JP2960443B2 - Attitude control device for antenna on mobile object - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to attitude control of an antenna on a moving body, and more particularly to attitude control of a directional antenna that tracks a radio wave source on the moving body.

[Prior Art] For example, a mobile station (hereinafter referred to as a vehicle) such as a vehicle, a ship, an aircraft, or the like is provided with a fixed station or an artificial station for mobile communication, television broadcast reception, radio broadcast reception, or self-location recognition. An antenna used for communication with a satellite station or the like is mounted.

In order to always direct this directional antenna toward a predetermined radio wave transmitting source or radio wave reflector, the following antenna attitude control method has been conventionally used.

1). The position and posture of the moving body are grasped by a gyro sensor or the like, and the antenna posture is controlled so as to cancel out the deviation of the pointing direction of the antenna due to the change in the position and posture of the moving body.

2). According to a conical scan method or the like, a radio wave is actually received while scanning and driving an antenna, and a radio wave source is searched and tracked based on a reception level.

3). 1). And 2). Combinations. That is, when there is no obstacle or the like, the movement of the vehicle or the like is detected and the attitude of the antenna is corrected.
Correct with.

[Problems to be solved by the invention]

However, 1). In this case, it is extremely difficult to accurately detect the movement of a vehicle or the like with a posture detecting means for detecting the posture of a moving object. This is problematic in that it is used for In addition, 2). In the case of, there is a drawback that it cannot be adapted when reception is interrupted due to obstacles such as mountains, tunnels, buildings, etc., or when the antenna attitude (directional direction) is significantly deviated from the radio wave source, which is a problem specific to vehicles and the like. .
In addition, when the continuous roving method is used in this method, the configuration is simplified and the size can be reduced, but the tracking speed cannot be increased, and when the monopulse method is used, high-speed tracking can be expected, but the structure is However, there is a problem in miniaturization and cost reduction.

Attempts to control the attitude of the antenna so that it always points to the radio wave source 3). In the case of, when the reception is impossible due to the obstacle, the tracking is continued in 1) and the detection error of the vehicle posture in the case of 1) is detected. Although there is a complementary advantage that the correction is made by the above method, this method also has 2). Can temporarily correct the deviation of the pointing direction of the antenna, but cannot correct the accumulated error of the gyro, so that the tracking accuracy cannot be avoided, and if the accumulated error increases, 1). 2). May be out of the tracking range.

A first object of the present invention is to promptly and surely restart automatic tracking when reception is temporarily disabled due to an obstacle or the like after the obstacle disappears, A second object is to prevent confusion or delay of automatic tracking due to accumulation of detection errors of the detection means.

[Configuration of the invention]

(Means for Solving the Problems) Therefore, in the present invention, firstly, for a slow motion of a vehicle or the like, a small change is made in response to a change in the detection value of the means for detecting the posture of the moving body. By scanning the range, the antenna directing direction is controlled to the target direction, but for other extremely fast movements, normal tracking is not performed, and control is performed so that a wide range search operation is performed. A compact and lightweight device that is practically suitable for use as an antenna tracking device for a vehicle.

Second, in the present invention, in order to reduce tracking loss in a small-range scan and a corresponding wide-range search operation due to accumulation of detection errors of the posture detection means, the reception level is set to a predetermined value or more. That is, during good reception, every time a predetermined time elapses, the relationship between the starting point of the attitude detecting means and the amount of change is initialized, and the accumulated error of the amount of change is settled. That is, the starting point is updated to the posture at that time, and the accumulated value of the change is set to 0. As a result, the accumulated value of the detection error inherent in the accumulated value of the change is automatically cleared at every predetermined time when the reception is good, and large accumulation of the detection error is prevented.

That is, the attitude control device for an antenna on a moving object according to the present invention includes an antenna (31, 32) supported to be able to change the attitude on a moving object (CAR); Drive mechanism (46,57); Antenna (31,3
Reception level detection means (5a, 5) for detecting the reception level of 2)
b, 5c); and a control means (1) for setting, via the drive mechanism, an antenna attitude which is equal to or more than a set value with reference to a reception level. Attitude detecting means (GYrp, GYya) for detecting an amount of change from the origin of the posture of the body (CAR); pointing of the antenna (31, 32) corresponding to the change detected by the attitude detecting means (GYrp, GYya) First control means (1) for setting the antennas (31, 32) to a posture for correcting a direction shift; when the reception level is less than the first set value (TH1) and equal to or more than the second set value (TH2), 31, 32) in a small area (13th
In the figure, the antenna (31, 3
2) second control means (1) for setting the attitude; when the reception level is lower than the second set value (TH2), scanning of a small range (first
Third control means (1) for performing search scanning (FIG. 14) of the antennas (31, 32) over a wider range than that of FIG. 3); and, every time a predetermined time elapses while the reception level is equal to or higher than a predetermined value (TH1). And a fourth control means (1) for initializing the relationship between the starting point of the attitude detection means (GYrp, GYya) and the change amount and adjusting the accumulated error of the change amount. Symbols in parentheses indicate corresponding elements, value display symbols, or corresponding drawings in the embodiment described later with reference to the drawings.

(Operation) (I) The reception level of the antenna (31, 32) is equal to the first set value (T
During the period of H1) or more, scanning of a small range and search scanning described later are not performed, and the first control means (1) responds to a change in the detection value of the attitude detection means (GYrp, GYya) and thereby performs an antenna operation. The antenna (31, 32) is set in a posture for correcting the deviation of the directivity direction of (31, 32).

Therefore, when the reception is successful, the antenna is not scanned, and only the minimum antenna driving for correcting the deviation in the directional direction due to the change in the attitude of the vehicle or the like is performed.

(II) For example, the reception level is lower than the first set value (TH1) and the second set value (T is smaller than the first set value (TH1) due to a detection error of the attitude detection means (GYrp, GYya), an antenna attitude setting error, or a cumulative response delay.
H2) or more, that is, when the reception level drops slightly below the appropriate value, the second control means (1) scans the antennas (31, 32) in a small range (FIG. 13) and performs the reception level Set the attitude of the antenna (31, 32) in the direction of the maximum value. As a result, when the reception level becomes equal to or higher than the first set value (TH1), the above (I) is obtained, and the first set value (TH1)
1) If the value is less than the second set value (TH2) or less, this (II)
Is repeated.

(III) When the reception level becomes less than the second set value due to an obstacle or the like or a sudden change in the attitude of the vehicle or the like, the third control means (1) sets a wider range than the small range scan (FIG. 13). Search scans the antennas (31, 32) (FIG. 14). By this search scanning, the reception level becomes the second set value (TH
2) Above, it becomes the above (II). Second set value (TH
This (III) continues for less than 2).

(IV) While the reception level is equal to or higher than the predetermined value (TH1), the fourth control means (1) initializes the relationship between the starting point of the attitude detection means and the detected change amount at predetermined time intervals. Is eliminated, and the detection error does not accumulate excessively. As a result, tracking loss due to the small range scan (I) and search scan (II) associated therewith due to the accumulation of the detection error substantially do not occur.

As described above, while the vehicle or the like is moving in a place where there is no obstacle with a relatively slow posture change, the above (I) or (I)
When the attitude control of (I) is performed and the error or response delay of the antenna attitude control is accumulated (the reception level becomes less than the first set value TH1), the attitude control of (II) is automatically executed and the attitude control is performed. The accumulation of the control error is automatically cleared (the reception level becomes equal to or more than the first set value TH1). Therefore, and without making the antenna attitude control system exceptionally responsive,
Practical enough automatic tracking is realized.

When the direction of the antenna relative to the radio wave source is relatively largely shifted due to obstacles or the inability of the antenna attitude control to respond to a sudden change in attitude of the vehicle or the like, the control of (III) is started, Reception level is 2nd
It is continued until it exceeds the set value (TH2). Therefore, when the obstacle disappears or when the sudden change in the attitude of the vehicle or the like disappears, the above (II) is automatically performed, and then the above (I) is performed.

As described above, the control of the above (III) automatically detects the change from the unreceivable state to the receivable state and automatically sets the antenna attitude to one that can be tracked by conical scanning in a minute range. Has functions. By this (III), even when the antenna attitude control speed is slow with respect to a relatively sudden attitude change of a vehicle or the like, the continuity of the automatic tracking is automatically secured. Even if the height is not particularly high, practically sufficient automatic tracking is realized.

According to the above (IV), means for detecting the attitude of the vehicle (GY
Even if a relatively simple structure and a relatively large detection error are used for (rp, GYya), there is no practical problem.

As a result, after the reception is temporarily disabled due to an obstacle or the like, the automatic tracking is promptly and reliably restarted when the obstacle is removed and the reception becomes possible, and the posture detection means (GYrp, GYya) The confusion or delay of the automatic tracking due to the accumulation of the detection errors is prevented.

Other objects and features of the present invention will become apparent from the following description of embodiments with reference to the drawings.

〔Example〕

FIG. 1 shows the appearance of one embodiment of the present invention. In FIG. 1, a CAR is a vehicle (mobile body), and an antenna (hereinafter, simply referred to as an antenna) 30 for receiving satellite broadcasting is provided on a roof Rf. In this embodiment, the antenna 30
Uses a commercially available satellite dish for satellite broadcast reception.

The antenna 30 will be described with reference to FIGS. 3A and 3B.

Referring first to FIG. 3a, 31 is a parabolic reflector and 32 is
Primary radiator integrated with BS converter. The parabolic reflector 31 and the primary radiator 32 form a radiation lobe (main lobe: the same applies hereinafter) having a half-value angle of 2 ° at the operating frequency.

A primary radiator 32 (hereinafter, referred to as a BS converter) integrated with a BS converter is fixed to a parabolic reflector 31 by support arms 33 and 34, and the parabolic reflector 31 is pivotally mounted on a support box 35. The support box 35 is fixed to a turntable 38 of the antenna 30 by frames 36 and 37. The turntable 38 is
It is rotatably supported by a fixed base 40 via a bearing 39. The fixed base 40 is fixed to a circular recess of the roof Rf of the vehicle CAR, and a weather strip 41 is mounted on a contact portion between the roof Rf and the fixed base 38.

On the turntable 38, internal teeth 42 are cut in a ring shape, and a gear 43 meshes with the internal teeth 42. The shaft 44 to which the gear 43 is fixed is engaged with the rotation shaft of an azimuth drive motor 46 via a gear box 45. Azimuth drive motor
A rotary encoder 47 is coupled to the rotation shaft 46.

Since the azimuth drive motor 46 is fixed to the fixed base 40, when the azimuth drive motor 46 is normally urged to rotate, the turntable 38 is turned right (see FIG. 3b) from right above (rightward in the azimuth direction). When the reverse rotation is applied, the turntable 38 is viewed from directly above (the
3b) Rotate to the left (rotate to the left in the azimuth direction). That is, the radiation lobe of the antenna 30 is turned to the right by the forward rotation of the azimuth drive motor 46, and the radiation lobe of the antenna 30 is turned to the left by the reverse rotation. The rotary encoder 47 is connected to the antenna 30
1 pulse is output each time the attitude in the azimuth direction changes by 0.5 °. Reference numeral 49 denotes a photointerrupter (hereinafter, referred to as an Az sensor) for detecting a home position of the antenna 30 in the azimuth direction. At the home position, a light-blocking filler provided on a lower surface of the turntable 38 enters.

A cable 48 connected to an electric element in a support box 35 of the antenna 30 is connected to a fixed-side cable (not shown) via a disc-shaped slip ring unit 50.

The electric cable connected to the output terminal of the BS converter 32 is connected to a fixed cable 52 via a cylindrical rotary joint 51.

FIG. 3b is a plan view of FIG. 3a as viewed from directly above, and the inside of the support box 35 will be described with reference to FIG.

Rotation axis 53 fixed to parabolic reflector 31 of antenna 30
, A sector gear 54 is fixed. The gear 55 is engaged with a gear 55 fixed to an output shaft of a gear box 56. The rotation shaft of the elevation drive motor 57 is engaged with the input shaft of the gear box 56. A rotary encoder 58 is coupled to a rotation shaft of the elevation drive motor 57.

Since the elevation drive motor 57 is fixed to the support box 35, when this is urged forward, the parabolic reflector 31 is rotated.
And the BS converter 32 and the like are rotated upward together (right rotation in FIG. 3a: upward in the elevation direction). When this is reversely urged, the parabolic reflector 31 and the BS converter are rotated.
32 and the like are integrally rotated downward (left rotation in FIG. 3a: downward rotation in the elevation direction). That is, the radiation lobe of the antenna 30 is directed upward by the forward rotation of the elevation drive motor 57, and is directed downward by the reverse rotation. The rotary encoder 58 outputs one pulse each time the attitude of the antenna 30 in the elevation direction changes by 0.5 °. Although it is overlapped in FIG. 3b, 59U on the back side is a limit switch that detects the limit of the elevation angle of the antenna 30,
A limit switch 59D on the near side detects a limit of the depression angle of the antenna 30. Reference numeral 60 denotes a photointerrupter (hereinafter, antenna El sensor) for detecting a home position of the antenna 30 in the elevation direction. At the home position, a light-blocking filler provided on the rotating shaft 53 enters.

In the present embodiment, when the Az sensor 49 and the El sensor 60 detect the home position, the main lobe of the antenna 30 moves in the front direction of the vehicle CAR (the traveling direction of the CAR when traveling straight ahead: the same applies hereinafter). It will be parallel to the roof Rf.

FIG. 2a shows the configuration of an electric control system for controlling the attitude of the antenna 30.

This control system uses a microcomputer (hereinafter referred to as a microcomputer).
MPU) 1. A read-only memory (hereinafter referred to as ROM) 2, a read / write memory (hereinafter referred to as RAM) 3, a timer 4, and input / output ports (hereinafter referred to as I / O) 5, 6, 7 and 8 are connected to a bus line of the MPU 1. ing.

The reception level detection unit of the antenna 30 is connected to the I / O 5. The reception level detection unit
It comprises a BS converter 32, a distributor 5a, a BS level detector 5b having an amplifier, a frequency converter, a detector, and the like, and an A / D converter 5c. Distributor 5a distributes the output of BS converter 32 of antenna 30 to BS level detector 5b and BS tuner 5d. BS level detector 5b detects the level of the received signal,
Give to A / D converter 5c. In response to the instruction from the MPU 1, the A / D converter 5c digitally converts the received signal level from the BS level detector 5b and transfers it to the MPU 1.

In addition, a television receiver TV and a radio receiver RD for receiving satellite broadcasts are connected to the BS tuner 5d.

A vehicle attitude detection unit is connected to the I / O 6.
The vehicle attitude detection unit is pitching / rolling angle detection free gyro GYrp, yawing angle detection gyro G
Yya, pitch angle detector 6a, roll angle detector 6b, yaw angle detector
6d and gyro drivers 6c and 6e.

The gyro GYrp has degrees of freedom around the pitch axis and the roll axis, the pitch angle detector 6a detects rotation angle data (digital value) around the pitch axis, and the roll angle detector 6b rotates around the roll axis. Angular data (digital value) is detected.

The gyro GYya has a degree of freedom around the yaw axis, and the yaw angle detector 6d detects rotation angle data (digital value) around the yaw axis.

The gyro drivers 6c and 6d respectively turn the corresponding gyro GYrp or GYya rotors.

An operation board 22 is connected to the I / O 7. Operation board
22 is installed on the console board in the vehicle CAR, and its appearance is shown in FIG.

Referring to FIG. 4, the operation board 22 includes azimuth data (hereinafter, azimuth data) and elevation (down) of the antenna 30.
A small CRT display 23 for displaying angle data (hereinafter referred to as elevation data), a reception level and various messages, a start (START) key 24 for instructing automatic attitude control of the antenna 30, and an instruction for stopping automatic attitude control of the antenna 30. A stop (STOP) key 25, an up key (U key) 26 for manual posture control, a down key (D key) 27, a right key (R key) 28, and a left key (L key) 29 are provided.

Inside the operation board 22, a key encoder for reading the operation of these keys in response to the instruction of the MPU1, and
C for displaying various messages on the CRT display 23
Equipped with RT driver.

The I / O 8 includes a motor control unit 10 including an azimuth drive motor 46, an elevation drive motor 57, and the like.
Is connected.

The configuration of the motor control unit 10 is shown in FIG. 2b.

Referring to FIG. 2b, the motor control unit 10
Comprises a microprocessor (hereinafter referred to as CPU) 10a, an azimuth unit AzU, an elevation unit ElU, an input buffer 18, and the like.

The azimuth unit AzU includes a D / A converter 11a, a power amplifier 12a, base drivers 13a and 14a, a waveform shaping circuit 15a, an up / down counter 16a, a parallel-out serial-in /
It comprises a shift register (hereinafter referred to as a PS register) 17a, an azimuth drive motor 46, a rotary encoder 47, power transistors Tr1a, Tr2a, Tr3a and Tr4a.

The elevation unit ElU includes a D / A converter 11b, a power amplifier 12b, base drivers 13b and 14b, and a waveform shaping circuit 15.
b, up / down counter 16b, PS register 17b, elevation drive motor 57, rotary encoder 58, power transistors Tr1b, Tr2b, Tr3b and Tr4b, and the like.

The input buffer 18 includes the Az sensor 49 and the El sensor 6 described above.
0, limit switches 59U and 59D are connected.

In response to an instruction from the MPU 1, the CPU 10a controls forward and reverse rotation of the motors 46 and 57 at a specified speed, and outputs azimuth attitude data (angle) and elevation attitude data (angle),
Further, the state of the limit switches 59U and 59d is read and transferred to the MPU1.

The azimuth unit AzU and the elevation unit ElU have the same configuration, although there are slight differences in the components, so the azimuth unit AzU will be described here.

The azimuth unit AzU D / A converter 11a has a CPU 10
From the output port P1 of a, the motor 46 specified by MPU1
Is applied. The D / A converter 11a outputs a voltage corresponding to the voltage data and applies the voltage to the power amplifier 12a. Power amplifier 12a
Converts the output voltage of the D / A converter 11a into a drive voltage for the motor 46 and applies the drive voltage to the collectors of the power transistors Tr1a and Tr3a. The emitter of the power transistor Tr1a is connected to the collector of the power transistor Tr4a, the emitter of the power transistor Tr3a is connected to the collector of the power transistor Tr2a, and the emitters of the power transistor Tr4a and the power transistor Tr2a are grounded. The output terminals of the base driver 13a are connected to the bases of the power transistors Tr1a and Tr2a, and the output terminals of the base driver 14a are connected to the bases of the power transistors Tr3a and Tr4a. The input terminal of the base driver 13a is connected to the output port P2 of the CPU 10a.
Input terminal of base driver 14a is output port P3 of CPU 10a
, Respectively.

When the motor 46 is driven to rotate in the normal direction, the CPU 10a outputs an H (high) level from the output port P2 to output the H level to the base driver 13a.
Instructs to turn on the power transistors Tr1a and Tr2a, and outputs an L (low) level to the output port P3 to instruct the base driver 14a to turn off the power transistors Tr3a and Tr4a. When the motor 46 is driven to rotate in the reverse direction, L is output to the output port P2 and H is output to the output port P3. When the motor 46 is deenergized, the L level is output to the output ports P2 and P3 to instruct the base drivers 13a and 14a to turn off the power transistors Tr1a, Tr2a, Tr3a and Tr4a.

Since the motor 46 is inserted on a line connecting the connection point between the power transistors Tr1a and Tr4a and the connection point between the power transistors Tr2a and Tr3a, the power transistors Tr1a and Tr2a are turned on, and the power transistors Tr3a and Tr3a are turned on. When Tr4a is turned off, the output of power amplifier 12a, power transistor Tr1a, motor 46, power transistor Tr2a
A forward rotation energizing circuit comprising a ground and a ground is formed, and is normally energized by the voltage set by the D / A converter 11a, the power transistors Tr1a and Tr2a are turned off, and the power transistors Tr3a and Tr4a are turned on. A reverse rotation energizing circuit comprising the output of the amplifier 12a, the power transistor Tr3a, the motor 46, the power transistor Tr4a, and the ground is configured to be reversely energized by the voltage set by the D / A converter 11a.

The output of the rotary encoder 47 is shaped by the waveform shaping circuit 15a and applied to the input port R1 of the CPU 10a and the input terminal In of the up / down counter 16a. The up / down counter 16a has an H level at the U terminal and an L level at the D terminal.
When the level is given, the counting is performed at the rising edge of the pulse given to the input terminal In. When the L level is given to the U terminal and the H level is given to the D terminal, the input terminal is counted up.
Count down at the rising edge of the pulse given to In.
The counter 16a is a 720-base counter (10 bits). When the value is counted up at 719, the value becomes 0, and when the value is 0, the value becomes 719.

The reset input terminal Rst of the up / down counter 16a is CP
It is connected to the output port P4 of U10a, and the 10-bit parallel output terminal is connected to the parallel input terminal of the PS register 17a. The shift load pulse is supplied to the shift load input terminal SL of the PS register 17a from the output port P5 of the CPU 10a, the clock inhibit input terminal CI is supplied with the clock inhibit signal from the output port P6 of the CPU 10a, and the clock input terminal CK is supplied to the clock input terminal CK. A clock pulse is supplied from the output port P7 of the CPU 10a.

The PS register 17a presets the data applied to the parallel input terminal to each bit at the rising edge of the shift load pulse, and when the clock inhibit signal changes to the H level, synchronizes the preset data from the output terminal OUT with the clock pulse. Outputs serially to the serial input port R2 of the CPU 10a.

Referring back to FIG. 2a, the power source of this system is an on-board battery BAT, and constant voltages Vc and Vs are supplied to each unit from a constant voltage circuit Reg via an Acc switch (accessory mode switch). The constant voltage Vc mainly serves as a power supply for each section of the electric control system, and the constant voltage Vs mainly serves as a power supply for driving the motor and the gyro.

Next, a description will be given of the antenna attitude control of the embodiment device provided by the above configuration and the control operation of the MPU 1 and the CPU 10a.

The flowchart shown in FIGS. 5a and 5b
FIG. 10 is a flowchart showing the main routine of the CPU 10a. In the following description, “S−−” indicates a number assigned to each step of the flowchart (“S” is omitted in the flowchart).

Referring to FIG. 5a, when the Acc switch is turned on and a predetermined voltage is supplied to each unit, the MPU 1 resets and initializes each input / output port, internal register, flag, RAM3, and the like in S1, and initializes in S2. A loop for waiting for a Ready signal from the CPU 10a is configured.

Referring to FIG. 10, at this time, in the CPU 10a,
After initializing by resetting the input / output ports, internal registers, etc., the initialization is executed. By default, antenna 30
Is set to the home position in the azimuth direction and the elevation direction. In other words, the motor 46 is biased forward to search for an attitude in the azimuth direction in which the Az sensor 49 is turned on, and then the motor 57 is biased forward to change the attitude in the elevation direction in which the El sensor 60 is turned on. While searching, the attitude of the antenna 30 in the elevation direction becomes the elevation angle limit during the search, and when the limit switch 59U is turned on,
The motor 57 is biased in the reverse direction to search for a posture in the elevation direction in which the El sensor 60 is turned on. CPU 10a has antenna 30
When the attitude of the robot is set to the home position in the azimuth direction and the elevation direction, the counters 16a and 1
Reset 6b and output Ready signal to MPU1. After this, 1 step right shift processing, 1 step left shift processing, 1 step up shift processing, 1 step
ep Performs a down shift process, a right shift process, a left shift process, an up shift process, a down shift process, or a stop process. These processes will be described later.

When the MPU 1 receives the Ready signal from the CPU 10a, the MPU 1 forms a loop for executing the manual operation process of S4 until the START key 24 is turned on and is read by S3A.

The manual operation process will be described with reference to the flowchart shown in FIG. When U key 26 is operated, MPU1
The process proceeds from S30 to S31, where the state of the limit switch 59U is checked. Antenna 3 if switch 59U is on
The posture in the elevation direction of 0 is at the limit of the elevation angle, and no further upward drive is possible, but otherwise the S3
At 2, the CPU 10a is instructed to execute the 1-step upshift process. When the D key 27 is operated, the process proceeds from S33 to S34, where the state of the limit switch 59D is checked. If the switch 59D is turned on, the attitude of the antenna 30 in the elevation direction is at the limit of the depression angle, and further downward drive is impossible, but otherwise, the CPU 10a is shifted to the CPU 10a in S35 by 1 step downward shift processing. To execute

When the R key 28 is operated, the MPU 1
The process proceeds to S37, where the CPU 10a is instructed to execute the 1-step right shift process, and if the L key 29 is operated, the process proceeds from S38 to S
Proceeding to 39, instruct CPU 10a to execute 1-step left shift processing.

In response to such a one-step driving instruction of the MPU1, the CPU 10a
FIG. 11a shows the 1-step right shift processing executed by, FIG. 11b shows the 1-step left shift processing, FIG. 11c shows the 1-step upward shift processing, and FIG. 11d shows the 1-step downward shift processing.

The 1-step right shift process will be described with reference to FIG.
The CPU 10a outputs voltage data corresponding to the maximum speed of the motor 46 from the output port P1 and supplies it to the D / A converter 11a, and outputs an H level from the output port P2 and an L level from the output port P3 to the base driver 13a. The on-drive of the power transistors Tr1a and Tr2a, the off-drive of the power transistors Tr3a and Tr4a are instructed to the base driver 14a, and the up-down counter 16a is instructed to up-count. Thereafter, when the motor 46 rotates forward and the output pulse of the rotary encoder 47 is detected at the input port R1 via the waveform shaping circuit 15a, the L level is output from P2 and the power transistors Tr1a and Tr2a are output to the base driver 13a. Instructs the off drive and deactivates the motor 46. That is, in the 1-step right shift processing, the attitude of the antenna 30 in the azimuth direction is shifted by one step, that is, 0.5 ° rightward.

Similarly, in the 1-step left shift process shown in FIG. 11b, the CPU 10a sets the attitude of the antenna 30 in the azimuth direction to 0.5.
゜ (one step) shift to the left
In the step-up shift processing, the attitude of the antenna 30 in the elevation direction is shifted upward by 0.5 ° (one step), and in the 1-step downward shift processing shown in FIG. 11d, the attitude of the antenna 30 in the elevation direction is shifted by 0.5 °. (1 step) Shift down.

When the CPU 10a completes the 1-step right shift process (FIG. 11a), the 1-step left shift process (FIG. 11b), the 1-step upward shift process (FIG. 11c), or the 1-step downward shift process (FIG. 11d), the shift end is indicated. The signal, the attitude data in the azimuth direction (Az data) and the attitude data in the elevation direction (El data) are transferred to the MPU 1.

Referring to FIG. 6 again, the MPU 1
Wait for the 1-step right shift processing, 1-step left shift processing, 1-step upward shift processing or 1-step downward shift processing by a to be executed, and then read the Az data and El data transferred in S41. Further, in S42, the reception level is read and stored in the register L1, and in S43, the Az data, the El data, and the reception level of the register L1 are displayed on the CRT 23.

MPU1 uses the START key in S3A and S4 (Fig. 5a).
When 24 is turned on, this is read in S3A, the reception level is read in S3B, it is checked whether it is equal to or more than the second set value TH2, and if it is less than TH2, the initial search of S5A is executed.

The contents of the initial search processing S5A will be described with reference to FIG. 7. First, the concept of the initial search processing S5A will be described with reference to FIG. In this case, the attitude of the antenna 30 in the elevation direction is repeatedly shifted up by one step from the lower limit position (depression angle limit) to the upper limit position (elevation angle limit) while monitoring the reception level.
Of the antenna 30 in the azimuth direction is shifted right by one step, and this time, the downward shift is repeated every step from the upper limit position to the lower limit position. When the lower limit position is reached, the azimuth orientation of the antenna 30 is shifted right by one step. Is repeated over the entire circumference until the reception level becomes sufficient for reception (actually, since the movement of one step is 0.5 °, the first
It is much thinner than Figure 2).

More specifically, referring to FIG. 7, in S50, the Az data at that time is stored in the registers A1 and A2, and the El data is stored in the registers E1 and E2.
Resets (0) the flag F1. The flag F1 is a flag for setting the shift direction (up / down) in the elevation direction.

Thereafter, the reception level is read in S52, and the value is stored in the register L1. The reception level at this time, that is,
When the value of the register L1 is equal to or higher than the predetermined level TH2, the MPU1
Immediately returns to the main routine from S53,
If it is less than the predetermined level TH2, proceed to S54 and below and
Perform 30 posture changes. In this posture change, first, the flag F1
Is reset (0), the limit switch
If 59U is not on, proceed to S54 → S55 → S56, where CP
U10a is instructed to execute the above-described one-step upward shift process, and the value of the register E2 is incremented by one in S57. Upon receiving the shift end signal from the CPU 10a, the MPU 1 returns to S52 again,
The above is repeated while monitoring the reception level. If the switch 59U is turned on before the reception level becomes equal to or higher than the predetermined value TH2, the flag F1 is set (1) in S58, the CPU 10a is instructed to execute the above-described 1-step right shift processing in S59, and the register is set in S60.
The value of A2 is incremented by 1 (however, when the value of register A2 becomes 720, it is set to 0).

After the flag F1 is set (1), the process proceeds from S54 to S61 to S63, where the CPU 10a is instructed to execute the above-described one-step downshift process, and the value of the register E2 is decremented by 1 in S64. This process is repeated, and if the switch 59D is turned on before the reception level becomes equal to or higher than the predetermined value TH2, the flag is set in S62.
F1 is reset (0), and the CPU 10a is instructed to execute the above-described 1-step right shift processing in S59, and the value of the register A2 is incremented by 1 in S60 (however, it is set to 0 when the value of the register A2 becomes 720). ).

While the above processing is repeated, the reception level becomes the predetermined value TH2.
If this is the case, the process returns to the main routine, but the state when the attitude of the antenna 30 starts the initial search process before the reception level becomes equal to or higher than the predetermined value TH2, that is, the value of the register A2 is changed to the value of the register A1, When the value of E2 becomes equal to the value of the register E1, the process proceeds from S66 to S67, and displays “unreceivable” on the CRT 23, and returns to the main routine.
Return to 3.

When the attitude of the antenna 30 at which the reception level is equal to or higher than the predetermined value TH2 is searched in the initial search processing S5A, the gyro starting point is set in S5B. In this embodiment, since the strap-down type posture data processing for obtaining the posture of the moving body from the three-axis gyro is performed, in the setting of the gyro starting point, a fixed initial value is given to the Eiler parameter. Initialize the coordinate transformation matrix to a fixed one. As a result, the starting point (0,0,0) of the posture becomes the current posture, and
The change from the starting point is 0.

Next, gyro data is set in S6 of FIG. 5a. In this process, in S6a, the yaw angle data (the amount of change from the starting point) by the yaw angle detector 6d is stored in the register Ry, the roll angle data by the roll angle detector 6b is stored in the register Rr, and the pitch angle detector After the pitch angle data according to 6a is stored in the register Rp, the data in the azimuth direction of the antenna 30 and the data in the elevation direction are used in S6b by using the conversion matrix (A) for converting the change amount of the vehicle posture into the correction amount of the antenna posture. It is converted into data (in S6b of the flowchart, the description of higher-order terms is omitted). This conversion operation is executed with reference to a conversion table stored in ROM2. The converted gyro data in the azimuth direction is stored in the register Ra1, and the gyro data in the elevation direction is stored in the register Re1.

When gyro data is set in S6, the T1 timer (internal timer) is cleared and started in S7.

Next, referring to FIG. 5b, in the motor energizing parameter setting process in S9, the MPU 1
The azimuth gyro data stored in a1 is saved in the register Ra2, and the elevation gyro data stored in the register Re1 is saved in the register Re2. Thereafter, a gyro data set process equivalent to the process in S6 described above is performed in R9b, and the azimuth and the azimuth data (Ry), the roll angle data (Rr) and the pitch angle data (Rp) detected at that time are obtained. The gyro data in the elevation direction is obtained and stored in the registers Ra1 and Re1, respectively. In S9c, the difference between registers Ra2 and Ra1 is
In a3, the difference between the registers Re2 and Re1 is stored in the register Re3. That is, the values of the registers Ra3 and Re3 are
This indicates a change in the gyro data from when the gyro data set processing was performed before that. Since the T1 timer measures the time during the gyro data set processing, the value obtained by dividing the value of the register Ra3 by the value of the T1 timer is the displacement speed in the azimuth direction (the sign is the direction).
The value obtained by dividing the value of the register Re3 by the value of the T1 timer indicates the displacement speed in the elevation direction (the sign is the direction).
Therefore, in S9d, the motors 46 and 57
Is calculated, and the CPU 10a is instructed to the CPU 10a for the urging speed and right / left shift or up / down shift. This calculation is performed with reference to a table stored in ROM2.

When the MPU 1 instructs the right shift, the CPU 10a
e As shown in the figure, the output port P1 outputs voltage data corresponding to the indicated speed, the output port P2 outputs an H level, and instructs the base driver 13a to turn on the power transistors Tr1a and Tr2a. The L level is output from P3 and the power transistor T is supplied to the base driver 14a.
When instructing the r3a and Tr4a to be turned off and instructing the left shift, as shown in FIG. 11f, the output port P1 outputs voltage data corresponding to the designated speed, and the output port
An L level is output from P2 to instruct the base driver 13a to turn off the power transistors Tr1a and Tr2a, and an H level is output from the output port P3 to instruct the base driver 14a to turn on the power transistors Tr3a and Tr4a. When an upward shift is instructed, as shown in FIG. 11g, voltage data corresponding to the instructed speed is output from the output port P8, an H level is output from the output port P9, and the power transistors Tr1b and Tr2b are output to the base driver 13b. Is turned on, an L level is output from the output port P10, and the power transistors Tr3b and T3 are supplied to the base driver 14b.
When the r4b is instructed to be turned off, and when a downshift is instructed, as shown in FIG. 11h, the output port P8 outputs voltage data corresponding to the instructed speed, and the output port P9 outputs an L level. Instruct the base driver 13b to turn off the power transistors Tr1b and Tr2b, and output an H level from the output port P10 to instruct the base driver 14b to turn on the power transistors Tr3b and Tr4b.

In the next S9e, the MPU1 clears and starts the T1 timer.

The MPU 1 reads the reception level in the next S10, reads Az data and El data indicating the attitude of the antenna 30 in S11, and then displays these data on the CRT 23 in S12.

(I) In S13, the reception level at this time, that is, the value of the register L1 is compared with a predetermined level TH1, and the register L1
S8 → S9 → S10 → S1 as long as the value of is equal to or higher than the predetermined level TH1
The loop of 1 → S12 → S13 → S17 → S8 →... Is repeated to execute the attitude control process (I) of the antenna 30 based on the gyro data. That is, the reception level is the first set value TH
While the value is 1 or more, if the gyro data changes, the attitude of the antenna 30 is corrected by the amount corresponding to the change. If the STOP key 25 is turned on while continuing this,
This is read in S8, and the process returns to S3 (standby state) in the flow shown in FIG. 5a.

In the above-described loop (S8 to S13) in which the reception level is high and the control for changing the attitude of the antenna 30 in accordance with the change in the gyro data is executed (S8 to S13), the reception level, that is, the value of the register L1 is When the level falls below the level TH1, the MPU 1 detects this in S13, proceeds from S13 to S14, and further compares the value of the register L1 with the reception lower limit level TH2. If the value of the register L1 is equal to or higher than the lower reception limit level TH2 in S14, the MPU 1 proceeds to S15 and executes the reception tracking processing.

(II) The reception tracking processing will be described with reference to FIG. 8. First, the concept will be described with reference to FIG. FIG.
It is the conceptual diagram which expanded the scanning position at the time of conical scanning of an antenna in a minute range on the plane. This conical scanning of the minute range rotates the main beam of the antenna 30 (1 → 2 → 3 →
4 → 5 → 6 → 7 → 8 → 1 →...). When the target radio source is at the center of rotation of the antenna beam, the reception level becomes substantially constant during scanning, but the target radio source is This utilizes a phenomenon in which the reception level fluctuates during scanning when a deviation from the rotation center occurs and a local maximum value appears. In FIG.
The squares indicate one step (0.5 ゜) in the elevation direction (U / D) and azimuth direction (R / L), and each point 1,2,3,4,5,
6, 7, and 8 are projection points of the main beam (center) of the antenna 30, point 0 is the rotation center of the antenna beam, and arrows are the antennas.
The shift direction of 30 postures is shown. It is also assumed that an isotropic antenna (isotropic point radio wave source) is provided at point a.
Hereinafter, the reception tracking process from the state where the antenna 30 is directed to the point 0 will be described with reference to FIGS. 8 and 13.

1). The antenna 30 is driven from the starting point 0 to the point 1 (S70 to S7
2) After storing the reception level at point 1 (S84), shift to the right by two steps in the azimuth direction and shift one step downward in the elevation direction to point 2 (S74) and store the reception level of point 2 (S74). (S84).

2). Next, it shifts one step to the right in the azimuth direction and shifts two steps downward in the elevation direction to point 3 (S75) and stores the reception level at point 3 (S84).

3). Next, it shifts one step to the left in the azimuth direction and shifts two steps downward in the elevation direction to point 4 (S76) and stores the reception level at point 4 (S84).

4). Next, it shifts two steps to the left in the azimuth direction and shifts one step downward in the elevation direction to point 5 (S77) and stores the reception level at point 5 (S84).

5). Next, it shifts two steps to the left in the azimuth direction and shifts one step downward in the elevation direction to point 6 (S78) and stores the reception level at point 6 (S84).

6). Next, it shifts to the left by one step in the azimuth direction and shifts by two steps in the elevation direction to point 7 (S79) and stores the reception level at point 7 (S84).

7). Next, it shifts one step to the right in the azimuth direction and shifts two steps in the elevation direction, directs it to point 8 (S80), and stores the reception level at point 8 (S84).

Thus, one conical scan is completed, and all points (8
The reception level of (point) is written in the registers POR1 to POR8.

8). Next, the reception levels from point 1 to point 8 are compared to determine the highest point of the reception level (S87-91).

9). Then, the attitude of the antenna 30 is determined so that the rotation center point of the antenna beam matches the obtained maximum point (S92).

When point a shown in FIG. 13 is the position of the radio wave source, the magnitude of the reception level is point 1> point 2> point 8> point 3>
Since point 7> point 4> point 6> point 5, the highest point of the reception level is point 1. Therefore, the attitude of the antenna 30 is set so that the directivity center of the antenna beam is aligned with the point 1.

As described above, in the reception tracking processing S15, a conical scan of a minute range of one cycle is performed around the center axis (point 0) of the original antenna beam, and the highest reception point is detected. The attitude of the antenna 30 is set so that the center axis of the antenna 30 is placed. Therefore, if the radio source is an antenna
In the case of relatively moving with respect to 30, the attitude control is performed in such a manner that the trajectory of the center axis (point 0) of the antenna beam moves together with the radio source, and the antenna 30 tracks the radio source.

Note that when the above-described one conical scan and posture setting (II) are completed, the reception level is not necessarily equal to or higher than TH1. Reception level is TH1 in conical scanning and attitude setting (II)
At this time, the attitude control (I) described above is executed. However, if the reception level does not reach TH1 or more even by conical scanning and attitude setting (II), the MPU 1
The subroutine of the motor energizing parameter set (S9) shown in Fig. b is executed, and the reception tracking (S10) is performed from S13 through S10 to S13.
15; FIG. 8), ie, one conical scan and posture setting (II) are executed. Since the motor parameter set of S9 is executed between the preceding conical one scan and the subsequent conical one scan, when the conical scan is repeated, the center position (0 in FIG. 13) changes with the change in the attitude of the vehicle. Shift accordingly. In other words, the antenna attitude automatically shifts in response to a change in the vehicle attitude while repeating the conical scanning.

(III) Referring again to FIG. 5b. If the reception level is less than the second set value TH2, which is the reception lower limit level, in S14, the process proceeds to S16, and the tracking kurch process is executed.

FIG. 9 is a flowchart of the tracking search process, and FIG. 14 is a schematic diagram illustrating the concept of the tracking search process. Referring to these drawings, the content of the tracking search processing in S16 will be described. S100 is an initial setting, and point b shown in FIG.
It is assumed that the state where the antenna 30 is pointing at the time when TSC = 0.

1) In S101, check whether the value of TSC is 4 or less. As long as the value of TSC is 4 or less, the process proceeds to S102, where the state of the switch 59U is checked in S102. If it is not on, the CPU 10a is instructed to execute the one-step upshift process in S103 in S103. This is the point 0 in FIG.
5 scans. If the value of TSC is 5 or more in S101, the process proceeds to S104.

2) In S104, check whether the value of TSC is 54 or less. As long as the value of TSC is equal to or smaller than 54, the process proceeds to S105 and instructs the CPU 10a to execute the 1-step right shift process. This is the scan from point 5 to point 55 in FIG. If the value of TSC is 55 or more in S104, S106
Proceed to.

3) In S106, check whether the value of TSC is 64 or less. As long as the value of TSC is less than 65, the process proceeds to S107, and the state of the switch 59D is checked in S107. If it is not on, the CPU 10a is instructed to execute the one-step downshift process in S108 in S108. This is the point 55-65 in Figure 14.
Is the scan up to. If the value of TSC is 65 or more in S106,
Go to 109.

4) In S109, check whether the value of TSC is 164 or less. As long as the value of TSC is 164 or less, the process proceeds to S110 and instructs the CPU 10a to execute the 1-step left shift process. This is the scan from point 65 to point 165 in FIG. If the TSC value is 165 or more in S109, S1
Proceed to 11.

5) In S111, check whether the value of TSC is 174 or less. As long as the value of TSC is 174 or less, the process proceeds to S112, and the state of the switch 59U is checked in S112. If it is not on, the CPU 10a is instructed to execute the one-step upshift processing in S113 in S113. This is the point 165-1 in FIG.
Up to 75 scans. If the value of TSC is 175 or more in S111, the process proceeds to S114.

6) In S114, check whether the value of TSC is 224 or less. As long as the value of TSC is equal to or less than 224, the process proceeds to S115 and instructs the CPU 10a to execute the 1-step right shift process. This is the point 175-225 in Figure 14.
(Point 5 above). If the value of TSC is 225 or more in S114, the process proceeds to S116.

7) As long as the value of TSC is equal to or less than 229 in S116, the process proceeds to S117 and S
In step 117, the state of the switch 59D is checked.
To instruct the CPU 10a to execute the 1-step downshift process. This is scanning from point 225 (point 5 earlier) to point 230 (point 0 earlier) in FIG.

8) When the value of TSC is 230 or more in S116, and when the shift processing is instructed as described above and the shift processing is completed, S120 is executed to read the reception level,
In S121, it is checked whether it is equal to or higher than TH2, and if it is equal to or higher than TH2, the process returns to the main routine (FIG. 5b). If it is less than TH2, the motor energizing parameter set in S122 (the contents are the same as the contents of S9 in FIG. 5b) is executed, the reception level is read again in S123, and it is equal to or more than the second set value TH2 in S124. The process returns to the main routine when it is equal to or more than TH2, but when it is less than TH2, the value of TSC is updated to a value larger by 1 in S125, and the process proceeds to S101.

By the above processing of S101 to S125, until the reception level becomes equal to or higher than the second set value TH2, as shown in FIG.
Starting from (0), a search scan is performed along a locus that follows points 1, 2, 3,... 230 (0) in this order, and it is checked at each point whether the reception level has exceeded TH2. When the point 230 (b = 0) is reached, that is, when the point returns to the original start point, the TSC is reset to 0 in S119, and the same search scan is performed again from the point b.

Even during such a search scan, each time a point is reached, a motor biasing parameter set is executed in S122,
Since the posture change corresponding to the change in the detected value of the gyro is performed, the position of the base point (b = 0) does not change while there is no change in the posture of the vehicle. Although the origin shifts automatically, the search scan range for the origin (FIG. 14) remains the same.

The center position (0 in FIG. 13) shifts according to the change in the attitude of the vehicle. In other words, the antenna attitude automatically shifts in response to a change in the vehicle attitude while repeating the conical scanning.

While the radio wave is blocked by the obstacle, the above-described search scanning is repeated. If the attitude of the vehicle changes during that time, the base point of the search scanning is shifted in conjunction therewith. Therefore, when the radio wave is interrupted, the search scanning of the trajectory shown in FIG. 14 is repeated until the position of the beam center axis of the antenna immediately before that is set as the base point (b = 0: FIG. 14) and the radio wave is received. If the attitude of the vehicle changes during that time, the base point shifts in conjunction with the change.

The above-described search scan (I) can also be performed when the reception level drops below TH2 due to the relatively rapid change in the attitude of the vehicle and the tracking of the antennas (I) and (II) cannot be made in time.
II) is performed.

(IV) If the reception is good and the reception level is equal to or higher than the first set value TH1, the posture calculation initialization is executed in S17. FIG. 15 shows the contents of the posture calculation initialization S17. Proceeding to this, the MPU
1 refers to the contents of the count register INC in S171,
If it is less than 20, the contents of the count register INC are set to 1 in S172.
Increment and proceed to S8 in FIG. 5b. When INC becomes 21, the gyro starting point is set in S173. That is, as in S5B, the starting point of the gyro data is set to the posture at that time, and the change from the starting point is set to 0. Thereby, the accumulated value of the gyro attitude detection error is cleared.
Next, the MPU 1 initializes the count register INC in S174, and proceeds to S8 in FIG. 5b.

In S18 of FIG. 5b, when the reception level L1 is less than TH1,
C is cleared, and while the reception level L1 is equal to or higher than the first set value TH1, the posture calculation is initialized from S13 to S17 (FIG. 15), and then S8
Therefore, if the antenna attitude is corrected only by the gyro data of S9 to S13 21 times consecutively, that is, if the high reception level is stably continued, the MPU 1 directs the antenna to the radio wave source accurately. And initialize the gyro data. As a result, the accumulated value of the attitude detection error inherent in the gyro data is cleared here. Immediately after this clearing, there is almost no accumulated error in the gyro data, and the antenna is substantially accurately directed to the radio wave source. Then, the correction (I) of the antenna attitude corresponding to the subsequent change of the gyro data (change of the attitude from the starting point) is accurate, and this makes the tracking by (I) longer.

From the above description of the embodiments, it can be easily understood that the present invention can be applied to moving objects other than road vehicles, that is, ships, aircrafts, and the like.

〔The invention's effect〕

As described above, according to the present invention, (I) when the reception level of the antenna is equal to or more than a certain value (TH1), the direction of the antenna is controlled so that the movement of the moving object is canceled only by the signal of the attitude detection means. And (II) the reception level of the antenna
If it is less than TH1 and more than the lower limit of reception level (TH2), the direction of the antenna is controlled to cancel the movement of the moving body by the signal of the attitude control means, and at the same time, the scanning of a small range is performed and the high reception level is reduced. Since the reception tracking of controlling the directivity of the antenna in the obtained direction is performed, the attitude shift due to the error component included in the detection data of the attitude detection means is corrected. (III) Also, if the reception level of the antenna is TH2
If it is less than, the direction of the antenna is controlled so that the movement of the moving object is canceled by the signal of the attitude detection means, and at the same time, the direction of the antenna is scanned in a range larger than the range scanned by the small range scan. Because search processing is performed, even if reception is temporarily disabled due to the delay time of tracking control, response delay of tracking mechanism, or the effects of obstacles, radio waves can be automatically caught again by searching a sufficiently wide range. And never lose sight of the radio waves. Further, even if a small and low-power drive device is used, practical reception is possible, and a small and lightweight device required for a mobile object can be realized. Furthermore, (I
V) When the reception level of the antenna is high and the tracking of the above (I) continues for a predetermined time, that is, when the tracking is stably performed only by the signal of the attitude detecting means, the detection start point of the attitude detecting means is automatically set. Also, since the detection change amount is initialized, the tracking according to the above (I) is continued for a long time and the setting of the optimal directivity point according to the above (II) is performed quickly without excessively increasing the detection error accumulated value of the attitude detecting means. And the number of repetitions of the above (II) is reduced.

[Brief description of the drawings]

FIG. 1 is a perspective view showing the appearance of one embodiment of the present invention. FIG. 2a is a block diagram showing an electric configuration of the antenna attitude control system according to one embodiment of the present invention, and FIG. 2b is a block diagram showing details of the motor control unit 10 shown in FIG. 2a. 3a and 3b are partial sectional views showing the structure of the antenna 30 shown in FIG. FIG. 4 is a plan view showing the appearance of the operation board 22 shown in FIG. FIGS. 5a, 5b, 6, 7, 8, 9 and 15 are flowcharts showing the operation of the microcomputer 1 shown in FIG. 2a. FIGS. 10, 11a, 11b, 11c, 11d, 11e
FIG. 11, FIG. 11f, FIG. 11g, and FIG. 11h are flowcharts showing the operation of the microprocessor 10a shown in FIG. 2b. FIG. 12 is a schematic diagram for explaining the concept of the initial search process executed by the microcomputer 1 shown in FIG. 2a. FIG. 13 is a schematic diagram for explaining the concept of the reception tracking processing executed by the microcomputer 1 shown in FIG. 2a. FIG. 14 is a schematic diagram for explaining the concept of the tracking search process executed by the microcomputer 1 shown in FIG. 2a. 1: microcomputer (first, second, third, fourth control means) 2: read-only memory, 3: read / write memory 4: timer, 5, 6, 7, 8: input / output port 5a: distributor, 5b : BS level detector 5c: A / D converter, 5d: BS tuner (5a to 5c: reception level detecting means) 6a: Pitch angle detector, 6b: Roll angle detector 6c, 6e: Gyro driver, 6d: Yaw angle Detector 10: Motor control unit 10a: Microprocessor, 11a, 11b: D / A converter 12a, 12b: Power amplifier, 13a, 13b, 14a, 14b: Base driver 15a, 15b: Waveform shaping circuit, 16a, 16b: Up Down counter 17a, 17b: Parallel-in / serial-out shift register 18: Input buffer, 22: Operation board 23: CRT display, 24, 25, 26, 27, 28, 29: Operation keys 30: Satellite broadcast receiving antenna, 31: Parabolic reflector 32: Primary radiator integrated with BS converter (31, 32: antenna) 33, 34: Support arm, 35: Support box 36, 37: Flexible 38, rotary table 39: bearing, 40: fixed table 41: weather strip, 42: internal teeth 43, 55: gear, 44: shaft 45, 56: gear box, 46: azimuth drive motor 47, 58: rotary encoder , 48: cable (46, 57: drive mechanism) 49, 60: photo interrupter, 50: slip ring unit 51: rotary joint, 52: fixed side cable 53: rotary shaft, 54: sector gear 57: elevation drive motor 59U , 59D: Limit switch, CAR: Vehicle (mobile) Rf: Roof, TV: Television receiver RD: Radio, GYrp, GYya: Gyro (posture detection means) Acc: Accessory mode switch Reg: Constant voltage circuit, BAT: Vehicle battery AzU: Azimuth unit, ElU: Elevation unit

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁶ , DB name) H01Q 3/02 H01Q 1/27

Claims (1)

(57) [Claims] An antenna supported on a mobile body so as to be capable of changing its attitude; a driving mechanism for changing the attitude of the antenna; a reception level detecting means for detecting a reception level of the antenna; A control means for setting, via the drive mechanism, an antenna attitude that is equal to or greater than a set value by reference to the attitude control apparatus for an on-mobile antenna, wherein a change amount from a starting point of the attitude of the mobile object is detected. Attitude change detection means; first control means for correcting the antenna attitude to an attitude corresponding to the change detected by the attitude detection means and correcting a shift in the directional direction of the antenna due to the change; the reception level being less than a first set value; A second control unit that scans the antenna in a small range and sets the attitude of the antenna in a direction of a higher reception level during the second range; A third control means for searching and scanning the antenna in a wider range than the scan in the small range when the value is less than the set value; and a starting point of the attitude detecting means every time a predetermined time elapses while the reception level is equal to or more than a predetermined value. And a fourth control means for initializing the relationship between the change amount and the accumulated error of the change amount; and controlling the attitude of the antenna on the moving body.