JPH04204168A - Attitude controllor for antenna on moving body - Google Patents

Abstract

PURPOSE:To reduce an apparatus providing space, to simplify attitude correcting operation and to decrease the cost of the apparatus by driving an antenna within a predetermined moving range when the level of a received signal is less than the level of an adequate value. CONSTITUTION:At first, a search instructing means 1 instructing searching and sets a BS antenna Ant in the attitude that is directed, to a radiowave source, e.g. a geostationary satellite. Then, the attitude correction associated with the directional change and the rolling change of a moving body acts. Furthermore, a yaw-angle-change-tracking correcting means (CPU) checks the level of the received signal of a BS receiver BSR. When the level becomes less than the level of an adequate value, the antenna Ant is turned and driven by the specified ranges through an elevation mechanism 151 and an azimuth mechanism 141, respectively. When the level of the received signal becomes the adequate-value level during the turning and driving, the turning and driving in the elevation and the azimuth are stopped. Thus, even if the attitude of the antenna Ant is slightly deviated in elevation and azimuth, the devaitions are automatically corrected.

Description

[Detailed Description of the Invention] [Objective of the Invention] (Industrial Application Field) The present invention detects the movement state of a moving body such as a vehicle, adjusts the attitude of an antenna mounted on the vehicle, etc. The present invention relates to an attitude control device for an antenna on a mobile body, which receives radio waves from a mobile device.

(Prior art) Japanese Patent Application Laid-Open No. 2-122309 discloses that the attitude of a moving body is detected by four detectors: a yaw angle detector, a roll angle detector, a pitch angle detector, and a vertical position detector. It has been proposed to control the antenna attitude so that the antenna on the mobile body points toward the satellite based on changes in .

(Problem to be solved by the invention) There are a large number of sensors such as angular velocity detectors, and the calculation of the antenna attitude correction amount corresponding to the attitude change of the moving body based on the detected values becomes complicated, and the installation space of the attitude control device becomes large. This requires a large number of man-hours to incorporate into the mobile body, and is also expensive.

The present invention reduces the number of sensors and the installation space of the device,
The purpose is to simplify attitude correction calculations, reduce the number of man-hours required for installation on a moving body, and reduce equipment costs.

[Structure of the invention]

(Means for Solving the Problems) The attitude control device of the present invention provides an antenna (Ant) on a moving object.
) support mechanism (110 to 160) rotatably supporting the antenna (A) in the azimuth direction and the elevation direction;
Azimuth drive means (141) for rotationally driving the antenna (Ant) in the azimuth direction; Elevation drive means (151) for rotationally driving the antenna (Ant) in the elevation direction; Yaw angle attitude change detection means (30) for detecting attitude changes; roll angle attitude change detection means (40) located on the moving object and detecting attitude changes in the roll angle direction of the moving object; connected to an antenna (Ant); search instruction means (1); azimuth drive means (141) and elevation drive means (1) in response to a search instruction from the search instruction means (1);
Search control means (4) for rotationally driving the antenna (Ant) via 51), and determining the antenna in a posture where the received signal level of the receiver (BAR) is set to an appropriate level by referring to the received signal level of the receiver (BAR).
: In response to the attitude change detected by the yaw angle attitude change detection means (30), an antenna (Ant
) Yaw angle change follow-up control means (4) for rotationally driving the antenna (Ant) via the azimuth drive means (141) in a direction that corrects the attitude deviation in the azimuth direction of the moving body; An antenna (A
roll angle change follow-up control means (
4); Refer to the received signal level of the receiver (BSR), and if it becomes less than the appropriate level, elevate the antenna (Ant) via the elevation drive means (151) and azimuth drive means (141). A follow-up correction means (4) is provided which performs rotational driving within a predetermined range in each of the elevation and azimuth directions, and stops the rotational driving in the elevation and azimuth directions when the received signal level reaches an appropriate level during the rotational driving.

(Function) When the search instruction means (1) issues a search instruction, the search control means (4) activates the antenna (A) via the azimuth drive means (141) and the elevation drive means (151).
nt) is rotated, and the antenna is set at a position where the level of the received signal of the receiver (BAR) becomes an appropriate level by referring to the received signal level of the receiver (BAR).

The yaw angle change tracking control means (4) includes an attitude change detection means (
30) rotates the antenna (Ant) via the azimuth drive means <141> in a direction that corrects the attitude shift in the azimuth direction of the antenna (Ant) with respect to the radio wave source in response to the attitude change detected by the antenna (Ant). When the moving body changes direction, the antenna (Ant) rotates in the azimuth direction in conjunction with the change in direction, and the attitude shift of the antenna (Ant) with respect to the radio wave source due to the direction change of the moving body is automatically corrected.

Further, the roll angle change tracking control means (4) detects a roll angle attitude change when the azimuth direction of the antenna (Ant) with respect to the moving direction of the moving object is in a predetermined area (45' to 135' or 225° to 315'). In response to the attitude change detected by the means (40), the antenna (
Since the antenna (Ant) is rotationally driven via the elevation driving means (151) in a direction that corrects the attitude deviation in the elevation direction of the mobile object, the antenna (Ant) will be elevated in conjunction with the rolling of the moving body. direction, and the attitude shift of the antenna (An, t) with respect to the radio wave source due to the rolling of the moving body is automatically corrected. Note that the antenna (
Ant) azimuth direction is within a predetermined area (456 to 1356
or 2256 to 315''), the change due to rolling does not affect the attitude shift of the antenna (Ant) in the elevation direction with respect to the radio wave source, so
No correction will be made.

Furthermore, the yaw angle change tracking correction means (4)
When the received signal level of the antenna (Ant
) is rotated within a predetermined range in the elevation direction and azimuth direction, respectively, and when the received signal level reaches an appropriate level during the rotation drive, the rotation drive in the elevation direction and azimuth direction is stopped. Even if the attitude of the antenna (Ant) determined by (4) is slightly shifted in the elevation direction and azimuth direction, it is automatically corrected.

Therefore, first, when a search is instructed by the search instruction means (1) and the antenna (Ant) is set in an attitude pointing toward a radio wave source, for example, a geostationary satellite, attitude correction is performed in conjunction with changes in direction and rolling of the moving body. After this, if the received signal level is less than the appropriate level, the antenna (Ant) is driven within a predetermined movement range, and if a position where the appropriate level can be received is found, the antenna (Ant) is moved to that position.
Ant) is stopped.

For such attitude correction, the only sensors for detecting moving object behavior are a yaw angular velocity sensor and a roll angular velocity sensor, and the attitude correction is an azimuth attitude correction that corresponds to changes in yaw angle attitude, and an azimuth attitude that is within a predetermined range. Only at certain times,
Since the elevation attitude correction corresponds to changes in roll angle attitude, the number of sensors is small, attitude correction calculations are simple, and a simple and low-cost device system can be realized.

(Example) FIG. 1 shows an example of the present invention. This example is the second e
It is mounted on the vehicle shown in the figure, and controls the attitude of the BS antenna Ant for receiving geostationary satellite broadcasting.

The automobile is equipped with a yaw angular velocity detector 30 and a roll angular velocity detector 40, which are vibration type gyros. The analog signal (rotational angular velocity around
A yaw angular velocity signal and a roll angular velocity signal) are provided to the interface 3. The interface 3 subjects the yaw angular velocity signal and the roll angular velocity signal to electrical processing such as noise removal and amplification, and supplies the processed signals to the microcomputer 4 .

The microcomputer 4 includes a CPU, RAM, ROM,
This is a computer system that includes electronic circuit elements such as a system controller, and reads the yaw angular velocity signal and the roll angular velocity signal after digital conversion.

Interfaces 3 and 5 are connected to the microcomputer 4, and these interfaces 3.
5, search instruction switch 1. Tracking instruction switch 2, 2
Display board 6 including a liquid crystal display (LCD) and indicator light (light emitting diode), BS receiver B
SR, azimuth motor driver AZD, and elevation motor driver ELD are connected.

The radio wave reception signal of the BS antenna Ant reaches the BS receiver, where it is demodulated into a satellite broadcast signal and given to the display BSD, which displays a geostationary satellite television broadcast image. The satellite broadcasting signal is also applied to an interface 5, which converts the radio wave reception signal into an analog signal BSs representing the signal level and provides it to the microcomputer 4. The microcomputer 4 is
The analog signal BSs is digitally converted and read.

Both the azimuth motor driver AZD and the elevation motor driver ELD include an electric circuit (motor driver) and a computer circuit (controller) mainly composed of a CPU for selectively passing forward rotation energizing current and reverse rotation energizing current to the motor. Each motor rotation instruction signal (direction and rotation angle) from the microcomputer 4.
In response to this, the motors of each mechanism are energized to rotate by the specified angle in the specified direction, and the electric pulses generated by the rotary encoder 148 of the azimuth mechanism and the rotary encoder 157 of the elevation mechanism are counted. , the azimuth attitude (rotational position) data and elevation attitude (rotational position) data of the antenna Ant are updated by the attitude change due to antenna drive, and the data indicating the antenna attitude at that time is always stored in the azimuth position register AZPR.
and held in the elevation position register ELPR.

FIG. 2a shows a mechanism for supporting the BS antenna Ant and determining its attitude. This mechanism connects the BS antenna Ant to
Rotationally driven in the azimuth direction (centered on the first axis Y),
It is a two-axis rotational drive mechanism that rotates in the elevation direction (centered on the second axis X).

The antenna Ant is a flat circular beam antenna with a relatively wide reception range, and is attached to the antenna bracket 110.
is fixed to.

FIG. 8 shows the directivity characteristics of the BS antenna Ant. The vertical axis is the CN ratio, and the horizontal axis is the angle between a perpendicular line passing through the center of the light-receiving surface (circular) of the antenna and a straight line connecting the center and the radio wave source (geostationary satellite). When the second angle is about 8 degrees or less, the CN ratio is 50% or more of the maximum CN ratio (15 dB).

Referring again to FIG. 2a, the antenna bracket 110
A horizontal shaft 113b (the center of which is the second axis X) is fixed to the angle 113a. The horizontal shaft 113b extends in a direction perpendicular to the drawing, and one end thereof is rotatably supported by a support arm 121a via a bearing (not shown). The support arm 121a is fixed to the rotating table 120. The other end of the horizontal shaft 113b is rotatably supported by another not-illustrated support arm similar to the support arm 121a via a bearing. The other support arm (not shown) is also fixed to the rotary table 120 at a position symmetrical to the support arm 121a with respect to the cylindrical shaft 116, which will be described later.

The rotary table 120 is roughly a disk-shaped spur gear, and has a guide hole 120h in its center and a gear 120 on its side circumferential surface.
a, and to the fixed base 130 via the bearing 122,
The gear 120a is rotatably mounted around the rotation center axis (first axis) Y of the gear 120a.

A gear 144 is engaged with the gear 120a of the rotary table 120, and this gear 144 is connected to the gear shaft 145 and the reducer 14.
0 and is rotationally driven by an azimuth drive motor 141. The speed reducer 140 and the motor 141 are fixed to a support base 146 that is fixed to the fixed base 130. A rotary encoder 148 is coupled to the gear shaft 145 and generates one electric pulse per rotation of the gear shaft 1450 by a predetermined small angle. This electric pulse is applied to an azimuth motor driver AZD.

A switch 147 for detecting the azimuth home position is installed opposite to the bottom surface of the rotary table 120.
A tapered hole (-point) into which the operator of the switch 147 falls is cut on the lower surface of the switch 147 at a position facing the operator. The switch 147 is open (off) when the operator is pressed on the bottom surface of the rotary table 120, and when the tapered hole faces the operator, the operator enters the hole, and the switch 147 is closed (on). .Home position detection). During one rotation of the rotary table 120, the operator of the switch 147 enters the taper hole and turns on (home position detection). The open/close signal of the switch 147 is given to the azimuth motor driver AZD and also to the microcomputer 4 via the interface 5.

Referring to FIG. 2b, which shows a large cross-section taken along line IIB-nB in FIG. 2a, inside the reducer 140, the gear shaft 145
A worm wheel 143 is fixed to the worm wheel 143, and a worm 142 that meshes with the worm wheel 143 is connected to the rotating shaft of a motor 141 (FIG. 2a).

When the motor 141 rotates forward, the gear 144 rotates in one direction, and the rotary table 120 rotates in one direction about the first axis Y. That is, the antenna Ant rotates about the first axis Y in the positive direction. When the motor 141 rotates in the opposite direction, the antenna Ant rotates in the opposite direction.

The guide hole 120h of the rotary table 120 is connected to the cylindrical shaft 116.
passes through the rotary table 120, and is movable in the direction in which the first axis Y extends with respect to the rotary table 120. Although not shown, a groove parallel to the J-axis Y is carved on the side circumferential surface of the cylindrical shaft 116, and a groove parallel to the first axis Y is formed in the guide hole 120h of the rotary table 120. There is a rail-like protrusion, and this protrusion allows the cylindrical shaft 116 to move in the direction in which the first axis Y extends with respect to the rotary table 120, but cannot rotate around the first axis Y. be. Therefore, the turntable 12
0 rotates around the first axis Y, the cylindrical shaft 1
16 also rotates around the first axis Y.

A pin 117 is fixed to the upper end of the cylindrical shaft 116, and the link arm 11 is rotatably attached to this pin 117.
The lower ends of 5 are joined. The upper end of the link arm 115 is rotatably coupled to a pin 112 fixed to the angle 111 of the bracket 110.

The placket 110 is attached to the horizontal axis 11 from the angle 113a.
3b in the horizontal direction perpendicular to the extending direction (perpendicular to the plane of the paper in FIG. 2a), so when the cylindrical shaft 116 moves upward in FIG. 2a, the antenna Ant
rotates counterclockwise (rotates upward) about the horizontal axis 113b, and when the cylindrical shaft 116 moves downward, the antenna Ant rotates clockwise (rotates downward).

The outer surface of the lower half of the cylindrical shaft 116 is carved with a gear 116a, which is ring-shaped rather than threaded. Each of the crests and troughs of the ring-shaped gear 116a is parallel to the direction perpendicular to the first axis Y. A gear 154 meshes with this ring-shaped gear 116a.

Referring also to FIG. 2c, which shows an enlarged cross-section of the NC-NC wire resistance in FIG. 2a, the gear shaft 155 of the gear 154 has a reduction gear
0 worm wheel 153 is fixed. A worm 152 meshing with a worm wheel 153 is connected to a rotating shaft of an elevation drive motor 151 (FIG. 2a).

The reducer 150 and the motor 151 are fixed to a support base 146 that is fixed to the fixed base 130. When the elevation drive motor 151 rotates forward, the gear 154 rotates clockwise in FIG. 2a, and the cylindrical shaft 116 moves upward. Then, the antenna Ant rotates clockwise (rotates upward). When the motor 151 rotates in the opposite direction, the antenna Ant rotates counterclockwise (rotates downward).

The link arm 11 is moved upward and downward by the cylindrical shaft 116.
5 is applied with a rotational force about the pin 117, and the link arm 115 rotates about the pin 117. In order to prevent the rotation of the link arm 115 from being impaired during this rotation, a groove 118 is cut into the upper end of the cylindrical shaft 116, as shown in FIG. 2d.

As described above, the gear 154 meshes with the gear 116a of the cylindrical shaft 116, and each of the peaks and valleys of the gear 116a forms a ring that goes around the side circumferential surface of the cylindrical shaft 116. Since it is parallel to the first axis Y, the cylindrical shaft 116 is not restricted in rotation by the gear 154 and rotates about the first axis Y both when the gear 154 is stationary and when it is rotating. It can rotate, and this rotation itself causes the cylindrical shaft 116 to turn into gear 15.
It does not go up or down with respect to 4.

Referring to FIG. 2c, a cam plate 156 is fixed to the gear shaft 155 of the gear 154. As shown in FIG. This cam plate has a step on its outer peripheral edge.

An upper limit switch 158 is provided on the outer peripheral surface of this cam plate 156.
and the lower limit switch 159 are facing each other, and when the elevation rotation angle of the antenna Ant is within a predetermined range, the operators of the switches 158 and 159 are opposite to the cam plate 1.
Since it faces the small radius outer peripheral surface of switch 15
8,159 (both open off). When the antenna Ant rotates clockwise and reaches the clockwise rotation limit position (upward limit), the tapered surface of the cam plate 156 that switches from the small radius outer circumferential surface to the large radius outer circumferential surface presses the operator of the switch 158, and thereby Switch 158 is turned closed (on). When the antenna Ant rotates in the direction of the half-hour hand and reaches the limit position (downward limit) of rotation in the direction of the half-hour hand, the tapered surface of the cam plate 156 that switches from the small radius outer circumferential surface to the large radius outer circumferential surface presses the operator of the switch 159. This turns switch 159 closed (on). switch 15
The opening/closing signals of 8 and 159 are from the elevation driver E.
The signal is applied to the LD and also to the microcomputer 4 via the interface 5.

A rotary encoder 157 is connected to the worm 152, and the rotary encoder 157 is connected to a rotary encoder 157.
Generates pulsed electrical pulses.

This electric pulse is generated by the elevation motor driver ELD.
given to.

As described above, the reducer 140 and the motor 141 for rotationally driving the antenna Ant around the first @Y, and the horizontal axis 113b (second axis X) that is perpendicular to the first axis Y Since the speed reducer 150 and the motor 151 for rotationally driving the motor 150 are both fixed to the fixed base 130, no sliding connection means is required to supply power to the motors 141 and 151.

Referring to FIG. 2a, the converter Conv is attached to the antenna bracket 110 and converts the 12 GHz band satellite broadcast radio waves received by the antenna Ant to the IGHz band BS-
Convert to IF. The converted signal is sent to the rotary joint 160 via cable 161 and then sent to the BS
This leads to the receiver BSR (Figure 1).

However, the converter Co fixed to the bracket 110
Since nv rotates around the first axis Y and the horizontal axis 113b together with the antenna Ant, = the signal line and power receiving line of the converter Conv and the BS receiver BSR in the fixed part
It is necessary to connect the signal line and the power supply line through a sliding connection means.

In this embodiment, since the elevation rotation range of the antenna Ant about the horizontal axis 113b is only required to be 360 degrees or less, the electric cable 161 consisting of the signal line and the power receiving line of the antenna Ant is relatively flexible. It is highly flexible and has a length that allows it to rotate more than 360 degrees, and is wired to penetrate the inside of the cylindrical shaft 116 and connect to the rotary joint 160. The BS receiver BS is connected to the mouth-tally joint 160
An electrical cable 162 from R is connected, and this rotary joint 160 connects cables 161 and 16.
The two leads to be electrically connected to each other are electrically connected to each other despite relative rotation about the first axis Y.

With respect to the rotation of the antenna Ant about the horizontal axis 113b, the cable 161 swings approximately about the bin 117.

Thus, in this embodiment, only one set of sliding connection means (rotary joint 16o) is used.

The elevation drive motor 151 of the elevation mechanism (150, 151) rotationally drives the drive gear 154, but since the cylindrical shaft 116 reciprocally driven by the drive gear 154 slides with respect to the rotary table 120, the rotary table 1
20 and an azimuth mechanism (144,
140°141) is the elevation mechanism (150°1
51) and is not driven by the elevation mechanism (1
50,151). The objects supported by the elevation mechanism (150, 151> are essentially the BS antenna Ant, the BS converter Conv, the link arm 115, and the cylindrical shaft 116, and since the load is small, the inertia force is small, and the second axis (X) Main BS
Azimuth driving and elevation driving of the antenna Ant can be performed at relatively high speed, and positioning can be performed with relatively high precision.

FIG. 3 shows an outline of the control operation of the microcomputer 4. A power supply circuit (not shown) is connected to the on-vehicle battery when the ignition key of the vehicle is in the engine operating position (ignition key turned on).
A predetermined voltage is applied to each part of the electric circuit shown in FIG.

Note that a battery voltage is also applied to the motor drivers AZD and ELD for energizing the motor.

When a predetermined voltage is applied to itself, the microcomputer 4 executes "initialization J (100), sets internal registers, timers, counters, etc. to the contents specified in the standby state, and outputs the output port. A signal designating deactivation (deactivation) is set for (subroutine 100; hereinafter, the words "step" and "subroutine" will be omitted in parentheses, and only the numbers assigned to them will be written).

Next, the microcomputer 4 executes "initialization of the antenna posture J (200). In this step, the antenna Ant is set to the home position (switch 147 on) in the azimuth direction, and rotated in the direction of the half-hour hand in the elevation direction ( The limit position of the downward rotation (downward rotation) is set at the downward limit position (switch 159 on), that is, the antenna attitude origin, and the attitude register (azimuth position:
Register AZPR/Elevation position: Register E
Clear LPR. The details will be described later with reference to FIG.

The microcomputer 4 then selects "mode selection" (30
0) is executed to read the instructions of the search instruction switch 1 and the tracking instruction switch 2, and to set the operation mode information according to the instructions. The details will be described later with reference to FIG.

The microcomputer 4 then performs a “status reading” (40
0) is executed to read the reception signal level BSs of the antenna, the yaw angular velocity signal Yas, the roll angular velocity signal Ros, the opening/closing signals of the switches 147, 158° 159 of each part of the mechanism, and the cumulative time dT. The details will be described later with reference to FIG.

Next, the microcomputer 4 executes "Execute the selected mode J (500). This content is shown in FIG. 7a.
Figures 7b, 7c, 7d, 7e and 7f
This will be described later with reference to the drawings.

While the power is on, the subroutine "
Mode selection J (300), r status read” (400
) and "Execute selected mode" (500) repeatedly in this order.

It should be noted that by repeating this process, the microcomputer 4 enters each of these three devices at a predetermined period (20 msec). In the following description of these subroutines, control operations realized by repeated entry will be described.

"Initialize antenna posture" (200) with reference to FIG.
Explain the contents. In this case, the microcomputer 4 displays r on the two-dimensional display of the display board 6.
Display EL 5ETJ (201), and refer to the opening/closing signal of the lower elevation limit switch 159 (201).
2) When it is off, the elevation motor driver ELD is driven downward one step at a predetermined period (T1) (
<203°204). In this embodiment, one step is set to 1''. When the switch 159 is turned on, the downward drive instruction is stopped and the elevation position register ELPR is cleared (205).

And display rEL SET ENDJ206
), display rAZ SETJ alongside this display (
207).

Next, referring to the opening/closing signal of the azimuth home position switch 147 (208), if it is off, the azimuth motor driver AZD is instructed to perform one step reverse drive at a predetermined period (TI) (209, 210). switch 14
When 7 turns on, the reverse drive instruction is stopped and 1 (forward rotation specification) is written to the drive direction specification register ADF (
211) and clears the azimuth position register AZPR (212). and rEL 5ETENDJ and rAZ
SET ENDJ is displayed (213).

As a result of the above, the attitude of the antenna Ant is at the downward limit position in the elevation direction, and the downward limit switch 15
9 on), the home position switch 147 is set to the on position in the azimuth direction, and the attitude register EL is set to the on position.
The contents of PR (elevation position) and AZPR (azimuth position) are each 0 indicating the origin.

The contents of "mode selection J (300)" will be explained with reference to FIG. Set the mode to be executed from now on.

(1) When the search instruction switch 1 is turned on first after the power is turned on, the search mode (MD=3°5F=O) is selected.
Set (301-302-304-305-306
-307). MD is a mode register, and the content "3" is information specifying the search mode. SF is a shift information register that indicates whether to automatically proceed to the tracking mode after the search mode ends, and its contents "1" is an instruction to automatically proceed to the tracking mode, and "rO" is an instruction not to proceed automatically. It is. DF in steps 301 and 307 is a mode start flag register, and the content "1" roughly indicates that the specified mode is being executed and does not accept mode designation input, and "0" is a standby flag register. This is an instruction to accept mode specification input while in the current state.

(2) When the tracking instruction switch 2 is turned on first after the power is turned on, the reception level BSs is equal to the reception threshold Ls.
(8 dB in Figure 8) or more, tracking mode (M
D=4,5F=O) (301-302-30
3-308-309-310-307), when it is less than Ls, set a shift mode (MD=3, 5F=1) that automatically executes search and tracking after search (301-
307).

(3) Search mode ended (MD=3゜DF
=O, SF 0), or when there is a search instruction (switch 1 on), the reception level BSs is referred to, and if it is greater than or equal to Ls, the reception level of the antenna is appropriate (the antenna is connected to the radio wave source). ), so the current status is maintained without changing the mode (MD=3) (30
1-302-304-313-Return), when it is less than Ls, it is assumed that a re-search is instructed due to poor reception, and information for resuming search mode (MD=3.DF=1) is set (301-302-304- 313-314-315)
. In this case, "Search J (502 to 526), which will be described later, is executed.

(4) Tracking mode (MD=4.DF=1, 5F=0)
When there is a search instruction (switch 1 on) while executing BSs, if the reception level BSs is less than Ls, it is assumed that the reception is poor and a re-search instruction is issued. Mode (MD=3.D
F=1,5F=1) (301-316-31
7-318-319-320). If it is more than Ls,
Although the reception is good, it is assumed that the tracking operation is not necessary due to driving on a straight path or stopping, and the mode data is designated to search (MD = 3.D).
Update to F=O, 5F=0) (301-316-31
7-318-321-322). In this case, since the reception is good, no search drive is actually performed even if the search mode is entered.

The contents of "status reading J (400)" will be explained with reference to FIG. The signal Yas and the roll angular velocity signal Ros of the roll angular velocity detector 40 are digitally converted and read (402a, 402b), and the open/close signals of the x-levation upper limit switch 158 and lower limit switch 159 are read (403, 404).

Then, the lower limit switch 159 is turned on (antenna An
When t is the elevation origin), clear the elevation position register ELPR (405, 406)
. Next, the open/close signal of the azimuth home position switch 147 is read (407), and it is turned on (antenna An
When t is the azimuth home position = azimuth origin), clear the azimuth position register AZPR (4
08,409). Next, write the contents of the clock register to the integral time register dT (410), clear the clock register, and start clocking up from 0 again (411).
.

Note that the microcomputer 4 performs "initialization" (100
), a predetermined value d for a predetermined short time (less than 20 msec)
t) to the internal timer register to enable the internal timer interrupt. After that, the contents of the internal timer register are decremented (counted down) by 1 each time an internal clock pulse occurs, and each time the remaining value reaches O. Executes internal timer interrupt processing.

In this internal timer interrupt processing, dt is written into the internal timer register again, the time register dT is incremented (counted up) by 1, and the internal clock pulse continues to count down. As a result of this internal timer interrupt processing, the contents of the clock register indicate the elapsed time since it was cleared. [Status reading J (400) reads this elapsed time/interval dT and stores it in the integral time register d.
T and clears the clock register (restarts clocking), so the read clock value (integral time register dT
The content clT) is the elapsed time from the previous execution of "Status reading J (400) until the current execution of it. This time value dT is the elapsed time from the execution of the "Selected mode execution J (500)" described later. “Tracking” process (527-540
, 541a-541n, 542a-555b,
556-580° 581-612), the roll angular velocity Ros is used as the integration time (dT) when calculating the yaw angle change amount by integrating the yaw angular velocity Yas (SYa 5-dT). This is used as the integral time (dT) when calculating the amount of change in roll angle.

Referring to Figures 7a, 7b, 7c, 7d, 7e and 7f,
The contents of (500) will be explained. In this case, the previous [
Based on the mode specification set in mode selection J (300) and the status information read in status reading J (400), the attitude of antenna Ant is set as follows.

(1) In the above-mentioned mode selection J (300), when the search instruction switch 1 is turned on after the power is turned on and the search mode (MD=3, 5F=0) is set, the two-dimensional rFULL on display
5CANJ is displayed (501-503) and the next operation is performed.

(A) The azimuth drive motor 14 rotates the antenna Ant in the forward azimuth direction one step at a time.
1 is energized for normal rotation, and the reception level BSs is increased for each step of rotation.
501-502-503-5 Checks whether the azimuth has exceeded the threshold Ls or is one step before the azimuth home position (one rotation of the azimuth).
04-505-506-507-527-514 repeat).

When the reception level BSs becomes equal to or higher than Ls, the step drive is stopped and the register DF is cleared.
1) Finish "Search".

(B) When the reception level BSs remains below Ls and reaches one step before the azimuth home position, clear the rotation direction register ADF (same as writing "0".
” specifies azimuth reversal) (505, 508), then energizes the azimuth drive motor 141 in reverse so as to rotate the antenna Ant one step in the azimuth reverse direction (509°510), and then rotates the elevation upward (509°510). The elevation drive motor 151 is energized to rotate normally so as to rotate by one step per step (512, 513).

(C) Next, the azimuth drive motor 141 is reversely energized so as to rotate the antenna Ant in the azimuth reverse direction one step at a time, and after each step of rotation, the reception level BSs becomes equal to or higher than the threshold value Ls. Alternatively, check whether the azimuth home position (switch 147 is on) is reached (501-502-503-504-
515-516-517-527-514 repeats).

When the reception level BSs becomes equal to or higher than Ls, the step drive is stopped and the register DF is cleared.
1), "End Search J.

(D) When the azimuth home position is reached while the reception level BSs remains below La, "1" (forward rotation instruction) is written in the rotation direction register ADF (518). Then, the azimuth drive motor 141 is energized to rotate in the normal direction (519°, 520) so as to rotate the antenna Ant one step in the normal azimuth rotation direction, and then the azimuth drive motor 141 is rotated one step in the upward direction of the elevation.
The elevation drive motor 151 is energized for normal rotation so as to drive the step rotation (512, 513).

Below, the reception level BSs becomes equal to or higher than Ls, or the upper elevation limit switch 158 is turned on (closed).
Repeat steps (A) to (D) above in this order until When the reception level BSs becomes equal to or higher than Ls, the antenna Ant faces the radio wave source. So r search
(MD=3.5F=0) ends.

When the switch 158 is turned on (closed) while the reception level BSs is less than La, this means that good reception is achieved over the entire range of antenna postures (azimuth-rotation for each elevation position, from the lower elevation limit to the upper limit). This means that the r
Display ERRORJ (525), clear the registers DF and MD (cancel the mode designation) (526), and proceed to Initialize the antenna posture (200) (return the antenna posture to the origin).

(2-1) In the above-mentioned mode selection J (300), the tracking instruction switch 2 is turned on after the power is turned on, and the reception level BSs is set to the reception threshold Ls (8 dB in Fig. 8).
If the above is set and the tracking mode (MD=4°5F=O) is set, -(E) rTRACKING is displayed on the display board 6.
501-527-528), yaw angle change (integral value of yaw angular velocity Yas during dT) dYa 5=
Calculate Ya 5XdT529), and use this as antenna A.
nt azimuth rotation change amount dZPR (530)
, the azimuth rotation change amount dZPR is added to the contents of the azimuth change amount register DZPR, and the obtained sum is updated and written in the register DZPR (531). Next, the sign (plus) of the contents DZPH of register DZPR.

(minus) and check the absolute value (532°533)
, DZPR is positive and greater than or equal to 1, the azimuth drive motor 141 is reversely biased L (53
5) Subtract this integer from DZPR and write the remaining fraction in register DZPH (536) to update azimuth position register AZPR (537).

If DZPR is negative and its absolute value is 1 or more, DZPR
538), add this integer (positive value) to DZPR and calculate the remaining fraction (negative value). An update is written to the register DZPR (539), and the azimuth position register AZPR is updated (540). That is, due to a change in the direction of travel of the automobile (Fig. 2e). The antenna Ant is step-driven in a direction that cancels the azimuth variation (DZPR) of the antenna attitude with respect to the radio wave source, and the number of step-drivings is recorded in register D.
Subtract from ZPR and leave a fraction less than one step in register DZPR.

See Figure 7c. If the azimuth position register AZPR is updated in step 537 or step 540, or if the absolute value of DZPR is less than 1 in steps 532 and 533, the value of AZPR is checked (541a) and this value is 45 to 135 or 225 to If it is within the range of 315, the roll angular velocity Ros during the roll angle change (dT
Calculate dRo=RosXdT (integral value of
), this is the azimuth rotation variation dLP of the antenna Ant.
541c), and the elevation rotation change amount dLPR is stored in the elevation change amount register DLPR.
In addition to the contents of , the obtained sum is updated and written to the register DLPR (541 d). Next, the sign (plus, minus) and absolute value of the contents DLPR of the register DLPR are checked (541e, 541f), and if DLPR is positive and 1 or more, the upper limit switch 159
Checks whether it is closed, and if it is closed, returns at that point (541f-return).

If the switch 159 is not closed, the elevation drive motor 151 is reversely energized to drive the antenna Ant one step in the downward direction of the elevation.
), DLPR and elevation position register ELP
Decrement R by 1 (541h, 541i>, proceed to step 541e again, and if DLPR is positive and 1 or more, and the switch 159 is not closed in step 541f, the same process is repeated (541e-541f-541g-54
1h-5411-541e-...). At this time, if DLPR is less than 11 (negative and its absolute value is greater than or equal to 1), a check is made to see if the elevation limit switch 158 is closed, and if it is closed, the return is made at that point. (return to 541). If the switch 158 is not closed, the elevation drive motor 151 is energized to rotate normally so as to drive the antenna Ant one step upward in the elevation direction (5411), and the DLP
R and the elevation position register ELPR are incremented by 1 (541tn, g41n), and the process goes to step 541J again, where DLPR is less than 11 (negative and its absolute value is more than 1), and in step 541, switch 158 is set.
If is not closed, repeat the same process (541j 541
k 5411-541m-541n-541j-・・
・). Also, step 541e and step 541''
If the absolute value of DLPR is less than 1, step 542a
Proceed to.

On the other hand, in step 541a, the value of AZPR is 45 to 135.
Or, if it is not within the range of 225 to 315, the process proceeds to step 542a without executing anything.

In other words, the amount of elevation change (DLP) of the antenna attitude relative to the radio wave source due to the roll angle change (rotation change around a straight line parallel to the traveling direction) of the automobile (Fig. 2e)
The antenna Ant is step-driven in a direction that cancels R).

Note that the above process is performed when the AZPR value is 45 to 1.
35 or within the range of 225 to 315 (the receiving surface of the antenna is the shaded area in FIG. 9). In other words, outside this range (range where the antenna reception surface faces the direction of travel of the car or the opposite direction), changes in the roll angle due to rolling of the car will not affect the attitude shift of the antenna Ant in the elevation direction with respect to the radio wave source. There is no need to make any corrections.

(F) Proceeding to step 542a (FIG. 7d), the reception level BSs is read. If the read value is greater than or equal to the receivable threshold Ls, the process waits for T1 time and proceeds to step 556 (542b-555b-556>, but if the read value is less than the receivable threshold Ls) Then, a check is made to see if the elevation up mint switch 158 is closed (542c), and if it is closed, the process proceeds to step 547, which will be described later.If the switch 158 is not closed, one step (16 in this embodiment) is performed. The antenna Ant is driven upward and moved in the elevation direction, and the elevation position register ELPR is incremented by 1 (542 cm 543-544).Then, the reception level BSs is read again (545).The read value is ready for reception. If it is greater than or equal to the threshold Ls, the process waits for T1 time to elapse and proceeds to step 556 (546-555b-556>), but if the read value is less than the receivable threshold Ls, the value of the elvagecon position register ELPR is It is checked whether it is less than 2 (547), and if it is 2 or more, the antenna Ant is driven downward in two steps and moved in the elevation direction.
The elevation position 11 register ELPR is decremented by 2 (548-549). After that, the reception level B again
Ss is read (551), and if the read value is equal to or greater than the reception threshold Ls, the process waits for 71 hours to pass and proceeds to step 556 (551-555b-556), but the read value is not received. If it is less than the allowable threshold Ls, the antenna Ant is moved upward by one step in the elevation direction, and the elevation position register ELPR is incremented by one (552-553). In addition, step 5
In step 47, if the value of the register ELPH is less than 2, it is determined that driving the antenna Ant downward by two steps in the elevation direction means that the mint switch 159 for lowering the elevation is turned on, and the antenna Ant is driven downward by one step. Decrement register ELPR by 1 (55
4,555a). This returns the antenna Ant to its original position (the position when step 542a was executed).

That is, in the processing of steps 542a to 555b, the reception level BSs is read and the reception threshold L is set.
If it is less than s, that is, reception is not possible, the antenna Ant is moved by a small angle in the elevation direction (1 inch each up and down) to perform reception tracking, and if it is above the receivable threshold Ls, reception tracking is performed as is. Reception threshold L
If it is less than s, the position based on the antenna Ant (step 5
42a) and performs reception and tracking.

As a result, antenna A specified in "search mode"
Even if the attitude of the nt is slightly shifted in the elevation direction in the "tracking mode", it can be automatically brought into a reception ready state.

(G) The processing in steps 556 to 612 (the processing shown in FIGS. 7e and 7f) is a process of driving the antenna Ant over a wider range to correct the position when the reception level becomes less than a predetermined value. It is. The operation at this time will be explained below.

(Gl) Proceeding to step 556, first, the value of the counter N for counting the movement angle is cleared. This N
While the value of is less than 3, the output of the limit switch 158 and the value of BSs are read, and the switch 158 is not closed.
If the value of BSs has not reached the predetermined level, 1 is applied to move the antenna Ant in the elevation direction.
Step upward drive is performed, the value of ELPR and the value of counter N are incremented by 1, and step 557 is performed again.
Return to (557-558-559-560-561-5
62-563-564-557).

That is, here, the limit switch 158 and the reception level of the BSs are checked every degree until the antenna Ant is driven upward three degrees in the elevation direction. If the reception level reaches a predetermined level, the process returns and continues reception tracking; if the reception level does not reach the predetermined level, the process proceeds to step 565. Note that the limit switch 158 is also checked every step drive so as not to issue a drive instruction exceeding the drive upper limit in the elevation direction.

(G2) Proceeding to step 565, first, the value of the counter N for counting the movement angle is cleared. This N
BSs is read while the value of Increment the value of N by 1 and return to step 566 (566-567-
568-569-570-571-566). That is, here, the reception level of the BSs is checked every other time until the antenna Ant is driven in normal rotation by 30 degrees in the azimuth direction. If the reception level reaches the predetermined level, the process returns and continues reception tracking; if the reception level does not reach the predetermined level, the process proceeds to step 572.

(G3) Proceeding to step 572, first, the value of the counter N for counting the movement angle is cleared. This N
While the value of is less than 6, the output of the limit switch 159 and the value of BSs are read, and the switch 159 is not closed.
If the value of BSs has not reached the predetermined level, 1 is applied to move the antenna Ant in the elevation direction.
The stent is driven downward, the value of ELPR is decremented by 1, the value of counter N is incremented by 1, and the process returns to step 573 (573-574-580-573).
). That is, here, the limit switch 159 and the reception level of the BSs are checked every degree until the antenna Ant is driven downward by 6 degrees in the elevation direction. If the reception level reaches the predetermined level, return and continue reception tracking; if the reception level does not reach the predetermined level, step 58
Go to 1. The limit switch 159 is also checked every step of driving so as not to issue a driving instruction exceeding the lower limit of driving in the elevation direction.

(G4) Proceeding to step 581, first, the value of the counter N for counting the movement angle is cleared. This N
While the value of is less than 60, BSs is read, and if the read value does not reach the predetermined level, one step reverse drive is performed to move the antenna Ant in the azimuth direction, and the value of AZPR is decremented by one. , increment the value of counter N by 1 and return to step 582 again 587
-582). That is, here, the BSs is rotated every other degree until the antenna Ant is driven 60 degrees in the azimuth direction.
Check the reception level.

If the reception level reaches a predetermined level, return and continue reception tracking; if it does not reach the level, proceed to step 5.
Proceed to 88.

(G5) Proceeding to step 588, first, the value of the counter N for counting the movement angle is cleared. This N
While the value of is less than 6, the output of the limit switch 158 and the value of BSs are read, and the switch 158 is not closed.
If the value of BSs has not reached the predetermined level, 1 is applied to move the antenna Ant in the elevation direction.
Performs step upward drive, increments ELPR and the value of counter N by 1, and returns to step 589 again (589-590-591-592-593-594
-595-596-589>.

That is, here, the limit switch 158 and the reception level of the BSs are checked every degree until the antenna Ant is driven upward by 6 degrees in the elevation direction. If the reception level reaches the predetermined level, the process returns and continues reception tracking; if the reception level does not reach the predetermined level, the process proceeds to step 597. Note that the limit switch 158 is also checked every step drive so as not to issue a drive instruction exceeding the drive upper limit in the elevation direction.

(G6) Proceeding to step 597, first, the value of the counter N for counting the movement angle is cleared. This N
While the value of is less than 30, BSs is read, and if the read value does not reach a predetermined level, one step forward drive is performed to move the antenna Ant in the azimuth direction, and AZ PR and counter N Increment the value by 1 and return to step 598 (598-599-6
00-601-602-603-598). That is,
Here, the reception level of the BSs is checked every other time until the antenna Ant is driven in normal rotation by 30 degrees in the azimuth direction. If the reception level reaches the predetermined level, the process returns and continues reception tracking; if the reception level does not reach the predetermined level, the process proceeds to step 604.

(G7) Proceeding to step 604, first, the value of the counter N for counting the movement angle is cleared. This N
While the value of is less than 3, the output of the limit switch 159 and the value of BSs are read, and the switch 159 is not closed.
If the value of BSs has not reached the predetermined level, 1 is applied to move the antenna Ant in the elevation direction.
Performs step downward drive, decrements the value of ELPR by 1, increments the value of counter N by 1, and returns to step 605 again (605-606-612-605
). That is, here, the limit switch 159 and the reception level of the BSs are checked every degree until the antenna Ant is driven downward three degrees in the elevation direction. If the reception level reaches a predetermined level, the process returns and continues reception tracking; if the reception level does not reach the predetermined level, the process returns. The limit switch 159 is also checked every step of driving so as not to issue a driving instruction exceeding the lower limit of driving in the elevation direction.

Through the above processing (Gl to G7), the antenna Ant is driven so as to draw a rectangular locus, and then returned to its original position (
The drive control is performed so as to return to the position at which step 556 was executed, and the reception level of the BSs is checked every l step of driving. When the reception level reaches a predetermined level, the process returns and continues reception tracking. If the reception level does not reach the predetermined level, after returning, MD is set to 3 in step 308 of mode selection (300), so reception tracking is performed after searching again. Note that if the limit switch 158 or 159 is closed in the processing from 01 to G7, the antenna does not return to the position when step 556 was executed.

(2-2) In the above-mentioned mode selection J (300), the tracking instruction switch 2 was turned on after the power was turned on, and since the reception level BSs was less than the reception threshold Ls, the search and automatic after search When the shift mode (MD=3, 5F=1) is set to perform tracking automatically, first execute the above-mentioned [Search J (repetition of A-D), and when the reception level BSs becomes Ls or higher, "Search" is ended (502-521). Here, the contents of register SF are “1”.
”, so first write “4” meaning “tracking mode” to mode register MD (523), and register DF.
Write "1" to (523), and then (E-G) described above.
Execute.

(3-1) In the above-mentioned "mode selection J (300), the search mode is ended (MD=3.DF=0.
When 5F=O), search again (switch 1 on)
, and the reception level BSs is greater than or equal to Ls, so if the mode (MD=3) is not changed, step 501-502-521-522-527-514
, and virtually no control operation is performed.

(3-2) In the above-mentioned mode selection J (300), the search mode is finished (MD=3., DF=0
．． 5F=O), there is another search instruction (switch 1 on), and since the reception level BSs is less than Ls, the search mode restart information (MD=3.DF=1,
5F=O), this "mode selection J"
(300) to − degrees [initialization of antenna attitude J (2
00) and has proceeded to "Execute selection mode
0), the antenna attitude is at the origin (switch 147 on, switch 159 on). Therefore, in this case, the aforementioned "search J" (repetition of A to D) is executed, and when the reception level BSs becomes equal to or higher than Ls, the "search" is ended (502-521).

(4-1) If there is a search instruction (switch 1 on) while the tracking mode (MD=4) is being executed in the mode selection J (300) described above, and the reception level is B.
Since Ss is less than L$, when you set the shift mode (MD=3,5F=1) that automatically performs search and tracking after searching, this "mode selection J (300) - degree" antenna Attitude initialization J (200) is proceeding, and when entering the selection mode execution J (500), the antenna attitude is at the origin (switch 147 on, switch 159 on). Execute the above-mentioned "Search J (repeat A-D),
When the reception level BSs becomes more than Ls, "Search" is started.
(502-521). Here, the contents of register SF is "1", so next, mode register MD is set to "1".
"4" designating "tracking mode" is written (523), "1" is written in register DF (523), and the above-mentioned (E-G) are executed thereafter.

(4-2) When a search instruction (switch 1 on) is received while the tracking mode (MD=4.DF=1,5F=0) is being executed in the mode selection J (300) described above. , since the reception level BSs is greater than or equal to Ls, when the mode data is updated to one specifying search (MD=3), steps 501-502-521-522-
527-514, and virtually no control operation is performed. In other words, ``Search J (A-D) is also ``Tracking J''.
(E to G) are also not executed.

Since the microcomputer 4 performs the above-mentioned "antenna attitude initialization J (200), r search" (A-D) and "tracking J (E-G)," the following antenna attitude setting is realized.

(a) When the occupant of the automobile (Fig. 2e) turns on the ignition key switch to start the engine, the attitude of the antenna Ant becomes the origin. That is, the elevation origin (switch 159 is on) and the azimuth home position (switch 147 is on).

(b) When the occupant of a car (Fig. 2e) starts the engine of the car and turns on the ignition key switch, first closes (turns on) the search instruction switch l, and then the antenna Ant searches for the radio wave source. (a geostationary satellite that transmits television radio waves).

(c) When the occupant of the automobile (Fig. 2e) first closes (turns on) the tracking instruction switch 2 instead of the search instruction switch 1 while starting the automobile engine and turning on the ignition key switch. , antenna An
t is the radio wave source (geostationary satellite that transmits television radio waves)
Take a position facing the Next, the antenna Ant is automatically driven in the azimuth direction in conjunction with the change in the traveling direction of the vehicle so as to correct the deviation of the antenna Ant in the azimuth direction with respect to the radio wave source due to this change. At this time, the azimuth direction of the antenna Ant with respect to the direction of travel of the vehicle is adjusted to a predetermined region (the receiving surface of the antenna is located at the ninth
If the antenna is within the shaded area in the figure), the antenna Ant is driven in the elevation direction so as to correct the shift in the elevation direction of the antenna with respect to the radio wave source due to changes in the roll angle. Note that after this, when the reception level BSs is less than the reception threshold Ls, the antenna Ant is driven within a predetermined range, and when the reception level BSs is equal to or higher than the reception threshold Ls, the antenna Ant is driven at that position. Correction control to stop is performed.

(d) After the above (b), when the occupant of the car turns on the tracking instruction switch 2, the antenna A for the radio wave source changes in conjunction with the change in the direction of travel of the car.
Antenna Ant is driven in the azimuth direction so as to correct the deviation of nt in the azimuth direction. At this time, the azimuth direction of the antenna Ant with respect to the traveling direction of the car is
If the receiving surface of the antenna is within a predetermined area affected by changes in the roll angle due to rolling of the automobile (the shaded area in Figure 9), the shift in the elevation direction of the antenna with respect to the radio wave source due to changes in the roll angle will be detected. To correct it,
Antenna Ant is driven in the elevation direction.

Note that if the reception level BSs is less than the reception threshold Ls after this, the antenna Ant is driven within a predetermined range, and when the reception level BSs becomes the reception threshold Ls or more, the antenna Ant is driven at that position. Correction control is performed to stop the.

(e) In the state of (b) above, when the occupant of the car turns on the search instruction switch 1, the reception level BSs becomes L.
If it is greater than or equal to s, there is no change in the antenna attitude, but if it is less than Ls, the antenna attitude returns to the origin, and the antenna Ant becomes in an attitude facing the radio wave source (a geostationary satellite that transmits television radio waves). .

(f) In the state of (c) or (d) above, when the occupant of the car closes the search instruction switch 1, the reception level B
When Ss is greater than or equal to Ls, the antenna Ant remains stationary (relative to the vehicle) while facing the radio wave source. When the reception level is less than Ls, the antenna attitude returns to the origin, and then the antenna Ant faces the radio wave source, and automatically moves in conjunction with the change in the direction of travel of the car. The antenna Ant is driven in the azimuth direction so as to correct the deviation in the azimuth direction of the antenna Ant with respect to the azimuth direction. At this time, if the azimuth direction of the antenna Ant with respect to the direction of travel of the vehicle is within a predetermined region (the receiving surface of the antenna is the shaded region in FIG. 9) that is affected by changes in the roll angle due to rolling of the vehicle. The antenna Ant is driven in the elevation direction so as to correct a shift in the elevation direction of the antenna with respect to the radio wave source due to a change in the roll angle. In addition, after that, the reception level B
When Ss is less than the receivable threshold Ls, the antenna Ant is driven within a predetermined range, and when the reception level BSs is equal to or higher than the receivable threshold Ls, correction control is performed to stop the antenna Ant at that position. It will be done.

From the description of the embodiments above, it can be easily understood that the present invention can be applied to moving bodies other than road vehicles such as automobiles, trains, etc., such as ships and aircraft.

In the above-described embodiment, the yaw angular velocity and the roll angular velocity are integrated between dTO and the antenna Ant is reversely rotated in the azimuth direction by an amount corresponding to the amount of change in the yaw angle and the amount of change in the roll angle during dT. The integration may be omitted, and the antenna Ant may be reversely driven in the azimuth direction at the same speed as the detected yaw angular velocity, and the antenna Ant may be reversely driven in the elevation direction at the same speed as the detected roll angular velocity.

〔Effect of the invention〕

As described above, according to the present invention, the sensors for detecting moving body behavior for attitude correction are only the yaw angular velocity sensor and the roll angular velocity sensor, and the attitude correction includes azimuth attitude correction corresponding to changes in yaw angle attitude, and azimuth attitude correction corresponding to changes in yaw angle attitude. Since the elevation attitude correction is performed in response to changes in roll angle attitude only when the attitude is within a predetermined range, the number of sensors is small, attitude correction calculations are simple, and a simple and low-cost device system can be realized.

[Brief explanation of the drawing]

FIG. 1 is a block diagram mainly showing the configuration of an electric circuit section according to an embodiment of the present invention. FIG. 2a is a longitudinal sectional view of the antenna support mechanism of this embodiment. FIG. 2b is an enlarged sectional view taken along the line IIB-nB of FIG. 2a. FIG. 2C is an enlarged sectional view taken along the line nc-mc of FIG. 2a. FIG. 2d is an enlarged perspective view showing the top surface of the turntable 120 shown in FIG. 2a. FIG. 2e is a perspective view showing the antenna Ant shown in FIG. 2a mounted on an automobile. FIG. 3 is a flowchart showing an overview (main routine) of the control operation of the microcomputer 4 shown in FIG. FIG. 4 shows "initialization of antenna posture" 20 shown in FIG. 3.
2 is a flowchart showing the contents of 0. FIG. 5 is a flowchart showing the contents of "mode selection" 300 shown in FIG. FIG. 6 is a flowchart showing the contents of "read status" 400 shown in FIG. 7a, 7b, 7c, 7d, 7e, and 7f are flowcharts showing the contents of "execution of selected mode" 500 shown in FIG. FIG. 8 is a graph showing the radio wave reception characteristics of the antenna Ant shown in FIG. 2a. Figure 9 shows the antenna An in the direction of travel of the car, which is affected by changes in roll angle due to rolling of the car.
FIG. 3 is a plan view showing a region in an azimuth direction of t. 1: Search instruction switch (search instruction means) 2° tracking instruction switch 3: Interface 4: Microcomputer (search control means. Yaw angle change follow-up control means, roll angle change follow-up control means,
5: Interface 6: Display board Ant: Antenna (antenna) Conv: BS-parter BSR: BS receiver (receiver) BSD: CRT AZD: Azimuth motor driver ELD: Elevation motor driver 10: Azimuth rotation Drive mechanism 20゛ Elevation rotation drive mechanism 30 Yaw angular velocity detector (yaw angle attitude change detection means) 40° roll angular velocity detector (roll angle attitude change detection means) 110 Antenna brackets 111, 113a, 114a Angle 112, Pin 113b 2nd axis (X)Y: 1st axis 1
15: Link arm 116: Cylindrical shaft 116a: Ring gear 120h guide hole 117: Bin 118: Split groove 120: Turntable 120a: Gear 121a: Support arm 122:
Bearing 130: Fixed base 140: Reducer 141: Azimuth drive motor (azimuth drive means) 14
2: Worm 143: Worm wheel 144, gear 145゛Gear shaft 146, support stand 147 Azimuth home position switch 148 Rotary encoder 150 Reducer 151: Elevation drive motor (elevation drive means) 152° worm 153° Worm wheel 154
: Gear 155° Gear shaft 157: Rotary encoder 158° Elevation upper limit switch 159: Elevation lower limit switch 160゛Rotary joint 161.162 + cable Patent applicant Aisin Seiki Co., Ltd. and one other agent Patent attorney Nobuaki Sugi Figure 2b Figure 2C Figure 2d Figure 3 Figure 4 Figure 6 Figure 7b Figure 8 Figure 9 Azimuth driving direction of antenna Ant

Claims (1)

[Scope of Claims] A support mechanism that rotatably supports the antenna in the azimuth direction and the elevation direction on a moving body; Azimuth driving means that rotationally drives the antenna in the azimuth direction; Rotatably drives the antenna in the elevation direction Elevation drive means for detecting a change in attitude of the moving body; Yaw angle attitude change detection means for detecting a change in attitude of the moving body in the yaw angle direction; a receiver connected to the antenna; a search instruction means; in response to a search instruction from the search instruction means, the antenna is rotationally driven via the azimuth drive means and the elevation drive means; a search control means that refers to the received signal level of the receiver and sets the antenna at an attitude where the signal level is an appropriate level; Yaw angle conversion follow-up control means for rotationally driving the antenna via the azimuth drive means in a direction that corrects a posture deviation in the azimuth direction of the antenna; A roll that rotationally drives the antenna via the elevation driving means in a direction that corrects a posture shift in the elevation direction of the antenna with respect to the radio wave source due to the posture change detected by the roll angle posture change detection means. Angle change tracking control means; Referring to the received signal level of the receiver, and when the received signal level becomes less than an appropriate level, moves the antenna in the elevation direction and the azimuth direction via the elevation drive means and the azimuth drive means. An attitude control device for an antenna on a moving body, comprising: follow-up correction means for rotationally driving each within a predetermined range, and stopping the rotationally driving in the elevation direction and the azimuth direction when the received signal level reaches an appropriate level during the rotational driving.