CN103019259A - Automatic compensation system and compensation method of gesture of portable satellite antenna - Google Patents

Automatic compensation system and compensation method of gesture of portable satellite antenna Download PDF

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Publication number
CN103019259A
CN103019259A CN2012105246757A CN201210524675A CN103019259A CN 103019259 A CN103019259 A CN 103019259A CN 2012105246757 A CN2012105246757 A CN 2012105246757A CN 201210524675 A CN201210524675 A CN 201210524675A CN 103019259 A CN103019259 A CN 103019259A
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antenna
angle
polarization
pitch
controller
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CN2012105246757A
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CN103019259B (en
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李春
杨淳雯
魏立广
乔传豪
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Beijing AKD Information Communications Technology Co Ltd
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Beijing AKD Information Communications Technology Co Ltd
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Abstract

The invention discloses an automatic compensation system and a compensation method of gesture of a portable satellite antenna. The system comprises an antenna controller used for calculating theoretical azimuth angle, pitch angle and polarizing angle of the antenna and controlling other devices to work, a polarization transmission device used for driving the antenna to rotate in polarization mode, a polarization potentiometer used for feeding back polarization sampling, an azimuth transmission device used for driving the antenna to rotate in azimuth mode, a pitch transmission device used for driving antenna to rotate in pitching mode, a tilt angle sensor used for measuring tilt angle parameter of the antenna in real time and feeding the parameter back to the antenna controller and a global position system (GPS) used for providing satellite tracking parameter. By means of the system and the method, the pitching angle of the antenna keeps actual working direction all the time in the star finding process, polarization errors caused by terrain shapes are compensated in real time, antenna star finding speed and polarization adjustment accuracy are greatly improved, and interference to satellite communication caused by polarization errors is reduced.

Description

Portable satellite antenna attitude self compensating system and compensation method
Technical field
The present invention relates to portable satellite antenna control technology field, be specifically related to a kind of portable satellite antenna attitude self compensating system and compensation method.
Background technology
The attitude adjustment of traditional automatic control portable satellite antenna is generally according to longitude and latitude, the terrain slope situation of antenna working point, the satellite parametric reduction of working, then orientation, pitching and polarizing angle parameter when the calculating antenna is worked to living satellite forward the working position to according to this group parameter control antenna and seek star.This mode has only been considered the fore-and-aft tilt angle of antenna fore-and-aft direction, does not consider the superelevation angle of antenna left and right directions.And portable antenna in actual use, not only there is the fore-and-aft tilt angle on ground, working point, also superelevation angle may be arranged, when there is transverse pitch in antenna, the polarization position of antenna can produce relative variation, and antenna is in the rotation process of position angle, and its actual elevation angle is that size and the transverse pitch with azimuthal movement changes, and the elevation angle error that produces can cause antenna can't correctly seek star.
Summary of the invention
The technical matters that (one) will solve
The present invention is directed to the problem of the superelevation angle of not considering the antenna left and right directions that exists in the automatic adjustment of traditional portable satellite antenna attitude, can be accurately and the satellite-signal coupling at various different real works place antenna for solving, propose a kind of easy and simple to handle, adjust quick, be easy to control, high-precision satellite antenna attitude self compensating system and method.
(2) technical scheme
For addressing the above problem, the invention provides a kind of portable satellite antenna attitude self compensating system, this system comprises:
Antenna controller is used for calculating theoretical position angle, the angle of pitch and the polarizing angle of antenna, and controls other device work;
The polarization gearing links to each other with described antenna controller, is used for the driven antenna domain switching;
The polarized potential device links to each other with described antenna controller with described polarization gearing, is used for feedback polarization sampling;
Azimuth drive links to each other with described antenna controller, is used for the driven antenna azimuth rotation;
Elevating gear links to each other with described antenna controller, is used for the driven antenna pitch rotation;
Obliquity sensor links to each other with described antenna controller, azimuth drive and elevating gear, is used for measuring in real time the pitch angle parameter of antenna, and gives described antenna controller with described parameter feedback;
GPS links to each other with described antenna controller, is used for providing the Satellite Tracking parameter.
Further, described antenna controller calculates theoretical position angle, the angle of pitch and the polarizing angle of antenna by reading Satellite Tracking parameter among the described GPS.
Further, described antenna controller is by the described polarization gearing of Electric Machine Control, azimuth drive and elevating gear work.
Further, the tilt parameters of described obliquity sensor measurement comprises transverse pitch angular dimensions and fore-and-aft tilt angular dimensions.
The present invention also provides a kind of portable satellite antenna attitude automatic compensating method, may further comprise the steps:
S1, antenna controller read the Satellite Tracking parameter among the GPS, calculate theoretical position angle, the angle of pitch and the polarizing angle of antenna;
S2, described antenna controller control elevating gear driven antenna are rotated;
S3, judge whether the angle of pitch of antenna reaches theoretical value, if reach theoretical value then continue next step, if do not reach theoretical value then return step S2;
S4, described antenna controller control polarization actuator drives antenna rotate;
S5, judge whether the polarizing angle of antenna reaches theoretical value, if reach theoretical value then continue next step, if do not reach theoretical value then return step S4;
S6, described antenna controller control azimuth actuator drives antenna rotate;
S7, described antenna controller read the fore-and-aft tilt angular dimensions in the described obliquity sensor, and compare with the theoretical angle of pitch;
S8, judge whether the difference of above-mentioned fore-and-aft tilt angular dimensions and the theoretical angle of pitch exceeds predetermined threshold value, if do not exceed described predetermined threshold value then carry out next step, if exceed described predetermined threshold value then rotated by described antenna controller control elevating gear driven antenna, and return step S7;
S9, judge whether described antenna traces into satellite-signal, if trace into satellite-signal then continue next step, if do not trace into then return step S6;
S10, described antenna controller are revised the polarization parameter of antenna according to antenna transverse pitch angular dimensions, and hold the feedback of taking a sample from the sampling of polarized potential device, the control antenna polarization;
S11, judge whether described antenna reaches the work polarized state, if do not reach then return step S10.
Further, be sampled as voltage sampling described in the step S10.
(3) beneficial effect
1, the present invention reads fore-and-aft tilt angle and the transverse pitch angular data of antenna by obliquity sensor, by this group parameter, in the antenna bearingt motion its angle of pitch is compensated in real time, thereby make antenna overcome the pitch error that the landform reason is brought, control antenna is accurately sought star.
2, the present invention utilizes the transverse pitch data real-Time Compensation antenna of obliquity sensor in the polarization value of real work direction, and realizes antenna polarization and satellite-signal exact matching by DC voltage feedback closed loop controlling mechanism.
By the system and method that adopts the present invention to propose, make the pitching of antenna in seeking the star process remain the real work direction, the polarisation error that real-Time Compensation landform reason causes, greatly improved antenna and sought the speed of star and the precision of polarization modulation, reduced owing to the interference of polarisation error to satellite communication.
Description of drawings
Fig. 1 is the structural drawing of system of the present invention;
Fig. 2 is the process flow diagram of the inventive method.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used for explanation the present invention, but are not used for limiting the scope of the invention.
Fig. 1 is the structural drawing of system of the present invention, the invention provides a kind of portable satellite antenna attitude self compensating system, and this system comprises:
Antenna controller is used for calculating theoretical position angle, the angle of pitch and the polarizing angle of antenna, and controls other device work;
The polarization gearing links to each other with described antenna controller, is used for the driven antenna domain switching;
The polarized potential device links to each other with described antenna controller with described polarization gearing, is used for feedback polarization sampling;
Azimuth drive links to each other with described antenna controller, is used for the driven antenna azimuth rotation;
Elevating gear links to each other with described antenna controller, is used for the driven antenna pitch rotation;
Obliquity sensor links to each other with described antenna controller, azimuth drive and elevating gear, is used for measuring in real time the pitch angle parameter of antenna, and gives described antenna controller with described parameter feedback;
GPS links to each other with described antenna controller, is used for providing the Satellite Tracking parameter.
Further, described antenna controller calculates theoretical position angle, the angle of pitch and the polarizing angle of antenna by reading Satellite Tracking parameter among the described GPS.
Further, described antenna controller is by the described polarization gearing of Electric Machine Control, azimuth drive and elevating gear work.
Further, the tilt parameters of described obliquity sensor measurement comprises transverse pitch angular dimensions and fore-and-aft tilt angular dimensions.
Fig. 2 is the process flow diagram of the inventive method, and the present invention also provides a kind of portable satellite antenna attitude automatic compensating method, may further comprise the steps:
S1, antenna controller read the Satellite Tracking parameter among the GPS, calculate theoretical position angle, the angle of pitch and the polarizing angle of antenna;
S2, described antenna controller control elevating gear driven antenna are rotated;
S3, judge whether the angle of pitch of antenna reaches theoretical value, if reach theoretical value then continue next step, if do not reach theoretical value then return step S2;
S4, described antenna controller control polarization actuator drives antenna rotate;
S5, judge whether the polarizing angle of antenna reaches theoretical value, if reach theoretical value then continue next step, if do not reach theoretical value then return step S4;
S6, described antenna controller control azimuth actuator drives antenna rotate;
S7, described antenna controller read the fore-and-aft tilt angular dimensions in the described obliquity sensor, and compare with the theoretical angle of pitch;
S8, judge whether the difference of above-mentioned fore-and-aft tilt angular dimensions and the theoretical angle of pitch exceeds predetermined threshold value, if do not exceed described predetermined threshold value then carry out next step, if exceed described predetermined threshold value then rotated by described antenna controller control elevating gear driven antenna, and return step S7;
S9, judge whether described antenna traces into satellite-signal, if trace into satellite-signal then continue next step, if do not trace into then return step S6;
S10, described antenna controller are revised the polarization parameter of antenna according to antenna transverse pitch angular dimensions, and hold the feedback of taking a sample from the sampling of polarized potential device, the control antenna polarization;
S11, judge whether described antenna reaches the work polarized state, if do not reach then return step S10.
Further, be sampled as voltage sampling described in the step S10.
The below sets forth the present invention with embodiment:
The principle of work of portable satellite antenna attitude real-Time Compensation is: antenna powers up, after initialization begins, antenna controller is read the Satellite Tracking parameter that stores in the chip, reads the geographical longitude and latitude of earth station by the GPS receiver, calculates antenna azimuth, the angle of pitch and polarizing angle according to above-mentioned parameter.Antenna controller control antenna polarization actuator drives antenna polarization turns to operating angle, lifts the work elevation angle on the control elevating gear driven antenna reflecting surface.
Lift in the process on the antenna reflective face, the fore-and-aft tilt angle real-time change of obliquity sensor, antenna controller reads this parameter from obliquity sensor in real time, and is converted into the actual angle of pitch of antenna reflective face, by contrasting with above-mentioned calculating pitch angle data, until antenna elevation angle arrives the theoretical work position.
Antenna controller control azimuth actuator drives antenna-reflected is moved towards the theoretical work position, in motion process, because there is superelevation angle in antenna, the movement locus of antenna reflective face is not level but tilts, so the fore-and-aft tilt parameter of obliquity sensor changes along with azimuthal variation.The angle of the superelevation angle that the elevation angle of antenna controller control antenna is transmitted according to obliquity sensor and orientation motion, adopt the mode of stepping relatively to adjust in real time, control system reads obliquity sensor fore-and-aft tilt angular dimensions in real time, and compare with the theoretical elevation angle, when the difference when between the two surpasses system's expectation threshold value, the control system then control antenna elevation angle is adjusted in the thresholding, and antenna elevation angle is in the work elevation coverage all the time.
Antenna bearingt moves to the working position, and after antenna tracking system captured the work satellite, antenna entered the careful adjusting stage of attitude, and control system takes a cover to seek star control strategy control antenna orientation, pitching, makes antenna accurately to satelloid.
After the antenna fine setting is finished and is sought star, control system is revised the antenna polarization parameter according to antenna transverse pitch data, and the polarization of control antenna polarization gearing rotary antenna, control system is carried out the voltage sampling feedback from polarized potential device sampling end, thus final control antenna polarization.
The above only is preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the technology of the present invention principle; can also make some improvement and replacement, these improvement and replacement also should be considered as protection scope of the present invention.

Claims (6)

1. a portable satellite antenna attitude self compensating system is characterized in that, this system comprises:
Antenna controller is used for calculating theoretical position angle, the angle of pitch and the polarizing angle of antenna, and controls other device work;
The polarization gearing links to each other with described antenna controller, is used for the driven antenna domain switching;
The polarized potential device links to each other with described antenna controller with described polarization gearing, is used for feedback polarization sampling;
Azimuth drive links to each other with described antenna controller, is used for the driven antenna azimuth rotation;
Elevating gear links to each other with described antenna controller, is used for the driven antenna pitch rotation;
Obliquity sensor links to each other with described antenna controller, azimuth drive and elevating gear, is used for measuring in real time the pitch angle parameter of antenna, and gives described antenna controller with described parameter feedback;
GPS links to each other with described antenna controller, is used for providing the Satellite Tracking parameter.
2. the system as claimed in claim 1 is characterized in that, described antenna controller calculates theoretical position angle, the angle of pitch and the polarizing angle of antenna by reading Satellite Tracking parameter among the described GPS.
3. the system as claimed in claim 1 is characterized in that, described antenna controller is by the described polarization gearing of Electric Machine Control, azimuth drive and elevating gear work.
4. the system as claimed in claim 1 is characterized in that, the tilt parameters that described obliquity sensor is measured comprises transverse pitch angular dimensions and fore-and-aft tilt angular dimensions.
5. a portable satellite antenna attitude automatic compensating method is characterized in that, may further comprise the steps:
S1, antenna controller read the Satellite Tracking parameter among the GPS, calculate theoretical position angle, the angle of pitch and the polarizing angle of antenna;
S2, described antenna controller control elevating gear driven antenna are rotated;
S3, judge whether the angle of pitch of antenna reaches theoretical value, if reach theoretical value then continue next step, if do not reach theoretical value then return step S2;
S4, described antenna controller control polarization actuator drives antenna rotate;
S5, judge whether the polarizing angle of antenna reaches theoretical value, if reach theoretical value then continue next step, if do not reach theoretical value then return step S4;
S6, described antenna controller control azimuth actuator drives antenna rotate;
S7, described antenna controller read the fore-and-aft tilt angular dimensions in the described obliquity sensor, and compare with the theoretical angle of pitch;
S8, judge whether the difference of above-mentioned fore-and-aft tilt angular dimensions and the theoretical angle of pitch exceeds predetermined threshold value, if do not exceed described predetermined threshold value then carry out next step, if exceed described predetermined threshold value then rotated by described antenna controller control elevating gear driven antenna, and return step S7;
S9, judge whether described antenna traces into satellite-signal, if trace into satellite-signal then continue next step, if do not trace into then return step S6;
S10, described antenna controller are revised the polarization parameter of antenna according to antenna transverse pitch angular dimensions, and hold the feedback of taking a sample from the sampling of polarized potential device, the control antenna polarization;
S11, judge whether described antenna reaches the work polarized state, if do not reach then return step S10.
6. method as claimed in claim 5 is characterized in that, is sampled as voltage sampling described in the step S10.
CN201210524675.7A 2012-12-07 2012-12-07 Automatic compensation system and compensation method of gesture of portable satellite antenna Active CN103019259B (en)

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Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103633417A (en) * 2013-11-08 2014-03-12 中国电子科技集团公司第三十九研究所 Airborne antenna high-precision pointing tracking method based on strapdown flight attitude stability tracking
CN104167606A (en) * 2014-08-15 2014-11-26 西南交通大学 Millimeter wave antenna centering control system
CN104932548A (en) * 2015-05-29 2015-09-23 北京航空航天大学 Unmanned aerial vehicle directional antenna self-tracking system design method
CN105045298A (en) * 2015-08-04 2015-11-11 北京航天控制仪器研究所 Communication-in-moving antenna tracking control method based on inertial navigation system measurement lagging
CN104681986B (en) * 2015-02-16 2017-05-17 南京中网卫星通信股份有限公司 Satellite finding method of satellite antenna in inclined state
CN107946768A (en) * 2017-11-15 2018-04-20 北京华力创通科技股份有限公司 Automatically to star method, apparatus and satellite antenna system
CN108234015A (en) * 2017-12-29 2018-06-29 南京云清普为通信科技有限公司 A kind of efficient satellite-finding device
CN108259080A (en) * 2017-12-29 2018-07-06 南京云清普为通信科技有限公司 A kind of efficient star searching system
CN108599833A (en) * 2017-12-29 2018-09-28 南京云清普为通信科技有限公司 A kind of efficient method for searching star
CN108681266A (en) * 2018-04-26 2018-10-19 安徽博微长安电子有限公司 The pinpoint disturbance rejection method of big front antenna
CN111045457A (en) * 2019-12-25 2020-04-21 长沙天仪空间科技研究院有限公司 Optical axis direction adjusting method based on satellite-borne remote sensing instrument
CN112461199A (en) * 2020-11-13 2021-03-09 恒鸿达科技有限公司 Antenna attitude detection method and terminal based on NBIoT
CN113300106A (en) * 2021-06-08 2021-08-24 中国电子科技集团公司第五十四研究所 Two-axis antenna overhead method
CN114447609A (en) * 2022-04-11 2022-05-06 天津讯联科技有限公司 Large antenna digital guiding device with dynamic compensation and digital guiding method thereof
CN114660533A (en) * 2022-04-08 2022-06-24 北京爱科迪通信技术股份有限公司 Automatic satellite station tracking method, device and storage medium
CN115360516A (en) * 2022-10-19 2022-11-18 南京中网卫星通信股份有限公司 Satellite searching control method of satellite antenna in inclined state
CN115987371A (en) * 2022-12-05 2023-04-18 迪泰(浙江)通信技术有限公司 Satellite loss identification method and device for satellite mobile terminal antenna
CN116722361A (en) * 2023-07-18 2023-09-08 中国船舶集团有限公司第七二三研究所 Antenna polarization stabilizing device and method under swinging platform

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JP2011094690A (en) * 2009-10-29 2011-05-12 Japan Radio Co Ltd Vibration control apparatus
CN101893902A (en) * 2010-07-07 2010-11-24 北京爱科迪信息通讯技术有限公司 Satellite antenna control system and satellite finding method
CN101916118A (en) * 2010-07-13 2010-12-15 北京爱科迪信息通讯技术有限公司 Method and system for seeking stars by using satellite antenna
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Cited By (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103633417A (en) * 2013-11-08 2014-03-12 中国电子科技集团公司第三十九研究所 Airborne antenna high-precision pointing tracking method based on strapdown flight attitude stability tracking
CN104167606A (en) * 2014-08-15 2014-11-26 西南交通大学 Millimeter wave antenna centering control system
CN104167606B (en) * 2014-08-15 2017-02-08 西南交通大学 Millimeter wave antenna centering control system
CN104681986B (en) * 2015-02-16 2017-05-17 南京中网卫星通信股份有限公司 Satellite finding method of satellite antenna in inclined state
CN104932548A (en) * 2015-05-29 2015-09-23 北京航空航天大学 Unmanned aerial vehicle directional antenna self-tracking system design method
CN104932548B (en) * 2015-05-29 2017-11-21 北京航空航天大学 A kind of unmanned plane directional aerial autotracking systems design method
CN105045298A (en) * 2015-08-04 2015-11-11 北京航天控制仪器研究所 Communication-in-moving antenna tracking control method based on inertial navigation system measurement lagging
CN105045298B (en) * 2015-08-04 2017-11-07 北京航天控制仪器研究所 A kind of antenna for satellite communication in motion tracking and controlling method based on inertial navigation system Measurement delay
CN107946768A (en) * 2017-11-15 2018-04-20 北京华力创通科技股份有限公司 Automatically to star method, apparatus and satellite antenna system
CN108234015A (en) * 2017-12-29 2018-06-29 南京云清普为通信科技有限公司 A kind of efficient satellite-finding device
CN108259080A (en) * 2017-12-29 2018-07-06 南京云清普为通信科技有限公司 A kind of efficient star searching system
CN108599833A (en) * 2017-12-29 2018-09-28 南京云清普为通信科技有限公司 A kind of efficient method for searching star
CN108681266A (en) * 2018-04-26 2018-10-19 安徽博微长安电子有限公司 The pinpoint disturbance rejection method of big front antenna
CN111045457A (en) * 2019-12-25 2020-04-21 长沙天仪空间科技研究院有限公司 Optical axis direction adjusting method based on satellite-borne remote sensing instrument
CN111045457B (en) * 2019-12-25 2023-08-22 长沙天仪空间科技研究院有限公司 Optical axis pointing adjustment method based on satellite-borne remote sensing instrument
CN112461199B (en) * 2020-11-13 2023-02-14 恒鸿达科技有限公司 NBIoT-based antenna attitude detection method and terminal
CN112461199A (en) * 2020-11-13 2021-03-09 恒鸿达科技有限公司 Antenna attitude detection method and terminal based on NBIoT
CN113300106A (en) * 2021-06-08 2021-08-24 中国电子科技集团公司第五十四研究所 Two-axis antenna overhead method
CN113300106B (en) * 2021-06-08 2022-07-01 中国电子科技集团公司第五十四研究所 Two-axis antenna over-top method
CN114660533A (en) * 2022-04-08 2022-06-24 北京爱科迪通信技术股份有限公司 Automatic satellite station tracking method, device and storage medium
CN114447609A (en) * 2022-04-11 2022-05-06 天津讯联科技有限公司 Large antenna digital guiding device with dynamic compensation and digital guiding method thereof
CN115360516A (en) * 2022-10-19 2022-11-18 南京中网卫星通信股份有限公司 Satellite searching control method of satellite antenna in inclined state
CN115360516B (en) * 2022-10-19 2023-01-24 南京中网卫星通信股份有限公司 Satellite searching control method of satellite antenna in inclined state
CN115987371A (en) * 2022-12-05 2023-04-18 迪泰(浙江)通信技术有限公司 Satellite loss identification method and device for satellite mobile terminal antenna
CN115987371B (en) * 2022-12-05 2023-12-05 迪泰(浙江)通信技术有限公司 Satellite loss identification method and device for satellite mobile terminal antenna
CN116722361A (en) * 2023-07-18 2023-09-08 中国船舶集团有限公司第七二三研究所 Antenna polarization stabilizing device and method under swinging platform
CN116722361B (en) * 2023-07-18 2023-12-19 中国船舶集团有限公司第七二三研究所 Antenna polarization stabilizing device and method under swinging platform

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