CN103915673A - Onboard A-E-C three-axis satellite communication antenna beam pointing-tracking control method - Google Patents
Onboard A-E-C three-axis satellite communication antenna beam pointing-tracking control method Download PDFInfo
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Abstract
The invention relates to an onboard A-E-C three-axis satellite communication antenna beam pointing-tracking control method, and belongs to the technical field of test communication of the spaceflight measurement and control. An onboard satellite communication earth station A-E-C three-axis antenna coordinate calculation method is adopted, computational formulas of the heeling angle and the trim angle of an onboard satellite communication earth station antenna pedestal under a dynamic condition are deduced, and a method for controlling the A-axis, the E-axis and the C-axis of a three-axis antenna under a marine dynamic condition is disclosed according to the characteristics of the three-axis antenna. By means of the onboard A-E-C three-axis satellite communication antenna beam pointing-tracking control method, capture and tracking efficiency and beam pointing-tracking precision of an onboard satellite communication earth station antenna can be improved.
Description
Technical field
The present invention relates to a kind of boat-carrying three-axis stabilization antenna servo control technology, specifically relate to a kind of boat-carrying A-E-C three-axis satellite communication antenna beam position tracking and controlling method, belong to the test communication technical field of space telemetry and control technology.
Background technology
It is unique that three axis stabilized satellite communication antenna has advantages of, it can overcome the disturbance that ship motion brings effectively, follows the tracks of reliably zenith target, realizes the ideal stability of wave beam.But because structure and axle are motion more complicated, thereby sky line traffic control is also proposed to higher requirement.
Boat-carrying satellite communication earth station antenna mount generally adopts A-E-C tri-axle forms, between azimuth axis (A axle) and pitch axis (E axle), increase by a three axle-intersecting axle (C axle), it and pitch axis are at orthogonal space, C axle can utilize secant compensation effect, make antenna can follow the tracks of reliably zenith target, the structure of triaxial antennas as shown in Figure 1.
Certain type surveying vessel boat-carrying satellite communication earth station antenna servo system adopts three-axis stabilization, diaxon tracking system.Three-axis stabilization refers to servo-actuated course, orientation, and isolation course changes the impact on antenna direction, trim and the impact of roll on antenna direction of pitching, intersecting axle isolation hull; Diaxon is followed the tracks of and is referred to that receiver passes through antenna reception satellite beacon signals, demodulates the error signal to star, is realized star is followed the tracks of by pitching, intersecting axle.
At the beginning of boat-carrying satellite earth station design, according to satellite resource situation at that time, boat-carrying satellite communication, to use the work of circular polarization mode as main, is not therefore considered the impact that the electrical boresight of antenna rolls in design; And Ship Inertial Navigation System can't provide accurate ship appearance position information to boat-carrying satellite communication earth station at any time at that time, defend logical antenna servo system and need be based on homeostasis, rely on the gyro being arranged on antenna to provide stabilized platform isolation hull to wave disturbance.According to this Series Design thought, the A-E-C of boat-carrying satellite communication earth station triaxial antennas only needs simple geographical coordinate to calculate in the time of code acquisition satellite, target acquisition aft antenna is by the closed-loop control of autotracking ring, be that angle is carried out guide antenna without reference axis, so the accurate coordinates of the A-E-C of boat-carrying satellite communication earth station triaxial antennas calculates always out in the cold for a long time.
But along with communication technology of satellite development is at sea more and more deep, antenna stabilization tracking system originally exposes gradually antenna coordinate and calculates the series of problems that imperfection brings, as: servo system height relies on the reliability of gyro, under severe sea condition, antenna trapping target is because of difficulty, single-pulse track lacks other means of tracking for subsequent use with outside antenna, when tracker wire polarization satellite, polarizing angle error can not be revised etc. in real time, once and autotracking ring lost efficacy, antenna can be implemented Mono-pulse Tracking Receiver to star school phase under dynamic condition at sea because lacking the stable means of pointing to target satellite, before stop harbour, boat-carrying satellite communication earth station cannot normally work.
Set up the A-E-C of boat-carrying satellite communication earth station triaxial antennas Coordinate Computational Mathematics Model, utilize ship's inertial navigation system signal to carry out correlation computations and as external stabilization platform control antenna, realize digital designation follow the tracks of, be the A-E-C of boat-carrying satellite communication earth station antenna overcome above defect, improve servo tracking control system in the urgent need to.
Although the past also once proposed at the A-E-C of boat-carrying satellite communication earth station triaxial antennas control field the theoretical analysis and calculation result that some axles are angle, but be only confined to use method of geometry to calculate single problem part conclusion for special problem, and derivation complexity, computational methods are architectonical not.Patent of the present invention, by theory analysis, adopts the method for matrixing.Set up a set of complete Mathematical Modeling that is applicable to the calculating of the A-E-C of boat-carrying satellite communication earth station triaxial antennas coordinate, realized the digital designation control that the A-E-C of boat-carrying satellite communication earth station controlling antenna wave beam to point is followed the tracks of.
Summary of the invention
The object of the invention is to overcome above-mentioned deficiency, a kind of boat-carrying A-E-C three-axis satellite communication antenna beam position tracking and controlling method is provided, it effectively utilizes ship's inertial navigation system that the advantage of accurate Attitude information can be provided for the A-E-C of boat-carrying satellite communication earth station triaxial antennas, systematically analyze the A-E-C of boat-carrying satellite communication earth station three axes pedestal shelf structure and the characteristics of motion, set up antenna coordinate system, and by derivation geographic coordinate system, transformational relation between deck coordinate system and antenna coordinate system, set up a set of complete A-E-C of boat-carrying satellite communication earth station triaxial antennas Coordinate Computational Mathematics Model, realizing the digital designation at controlling antenna wave beam to point angle follows the tracks of, solve many practical problems that under the marine dynamic condition of boat-carrying satellite communication earth station, servo-control system faces, boat-carrying satellite communication earth station antenna trapping be can effectively improve and efficiency and beam position tracking accuracy followed the tracks of.
The object of the present invention is achieved like this: a kind of boat-carrying A-E-C of the present invention three-axis satellite communication antenna beam position tracking and controlling method, and it comprises following three partial contents:
1), Coordinate system definition
For the A-E-C of boat-carrying satellite communication earth station triaxial antennas, definition antenna coordinate is that initial point O is positioned at antenna stabilized platform San Zhou center, antenna direction axle OZ is perpendicular to the plane at pitch axis and intersecting axle place, OX axle is parallel to pitch axis, OY axle is parallel to intersecting axle, OX, OY and OZ axle meet right-hand rule, and in the time that antenna bearingt is 90o with intersection for 0o, pitching, antenna coordinate system overlaps with deck coordinate system;
2), the conversion method between the A-E-C of boat-carrying satellite communication earth station triaxial antennas geographic coordinate system, deck coordinate system and antenna coordinate system
Definition geographic coordinate system OXYZ, initial point O is positioned at antenna stabilized platform San Zhou center, and OX axle is parallel to horizontal plane and points to due east, and OY axle is parallel to horizontal plane and points to positive north, and OZ axle is perpendicular to plane OXY, and vertical is upwards for just.
Definition deck coordinate system OX
dy
dz
d, initial point O is positioned at antenna stabilized platform San Zhou center, OY
daxle is parallel to fore and aft line and points to stem for just, OX
daxle and OY
dvertical and be parallel to deck level, point to starboard for just, OZ
daxle and OX
d, OY
dform right hand rectangular coordinate system.
The course variation of boats and ships carrier, pitching variation, rolling change to be described with matrix form, is respectively conversion matrix m
h, pitching transformation matrix m
p, rolling transformation matrix m
r:
，
，
Wherein H is course angle, and P is pitch angle, and R is roll angle.
Geographic coordinate system OXYZ is to deck coordinate system OX
dy
dz
dcoordinate transform:
Deck coordinate system OX
dy
dz
dcoordinate transform to geographic coordinate system OXYZ:
The computing formula that is transformed into deck coordinate system rectangular coordinate by antenna geographic azimuth A, geographical angle of pitch E is:
The computing formula of being calculated deck plane orientation angle on the bow Ac, deck plane angle of pitch Ec by deck coordinate system rectangular coordinate is:
For the A-E-C of boat-carrying satellite communication earth station triaxial antennas, definition antenna coordinate is that initial point O is positioned at antenna stabilized platform San Zhou center, antenna direction axle OZ is perpendicular to the plane at pitch axis and intersecting axle place, OX axle is parallel to pitch axis, OY axle is parallel to intersecting axle, and OX, OY and OZ axle meet right-hand rule.In the time that antenna bearingt is 90o with intersection for 0o, pitching, antenna coordinate system overlaps with deck coordinate system.
A-E-C triaxial antennas orientation rotation matrix, pitching spin matrix and the spin matrix that intersects can be expressed as:
，
，
The math equation of triaxial antennas motion:
Equation the right of above formula, right-to-left is the each axle rotation order of antenna.
Be transformed into the step of antenna coordinate system from deck coordinate system:
The orientation A angle that turns clockwise, XOY face is around rotate-A of Z axis angle; Pitch axis rotates (90o-E) angle, and YOZ face is around rotate-(90o-E) angle of X-axis; The intersecting axle C angle that turns right, XOZ face rotates C angle around Y-axis.Transition matrix is as follows:
Wherein:
Being transformed into antenna coordinate by deck coordinate system is that the formula of coordinate transform is:
The transformation for mula that is transformed into deck coordinate system by antenna coordinate system is:
The servo supervisory control comuter of boat-carrying satellite communication earth station utilizes above mathematical formulae to calculate, and can realize the mutual conversion between satellite communication antena geographic coordinate system, deck coordinate system and antenna coordinate system;
3) the digital designation control method that, under marine dynamic condition, the A-E-C of boat-carrying satellite communication earth station triaxial antennas beam position is followed the tracks of;
Control antenna isolation ship shakes, and controls exactly the corresponding antenna axis of the A-E-C of boat-carrying satellite communication earth station triaxial antennas and rotates, and offsets the impact that antenna base tilts.The inclination angle of antenna base refers to Angle of Heel and the Angle of Trim of antenna when orientation angle on the bow is A.
Utilize the above-mentioned boat-carrying A-E-C of satellite communication earth station triaxial antennas Coordinate Computational Mathematics Model to derive, can obtain the expression formula of Angle of Heel Z:
The expression formula of Angle of Trim L:
Obtain orientation angle on the bow A by ship compass signal, obtain roll angle R and pitch angle P by inertial navigation signal, utilize above formula to calculate the result of calculation that has just obtained Angle of Heel and Angle of Trim, for the A-E-C of boat-carrying satellite communication earth station triaxial antennas, just can be on the basis in the servo-actuated course of azimuth axis of antenna, correction-L angle in antenna E axle guiding angle is repaiied positive – ZsinE angle in C axle guiding angle.In servo system, with new guiding in real time angle, to antenna, each shaft position circulating application adds control, that is: A=A
d-H, E=E
d-L, C=-Zsin(E), antenna just can isolate ship shake keep beam position stablized.
Compared with prior art, the present invention has following beneficial effect:
1, be accustomed to value mode for design feature and the Ship Inertial Navigation System signal of the A-E-C of boat-carrying satellite communication earth station triaxial antennas, the direction of rotation of the each axle sensing of Rational choice coordinate system of the present invention and rotation of coordinate matrix, the transformational relation of having derived between geographic coordinate system, deck coordinate system and antenna coordinate system, has ensured that antenna axis is real-time and the correctness of angle computing;
2, in the each digital designation derivation of equation of invention, be complicated movement for antenna axis, the feature that reference system is changeable, the method for proposed unit's reference vector coordinate analysis.The method is calculated as main standard to be conducive to coordinate figure, and selected reference vector can be analyzed and find the coordinate that coordinate figure is zero in new coordinate system after coordinate transform, thereby is convenient to utilize equation relation finally to determine the computing formula of institute's Solve problems;
3, from practical application effect, the A-E-C of boat-carrying satellite communication earth station triaxial antennas Coordinate Computational Mathematics Model has good versatility, and model robustness is good.No matter antenna is two axles is followed the tracks of or the tracking of three axles, and the conclusion of this model inference can be suitable for.In task, ensure the unimpeded of satellite communication, reasonability and the accuracy of this mathematics model analysis result has been described;
4, boat-carrying satellite communication theory that the present invention is abundant and perfect, for the control of optimizing boat-carrying satellite communication antena provides strong tool of mathematical analysis.Applying Mathematical Modeling provided by the invention controls boat-carrying three axis stabilized satellite communication antenna, can improve antenna trapping and follow the tracks of efficiency, for digital designation antenna direction under marine dynamic condition is followed the tracks of, polarizing angle is revised in real time, solid foundation is established in application equal to the marine school of track receiver.
Brief description of the drawings
Fig. 1 is the structural representation of A-E-C triaxial antennas.
Fig. 2 is deck coordinate schematic diagram.
Fig. 3 is the schematic diagram of antenna coordinate system.
Fig. 4 is the longitudinal and transverse change curve schematic diagram that shakes of hull.
Embodiment
For illustrating the present invention, first boat-carrying A-E-C triaxial antennas tenacious tracking system is analyzed as follows:
1) A-E-C three-axis mount form
Boat-carrying satellite communication antena mounting generally adopts A-E-C tri-axle forms, between azimuth axis (A axle) and pitch axis (E axle), increase by a three axle-intersecting axle (C axle), it and pitch axis are at orthogonal space, C axle can utilize secant compensation effect, make antenna can follow the tracks of reliably zenith target, the structure of triaxial antennas is (in figure, dotted line is antenna boresight) as shown in Figure 1.
2) antenna stabilization tracking system
The Mou Xing surveying vessel A-E-C of satellite earth station servo system adopts three-axis stabilization, diaxon tracking system.Three-axis stabilization refers to servo-actuated course, orientation, and isolation course changes the impact on antenna direction, trim and the impact of roll on antenna direction of pitching, intersecting axle isolation hull; Diaxon is followed the tracks of and is referred to that receiver passes through antenna reception satellite beacon signals, demodulates the error signal to star, is realized star is followed the tracks of by pitching, intersecting axle.
3) defect of existing servo tracking system
At the beginning of the A-E-C of boat-carrying satellite earth station design, according to satellite resource situation, to use the work of circular polarization mode as main, in design, no longer consider the impact that the electrical boresight of antenna rolls; And inertial navigation at that time can't provide accurate ship appearance position information to boat-carrying satellite communication earth station at any time, defend logical antenna servo system and need be based on homeostasis, rely on the gyro being arranged on antenna to provide stabilized platform isolation hull to wave disturbance.According to this Series Design thought, antenna only needs simple coordinate to calculate in the time of code acquisition satellite, so the accurate coordinates of boat-carrying three-axis stabilization antenna calculates always out in the cold for a long time.
But along with sea is used the application development of linear polarization satellite communication more and more deep, antenna stabilization tracking system originally exposes gradually antenna coordinate and calculates the series of problems that brings of imperfection, as: under severe sea condition target acquisition because of difficult, polarizing angle error can not be revised in real time, tracking loop is thrown off aft antenna and lacked means, the feedback gyro that long-time high-accuracy stable points to and become the problems such as system single point failure link.
1. the difficult problem of severe sea condition antenna trapping target
Boat-carrying satellite communication earth station, before antenna trapping tracking satellite, first calculates the geodetic coordinates angle of antenna to satellite according to the footpath degree of position information and star, and computing formula is:
…………………（1）
…………………（2）
…………………（3）
In formula:
---satellite longitude;
---the longitude of ship;
---the latitude of ship;
A
d1, E
d1---antenna geodetic coordinates angle;
P
0---antenna polarization angle;
---earth mean radius (being about 6400km);
R---satellite synchronization track is apart from the distance (35786km ≈ 36000km) in the earth's core.
Obtain behind geodetic coordinates angle, need to convert the instantaneous geographical angle A of antenna deck plane to
d2, E
d2, the instantaneous geographical angle calculating formula that the A-E-C of satellite earth station adopts is at present:
………………………（4）
………………………（5）
In formula: H is course angle; E
lfor horizontal pivot angle; A
j, E
jfor angle, antenna deck.
The result of calculation of the servo system application of boat-carrying satellite communication earth station (3), (4), (5) formula, driven antenna polarizing angle, deck bearing, the deck angle of pitch forward theoretical position to, then start searching position ring, antenna beam is scanned in the certain limit centered by theoretical sighted direction, if Mono-pulse Tracking Receiver locking satellite beacon signal in scanning process, servo system is closed autotracking ring, and antenna proceeds to autotracking working method, otherwise continues scanning.Under ship shakes relatively stably situation, adopt comparatively fast target acquisition satellite of above scan mode.
But, the instantaneous geographical angle drawing in above theoretical computational process is to be reference with geodetic coordinates, and rotary antenna deck coordinate system used is because change has occurred in hull disturbance, still use above instantaneous geographical angle can not make the direction at antenna alignment target satellite place as deck coordinate.Next antenna beam scans round this theoretical aiming center under the effect of gyro ring, but because scanning center itself exists error, capture time will extend relatively, in serious situation (as severe sea condition), the deviation of scanning center and theoretical sighted direction is greater than the sweep limits that servo system is set, just target acquisition automatically of antenna.
2. polarizing angle error problem
While using linear polarization satellite communication, the roll and pitch of hull can cause that electrical boresight of antenna rolling produces polarizing angle deviation; In addition, triaxial antennas is in the process of rotation C axle, and Antenna aperture also can produce the torsion of certain angle, in tracing process, as C axle misalignment zero-bit can produce polarizing angle deviation equally.
Owing to simply thinking in antenna tracking process that polarizing angle is revised in real time, past is in the time being used linear polarization satellite communication, the result of calculation that employing (3) formula is set of polarizing angle, only have when the residing geographical position of ship changes, calculate polarizing angle variation and reach after certain angle, antenna just carries out polarizing angle adjustment.During until work at the high elevation angle of antenna, because departing from zero-bit, C axle causes antenna polarization isolation severe exacerbation, have influence on normal Tracking And Communications, polarization offset issue just causes enough attention, the compensation formula of polarizing angle when staff has used a kind of method of geometry to derive the variation of C axle, derivation is comparatively complicated.
4) solution route of problem
Set up the A-E-C of boat-carrying satellite communication earth station triaxial antennas coordinate computation model, utilize ship's inertial navigation system signal to carry out correlation computations and as external stabilization platform control antenna, be the A-E-C of satellite earth station overcome above defect, improve servo tracking control system in the urgent need to.
Some the calculated results that past proposes are only confined to for special problem, use method of geometry to calculate single problem part conclusion, and derivation complexity, and computational methods are architectonical not.The object of patent of the present invention is exactly by theory analysis, explores and sets up a set of complete Coordinate calculation method that is applicable to boat-carrying three-axis satellite communication antenna.
In order to set up the A-E-C of boat-carrying satellite communication earth station triaxial antennas coordinate transform Mathematical Modeling, concrete steps are as follows:
(1) definition attitude of ship angle and relative coordinate system
The angle symbol definition relevant with deck is as follows:
The pitch angle P of deck level is the angle between ship fore and aft line and horizontal plane, in vertical guide, measures.Stem above horizontal plane time P get on the occasion of.
The roll angle R of deck level is the angle between intersection and the hull transverse axis of hull cross section and horizontal plane, and measurement plane is perpendicular to deck level and perpendicular to fore and aft line.When deck starboard has a down dip R get on the occasion of.
Course angle H starts the angle to stem direction clockwise from positive north, measure, clockwise for just in horizontal plane.
Patent of the present invention, in deduce mathematical, adopts right hand rectangular coordinate system.The sign convention of the reference axis anglec of rotation is: along the order anglec of rotation of X-Y-Z-X for just, otherwise for negative.
Definition geographic coordinate system OXYZ, initial point O is positioned at antenna stabilized platform San Zhou center, and OX axle is parallel to horizontal plane and points to due east, and OY axle is parallel to horizontal plane and points to positive north, and OZ axle is perpendicular to plane OXY, and vertical is upwards for just.
Definition deck coordinate system OX
dy
dz
d, initial point O is positioned at antenna stabilized platform San Zhou center, OY
daxle is parallel to fore and aft line and points to stem for just, OX
daxle and OY
dvertical and be parallel to deck level, point to starboard for just, OZ
daxle and OX
d, OY
dform right hand rectangular coordinate system.
(2) coordinate transformation method between geographic coordinate system and deck coordinate system
Because surveying vessel Inertial navigation platform adopts Ka Erdan ring stand structure, ship geographical coordinate is tied to the coordinate transform of deck coordinate system must be undertaken by the order of conversion, pitching conversion and rolling conversion.That is to say, OXYZ must first press conversion (around OZ axle rotation H) to OX
hy
hz, then convert (around OX by pitching
haxle rotation P) to OX
hydZ
', finally convert (around OY by rolling again
daxle rotation R) to OX
dy
dz
d(deck coordinate system).
First we discuss conversion.As shown in Figure 2, the coordinate of OXYZ coordinate system after OZ axle rotation-H is OX
hy
hz.If
for unit vector, the coordinate of B point in OXYZ coordinate system is
, at OX
hy
hcoordinate in Z coordinate system is
, B point is at a B ' that is projected as for horizontal plane, r=OB ', and r and Y-axis angle are azimuth A, the angle of OB and OB ' is angle of pitch E.
As shown in Figure 2:
Variously above describe with matrix form:
In like manner can try to achieve pitching transformation matrix mp and rolling transformation matrix mr:
，
Obtain thus, geographic coordinate system OXYZ is to deck coordinate system OX
dy
dz
dcoordinate transform:
…………………（6）
Deck coordinate system OX
dy
dz
dcoordinate transform to geographic coordinate system OXYZ:
…………………（7）
Definition antenna beam azimuth angle A is positive north and the angle of controlling antenna wave beam to point at horizontal plane projection line, measures, clockwise for just in horizontal plane.
Definition antenna beam angle of pitch E be controlling antenna wave beam to point and its at the angle of horizontal plane projection line, in vertical guide, measure, angle on horizontal plane for just.
Definition antenna beam deck level orientation angle of chord A
cfor stem line and controlling antenna wave beam to point are at the angle of deck level projection line, in deck level, measure, clockwise for just.
Definition antenna beam deck level angle of pitch E
cfor controlling antenna wave beam to point and its angle at deck level projection line, measurement plane is perpendicular to deck level, on deck level for just.
1. orientation, pitching Coordinate Conversion are rectangular coordinate
Can obtain the coordinate of unit vector end points in rectangular coordinate system by Fig. 2
can be expressed from the next with the relation of the residing orientation of this vector, the angle of site:
The formula that is transformed into deck coordinate system rectangular coordinate by antenna geographic orientation, the angle of pitch is:
………………（8）
2. rectangular coordinate is converted to orientation, pitching coordinate
According to Fig. 2 and (8) formula, the computing formula that we can obtain calculating according to deck coordinate system rectangular coordinate deck plane orientation angle on the bow Ac, deck plane angle of pitch Ec is:
………………（9）
Coordinate transform from deck coordinate system to geographic coordinate system, carrying out after rolling conversion and pitching conversion, the relative bearing of now trying to achieve is (in level measurement, start clockwise as just from fore and aft line) and azimuth A only differ from a course, and now the angle of pitch and course angle are irrelevant,, while calculating radar beam azimuth and the angle of pitch, needn't carry out again course inverse transformation.
If:
In formula:
Geographic azimuth, angle of pitch reduction formula are:
………………（10）
3) coordinate transform of the A-E-C of boat-carrying satellite communication earth station triaxial antennas
1. antenna coordinate system definition
For boat-carrying triaxial antennas, we define antenna coordinate is that initial point O is positioned at antenna stabilized platform San Zhou center, and antenna direction axle OZ is perpendicular to the plane at pitch axis and intersecting axle place, and OX axle is parallel to pitch axis, OY axle is parallel to intersecting axle, and OX, OY and OZ axle meet right-hand rule.In the time that antenna bearingt is 90o with intersection for 0o, pitching, antenna coordinate system overlaps with deck coordinate system.
2. antenna movement math equation
As Fig. 3, the order that our regulation antenna rotates is followed successively by: A axle (azimuth axis) the A angle that turns clockwise, and XOY face is around rotate-A of Z axis angle; E axle (pitch axis) rotates up E angle, and YOZ face rotates E angle around X-axis; C axle (intersecting axle) is to right rotation C angle, and XOZ face rotates C angle around Y-axis.Above A, E, the rotation of C axle can represent with transformation matrix of coordinates.
Orientation rotation matrix, pitching spin matrix, the spin matrix that intersects can be expressed as:
，
，
So just obtain the math equation of triaxial antennas motion:
………………（11）
(11) formula be it should be noted that to equation the right right-to-left is the each axle rotation order of antenna.
The math equation of its inverse transformation is:
3. the conversion between antenna coordinate system and deck coordinate system
The step that is transformed into antenna coordinate system from deck coordinate system is: the orientation A angle that turns clockwise, and XOY face is around rotate-A of Z axis angle; Pitch axis rotates (90o-E) angle, and YOZ face is around rotate-(90o-E) angle of X-axis; The intersecting axle C angle that turns right, XOZ face rotates C angle around Y-axis.Transition matrix is as follows:
Wherein:
Being transformed into antenna coordinate by deck coordinate system is that the formula of coordinate transform is:
………………（12）
The transformation for mula that is transformed into deck coordinate system by antenna coordinate system is:
………………（13）
The above-mentioned all kinds of coordinate system transformational relations of Integrated using, can much be applied, and solve the problem that boat-carrying A-E-C three axis stabilized satellite communication antenna digital designation is followed the tracks of, and discuss respectively below with regard to several typical application:
1) antenna fast Acquisition target
Boats and ships are in the middle of advancing, can calculate according to (1) formula, (2) formula and (3) formula theoretical the earth orientation, the angle of pitch and the polarizing angle of the A-E-C of boat-carrying satellite communication earth station triaxial antennas, finally calculate deck plane orientation angle on the bow Ac, deck plane angle of pitch Ec by (9) formula, the guiding in real time value that these two angle values are exactly guide antenna target acquisition.
In computational process, taken into account ship course variation, pitching and the rolling impact on antenna coordinate, thereby antenna beam can point to real-time target satellite sighted direction, make antenna fast Acquisition target.
Consider the impact of the factor such as inertial navigation data network transmission time delay, computer processing delay and servo system hysteresis, carry out also needing to be aided with when digital designation is followed the tracks of the extrapolation algorithm of vectoring information, using at present more is Lagrange's interpolation.
2) control of three-axis stabilization system
Ship motion disturbance makes deck plane run-off the straight, the also run-off the straight simultaneously of antenna base face, if do not apply real-time control, antenna beam will depart from original target direction.Control antenna isolation ship shakes, and controls exactly corresponding antenna axis and rotates the impact of offsetting seat surface inclination.
The inclination angle of antenna base refers to Angle of Heel and the Angle of Trim of antenna when orientation angle on the bow is A.
Examine the structure of A-E-C triaxial antennas, we find that Angle of Heel Z is exactly the angle of E axle and horizontal plane, and Angle of Trim L is exactly the angle of C axle and horizontal plane.Because of antenna C axle and E axle orthogonal in antenna surface, control C axle rotations-ZsinE angle, can offset Angle of Trim impact, same, control E axle rotation-L angle, can offset Angle of Heel affects.
For the ease of obtaining the mathematic(al) representation at two inclination angles, select the unit reference vector under geographical coordinate here
, this vector is through m
p, m
rmatrixing is to OX
dy
dz
dcoordinate system, then azimuth axis rotation A angle, then make X-axis around the rotation of Y-axis Z axis, and forwarding X-axis to horizontal level, corner is Angle of Heel Z.Now unit vector is at OX
4y
4z
4coordinate in coordinate system is:
…………………（18）
Wherein:
Due to X
4axle is in horizontal plane, therefore unit reference vector is at X
4on component x
4should be zero.(18) formula is launched, and made x
4equal zero, then arranged, just can obtain the expression formula of Angle of Heel Z:
…………………（19）
In order to obtain the Angle of Trim L at angle on the bow A place, then make Y
4axle is around X
4axially Z
4direction of principal axis rotates to horizontal plane, and its corner is L.Transformation matrix m
lfor:
Now unit vector is at OX
5y
5z
5coordinate in coordinate system is:
…………………（20）
Due to Y
5axle is in horizontal plane, therefore unit reference vector is at Y
5on component y
5should be zero.(20) formula is launched, made y
5equal zero, then arranged, just can obtain the expression formula of Angle of Trim L:
……（21）
There is the result of calculation of Angle of Heel and Angle of Trim, just can be on the basis in the servo-actuated course of azimuth axis of antenna, in antenna E axle guiding angle, revise one-L angle, in C axle guiding angle, revise one-ZsinE angle, with new guiding in real time angle, to antenna, each shaft position circulating application adds control, antenna just can be isolated ship and shaken like this, keeps beam position to stablize.That is: A=A
d-H, E=E
d-L, C=-Zsin(E).
(20), (21) formula also has an important application, is exactly the feedforward compensation link using Angle of Heel and Angle of Trim result of calculation as tracking loop, the ship that can improve tracking loop shakes isolation.
Following table for example understands that after use this patent, different ships shakes under situation, the relation between the each axle of antenna angle, real-time deck and ship cradle angle.
The each axle guiding in real time of antenna angle as can be seen from the table, the impact that ship shakes can overcome by adjustment E, C shaft angle degree.
In actual applications, the digital designation beam position of antenna is followed the tracks of the impact such as the factor that also needs to consider inertial navigation data network transmission time delay, computer processing delay and servo system hysteresis, antenna carries out digital designation to be followed the tracks of when angle calculation and also needs to be aided with Data Extrapolation algorithm, and using at present more is Lagrange's interpolation.
The present invention is in conjunction with surveying vessel satellite communication actual demand, use for reference multiple carrier-borne, the derivation method of airborne antenna electric axis stability equations, the Coordinate calculation method of a set of boat-carrying A-E-C three axis stabilized satellite communication antenna has systematically been proposed first, all conclusions of deriving are all correct through MATLAB simulation calculating and numerical analysis checking, while having clarified the satellite of ship-board antenna tracker wire polarization for a long time, be some obscure understandings of relation for antenna axis, some algorithm and derivation result are applied to the amendment of the A-E-C of satellite earth station SERVO CONTROL software and perfect, improve the performance of boat-carrying satellite communication antena.Boat-carrying satellite communication theory that boat-carrying A-E-C three axis stabilized satellite communication antenna digital designation tracking is abundant and perfect, improve antenna trapping and followed the tracks of efficiency, for digital designation antenna direction under marine dynamic condition is followed the tracks of, polarizing angle is revised in real time, solid Fundamentals of Mathematics have been established in application equal to track receiver school, simultaneously also for the control of optimizing boat-carrying satellite communication antena provides strong tool of mathematical analysis.
Claims (2)
1. a boat-carrying A-E-C three-axis satellite communication antenna beam position tracking and controlling method, is characterized in that it is made up of following three parts:
(1) Coordinate system definition
For the A-E-C of boat-carrying satellite communication earth station triaxial antennas, definition antenna coordinate is that initial point O is positioned at antenna stabilized platform San Zhou center, antenna direction axle OZ is perpendicular to the plane at pitch axis and intersecting axle place, OX axle is parallel to pitch axis, OY axle is parallel to intersecting axle, OX, OY and OZ axle meet right-hand rule, and in the time that antenna bearingt is 90o with intersection for 0o, pitching, antenna coordinate system overlaps with deck coordinate system;
(2) digital designation is followed the tracks of Coordinate calculation method
According to the design feature of the A-E-C of boat-carrying satellite communication earth station three-axis stabilization antenna and marine Inertial navigation signal custom value mode, setting up orientation rotation matrix, pitching spin matrix and intersection spin matrix can be expressed as:
，
，
The math equation of boat-carrying triaxial antennas motion:
Equation the right of above formula, right-to-left is the each axle rotation order of antenna, is transformed into the step of antenna coordinate system from deck coordinate system:
1. the orientation A angle that turns clockwise, XOY face is around rotate-A of Z axis angle;
2. pitch axis rotates (90o-E) angle, and YOZ face is around rotate-(90o-E) angle of X-axis;
3. the intersecting axle C angle that turns right, XOZ face rotates C angle around Y-axis;
Transition matrix is as follows:
Wherein:
The transformation for mula that is transformed into antenna coordinate system by deck coordinate system is:
The transformation for mula that is transformed into deck coordinate system by antenna coordinate system is:
(3) use the A-E-C of boat-carrying satellite communication earth station triaxial antennas coordinate computational transformation formula to derive, can obtain:
The expression formula of Angle of Heel Z:
The expression formula of Angle of Trim L:
For the A-E-C of boat-carrying satellite communication earth station triaxial antennas, on the basis of the servo-actuated ship of antenna A axle compass course, correction-L angle in antenna E axle guiding angle is revised in C axle guiding angle
angle; In boat-carrying satellite communication earth station servo system, with new guiding in real time angle, to antenna, each shaft position circulating application adds control, that is: A=A
d-H, E=E
d-L, C=-Zsin(E), antenna just can be isolated ship and be shaken and keep beam position stable.
2. a kind of boat-carrying A-E-C three-axis satellite communication antenna beam position tracking and controlling method according to claim 1, it is characterized in that: Angle of Heel and Angle of Trim result of calculation are encircled to the feedforward compensation link of following the tracks of certainly as the each axle pulse of antenna, and the ship that can improve tracking loop shakes isolation.
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