CN116545517B - Stable and effective Beidou communication-in-motion antenna dual-mode tracking control method - Google Patents
Stable and effective Beidou communication-in-motion antenna dual-mode tracking control method Download PDFInfo
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
- H01Q1/125—Means for positioning
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- G—PHYSICS
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- 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
- G01S19/02—Details of the space or ground control segments
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- H—ELECTRICITY
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- H01Q—ANTENNAS, i.e. RADIO AERIALS
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- H01Q1/12—Supports; Mounting means
- H01Q1/22—Supports; Mounting means by structural association with other equipment or articles
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- H—ELECTRICITY
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- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18528—Satellite systems for providing two-way communications service to a network of fixed stations, i.e. fixed satellite service or very small aperture terminal [VSAT] system
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Abstract
The invention belongs to the field of Beidou satellite communication and the technical field of communication-in-motion satellite antennas and satellite tracking, and discloses a stable and effective dual-mode tracking control method for a Beidou communication-in-motion antenna. According to the method, a direction-finding tracking mode is introduced, the actual azimuth angle and the pitch angle of a target satellite in the geographic coordinate system can be calculated according to three-dimensional matrix conversion from the geographic coordinate system to the geographic coordinate system, the expected azimuth angle and the expected pitch angle in the direction-finding tracking mode are the actual angles of the target satellite, the tracking precision is high, and the mode breaks the current situations of poor anti-interference, easy tracking of an error satellite, poor tracking precision and low tracking efficiency caused by traditional single-mode tracking. In addition, the invention does not abandon the traditional carrier-to-noise ratio tracking mode, but adds a direction-finding tracking mode with higher tracking precision, wherein the direction-finding tracking is a main tracking mode, the carrier-to-noise ratio tracking is a secondary tracking mode, the two modes can be switched in real time, the switching time delay is short, and the two modes complement each other, thereby improving the tracking efficiency and the tracking precision.
Description
Technical Field
The invention belongs to the field of Beidou satellite communication and the technical field of communication-in-motion satellite antennas and satellite tracking, and particularly relates to a stable and effective dual-mode tracking control method for a Beidou communication-in-motion antenna.
Background
The Beidou satellite navigation system is a global satellite navigation system which is independently developed in China, and is called a global four-large satellite navigation system together with a GPS in the United states, GLONASS in Russia and GALILEO in the European Union.
At present, beidou satellite navigation systems are widely applied to the military and civil fields. The traditional satellite antenna tracking method realizes stable tracking of the satellite by capturing an AGC beacon of the satellite, specifically, realizes tracking by tracking the strongest satellite signal beam, and has the problems of long time consumption and poor stability in the tracking mode. Before the tracking system is started, the information of the strongest satellite wave beam needs to be searched slowly in a circle in a horizontal direction, the time consumption is long, the precision is low, even error tracking is introduced, for example, signal reflection caused by building shielding is caused, the surface tracks the strongest satellite signal wave beam, actually reflected signals and tracking errors cause satellite loss of the tracking system, and the situation can not be improved until the environment is replaced, so that the applicability is poor.
Therefore, the traditional satellite tracking method cannot be well suitable for the shielding conditions of tunnels, bridges and buildings, because satellite signals have reflection phenomena when the buildings are shielded, the satellite signals can be lost even in the tunnels, so that the tracking system loses satellites, and the defects of easy interference, easy satellite loss, long satellite re-searching time after satellite loss, poor stability, weak self-adaption capability and low tracking precision are brought to the whole tracking system.
In summary, conventional satellite tracking systems do not provide stable, reliable, and efficient satellite tracking over extended periods of time.
Disclosure of Invention
Aiming at the problems that the Beidou communication satellite does not have an AGC beacon signal, the carrier-to-carrier ratio signal return rate of the Beidou communication satellite is slow, the satellite signal has reflection, single-mode tracking efficiency is low and the like, the invention provides a stable and effective Beidou communication-in-motion antenna dual-mode tracking control method so as to comprehensively ensure tracking precision and tracking efficiency.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a stable and effective Beidou communication-in-motion antenna dual-mode tracking control method comprises the following steps:
step 1: initializing and resetting a carrier turntable of the Beidou communication-in-motion antenna; recording a pitching reset zero point and an azimuth reset zero point, and taking the azimuth reset zero point as a first azimuth reference;
step 2: two satellite antennas are adopted to form a direction finding system; calculating included angle between two satellite antenna connecting lines and the north of the earth in the direction-finding system by using the direction-finding system；
Step 3: calculating an included angle between the Beidou in-motion antenna and the earth north orientation after azimuth reset through the step 2Z_zeroDetermining the north orientation of the earth;
step 4: calculating an expected azimuth angle E and an expected pitch angle A of a target satellite under a carrier coordinate system through the longitude and latitude of the carrier;
step 5: according to an expected azimuth angle E and an expected pitch angle A of a target satellite, a pitch motor of a carrier rotates to the expected pitch angle A obtained in the step 4, an azimuth motor rotates clockwise for 360 degrees, the SNR of the Beidou satellite under each azimuth angle is recorded, and descending order sequencing is carried out on the SNR of the Beidou satellite under each azimuth angle;
after the azimuth motor rotates for one circle, selecting the maximum noise-carrying value SNR_MAX and the azimuth angle E_MAX corresponding to the SNR_MAX, and taking the azimuth angle E_MAX as an expected azimuth angle of the auxiliary tracking mode for standby;
step 6: the included angle between the Beidou communication-in-motion antenna and the earth north orientation obtained in the step 3Z_zeroAnd 4, the expected azimuth angle E and the expected pitch angle A of the target satellite are obtained, the geodetic north orientation obtained in the step 3 is used as a second orientation reference, the azimuth motor and the pitch motor are rapidly rotated to the expected azimuth angle E and the expected pitch angle A, and a direction-finding tracking mode is entered;
step 7: in the direction-finding tracking mode in the step 6, if the REAL-time carrier-to-noise ratio SNR_REAL of the satellite signal is lower than a preset communication threshold SNR_THRE, the tracking system automatically changes to a carrier-to-noise ratio tracking mode, namely, the azimuth motor quickly changes to E_MAX according to the expected azimuth angle E_MAX in the carrier-to-noise ratio tracking mode obtained in the step 5, so that the conversion of the tracking mode is realized;
step 8: in the carrier-to-noise ratio tracking mode in the step 7, if the REAL-time carrier-to-noise ratio snr_real of the satellite signal is still lower than the preset communication threshold snr_thre, the tracking system is reset after a first preset time, and the step 1 is restarted;
in the waiting time of the first preset time, the tracking system can detect the carrier-to-noise ratio value SNR_REAL in REAL time, and if the REAL-time carrier-to-noise ratio SNR_REAL is larger than the preset communication threshold value SNR_THRE of the carrier-to-noise ratio and lasts for the second preset time, the reset is canceled, and the carrier-to-noise ratio tracking is continued; otherwise, the tracking system is automatically reset after the first preset time, and the step 1 is executed.
The invention has the following advantages:
as described above, the invention relates to a stable and effective Beidou communication-in-motion antenna dual-mode tracking control method. The tracking system can complete the locking of the target satellite within 1.7 s; the expected azimuth angle and the pitch angle in the mode are the actual angles of the target satellite, the tracking precision is high, and the error is only +/-0.5 degrees. The direction-finding tracking mode breaks the current situations of poor anti-interference, easy tracking of wrong satellites, poor tracking precision and low tracking efficiency caused by the traditional single-mode tracking. In the dual-mode tracking mode, the traditional carrier-to-noise ratio tracking mode is not abandoned, but the direction-finding tracking mode with higher tracking precision is added, wherein the direction-finding tracking is the main tracking mode, the carrier-to-noise ratio tracking is the auxiliary tracking mode, the carrier-to-noise ratio tracking and the auxiliary tracking mode can be switched in real time, the switching time delay is only 3s, the two modes complement each other, and the tracking efficiency and the tracking precision of the whole set of tracking system are improved.
Drawings
Fig. 1 is a schematic diagram of an angle between a direction-finding system and the earth north in an embodiment of the invention.
Fig. 2 is a schematic view illustrating a rotation angle from a geocentric coordinate system to a geocentric coordinate system according to an embodiment of the present invention.
Fig. 3 is a schematic view of projection and an included angle of a satellite in a geocentric coordinate system according to an embodiment of the present invention.
Fig. 4 is a schematic view of a projection and an included angle of a satellite under geographic coordinates according to an embodiment of the present invention.
Fig. 5 is a schematic delay diagram of capturing a target satellite by the tracking system according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of tracking accuracy in a direction-finding tracking mode according to an embodiment of the present invention.
Fig. 7 is a schematic diagram of tracking accuracy in a carrier-to-noise ratio tracking mode according to an embodiment of the present invention.
Fig. 8 is a schematic diagram of a mode switching delay in a dual tracking mode according to an embodiment of the present invention.
Fig. 9 is a schematic diagram of a mode switching delay (partially enlarged) in the dual tracking mode of fig. 8.
FIG. 10 is a schematic diagram of first and second azimuth reference transitions in an embodiment of the present invention.
Fig. 11 is a flowchart of a stable and effective dual-mode tracking control method for a beidou communication-in-motion antenna in an embodiment of the present invention.
Fig. 12 is a schematic diagram of a hardware structure in an embodiment of the invention.
Detailed Description
The invention is described in further detail below with reference to the attached drawings and detailed description:
examples
The embodiment describes a stable and effective Beidou communication-in-motion antenna dual-mode tracking control method, which introduces a direction finding system, optimizes tracking logic, expands a tracking mode, realizes dual-mode automatic switching, takes direction finding tracking as a main tracking mode, takes carrier-to-noise ratio tracking as an auxiliary tracking mode, and realizes stable and effective Beidou communication-in-motion antenna dual-mode tracking control by supplementing and freely switching.
The direction-finding tracking is to calculate the azimuth angle and the pitch angle of the target satellite under a geographic coordinate system through the longitude and the latitude of the target satellite and the longitude and the latitude of the carrier, and the azimuth angle and the pitch angle are used as the expected azimuth angle and the expected pitch angle under the tracking mode.
The carrier-to-noise ratio tracking is to search for one circle, record real-time carrier-to-noise ratio, sort, record the maximum carrier-to-noise ratio and its corresponding azimuth angle, and take the azimuth angle as the expected azimuth angle in the tracking mode.
In the two tracking modes, the azimuth gyroscope and the pitching gyroscope calculate the azimuth angle and the pitch angle of the rotation of the carrier turntable in real time, and the azimuth angle and the pitch angle are used as feedback angles, so that the compensation angle of the tracking system can be calculated through the expected angle and the feedback angle, and further stable tracking is realized.
Before explaining the stable and effective dual-mode tracking control method of the Beidou communication-in-motion antenna in the embodiment of the invention in detail, a simple structure description of a carrier turntable of the Beidou communication-in-motion antenna is introduced, as shown in fig. 12.
The carrier turntable of the Beidou communication-in-motion antenna comprises a direction finding system main antenna 1, a direction finding system auxiliary antenna 2, a Beidou communication-in-motion antenna 3, a pitching motor 4, an azimuth motor 5, a limit switch 6, an optical coupler switch 7 and the like.
The azimuth motor 5 rotates clockwise. The optocoupler switch 7 is fixed on the base, the baffle plate rotates clockwise along with the antenna carrier, and when the baffle plate enters the optocoupler switch 7, the switch level is changed, so that the azimuth motor 5 stops rotating.
The pitching motor 4 rotates from top to bottom, the limit switch 6 is fixed on the vertical support, the antenna pot cover is pressed to the limit switch 6 from top to bottom, the switch level is changed when the antenna pot cover is pressed to the limit switch 6, and the pitching motor 4 stops rotating.
The direction-finding system is composed of a main antenna 1 of the direction-finding system and a subsidiary antenna 2 of the direction-finding system, and the direction-finding system is used for calculating the included angle between the connecting line of two satellites in the direction-finding system and the north of the earth.
As shown in fig. 11, the stable and effective dual-mode tracking control method for the Beidou communication-in-motion antenna comprises the following steps:
step 1: the carrier turntable of the Beidou communication-in-motion antenna is initialized and reset, a pitching reset zero point and an azimuth reset zero point are recorded, and the azimuth reset zero point is used as a first azimuth reference.
The carrier turntable rotates the pitching motor and the azimuth motor at preset frequency according to the principle that pitching is rotated clockwise from top to bottom and azimuth is achieved, and when the pitching motor detects a limit switch of a pitching zero position and the azimuth motor detects an optocoupler switch of an azimuth zero position, the pitching motor and the azimuth motor stop running; the carrier turntable rotation azimuth angle yaw_g_offset and pitch_pitch_g_offset at this time are recorded as azimuth reset zero and Pitch reset zero, respectively.
Step 2: two satellite antennas, namely a main antenna 1 and a subsidiary antenna 2 of the direction-finding system, are adopted to form the direction-finding system; calculating the included angle between the connecting line of two satellites in the direction finding system and the north of the earth by using the direction finding system。
As shown in fig. 1, two satellite antennas forming a direction-finding system are defined as satellite antennas respectivelyA(x 1 ,y 1 ,z 1 )、B(x 2 ,y 2 ,z 2 ). Firstly, a vector formed by two satellite antennas, namely a base line vector, is calculated based on a carrier phase difference technology:the method comprises the steps of carrying out a first treatment on the surface of the Then, the course angle is calculated according to the geometric relation>；
wherein ,the angle between the connecting line of two satellite antennas and the north of the earth in the direction-finding system at the moment is the same.
Step 3: according to the included angle between the connecting line of two satellite antennas and the north of the earth in the direction-finding system in the step 2The included angle between the true north azimuth (the second azimuth reference) and the azimuth reset zero point in the geographic coordinate system can be calculatedZ_zero=π/2﹣/>The azimuth conversion of the two azimuth references, namely the conversion from azimuth reset zero point to the earth north azimuth, is completed, as shown in fig. 10.
Step 4: and calculating the expected azimuth angle E and the expected pitch angle A of the target satellite under the carrier coordinate system through the longitude and latitude of the carrier.
As shown in FIG. 2, defined in the geocentric coordinate systemO s ﹣X s Y s Z s The lower Beidou satellite coordinates are%x s ,y s ,z s ) In the geographical coordinate systemO r ﹣X r Y r Z r The lower Beidou satellite coordinates are%x r ,y r ,z r ) The longitude of the carrier isα r Latitude ofβ r 。
Geocentric coordinate systemO s ﹣X s Y s Z s And a geographic coordinate systemO r ﹣X r Y r Z r The conversion formula of (2) is as follows:
first, the coordinate systemO s ﹣X s Y s Z s Along withZ s Rotation angle of shaftα r And then alongY s Rotation of the shaftβ r Angle, finally alongX s Axially translate the earth radius distanceRObtaining a geographic coordinate systemO r ﹣X r Y r Z r The method comprises the steps of carrying out a first treatment on the surface of the Let the rotation matrix of the first rotation transformation beP 1 The rotation matrix of the second rotation transformation isP 2 The matrix of the third translation transformation isP 3 Then:
（1）
（2）
（3）
（4）
in the geocentric coordinate systemO s ﹣X s Y s Z s The coordinates of the Beidou satellite are%x s ,y s ,z s ) By the radius of the earthRSatellite altitudeHProjection of Beidou satelliteIncluded angle of directionα s Beidou satellite projection and planeX s O s Y s Included angle of (2)β s Expressed, i.e. longitude of Beidou satelliteα s Latitude ofβ s The height isR+HWherein the Beidou GEO satellite belongs to a geosynchronous orbit satellite,β s =0。
（5）
substituting formulas (2), (3), (4), (5) into formula (1) to obtain formula (6):
（6）
in a geographical coordinate systemO r ﹣X r Y r Z r The coordinates of the Beidou satellite are%x r ,y r ,z r ) Azimuth E and pitch a of the beidou satellite are expressed as follows:
（7）
（8）
substituting equation (6) into equation (7) and equation (8) yields:
（9）
（10）。
step 5: and (3) according to the expected azimuth angle E and the expected pitch angle A of the target satellite, the pitch motor of the carrier rotates to the expected pitch angle A obtained in the step (4), the azimuth motor rotates clockwise for 360 degrees, the carrier-to-noise ratio value SNR of the Beidou satellite under each azimuth angle is recorded, and the carrier-to-noise ratio values SNR of the Beidou satellite under each azimuth angle are ordered in descending order.
After the azimuth motor rotates for one circle, the maximum noise-carrying value SNR_MAX and the azimuth angle E_MAX corresponding to the SNR_MAX are selected, and the azimuth angle E_MAX is used as the expected azimuth angle of the auxiliary tracking mode for standby.
In this embodiment, the azimuth angle and the pitch angle are respectively transmitted in real time by the azimuth gyroscope and the pitch gyroscope, and the transmission frequency is 10 times in 1 second, i.e. the period is 100ms. As can be seen from fig. 5, the pitch angle of the 17 th transmission (i.e., the actual angle shown in fig. 5) reaches the target angle, and it is determined that 1700ms achieves tracking of the target satellite.
Step 6: and (3) according to the included angle between the Beidou communication-in-motion antenna and the true north of the earth obtained in the step (3) and the expected azimuth angle E and the expected pitch angle A of the target satellite obtained in the step (4), rapidly rotating the azimuth motor and the pitch motor to the expected azimuth angle E and the expected pitch angle A by using the true north of the earth obtained in the step (3) and entering a direction-finding tracking mode.
Step 7: in the direction-finding tracking mode in the step 6, if the REAL-time carrier-to-noise ratio snr_real of the satellite signal is lower than the preset communication threshold snr_thre, the tracking system automatically changes to the carrier-to-noise ratio tracking mode, namely, the azimuth motor quickly changes to the e_max according to the expected azimuth angle e_max in the carrier-to-noise ratio tracking mode obtained in the step 5, so that the conversion of the tracking mode is realized.
As already mentioned in step 5 above, the azimuth angle and the pitch angle are transmitted in real time by the azimuth gyroscope and the pitch gyroscope, respectively, in this embodiment, the transmission frequency is 10 times per second, i.e., the period is 100ms.
Since the target azimuth angle and the target pitch angle of the target satellite are fixed, the tracking accuracy as shown in fig. 6 and 7 is obtained by subtracting the real-time angle from the target angle, which is the tracking angle error, and counting a large number of samples. The tracking precision in the direction-finding tracking mode is about + -0.5 degrees, and the tracking precision in the carrier-to-noise ratio tracking mode is about + -1 degrees.
Fig. 8 shows a schematic diagram of the mode switching delay in the dual tracking mode, and fig. 9 is an enlarged partial detail of fig. 8. In the figure, when the carrier-to-noise ratio is 0, peaks and valleys appear, which indicate that the carrier-to-noise ratio is 0 and belongs to a satellite-loss state. In this process, the dual tracking mode is switched, as shown in the abscissa scale of fig. 9, it can be seen that the peak valley occupies 3s (18 s to 21 s) of time.
From the peak-to-valley occupation time shown in fig. 9, a dual mode tracking handoff delay of about 3s can be obtained.
Step 8: in the carrier-to-noise ratio tracking mode in step 7, if the REAL-time carrier-to-noise ratio snr_real of the satellite signal is still lower than the preset communication threshold snr_thre, the tracking system is reset after a first preset time, and step 1 is restarted.
In the waiting time of the first preset time, the tracking system can detect the carrier-to-noise ratio value SNR_REAL in REAL time, and if the REAL-time carrier-to-noise ratio SNR_REAL is larger than the preset communication threshold value SNR_THRE of the carrier-to-noise ratio and lasts for the second preset time, the reset is canceled, and the carrier-to-noise ratio tracking is continued; otherwise, the tracking system is automatically reset after the first preset time, and the step 1 is executed.
In this embodiment, the first preset time is set to 1 minute, for example, and the second preset time is set to 10 seconds, for example.
The method can break the current situations of poor tracking precision, easy interference, poor tracking stability and low tracking efficiency caused by the fact that the traditional equipment relies on single-mode tracking; the method of the invention takes the actual pitch angle and azimuth angle of the target satellite as a tracking main line, takes the real-time carrier-to-noise ratio as a tracking auxiliary line, and switches the two in real time, thereby comprehensively ensuring the tracking precision and the tracking efficiency.
The foregoing description is, of course, merely illustrative of preferred embodiments of the present invention, and it should be understood that the present invention is not limited to the above-described embodiments, but is intended to cover all modifications, equivalents and alternatives falling within the spirit and scope of the present invention as defined by the appended claims.
Claims (4)
1. A stable and effective Beidou communication-in-motion antenna dual-mode tracking control method is characterized by comprising the following steps of:
step 1: initializing and resetting a carrier turntable of the Beidou communication-in-motion antenna; recording a pitching reset zero point and an azimuth reset zero point, and taking the azimuth reset zero point as a first azimuth reference;
step 2: two satellite antennas are adopted to form a direction finding system; calculating included angle between two satellite antenna connecting lines and the north of the earth in the direction-finding system by using the direction-finding system
Step 3: calculating an included angle Z_zero between the Beidou in-motion antenna and the earth north orientation after azimuth resetting through the step 2, and determining the earth north orientation;
step 4: calculating an expected azimuth angle E and an expected pitch angle A of a target satellite under a carrier coordinate system through the longitude and latitude of the carrier;
the step 4 specifically comprises the following steps:
defined in the geocentric coordinate system O s ﹣X s Y s Z s The lower Beidou satellite coordinate is (x) s ,y s ,z s ) In the geographic coordinate system O r ﹣X r Y r Z r The lower Beidou satellite coordinate is (x) r ,y r ,z r ) The longitude of the carrier is alpha r Latitude is beta r ；
Geocentric coordinate system O s ﹣X s Y s Z s And a geographic coordinate system O r ﹣X r Y r Z r The conversion formula of (2) is as follows:
first, the coordinate system O s ﹣X s Y s Z s Along Z s Angle of rotation alpha of shaft r Then along Y s Shaft rotation beta r Angle, finally along X s Axially translating the earth radius distance R to obtain a geographic coordinate system O r ﹣X r Y r Z r The method comprises the steps of carrying out a first treatment on the surface of the Let the rotation matrix of the first rotation transformation be P 1 The rotation matrix of the second rotation transformation is P 2 The matrix of the third translational transformation is P 3 Then:
in the geocentric coordinate system O s ﹣X s Y s Z s The Beidou satellite coordinate is (x) s ,y s ,z s ) Through the earth radius R, the satellite height H, the Beidou satellite projection and the Beidou satellite projectionAngle alpha of direction s Beidou satellite projection and plane X s O s Y s Included angle beta of (2) s Expressed by, i.e. longitude alpha of the Beidou satellite s Latitude is beta s The height is R+H, wherein the Beidou GEO satellite belongs to a geosynchronous orbit satellite, beta s ＝0；
Substituting formulas (2), (3), (4), (5) into formula (1) to obtain formula (6):
in the geographic coordinate system O r ﹣X r Y r Z r The Beidou satellite coordinate is (x) r ,y r ,z r ) Azimuth E and pitch a of the beidou satellite are expressed as follows:
substituting equation (6) into equation (7) and equation (8) yields:
step 5: according to an expected azimuth angle E and an expected pitch angle A of a target satellite, a pitch motor of a carrier rotates to the expected pitch angle A obtained in the step 4, an azimuth motor rotates clockwise for 360 degrees, the SNR of the Beidou satellite under each azimuth angle is recorded, and descending order sequencing is carried out on the SNR of the Beidou satellite under each azimuth angle;
after the azimuth motor rotates for one circle, selecting the maximum noise-carrying value SNR_MAX and the azimuth angle E_MAX corresponding to the SNR_MAX, and taking the azimuth angle E_MAX as an expected azimuth angle of the auxiliary tracking mode for standby;
step 6: according to the included angle Z_zero between the Beidou communication-in-motion antenna obtained in the step 3 and the true north of the earth and the expected azimuth angle E and the expected pitch angle A of the target satellite obtained in the step 4, taking the true north of the earth obtained in the step 3 as a second azimuth reference, rapidly rotating an azimuth motor and a pitch motor to the expected azimuth angle E and the expected pitch angle A, and entering a direction-finding tracking mode;
step 7: in the direction-finding tracking mode in the step 6, if the REAL-time carrier-to-noise ratio SNR_REAL of the satellite signal is lower than a preset communication threshold SNR_THRE, the tracking system automatically changes to a carrier-to-noise ratio tracking mode, namely, the azimuth motor quickly changes to E_MAX according to the expected azimuth angle E_MAX in the carrier-to-noise ratio tracking mode obtained in the step 5, so that the conversion of the tracking mode is realized;
step 8: in the carrier-to-noise ratio tracking mode in the step 7, if the REAL-time carrier-to-noise ratio snr_real of the satellite signal is still lower than the preset communication threshold snr_thre, the tracking system is reset after a first preset time, and the step 1 is restarted;
in the waiting time of the first preset time, the tracking system can detect the carrier-to-noise ratio value SNR_REAL in REAL time, and if the REAL-time carrier-to-noise ratio SNR_REAL is larger than the preset communication threshold value SNR_THRE of the carrier-to-noise ratio and lasts for the second preset time, the reset is canceled, and the carrier-to-noise ratio tracking is continued; otherwise, the tracking system is automatically reset after the first preset time, and the step 1 is executed.
2. The stable and effective Beidou communication-in-motion antenna dual-mode tracking control method of claim 1 is characterized in that,
the step 1 specifically comprises the following steps:
the carrier turntable rotates the pitching motor and the azimuth motor at preset frequency according to the principle that pitching is rotated clockwise from top to bottom and azimuth is achieved, and when the pitching motor detects a limit switch of a pitching zero position and the azimuth motor detects an optocoupler switch of an azimuth zero position, the pitching motor and the azimuth motor stop running; the carrier turntable rotation azimuth angle yaw_g_offset and pitch_pitch_g_offset at this time are recorded as azimuth reset zero and Pitch reset zero, respectively.
3. The stable and effective Beidou communication-in-motion antenna dual-mode tracking control method of claim 2 is characterized in that,
the step 2 specifically comprises the following steps:
two satellite antennas forming a direction-finding system are defined as satellite antenna a (x 1 ,y 1 ,z 1 )、B(x 2 ,y 2 ,z 2 ) The method comprises the steps of carrying out a first treatment on the surface of the First, a vector formed by two satellite antennas, namely a base line vector, is obtained based on a carrier phase difference technology
Then the course angle is calculated according to the geometric relation
wherein ,the angle between the connecting line of two satellite antennas and the north of the earth in the direction-finding system at the moment is the same.
4. The stable and effective Beidou communication-in-motion antenna dual-mode tracking control method of claim 3, wherein the method comprises the following steps of,
the step 3 specifically comprises the following steps:
according to the included angle between the connecting line of two satellite antennas and the north of the earth in the direction-finding system in the step 2Calculating an included angle Z_zero between the earth north orientation and the orientation resetting zero point under the geographic coordinate system, and finishing the orientation conversion from the first orientation reference to the second orientation reference, namely the conversion from the orientation resetting zero point to the earth north orientation; wherein (1)>
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