CN1545165A - Electromechanical dual wave packet control method for tracking antenna - Google Patents
Electromechanical dual wave packet control method for tracking antenna Download PDFInfo
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- CN1545165A CN1545165A CNA2003101062454A CN200310106245A CN1545165A CN 1545165 A CN1545165 A CN 1545165A CN A2003101062454 A CNA2003101062454 A CN A2003101062454A CN 200310106245 A CN200310106245 A CN 200310106245A CN 1545165 A CN1545165 A CN 1545165A
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Abstract
The invention discloses an electromechanical double wave beam control antenna, including receiving/transmitting antenna array (multplexing), transmitting phase shifter group, receiving phase shifter group, sum- and difference- signal receiving circuit, wave beam controller, etc. Its character: slow mechanical tracking adopts open-loop method, to control the axis of the antenna to align with a satellite; fast electric tracking adopts closed-loop method, to control the wave beams to scan near the axis of the antenna to track the satellite; two methods are carried on, at the same time and independently; it has the advantages of low cost and high tracking precision.
Description
Technical field
The present invention relates to a kind of control method of vehicle-mounted, airborne and carrier-borne satellite mobile earth station tracking antenna, specifically a kind of electromechanical double beam-steering methods of tracking antenna.
Background technology
The tracking mode antenna has purposes widely in occasions such as military affairs, meteorology, television relay, communication, public security, city management, field studies, and its effect is increasing.Existing tracking antenna divides two big classes, and a kind of is the mechanically tracking antenna, and another kind is the electric tracing antenna.The mechanically tracking antenna is by the rotation of mechanical driving device control antenna and the pitching degree of freedom, adjusts the angle of antenna axis, makes it satelloid is communicated contact.This method is fairly simple, be easy to realize, and cost is lower, but in the very narrow occasion of the beamwidth of antenna, because antenna carrier can not vibrated unavoidably, in vehicle-mounted occasion, because the injustice on road surface, vibration can produce at any time especially, and this vibration can make satellite depart from the beam area of antenna, at this moment, because the velocity of rotation and the acceleration of mechanical control antenna are limited, can lose tracking, be difficult to realize continual tracking, thereby make communication off and on, even interrupt, produce the consequence that is difficult to expect.Automatically controlled tracking antenna relies on automatically controlled change beam direction fully owing to there is not the mechanical rotation part, and it can change the direction of wave beam in tens microseconds or shorter time, keeps the tracking to satellite in the state of carrier fast vibration.Phased array antenna is exactly present very general automatically controlled tracking antenna.But, must use a large amount of phase shifter groups in the time of realizing in narrow beam (as 1 °～2 ° of beamwidths) is on a large scale Satellite Tracking because the wave beam control range of satellite tracking antenna is bigger.Usually need to use thousands of or more a plurality of phase shifter groups.To such an extent as to make the cost of equipment high to the degree that is difficult to bear, this has limited the application of phased array antenna in the satellite mobile earth station.
Summary of the invention
The advantage that the objective of the invention is comprehensive mechanical tracking antenna and electric tracing antenna, the electromechanical double beam-steering methods of a kind of cost well below the electric tracing antenna is provided, in polarizers of big angle scope, utilize in the mechanical control antenna orientation of its axis, the quick tracking satellite of automatically controlled antenna beam in small angle range, to remedy the deficiency of mechanically tracking antenna, guarantee the tracking quality of antenna.
Technical scheme of the present invention is:
A kind of electromechanical double beam-steering methods of tracking antenna is characterized in that
A, mechanically tracking at a slow speed adopt open-loop method, control antenna axis alignment satellite; Electric tracing adopts closed-loop policy fast, and the control antenna wave beam scans near antenna axis and comes tracking satellite; Two kinds of methods are carried out simultaneously independently;
B, mechanically tracking method utilize aspect sensor to measure the azimuth of carrier, utilize obliquity sensor to measure the elevation angle and the roll angle of carrier, utilize geographic position sensors to measure the geographical position of carrier, measured data are sent in the mechanical control device, calculate the position of satellite with respect to carrier, controlling and driving motor-driven mechanically tracking device action makes the tracking antenna axis alignment to star;
C, reception, transmitting antenna adopt phase array to realize beam scanning; The little radiating element of small-bore surface antenna or a plurality of parallel connections is as phase control unit, and the area requirement of automatically controlled tracking is big more, and its area must be more little, occurs too high secondary lobe when avoiding automatically controlled beam scanning; The variable phase shifter group is all arranged after each phase control unit; The phase shift of electrically-controlled controller control phase shifter group realizes the wave beam electric scanning; Phase shift can be carried out in high frequency, intermediate frequency or base band, and promptly phase shifter can be realized with digital processing method with High Frequency Phase Shifter, intermediate frequency phase shifter or in base band;
Closed-loop fashion is adopted in d, automatically controlled tracking; Output signal to each phase control unit after the phase shift is handled, obtain wave beam to the tracking error signal of satellite and deliver to receiver, after handling, receiver delivers to controller, error signal is converted to the phase shift of control signal control phase shifter group, realize the wave beam electric scanning, to satelloid, realize accurate tracking up to wave beam, this moment, tracking error signal was zero.
" pulse " mode is adopted in the acquisition of error signal, antenna array is divided at least four antenna submatrixs, the output of each phase control unit is closed the road in the submatrix after the phase shifter phase shift, again will be wherein each submatrix output signal of closing behind the road send into and difference circuit formation and signal, trim signal and gun parallax signal, two kinds of difference signals with signal normalization after be error signal; The output signal that each submatrix is closed behind the road is closed the road again, forms the communications reception signal.
Launching antenna array can be shared with receiving antenna array, or with independent launching antenna array, the error signal of receiver output is except that control receives the phase shifter group, and the phase shifter of control emission simultaneously group makes launching beam to satelloid.
Mechanically tracking at a slow speed adopts open-loop method, and the control antenna axis alignment is to star, and electric tracing adopts closed-loop policy fast, and the control antenna wave beam scans near antenna axis and comes tracking satellite, and two kinds of methods are carried out simultaneously independently.
The control signal of controller output can be transferred to controlled device on the mechanical turntable with wireless method.
The antenna submatrix number that receives beacon signal can be less than the submatrix number of receiving communication signal.
Beneficial effect of the present invention:
1, has the two-fold advantage that the quick free of discontinuities of the low cost of mechanically tracking antenna and electric tracing antenna is followed the tracks of.
2, tracking velocity is fast, no matter be (tranquil sea) or use on the uneven road surface (sea) of jolting on smooth road surface, all can follow the tracks of fast.
3, has the two-fold advantage that open-loop tracking and closed loop are followed the tracks of.The start back is directly found satellite by the open loop tool with machine track device, must not search for.Tracking accuracy is guaranteed that by the closed loop electric tracing tool can relax with the precision of machine track device, reduces cost.
4, mechanically tracking and automatically controlled tracking all can be adopted prior art respectively.
5, can apply to various occasions of carrying out communication via satellite such as national defence, public security, water conservancy, forest, market prospects are wide.
6, visual tracer request of the quantity of expensive phase shifter group and quality are selected, and can reduce cost to greatest extent under the prerequisite that guarantees instructions for use.
Description of drawings
Fig. 1 is a mechanically tracking control principle block diagram of the present invention.
Fig. 2 is an automatically controlled tracking Control theory diagram of the present invention.
Fig. 3 should use the embodiments of the invention schematic diagram.
Embodiment
The present invention is further illustrated below in conjunction with accompanying drawing and example.
A kind of electromechanical double beam-steering methods of tracking antenna is characterized in that:
A, mechanically tracking at a slow speed adopt open-loop method, and the control antenna axis alignment is to star.Electric tracing adopts closed-loop policy fast, and the control antenna wave beam scans near antenna axis and comes tracking satellite.Two kinds of methods are carried out simultaneously independently;
B, mechanically tracking method utilize aspect sensor to measure the azimuth of carrier, utilize obliquity sensor to measure the elevation angle and the roll angle of carrier, utilize geographic position sensors to measure the geographical position of carrier, measured data are sent in the mechanical control device, calculate the position of satellite with respect to carrier, controlling and driving motor-driven mechanically tracking device action makes the tracking antenna axis alignment to star;
C, reception, transmitting antenna adopt phase array to realize beam scanning.The little radiating element of small-bore surface antenna or a plurality of parallel connections is as phase control unit, and the area requirement of automatically controlled tracking is big more, and its area must be more little, occurs too high secondary lobe when avoiding automatically controlled beam scanning.The variable phase shifter group is all arranged after each phase control unit.The phase shift of electrically-controlled controller control phase shifter group realizes the wave beam electric scanning.Phase shift can be carried out in high frequency, intermediate frequency or base band.Be that phase shifter can be used High Frequency Phase Shifter, intermediate frequency phase shifter or realize with digital processing method in base band.
Closed-loop fashion is adopted in d, automatically controlled tracking; Output signal to each phase control unit after the phase shift is handled, obtain wave beam to the tracking error signal of satellite and deliver to receiver, after handling, receiver delivers to controller, error signal is converted to the phase shift of control signal control phase shifter group, realize the wave beam electric scanning, to satelloid, realize accurate tracking up to wave beam, this moment, tracking error signal was zero.
" pulse " mode is adopted in the acquisition of error signal, and antenna array is divided at least four antenna submatrixs, and the output of each phase control unit is closed the road in the submatrix after the phase shifter phase shift.Again will be wherein the output signal of closing behind the road of each submatrix send into and difference circuit formation and signal, trim signal and gun parallax signal.Two kinds of difference signals with and signal normalization after be error signal; The output signal that all submatrixs are closed behind the road is closed the road again, forms the communications reception signal.Launching antenna array can be shared with receiving antenna array, or with independent launching antenna array.The error signal of receiver output is except that control receives the phase shifter group, and the phase shifter of control emission simultaneously group makes launching beam to satelloid.
Specific embodiment:
As shown in Figure 3.
A kind of electromechanical double beam controlling antenna, comprise duplexer battle array 1, emission phase shifter group 2, receive phase shifter group 3, reception and difference signal control circuit 4, and beam-controller 16 etc., duplexer battle array 1, emission phase shifter group 2, reception phase shifter group 3, reception and difference signal circuit 4 are installed on the substrate 5.Substrate 5 links to each other with pitch arm 6, and pitch arm 6 links to each other with turntable 8 by support 7, turntable 8 by Bearing Installation on pedestal 9.Pedestal 9 is installed on the delivery vehicle.Hollow shaft 10 links to each other with turntable 8, and the hole of passing on the pedestal 9 links to each other with rotary joint 11.Rotary joint is two parts about in the of 11 minutes, and top and hollow shaft 10, turntable 8 rotate together, and the lower part links to each other with pedestal 9, maintains static.Beam-controller 16 also is installed on the turntable 8.Receive and 4 generations of difference signal circuit with difference signal respectively by passing linking to each other respectively with the input lead 27,28,29 of receiver 13 of hollow shaft 10 with holding wire 20, trim holding wire 21, gun parallax holding wire 22; Because the effect of rotary joint, this being connected when turntable rotates kept.In receiver 13, convert the base band control signal to difference signal, be delivered to control signal transmitter 14, via being emitted to beam-controller 16 by antenna 15 usefulness wireless modes after control signal transmitter 14 high frequency modulated via lead 30.Two reception antennas 17 of beam-controller 16 usefulness and 18 diversity receptions cause signal fadeout in case the spline platform rotates, and to improve reception, reception antenna 17 links to each other by lead 25 with 18; Beam-controller 16 carries out the signal that receives to deliver to emission phase shifter group 2 by feeder line 23 after the demodulation, delivers to by feeder line 24 and receives phase shifter group 3, controls emission phase shifter group 2 respectively and receives phase shifter group 3 and carry out wave beam control.Emission phase shifter group 2 links to each other with the high frequency output line 26 of transmitter 12 through rotary joint 11 by passing the emission feeder line 19 of hollow shaft 10.
Beam-controller 16 be installed on the turntable 8 and and control signal transmitter 14 carry out transmission of wireless signals; Beam-controller 16 has the reception antenna 17,18 more than two.
Receive and to pass hollow shaft 10 with the output lead of difference signal circuit 4 and be connected, so that can keep connection during turntable 8 rotations through the input lead of rotary joint 11 with receiver 13.
The present invention is further illustrated below by the course of work of the present invention:
Mechanically tracking control of the present invention and electric tracing control are independently carried out.Open loop approach is adopted in mechanically tracking control, and its control principle block diagram is seen shown in Figure 2.The aspect sensor that links to each other with turntable controller, obliquity sensor, geographic position sensors are measured azimuth, the elevation angle (and roll angle), the residing geographical position of delivery vehicle respectively.Turntable controller calculates the direction of satellite with respect to delivery vehicle in view of the above, drives drive motors and makes turntable and pitch arm action, makes antenna axis point to satellite.
When delivery vehicle vibrates, may make wave beam depart from satellite, if only use mechanically tracking, just may be because mechanically tracking device speed and acceleration are limited, do not catch up with the speed of vibration, the azimuth and the angle of pitch of can not be in a short period of time adjusting antenna by drive motors repeatedly lose tracking.But when the electric tracing control device just begins to depart from antenna axis at satellite, found this species diversity very soon, commenced work without delay by difference signal, control emission phase shifter group and reception phase shifter group change beam position, catch up with vibration apace, make wave beam, guarantee to follow the tracks of satelloid.
Automatically controlled following principle of the present invention as shown in Figure 2.Radiating element (antenna element) quantity and the arrangement mode of supposing the duplexer battle array are definite.Several antenna elements are formed phase control unit, and each phase control unit back connects a group of received phase shifter group (the emission phase shifter group that links to each other with antenna is not shown) respectively.Again antenna array is divided into up and down and symmetrical four, the road is closed in the output that receives the phase shifter group in every, altogether synthetic four the tunnel.Export this four tunnel output signals warp and difference circuit formation and signal, trim signal, gun parallax signal to receiver respectively again; When the signal of satellites transmits departs from antenna axis, output orientation (pitching) error signal after receiver is handled.The direction of offset orientation (pitching) is opposite, and then the error signal opposite in sign is controlled the phase shifter group thus and changed beam position, makes wave beam to satelloid.This moment and signal maximum, difference signal are zero.This process is constantly carried out automatically, has kept the tracking of wave beam to satellite.The error signal that receives is except that control receives the phase shifter group, and the phase shifter of control emission simultaneously group makes launching beam also to satelloid.
Mechanically tracking control of the present invention and electric tracing control are carried out simultaneously independently, control different physical quantitys separately.The orientation and the elevation angle of mechanically tracking control antenna axis, and be open loop control.And the automatically controlled bias that is the control wave beam with respect to antenna axis.And two kinds of control rates differ greatly, therefore, though carry out simultaneously, also can not be owing to influence each other and loss of stability.
Claims (6)
1, a kind of electromechanical double beam-steering methods of tracking antenna is characterized in that:
A, mechanically tracking at a slow speed adopt open-loop method, control antenna axis alignment satellite; Electric tracing adopts closed-loop policy fast, and the control antenna wave beam scans near antenna axis and comes tracking satellite; Two kinds of methods are carried out simultaneously independently;
B, mechanically tracking method utilize aspect sensor to measure the azimuth of carrier, utilize obliquity sensor to measure the elevation angle and the roll angle of carrier, utilize geographic position sensors to measure the geographical position of carrier, measured data are sent in the mechanical control device, calculate the position of satellite with respect to carrier, controlling and driving motor-driven mechanically tracking device action makes the tracking antenna axis alignment to star;
C, reception, transmitting antenna adopt phase array to realize beam scanning; The little radiating element of small-bore surface antenna or a plurality of parallel connections is as phase control unit, and the area requirement of automatically controlled tracking is big more, and its area must be more little, occurs too high secondary lobe when avoiding automatically controlled beam scanning; The variable phase shifter group is all arranged after each phase control unit; The phase shift of electrically-controlled controller control phase shifter group realizes the wave beam electric scanning; Phase shift can Zai Gao Frequency, intermediate frequency or base band are carried out, and promptly phase shifter can be realized with digital processing method with High Frequency Phase Shifter, intermediate frequency phase shifter or in base band;
Closed-loop fashion is adopted in d, automatically controlled tracking; Output signal to each phase control unit after the phase shift is handled, obtain wave beam to the tracking error signal of satellite and deliver to receiver, after handling, receiver delivers to controller, error signal is converted to the phase shift of control signal control phase shifter group, realize the wave beam electric scanning, to satelloid, realize accurate tracking up to wave beam, this moment, tracking error signal was zero.
2, the electromechanical double beam-steering methods of tracking antenna according to claim 1, " pulse " mode is adopted in the acquisition of its characteristic error signal, antenna array is divided at least four antenna submatrixs, the output of each phase control unit is closed the road in the submatrix after the phase shifter phase shift, again will be wherein each submatrix output signal of closing behind the road send into and difference circuit formation and signal, trim signal and gun parallax signal, two kinds of difference signals with signal normalization after be error signal; The output signal that each submatrix is closed behind the road is closed the road again, forms the communications reception signal.
3, the electromechanical double beam-steering methods of tracking antenna according to claim 1, it is characterized in that launching antenna array can be shared with receiving antenna array, or with independent launching antenna array, the error signal of receiver output is except that control receives the phase shifter group, the phase shifter of control emission simultaneously group makes launching beam to satelloid.
4, the electromechanical double beam-steering methods of tracking antenna according to claim 1, it is characterized in that mechanically tracking at a slow speed adopts open-loop method, the control antenna axis alignment is to star, electric tracing adopts closed-loop policy fast, the control antenna wave beam scans near antenna axis and comes tracking satellite, and two kinds of methods are carried out simultaneously independently.
5, the electromechanical double beam-steering methods of tracking antenna according to claim 1 is characterized in that the control signal of controller output can be transferred to controlled device on the mechanical turntable with wireless method.
6, the electromechanical double beam-steering methods of tracking antenna according to claim 1, the antenna submatrix number that it is characterized in that receiving beacon signal can be less than the submatrix number of receiving communication signal.
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| CNA2003101062454A CN1545165A (en) | 2003-11-11 | 2003-11-11 | Electromechanical dual wave packet control method for tracking antenna |
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| CN101814655A (en) * | 2009-02-24 | 2010-08-25 | 台扬科技股份有限公司 | Method for adjusting dish-shaped antenna |
| WO2011011997A1 (en) * | 2009-07-28 | 2011-02-03 | 深圳大学 | Transmission wave beam tracking method, system and transmission terminal device |
| CN101296018B (en) * | 2008-05-26 | 2011-11-23 | 中国电子科技集团公司第五十四研究所 | Mobile satellite communication phase array antenna beam forming and tracing method |
| CN102292870A (en) * | 2011-06-16 | 2011-12-21 | 华为技术有限公司 | Phased-array antenna aligning method and device and phased-array antenna |
| CN102437425A (en) * | 2011-09-16 | 2012-05-02 | 南京信息工程大学 | Mobile communication antenna for satellite 'communication in motion' |
| CN101520325B (en) * | 2008-12-18 | 2012-06-13 | 中国移动通信集团江苏有限公司 | Automatic monitor for angle of base station antenna and automatic monitoring method |
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| CN104216418A (en) * | 2014-08-26 | 2014-12-17 | 浙江金波电子有限公司 | Sum-difference type automatic positioning and tracking antenna system |
| CN106546973A (en) * | 2016-10-28 | 2017-03-29 | 上海无线电设备研究所 | Phased-array radar and its full spatial domain Target Searching Method |
| CN106712866A (en) * | 2017-01-19 | 2017-05-24 | 京信通信技术(广州)有限公司 | Ground station system of satellite communication in motion and system tracking method |
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| CN108061888A (en) * | 2017-11-22 | 2018-05-22 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Sphere phase array antenna is to the autotracking method of spacecraft dynamic object |
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| CN101296018B (en) * | 2008-05-26 | 2011-11-23 | 中国电子科技集团公司第五十四研究所 | Mobile satellite communication phase array antenna beam forming and tracing method |
| CN101520325B (en) * | 2008-12-18 | 2012-06-13 | 中国移动通信集团江苏有限公司 | Automatic monitor for angle of base station antenna and automatic monitoring method |
| CN101814655A (en) * | 2009-02-24 | 2010-08-25 | 台扬科技股份有限公司 | Method for adjusting dish-shaped antenna |
| CN101814655B (en) * | 2009-02-24 | 2013-01-16 | 台扬科技股份有限公司 | Method for adjusting dish-shaped antenna |
| WO2011011997A1 (en) * | 2009-07-28 | 2011-02-03 | 深圳大学 | Transmission wave beam tracking method, system and transmission terminal device |
| CN102292870A (en) * | 2011-06-16 | 2011-12-21 | 华为技术有限公司 | Phased-array antenna aligning method and device and phased-array antenna |
| CN102292870B (en) * | 2011-06-16 | 2013-09-11 | 华为技术有限公司 | Phased-array antenna aligning method and device and phased-array antenna |
| CN102437425A (en) * | 2011-09-16 | 2012-05-02 | 南京信息工程大学 | Mobile communication antenna for satellite 'communication in motion' |
| CN103985964A (en) * | 2013-02-12 | 2014-08-13 | 松下航空电子公司 | Optimization of low profile antenna(s) for equatorial operation |
| CN104216418A (en) * | 2014-08-26 | 2014-12-17 | 浙江金波电子有限公司 | Sum-difference type automatic positioning and tracking antenna system |
| CN106546973A (en) * | 2016-10-28 | 2017-03-29 | 上海无线电设备研究所 | Phased-array radar and its full spatial domain Target Searching Method |
| CN106712866A (en) * | 2017-01-19 | 2017-05-24 | 京信通信技术(广州)有限公司 | Ground station system of satellite communication in motion and system tracking method |
| CN106712866B (en) * | 2017-01-19 | 2022-12-02 | 南京京迪通信设备有限公司 | Communication-in-motion terminal station system and tracking method thereof |
| CN108037523A (en) * | 2017-10-26 | 2018-05-15 | 北京航空航天大学 | A kind of electron assistant beam alignment applied to unmanned plane |
| CN108061888A (en) * | 2017-11-22 | 2018-05-22 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Sphere phase array antenna is to the autotracking method of spacecraft dynamic object |
| CN110661097A (en) * | 2019-09-29 | 2020-01-07 | 深圳航天东方红海特卫星有限公司 | Method and system for realizing circularly polarized antenna array with controllable wave beams |
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