the estimated position information of the satellite at the time and the first error; determining the position information of the terminal at the moment according to the positioning data and the second error measured by the positioning system at the moment; determining the azimuth angle of the terminal at the moment according to the azimuth data measured by the inertial navigation system at the moment; and determining the azimuth angle to be adjusted and the pitch angle to be adjusted of the antenna of the terminal pointing to the satellite according to the position information of the satellite at the moment, the position information of the terminal at the moment, the azimuth angle of the terminal at the moment and the pitch angle of the terminal measured by the inertial navigation system at the moment.
In some embodiments, the following formula is used to determine the azimuth angle to be adjusted when the antenna of the terminal points to the satellite:
Figure BDA0002450054810000041
determining the pitch angle to be adjusted of the terminal antenna pointing to the satellite by adopting the following formula:
Figure BDA0002450054810000051
wherein the content of the first and second substances,
Figure BDA0002450054810000052
which indicates the azimuth angle to be adjusted,
Figure BDA0002450054810000053
indicating the pitch angle to be adjusted,
Figure BDA0002450054810000054
represents the longitude difference of the terminal and the satellite, delta represents the latitude difference of the terminal and the satellite,
Figure BDA0002450054810000055
which represents the azimuth angle of the terminal,
Figure BDA0002450054810000056
representing the pitch angle, R, of the terminalEIs the radius of the earth, HEIs the orbital altitude of the satellite.
According to still other embodiments of the present disclosure, there is provided a data processing apparatus including: a processor; and a memory coupled to the processor for storing instructions that, when executed by the processor, cause the processor to perform a data processing method as in any of the preceding embodiments.
According to still further embodiments of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon a computer program, wherein the program, when executed by a processor, implements the steps of any of the foregoing embodiments data processing method.
According to still other embodiments of the present disclosure, a mobile communication terminal is provided, which includes: the data processing apparatus of any of the preceding embodiments; the antenna, the antenna control module, the positioning system and the inertial navigation system; the positioning system is used for measuring the positioning data of the terminal; the inertial navigation system is used for measuring inertial navigation data of the terminal, and the inertial navigation data comprises: orientation data; the antenna is used for receiving signals of the satellite or transmitting signals to the satellite; the antenna control module is used for receiving the azimuth angle to be adjusted and the pitch angle to be adjusted of the satellite pointed by the antenna sent by the data processing device, and adjusting the antenna according to the azimuth angle to be adjusted and the pitch angle to be adjusted.
According to the first error corresponding to the calculated satellite position information, the second error of the positioning system of the terminal and the preset antenna tracking precision, a third error range of the azimuth data measured by the inertial navigation system of the terminal is determined. Further, a calibration time range of the position data of the inertial navigation system is determined based on the third error range. The inertial navigation system is calibrated within the calibration time range, and the satellite alignment is carried out according to the azimuth data measured by the inertial navigation system, so that the antenna tracking precision can be ensured to be met all the time, and the accuracy of the satellite alignment is ensured. The scheme disclosed by the invention is suitable for medium-orbit or low-orbit satellites, and the accuracy of satellite alignment can be improved by calibrating the azimuth angle information of the terminal measured by the inertial navigation system when the shipborne communication-in-motion terminal is in cold start.
Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 shows a flow diagram of a data processing method of some embodiments of the present disclosure.
Fig. 2 shows a flow diagram of a data processing method of further embodiments of the present disclosure.
Fig. 3 shows a schematic structural diagram of a data processing apparatus of some embodiments of the present disclosure.
Fig. 4 shows a schematic structural diagram of a data processing apparatus according to further embodiments of the present disclosure.
Fig. 5 shows a schematic structural diagram of a data processing apparatus according to further embodiments of the present disclosure.
Fig. 6 shows a schematic structural diagram of a mobile communication terminal according to some embodiments of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
The present disclosure provides a data processing method, which can improve the accuracy of the satellite alignment of the medium-orbit or low-orbit satellite, and is described below with reference to fig. 1.
FIG. 1 is a flow chart of some embodiments of the disclosed data processing method. As shown in fig. 1, the method of this embodiment includes: steps S102 to S108.
In step S102, a third error range of the azimuth data measured by the inertial navigation system of the terminal is determined based on the first error corresponding to the estimated satellite position information, the second error of the positioning system of the terminal, and the antenna tracking accuracy. The terminal is a communication-in-motion terminal, and is called a terminal for short in the following.
The scheme of the present disclosure is applicable to the following application scenarios: (1) a case where the satellite is a high orbit geostationary orbit satellite; (2) the case where the satellite is a medium orbit or low orbit satellite and the terminal receives ephemeris information of the satellite in real time includes: the satellite is a medium-orbit or low-orbit satellite, and the vehicle-mounted or ship-mounted communication-in-motion terminal receives ephemeris information of the satellite in real time after starting up for the first satellite alignment; (3) the satellite is a medium orbit or low orbit satellite, the terminal is a shipborne communication-in-motion terminal, and the satellite is aimed for the first time after the start-up and cold start.
In some embodiments, the first error is zero if the satellite is a high orbit geostationary orbit satellite, or if the satellite is a medium orbit or low orbit satellite and the terminal receives ephemeris information for the satellite in real time. Since the high orbit geostationary orbit satellite can consider the position information of the satellite to be accurately measured and known information, i.e., the estimated satellite position information is accurate position information, the first error can be considered to be zero. Corresponding to the above application scenarios (1) and (2).
In some embodiments, in the case of a cold start in which the satellite is a medium-orbit or low-orbit satellite and the terminal is a shipborne satellite communication terminal, the position information of the satellite is estimated by using an ephemeris extrapolation algorithm according to historical ephemeris information of the satellite, and the first error is determined according to a model error corresponding to the ephemeris extrapolation algorithm. Corresponding to the application scenario (3) described above. In addition, for the condition that the satellite is a medium-orbit or low-orbit satellite and the terminal is a vehicle-mounted communication-in-motion terminal, when the terminal is started, the inertial navigation system is also started immediately, the default is accurate, calibration is not needed, and the scheme disclosed by the invention can not be applied. After the first satellite-aiming is completed, the inertial navigation system generates errors over time, and the scheme of the present disclosure, namely one case of the application scenario (2) described above, can be applied.
For the medium-orbit or low-orbit satellite, ephemeris information stored when the shipborne communication-in-motion terminal is started is historical ephemeris information. And estimating the position information of the satellite and the first error by using the existing ephemeris extrapolation algorithm according to the historical ephemeris information. For example, the ephemeris extrapolation algorithm obtains information of a normal direction, a radial direction, a motion direction and the like of the satellite in the RTN coordinate system according to the acquired ephemeris initial data, the ephemeris extrapolation formula and the factors of the earth gravitational field (JGM-3 model), the solar pressure coefficient, the atmospheric resistance coefficient, the third body perturbation and the like, so as to determine the position information of the satellite. For a medium-orbit satellite or a low-orbit satellite, the earth gravitational field is a main factor, for a common communication-in-motion terminal, the computing capability is limited, the adopted extrapolation model is generally 4 x 4 orders, and compared with a high-order model, the numerical error is larger. The error of different models is different, and can be determined according to the models.
The second error of the positioning system of the terminal may be known. The antenna tracking precision of the terminal to the satellite is shown in the precision range, the communication between the terminal and the satellite can be ensured, and if the error maximum value of the antenna tracking precision is exceeded, the communication between the terminal and the satellite cannot be ensured. According to the first error, the second error and the antenna tracking precision, a third error range which meets the azimuth data measured by an inertial navigation system of the terminal under the precision of antenna tracking can be determined. In the actual satellite alignment process, the data mainly needing to be adjusted is azimuth data, and therefore the scheme of the disclosure is mainly designed for the azimuth data.
In some embodiments, a first azimuth error of the terminal relative to the satellite is determined based on the first error; determining a second azimuth error of the terminal relative to the satellite according to the second error; determining an azimuth angle error range of the terminal relative to the satellite, which is caused by the measurement of the inertial navigation system, according to the first azimuth angle error, the second azimuth angle error and an azimuth angle error range corresponding to the antenna tracking precision; determining a third error range of the azimuth angle of the terminal measured by the inertial navigation system according to the azimuth angle error range of the terminal relative to the satellite due to the inertial navigation system measurement.
From the first error (position error of the satellite) it can be decomposed into a first azimuthal error θ of the terminal with respect to the satellite in the horizontal plane1. For example, the actual position of the satellite is a, and the direction angle of the terminal in the horizontal direction relative to the position a is 45 degrees off north; if the estimated satellite position is B and the terminal has a heading angle in the horizontal direction with respect to position B of 50 degrees due to north, the first heading angle error is 5 degrees. If the antenna pointing direction is adjusted to be 45 degrees off the west due to the position A, the deviation of 5 degrees cannot be aligned. The azimuth angle representation method or the direction with 0 degree azimuth angle can be based on the realThe actual requirement is set, for example, the east direction is set to the azimuth 0 degree direction, and the rotation angle to the north is increased in turn until 360 degrees rotation is performed.
Likewise, the second error may be decomposed into a second azimuth error θ of the terminal with respect to the satellite2. The antenna tracking accuracy can be decomposed into an azimuth error range (0, theta)0) Maximum value of azimuth error is theta0. In the worst case, the first error, the second error and the third error may be superimposed on each other, and the range of azimuth errors of the terminal with respect to the satellite due to the inertial navigation system measurement may represent 0, θ0-(θ1+θ2)]. The third error range of the inertial navigation system for measuring the azimuth angle of the terminal can also be expressed as 0, theta0-(θ1+θ2)]。
In some embodiments, in the case that the antenna tracking accuracy is a product of a preset ratio and a half-power beam width, the half-power beam width is determined according to an antenna operating frequency and a caliber of the terminal. For example, the half-power beam width is obtained by multiplying a ratio of the operating frequency of the antenna to the aperture by a preset value, where the preset value is, for example, 65 to 80, and preferably 70. For example, the maximum value of the antenna tracking accuracy is less than 1/4 half-power beam width, and the half-power beam width of a satellite phased-array antenna terminal with an equivalent caliber of D meters is
Figure BDA0002450054810000091
And lambda is the working frequency point of the antenna.
In step S104, a calibration time range of the orientation data of the inertial navigation system is determined based on the third error range.
In some embodiments, after determining the third error range of the azimuth angle of the terminal measured by the inertial navigation system, according to the relation between the accumulated azimuth angle error of the inertial navigation system and time, determining a time range formed by the time when the maximum value of the third error range is reached and the previous calibration time (which may be the starting time if the terminal is restarted) as the calibration time range of the azimuth data of the inertial navigation system. For example, the azimuth error drift rate of the inertial navigation system, i.e. the relationship between the accumulated azimuth error and the time, may be obtained in advance, and it may be determined how long the inertial navigation system reaches the maximum value of the third error range after the previous calibration. As long as the time interval between the two times of calibration does not exceed the calibration time range, the error of the whole system can be ensured to meet the antenna tracking precision. Therefore, the calibration time interval of the two times of calibration does not exceed the calibration time range, so that the calibration times can be reduced as much as possible under the condition of ensuring the accuracy of the satellite, and the efficiency is improved.
In step S106, the inertial navigation system is calibrated within the calibration time range.
The inertial navigation system may be calibrated by using conventional methods, for example, according to data measured by the positioning system, which will not be described herein again. The calibration of the inertial navigation system may be performed in a loop, and each time the calibration is completed, the timing of the next calibration may be determined according to the calibration time range.
In step S108, an azimuth angle to be adjusted and a pitch angle to be adjusted of the terminal antenna pointing to the satellite are determined according to the azimuth data measured by the inertial navigation system.
As long as the inertial navigation system is calibrated within the calibration time range every time, the azimuth data measured by the inertial navigation system can enable the whole system to meet the antenna tracking accuracy.
In some embodiments, at the time of the position data measured by the inertial navigation system, determining position information of the satellite at the time based on the estimated position information of the satellite at the time and the first error; determining the position information of the terminal at the moment according to the positioning data and the second error measured by the positioning system at the moment; determining the azimuth angle of the terminal at the moment according to the azimuth data measured by the inertial navigation system at the moment; and determining the azimuth angle to be adjusted and the pitch angle to be adjusted of the antenna of the terminal pointing to the satellite according to the position information of the satellite at the moment, the position information of the terminal at the moment, the azimuth angle of the terminal at the moment and the pitch angle of the terminal measured by the inertial navigation system at the moment.
Further, the following formula is adopted to determine the azimuth angle to be adjusted when the antenna of the terminal points to the satellite:
Figure BDA0002450054810000101
determining the pitch angle to be adjusted of the terminal antenna pointing to the satellite by adopting the following formula:
Figure BDA0002450054810000102
in the formulas (1) and (2),
Figure BDA0002450054810000103
which indicates the azimuth angle to be adjusted,
Figure BDA0002450054810000104
indicating the pitch angle to be adjusted,
Figure BDA0002450054810000105
represents the longitude difference of the terminal and the satellite, delta represents the latitude difference of the terminal and the satellite,
Figure BDA0002450054810000106
which represents the azimuth angle of the terminal,
Figure BDA0002450054810000107
representing the pitch angle, R, of the terminalEIs the radius of the earth, hEIs the orbital altitude of the satellite.
And according to the azimuth angle and the pitch angle of the antenna pointing to the satellite to be adjusted, pointing the maximum gain direction of the antenna beam to the satellite, thereby completing the rapid satellite alignment.
In the above embodiment, the third error range of the azimuth data measured by the inertial navigation system of the terminal is determined according to the first error corresponding to the estimated satellite position information, the second error of the positioning system of the terminal, and the antenna tracking accuracy. Further, a calibration time range of the position data of the inertial navigation system is determined based on the third error range. The inertial navigation system is calibrated within the calibration time range, and the satellite alignment is carried out according to the azimuth data measured by the inertial navigation system, so that the antenna tracking precision can be ensured to be met all the time, and the accuracy of the satellite alignment is ensured. The technical scheme of the embodiment is suitable for medium-orbit or low-orbit satellites, and the calibration of the azimuth angle information of the terminal measured by the inertial navigation system can be improved when the shipborne communication-in-motion terminal is in cold start. In addition, the scheme of the embodiment is also suitable for the situation that the satellite is a high-orbit static orbit satellite, or the satellite is a medium-orbit or low-orbit satellite, and the terminal receives ephemeris information of the satellite in real time, so that the accuracy of the satellite is improved. Moreover, the inertial navigation system is calibrated within the calibration time range, so that the calibration times can be reduced, the satellite alignment efficiency is improved, the satellite alignment calculation time of the terminal antenna is effectively shortened, and the rapid satellite alignment is completed.
Further embodiments of the disclosed data processing method are described below in conjunction with fig. 2.
FIG. 2 is a flow chart of other embodiments of the data processing method of the present disclosure. As shown in fig. 2, the method of this embodiment includes: steps S202 to S214.
In step S202, a first error corresponding to the estimated satellite position information is acquired.
In step S204, it is determined whether the first error is greater than the maximum value of the antenna tracking accuracy, and if so, step S206 is performed, otherwise, step S208 is performed.
If the satellite is a high orbit geostationary orbit satellite or if the satellite is a medium orbit or low orbit satellite and the terminal receives ephemeris information of the satellite in real time, the process may be executed from step S208 after defaulting the first error to 0 without executing steps S202 to S204.
In step S206, ephemeris information of the satellite is updated.
If the terminal is switched on too long before the ephemeris information of the satellite is updated last time, the first error may exceed the maximum value of the antenna tracking accuracy, and therefore, the ephemeris information of the satellite needs to be updated, and the position information of the satellite and the corresponding first error are determined again based on the updated time. The update may be performed by obtaining real-time ephemeris information for the satellites from other systems.
In step S207, a first error corresponding to the estimated satellite position information is newly determined based on the updated ephemeris information and the ephemeris extrapolation algorithm.
If the updated ephemeris information is the real-time ephemeris information, step S207 may not be performed, and the first error is considered to be 0. When the satellite is a medium-orbit or low-orbit satellite and the terminal is a vehicle-mounted communication-in-motion terminal and is started up for the first satellite alignment, the inertial navigation data is acquiescent to be accurate, after step S206 or step S207 is executed, the subsequent steps can be omitted, the position of the satellite is directly determined according to the real-time ephemeris information or the first error, the position of the terminal is determined according to the position of the terminal measured by the positioning system and the second error, and the satellite and the position of the terminal are aligned according to the azimuth angle and the pitch angle of the terminal measured by the inertial navigation system.
In step S208, a third error range of the azimuth data measured by the inertial navigation system of the terminal is determined based on the first error corresponding to the estimated satellite position information, the second error of the positioning system of the terminal, and the antenna tracking accuracy.
In step S210, a calibration time range of the orientation data of the inertial navigation system is determined based on the third error range.
In step S212, the inertial navigation system is calibrated within the calibration time range.
In step S214, an azimuth angle to be adjusted and a pitch angle to be adjusted of the terminal antenna pointing to the satellite are determined according to the azimuth data measured by the inertial navigation system.
The method of the embodiment can dynamically determine the calibration time range of the azimuth data of the inertial navigation system, reduce the time for calibrating and attitude measuring of the inertial navigation system, effectively shorten the satellite alignment calculation time of the terminal antenna, and complete quick satellite alignment. For three application scenarios: (1) in the case that the satellite is a high orbit geostationary orbit satellite, or (2) the satellite is a medium orbit or low orbit satellite and the terminal receives ephemeris information of the satellite in real time, according to the method of the foregoing embodiment, the calibration time interval of the azimuth angle of the inertial navigation system is determined, which can reduce the calibration frequency and improve the calibration efficiency. The application scene (2) comprises the conditions that the satellite is a medium-orbit or low-orbit satellite, the terminal is a vehicle-mounted terminal, and the inertial navigation system is started at a cold state, under the conditions, the inertial navigation system is started immediately, the default is accurate, calibration is not needed, only whether the first error is the antenna tracking precision or not needs to be calculated, if the first error is greater than the first error, the ephemeris is overdue for a long time, ephemeris information needs to be input again from the outside and is updated, and then satellite alignment is carried out, and if the first error is smaller than the second error, the satellite alignment can be carried out. Then, with the lapse of the use time of the terminal and the accumulation of the azimuth drift error of the inertial navigation system, the calibration time interval of the azimuth angle of the inertial navigation system can be determined by adopting the first application scene, and the calibration frequency is reduced. (3) The satellite is a medium-orbit or low-orbit satellite, the terminal is a ship-borne communication-in-motion terminal, when the terminal is started, the inertial navigation system is already in a working state, azimuth drift exists, and calibration is needed.
The present disclosure also provides a data processing apparatus, described below in conjunction with fig. 3. The data processing device may be provided in a mobile communication terminal (e.g., a terminal on a moving carrier such as a vehicle, a ship, etc.).
FIG. 3 is a block diagram of some embodiments of a data processing apparatus of the present disclosure. As shown in fig. 3, the apparatus 30 of this embodiment includes: an error determination module 310, a time determination module 320, a calibration module 330, and a star alignment module 340.
The error determining module 310 is configured to determine a third error range of the position data measured by the inertial navigation system of the terminal according to the first error corresponding to the estimated satellite position information, the second error of the positioning system of the terminal, and the antenna tracking accuracy. The terminal is a communication-in-motion terminal.
In some embodiments, the first error is zero in the case where the satellite is a high orbit geostationary orbit satellite, or in the case where the satellite is a medium orbit or low orbit satellite and the terminal receives ephemeris information for the satellite in real time; in the case of cold start when the satellite is a medium-orbit or low-orbit satellite and the terminal is a ship-borne communication-in-motion terminal, the position information of the satellite is estimated by using an ephemeris extrapolation algorithm according to the historical ephemeris information of the satellite, and the first error is determined according to a model error corresponding to the ephemeris extrapolation algorithm.
In some embodiments, in the case that the antenna tracking accuracy is a product of a preset ratio and a half-power beam width, the half-power beam width is determined according to an antenna operating frequency and a caliber of the terminal.
In some embodiments, the error determination module 310 is configured to determine a first azimuth error of the terminal relative to the satellite based on the first error; determining a second azimuth error of the terminal relative to the satellite according to the second error; determining an azimuth angle error range of the terminal relative to the satellite, which is caused by the measurement of the inertial navigation system, according to the first azimuth angle error, the second azimuth angle error and an azimuth angle error range corresponding to the antenna tracking precision; determining a third error range of the azimuth angle of the terminal measured by the inertial navigation system according to the azimuth angle error range of the terminal relative to the satellite due to the inertial navigation system measurement.
The time determination module 320 is configured to determine a calibration time range of the orientation data of the inertial navigation system based on the third error range.
In some embodiments, the time determination module 320 is configured to determine a time range formed by the time when the maximum value of the third error range is reached and the previous calibration time according to the relationship between the accumulated azimuth angle error and the time of the inertial navigation system, as the calibration time range of the azimuth data of the inertial navigation system.
The calibration module 330 is used to calibrate the inertial navigation system over a calibration time range.
The satellite alignment module 340 is configured to determine an azimuth angle to be adjusted and a pitch angle to be adjusted, at which the antenna of the terminal points to the satellite, according to the azimuth data measured by the inertial navigation system.
In some embodiments, the satellite-to-satellite module 340 is configured to determine, at a time of the position data measured by the inertial navigation system, position information of the satellite at the time according to the estimated position information of the satellite at the time and the first error; determining the position information of the terminal at the moment according to the positioning data and the second error measured by the positioning system at the moment; determining the azimuth angle of the terminal at the moment according to the azimuth data measured by the inertial navigation system at the moment; and determining the azimuth angle to be adjusted and the pitch angle to be adjusted of the antenna of the terminal pointing to the satellite according to the position information of the satellite at the moment, the position information of the terminal at the moment, the azimuth angle of the terminal at the moment and the pitch angle of the terminal measured by the inertial navigation system at the moment.
In some embodiments, the following formula is used to determine the azimuth angle to be adjusted when the antenna of the terminal points to the satellite:
Figure BDA0002450054810000141
determining the pitch angle to be adjusted of the terminal antenna pointing to the satellite by adopting the following formula:
Figure BDA0002450054810000142
wherein the content of the first and second substances,
Figure BDA0002450054810000143
which indicates the azimuth angle to be adjusted,
Figure BDA0002450054810000144
indicating the pitch angle to be adjusted,
Figure BDA0002450054810000145
represents the longitude difference of the terminal and the satellite, delta represents the latitude difference of the terminal and the satellite,
Figure BDA0002450054810000146
which represents the azimuth angle of the terminal,
Figure BDA0002450054810000147
representing the pitch angle, R, of the terminalEIs the radius of the earth, hEIs the orbital altitude of the satellite.
The data processing apparatus in the embodiments of the present disclosure may each be implemented by various computing devices or computer systems, which are described below in conjunction with fig. 4 and 5.
FIG. 4 is a block diagram of some embodiments of a data processing apparatus of the present disclosure. As shown in fig. 4, the apparatus 40 of this embodiment includes: a memory 410 and a processor 420 coupled to the memory 410, the processor 420 configured to perform a data processing method in any of the embodiments of the present disclosure based on instructions stored in the memory 410.
Memory 410 may include, for example, system memory, fixed non-volatile storage media, and the like. The system memory stores, for example, an operating system, an application program, a Boot Loader (Boot Loader), a database, and other programs.
FIG. 5 is a block diagram of further embodiments of a data processing apparatus according to the present disclosure. As shown in fig. 5, the apparatus 50 of this embodiment includes: memory 510 and processor 520 are similar to memory 410 and processor 420, respectively. An input output interface 530, a network interface 540, a storage interface 550, and the like may also be included. These interfaces 530, 540, 550 and the connections between the memory 510 and the processor 520 may be, for example, via a bus 560. The input/output interface 530 provides a connection interface for input/output devices such as a display, a mouse, a keyboard, and a touch screen. The network interface 540 provides a connection interface for various networking devices, such as a database server or a cloud storage server. The storage interface 550 provides a connection interface for external storage devices such as an SD card and a usb disk.
The present disclosure also provides a mobile communication terminal, which is described below with reference to fig. 6.
Fig. 6 is a block diagram of some embodiments of a mobile station communication terminal of the present disclosure. As shown in fig. 6, the terminal 6 of this embodiment includes: the data processing device 30/40/50 of any of the preceding embodiments; and antenna 622, positioning system 624 and inertial navigation system 626, antenna control module 628; positioning system 624 is used to measure positioning data of terminal 62; the inertial navigation system 626 is used to measure inertial navigation data of the terminal 62, including: orientation data; the antenna 622 is used for receiving signals of the satellite or transmitting signals to the satellite; the antenna control module 628 is configured to receive the azimuth angle to be adjusted and the pitch angle to be adjusted of the satellite pointed by the antenna 622 sent by the data processing device, and adjust the antenna 622 according to the azimuth angle to be adjusted and the pitch angle to be adjusted. The terminal can also comprise an intermediate frequency unit and a baseband unit which are used for receiving satellite signals, analyzing the latest ephemeris information and storing the latest ephemeris information in a storage unit and the like. Besides the functions defined in the present disclosure, the terminal may also integrate other functions in the prior art, which are not described in detail herein.
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only exemplary of the present disclosure and is not intended to limit the present disclosure, which is to be construed in any way as imposing limitations thereon, such as the appended claims, and all changes and equivalents that fall within the true spirit and scope of the present disclosure.

Claims (11)

1. A method of data processing, comprising:
determining a third error range of the azimuth data measured by the inertial navigation system of the terminal according to a first error corresponding to the calculated satellite position information, a second error of a positioning system of the terminal and the antenna tracking precision; the terminal is a communication-in-motion terminal;
determining a calibration time range of the orientation data of the inertial navigation system according to the third error range;
calibrating the inertial navigation system over the calibration time range;
and determining the azimuth angle to be adjusted and the pitch angle to be adjusted of the terminal antenna pointing to the satellite according to the azimuth data measured by the inertial navigation system.
2. The data processing method according to claim 1,
the first error is zero when the satellite is a high-orbit geostationary orbit satellite or when the satellite is a medium-orbit or low-orbit satellite and the terminal receives ephemeris information of the satellite in real time;
when the satellite is a medium-orbit or low-orbit satellite and the terminal is a ship-borne communication-in-motion terminal, and the cold start is performed, the position information of the satellite is estimated by using an ephemeris extrapolation algorithm according to historical ephemeris information of the satellite, and the first error is determined according to a model error corresponding to the ephemeris extrapolation algorithm.
3. The data processing method according to claim 1,
the determining a third error range of the orientation data measured by the inertial navigation system of the terminal comprises:
determining a first azimuth angle error of the terminal relative to the satellite according to the first error;
determining a second azimuth error of the terminal relative to the satellite according to the second error;
determining an azimuth angle error range of the terminal relative to the satellite, which is caused by the measurement of the inertial navigation system, according to the first azimuth angle error, the second azimuth angle error and an azimuth angle error range corresponding to the antenna tracking precision;
determining a third error range of the azimuth angle of the terminal measured by the inertial navigation system based on the azimuth angle error range of the terminal relative to the satellite due to the inertial navigation system measurement.
4. The data processing method of claim 3,
and under the condition that the antenna tracking precision is the product of a preset proportion and a half-power beam width, determining the half-power beam width according to the antenna working frequency and the aperture of the terminal.
5. The data processing method according to claim 1,
the determining a calibration time range for the position data of the inertial navigation system according to the third error range comprises:
and determining a time range formed by the time reaching the maximum value of the third error range and the previous calibration time according to the relation between the azimuth angle error accumulation and the time of the inertial navigation system, and taking the time range as the calibration time range of the azimuth data of the inertial navigation system.
6. The data processing method according to claim 1,
the determining, according to azimuth data measured by an inertial navigation system, an azimuth angle to be adjusted and a pitch angle to be adjusted, at which an antenna of the terminal points at the satellite, includes:
determining the position information of the satellite at the moment when the inertial navigation system measures the azimuth data according to the position information of the estimated satellite at the moment and the first error;
determining the position information of the terminal at the moment according to the positioning data measured by the positioning system at the moment and the second error;
determining the azimuth angle of the terminal at the moment according to the azimuth data measured by the inertial navigation system at the moment;
and determining the azimuth angle to be adjusted and the pitch angle to be adjusted of the terminal pointed by the antenna of the terminal to the satellite according to the position information of the satellite at the moment, the position information of the terminal at the moment, the azimuth angle of the terminal at the moment and the pitch angle of the terminal measured by the inertial navigation system at the moment.
7. The data processing method of claim 6,
determining the azimuth angle to be adjusted when the antenna of the terminal points to the satellite by adopting the following formula:
Figure FDA0002450054800000031
determining the pitch angle to be adjusted of the terminal when the antenna points to the satellite by adopting the following formula:
Figure FDA0002450054800000032
wherein the content of the first and second substances,
Figure FDA0002450054800000033
represents the azimuth angle to be adjusted and,
Figure FDA0002450054800000034
indicating the pitch angle to be adjusted,
Figure FDA0002450054800000035
representing a longitude difference of the terminal from the satellite, delta representing a latitude difference of the terminal from the satellite,
Figure FDA0002450054800000036
represents the azimuth angle of the terminal in question,
Figure FDA0002450054800000037
representing the pitch angle, R, of said terminalEIs the radius of the earth, hEIs the orbital altitude of the satellite.
8. A data processing apparatus comprising:
the error determination module is used for determining a third error range of the azimuth data measured by the inertial navigation system of the terminal according to a first error corresponding to the calculated satellite position information, a second error of the positioning system of the terminal and the antenna tracking precision; the terminal is a communication-in-motion terminal;
a time determination module for determining a calibration time range of the orientation data of the inertial navigation system based on the third error range;
a calibration module for calibrating the inertial navigation system within the calibration time range;
and the satellite aligning module is used for determining the azimuth angle to be adjusted and the pitch angle to be adjusted of the terminal antenna pointing to the satellite according to the azimuth data measured by the inertial navigation system.
9. A data processing apparatus comprising:
a processor; and
a memory coupled to the processor for storing instructions that, when executed by the processor, cause the processor to perform the data processing method of any of claims 1-7.
10. A non-transitory computer readable storage medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the steps of the data processing method of claims 1-7.
11. A mobile communication terminal, comprising: the data processing apparatus of claim 8 or 9; the antenna, the antenna control module, the positioning system and the inertial navigation system;
the positioning system is used for measuring the positioning data of the terminal;
the inertial navigation system is used for measuring inertial navigation data of the terminal, and the inertial navigation data comprises: orientation data;
the antenna is used for receiving signals of a satellite or transmitting signals to the satellite;
the antenna control module is used for receiving the azimuth angle to be adjusted and the pitch angle to be adjusted of the satellite pointed by the antenna sent by the data processing device, and adjusting the antenna according to the azimuth angle to be adjusted and the pitch angle to be adjusted.
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