CN102347791A - Mobile satellite communication device based on panel antenna - Google Patents
Mobile satellite communication device based on panel antenna Download PDFInfo
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- CN102347791A CN102347791A CN2011103620604A CN201110362060A CN102347791A CN 102347791 A CN102347791 A CN 102347791A CN 2011103620604 A CN2011103620604 A CN 2011103620604A CN 201110362060 A CN201110362060 A CN 201110362060A CN 102347791 A CN102347791 A CN 102347791A
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Abstract
The invention discloses a mobile satellite communication device based on a panel antenna, which is arranged on a mobile carrier. The device comprises the panel antenna, a signal acquisition unit, a signal processing unit and a servo control unit, wherein the panel antenna is used for receiving a satellite signal and dividing the satellite signal into a communication signal and a beacon tracking signal by virtue of a power divider, the communication signal is provided to user equipment, and the beacon tracking signal is fed back to a signal acquisition unit; the signal acquisition unit acquires longitude and latitude positioning information of a position where the device is in, longitude and latitude coordinate information of a satellite to be tracked by the device and posture information of the carrier; the signal processing unit is used for calculating an order angle of the panel antenna aligned to the satellite according to the information acquired by the signal acquisition unit; and the servo control unit is used for controlling the panel antenna to align the satellite according to the order angle. The device has the advantages of low profile and small mass, is advantageous to realization of conformal design with the carrier, and has the characteristics of high tracking stability, high scanning speed, high satellite alignment precision and low cost.
Description
Technical field
The present invention relates to the satellite communication technology field, particularly relate to a kind of mobile satellite communication device based on plate aerial.
Background technology
Satellite communication has the advantage that long transmission distance, coverage are not influenced by topography and geomorphology greatly; No matter high mountain, hills, great river, desert, grassland; As long as in the satellite beams coverage; All can carry out speech, data and Image Communication, and have that good communication quality, channel are stable, the error rate is low, networking mode is flexible, advantage that communication cost and communication distance have nothing to do; Thereby satellite communication becomes the main means of radio communication, the important effect of play more and more in the message transmission in modern times.Mobile satellite communication device, flexible, motor-driven, communication distance is far away, the advantage of strong security because of it has, and in dual-use field, all is that a kind of development potentiality is big, the satellite communication system of remarkable in economical benefits.
Existing vehicle-mounted mobile satellite communication technology mainly constitutes based on parabolic antenna and servo-stabilization platform.But parabolic antenna is because size is bigger, for satisfying the requirement of highway transportation limit for height 4.3m, need transform car body, cost is bigger; And,, improved requirement to a great extent to servo system because its weight is bigger.In addition; Because carrier is in motion process; Motion mode receives the influence of external environment; Having big disturbance occurs; In order to isolate disturbance in real time, the fast and stable of realizing antenna guarantees the excellent communications effect to star; This not only claimed apparatus have the quick real-time ability of processing, the control strategy of efficient stable also will be arranged.Product in the market is because of adopting comparatively traditional data processing method and control strategy; Make in the carrier moving process and to occur blocking for a long time when causing losing star with interference signal; Again the process of tracking satellite is longer; Even can't pick up satellite, can't satisfy the actual demand of quick response.Therefore, seek fast star, aligning and the tenacious tracking in the carrier moving process is the big technical barrier that present product is badly in need of solution.
Be necessary to design for this reason and aly have low section, be prone to the mobile communications device conformal, that the tenacious tracking ability is strong.
Summary of the invention
The technical problem that the present invention will solve provides a kind of mobile satellite communication device based on plate aerial, in order to solve the problems referred to above that prior art exists.
For solving the problems of the technologies described above, on the one hand, the present invention provides a kind of mobile satellite communication device based on plate aerial, is installed on the mobile vehicle, and said device comprises:
Plate aerial is used for receiving satellite signal, and through power splitter said satellite-signal is divided into signal of communication and beacon tracking signal, and wherein, said signal of communication offers subscriber equipment and uses, and said beacon tracking signal feeds back to signal acquiring unit;
Signal acquiring unit is used to receive said beacon tracking signal, and the warp, latitude locating information, the said device that obtain said device present position are wanted the attitude information of longitude, latitude coordinate information and the said carrier of tracking satellite;
Signal processing unit is used for the information obtained according to said signal acquiring unit, calculates the instruction angle that said plate aerial is aimed at said satellite;
Servo control unit is used for according to said instruction angle, controls said plate aerial and aims at said satellite.
Further, said signal acquiring unit comprises:
Beacon receiver is used to receive said beacon tracking signal;
Satellite signal receiver is used to obtain warp, the latitude locating information of said device present position;
Antenna control unit ACU is used to obtain said device and wants the longitude of tracking satellite, latitude coordinate information;
Inertial navigation is used to obtain the attitude information of said carrier.
Further, said servo control unit comprises:
Azimuth-drive motor is used to adjust the azimuth direction of said plate aerial;
Pitching motor is used to adjust the pitch orientation of said plate aerial;
Servo-driver is used for controlling the rotation of said azimuth-drive motor and pitching motor according to said instruction angle.
Further, said device also comprises:
The polarization adjuster is used under the control of said signal processing unit, adjusting the polarizing angle of said plate aerial, and itself and the polarization angle of said satellite-signal are mated.
Further, said signal processing unit comprises:
Master cpu calculates the first-order angle that said plate aerial is aimed at said satellite, and the switching controls of responsible track loop and extreme value following loop and to the control of azimuth-drive motor;
From control CPU, receive instruction from said master cpu, be responsible for control to pitching motor;
Information clearing CPU is used for gathering in real time the information of inertial navigation and satellite signal receiver, accomplishes the initialization of said device, and the feedfoward control loop that utilizes the attitude information construction system of the carrier that inertial navigation obtains.
Further, the attitude information of said carrier comprises course, pitching and the roll attitude information of said carrier.
Further, said satellite-signal is divided into signal of communication and beacon tracking signal two-way by power splitter after low noise block downconverter LNB low noise amplifies.
Further, said satellite signal receiver obtains warp, the latitude locating information of said device present position through receiving world locational system gps satellite signal or Big Dipper satellite signal.
Beneficial effect of the present invention is following:
The present invention adopts the plate aerial receiving satellite signal, has the advantage of low profile, lightweight, in practical application, need not make a large amount of modifications to carrier, helps realizing conformal design with carrier; This device adopts beacon to follow the tracks of the antenna control strategy that combines with the inertial navigation tenacious tracking under the high-speed cruising state, have follow the tracks of that stability is high, sweep speed is fast, to star precision height, characteristics that cost is low.
Description of drawings
Fig. 1 is the function treatment sketch map that information process unit adopts three CPU arrays in the embodiment of the invention;
Fig. 2 is the structural representation of a kind of mobile satellite communication device based on plate aerial in the embodiment of the invention;
Fig. 3 be in the embodiment of the invention a kind of mobile satellite communication device based on plate aerial to the star process chart;
Fig. 4 is a kind of mobile satellite communication device pitch orientation control sketch map based on plate aerial in the embodiment of the invention.
Embodiment
The invention provides a kind of mobile satellite communication device,, the present invention is further elaborated below in conjunction with accompanying drawing and embodiment based on plate aerial.Should be appreciated that specific embodiment described herein only in order to explain the present invention, does not limit the present invention.
The object of the present invention is to provide a kind of device based on real-time on the fast moving platform of plate aerial and satellite communication; This device has the characteristic of low profile, lightweight, efficient stable tracking; Possess its communication ability at a high speed simultaneously, can powerful guarantee be provided for government emergency communication, mechanism of enterprises and institutions mobile communication, security department urgency communication field.Its low profile characteristic makes it realize seamless conformal with carriers such as high ferro, rowboat, vehicles.The embodiment of the invention mainly is in vehicle carrier moving process, can realize real-time with satellite, continual communication to a kind of of vehicle-mounted mobile platform exploitation, the device that video image, voice and other data messages are transmitted.
The embodiment of the invention relates to a kind of mobile satellite communication device based on plate aerial, is installed on the mobile vehicle, and this device comprises:
Plate aerial is used for receiving satellite signal, and through power splitter said satellite-signal is divided into signal of communication and beacon tracking signal, and wherein, said signal of communication offers subscriber equipment and uses, and said beacon tracking signal feeds back to signal acquiring unit;
Signal acquiring unit is used to receive said beacon tracking signal, and the warp, latitude locating information, the said device that obtain said device present position are wanted the attitude information of longitude, latitude coordinate information and the said carrier of tracking satellite;
Signal processing unit is used for the information obtained according to said signal acquiring unit, calculates the first-order angle that said plate aerial is aimed at said satellite;
Servo control unit is used for according to said instruction angle, controls said plate aerial and aims at said satellite.
Wherein, the plate aerial physical index is 1000mm (length) * 250mm (wide) * 70mm (thick), and plate aerial can effectively reduce height of devices under the effective aperture situation identical with parabolic antenna, thereby satisfies the characteristic of low section.And the advantage with low profile, lightweight need not made a large amount of modifications to carrier in practical application, helps realizing conformal design with carrier.
The signal acquiring unit of present embodiment device comprises:
Beacon receiver is used to receive said beacon tracking signal;
Satellite signal receiver is used to obtain warp, the latitude locating information of said device present position; Satellite signal receiver can receive BD (big-dipper satellite navigation system) or GPS (Global Positioning System, global positioning system) satellite-signal positions, and confirms the geographical coordinate of device present position.
Antenna control unit (ACU, Antenna Control Unit) is used to obtain said device and wants the longitude of tracking satellite, latitude coordinate information;
Inertial navigation is used to obtain the attitude information of said carrier.Mobile vehicle owing to receive the various factors influence, driftage, pitching or roll often occur in the process of moving, so, can utilize inertial navigation to measure course, pitching and the roll attitude information of carrier.
Signal processing unit calculates the instruction angle of the said satellite of dull and stereotyped antenna alignment, and is specific as follows:
At first, calculate azimuth, the angle of pitch of antenna under the geographic coordinate system:
Geographic coordinate system OX
gY
gZ
gInitial point at the center of gravity place of vehicle carrier, OZ
gAxle is perpendicular to the earth horizontal plane, upwards for just; X
gOY
gOverlap with the earth horizontal plane through initial point; OX
gAxle points to due east; OY
gAxle points to positive north; Be called sky, northeast coordinate system again, geographic coordinate system abbreviates g system usually as.
Because the satellite of need following the tracks of is a synchronous satellite, is positioned at the terrestrial equator sky, so its latitude is zero degree, and establishing longitude is λ
s, synchronous satellite is H apart from the height on ground; The current on-site longitude of the carrier that GPS records is λ
p, latitude does
The distance in identity distance the earth's core, ground is R, then the angle of pitch EL of antenna under geographic coordinate system
gFor:
When R=6378km, following formula can be reduced to:
The azimuth AZ of antenna under geographic coordinate system
gFor:
Because the span of arc tangent is [90 °, 90 °], and azimuth AZ
gSpan be [0 °, 360 °], therefore real azimuth AZ and AZ
gRelation following:
When earth erect-position during in the Northern Hemisphere:
When earth erect-position during in the Southern Hemisphere:
Here, we azimuth and the angle of pitch of the antenna that obtains are the angle under the geographic coordinate system.
Then, the attitude information that utilizes the inertial navigation sensitivity to arrive realizes that antenna azimuth and the angle of pitch are tied to the transformation of carrier coordinate system by geographical coordinate, and the generation plate aerial is to the initial order angle of satellite.
For motion carrier, coordinate system commonly used mainly contains terrestrial coordinate system, geographic coordinate system and carrier coordinate system; Definition is as follows respectively:
1, terrestrial coordinate system OX
eY
eZ
e:
Terrestrial coordinate system OX
eY
eZ
eInitial point locate OZ in the earth's core
eThe axle directed north; X
eOT
eUnder the line in the plane, OX
eAxle points to zero meridian, OY
eAxle points to east longitude 90 degree directions.
2, geographic coordinate system OX
gY
gZ
g:
Geographic coordinate system OX
gY
gZ
gInitial point at the center of gravity place of vehicle carrier, OZ
gAxle is perpendicular to the earth horizontal plane, upwards for just; X
gOY
gOverlap with the earth horizontal plane through initial point; OX
gAxle points to due east; OY
gAxle points to positive north; Be called sky, northeast coordinate system again, geographic coordinate system abbreviates g system usually as.
3, carrier coordinate system OX
bY
bZ
b:
Carrier coordinate system OX
bY
bZ
bInitial point at carrier center of gravity place, OZ
bAxle vertical carrier plane, OY
bAxle is along carrier cephalocaudal direction and points cephalad, OX
bAxle points to the right side of carrier.
Mobile vehicle owing to receive the various factors influence, driftage, pitching or roll often occur in the process of moving, in order to confirm the angle position of carrier with respect to local geographic coordinate system, need set up carrier coordinate system, and carrier coordinate system is commonly referred to b system.
For antenna, OX
bAxle is the roll axle, OY
bAxle is a pitch axis, OZ
bAxle is an azimuth axis.
Before the instruction angle of calculating antenna; We need be transformed into carrier coordinate system with geographic coordinate system; Under the situation of course angle Ψ, pitching angle theta and the roll angle γ of known carrier, geographic coordinate system is rotated the back through three times and is overlapped with carrier coordinate system, and its process is following: geographic coordinate system is around OZ
gAxle rotation (following right-hand rule, down together) Ψ is again around OY
gAxle rotation θ is at last around OX
gRotation γ, the transition matrix that obtains being transformed into from geographic coordinate system carrier coordinate system is:
In the carrier movement process, information process unit is gathered the output information of inertial navigation and beacon receiver in real time, utilizes stabilizing ring to follow the tracks of and two kinds of strategies of extreme value following driven antenna the star angle is remained unchanged under geographic coordinate system.
To seek star and tenacious tracking ability under the motion state fast in order being implemented in, need to overcome system dynamics response delay, closed signal and problem such as disturbed.As shown in Figure 1, the information process unit of present embodiment device adopts three arm processors to constitute CPU (Central Processing Unit, central processing unit) array, and each sheet CPU is responsible for different functions.Master cpu is responsible for the realization of apparatus main body control algolithm, the first-order angle of calculating the said satellite of dull and stereotyped antenna alignment, and the switching controls of responsible track loop and extreme value following loop and to the control of azimuth-drive motor; From control CPU, receive instruction from said master cpu, be responsible for control to pitching motor; Information clearing CPU is used for gathering in real time the information of inertial navigation and satellite signal receiver, accomplishes the initial work of said device, and the feedfoward control loop that utilizes the attitude information construction system of the carrier that inertial navigation obtains.
The servo control unit of present embodiment device comprises:
Azimuth-drive motor is used to adjust the azimuth direction of said plate aerial;
Pitching motor is used to adjust the pitch orientation of said plate aerial;
Servo-driver is used for controlling the rotation of said azimuth-drive motor and pitching motor according to said instruction angle.
The present embodiment device also comprises the polarization adjuster, is used under the control of said signal processing unit, adjusting the polarizing angle of said plate aerial, makes the polarization angle coupling of itself and said satellite-signal.
Polarization of electromagnetic wave is meant the variation track of electromagnetic wave instantaneous electric field vector in the plane vertical with wave line.The direction of electric field intensity is exactly the polarization of electromagnetic wave direction.The differentiation of polarization mode also is to be differentiated by the type shape of its movement locus, mainly is to see that electric field intensity is projected in the movement locus on the plane vertical with the direction of propagation.Movement locus is that circle just is called circular polarization, and projected footprint is that straight line just is called linear polarization, and the notion essence of explanation polarization is exactly the variation pattern of electromagnetic electric field intensity in the plane vertical with the direction of propagation thus.Just at present, the domestic and regional specific satellite of China mostly adopts the linear polarization mode, and linear polarization is divided into horizontal polarization and perpendicular polarization again.
The benchmark of the polarization definition of satellite radiation polarization wave polarization and terrestrial receiving antenna is different, and the polarization definition of satellite radiation is to be benchmark with satellite axle system.The track of satellite motion is approximately round, if the round tangential direction of electric field intensity and satellite loca is consistent then be called horizontal polarization, if electric field intensity direction satellite motion trajectory plane vertical (vertical with equatorial plane) is called perpendicular polarization.
The terrestrial receiving antenna polarization is meant at the main beam axis attendes institute's electromagnetic radiation wave polarization, i.e. electric field intensity direction.For antenna system, its radiation and reception should be equipolarization, i.e. Polarization match, and certain specific antenna can only receive the incident wave of equipolarization state for this reason.
Fig. 2 is the specific embodiment that the embodiment of the invention realizes; As shown in Figure 2; Plate aerial 10 receives the satellite-signal that sees through radome; Through LNB (low noise block downconverter; Low noise block downconverter) 11 carry out the low noise amplification; Power division by power splitter 12 achieves a butt joint and collects mail number is divided into signal of communication and beacon tracking signal two-way with downward signal of satellite.Signal of communication sends user communication device 14 to through duplexer 13, serves user terminal 15.The beacon tracking signal is sought the star foundation as device, sends to beacon receiver 3.This ground warp that information process unit 4 is gathered 2 outputs of satellite-signal (BD/GPS) receiver; The satellite warp that latitude locating information and ACU5 provide; Latitude information; Calculate the azimuth of plate aerial 10 under the geographic coordinate system; The angle of pitch; Utilize the attitude information of inertial navigation 1 detected carrier then; Realize that plate aerial 10 azimuths and the angle of pitch are tied to the transformation of carrier coordinate system by geographical coordinate; Generate the initial order angle of 10 pairs of stars of plate aerial; Drive azimuth-drive motor 8 through servo-driver 6 at last; Pitching motor 7 makes the antenna alignment satellite, and makes the polarizing angle and the satellite-signal polarization angle coupling of plate aerial 10 through polarization adjuster 9.
The workflow diagram of device shown in Figure 2 as shown in Figure 3, the groundwork flow process is following:
The first step, system powers on, and at first carries out equipment self-inspection, detects whether operate as normal of each equipment, if pinpoint the problems then the prompting that gives a warning, device cuts off the critical piece power supply automatically and gets into the reparation pattern.
Second step; Information process unit receives the navigation data of BD/GPS receiver output and the attitude information that inertial navigation equipment sensitivity arrives; And calculate antenna under geographic coordinate system to the star angle; Pass through coordinate transform then; Calculate antenna to the star instruction angle; And drive motors drive antenna in orientation and pitching both direction rotation completion initially to star work, send instructions to the polarization adjuster, antenna polarization characteristics and satellite-signal polarization characteristic are complementary;
In the 3rd step, in the carrier moving process, system gathers the beacon signal intensity that the beacon receiver sensitivity arrives in real time, when signal strength signal intensity when following the tracks of threshold value, system gets into the extreme value following mode, realizes that high accuracy is to star; When signal strength signal intensity when following the tracks of threshold value, system gets into the tenacious tracking mode based on inertial navigation, realizes tentatively to star.Through the continuous periodic duty of extreme value following mode and extreme value following mode, reach and make system realize high reliability, high accuracy purpose star work.Simultaneously, under system for a long time can not the situation to satelloid, information fusion was resolved the unit and can in time be gathered the navigation data of BD/GPS and the attitude information of inertial navigation and merge, and made the device can be fast again to satelloid.
Because carrier motion of pitch orientation in motion process is violent; The inertial navigation equipment that device adopts can be exported the angular velocity of rotation of carrier in pitch orientation in real time; So adopt the feedfoward control technology in pitch orientation; In conjunction with the control adjustment technology of ring, position closed loop in the angular speed, can follow the tracks of by the fast and stable of implement device on pitch orientation.
As shown in Figure 4, the control of present embodiment device on pitch orientation is specific as follows:
The first step is calculated the pitch demand angle according to formula (1);
Second step collected the attitude information of carrier on pitch orientation in real time with inertial navigation, fed back the feedfoward control of implement device on pitch orientation as the correction at pitch demand angle;
In the 3rd step, angle and the velocity information of utilizing the device of encoder feedback on pitch orientation, to rotate constitute dicyclo PID controller, realize the control to motor speed and slewing area.
The present embodiment device adopts speed, speed closed loop and the position closed loop control of angle information construction system on pitch orientation of motor feedback; Utilize the inertial navigation feedfoward control of attitude of carrier change information construction system on pitch orientation of feedback in real time simultaneously, can effectively improve tracking accuracy, speed and the stability of device through speed closed loop, position closed loop and feedfoward control technology.
Can find out that by the foregoing description the present invention adopts the plate aerial form, have the advantage of low profile, lightweight, in practical application, need not make a large amount of modifications, help realizing conformal design with carrier to carrier; This device adopts beacon to follow the tracks of the antenna control strategy that combines with the inertial navigation tenacious tracking under the high-speed cruising state, have follow the tracks of that stability is high, sweep speed is fast, to star precision height, characteristics that cost is low; This device adopts the CPU array to constitute primary processor, and each sheet CPU bears different task, and cooperation can effectively improve response speed, strengthen real-time each other; The control method that this device adopts feedfoward control technology and the interior ring of speed, the control of position outer shroud to combine, effectively the ability of intensifier fast and stable tracking improves the stability and the real-time of tracking.This installs compatible BD and two kinds of signals of GPS, can select to use according to application scenario, user's request; This device adopts the low precision inertial navigation of Memes can effectively reduce system cost.
Although be the example purpose, the preferred embodiments of the present invention are disclosed, it also is possible those skilled in the art will recognize various improvement, increase and replacement, therefore, scope of the present invention should be not limited to the foregoing description.
Claims (8)
1. the mobile satellite communication device based on plate aerial is installed on the mobile vehicle, it is characterized in that, said device comprises:
Plate aerial is used for receiving satellite signal, and through power splitter said satellite-signal is divided into signal of communication and beacon tracking signal, and wherein, said signal of communication offers subscriber equipment and uses, and said beacon tracking signal feeds back to signal acquiring unit;
Signal acquiring unit is used to receive said beacon tracking signal, and the warp, latitude locating information, the said device that obtain said device present position are wanted the attitude information of longitude, latitude coordinate information and the said carrier of tracking satellite;
Signal processing unit is used for the information obtained according to said signal acquiring unit, calculates the instruction angle that said plate aerial is aimed at said satellite;
Servo control unit is used for according to said instruction angle, controls said plate aerial and aims at said satellite.
2. the mobile satellite communication device based on plate aerial as claimed in claim 1 is characterized in that, said signal acquiring unit comprises:
Beacon receiver is used to receive said beacon tracking signal;
Satellite signal receiver is used to obtain warp, the latitude locating information of said device present position;
Antenna control unit ACU is used to obtain said device and wants the longitude of tracking satellite, latitude coordinate information;
Inertial navigation is used to obtain the attitude information of said carrier.
3. the mobile satellite communication device based on plate aerial as claimed in claim 2 is characterized in that, said servo control unit comprises:
Azimuth-drive motor is used to adjust the azimuth direction of said plate aerial;
Pitching motor is used to adjust the pitch orientation of said plate aerial;
Servo-driver is used for controlling the rotation of said azimuth-drive motor and pitching motor according to said instruction angle.
4. like each described mobile satellite communication device of claim 1～3, it is characterized in that said device also comprises based on plate aerial:
The polarization adjuster is used under the control of said signal processing unit, adjusting the polarizing angle of said plate aerial, and itself and the polarization angle of said satellite-signal are mated.
5. the mobile satellite communication device based on plate aerial as claimed in claim 3 is characterized in that, said signal processing unit comprises:
Master cpu calculates the first-order angle that said plate aerial is aimed at said satellite, and the switching controls of responsible track loop and extreme value following loop and to the control of azimuth-drive motor;
From control CPU, receive instruction from said master cpu, be responsible for control to pitching motor;
Information clearing CPU is used for gathering in real time the information of inertial navigation and satellite signal receiver, accomplishes the initialization of said device, and the feedfoward control loop that utilizes the attitude information construction system of the carrier that inertial navigation obtains.
6. the mobile satellite communication device based on plate aerial as claimed in claim 1 or 2 is characterized in that, the attitude information of said carrier comprises the course of said carrier, pitching and roll attitude information.
7. like each described mobile satellite communication device of claim 1～5, it is characterized in that said satellite-signal is divided into signal of communication and beacon tracking signal two-way by power splitter after low noise block downconverter LNB low noise amplifies based on plate aerial.
8. the mobile satellite communication device based on plate aerial as claimed in claim 2; It is characterized in that said satellite signal receiver obtains warp, the latitude locating information of said device present position through receiving world locational system gps satellite signal or Big Dipper satellite signal.
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Application publication date: 20120208 |