CN103606738B - A satellite antenna and a control method on a mobile carrier for - Google Patents

A satellite antenna and a control method on a mobile carrier for Download PDF

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CN103606738B
CN103606738B CN201310576408.9A CN201310576408A CN103606738B CN 103606738 B CN103606738 B CN 103606738B CN 201310576408 A CN201310576408 A CN 201310576408A CN 103606738 B CN103606738 B CN 103606738B
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sensor
arm
antenna
circuit board
roll
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CN201310576408.9A
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CN103606738A (en
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田懂勋
郑伟军
陈金琴
王旭辉
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浙江中星光电子科技有限公司
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Abstract

本发明提供了一种用于移动载体上的卫星天线及其控制方法,属于卫星天线技术领域。 The present invention provides a satellite antenna and a control method for a moving support, technical field belonging to the satellite antenna. 它解决了现有的用于移动载体的卫星天线在初始化搜索前存在误差的问题。 It solves the problem of the conventional antenna for mobile satellite carrier error exists before initiating the search. 本用于移动载体上的卫星天线,包括天线本体、主控电路板和GPS接收器,主控电路板算出卫星天线理论仰角,还包括一个横滚臂,横滚臂能绕铰接点摆动并由驱动机构二驱动,横滚臂一端设有支架臂一,横滚臂的另一端设有支架臂二,天线本体与支架臂一和支架臂二固连,支架臂二上设有传感器板,在支架臂二上还设有定位驱动机构。 This satellite antenna on a moving carrier, comprising an antenna body, a main control circuit board and the GPS receiver, calculates the control circuit board satellite antenna theory elevation arm further comprising a roll, the roll arm is swung about the hinge point by two driving means, one end of the roll arm is provided with a holder arm, the other end of the roll arm is provided with two bracket arms, the antenna body and a holder arm and two holder arm is fixedly connected to a sensor on the titanium plate holder arm, in the holder arm is also provided with two positioning drive mechanism. 本用于移动载体的卫星天线在初始化搜索前能够消除误差使卫星天线的基准平面在初始化搜索前保持水平状态。 This satellite antenna for a mobile carrier before initiating searches to eliminate the error of satellite antenna remain horizontal reference plane before the search is initiated.

Description

一种用于移动载体上的卫星天线及其控制方法 A satellite antenna and a control method on a mobile carrier for

技术领域 FIELD

[0001] 本发明属于卫星天线技术领域,涉及一种移动载体上的卫星天线及其控制方法。 [0001] The present invention belongs to the technical field of satellite antenna, the satellite antenna and relates to a control method for a mobile on a support.

背景技术 Background technique

[0002] 移动载体上的卫星天线与地面固定天线的最大区别在于天线的载体是一个移动摇摆的载体,比如用于船上的卫星天线,需要稳定的天线平台来隔离船体的摇摆,实现天线在运动中的姿态稳定,并在姿态稳定的基础上,在移动过程中跟踪和对准卫星。 [0002] The biggest difference between the satellite antenna on a moving carrier and that the carrier is fixed antenna ground antennas is a swinging movement of the carrier, for example, on board a satellite antenna, the antenna needs a stable platform to swing isolate the hull, to implement an antenna in the moving the attitude stabilization and a stable posture on the basis of the track during movement and alignment of the satellite.

[0003] 传统的船用卫星天线通常采用机械平台来隔离载体的扰动,采用步进跟踪方式使天线波速逐步对准卫星。 [0003] Traditional marine satellite antennas are usually employed to isolate mechanical disturbance internet carrier, the stepping velocity gradually tracking mode the antenna pointing at the satellites. 因此,船用卫星天线系统的关键技术在于设计一种稳定的基准平台,使天线维持在一个相对平稳的工作环境。 Therefore, the key technology for marine satellite antenna system is to design a stable reference platform, the antenna is maintained at a relatively stable working environment. 能否很好地隔离载体的运动对天线接收角度的调整有直接重要的影响。 How well the motion vector isolated directly important influence on the adjustment of the angle of the reception antenna.

[0004] 除了上述采用一个稳定基准平台的技术发展方向外,另一个技术方向是不设稳定平台,而是实时检测载体的运动,然后控制天线作反向补偿运动,最终保持天线指向。 [0004] In addition to the use of a stable reference platform technology development, another technical direction is no stable platform, but real-time detection of motion vector, and then reverse compensation movement for controlling the antenna, antenna pointing final hold. 设置在移动载体上的传感器会直接检测移动载体的运动情况进而反向补偿给卫星天线,但是在卫星天线刚刚启动时,由于卫星天线初始状态不确定,卫星天线并不能以水平状态进行初始化设置,因此还是会存在误差,同时传感器对载体运动的检测会逐渐积累误差。 Sensor is provided on a moving carrier may directly detect movement of the moving carrier and thus reverse the compensation to the satellite antenna, but just started when the satellite antenna, the satellite antenna since the initial state of uncertainty, and can not be initialized satellite antenna arranged in a horizontal state, Therefore errors will still exist, while the sensor for detecting the motion vector error will gradually accumulate.

[0005] 关于仰角、横滚角和方位角,一般定义载体的右、前、上三个方向构成右手系,绕向前的轴旋转就是横滚角,绕向右的轴旋转就是仰角,绕向上的轴旋转就是方位角,横滚角、仰角、方位角组成了天线的三轴。 [0005] For elevation, roll and yaw angles, the right carrier general definition, the first, the three constituting right-handed direction, around the axis of rotation is forward roll angle, about the axis of rotation is right elevation about axis direction is the azimuth, roll angle, elevation, azimuth form the three-axis antenna.

发明内容 SUMMARY

[0006] 本发明针对现有的技术存在上述问题,提出了一种用于移动载体的卫星天线及其控制方法,其所要解决的技术问题是:用于移动载体的卫星天线如何在初始化搜索前消除误差使卫星天线的基准平面在初始化搜索前保持水平状态。 [0006] The present invention is for the presence of the above-described prior art problems, a satellite antenna and a control method for the moving carrier, it is the technical problem to be solved: how the search is initiated before the satellite antenna for a mobile carrier in eliminate the error of the satellite antenna so that the reference plane kept horizontal state before the search is initiated.

[0007] 本发明通过下列技术方案来实现:一种用于移动载体上的卫星天线,包括圆锅状的天线本体、主控电路板和固定在天线本体上与主控电路板连接的GPS接收器,主控电路板接收GPS接收器的坐标信号并算出卫星天线理论仰角,其特征在于,本卫星天线还包括一个能够调节天线本体横滚角的横滚臂,所述的横滚臂能绕铰接点摆动并由驱动机构二驱动,在所述横滚臂一端设有与横滚臂垂直设置的支架臂一并且由驱动机构三驱动支架臂一上下摆动,所述的横滚臂的另一端设有与横滚臂转动连接的支架臂二,上述的天线本体与所述的支架臂一和支架臂二固连,在所述的支架臂二上设有与支架臂二转动连接的传感器板,在支架臂二上还设有在初始化搜索前驱动传感器板转动使传感器板与天线本体轴线形成上述卫星天线理论仰角并将传感器板定位在支架臂二上 [0007] The present invention is achieved by the following technical solutions: A satellite antenna on a moving carrier, comprising a pot-shaped circular antenna body, and the main control circuit board is fixed to the main antenna body and a circuit board connected to a GPS receiver , a main control circuit board receiver receives the GPS signals and calculates the coordinates of the satellite antenna theory elevation, characterized in that this further comprises a satellite antenna capable of adjusting the roll of the antenna body roll angle of the arm, the arm can rotate about the roll pivot hinge point by driving the second drive mechanism is provided with a roll holder arm vertically disposed at the arm end of the arm a roll by a drive mechanism and the swing arm bracket a three drives up and down the other end of the roll arm roll holder arm is provided with two connection arm rotates said antenna body and said holder and a holder arm two arms is fixedly connected to the holder arm is provided with two sensor plate rotatably connected to the bracket arm in two , the holder arm is provided with two further drive the sensor plate in front of the sensor initialization search rotation axis of the body plate is formed with the antenna elevation angle of said satellite antenna theory and the sensor plate is positioned on the two bracket arms 定位驱动机构。 Positioning drive mechanism.

[0008] 在上述的用于移动载体上的卫星天线中,在所述传感器板上设有与主控电路板连接用于检测传感器板是否处于水平状态的倾角传感器,所述的主控电路板根据倾角传感器信号控制上述的驱动机构二和驱动机构三使传感器板处于水平状态后进行初始化搜索。 [0008] In the satellite antenna for moving carrier, the sensor plate is provided with a tilt sensor for detecting a main circuit board sensor board is in a horizontal state, the main control circuit board after three search initialize the sensor plate is horizontal tilt sensor signal for controlling the drive mechanism and a drive mechanism according to two.

[0009] 本卫星天线可用于移动载体上,如车辆、船只上。 [0009] present satellite antenna may be used for moving the carrier, such as a vehicle, vessel. 由于车辆船只在行驶过程中颠簸摇摆,在进行初始化搜索前本卫星天线先行进行水平状态调整。 As the vehicle bumps boats rocking in the process of moving, executing the first satellite antenna for horizontal adjustment prior to initialization state search. 由于天线本体固定在支架臂一和支架臂二,因此驱动机构三驱动支架臂一转动时能够驱动天线本体上下摆动即能够调节天线本体的仰角;并且支架臂一和支架臂二都固定在横滚臂两端,因此转动横滚臂能带动天线本体转动,即能够调节天线本体的横滚角。 Since the antenna main body is fixed to a holder arm and two holder arms, the antenna body can be swung up and down the drive carriage arm rotates a driving mechanism that is three capable of adjusting the elevation angle of the antenna body; and a holder arm and are fixed to two holder arm roll ends of the arms, the arms can thus roll rotatably driven antenna body is rotated, i.e., capable of adjusting the roll angle of the antenna body. 本卫星天线具体调整如下:卫星天线启动后主控电路板先根据倾角传感器检测的信号控制驱动机构二驱动横滚臂绕铰接点摆动,即先调整天线本体的横滚角,使横滚臂处于水平状态,然后控制定位驱动机构驱动传感器板转动使传感器板与天线本体轴线形成上述卫星天线理论仰角并将传感器板定位,而此状态下的传感器板处于非水平状态,因此主控电路板通过倾角传感器控制驱动机构三使传感器板处于水平状态,其传感器板调整方式是通过驱动机构三驱动支架臂一转动从而带动天线本体,再由天线本体带动支架臂二转动,而传感器板是通过定位驱动机构定位在支架臂二上的,因此,传感器板也随支架臂二的转动而转动,通过这种方式实现对传感器板的水平调整,在传感器板调水平的同时由于是驱动机构二和驱动机构三驱动的,因此天线本体也能够调整 This particular satellite antenna adjusted as follows: After starting the satellite antenna to the circuit board main roll driving arm about the hinge point signal controls the drive means according to two inclination sensor for detecting the wobble, i.e. to adjust the antenna body roll angle of the arm in roll a horizontal state, and then controls the positioning drive mechanism rotates the sensor plate and the sensor plate forming the antenna body axis and the elevation angle of the satellite antenna theory positioning sensor plate and the sensor plate in this state is in a non-horizontal state, and therefore master control circuit board by dip sensor controls the drive mechanism three sensor plate is in a horizontal state, the sensor plate adjustment is through three driving bracket arm drive mechanism a rotation so as to drive the antenna main body, and then drive the antenna body two rotating support arm, and the sensor plate are positioning drive mechanism positioned on the two arms of the bracket, and therefore, the sensor plate also rotates with two carrier arms is rotated to achieve the level adjustment of the sensor plate in this way, while the sensor plate is due to the leveling of the drive mechanism and the drive mechanism three two driven, so that the antenna main body can be adjusted 到初始仰角状态,从而消除了载体不平衡造成的影响。 Elevation to the initial state, thereby eliminating the influence of carrier imbalance. 其后,卫星天线进行初始化搜索并建立通讯信号,期间,主控电路板实时控制驱动机构二和驱动机构三使传感器板处于水平状态,保证了卫星天线保持在水平状态调整天线仰角的要求。 Thereafter, the satellite antenna to initialize search and establishing a communication signal, during which the main control board real-time control and a drive mechanism driving mechanism two three sensor plate in a horizontal state, to ensure that the satellite antenna to adjust the antenna in a horizontal state maintained elevation requirements.

[0010] 在上述的用于移动载体上的卫星天线中,所述的定位驱动机构包括步进电机和连接在横滚臂端面上的阻挡件,所述支架臂二上设有驱动传感器板转动的传动结构,传动结构与步进电机连接,在传感器板上设有限位开关和用于检测传感器板水平状态的倾角传感器,所述的阻挡件位于限位开关移动时所经过的路径上,限位开关、倾角传感器和步进电机均与上述的主控电路板连接,所述的主控电路板在卫星天线启动后控制步进电机转动至碰触限位开关并在接收到限位开关输送的定位信号时控制步进电机反转主控电路板内预设角度后再继续转动上述的卫星天线理论仰角。 [0010] In the satellite antenna on a moving carrier, said positioning mechanism includes a stepping motor and a drive member connected to the end surface of the barrier arm roll, the holder arm is provided with a drive plate is rotated on the second sensor transmission structure, and the structure of the stepping motor connected to the drive, with the limit switch sensor and a tilt sensor detecting a horizontal state plate sensor plate, said barrier member located on the path through which movement of the limit switch, limit switches, tilt sensors, and stepper motors are connected to the main control circuit board, the main circuit board of the satellite antenna in the start control to touch the stepping motor is rotated and the limit switch limit switch receiving conveyor controlling the stepper motor reversal predetermined angle control circuit board before continuing rotation of the elevation of the satellite positioning signal antenna theory.

[0011] 预设角度是根据阻挡件和天线本体的轴线之间的机械位置关系所定的,是限位开关碰触到阻挡件时,天线本体的轴线和传感器板的夹角,该角度在阻挡件连接在横滚臂上就已确定。 [0011] The predetermined angle is based on the positional relationship between the mechanical axis of the stopper member and the antenna body is predetermined, when touching the stopper member, the angle between the axis of the antenna body and the sensor plate limit switch, the angle barrier connecting member in the roll arm had been identified. 在初始化搜索前,步进电机驱动传感器板上的限位开关向阻挡件移动并在碰触阻挡件时,步进电机反向转动预设角度,此时相当于传感器板与天线本体的轴线处于平行状态,而步进电机不间断地继续控制传感器板转动卫星天线理论仰角,卫星天线理论仰角是以水平面为基准计算的,因此,传感器板继续转动一个卫星天线理论仰角,相当于天线本体的轴线与传感器板夹角为卫星天线理论仰角,这样,传感器板就可以成为一个基准面,调整传感器板的水平状态就相应的调节天线本体的初始仰角状态,利于卫星天线锁定目标卫星。 Before the search is initiated, the stepping motor driving the limit switch on the sensor plate and the blocking member is moved to touch the blocking member, reverse rotation of the stepping motor a predetermined angle, this case corresponds to the axis of the sensor plate and the body at the antenna parallel state, and controlling the stepper motor continues uninterrupted rotation of the sensor plate theory satellite antenna elevation angle, the elevation angle satellite antenna theory is calculated on the basis of the horizontal plane, and therefore, the sensor plate continues to rotate a satellite antenna theory elevation, corresponding to the axis of the antenna body the angle between the sensor plate as the elevation angle satellite antenna theory, this sensor plate can become a reference plane, to adjust the horizontal sensor plate corresponding to the initial state of the elevation adjustment of the antenna body, is conducive to satellite antenna targeted satellite.

[0012] 阻挡件可以是螺钉、销轴、螺栓、凸块等,只要能够触动限位开关即可。 [0012] The barrier member may be a screw, pin, bolt, bumps, as long as the limit switch to be able to touch. 主控电路板内预设有设定值,在主控电路板接收到限位开关的信号后就控制步进电机反向转动一定角度,步进电机通过传动机构驱动传感器板转动,使传感器板与天线轴线的夹角成理论仰角值,之后,主控电路板对倾角传感器进行检测,最终根据检测结果,通过驱动机构三将传感器板调整至水平状态,此时卫星天线即进入初始仰角状态。 The main control circuit board have a predetermined set value, the main control circuit board of the limit switch signal is received after the reverse rotation of the stepping motor control angle, the stepping motor is rotated by the drive gear sensor plate, the sensor plate the angle between the axis of the antenna and the theoretical elevation values, then, the main control circuit board of the tilt sensor is detected, the final detection result, adjusting the drive mechanism by the sensor board into three horizontal state, i.e., the satellite antenna at this time into the initial state of the elevation angle. 在上述的用于移动载体上的卫星天线中,所述预设角度为15°〜60°。 In the satellite antenna on a moving carrier, said predetermined angle is 15 ° ~60 °. 预设角度大于60°,传感器板的调整时间长不利于快速反应,而预设角度小于15°则会造成较多的误碰触,因此在15°和60°之间最为合适。 Predetermined angle greater than 60 °, to adjust the time length of the sensor plate is not conducive to rapid response, and the predetermined angle of less than 15 ° will result in more erroneous touch, so the most appropriate between 15 ° and 60 °.

[0013] 作为定夹角的优选,在上述的用于移动载体上的卫星天线中,所述的预设角度为30°。 [0013] As the angle is preferably set in the above satellite antenna for a mobile carrier, said predetermined angle is 30 °. 30°不仅能够减少误碰撞也能够有利于快速调整,并且该角度位置能够适合限位开关安装。 30 ° not only possible to reduce the collision can be mistaken facilitate quick adjustment, and this angular position can be suitably mounted limit switches.

[0014] 在上述的用于移动载体上的卫星天线中,所述的传动结构包括通过轴承一与支架臂二连接的调节齿盘,所述支架臂二通过轴承二与上述的横滚臂连接,轴承一和轴承二处于同一直线上,上述的传感器板固定在调节齿盘侧面上且传感器板与调节齿盘垂直,所述的步进电机设置在支架臂二的内侧,调节齿盘设置在支架臂二的外侧,步进电机的转轴穿过支架臂二并在转轴上固连有主动轮,主动轮和调节齿盘之间通过皮带连接。 [0014] In the satellite antenna on a moving carrier, said transmission structure comprises a bearing by adjusting a toothed disc connected with the two carrier arms, the holder arm is connected to the two arms of the roll bearings by two , and a bearing two bearings on the same line, the above-mentioned sensor plate is fixed to the adjusting plate and the sensor side spur gear and the vertical adjustment plate, the stepping motor is provided inside the two arms of the bracket, adjustable toothed disc provided two outer holder arm, the rotating shaft of the stepping motor through the bracket and two arms fixed to the rotating shaft connected with a driving wheel, connected by a belt between the drive wheel and the regulation chainring. 步进电机带动主动轮转动,主动轮通过皮带带动调节齿盘转动,调节齿盘与支架臂二转动连接,因此调节齿盘可带动传感器板相对于横滚臂转动。 Rotation of the stepping motor drives the driving wheel, driven by a belt driving wheel disk rotation adjusting gear to adjust tooth plate and two carrier arms is rotatably connected, therefore, the adjustment can be driven toothed disc plate relative to the roll sensor arm rotates.

[0015] 作为定位驱动机构的另一种方案,在上述的用于移动载体上的卫星天线中,所述的定位驱动机构包括步进电机和固定在横滚臂端面上的永磁体,传感器板转动连接在支架臂二上,在所述支架臂二上设有驱动传感器板转动的传动结构,传动结构与步进电机连接,在传感器板上设有霍尔传感器,所述的永磁铁位于霍尔传感器移动时所经过的路径上,霍尔传感器和步进电机均与上述的主控电路板连接,所述的主控电路板在接收到霍尔传感器输送的定位信号后控制步进电机转动预设的角度。 [0015] As another embodiment of the positioning drive mechanism, in the satellite antenna on a moving carrier, said positioning means comprises a stepper motor driving the permanent magnet and the end face of the fixed arm roll, the sensor board rotatably connected to the two carrier arms, the drive transmission mechanism is provided with a sensor plate rotatably on the support arm in two, and the transmission structure connected to the stepping motor, a sensor plate is provided with Hall sensors, the permanent magnet is located Hall after moving on the path through which the sensor Seoul, Hall sensors, and stepper motors are connected to the main control circuit board, the main control circuit board is received in the positioning of the Hall sensor signals to control the stepper motor to rotate the delivery preset angle.

[0016] 作为传动结构的另一种方案,在上述的用于移动载体上的卫星天线中,所述的传动结构包括与步进电机转轴连接的蜗杆和与蜗杆啮合的蜗轮,步进电机固定在支架臂二上,蜗轮通过轴承一与支架臂二连接,所述支架臂二通过轴承二与上述的横滚臂连接,轴承一和轴承二处于同一直线上,上述的传感器板固定在蜗轮的侧壁上。 [0016] As an alternative the worm gear structure, in the antenna for mobile satellite carrier, the worm gear structure includes a stepping motor connected to the shaft and meshing with the worm, the stepping motor is fixed on the two carrier arms, the worm wheel through a bearing and a second connecting arm holder, the holder arm is connected to the two arms of the roll by two bearings, and a bearing two bearings on the same line, the above-mentioned sensor plate is fixed to the worm wheel on the side wall. 通过蜗轮蜗杆驱动传感器板转动,而蜗轮蜗杆在停止转动时能够进行自锁,使传感器板定位。 By driving the sensor plate is rotated the worm, the worm can be stopped when the self-locking, so that the sensor plate is positioned.

[0017] 定位驱动机构除了上述的方案外,只要步进电机驱动传感器板在支架臂二上摆动的多种机械结构都是可行的,如链条、连杆机构等。 [0017] In addition to the positioning drive mechanism of the embodiment, as long as the stepping motor driving the sensor plate on the holder oscillating arm bis various mechanical structures are possible, such as a chain, a link mechanism or the like. 另外,检测行程的元器件也可相应的替换,如红外线传感器等。 Further, the stroke detection components may also be the corresponding replacement, such as an infrared sensor.

[0018] 在上述的用于移动载体上的卫星天线中,所述的传感器板上还设有检测方位角的磁阻传感器、检测方位角变化的方位角陀螺仪传感器、检测传感器板仰角变化的仰角陀螺仪传感器和检测传感器板横滚角变化的横滚角陀螺仪传感器,所述的磁阻传感器、方位角陀螺仪传感器、仰角陀螺仪传感器和横滚角陀螺仪传感器均与上述的主控电路板相连接,在完成初调后主控电路板实时检测仰角陀螺仪传感器和横滚角陀螺仪传感器的角度变化信号并根据该信号控制驱动机构二和驱动机构三实时调整传感器板角度,使其处于水平状态。 [0018] In the satellite antenna on a moving carrier, said plate also provided with a sensor detecting magnetoresistive sensor azimuth, azimuth angle detected azimuth gyro sensor detects elevation angle of the sensor plate the gyro sensor detects elevation and roll angle sensor plate roll angle changes the gyro sensor, said magnetoresistive sensor, a gyro sensor azimuth, elevation and roll angle of the gyro sensor gyro sensors are described above master connected to the board, after the completion of preliminary adjustment main control board real-time detection elevation and roll angle of the gyro sensor is a gyro sensor and an angle change signal adjusted in real time according to the three sensor plate angle of the two signal controls the drive mechanism and the drive mechanism, so that it is level. 在移动载体移动时,通过仰角陀螺仪传感器和横滚角陀螺仪传感器检测载体的水平状态的变化,主控电路板检测这些角度变化并进行反向补偿控制驱动机构二和驱动机构三调整传感器板处于水平状态,传感器板处于水平状态则表示天线本体处于理论仰角状态接收卫星信号。 When moving carrier moves, by changing the horizontal angle of elevation gyro sensor and a gyro sensor for detecting the roll angle of the vehicle, the main control board detects the change in angle and controls the drive means to compensate the reverse two and three drive mechanism to adjust the sensor plate in a horizontal state, the sensor plate in the horizontal state, said antenna body in a state of receiving satellite signals theoretical elevation. 初调是指卫星天线完成初始状态调整,既卫星天线处于理论仰角状态的调节。 First adjustment means to adjust the initial state of completion of the satellite antenna, the satellite antenna both in theory elevation adjustment state.

[0019] 在上述的用于移动载体上的卫星天线中,还包括一底座,所述的底座上设有驱动天线本体周向转动的驱动机构一,所述的主控电路板接收GPS坐标信号并计算出理论仰角值和方位角值以及接收方位角陀螺仪传感器输送的方位角变化值,主控电路板根据理论方位角值和磁阻传感器当前检测到的方向,控制驱动机构一调整天线本体的朝向,在上述传感器板处于水平状态时主控电路板根据实时接收的GPS信号控制驱动机构一使天线本体朝向目标卫星。 [0019] In the antenna for mobile satellite carrier, further comprising a base, provided with driving means for driving the rotation of the antenna main body in the circumferential direction on the base a, the main control circuit board GPS coordinates received signal and calculate the theoretical values ​​of the elevation and azimuth values ​​of the received azimuth and azimuth angle value of the gyro sensor delivery, the main control circuit board according to the detected value of the azimuth direction and the theoretical magnetoresistive sensor current, controls the drive mechanism to adjust the antenna main body a the orientation of the sensor when the plate is in a horizontal state control circuit board based on the GPS signal received in real time controls the drive means so that the antenna body toward a target satellite.

[0020] 在上述的用于移动载体上的卫星天线中,所述的驱动机构一包括第一电机、通过轴承连接在底座上的轴承座,第一电机与竖支架均固定在轴承座上,所述的底座上固连有第一驱动轮,在第一电机转轴上固定第一带轮,在第一驱动轮和第一带轮上套接有皮带。 [0020] In the satellite antenna on a moving carrier, said drive means comprising a first motor connected to the bearing block by a bearing on the base, the first motor and the vertical bracket are fixed on the bearing housing, base fixedly connected with said first drive wheel, a first pulley fixed to the first motor shaft, is mounted a first drive wheel and the belt on the first pulley. 第一驱动轮固定,第一电机工作时能够通过皮带使第一电机与轴承座一同相对第一驱动轮转动。 Fixing a first drive wheel, a first motor capable of rotation relative to the bearing housing together with the first drive wheel via a first motor work belt.

[0021] 在上述的用于移动载体上的卫星天线中,所述的驱动机构二包括第二电机、固定在第二电机转轴上的第二带轮,在竖支架上通过轴承连接有转轴,所述的转轴一端与横滚臂固连,另一端固连有第二驱动轮,第二驱动轮和第二带轮上套接有皮带。 [0021] In the satellite antenna on a moving carrier, said drive mechanism comprises two second motor, a second pulley fixed on a second motor shaft, is connected by a bearing bracket on the vertical rotation shaft, one end of the roll shaft and fixedly connected to the arm, and the other end fixedly connected with a second driving wheel, is mounted a second drive wheel and the second belt pulley. 第二电机通过皮带带动第二驱动轮转动,第二驱动轮通过转轴带动横滚臂摆动。 The second motor drives the second drive wheel is rotated via a belt, a second drive wheel driven by the swing arm shaft roll.

[0022] 在上述的用于移动载体上的卫星天线中,所述的驱动机构三包括第三电机和与横滚臂一端相固连的第三驱动轮,所述支架臂一通过轴承与上述的横滚臂连接,所述的第三电机设置在支架臂一的内侧,第三驱动轮设置在支架臂一的外侧,第三电机的转轴穿过支架臂一并在转轴上固连有第三带轮,第三带轮和第三驱动轮之间通过皮带连接。 [0022] In the satellite antenna on a moving carrier, said drive mechanism includes a third motor and a three roll arm with one end fixedly connected to the third drive wheel, said holder arm by a bearing and the the roll arm connecting said third motor disposed inside a holder arm, the third drive wheel disposed at the outside of a holder arm, the third motor shaft through the bracket arm on the rotary shaft fixedly connected together with a first three pulleys connected by a belt between the third pulley and the third drive wheel. 由于第三驱动轮与横滚臂固定,第三电机工作时能够通过皮带使第三电机与支架臂一一同相对横滚臂转动摆动。 Since the third drive wheel arm fixing roll, the third motor operates the motor through a belt and the third holder arm with a pivot arm rotates relative to the roll.

[0023] 驱动机构一、驱动机构二、驱动机构三可以做多种变化,如采用电机配合齿轮传动的结构、电机配合链条传动的结构或者由电机直接驱动都是可行的。 [0023] a driving mechanism, a driving mechanism two, three driving mechanism that various changes may be made, such as using a motor with gear transmission structure, the structure of the motor with chain drive or a directly driven by the motor are possible.

[0024] 在上述的用于移动载体上的卫星天线中,所述的横滚臂包括摆动臂和两根支撑臂,所述两支撑臂处于同一直线上且相距一段距离,所述的支撑臂与摆动臂平行,在摆动臂和支撑臂之间通过连接臂连接,两连接臂呈八字形,所述的天线本体转动到竖直状态时能位于两连接臂之间且卫星天线本体的背面距离摆动臂一段距离。 [0024] In the antenna for mobile satellite carrier, said swing arm comprising arm roll and two support arms, said two support arms are in the same straight line and the supporting arm at a distance from the in parallel with the swing arm, connected by a connecting arm between the support arm and the swing arm, two arms connected to splay, the antenna can be located on the back of the body and from the satellite antenna is connected between the two arms of the body is rotated to a vertical position the swing arm at a distance. 横滚臂的这种结构使得天线本体能够在横滚臂上自由摆动,结构可靠性高。 This configuration enables the antenna arm roll body can roll freely swing arm structure and high reliability.

[0025] —种移动载体上卫星天线的控制方法,其特征在于,该控制方法包括以下步骤: [0025] - a control method of the satellite antenna on the seed moving carrier, characterized in that, the control method comprising the steps of:

[0026] A、开机启动,通过GPS接收器采集当前卫星天线所在位置的GPS坐标信号并输送给主控电路板并由主控电路板根据该GPS坐标信号计算出卫星天线理论仰角值和GPS理论方位角值; [0026] A, start-up, the current position acquired by a satellite antenna is located GPS coordinates of a GPS receiver and signals supplied to the main control circuit board by the main control circuit board is calculated based on the GPS signal from the satellite antenna theory elevation coordinate value and GPS Theory azimuth angle value;

[0027] B、主控电路板控制步进电机转动直至设置在传感器板上的限位开关碰触阻挡件进而向主控电路板发送定位信号使主控电路板控制步进电机停止并反转从而带动传感板转动主控电路板内预设角度,主控电路板内的预设角度为限位开关碰触到阻挡件时天线本体的轴线与传感器板所形成的夹角,此时天线轴线与传感器板处于平行状态,接着步进电机继续带动传感器板旋转步骤A计算出的理论仰角值,此时天线轴线与传感器板之间的夹角为理论仰角值; [0027] B, the main control board controls the stepping motor is rotated until the stopper member provided in the limit switch touch sensor panel in turn sends a signal to the control circuit board is positioned so that the main control board controls the stepping motor stops and reverses sensing rotation of the inner plate so as to drive the main control circuit board predetermined angle, the predetermined angle in the main circuit board is a limit switch touches the stopper member when the angle between the axis of the antenna body is formed with the sensor plate, in which case the antenna axis sensor plate in a parallel state, and then continue to drive the stepper motor rotating step a sensor plate computed theoretical elevation value, then the angle between the axis of the antenna and the sensor plate of the theoretical elevation values;

[0028] C、通过倾角传感器实时采集横滚臂与水平面的横滚角,并把采集的横滚角输送给主控电路板,主控电路板根据此横滚角使横滚臂处于水平状态;通过倾角传感器实时采集传感器板与水平面的仰角,并把采集的仰角输送给主控电路板,主控电路板根据此仰角使传感器板处于水平状态,天线处于初始仰角状态; [0028] C, real-time acquisition by the tilt sensor roll angle with the horizontal arm of the roll, and sends to the master roll angle acquisition circuit board, the main control circuit board according to this roll angle that the roll arm in a horizontal state ; real-time acquisition by the tilt sensor and the elevation of the horizontal sensor plate, and sends the collected elevation to the master circuit board, the main control circuit board of the sensor plate in the horizontal state in accordance with this elevation, the elevation angle of the antenna is in an initial state;

[0029] D、主控电路板通过磁阻传感器检测当前天线的方位角朝向,并根据步骤A中计算出的GPS理论方位角值,输出控制信号控制驱动机构一使卫星天线本体朝向卫星,之后卫星天线进行初始化搜索。 [0029] D, the main control board detects the current antenna azimuth direction by the magnetoresistive sensor, according to step A and the theoretical calculated azimuth value GPS, the output control signal controls the drive means so that a body of the satellite antenna toward the satellite, then satellite antenna to initialize search.

[0030] 与现有技术相比,本用于移动载体的卫星天线:1、设置GPS接收器、磁阻传感器和倾角传感器,自动快速准确的对卫星进行定位将卫星天线定位朝向卫星方位;2、设置三个陀螺仪传感器,能够及时快速的对卫星天线姿态进行调整和修正,提高卫星天线的稳定性;3、步进电机对卫星天线仰角进行粗调,减少卫星天线自动调节时间。 [0030] Compared with the prior art, the present satellite antenna for a mobile carrier: 1, the GPS receiver is provided, magnetoresistive sensor and angle sensor, fast and accurate automatic satellite positioning satellite antenna toward the satellite positioning orientation; 2 , three gyro sensors, can be as quickly adjust the attitude of the satellite antenna and modifications to improve the stability of the satellite antenna; 3, satellite antenna elevation angle of the stepping motor for coarse adjustment, automatic adjustment time reduction satellite antenna.

[0031] 初始化搜索时先进行天线本体初始状态的调整,减少了误差,提高了锁定卫星的精准度,缩短了搜寻卫星的时间,提高了卫星天线的稳定性。 [0031] The first search is initiated for adjusting the initial state when the antenna body, reduce errors and improve the accuracy of locking satellite, the satellite search time is shortened to improve the stability of the satellite antenna.

附图说明 BRIEF DESCRIPTION

[0032] 图1是本用于移动载体上的卫星天线的立体结构示意图; [0032] FIG. 1 is a schematic perspective view of the satellite antenna on a moving support for the present;

[0033] 图2是图1中A处的结构放大图; [0033] FIG. 2 is a configuration at A in an enlarged view;

[0034] 图3是本用于移动载体上的卫星天线的结构左视图。 [0034] FIG. 3 is a left side view of the structure for the present satellite antenna on a moving carrier.

[0035] 图4是定位驱动机构的结构剖视图。 [0035] FIG. 4 is a sectional view of the positioning drive mechanism.

[0036] 图5是本用于移动载体上的卫星天线的结构右视图。 [0036] FIG. 5 is a right side view of the structure for the present satellite antenna on a moving carrier.

[0037] 图6是本用于移动载体上的卫星天线的结构后视图。 [0037] FIG. 6 is a rear structure according to the satellite antenna on the moving carrier. FIG.

[0038] 图7是实施例二中的卫星天线的立体结构示意图。 [0038] FIG. 7 is a schematic perspective view of a satellite antenna according to the second embodiment.

[0039] 图8是本卫星天线的电路方框图。 [0039] FIG. 8 is a circuit block diagram of the present satellite antenna.

[0040] 图中,1、天线本体;2、横滚臂;21、摆动臂;22、连接臂;23、支撑臂;3、定位驱动机构;31、步进电机;32、传动结构;321、调节齿盘;322、主动轮;323、轴承一;324、轴承二;325、蜗轮;326、蜗杆;33、限位开关;34、销轴;35、霍尔传感器;36、永磁铁;4、驱动机构一;41、第一电机;42、第一驱动轮;43、第一带轮;5、驱动机构二;51、第二电机;52、第二驱动轮;53、第二带轮;6、驱动机构三;61、第三电机;62、第三驱动轮;63、第三带轮;7、支架臂一;8、支架臂二;9、传感器板;10、底座;101、轴承座;102、竖支架。 [0040] FIG, 1, the antenna main body; 2, roll arm; 21, swing arm; 22, a connecting arm; 23, a support arm; 3, positioning the drive mechanism; 31, a stepping motor; 32, transmission structure; 321 adjusting chainring; 322 driving wheel; 323, a bearing; 324, bearing two; 325, worm wheel; 326 and worm; 33, limit switch; 34, pin; 35, Hall sensor; 36, a permanent magnet; 4, a drive mechanism; 41, a first motor; 42, a first drive wheel; 43, a first pulley; 5, two drive means; 51, a second motor; 52, a second drive wheel; 53, a second band wheel; 6, three drive mechanisms; 61, third motor; 62, a third drive wheel; 63, third pulley; 7, a holder arm; 8, two carrier arms; 9, sensor plate; 10, a base; 101 , bearing housing; 102, vertical stand.

具体实施方式 Detailed ways

[0041] 以下是本发明的具体实施例并结合附图,对本发明的技术方案作进一步的描述,但本发明并不限于这些实施例。 [0041] The following are examples of specific embodiments of the present invention taken in conjunction with the accompanying drawings, technical solutions of the present invention will be further described, but the present invention is not limited to these embodiments.

[0042] 实施例一: [0042] Example a:

[0043] 如图1、图2、图8所示,一种用于移动载体上的卫星天线,可用于移动载体上,如车辆、船只等,包括天线本体1、主控电路板、GPS接收器和底座10,天线本体I呈圆锅状,GPS接收器固定在天线本体I上且与主控电路板相连接,主控电路板能够接收GPS接收器的坐标信号并算出卫星天线理论仰角。 [0043] As shown in FIG 1, FIG 2 and FIG. A satellite antenna on a moving carrier for moving the carrier can be used, such as vehicles, vessels, etc. 8, includes an antenna main body 1, the main control circuit board, GPS receivers and a chassis 10, a pot-shaped circular antenna body I, the GPS receiver is stationary and is connected to the antenna main body I and the control circuit board, the main control board is capable of receiving GPS receiver calculates the coordinates of the satellite signals and the elevation antenna theory. 底座10固定在移动载体上,底座10上方设有驱动机构一 4,驱动机构一4能够驱动天线本体I周向转动,调节天线本体I的方位角和朝向。 A base fixed to the movable support 10, above the base 10 is provided with a drive mechanism 4, a drive mechanism 4 can be driven circumferentially rotatable antenna body I, I adjust the antenna azimuth and orientation of the body. 本卫星天线还包括一个能够绕铰接点摆动的横滚臂2,该横滚臂2由驱动机构二5驱动并能够调节天线本体I的横滚角。 This further comprising a satellite antenna capable of swinging around a hinge point roll arm 2, the arm 2 is driven by a drive roll mechanism capable of adjusting the two 5 and I is the roll angle of the antenna body. 横滚臂2 —端转动连接有支架臂一7,该支架臂一7与横滚臂2相垂直,并且由驱动机构三6驱动支架臂一7上下摆动,调节天线本体I的仰角。 Roll arm 2 - end rotatably connected to a bracket arm 7, perpendicular to the carrier arms 2 a roll 7 and the arm and driven by a drive mechanism 7 a three carrier arms 6 swings up and down, adjusting the elevation angle of the antenna body I. 横滚臂2的另一端转动连接有支架臂二8,该支架臂二8也与横滚臂2相垂直,天线本体I与支架臂一 7、支架臂二8固连。 Roll the other end of the arm 2 is rotatably connected with two carrier arms 8, the arm bracket 8 also two roll perpendicular to the arm 2, the antenna body I with a holder arm 7, 8 is fixedly connected two carrier arms. 支架臂二8上设有传感器板9,该传感器板9与支架臂二8转动连接,在支架臂二8上还设有定位驱动机构3,该定位驱动机构3能够在初始化搜索前驱动传感器板9转动使传感器板9与天线本体I轴线形成上述卫星天线理论仰角并将传感器板9定位在支架臂二8上。 Holder arm 8 is provided with two sensor plate 9, the sensor plate 9 is connected to the two arm holder 8 is rotated, the holder 8 is also provided with two positioning arm drive means 3, the positioning mechanism 3 is capable of driving the drive plate in front of the sensor initialization search 9 rotation of the sensor plate 9 and the axis of the antenna body I and the elevation angle of the satellite antenna theory sensor plate 9 is formed is positioned on the bracket arm 8 two.

[0044] 具体来说,传感器板9上设有倾角传感器,该倾角传感器与主控电路板相连接,用于检测传感器板9是否处于水平状态,主控电路板根据倾角传感器的信号来控制驱动机构二 5和驱动机构三6,使传感器板9处于水平状态并调整天线本体I的初始仰角状态后再进行初始化搜索。 [0044] Specifically, the sensor plate 9 is provided with a tilt sensor, the angle sensor is connected to the main control board, for detecting the sensor plate 9 is in the horizontal state, the main control board to control the drive signal in accordance with the inclination sensor two drive mechanisms 5 and 6 three means, the sensor plate 9 and adjusting the initial state is in a horizontal state of the elevation angle of the antenna body I then initialize search. 横滚臂2包括摆动臂21和两根支撑臂23,两支撑臂23处于同一直线上且相距一段距离,支撑臂23与摆动臂21平行,在摆动臂21和支撑臂23之间通过连接臂22连接,两连接臂22呈八字形,天线本体I转动到竖直状态时能位于两连接臂22之间且卫星天线本体I的背面距离摆动臂21 —段距离,横滚臂2的这种结构使得天线本体I能够在横滚臂2上自由摆动,结构可靠性高。 Roll arm 2 comprises two swing arms 21 and support arms 23, two support arms 23 on the same line and at a distance from, parallel to the support arm 23 and the swing arm 21, between the swing arm 21 and the support arm 23 by a connecting arm 22 is connected, the two connection arms 22 splay can be located on the back from the satellite antenna and connected between two arms 22 of the body I I when the antenna main body is rotated to the upright position of the swing arm 21 - some distance, this roll arm 2 structure I so that the antenna main body swingably in the roll arm 2, a high structural reliability.

[0045] 如图3、图4所示,定位驱动机构3包括一步进电机31,该步进电机31固定在支架臂二8上,横滚臂2的端面上连接有一阻挡件,该阻挡件为一销轴34,当然在实际使用过程中可以根据需要采用螺钉、螺栓、凸块等。 [0045] FIG. 3, FIG. 4, the positioning drive mechanism 3 comprises a stepping motor 31, the stepping motor 31 is fixed on the two bracket arms 8, the connection end face of the roll arm 2 has a stopper member, the stopper a pin member 34 is, of course, may be employed screws, bolts, bumps during practical use as required. 在支架臂二8上通过轴承一323转动连接有一调节齿盘321,支架臂二8通过轴承二324转动连接在横滚臂2上,轴承一323和轴承二324处于同一直线上。 Two arm on the holder 8 by a bearing 323 rotatably connected with a toothed adjusting plate 321, two carrier arms 8 are connected by two bearings on a roll 324 rotates the arm 2, a bearing two bearings 323 and 324 on the same line. 传感器板9固定在调节齿盘321侧面上,且传感器板9与调节齿盘321垂直,步进电机31设置在支架臂二8的内侧,调节齿盘321设置在支架臂二8的外侧,步进电机31的转轴穿过支架臂二8,在转轴上固连有主动轮322,主动轮322和调节齿盘321之间通过皮带连接。 Adjusting the sensor plate 9 fixed to the side surface of the tooth plate 321, and the sensor plate 9 and adjusting the vertical tooth plate 321, the stepping motor 31 is provided inside the two carrier arms 8, adjusting the outside toothed disc 321 provided two carrier arms 8, step stepping motor shaft 31 passes through the two carrier arms 8, fixedly connected with a drive wheel 322 on the shaft, is connected by a belt 322 between the drive wheel 321 and regulating chainrings. 在传感器板9上设有限位开关33和倾角传感器,倾角传感器用于检测传感器板的水平状态,销轴34位于限位开关33移动时所经过的路径上,限位开关33、倾角传感器和步进电机31均与主控电路板连接。 A limit switch provided on the sensor plate 933 and the tilt sensor, a tilt sensor for detecting a horizontal sensor plate, pin 34 is positioned on the path passes the limit switch 33 is moved, the limit switch 33, and the step angle sensor stepper motor 31 are connected to the main control circuit board.

[0046] 调节齿盘321转动并使限位开关33与销轴34触碰时,此时传感器板9与天线本体I的轴线之间形成一个预设角度,预设角度是根据销轴34和天线本体I的轴线之间的机械位置关系所定的,在销轴34固定到横滚臂2上时就已确定。 When the [0046] 321 to rotate and adjust the toothed disc 33 and limit switch 34 touches the pin, this time between the sensor plate 9 and the axis of the antenna body I form a predetermined angle, the predetermined angle is a pin 34 and the positional relationship between the mechanical axis of the antenna body I is predetermined, is determined already when the roll pin 34 is fixed to the arm 2. 预设角度大于60°,传感器板9的调整时间长不利于快速反应,而预设角度小于15°则会造成较多的误碰触,因此为了减少误碰撞也能够有利于快速调整,并且方便安装,本实施例中预设角度为30°。 Predetermined angle greater than 60 °, the sensor plate 9 is adjusted against rapid response time is long, and the predetermined angle of less than 15 ° will result in more erroneous touch, so it is possible to reduce erroneous collision facilitate quick adjustment, and to facilitate installation, according to the present embodiment, the predetermined angle is 30 °. 在初始化搜索前,步进电机31驱动调节齿盘321转动,使传感器板9上的限位开关33向销轴34移动,当限位开关33碰触销轴34时,限位开关33向主控电路板发送信号,主控电路板接收到限位开关33的信号后就控制步进电机31反向转动,其转动的角度为设定好的预设角度,预设角度为限位开关33碰触到阻挡件时天线本体I的轴线与传感器板9所形成的夹角,预设角度在阻挡件连接在横滚臂上就已确定,通过该步骤的处理,能够消除不确定的基准面进而为以传感器板为基准面提供基础。 Before the search is initiated, the stepping motor 31 rotates the drive adjustment gear plate 321, the limit switch 9 on the sensor plate 34 to the pin 33 is moved, when the pin 34 touches the limit switch 33, the limit switch 33 to the main after the control signal transmission circuit board, control circuit board 33 receives the signal of the limit switch 31 controls the stepping motor reverse rotation, the rotation angle of a good set predetermined angle, the predetermined angle is a limit switch 33 when the angle of the antenna body touches the stopper member and the axis I of the sensor plate 9 is formed, the blocking member is connected in a preset angle in the roll arm had been determined by the processing step, it is possible to eliminate uncertainty plane in addition to providing a basis for the reference surface to the sensor plate. 此时传感器板9与天线本体I的轴线处于平行状态,步进电机31不间断地继续控制传感器板9转动卫星天线理论仰角,卫星天线理论仰角是以水平面为基准计算的,相当于天线本体I的轴线与传感器板9夹角为卫星天线理论仰角,这样,传感器板9就可以成为一个基准面,调整传感器板9的水平状态就相应的调节天线本体I的初始仰角状态,利于卫星天线锁定目标卫星。 At this time, the sensor plate 9 and the axis I of the antenna body in a parallel state, the stepping motor 31 continues uninterrupted control of the sensor plate 9 is rotated theory elevation angle satellite antenna, the satellite antenna elevation based on the theoretical calculation of the horizontal plane, the antenna body corresponding to I 9 axis sensor plate angle is the elevation angle satellite antenna theory, this sensor plate 9 can be a reference plane, to adjust the horizontal sensor plate 9 is correspondingly adjusting the initial state of the elevation angle of the antenna body I, conducive to satellite antenna targeted satellite. 此时,传感器板9上的倾角传感器检测传感器板9的水平状态,并将信号传递给主控电路板,主控电路板通过控制机构三6调节支架臂一7与支架臂二8,由于传感器板9通过步进电机31与支架臂二8保持相对固定,因此控制机构三6的调节时传感器板9达到水平状态,而此时天线本体I的仰角则为卫星天线理论仰角,在步进电机调节完成后,主控电路板根据倾角传感器的信号,通过驱动机构二5调节天线本体I的横滚角。 At this time, horizontal tilt sensor detects the sensor plate 9 on the sensor plate 9, and the signal is transmitted to the main control circuit board, control circuit board 7 with a holder arm adjustment arm bracket 8 by two three control means 6, since the sensor plate 9 by a stepping motor 31 held and two arm holder 8 relatively fixed, so the adjustment control means three sensor 6 reaches horizontal plate 9, at a time of elevation of the antenna body I was satellite antenna theory elevation stepping motor after the adjustment is completed, the main control circuit board based on the signal of the tilt sensor, roll angle adjustment of the antenna body by the drive mechanism I = 5.

[0047] 由于车辆船只在行驶过程中颠簸摇摆,因此在天线本体I完成初始的调节后还需要通过驱动机构二5和驱动机构三6进行实时不间断的微调,消除载体不平衡造成的影响。 After [0047] Since the vehicle bumps rocking vessel during traveling, thus completing the initial antenna body I is needed for real-time continuous adjustment of the fine adjustment mechanism by driving the two drive mechanisms 5 and 6 three, eliminate imbalance vector. 因此在传感器板9上还设有检测方位角的磁阻传感器、检测方位角变化的方位角陀螺仪传感器、检测传感器板仰角变化的仰角陀螺仪传感器和检测传感器板横滚角变化的横滚角陀螺仪传感器,磁阻传感器、方位角陀螺仪传感器、仰角陀螺仪传感器和横滚角陀螺仪传感器均与主控电路板相连接,在完成初调后主控电路板实时检测仰角陀螺仪传感器和横滚角陀螺仪传感器的角度信号,并根据该角度信号控制驱动机构二5和驱动机构三6调整传感器板9处于水平状态。 Thus on the sensor plate 9 is also provided with azimuth detecting magnetoresistive sensor for detecting a change in azimuth azimuth gyro sensor, roll angle sensor for detecting a change in the elevation plate elevation angle detecting sensor and the gyro sensor plate roll angle a gyro sensor, a magnetoresistive sensor, a gyro sensor azimuth, elevation and roll angle of the gyro sensor gyro sensors are connected to the main circuit board, control circuit board after initial setting elevation angle detected in real time and the completion of the gyro sensor roll angle signal of the angle of the gyro sensor, the sensor plate 9 and the adjustment in the horizontal state according to the angle signal controls the drive means 5 and the two three driving mechanism 6. 在移动载体移动时,通过仰角陀螺仪传感器和横滚角陀螺仪传感器检测载体的水平状态的变化,主控电路板检测这些角度变化并控制驱动机构二5和驱动机构三6调整传感器板9进行反向补偿,使传感器板9处于水平状态,即天线本体I处于水平状态接收卫星信号。 When moving carrier moves, by changing the horizontal angle of elevation gyro sensor and a gyro sensor for detecting the roll angle of the vehicle, the main control board detects the change in angle and controls the driving mechanism 5 and the two three drive mechanism 6 for adjusting the sensor plate 9 inverse compensation, the sensor plate 9 in the horizontal state, i.e., the antenna body is in a horizontal state I receive satellite signals. 并且主控电路板接收GPS坐标信号并计算出理论仰角值和方位角值以及方位角变化值,主控电路板根据理论方位角值和方位角变化值控制驱动机构一调整天线本体的朝向。 And the main control board receives a GPS signal and calculate the theoretical coordinate values ​​of the elevation angle and azimuth angle values ​​and azimuth values, the main control board controls a drive mechanism to adjust the antenna towards the body and azimuth angle value based on the theoretical value of the azimuth angle.

[0048] 结合图3、图5、图6所示,驱动机构一4包括第一电机41和轴承座101,轴承座101通过轴承连接在底座10上,第一电机41与竖支架102均固定在轴承座101上,底座10由两个相互交叉成十字的固定板构成,并通过螺栓固定在移动载体上,在底座10上固连有第一驱动轮42,在第一电机41转轴上固定第一带轮43,在第一驱动轮42和第一带轮43上套接有皮带,第一驱动轮42固定,第一电机41工作时能够通过皮带使第一电机41与轴承座101 一同相对第一驱动轮42转动,从而实现天线本体I方位角的调节。 [0048] in conjunction with FIG. 3, FIG. 5, FIG. 6, the drive mechanism 4 includes a first motor 41 and the bearing housing 101, bearing housing 101 by a bearing attached to a base 10, a first motor 41 and the bracket 102 are fixed to the vertical on the bearing housing 101, the base 10 is constituted by two mutually intersecting crosswise fixing plate, and bolted on the moving carrier, a first driving wheel 42 secured on the base 10, fixed to the first motor shaft 41 the first pulley 43, on the first drive wheel 42 and the first pulley 43 is mounted a belt, a first drive wheel 42 is fixed, the first motor through the belt 41 and the bearing 101 works with the first motor 41 a first drive wheel 42 is rotated relative to the body I adjust the antenna to achieve azimuth.

[0049] 驱动机构二5包括第二电机51,在第二电机51转轴上固定有第二带轮53,在竖支架102上通过轴承连接有转轴,转轴一端与横滚臂2固连,另一端固连有第二驱动轮52,第二驱动轮52和第二带轮53上套接有皮带,第二电机51通过皮带带动第二驱动轮52转动,第二驱动轮52通过转轴带动横滚臂2摆动,从而实现天线本体I横滚角的调节。 [0049] The drive mechanism 5 comprises two second motor 51, the second motor 51 is fixed to the second pulley rotary shaft 53, on the vertical bracket 102 is secured with a shaft 2, one end of the roll shaft through a bearing arm connected to the other one end fixedly connected with a second drive wheel 52, is mounted a second drive wheel 52 and the second belt pulley 53, the second motor 51 is rotated by a belt 52 driven by a second drive wheel, second drive wheel 52 driven by horizontal shaft roller arm 2 swings, enabling the antenna body roll angle of the I regulator.

[0050] 驱动机构三6包括第三电机61,在横滚臂2 —端固连有第三驱动轮62,支架臂一7通过轴承与横滚臂2连接,第三电机61设置在支架臂一7的内侧,第三驱动轮62设置在支架臂一7的外侧,第三电机61的转轴穿过支架臂一7并在转轴上固连有第三带轮63,第三带轮63和第三驱动轮62之间通过皮带连接,由于第三驱动轮62与横滚臂2固定,第三电机61工作时能够通过皮带使第三电机61与支架臂一7 —同相对横滚臂2转动摆动,从而实现天线本体I仰角的调节。 [0050] The three drive mechanism 6 includes a third motor 61, the roll 2 arm - at the end of the third wheels 62 is fixedly connected to the holder arm 7 is connected via a roll bearing arm 2, a third motor 61 disposed in the holder arm 7 is an inner side, a third driving wheel 62 is provided on the outside of a holder arm 7, the third shaft of the motor 61 through the bracket arm 7 and a third pulley 63 secured on the shaft, the third pulley 63 and between the third drive wheel is connected by a belt 62, since the third roll 62 and the drive wheel arm 2 is fixed through the third motor 61 and the belt holder arm 61 a third motor 7:00 work - with the arm 2 relative roll oscillating rotation, thereby achieving adjusting the elevation angle of the antenna body I.

[0051] 在实际使用过程中,驱动机构一4、驱动机构二5、驱动机构三6可以做多种变化,如采用电机配合齿轮传动的结构、电机配合链条传动的结构或者由电机直接驱动都是可行的。 [0051] In actual use, a drive mechanism 4, two drive mechanism 5, the driving mechanism 6 can be done three more variations, such as the use of a motor with gear transmission structure, the structure of the motor with chain drive or are driven directly by a motor It works.

[0052] 一种船用卫星天线卫星搜寻的控制方法包括以下步骤: [0052] A marine satellite antenna satellite search control method comprising the steps of:

[0053] 开机启动,通过GPS接收器采集当前船用卫星天线所在位置的GPS坐标信号,并把采集的坐标信号输送给主控电路板;若GPS接收器无法接收到卫星的GPS信号时,主控电路板将前一次卫星锁定时的卫星位置信息或主控电路板内部设定卫星的位置信息输出,控制卫星天线搜索卫星。 [0053] The start-up, the current collecting marine GPS satellite location coordinate signal by the GPS receiver antenna is located, and sends acquired coordinate signal to the main control circuit board; if the GPS receiver can not receive the GPS satellite signals, the master the internal circuit board previous satellite position information or the main control board when the satellite position information output lock setting satellite, the satellite antenna searches a satellite control. 通过主控电路板接收了GPS接收器采集的坐标信号,根据该坐标信号计算出锁定卫星的卫星天线理论仰角和GPS理论方位角;主控电路板控制步进电机31转动使传感器板9转动,直至设置在传感器板9上的限位开关33碰触阻挡件进而向主控电路板发送定位信号使主控电路板控制步进电机31停止并反转,反转角度为主控电路板内的预设角度,预设角度为限位开关33碰触到阻挡件时天线本体I的轴线与传感器板9所形成的夹角,步进电机31反转预设角度后再继续转动卫星天线理论仰角,随后步进电机31停止转动并将传感器板9固定在支架臂二8上。 Receiving a coordinate signal collected by the GPS receiver control circuit board, the calculated theoretical elevation coordinate signal and the theoretical GPS satellite azimuth satellite antenna according to the lock; main circuit board controls the stepping motor 31 rotates the sensor plate 9 is rotated, until a limit switch is provided on the sensor plate 33 touches the stopper member 9 in turn sends a signal to the control circuit board is positioned so that the main control board controls the stepping motor 31 is stopped and reversed, the reverse rotation angle of the main control circuit board predetermined angle, the predetermined angle is an angle when the limit switch 33 touches the stopper member and the antenna body I axis sensor plate 9 is formed, inverting the stepping motor 31 continues to rotate by a predetermined angle before the satellite antenna elevation theory , then the stepping motor 31 stops rotating and the sensor plate 9 fixed to the bracket arm 8 two. 倾角传感器检测传感器板9的倾斜状态,并将检测信号传递给主控电路板,主控电路板输出控制信号控制第二电机51调节横滚臂2,使横滚臂2处于水平状态,输出控制信号控制第三电机61驱动支架臂一7相对横滚臂2转动,使传感器板9达到水平状态,此时天线本体I的实际仰角达到卫星天线理论仰角。 Inclination state detecting sensor tilt sensor plate 9, and the detection signal to the control circuit board, control circuit board outputs a second control signal the motor 51 adjusting arm roll 2, so that the arm roll 2 in a horizontal state, the output control signal controls the third motor 61 drives the carriage arm 72 is rotated relative to a roll arm, the sensor plate 9 reaches a horizontal state, when the actual elevation angle of the antenna body I reaches elevation satellite antenna theory. 主控电路板根据GPS理论方位角值输出控制信号控制第一电机41,调节天线本体I的方位角,之后卫星天线进行初始化搜索并建立通讯信号。 The main circuit board controls the theoretical GPS azimuth value on output signals of the first motor 41, adjusts the angle of the antenna body I, then initialize the satellite antenna search and establish communication signal. 当本卫星天线锁定的卫星航海环境影响产生偏移时,通过仰角陀螺仪传感器、横滚角陀螺仪传感器和方位角陀螺仪传感器采集本卫星天线仰角、横滚角和方位角的偏移角度信号并把信号输送给主控电路板,主控电路板输出驱动信号一、驱动信号二和驱动信号三,第一电机41、第二电机51、第三电机61转动调节天线本体I的朝向,使本卫星天线保持锁定卫星的状态下。 When the present satellite navigation satellite antenna locked offset environmental impact, by the elevation gyro sensor, a roll angle sensor and a gyro azimuth gyro sensor of the present acquisition satellite antenna elevation, azimuth and roll angle offset angle signal and sends a signal to the main control circuit board, the main control circuit board outputs a drive signal, the drive signal and the drive signal two three, the first motor 41, second motor 51, third motor 61 is rotated in the direction I adjust the antenna main body, so that the present state of the lock holding satellite antenna satellite.

[0054] 另外,控制第二电机的转动和控制第三电机的转动可以同时进行,这样可以节省调整时间,让卫星天线迅速锁定目标卫星。 [0054] Further, a third rotational motor control and control of the second motor can be performed at the same time, it saves the time adjustment, the satellite antenna so quickly lock the target satellite. 大致调整水平后,对第二电机和第三电机可以进行交替控制以便达到最终的水平的状态。 After the adjustment is substantially horizontal, a second motor and the third motor may be alternately controlled to achieve a final state levels.

[0055] 实施例二: [0055] Example II:

[0056] 该用于移动载体上的卫星天线的结构与实施例一基本相同,不同点在于如图7所示,定位驱动机构3及传感器板9等部件设置在支架臂一7上,驱动机构三6设置在支架臂二 8上,定位驱动机构3包括一步进电机31,该步进电机31固定在支架臂二8上,横滚臂2的端面上连接有一永磁体36,在支架臂二8上通过轴承一323转动连接有一蜗轮325,支架臂二8通过轴承二324转动连接在横滚臂2上,轴承一323和轴承二324处于同一直线上。 [0056] The satellite antenna on a moving carrier in a configuration substantially the same as in Example, except that as shown, the positioning member 9 and the like and the sensor plate drive mechanism 3 is provided on a holder arm 77, a drive mechanism 6 is provided on the holder three two arm 8, the positioning drive mechanism 3 comprises a stepping motor 31, the stepping motor 31 is fixed on the two bracket arms 8, the connection end face of the roll arm 2 has a permanent magnet 36, the carrier arms a bearing 323 rotatably connected with a worm gear 325, the support arm 8 is connected to two arms on the roll 2 by two rotary bearings 324, a bearing 323 and a bearing 324 on the same line two by two on 8. 传感器板9固定在蜗轮325的侧面上,且传感器板9与涡轮325垂直,步进电机31和蜗轮325均设置在支架臂二8的外侧,步进电机31的转轴上固连有蜗杆326,蜗杆326与蜗轮325相啮合,在传感器板9上设有霍尔传感器和倾角传感器,永磁体36位于霍尔传感器35移动时所经过的路径上,霍尔传感器35、倾角传感器和步进电机31均与主控电路板连接。 Sensor plate 9 fixed to the side surface of the worm wheel 325, and the sensor plate 9 and perpendicular to the turbine 325, the stepping motor 31 and the worm wheel 325 are disposed outside the two carrier arms 8, the rotating shaft of the stepping motor 31 is fixedly connected with a worm 326, worm 326 engages worm gear 325, and a tilt sensor provided with a Hall sensor on the sensor plate 9, the permanent magnet 36 is located on the moving path through which the Hall sensor 35, a Hall sensor 35, the stepping motor 31, and tilt sensor It is connected to the main control circuit board. 在该实施例中预设角度为霍尔传感器35感应到永磁体36时传感器板9与天线本体I的轴线之间形成的夹角。 Predetermined angle in this embodiment is a Hall sensor 35 senses the angle of the permanent magnet 36 when the sensor plate 9 is formed between the axis of the antenna body I.

[0057] 在初始化搜索前,主控电路板也是根据倾角传感器的信号,通过驱动机构二5调节天线本体I的横滚角,在横滚角调节完成后,步进电机31驱动调节蜗杆326转动,蜗杆326带动蜗轮325旋转,使传感器板9上的霍尔传感器35向永磁体36移动,当霍尔传感器35感应到永磁体36时,霍尔传感器35向主控电路板发送信号,主控电路板接收到霍尔传感器35的信号后就控制步进电机31反向转动,直到天线本体I的轴线与传感器板9形成一个卫星天线理论仰角,此时蜗轮325和蜗杆326在停止转动时能够进行自锁,使传感器板9相对支架臂二固定。 [0057] before the search is initiated, the main control circuit board is also based on the signal of the tilt sensor, roll angle adjustment of the antenna body by the drive mechanism I = 5, after the roll angle adjustment is completed, the stepping motor driver 31 rotates the adjusting worm 326 the worm 326 drives worm gear 325 rotates, the sensor plate 9 on the hall sensor 35 is moved to the permanent magnet 36, when the hall sensor 35 to the sensor 36, the Hall sensor 35 is sent to the master circuit board permanent signal, the master after the circuit board 35 receives the signal from the Hall sensor 31 of the reverse rotation of the stepper motor control, until the axis of the antenna body I is a sensor plate 9 form an elevation angle satellite antenna theory, when the worm 326 and worm wheel 325 can be stopped when the self-locking, the sensor plate 9 fixed to two arms relative to the housing.

[0058] 当然在实际使用过程中,定位驱动机构3除了上述的方案外,只要步进电机31驱动传感器板9在支架臂二8上摆动的多种机械结构都是可行的,如链条、连杆机构等。 [0058] Of course, in actual use, the drive mechanism 3 is positioned addition to the above embodiment, the holder arm 9 swung 8 two more as long as the mechanical structure of the stepping motor 31 drives the sensor plate are possible, such as a chain, even bar mechanism and so on. 另外,检测行程的元器件也可相应的替换,如红外线传感器等。 Further, the stroke detection components may also be the corresponding replacement, such as an infrared sensor.

[0059] 本文中所描述的具体实施例仅仅是对本发明精神作举例说明。 Specific Example [0059] described herein is merely illustrative for spirit of the invention. 本发明所属技术领域的技术人员可以对所描述的具体实施例做各种各样的修改或补充或采用类似的方式替代,但并不会偏离本发明的精神或者超越所附权利要求书所定义的范围。 Those skilled in the art of the present invention can be made to the specific embodiments described various modifications or additions, or a similar alternative embodiment, but without departing from the spirit of the invention or exceed defined in the appended claims range.

[0060] 尽管本文较多地使用了天线本体1、横滚臂2、摆动臂21、连接臂22、支撑臂23、定位驱动机构3、步进电机31、传动结构32、调节齿盘321、主动轮322、轴承一323、轴承二324、蜗轮325、蜗杆326等术语,但并不排除使用其它术语的可能性。 [0060] While the terms are used herein, the antenna body 1, 2 roll arm, the swing arm 21, the link arm 22, the support arm 23, positioning the drive mechanism 3, the stepping motor 31, the transmission structure 32, adjusting chainrings 321, capstan 322, a bearing 323, two bearings 324, worm 325, worm 326 and like terms, but do not exclude the possibility of using other terms. 使用这些术语仅仅是为了更方便地描述和解释本发明的本质;把它们解释成任何一种附加的限制都是与本发明精神相违背的。 These terms are only used to make it easier to describe and explain the essence of the present invention; interprets them into any additional restrictions are contrary to the spirit of the invention.

Claims (10)

1.一种用于移动载体上的卫星天线,包括圆锅状的天线本体(I)、主控电路板和固定在天线本体(I)上与主控电路板连接的GPS接收器,主控电路板接收GPS接收器的坐标信号并算出卫星天线理论仰角,其特征在于,本卫星天线还包括一个能够调节天线本体(I)横滚角的横滚臂(2),所述的横滚臂(2)能绕铰接点摆动并由驱动机构二(5)驱动,在所述横滚臂(2) —端设有与横滚臂(2)垂直设置的支架臂一(7)并且由驱动机构三(6)驱动支架臂一(7)上下摆动,所述的横滚臂(2)的另一端设有与横滚臂(2)转动连接的支架臂二(8),上述的天线本体(I)与所述的支架臂一(7)和支架臂二(8)固连,在所述的支架臂二(8)上设有与支架臂二(8)转动连接的传感器板(9),在支架臂二(8)上还设有在初始化搜索前驱动传感器板(9)转动使传感器板(9)与天线本体(I)轴线形成上述卫星天线理论仰角并将传感器板( A satellite antenna on a moving carrier, comprising a GPS receiver round pot-shaped antenna body (I), the main control circuit board and the antenna is fixed to the body (I) is connected to the main control circuit board, the master the circuit board receiver receives the GPS signals and calculates the coordinates of the satellite antenna theory elevation, characterized in that, further comprising a satellite antenna of the present roll arm (2) able to adjust the antenna body (I) of the roll angle, the roll arm (2) can pivot about the hinge points by two drive means (5) driven, in the roll arm (2) - and the roll holder arm is provided with an end arm (2) arranged in a vertical (7) and driven by a tris (6) driving a holder arm (7) means swing up and down, the other end of the roll arm (2) is provided with a roll arm (2) rotating bracket connected to two arms (8), the above-described antenna main body (I) with a said holder arm (7) and the two bracket arms (8) fixedly connected, a sensor plate (9 two bracket arms (8) rotatably connected to a bracket on the two arms (8) ), two on the holder arm (8) is also provided with the satellite sensors and the antenna elevation theoretical plate drives the sensor plate (9) before the search is initiated the rotation of the sensor plate (9) is formed with the antenna body (I) axis ( 9)定位在支架臂二(8)上的定位驱动机构(3)。 9) positioned in the second (8 positioning drive means (3)) of the carrier arms.
2.根据权利要求1所述的用于移动载体上的卫星天线,其特征在于,在所述传感器板(9)上设有与主控电路板连接用于检测传感器板(9)是否处于水平状态的倾角传感器,所述的主控电路板根据倾角传感器控制上述的驱动机构二(5)和驱动机构三(6)使传感器板(9)处于水平状态后进行初始化搜索。 The satellite antenna on a moving carrier according to claim 1, characterized in that a plate detecting sensor (9) is at a level for the main circuit board on the sensor plate (9) tilt sensor state, the main control circuit board of the sensor plate (9) in a horizontal state after initialization search controlling the two driving means (5) and a drive mechanism tris (6) according to the inclination sensor.
3.根据权利要求2所述的用于移动载体上的卫星天线,其特征在于,所述的定位驱动机构(3)包括步进电机(31)和连接在横滚臂(2)端面上的阻挡件,所述支架臂二(8)上设有驱动传感器板(9)转动的传动结构(32),传动结构(32)与步进电机(31)连接,在传感器板(9)设有限位开关(33)和用于检测传感器板(9)水平状态的倾角传感器,所述的阻挡件位于限位开关(33)移动时所经过的路径上,限位开关(33)、倾角传感器和步进电机(31)均与上述的主控电路板连接,所述的主控电路板在卫星天线启动后控制步进电机(31)转动至碰触限位开关(33 )并在接收到限位开关(33 )输送的定位信号时控制步进电机(31)反转主控电路板内预设角度后再继续转动上述的卫星天线理论仰角。 The satellite antenna on a moving carrier according to claim 2, wherein said positioning drive means (3) comprises a stepper motor (31) and the connection end surface of the roll arm (2) blocking member, the two holder arm (8) is provided with a transmission structure (32) drives the sensor plate (9) is rotated on the transmission structure (32) and a stepping motor (31) connected to the sensor plate (9) provided limited inclination sensor (9) in a horizontal state switch (33) for detecting the sensor plate, the path of the stopper member is located at (33) through which moves the limit switch, the limit switch (33), inclination sensor, and a stepping motor (31) are connected to the main control circuit board, the main circuit board of the satellite antenna in the start control stepping motor (31) is rotated to touch the limit switch (33) and receiving the limit switch (33) controls the stepping motor 10 when transporting the positioning signal (31) within a predetermined angle and then continue the inversion control circuit board rotation of the elevation of the satellite antenna theory.
4.根据权利要求3所述的用于移动载体上的卫星天线,其特征在于,所述的传动结构(32)包括通过轴承一(323)与支架臂二(8)连接的调节齿盘(321),所述支架臂二(8)通过轴承二(324)与上述的横滚臂(2)连接,轴承一(323)和轴承二(324)处于同一直线上,上述的传感器板(9)固定在调节齿盘(321)侧面上且传感器板(9)与调节齿盘(321)垂直,所述的步进电机(31)设置在支架臂二(8)的内侧,调节齿盘(321)设置在支架臂二(8)的外侧,步进电机(31)的转轴穿过支架臂二( 8 )并在转轴上固连有主动轮(322 ),主动轮(322 )和调节齿盘(321)之间通过皮带连接。 According to claim satellite antenna on a moving carrier for the 3, wherein said transmission mechanism (32) comprises a toothed disc connected by adjusting a bearing (323) with two carrier arms (8) ( 321), the two bracket arms (8) are connected by two bearings (324) and said arm of the roll (2), a bearing (323) and two bearings (324) on the same line, the above-mentioned sensor plate (9 ) fixed to the adjusting gear disc (321) and on the side of the sensor plate (9) and adjusting the chainring (321) perpendicular to said stepping motor (31) is provided inside the two carrier arms (8), the adjusting chainrings ( shaft 321) provided at two carrier arms (8) outside of the stepping motor (31) through the two carrier arms (8) on the rotary shaft and fixedly connected with a driving wheel (322), the driving wheel (322) and adjusting teeth by a belt connected between the disk (321).
5.根据权利要求2所述的用于移动载体上的卫星天线,其特征在于,所述的定位驱动机构(3)包括步进电机(31)和固定在横滚臂(2)端面上的永磁体,传感器板(9)转动连接在支架臂二(8)上,在所述支架臂二(8)上设有驱动传感器板(9)转动的传动结构(32),传动结构(32)与步进电机(31)连接,在传感器板(9)上设有霍尔传感器(35),所述的永磁铁(36)位于霍尔传感器(35)移动时所经过的路径上,霍尔传感器(35)和步进电机(31)均与上述的主控电路板连接,所述的主控电路板在接收到霍尔传感器(35)输送的定位信号后控制步进电机(31)转动预设的角度使传感器板(9)处于基准面上,即绝对水平面上。 The satellite antenna on a moving carrier according to claim 2, wherein said positioning drive means (3) comprises a stepper motor (31) fixed to the roll and the arm (2) of the end face the permanent magnet, the sensor plate (9) rotatably connected to the two carrier arms (8), provided with a transmission structure (32) drives the sensor plate (9) rotates in said two holder arm (8), a transmission structure (32) connected to the stepping motor (31), is provided with a Hall sensor (35) on the sensor plate (9), said permanent magnet (36) located in the hall sensor (35) is moved on a path through which the Hall controlling rotation of the stepping motor (31) after the sensor (35) and a stepping motor (31) are connected to the main control circuit board, the main control circuit board in the positioning signal received by the Hall sensor (35) delivered predetermined angle sensor plate (9) at the reference plane, i.e., absolute horizontal plane.
6.根据权利要求5所述的用于移动载体上的卫星天线,其特征在于,所述的传动结构(32)包括与步进电机(31)转轴连接的蜗杆(326)和与蜗杆(326)啮合的蜗杆(326),步进电机(31)固定在支架臂二( 8 )上,蜗轮(325 )通过轴承一(323 )与支架臂二( 8 )连接,所述支架臂二( 8 )通过轴承二( 324)与上述的横滚臂(2 )连接,轴承一(323 )和轴承二( 324)处于同一直线上,上述的传感器板(9)固定在蜗轮(325)的侧壁上。 The satellite antenna on a moving carrier according to claim 5, wherein said transmission mechanism (32) comprises a stepping motor (31) connected to the worm shaft (326) and a worm (326 ) engaging the worm (326), a stepping motor (31) fixed to two holder arm (8), the worm wheel (325) via a bearing (323) with two carrier arms (8), the two bracket arms (8 ) are connected by two bearings (324) and said arm of the roll (2), a bearing (323) and two bearings (324) on the same line, the above-mentioned sensor plate (9) fixed to the side wall of the worm wheel (325) of on.
7.根据权利要求4或6所述的用于移动载体上的卫星天线,其特征在于,所述的传感器板(9)上还设有检测方位角的磁阻传感器、检测方位角变化的方位角陀螺仪传感器、检测传感器板(9)仰角变化的仰角陀螺仪传感器和检测传感器板(9)横滚角变化的横滚角陀螺仪传感器,所述的磁阻传感器、方位角陀螺仪传感器、仰角陀螺仪传感器和横滚角陀螺仪传感器均与上述的主控电路板相连接,在完成初调后主控电路板实时检测仰角陀螺仪传感器和横滚角陀螺仪传感器的角度变化信号并根据该信号控制驱动机构二(5)和驱动机构三(6)实时调整传感器板(9)角度,使其处于水平状态。 The satellite antenna on a moving carrier to 4 or claim 6, wherein said sensor plate (9) is also provided with azimuth detecting magnetoresistive sensor for detecting the azimuth angle of orientation angle of the gyro sensor, the sensor detecting plate (9) changes in elevation and the elevation gyro sensor detects the sensor plate (9) roll angle roll angle change in the gyro sensor, a magnetoresistive sensor, azimuth gyro sensor, the gyro sensor elevation and roll angle with the gyro sensor are connected to the main control circuit board, after the completion of preliminary adjustment main control board real-time detection elevation and roll angle of the gyro sensor of the gyro sensor according to an angle change signal the two signal controls the drive means (5) and a drive mechanism tris (6) in real time to adjust the sensor plate (9) the angle, it is in a horizontal state.
8.根据权利要求7所述的用于移动载体上的卫星天线,其特征在于,还包括一底座(10),所述的底座(10)上设有驱动天线本体(I)周向转动的驱动机构一(4),所述的主控电路板接收GPS坐标信号并计算出理论仰角值和方位角值以及接收方位角陀螺仪传感器输送的方位角变化值,主控电路板根据理论方位角值和磁阻传感器当前检测到的方向,控制驱动机构一(4)调整天线本体(I)的朝向,在上述传感器板(9)处于水平状态时主控电路板根据实时接收的GPS信号控制驱动机构一(4)使天线本体(I)朝向目标卫星。 The satellite antenna on a moving carrier according to claim 7, characterized in that, further comprising a base (10), said base is provided with a drive antenna body (I) in the circumferential direction of rotation (10) a drive mechanism (4), the main control board receives a GPS signal and calculate the coordinate values ​​of the elevation and azimuth of the theoretical value and receiving azimuth gyro sensor delivery azimuth change value, the main control circuit board in accordance with the azimuth theory and the magnetoresistive sensor current value detected direction, a driving mechanism control (4) to adjust the antenna body (I) facing, when the main control circuit board of the sensor plate (9) is in a horizontal state according to the control signal received in real time the driving GPS a mechanism (4) so ​​that the antenna body (I) toward the target satellite.
9.根据权利要求1所述的用于移动载体上的卫星天线,其特征在于,所述的横滚臂(2)包括摆动臂(21)和两根支撑臂(23),所述两支撑臂(23)处于同一直线上且相距一段距离,所述的支撑臂(23)与摆动臂(21)平行,在摆动臂(21)和支撑臂(23)之间通过连接臂(22)连接,两连接臂(22)呈八字形,所述的天线本体(I)转动到竖直状态时能位于两连接臂(22)之间且卫星天线本体(I)的背面距离摆动臂(21)—段距离。 According to claim satellite antenna on a moving carrier for the 1, wherein said roll arm (2) comprises a swing arm (21) and two support arms (23), said two support an arm (23) in the support arm and a straight line at a distance from the (23) and the swing arm (21) in parallel, connected by a connecting arm (22) between the swing arm (21) and the support arm (23) , two connecting arms (22) splay, said antenna body (I) can be rotated to a vertical position from the back surface and the satellite antenna is located in the body (I) of the swing arm (21) is connected between the two arms (22) - some distance.
10.一种移动载体上卫星天线的控制方法,其特征在于,该控制方法包括以下步骤: A、开机启动,通过GPS接收器采集当前卫星天线所在位置的GPS坐标信号并输送给主控电路板并由主控电路板根据该GPS坐标信号计算出卫星天线理论仰角值和GPS理论方位角值; B、主控电路板控制步进电机(31)转动直至设置在传感器板(9)上的限位开关(33)碰触阻挡件进而向主控电路板发送定位信号使主控电路板控制步进电机(31)停止并反转从而带动传感板转动主控电路板内预设角度主控电路板内的预设角度为限位开关(33)碰触到阻挡件时天线本体(I)的轴线与传感器板(9)所形成的夹角,此时天线轴线与传感器板(9)处于平行状态,接着步进电机(31)继续带动传感器板(9)旋转步骤A计算出的理论仰角值,此时天线轴线与传感器板(9)之间的夹角为理论仰角值; C、通过倾角传感器实时采集横 10. A method of controlling a mobile satellite antenna carrier, characterized in that, the control method comprising the steps of: A, boot, collecting GPS position coordinate signal current satellite antenna is located by the GPS receiver and fed to the main circuit board calculated by the main control circuit board the satellite and the GPS antenna theory elevation theoretical values ​​based on the GPS coordinates azimuth value signal; B, the main control board controls a stepping motor (31) rotatably disposed on the sensor until the limit plate (9) switch (33) touching the blocking member in turn sends a signal to the control circuit board is positioned so that the main control board controls a stepping motor (31) is stopped and reversed so as to drive the sensing plate rotates a predetermined angle within the main control circuit board predetermined angle in the circuit board is a limit switch (33) the angle of the antenna body (I) with the axis of the sensor plate (9) touches the stopper member is formed, in which case the antenna axis sensor plate (9) is parallel state, and then the stepping motor (31) is rotated to continue the step a computed theoretical value of the elevation sensor plate (9), the angle between the axis of the antenna case and the sensor plate (9) is the theoretical elevation values; C, by real-time acquisition transverse inclination sensor 滚臂(2)与水平面的横滚角,并把采集的横滚角输送给主控电路板,主控电路板根据此横滚角使横滚臂(2)处于水平状态;通过倾角传感器实时采集传感器板(9)与水平面的仰角,并把采集的仰角输送给主控电路板,主控电路板根据此仰角使传感器板(9)处于水平状态,天线处于初始仰角状态; D、主控电路板通过磁阻传感器检测当前天线的方位角朝向,并根据步骤A中计算出的GPS理论方位角值,输出控制信号控制驱动机构一(4)使卫星天线本体(I)朝向卫星,之后卫星天线进行初始化搜索。 The roller arm (2) with the horizontal roll angle, roll angle and sends to the master acquisition board, the main control circuit board according to this roll angle that the roll arm (2) in a horizontal state; real-time by the angle sensor acquisition sensor plate (9) and the elevation of the horizontal plane, and the elevation of the collection conveyance to the master circuit board, the main control circuit board of the sensor plate (9) in a horizontal state in accordance with this elevation, the elevation angle of the antenna is in an initial state; D, master the circuit board by detecting the current antenna azimuth orientation magnetoresistive sensor, according to step a and the theoretical calculated azimuth value GPS, outputs a control signal controlling a drive means (4) for satellite antenna body (I) toward the satellite, the satellite after The antenna is initialized search.
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CN102412436A (en) * 2011-07-13 2012-04-11 北京爱科迪信息通讯技术有限公司 Ship-borne satellite antenna system and control method thereof
CN203553351U (en) * 2013-11-16 2014-04-16 浙江中星光电子科技有限公司 Satellite antenna used on mobile carriers

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CN101010563A (en) * 2004-07-13 2007-08-01 天宝导航有限公司 Combination laser system and global navigation satellite system
CN102412436A (en) * 2011-07-13 2012-04-11 北京爱科迪信息通讯技术有限公司 Ship-borne satellite antenna system and control method thereof
CN203553351U (en) * 2013-11-16 2014-04-16 浙江中星光电子科技有限公司 Satellite antenna used on mobile carriers

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