KR100857536B1 - Satellite tracking antenna system and method thereof - Google Patents

Abstract

A satellite tracking antenna system and a satellite tracking method are provided to increase an operation reaction speed by properly performing gyro tracking and hybrid tracking according to intensity of a signal received from a satellite. A satellite tracking antenna system includes an antenna(10), a gyro sensor unit(51-53), a control unit(50), and an antenna driving unit. The antenna receives a satellite signal. The gyro sensor unit senses variations of rolling, pitching, and yawing of the antenna. The control unit generates a control signal to compensate for variations of a bearing angle and a wave angle of the antenna according to intensity of the satellite signal and the variations of the rolling, the pitching, and the yawing sensed by the gyro sensor unit. The antenna driving unit rotates the bearing angle and the wave angle of the antenna at a predetermined angle according to the control signal.

Description

Satellite tracking antenna system and method

1 is a perspective view of a satellite tracking antenna system of the present invention.

Figure 2 is a side view of the satellite tracking antenna system of the present invention.

3 is a plan view of the satellite tracking antenna system of the present invention.

Figure 4 is a schematic diagram showing how the satellite tracking antenna system rotates in the vertical axis, horizontal axis, vertical axis in accordance with the movement of the moving object.

FIG. 5 is a schematic diagram illustrating a gyro sensor detecting rotational amounts about a vertical axis, a horizontal axis, and a vertical axis of the satellite tracking antenna system shown in FIG. 4. FIG.

6 is a functional block diagram illustrating a control process of a satellite tracking antenna according to the satellite tracking antenna system of the present invention.

7 is a flow chart illustrating a process for controlling the directing direction of a satellite tracking antenna in accordance with a satellite tracking antenna system in accordance with the present invention.

8 is a schematic diagram of dividing the strength of a satellite signal received from a satellite into three regions according to a predetermined range according to the present invention;

9 is a functional block diagram illustrating one embodiment of a control unit for controlling azimuth and elevation angles in accordance with the present invention.

<Description of the symbols for the main parts of the drawings>

1: satellite tracking antenna system

2: base 10: satellite tracking antenna

20: support 23: pulley

31: azimuth motor 33: elevation motor

50: control unit

The present invention relates to an antenna mounted on a moving object such as a vehicle or a ship for tracking satellites and receiving satellite signals. More specifically, the present invention relates to an azimuth angle composed of a step motor by receiving the degree of lateral yaw, yaw, and yaw from a gyro sensor. Since the azimuth and elevation angles of the satellite tracking antenna are controlled by using the motor and the elevation angle motor, the present invention relates to a mobile satellite tracking antenna system that enables quick and accurate operation response and makes it easy to find the optimal reception sensitivity according to a situation.

In general, satellite tracking antennas are installed for receiving images or for communication, and are installed on the ground to receive signals from satellites.

That is, it is connected to the video equipment or communication equipment, and provided to communicate the video signal or communication signal.

Most satellite tracking antennas such as these are supported and installed on the ground. That is, most of them are installed outdoors, especially on the roof, and are used for television or communication. The satellite always orbits the earth by being aligned with the rotation of the earth at a certain angle with respect to the earth, so that the signal is received while the direction of the satellite set once is maintained.

Therefore, it is not necessary to change the direction of the separate satellite, so when receiving a signal from another satellite, or when re-installing or resetting the artificially changed orientation, it is necessary to direct the satellite tracking antenna in the direction determined manually. do.

However, when a signal transmitted from such a satellite is received by a vehicle or a ship sailing in particular, the swinging hull is installed on the hull, and thus the direction of the satellite is frequently changed. Therefore, there is a problem that it is difficult to receive satellite signals while artificially continuously changing the satellite orientation.

Therefore, when the satellite tracking antenna is to be installed in such a moving object, there is a problem in receiving satellite signals, such as using expensive equipment or installation impossible.

In order to solve the above problems, an object of the present invention is to easily control the azimuth and elevation angles of the satellite tracking antenna using a gyro sensor and a step motor.

In addition, the object of the present invention is to detect the lateral yaw, yaw, yaw degree of the moving object by using a gyro sensor to control the azimuth and elevation angle of the satellite tracking antenna, thereby reducing the manufacturing cost and quick and accurate operation response due to the low-cost gyro sensor And, it is to make it easy to find the direction of the optimal reception sensitivity according to the situation.

In addition, an object of the present invention is to subdivide the strength of the received signal received from the satellite into a predetermined area to perform the gyro tracking compensation method or hybrid tracking compensation method according to each area to control the azimuth and elevation angle of the satellite tracking antenna optimally. It is.

Mobile satellite tracking antenna system according to the present invention for achieving the above object is an antenna for receiving a satellite signal; Lateral and longitudinal of the antenna. A gyro sensor unit for detecting a variation in yaw; A control unit for generating a control signal to compensate for the amount of change in the azimuth and elevation angles of the antenna according to the strength of the satellite signal and the amount of change in the transverse yaw, longitudinal yaw and yaw; And an antenna driver configured to rotate the azimuth and elevation angles of the antenna by a predetermined angle according to the control signal.

Preferably, when the strength of the satellite signal is greater than the first threshold level of a predetermined size, the controller calculates the amount of change in the yaw, yaw and yaw detected by the gyro sensor to determine the azimuth and elevation angles of the antenna. Rotate by.

Preferably, when maintaining the strength of the satellite signal is greater than the first threshold level for a predetermined time or more, the controller causes the antenna driver to maintain the azimuth and elevation angles of the antenna as it is.

Preferably, when the strength of the satellite signal is in a range between a first threshold level of a predetermined magnitude and a second threshold level of a predetermined magnitude less than the first threshold level, the controller may detect the yaw detected by the gyro sensor unit. And satellite signals measured while rotating the antenna a plurality of times in the azimuth and elevation angles based on the rotated azimuth and elevation angles, while controlling the azimuth and elevation angles of the antenna to be rotated at a predetermined angle according to the amount of change in the longitudinal and yaw angles. The strengths of the satellite signals are compared so as to be greater than or equal to the first threshold level.

In addition, the satellite tracking method according to the present invention includes a system initialization step of initializing the satellite tracking antenna system to the initial value set in the control unit; A capturing mode step of rotating the azimuth motor by 360 ° while stepping the elevation motor to capture a direction of a satellite position where a satellite signal having a predetermined intensity or more is received; After positioning the satellite tracking antenna in the direction of the captured satellites, the azimuth and elevation motors are repeatedly rotated in a plurality of steps while analyzing the strength of the satellite signal at each point to detect the position of the satellites. Step tracking mode step; An angular velocity tracking mode step of controlling the direction of the satellite tracking antenna so that the intensity of the satellite signal is greater than the predetermined intensity by detecting a change in the lateral, longitudinal and yaw of the satellite tracking antenna changed according to the movement of the moving object. Include.

Preferably, in the angular velocity tracking mode step, when the strength of the satellite signal is greater than a first threshold level of a predetermined size, the controller calculates an amount of change in the yaw, yaw and yaw detected by the gyro sensor to determine the azimuth angle and And a gyro tracking compensation step of rotating the elevation angle by a predetermined angle.

Preferably, the angular velocity tracking mode step further includes a stabilizing step of maintaining the azimuth and elevation angles of the antenna as it is when the strength of the satellite signal is maintained for more than a predetermined time while being greater than the first threshold level. do.

Preferably, the angular velocity tracking mode step, when the strength of the satellite signal is in the range between a first threshold level of a predetermined size and a second threshold level of a predetermined size less than the first threshold level, the control unit is the gyro The antenna is controlled to rotate the azimuth and elevation angle of the antenna at a predetermined angle according to the amount of change in the yaw, longitudinal and yaw detected by the sensor, and the antenna is rotated a plurality of times in the azimuth and elevation directions based on the rotated azimuth and elevation angles. And a hybrid tracking compensation step of controlling the strength of the satellite signal to be equal to or greater than the first threshold level by comparing the measured strengths of the satellite signals while rotating.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the present invention. On the other hand, components that perform the same function will be described using the same reference numerals.

1 is a perspective view of the satellite tracking antenna system of the present invention, FIG. 2 is a side view of the satellite tracking antenna system of the present invention, and FIG. 3 is a plan view of the satellite tracking antenna system of the present invention.

As shown in Figures 1 to 3, the mobile satellite tracking antenna system 1 according to the present invention is installed on the base portion 2, the upper portion of the base portion 2 is fixed to the moving object to form a plane and receives a satellite signal Is installed on the top surface of the satellite tracking antenna 10, the base portion 2 to support the satellite tracking antenna 10, 20 is provided on one side of the support portion 20 to the support portion 20 Azimuth driving means (21, 31, 32) to rotate horizontally), provided on one side of the support portion 20, the elevation angle driving means (22) for rotating the satellite tracking antenna 10 up and down relative to the base (2) 23, 33, 34, and located on one side of the support portion 20 to process the satellite signal received from the satellite tracking antenna 10, and controls the azimuth driving means and elevation driving means to control the azimuth angle of the satellite tracking antenna 10 and A control unit (not shown) for directing the elevation angle in a predetermined direction is provided.

The mobile satellite tracking antenna system 1 is installed on a moving object such as a car or a ship, and is provided to receive a signal from a satellite. The satellite tracking antenna 10 mounted on the moving object continues to be directed. The direction in which to do so also changes continuously, making it difficult to receive a good signal from the satellite. Accordingly, the satellite tracking antenna system 1 according to the present invention allows the satellite tracking antenna 10 to be directed in the satellite direction through the control of the azimuth and elevation angles by the azimuth driving means and the elevation driving means described above, so that the signal from the satellite is good. It is provided to be able to receive.

Specifically, the azimuth driving means according to the present invention is controlled by the control unit by the rotation of the azimuth motor 31, the azimuth motor 31 for rotating the support relative to the base portion 2, the horizontal rotation of the support 20 And a rotational force transmission means 32 such as a gear, a chain, or a belt such that the rotational force of the azimuth motor 31 is transmitted to the azimuth rotational shaft 21.

In addition, the elevation angle driving means according to the present invention is installed on the support 20, the satellite tracking antenna 10 to be rotated up and down, is controlled by the angle of rotation axis 22, the control unit to drive the satellite tracking antenna 10 up and down To an elevation motor 33 for rotating an elevation angle, and a rotational force transmission means 34 such as a gear, a chain or a belt for transmitting the rotational force of the elevation motor 31 to the elevation axis 22, and an elevation axis 22. It is coupled to include a pulley 23 for transmitting the rotational force transmitted from the rotational force transmission means 34 to the elevation angle axis.

According to the satellite tracking antenna system 1 as described above, the satellite tracking antenna 10 supported by the base 2 is horizontally rotated by the operation of the azimuth motor 31 controlled by the controller and controlled by the controller. By rotating up and down by the operation of the elevation motor 33, the satellite tracking antenna 10 can always be directed in the satellite direction, and as a result, it is possible to always receive a good satellite signal even in the mobile phase.

That is, the satellite tracking antenna system 1 is typically installed in a moving object such as a vehicle or a ship, and even though the satellite tracking antenna 10 is directed toward the satellite once, the satellite tracking antenna moves continuously. The orientation direction of (10) also changes continuously. However, according to the satellite tracking antenna system of the present invention by rotating the direction of the satellite tracking antenna 10 up and down or left and right, it is possible to continue to direct the direction of the satellite can always receive a stable satellite signal.

As described above, the azimuth motor 31 and the elevation motor 33 which rotate the satellite tracking antenna 10 are constituted by a step motor operated by a signal of a controller. Since the step motor rotates at a constant angle, it is possible to know the angle of rotation per pulse and has a holding torque to facilitate the control of the satellite tracking antenna 10.

FIG. 4 is a schematic view showing the satellite tracking antenna system rotating along the vertical axis, the horizontal axis, and the vertical axis according to the movement of the moving object, and FIG. 5 is a rotational amount about the vertical axis, the horizontal axis, and the vertical axis of the satellite tracking antenna system shown in FIG. This is a schematic diagram showing a gyro sensor for detecting a sensor.

In the satellite tracking antenna system 1 of the present invention, a plurality of gyro sensors are installed on one side of the support unit 20, and the signals are transmitted to the control unit 50. That is, the controller 50 is a gyro sensor for detecting the degree of side yaw, yaw and yaw on the reference coordinate system of the support 20 or the satellite tracking antenna 10, respectively. 51, 52 and 53, the azimuth motor 31 and the elevation motor 33 are controlled by the appropriate angle change, and the satellite tracking antenna 10 is provided to direct the satellite direction.

Hereinafter, a method of receiving satellite signals by the satellite tracking antenna system according to the present invention will be described in detail with reference to FIGS. 6 to 9.

First, Figure 6 is a functional block diagram showing a configuration for controlling the azimuth and elevation angle of the satellite tracking antenna according to the satellite tracking antenna system according to the present invention.

When the satellite signal received by the satellite tracking antenna 10 is transferred to a low noise block down converter (LNB) 62, the LNB 62 amplifies the strength of the received satellite signal, and at the same time intermediates the carrier frequency of the satellite signal. The frequency is lowered and output to the power divider 64. The power divider 64 outputs some power of the satellite signal to the receiver 66 at a rate and at the same time some power to the signal strength meter 68. Next, when the signal intensity measurement value measured by the signal strength measuring device 68 and the amount of change in the yaw, yaw and yaw detected from the gyro sensor are input to the controller 50 via the A / D converter 70, the controller 50 generates control signals for the azimuth and elevation directions to control the motor driver 72 to rotate the step motors 31 and 33 by a predetermined angle.

Next, FIG. 7 is a flowchart illustrating a process of receiving satellite signals according to the satellite tracking antenna system according to the present invention.

The satellite signal receiving method according to the present invention includes a system initialization step (S72) of initializing the system to an initial value set in the controller 50 by applying power to the satellite tracking antenna system; A capture mode step (S74) of rotating the elevation motor (33) stepwise and rotating the azimuth motor (31) 360 degrees in the azimuth direction to find a position at which the satellite reception signal is received at a predetermined intensity or more (S74); The azimuth motor 31 and the elevation motor 33 are repeatedly rotated several times at a small angle at the satellite tracking antenna 10-oriented position near the satellite direction found in the capture mode step, Step tracking mode step S76 of comparing the intensities to direct the satellites to the correct position; An angular velocity tracking mode step S78 of sensing the movement of the moving object by a gyro sensor and directing the satellite tracking antenna 10 to receive a satellite signal of good strength; If the signal from the satellite is blocked due to a sudden movement of the moving object (that is, when the strength of the satellite signal is less than Th3) includes a blocking mode step (S80) to find a point where the reception condition is good near the direction of the signal loss; do. Here, Th3 denotes a reception bad region threshold level, which will be described in detail with reference to FIG. 8.

In addition, preferably, the angular velocity tracking mode step is provided on one side of the support portion 20, as shown in Figure 5, the gyro sensor 51 for detecting the degree of cross yaw, longitudinal, yaw of the satellite tracking antenna 10 The satellite tracking antenna 10 is controlled by controlling the azimuth motor 31 and the elevation motor 33 at an angle in a direction in which the control unit 50 receives the detection signal from the (52) and (53) to compensate for the movement of the moving object. Rotating.

 That is, according to the present invention, the satellite tracking antenna system 1 installed on a moving object such as a vehicle or a ship has a horizontal yaw and a yaw of the moving object input from the horizontal gyro sensor 51, the vertical gyro sensor 52 and the yaw gyro sensor 53. As the direction of the base 2 changes according to the degree of deflection, the satellite tracking antenna 10 is rotated in the opposite compensation direction so that the satellite tracking antenna 10 is always directed in the satellite direction. Allow the received signal to be received well.

In the present invention, the satellite tracking antenna system 1 provided as described above allows the angular velocity tracking mode step to receive satellite signals without rotation of the satellite tracking antenna 10 when the reception is satisfactory according to the strength of the received satellite signal. When the strength of the satellite signal is poor, the satellite tracking antenna 10 is rotated to be directed toward the satellite to maintain a good signal.

8 is a schematic diagram of dividing the strength of a satellite signal received from a satellite into three regions according to a predetermined range.

As shown in FIG. 8, the satellite signal received from the satellite is analyzed by the controller 50, and the satellite signal strength is high on the basis of the maximum reception intensity of the analyzed satellite signal. A reception good area (area that is equal to or greater than Th1, which is a critical level of a reception good area); A poor reception region (a region below Th3, which is a threshold level of reception failure region), in which reception is poor due to a low satellite signal strength value; And divided into three subdivided reception intermediate areas (the area between Th1 to Th3), which are satellite signal strength values between the reception good area and the bad reception area. If the reception good area is maintained for a predetermined time, the moving object is in a stationary state. Judging, the azimuth motor 31 and the elevation motor 33 were maintained in the stable direction in which the satellite tracking antenna 10 was intact in a stable step.

Although there are various methods for dividing such a reception good area, a reception intermediate area, and a reception bad area, the present invention uses a technique of using a reception bad area threshold level as an embodiment.

The bad reception threshold level (Th3) is empirically selected as a value smaller than the threshold intensity of the satellite signal that can be viewed by the receiver and larger than the sidelobe. Select a slightly larger value based on the lobe. Once the bad region threshold level has been determined, the remaining levels can be used, for example:

Th1 = (maximum intensity-Th3) * 0.9 + Th3 (Equation 1)

Th2 = (maximum intensity-Th3) * 0.8 + Th3 (Equation 2)

According to the classification of the satellite signal strength, the angular velocity tracking mode step is further divided into a gyro tracking compensation step and a hybrid tracking compensation step.

First, when the value of the satellite signal strength is received in the receiving good region, the signals of the lateral gyro sensor 51, the gyro gyro sensor 52, and the gyro gyro sensor 53 which detect the horizontal yaw, the yaw and the yaw of the moving object Accordingly, a gyro tracking compensation step of compensating by operating the azimuth motor 31 and the elevation motor 33 is performed. Accordingly, the input unit 50 calculates the input degree from each of the gyro sensors 51, 52, and 53 for outputting the lateral yaw, the yaw, and the yaw variation of the moving object, and calculates an appropriate azimuth rotation and an elevation rotation. After the calculation, the azimuth motor 31 and the elevation motor 33 were provided to operate.

Next, when the value of the satellite signal strength is received by the moving object in the receiving middle area, the hybrid tracking which superimposes the step tracking signal on the gyro tracking compensation value calculated using the lateral gyro sensor, the gyro sensor, and the yaw gyro sensor. Perform the compensation step.

Hybrid tracking operates the azimuth motor 31 and the elevation motor 33, which are a plurality of step motors, in the azimuth direction and the elevation direction at the same time, while moving the antenna according to the signal compensating the degree of transverse yaw, yaw, and yaw. Comparing the strengths, respectively, the satellite tracking antenna 10 is directed in the direction of high intensity. Thus, it is directed toward the satellite signal received with higher intensity and eventually enters the reception good region.

Generally, step tracking is simple and effective, but it is difficult to apply unless the moving body is moving at low speed. On the other hand, since hybrid tracking performs step tracking on moving the antenna according to the compensation signal of the gyro sensor, it is possible to maintain excellent tracking performance even for high-speed shaking of the moving object.

On the other hand, whenever the strength of the reception decreases from the reception-positive region to the intermediate region, switching from gyro tracking to hybrid tracking will likely reduce system stability and degrade satellite tracking performance due to too frequent operating mode changes. Thus, as shown in FIG. 8, when hysteresis is provided in the reception intermediate areas Th1 to Th3, and the satellite signal strength gradually decreases in the reception reception area, the hysteresis threshold level Th2 is not the reception reception area threshold level Th1. (I) to hybrid tracking, and once the hybrid tracking compensation step has been entered, the gyro tracking is performed when the satellite signal reception intensity gradually increases and becomes larger than the threshold of the reception-good area (Th1). Switch to the reward phase.

Next, if the reception good region, which is a region where the strength of the satellite signal is good, is maintained for a predetermined time or more, the reception signal is satisfactory. Therefore, the satellite tracking antenna 10 does not have to be moved. If the azimuth motor 31 and the elevation motor 33 are not rotated, the noise due to the motor operation can be reduced, and the reception strength can be prevented from falling by unnecessary compensation.

On the other hand, although the oscillation suddenly occurs in the moving object and the antenna is directed to the correction position calculated from the respective gyro sensor inputs, the reception state is poor because the reception strength of the satellite signal is smaller than the reception area threshold level (Th3). In the case of a defective area (less than Th3), the azimuth motor 31 and the elevation motor 33 are rotated within a certain range, and the reception strength is measured at each position so as to receive the threshold of the defective reception area (Th3). Find out where the satellite signals come from.

However, the decrease in the strength of the satellite signal occurs even when there is an obstacle between the satellite and the antenna according to the movement of the moving object. It is preferable to perform the above operation after time passes.

As a specific embodiment, looking at the gyro tracking compensation step in the reception good region during the angular velocity tracking mode step, it can be operated as follows.

A horizontal gyro sensor 51, a gyro gyro sensor 52, and a yaw gyro sensor 53 are disposed on one side of the support part 20, and the horizontal direction is closed by the horizontal gyro sensor 51 and the yaw gyro sensor 53. It consists of a loop speed control system, and the up and down direction is composed of an open loop position control system by the gyro sensor 52, but the entire control system is composed of a closed loop control system according to the satellite signal reception strength.

That is, the satellite tracking antenna is controlled by controlling the azimuth motor 31 using the outputs of the lateral gyro sensor 51 and the yaw gyro sensor 53 and controlling the elevation motor 33 using the output of the longitudinal gyro sensor 52. (10) continues to be directed toward the satellite regardless of the movement of the moving object.

The yaw and yaw angular velocities are input from the yaw gyro sensor 51 and the yaw gyro sensor 53, and the azimuth motor 31 is operated by the value calculated by Equation 3 below.

(수식 3)

(Formula 3)

는 상기 스텝모터에 펄스를 인가하는 주기,

는 상기 제어부에 위치한 발진기의 발진주파수,

은 제어부 마이크로콘트롤러의 타이머 프리스케일러,

는 상기 횡요자이로센서와 편요자이로센서로부터 신호를 입력받아 제어부에서 계산한 상기 방위각모터의 각속도, 그리고

는 상기 방위각 스텝모터의 스텝각을 나타낸다.here

Is a period for applying a pulse to the step motor,

Is the oscillation frequency of the oscillator located in the control unit,

The timer prescaler of the control microcontroller,

The angular velocity of the azimuth motor calculated by the control unit receives a signal from the lateral gyro sensor and the yaw gyro sensor, and

Denotes the step angle of the azimuth step motor.

와

은 각각 제어부의 작동을 위해 구비되는 발진기와 마이크로콘트롤러에 의해 결정되는 고유의 수치로, 제어부의 구성에 따라 결정되는 것이다. 그리고

는 스텝모터로 구비되는 방위각모터의 감속비 반영 스텝각으로, 1회 펄스에 의해 회전하는 각도이다. 이와 같은 스텝각 역시 스텝모터와 풀리의 구비에 따라 고유하게 결정되는 것이다.

Wow

Are unique values determined by the oscillator and the microcontroller provided for the operation of the controller, respectively, and are determined according to the configuration of the controller. And

Is a step angle reflecting the reduction ratio of the azimuth motor provided in the step motor, and is an angle rotated by one pulse. This step angle is also uniquely determined by the provision of the step motor and pulley.

로 각속도 및 각도를 제어하는 것으로, 이의 결정은 각각의 자이로센서로부터 입력되는 지지부(20)의 각속도를 기초로 하여 제어부에서 계산하는 것이다.What is actually applied to the azimuth motor by the controller is the pulse of the step motor and the period

By controlling the angular velocity and angle, the determination is calculated by the controller based on the angular velocity of the support 20 input from each gyro sensor.

가 결정되며, 그에 따라서 방위각 스텝모터의 펄스 인가 주기가 결정되는 것이다. 이

는 PID, 퍼지논리제어기, 신경망 등 다양한 제어기법에 의해 계산할 수 있는데, 본 발명에서는 일 실시형태로서 도 9에 도시된 PID 제어기(90)를 사용하였다.Azimuth angular velocity by the calculation of the control unit

The pulse application period of the azimuth step motor is determined accordingly. this

Can be calculated by various control methods such as PID, fuzzy logic controller, neural network, etc. In the present invention, PID controller 90 shown in FIG. 9 is used as an embodiment.

In addition, the control unit 50 receives the critical angular velocity from the longitudinal gyro sensor 52, calculates the angle at which the moving object moves in the elevation angle using the critical gyro sensor 52, and then moves the antenna 10 in the opposite direction so as to move the antenna 10 in the opposite direction. Apply a pulse.

를 계산한 후, 상술한 (수식 3)의 주기로 스텝모터에 펄스를 인가하면, 이와 같은 실시형태의 모터를 구비하는 시스템에서 이동체의 움직임을 자동으로 보상하여 항상 위성을 향하도록 작동하게 되는 것이다.Therefore, by using the following equations (Equation 4) and (Equation 5) by the value input from each gyro sensor

After calculating, and applying a pulse to the step motor in the above-described (Equation 3), the system equipped with the motor of this embodiment automatically compensates for the movement of the moving body to operate toward the satellite at all times.

(수식 4)

(Formula 4)

(수식 5)

(Formula 5)

는 PID 제어기의 출력이고,

는 자이로센서의 출력으로, 자이로센서가 기저(2)에 설치된 것이 아니라 지지부(20)의 일측에 설치되어 있으므로 실제 이 자이로센서에 의해 감지되는 각속도는 기저(2)의 각속도(

)와 위성추적안테나(10)의 각속도(

) 사이의 편차이다.

는 PID 제어기의 비례이득을 나타내고,

는 적분이득을 나타내고,

는 미분이득을 나타낸다. t 는 시간을 나타내고, Δt 는 시간의 변화량을 나타낸다.here,

Is the output of the PID controller,

Is the output of the gyro sensor, the gyro sensor is not installed on the base 2, but is installed on one side of the support portion 20, the actual angular velocity detected by the gyro sensor is the angular velocity of the base 2 (

) And the angular velocity of the satellite tracking antenna (10)

) Is the deviation between.

Represents the proportional gain of the PID controller,

Denotes integral gain,

Represents differential gain. t represents time, and Δt represents the amount of change in time.

Next, when the value of the satellite tracking intensity is received by the movement of the moving object in the receiving middle area, the hybrid tracking that superimposes the step tracking signal on the gyro tracking compensation value calculated using the lateral gyro sensor, the gyro sensor, and the yaw gyro sensor. Do this.

를 0이 아닌 특정값으로 설정함으로써 구현할 수 있다. 앙각 방향의 하이브리드트래킹은 상기 자이로트래킹을 수행하는 앙 각 방향 개루프 위치제어계에서 옵셋 입력을 추가함으로써 구현할 수 있다.Hybrid tracking is alternately performed in the azimuth and elevation directions. Hybrid tracking in the azimuth direction is a reference input signal in the azimuth closed loop speed control system that performs the gyro tracking shown in FIG. 9.

You can implement this by setting to a non-zero specific value. Hybrid tracking in the elevation direction may be implemented by adding an offset input in the elevation direction open loop position control system performing the gyro tracking.

는 값이 클수록 속응성은 좋아지지만 안정성이 떨어지고, 값이 작을수록 안정성은 좋아지나 속응성이 떨어지는 트레이드오프 관계에 있으므로 시스템의 관성모멘트와 이동체의 동요 환경에 따라 경험적, 적응적으로 선정한다. 앙각 방향의 옵셋 입력도 마찬가지이다.Reference input signal

The higher the value, the faster the response but the lower the stability. The smaller the value, the better the stability but the lower the response. The same applies to offset input in the elevation direction.

The foregoing description of various embodiments in accordance with the disclosed invention is provided to enable any person skilled in the art to make use of the invention. Many modifications to these embodiments will be apparent to those skilled in the art, and the generic principles defined herein are applicable to other embodiments without departing from the spirit or scope of the invention. Accordingly, the invention is not limited to the embodiments disclosed herein, and the scope of the invention is given the broadest scope including the principles and novel technical features disclosed herein.

The present invention provided as described above relates to a satellite tracking antenna system for controlling a satellite tracking antenna mounted on a moving object that is continuously moving, such as a car or a ship, and inputs the lateral yaw, the yaw, and the yaw degree of the moving object from a gyro sensor. In order to control the degree of rotation of the azimuth and elevation angles of the satellite tracking antennas, there is no need for complicated additional equipment, thereby reducing the manufacturing cost.

In addition, due to the gyro tracking and hybrid tracking properly performed according to the strength of the signal received from the satellite, it is possible to effectively apply to a moving object with a relatively large fluctuation due to the fast operation response speed.

Claims (11)

An antenna for receiving satellite signals; A gyro sensor unit configured to detect changes in the lateral yaw, the yaw and the yaw of the antenna; A control unit for generating a control signal for compensating for the amount of change in the azimuth and elevation angles of the antenna according to the strength of the satellite signal and the amount of change in the yaw, yaw and yaw detected by the gyro sensor unit; And An antenna driver for rotating the azimuth and elevation angle of the antenna in accordance with the control signal by a predetermined angle, When the strength of the satellite signal is in a receiving good region larger than a first threshold level of a predetermined size, the controller calculates a change amount of the yaw, yaw and yaw detected by the gyro sensor unit to calculate the azimuth and elevation angles of the antenna. Performs a gyro tracking compensation to rotate the When the strength of the satellite signal is in the intermediate region between a first threshold level of a predetermined magnitude and a second threshold level of a predetermined magnitude smaller than the first threshold level, the controller is configured to detect the horizontal yaw detected by the gyro sensor unit. And satellite signals measured while rotating the antenna a plurality of times in the azimuth and elevation angles based on the rotated azimuth and elevation angles, while controlling the azimuth and elevation angles of the antenna to be rotated at a predetermined angle according to the amount of change in the longitudinal and yaw angles. Performing hybrid tracking compensation by comparing the intensities of the control signals so as to control the strength of the satellite signal to be greater than or equal to the first threshold level; If the strength of the satellite signal is in a poor reception region smaller than a second threshold level of a predetermined size, the controller controls the azimuth and elevation angles of the antenna to be rotated within a predetermined range, and the strength of the satellite signal at each position. Controlling the azimuth and elevation angles of the antenna such that the measured strength of the satellite signal is greater than the second threshold level, When the strength of the satellite signal is lowered from the receiving good region to the receiving intermediate region, the controller is further configured to control the satellite signal when the strength of the satellite signal is lower than the hysteresis threshold level between the first threshold level and the second threshold level. When the gyro tracking compensation is converted to the hybrid tracking compensation and the strength of the satellite signal is increased by the hybrid tracking compensation, the hybrid tracking compensation is performed when the strength of the satellite signal is greater than the first threshold level. Mobile satellite tracking antenna system, characterized in that the conversion to gyro tracking compensation. delete The method of claim 1, And the control unit maintains the azimuth and elevation angles of the antenna as it is, when the strength of the satellite signal is maintained for more than a predetermined time in the reception receiving region. delete delete The method according to claim 1 or 3, The antenna driving unit is a mobile satellite tracking antenna system, characterized in that composed of a step motor operated by a signal from the control unit. In a satellite tracking method using a mobile satellite tracking antenna system, A system initialization step of initializing the satellite tracking antenna system to an initial value set in a control unit; A capturing mode step of rotating the azimuth motor by 360 ° while stepping the elevation motor to capture a direction of a satellite position where a satellite signal having a predetermined intensity or more is received; After positioning the satellite tracking antenna in the direction of the captured satellites, the azimuth and elevation motors are repeatedly rotated in a plurality of steps while analyzing the strength of the satellite signal at each point to detect the position of the satellites. Step tracking mode step; And An angular velocity tracking mode step of controlling the direction of the satellite tracking antenna so that the intensity of the satellite signal is greater than or equal to the predetermined intensity by detecting a change in the lateral, longitudinal and yaw of the satellite tracking antenna changed according to the movement of the moving object. Include, The angular velocity tracking mode step, When the strength of the satellite signal is in a receiving good region larger than a first threshold level of a predetermined size, the control unit calculates the change amount of the yaw, yaw and yaw detected by the gyro sensor to determine the azimuth angle of the satellite tracking antenna and A gyro tracking compensation step of rotating the elevation angle by a predetermined angle; If the strength of the satellite signal is in the intermediate region between the first threshold level and the second threshold level of a predetermined size smaller than the first threshold level, the control unit is the antenna according to the change amount of the cross yaw, yaw and yaw While controlling the azimuth and elevation angles of the satellite signal to be rotated at a predetermined angle, and comparing the strengths of the satellite signals measured while rotating the antenna a plurality of times in the azimuth and elevation directions based on the rotated azimuth and elevation angles. A hybrid tracking compensation step of controlling an intensity to be equal to or greater than the first threshold level; And When the strength of the satellite signal is in a poor reception region smaller than a second threshold level of a predetermined size, the controller controls the azimuth and elevation angles of the antenna to be rotated within a predetermined range, while the strength of the satellite signal at each position is controlled. Controlling the azimuth and elevation angles of the antenna such that the measured strength of the satellite signal is greater than the second threshold level, When the strength of the satellite signal is lowered from the receiving good region to the receiving intermediate region, the gyro tracking when the strength of the satellite signal is lower than the hysteresis threshold level between the first threshold level and the second threshold level. When the strength of the satellite signal is increased by the hybrid tracking compensation step, the hybrid tracking is performed when the strength of the satellite signal is greater than the first threshold level. And a conversion from the compensation step to the gyro tracking compensation step. delete The method of claim 7, wherein The angular velocity tracking mode step may further include a stabilization step of maintaining the azimuth and elevation angles of the antenna as long as the strength of the satellite signal is maintained in the reception receiving region for more than a predetermined time. Way. delete delete

Images