CN101982897A - Dynamic tracking satellite antenna - Google Patents
Dynamic tracking satellite antenna Download PDFInfo
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- CN101982897A CN101982897A CN2010102756284A CN201010275628A CN101982897A CN 101982897 A CN101982897 A CN 101982897A CN 2010102756284 A CN2010102756284 A CN 2010102756284A CN 201010275628 A CN201010275628 A CN 201010275628A CN 101982897 A CN101982897 A CN 101982897A
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Abstract
The invention relates to a dynamic tracking satellite antenna. The antenna comprises an azimuth posture detection part, a signal level detection part and a servo system, wherein the master control servo system is a Z-axis adjusting stepping motor; the azimuth posture detection part is only formed by a Z-axis gyroscope and an accelerometer; the Z-axis gyroscope measures the moving direction and the speed of the antenna in the horizontal direction, and the included angle of the antenna relatively to a horizontal surface is measured by the accelerometer; and the servo system is controlled by a master control CPU to constantly adjust an azimuth angle, a roll angle and a pitch angle of the antenna so as to achieve the aim of dynamically tracking a satellite. The dynamic tracking satellite antenna has the advantages of low cost, simple structure and good tracking effect.
Description
Technical field
The present invention relates to a kind of satellite antenna, the particularly a kind of dynamic tracking satellite antenna that can in moving, adjust azimuth, the angle of pitch.
Background technology
Mobile satellite antenna is meant the antenna that is installed on the mobile vehicle, as automobile, train, steamer etc.Because broadcasting satellite, communication satellite all belong to stationary satellite (being geosynchronous satellite), satellite fix is overhead about 40,000 kilometers places in the equator.And satellite antenna belongs to directional antenna, and the beamwidth of this antenna is very narrow, guarantee that in carrier rapid movement process the signal transmission do not interrupt, and just must guarantee the antenna satellite that aims at the mark accurately all the time.
Mobile vehicle because the road turn direction changes and the influence of the gradient, causes the azimuth of antenna and the angle of pitch to change in motion process.The automatic tracking antenna of prior art mostly is made up of systems stabilisation and automatic tracking system two parts.Systems stabilisation adopts inertial navigation technologies such as gyroscope, under the control of software, adjusts the attitude of antenna by driving mechanism and stepping motor.Tracking system adopts the GPS global positioning system electronic compass of unifying to obtain the location parameter of antenna, and comes the azimuth and the angle of pitch of control antenna with this.
There is following deficiency in this kind mode: 1. the place one's entire reliance upon certainty of measurement of inertial navigation systems such as gyroscope of the alignment accuracy of satellite antenna in the motion process.Therefore also can only adopt high accuracy transducers such as optic fiber gyroscope, laser gyro, cause whole cost significantly to increase.2. use GPS can only obtain the reference pitch angle of satellite antenna position, the motion that departs from this direction still need rely on gyroscope, and this has increased again gyrostatic parameter demand.3. electronic compass belongs to magnetic device, is subjected to external interference easily.
State's invention patent publication No. CN 1614815A disclosed " signal levelling detecting and dynamic tracking satellite antenna " comprises that the satellite signal levels testing circuit is connected with digital signal processor with control in 11 days Mays in 2005, the output of described control and digital signal processor divide three the tunnel respectively with pitching control motor and circuit for controlling motor, control of azimuth motor and circuit for controlling motor, roll control motor is connected with circuit for controlling motor, their threes' the other end mechanically is connected with satellite antenna and feeder equipment with deceleration device through machine driving, and the other end of described satellite antenna and feeder equipment is connected with described satellite signal levels testing circuit again.The advantage of this invention is with low cost, and is in light weight, and volume is little, is not subjected to the interference of magnetic anomaly, but that its tracking accuracy can not show a candle to inertial navigation technologies such as adopt adopting gyroscope again is accurate.
Summary of the invention
The purpose of this invention is to provide a kind of simplyr, with low cost, in light weight, volume is little, is not subjected to the interference of magnetic anomaly, especially the dynamic tracking satellite antenna that improves greatly of system reliability.
Specific implementation is such:
A kind of dynamic tracking satellite antenna comprises orientation attitude detection, signal level detection and servo system three parts; The master control servo system is a Z axial adjustment stepping motor; Orientation attitude detection part only is made up of a Z axle gyroscope and accelerometer; By the Z axle gyroscope survey antenna direction of motion and speed in the horizontal direction, obtain the side-play amount that antenna moves in the horizontal direction; Measure antenna angle with respect to the horizontal plane by acceleration measuring, obtain or calculate the current angle of pitch of antenna and roll angle; Again with the target satellite signal level that receives as whether the basis for estimation to satelloid, control servo system by master cpu and constantly adjust antenna azimuth, roll angle and the angle of pitch, thereby form a close-loop feedback control system, make the satellite antenna satellite that aims at the mark all the time; Above-mentioned signal level detection part is measured the signal level value that receives by the A/D conversion, whether is used as criterion to satelloid with this.
The present invention proposes a kind of new dynamic tracking satellite antenna, also relate to 2 algorithms:
Algorithm 1: by the error that signal level detection is constantly proofreaied and correct gyro, the output accuracy of proofreading and correct the back gyro has reached very high level, has eliminated the influence of accumulated error and temperature drift.
Algorithm 2: adopt accelerometer to calculate the angle of pitch and roll angle, do not have accumulated error, also can overcome the influence of temperature drift.
There is following advantage in this mode of the present invention:
1. the present invention adopts accelerometer to calculate the inclination angle, exists accumulated error unlike gyro, is main measurement system unlike gyro also therefore, needs GPS or accelerometer to give comments and criticisms accumulated error; Innovative point of the present invention has been abandoned positioning equipments such as GPS, electronic compass exactly, makes system configuration simplify greatly, and cost is cheaper;
2. the present invention adopts the above-mentioned formula of accelerometer to calculate the inclination angle, is not subjected to the influence of temperature drift basically, makes the accuracy at inclination angle improve greatly.
3. to adopt accelerometer be three-dimensional in the present invention, not only can calculate the angle of pitch, also can use the same method simultaneously and calculate roll angle simply, so the present invention is not only applicable to vehicle-mountedly, equally also is applicable to boat-carrying.
4. the present invention uses the algorithm of gyroscope navigation plus signal level detection feedback, has promptly reduced the requirement to the gyroscope precision, can also utilize the variation of signal level to give comments and criticisms gyrostatic accumulated error well, has guaranteed the precision that satellite antenna is aimed at.
The present invention is in Gauss Bell Co. implements, successfully develop car and boat based on aforementioned algorithm and carried satellite tv antenna, obtained good effect, this antenna has surpassed the requirement of " requirement of receiving system antenna technology and method of measurement are moved in direct broadcasting satellite " that State Administration of Radio Film and Television issues fully.This antenna adopted cheaply MEMS gyroscope and accelerometer come control antenna in the process of motion all the time accurately to satelloid, thereby greatly reduce cost, condition has been created in the development of carrying satellite television for car and boat.
Description of drawings
Fig. 1 is a circuit block diagram of the present invention.
Fig. 2 calculates correct luffing angle θ of antenna maintenance and the schematic diagram of inclination angle ρ with respect to the horizontal plane for the present invention.
Embodiment
Under the operation principle of above system instructs, various control strategy and satellite acquisition and tracking implementation method can be arranged.
A kind of dynamic tracking satellite antenna comprises orientation attitude detection, signal level detection 3 and servo system three parts; The master control servo system is a Z axial adjustment stepping motor; Orientation attitude detection part only is made up of a Z axle gyroscope 5 and accelerometer 6; Measure antenna 2 direction of motion and speed in the horizontal direction by Z axle gyroscope 5, obtain the side-play amount that antenna 2 moves in the horizontal direction; Measure antenna angle with respect to the horizontal plane by acceleration measuring, obtain or calculate the antenna current angle of pitch 1 and roll angle 7; Again with the target satellite signal level that receives as whether the basis for estimation to satelloid, control servo system by master cpu 4 and constantly adjust antenna azimuth 8, roll angle 7 and the angle of pitch 1, thereby form a close-loop feedback control system, make satellite antenna 2 satellite that aims at the mark all the time; Above-mentioned signal level detection 3 parts are changed by A/D, measure the signal level value receive, whether are used as criterion to satelloid with this.
The present invention realizes that the process of following the tracks of is:
1. after the system start-up, horizontally rotate a week earlier, find satellite, determine the azimuth, enter lock-out state according to signal level.
2. after entering lock-out state, judge carrier movement direction and deflection angle according to Z axle gyroscope 5 output valves, controlling party parallactic angle 8 is adjusted motor rotation, offset carrier deflection angle in the horizontal direction.
3. referring to accompanying drawing 2,, calculate the current time antenna tilt,, then control the angle of pitch and adjust motor rotation, make antenna remain correct luffing angle θ if change with last lock-out state inclination angle constantly by accelerometer numerical value.
θ＝arctan(α
z 2/(α
x 2+α
y 2)
-1/2)
Wherein, what accelerometer was exported is the gravity acceleration value of all directions, can calculate current antenna inclination angle ρ with respect to the horizontal plane by following formula.
ρ＝arctan(α
y 2/(α
x 2+α
z 2)
-1/2)
4. in the adjustment process, come that according to the received signal level value each is adjusted parameter constantly and finely tune, to guarantee the accuracy of antenna alignment.
Claims (2)
1. a dynamic tracking satellite antenna comprises orientation attitude detection, signal level detection and servo system three parts; It is characterized in that: the master control servo system is a Z axial adjustment stepping motor; Orientation attitude detection part only is made up of a Z axle gyroscope and accelerometer; By the Z axle gyroscope survey antenna direction of motion and speed in the horizontal direction, obtain the side-play amount that antenna moves in the horizontal direction; Measure antenna angle with respect to the horizontal plane by acceleration measuring, obtain or calculate the current angle of pitch of antenna and roll angle; Again with the target satellite signal level that receives as whether the basis for estimation to satelloid, control servo system by master cpu and constantly adjust antenna azimuth, roll angle and the angle of pitch, thereby form a close-loop feedback control system, make the satellite antenna satellite that aims at the mark all the time; Above-mentioned signal level detection part is measured the signal level value that receives by the A/D conversion, whether is used as criterion to satelloid with this.
2. dynamic tracking satellite antenna according to claim 1 is characterized in that: describedly obtain or calculate the current angle of pitch of antenna and roll angle relates to 2 algorithms:
Algorithm 1: by the error that signal level detection is constantly proofreaied and correct gyro, the output accuracy of proofreading and correct the back gyro has reached very high level, has eliminated the influence of accumulated error and temperature drift;
Algorithm 2: adopt accelerometer to calculate the angle of pitch and roll angle, do not have accumulated error, also can overcome the influence of temperature drift.
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| CN2010102756284A CN101982897A (en) | 2010-09-01 | 2010-09-01 | Dynamic tracking satellite antenna |
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| CN2010102756284A CN101982897A (en) | 2010-09-01 | 2010-09-01 | Dynamic tracking satellite antenna |
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| CN101982897A true CN101982897A (en) | 2011-03-02 |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102360231A (en) * | 2011-06-16 | 2012-02-22 | 成都西科微波通讯有限公司 | Rate gyroscope-based flexible antenna servo control system |
| CN102868029A (en) * | 2012-10-08 | 2013-01-09 | 中国电子科技集团公司第五十四研究所 | Antenna alignment method used for communication scattering in motion |
| CN103022696A (en) * | 2012-12-31 | 2013-04-03 | 海能达通信股份有限公司 | Automatic orientation antenna system, and method and device for automatic orientation of antennas |
| CN103066389A (en) * | 2012-12-29 | 2013-04-24 | 南京理工大学常熟研究院有限公司 | Ground mobile receiving driving device and anti-interference system and method |
| CN103743543A (en) * | 2013-12-20 | 2014-04-23 | 河北汉光重工有限责任公司 | Integrated navigation attitude benchmark testing tool for seeker |
| CN104216418A (en) * | 2014-08-26 | 2014-12-17 | 浙江金波电子有限公司 | Sum-difference type automatic positioning and tracking antenna system |
| CN104795633A (en) * | 2015-04-02 | 2015-07-22 | 深圳市华信天线技术有限公司 | Shipborne satellite antenna and satellite tracking method thereof |
| CN104807475A (en) * | 2015-04-14 | 2015-07-29 | 深圳市宏腾通电子有限公司 | Method for measuring zero drift values in antenna tilt angle calibration process of satellite communication in motion |
| CN105206309A (en) * | 2014-07-16 | 2015-12-30 | 上海双微导航技术有限公司 | GNSS measurement roving station configuration method and GNSS measurement roving station |
| CN106384889A (en) * | 2015-07-31 | 2017-02-08 | 中国电信股份有限公司 | Antenna adjusting device and method thereof |
| CN109547094A (en) * | 2018-12-06 | 2019-03-29 | 安徽站乾科技有限公司 | A kind of ground station tracking based on satellite communication |
| CN109728438A (en) * | 2018-12-05 | 2019-05-07 | 安徽站乾科技有限公司 | A kind of hygienic trace reception system and method for high-speed mobile |
| CN110764119A (en) * | 2019-11-07 | 2020-02-07 | 中国人民解放军火箭军工程大学 | Satellite antenna autonomous measurement and control method and system independent of satellite navigation information |
| CN112304339A (en) * | 2020-11-06 | 2021-02-02 | 迪泰（浙江）通信技术有限公司 | Inertial navigation calibration method for satellite mobile communication antenna |
| CN114235003A (en) * | 2021-11-16 | 2022-03-25 | 中国航空工业集团公司雷华电子技术研究所 | Airborne radar antenna motion parameter resolving method and attitude measurement system |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102360231A (en) * | 2011-06-16 | 2012-02-22 | 成都西科微波通讯有限公司 | Rate gyroscope-based flexible antenna servo control system |
| CN102868029A (en) * | 2012-10-08 | 2013-01-09 | 中国电子科技集团公司第五十四研究所 | Antenna alignment method used for communication scattering in motion |
| CN102868029B (en) * | 2012-10-08 | 2014-11-05 | 中国电子科技集团公司第五十四研究所 | Antenna alignment method used for communication scattering in motion |
| CN103066389A (en) * | 2012-12-29 | 2013-04-24 | 南京理工大学常熟研究院有限公司 | Ground mobile receiving driving device and anti-interference system and method |
| CN103022696A (en) * | 2012-12-31 | 2013-04-03 | 海能达通信股份有限公司 | Automatic orientation antenna system, and method and device for automatic orientation of antennas |
| CN103022696B (en) * | 2012-12-31 | 2015-06-17 | 海能达通信股份有限公司 | Automatic orientation antenna system, and method and device for automatic orientation of antennas |
| CN103743543A (en) * | 2013-12-20 | 2014-04-23 | 河北汉光重工有限责任公司 | Integrated navigation attitude benchmark testing tool for seeker |
| CN103743543B (en) * | 2013-12-20 | 2016-05-04 | 河北汉光重工有限责任公司 | Target seeker complete machine boat appearance benchmark test frock |
| CN105206309A (en) * | 2014-07-16 | 2015-12-30 | 上海双微导航技术有限公司 | GNSS measurement roving station configuration method and GNSS measurement roving station |
| CN104216418A (en) * | 2014-08-26 | 2014-12-17 | 浙江金波电子有限公司 | Sum-difference type automatic positioning and tracking antenna system |
| CN104795633A (en) * | 2015-04-02 | 2015-07-22 | 深圳市华信天线技术有限公司 | Shipborne satellite antenna and satellite tracking method thereof |
| CN104807475A (en) * | 2015-04-14 | 2015-07-29 | 深圳市宏腾通电子有限公司 | Method for measuring zero drift values in antenna tilt angle calibration process of satellite communication in motion |
| WO2016165295A1 (en) * | 2015-04-14 | 2016-10-20 | 深圳市宏腾通电子有限公司 | Zero-shift value measurement method during satellite-antenna tilt-angle calibration process in satellite communications on-the-move system |
| CN106384889A (en) * | 2015-07-31 | 2017-02-08 | 中国电信股份有限公司 | Antenna adjusting device and method thereof |
| CN109728438A (en) * | 2018-12-05 | 2019-05-07 | 安徽站乾科技有限公司 | A kind of hygienic trace reception system and method for high-speed mobile |
| CN109547094A (en) * | 2018-12-06 | 2019-03-29 | 安徽站乾科技有限公司 | A kind of ground station tracking based on satellite communication |
| CN110764119A (en) * | 2019-11-07 | 2020-02-07 | 中国人民解放军火箭军工程大学 | Satellite antenna autonomous measurement and control method and system independent of satellite navigation information |
| CN112304339A (en) * | 2020-11-06 | 2021-02-02 | 迪泰（浙江）通信技术有限公司 | Inertial navigation calibration method for satellite mobile communication antenna |
| CN114235003A (en) * | 2021-11-16 | 2022-03-25 | 中国航空工业集团公司雷华电子技术研究所 | Airborne radar antenna motion parameter resolving method and attitude measurement system |
| CN114235003B (en) * | 2021-11-16 | 2023-08-18 | 中国航空工业集团公司雷华电子技术研究所 | Solution method for motion parameters of airborne radar antenna and attitude measurement system |
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Application publication date: 20110302 |