CN104124528A - Inertia/GNSS (Global Navigation Satellite System)/satellite beacon based integrated communication on the move antenna stabilization tracking method - Google Patents
Inertia/GNSS (Global Navigation Satellite System)/satellite beacon based integrated communication on the move antenna stabilization tracking method Download PDFInfo
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Abstract
An inertia/GNSS/satellite beacon based integrated antenna stabilization tracking system utilizes a low-cost MEMS (Micro Electro Mechanical System) inertia/GNSS integrated navigation system as a motion sensor, the system is installed on a base of the antenna stabilization tracking control system, the control system solves the angular rate output by the integrated navigation system through coordinate transformation to obtain the motion angular velocity of the antenna surface, and an antenna is subjected to first-stage inertia stabilization tracking control; in addition, the inertia/GNSS integrated navigation system can calculate to obtain the high-precision angle of pitch, roll angle and azimuth of the base through a Kalman filtering integrated navigation algorithm to perform second-stage stabilization tracking control on the antenna surface; besides, a satellite signal receiver can calculate to obtain the azimuth and angle of pitch of the current antenna surface deviating from a satellite through the antenna surface active scanning motion and the signal peak recognition technology for completing third-stage stabilization tracking control so as to control the antenna to obtain good tracking effects and to further form closed-loop stabilization control.
Description
Technical field
The present invention relates to a kind of communication in moving antenna stabilization tracking, particularly exceedingly high line stabilization tracking in a kind of inertia/GNSS/ satellite beacon combined moving.
Background technology
Communication in moving is to utilize geostationary satellite as relaying, can between mobile vehicle (car, ship etc. in motion), realize in real time, high bandwidth, the multimedia messages such as transitive graph picture, video, speech incessantly, be the developing direction of the tool prospect of satellite communication industry.
The key technology of communication in moving is the stable and tracking technique of antenna platform, this is a complicated multi-disciplinary technology-intensive synthesis, and it has comprised the multinomial technology such as inertial navigation technology, data acquisition and signal processing technology, Precision Machinery Design technology, precision optical machinery kinematics, servo control technique, communication technology of satellite and system engineering.This class tenacious tracking system is that electromechanical integration, automatic control technology are main body, is the product of multidisciplinary combination.
Just start to be devoted to the research of mobile satellite communication abroad from the seventies, wherein the U.S., Japan and Canada maintain the leading position.It is reported, united states, japan and other countries is developed mobile-satellite TV receiving system already, the tenacious tracking technology of antenna platform is applied to commercial field, as the many commercial yacht of the U.S., the Shinkansen bullet train of Japan, the automobile of Ford, the first-class mobile-satellite TV receiving system of all having equipped of aircraft of Boeing.
External communication in moving equipment development is more rapid, if the vehicle-mounted station of marine satellite of Grumman Co., Ltd of the U.S., KVH company, overocean communications (Sea Tel) company, Japanese NHK company, Ship Station, airborne station etc. have been the products of the quite stable of introducing to the market, be widely used in commercialization and military domain.Although external communication in moving equipment has reliable in quality, steady performance, but there are several inevitable problems: (1), technical scheme generally adopt traditional steady prosecutor case, system is selected the inertia device of higher cost, the place one's entire reliance upon precision of inertia device of the control precision of system, generally need to select optical fiber or laser-inertial navigation system, the cost of system is difficult to controlled; Meanwhile, due to import tariff and agential middle profit, the price that user is purchased is often higher, and general user is difficult to bear its selling price, therefore cannot use by spread; (2), external product relates to import, the supply time of product and supply of material quantity cannot be protected, simultaneously, the technical support of product and after-sale service cannot be ensured in time, relate in particular to the technological transformation of user's handling characteristics, generally cannot complete, thereby limited popularization; (3) the main antenna of Countries is forbidden or is limited to Chinese import, and especially some high-performance relate to the antenna of Military Application, and as KU, KA dual-band antenna, KA antenna etc. all restricts export; (4) communication in moving antenna generally all uses in emergency communication fields such as government, public security, People's Armed Police, armies, and the confidentiality of communication system is had to very harsh requirement, and external imported product cannot ensure and control completely in confidentiality; (5) import communication in moving antenna generally all uses GPS navigation system not to be equipped with Big Dipper navigation positioning system, and this in case of emergency falls system cannot to use.
Than abroad, the mobile satellite communication industry start-up time of China is not long, although lack part experience, but obtain preliminary success, there are some producers to develop communication in moving product, such as 54,38,39,714 of electronics technology group, Aerospace Science and Technology Corporation 503 etc.As the vehicle-mounted communication in moving antenna of the 54 KU wave band of being developed has obtained application among a small circle in military system, the 38 communication in moving antennas of developing have obtained successful Application in No. 7, No. 8, No. 9, Divine Land return capsule is searched and rescued safeguards system.But from current domestic existing communication in moving antenna development situation, mainly there is following several problem: the communication in moving antenna system of (1) these research institute's exploitations is mainly the department to price relative insensitivity such as Government and army, the cost of system is not effectively controlled, simultaneously because technical scheme is relatively conservative, what adopt is all that traditional High Accuracy Inertial is stablized control program, system cost cannot be fundamentally controlled, therefore, the application of product is very restricted equally; (2) at present domestic communication in moving exploitation producer is all mainly traditional microwave communication institute, the professional speciality of these institutes is mainly the design of antenna system, communication link, study general to movement measurement system, servo tracking control system is relatively less, and the technological core of communication in moving antenna and key are the measurement of high accuracy real time kinematics and servo tracking control system, therefore the performance index such as stablizing effect, real-time tracking precision, moving condition adaptability of, having researched and developed at present successful communication in moving antenna are not very good.
Motion-sensing and FEEDBACK CONTROL are that satellite antenna system points to basis stable and that real-time high-precision is followed the tracks of, traditional antenna stabilization tracking system often has three kinds of solutions: the first control program is to adopt gyro angular speed feedback and satellite-signal to scan the scheme combining, this scheme implementation is fairly simple, there is higher bandwidth and real-time, but often there are following 3 problems: 1, system is just followed the tracks of and signal feedback control based on angular speed, do not introduce attitude angle, azimuthal concept, once antenna is not followed the tracks of upper satellite, again seek star and can become very difficult, simultaneously, due to the existence of gyroscopic drift, under dynamic condition, seek star and lose star and catch again and seem more difficult, 2, the drift of low cost MEMS gyro makes the pointing accuracy of system be difficult to be guaranteed, if select high accuracy gyroscope, cost is more difficult control also, 3, be better than the frequency of satellite-signal scanning relatively low, generally be no more than 1Hz, in the time there is error in angular speed tracking, the simple satellite-signal scan tracing that leans on often can not be guaranteed good tracking effect, the overall tracking accuracy of system is not high, especially jolting, the section such as continuous turning, the tracking performance of system can decline greatly, is generally difficult to meet consumers' demand.The second control program is the scheme that adopts gyro angular speed feedback and single-pulse track to combine, the existence same with the first scheme of this scheme has higher bandwidth and real-time, but the problem 1 described in scheme one and problem 2 exist equally, in addition, monopulse receiver is the microwave signal process device based on satellite-signal intensity and the design of phase place comparison principle, the tracking error angle of high bandwidth ground output antenna in real time, system can guarantee to have good tracking effect, but the microwave network of monopulse receiver and Circuits System are all very complicated, cost is very expensive, general user is difficult to bear, the third control program is the gesture feedback scheme based on high accuracy inertial navigation system, this scheme directly adopts attitude angle, azimuth FEEDBACK CONTROL, antenna directional angle is comparatively accurate, but because export compared with the slow frame of angular speed at attitude angle, azimuth, system promptness declines to some extent, meanwhile, and in order to obtain the attitude measurement information of degree of precision, generally also need to select high-precision optical fiber or laser-inertial navigation system, the cost of system is extremely expensive.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, exceedingly high line stabilization tracking in a kind of inertia/GNSS/ satellite beacon combined moving is provided.
The technology of the present invention solution is:
The present invention proposes a kind of based on inertia/GNSS/ satellite beacon modular antenna tenacious tracking system, system adopts low cost MEMS inertia/GNSS integrated navigation system as motion sensor, this integrated navigation system is arranged on the base part of antenna stabilization tracking control system, can export the information such as the angular speed, acceleration, position, speed, attitude of pedestal.The angular speed of integrated navigation system output after coordinate transform, is resolved the motion angular speed that obtains antenna surface by control system, and stablize instruction with this angular speed as interior ring, and antenna is carried out to first order stable inertia, in addition, inertia/GNSS integrated navigation system can calculate by Kalman filtering Integrated Navigation Algorithm the angle of pitch, roll angle, the azimuth of the pedestal of degree of precision, control system obtains the three axle drift angles of antenna surface with respect to satellite by these three angles after by coordinate transform, and using this as input instruction, antenna surface is carried out to two-stage stabilising and Attitude Tracking, on this basis, move and signal peak recognition technology by antenna surface active scan, satellite signal receiver can calculate azimuth and the angle of pitch that current antenna surface departs from satellite, on the one hand, these two drift angles can be directly as control command, to the azimuth of antenna surface, the angle of pitch carries out Correction and Control, complete the tenacious tracking of the third level, obtain more accurate tracking effect, meanwhile, this drift angle can be obtained after coordinate inverse transformation to attitude angle and the gyro angular speed output error of inertia/GNSS integrated navigation system, and integrated navigation system is carried out to attitude angle, angular speed correction, so that inertia/GNSS integrated navigation system obtains more accurate attitude under satellite beacon auxiliary, course output information, thereby control antenna obtains better tracking effect, form the stable control of closed loop.
Exceedingly high line stabilization tracking in a kind of inertia/GNSS/ satellite beacon combined moving, comprises the following steps:
1. the base corner rate information of inertia system being measured
obtain the angular speed information under antenna coordinate system by Coordinate Conversion
wherein:
θ
a, γ
a,
be respectively the angle of pitch, roll angle, the azimuth of base coordinate system with respect to antenna coordinate system;
2. will
as instruction angle, antenna is carried out to the control of first order tenacious tracking, wherein
Being respectively antenna coordinate is the motion angular speed of pitch axis, polaxis, azimuth axis;
3. by the pitching angle theta of inertia/GNSS integrated navigation system output
b, γ
b,
calculating antenna surface is the pitch demand angle θ that satelloid is needed
p, polarization instruction angle γ
p, orientation instruction angle
4. 3. step is calculated to pitch demand angle θ
p, polarization instruction angle γ
p, orientation instruction angle
as control command, control motor driven antenna face, carry out second level tenacious tracking control, make the antenna surface can be to satelloid.
5. on the basis of aforementioned stable, move and signal peak recognition technology by antenna surface active scan, satellite signal receiver can calculate the azimuth that current antenna surface departs from satellite
with angle of pitch Δ θ
p, using two drift angles as control command, azimuth, the angle of pitch to antenna surface carry out Correction and Control, complete the tenacious tracking control of the third level.
6. pass through
and Δ θ
pafter correction, obtain correct orientation instruction angle
with pitch demand angle θ '
p, by coordinate inverse transformation, can be back-calculated to obtain pitching, roll, the azimuth revision directive Δ θ of inertial navigation system
b, Δ γ
b,
and calculate correct inertial navigation pitching, roll, azimuth and be:
θ′
b＝θ
b+Δθ
b
γ′
b＝γ
b+Δγ
b
By above formula (3) substitution formula (1), formula (2), repeated execution of steps 1.-6., can realize the tenacious tracking control to antenna.
The described step 5. implementation method of antenna surface active scan motion and signal peak recognition technology is:
1) when antenna surface is during completely to satelloid, the intensity maximum of the signal that antenna reception arrives, in the time that azimuth, the angle of pitch of antenna surface depart from satellite certain angle, antenna reception to the intensity of signal will weaken to some extent, the azimuth axis of control antenna face, pitch axis do scanning motion certain among a small circle, the intensity of the satellite-signal that in writing scan process, antenna reception arrives, can set up the functional relation between antenna surface pitching, azimuth axis deflecting angle and signal strength signal intensity:
In formula, V
maxthe satellite-signal intensity level of maximum while representing antenna surface to satelloid, V represents satellite-signal intensity level under current state,
represent drift angle, orientation
the drop-out value of the satellite-signal intensity causing; f
2the drop-out value of the satellite-signal intensity that (Δ θ) expression pitching drift angle Δ θ causes;
2) control antenna face motion according to certain rules in space around its azimuth axis and pitch axis, its characteristics of motion is:
(5)
In formula,
be respectively the scanning motion angular speed of antenna surface pitch axis, azimuth axis, ω
0for the maximum angular rate of pitch orientation, azimuth direction scanning motion, f is the frequency of antenna surface scanning motion;
3) record satellite-signal intensity V in antenna surface scanning motion process and corresponding scanning motion angle Δ θ and
and it is as follows to set up corresponding relation:
4) known according to formula (5), Δ θ and
90 ° of phase phasic differences, when | Δ θ | when maximum,
be 0; When
when maximum, Δ θ is 0; According to formula (4) and formula (5), be defined in
be 0 o'clock, signal strength signal intensity when Δ θ forward is maximum is
signal strength signal intensity when Δ θ negative sense is maximum is
be 0 o'clock at Δ θ,
signal strength signal intensity when forward is maximum is
signal strength signal intensity when negative sense is maximum is
5) will
functional relation between described antenna surface pitching, azimuth axis deflecting angle and the signal strength signal intensity of substitution formula (4), the deflecting angle Δ θ that can calculate antenna surface and satellite with
value.
Operation principle of the present invention is: mobile satellite communication antenna (being called for short " communication in moving "), can make satellite antenna aim at all the time geostationary satellite on mobile carrier (car, ship, aircraft), realize realtime graphic and the transfer of data of high bandwidth, in the departments such as national defence, frontier defense, anti-terrorism, emergency disaster relief, transport by sea, the government prospect that is widely used, be the most important means of emergency communication and remote communication, can really realize " interconnected ubiquitous ".
Servo tracking control system technology is the core technology of " communication in moving " antenna, for make satellite antenna can real-time high-precision ground tracking satellite, must solve following 2 subject matters:
(1), in carrier movement process, need to there is high performance transducer to measure in real time, accurately athletic posture and the location variation of carrier;
(2) change according to the attitude of carrier, real-time resolving antenna directional angle is at the variable quantity in space, and the servo tracking control system consisting of high-performance electric machine isolates the motion of carrier fast, antenna directional angle is consistent at inertial space, guarantee the maximum of locking satellite signal.
A set of inertial navigation system is installed on the base of communication in moving antenna, this system can be measured the positional information (longitude of carrier exactly, latitude), attitude information (pitching, roll, orientation) and three axis angular rate information, control system goes out the satellite angle of pitch under geographic coordinate system according to the positional information calculation of used satellite longitude and carrier, polarizing angle, azimuth, again in conjunction with inertial navigation attitude information and change by coordinate system, by the satellite angle of pitch of geographic coordinate system, polarizing angle, azimuth is converted to the antenna corner under carrier (as car body) coordinate system.Servo system will calculate azimuth, the angle of pitch and the polarizing angle of the relative satellite of antenna in real time according to the position of carrier, course and attitude information, control motor adjust to corresponding corner to satelloid according to position closed loop (adopting encoder feedback to realize).
The present invention's advantage is compared with prior art: the present invention proposes the tenacious tracking technology of a kind of gyro, integrated navigation system, three grades of feedbacks of satellite-signal, and first system utilizes gyro angular speed feedback signal to carry out feedfoward control, guarantees the promptness of system; Then low cost MEMS inertia device and satellite navigation system (the GPS/ Big Dipper) are carried out to information fusion, realize stability and the accuracy of attitude measurement, utilize attitude signal to carry out secondary feedback simultaneously, guarantee the accuracy of antenna directional angle, because system adopts the auxiliary inertia measurement of GPS/ Big Dipper signal, revise the error of MEMS inertia device, thereby make low cost inertia device can meet the requirement of high accuracy control, guaranteeing, on the basis of control system performance, to greatly reduce the cost of system; Finally satellite-signal is introduced to closed-loop control system, utilize satellite-signal recognition technology to estimate the tracking drift angle of antenna, guarantee that by three grades of feedbacks antenna directional angle is all the time in signal maximum position, again guarantee pointing accuracy, improve the tracking reliability of system, system can ensure stability and the reliability of system works in combined navigation system performance decline or idle situation, and can further relax the precision dependence of control system to inertia device, further reduces costs.In addition, satellite beacon signals can be revised the attitude error of inertia/GNSS integrated navigation system, and further estimate to obtain the angular speed error of gyro, thereby can improve the tenacious tracking precision of the first order (speed ring) and the second level (attitude ring).
Brief description of the drawings
Fig. 1 is antenna stabilization tracking flow chart of the present invention.
Embodiment
1, an exceedingly high line stabilization tracking in inertia/GNSS/ satellite beacon combined moving, its implementation process as shown in Figure 1, specifically comprises the following steps:
1. the base corner rate information of inertia system being measured
obtain the angular speed information under antenna coordinate system by Coordinate Conversion
wherein:
θ
a, γ
a,
be respectively the angle of pitch, roll angle, the azimuth of base coordinate system with respect to antenna coordinate system;
2. will
as instruction angle, antenna is carried out to the control of first order tenacious tracking, wherein
Being respectively antenna coordinate is the motion angular speed of pitch axis, polaxis, azimuth axis.
3. by the pitching angle theta of inertia/GNSS integrated navigation system output
b, γ
b,
calculating antenna surface is the pitch demand angle θ that satelloid is needed
p, polarization instruction angle γ
p, orientation instruction angle
4. 3. step is calculated to pitch demand angle θ
p, polarization instruction angle γ
p, orientation instruction angle
as control command, control motor driven antenna face, realize the tenacious tracking control of the second level, thereby guarantee that antenna surface can be accurately to satelloid.
5. on the basis of aforementioned stable, move and signal peak recognition technology by antenna surface active scan, satellite signal receiver can calculate the azimuth that current antenna surface departs from satellite
with angle of pitch Δ θ
p, using two drift angles as control command, azimuth, the angle of pitch to antenna surface carry out Correction and Control, complete the tenacious tracking control of the third level.
6. pass through
and Δ θ
pafter correction, obtain correct orientation instruction angle
with pitch demand angle θ '
p, by coordinate inverse transformation, can be back-calculated to obtain pitching, roll, the azimuth revision directive Δ θ of inertial navigation system
b, Δ γ
b,
and calculate correct inertial navigation pitching, roll, azimuth and be:
θ′
b＝θ
b+Δθ
b
γ′
b＝γ
b+Δγ
b
By above formula (3) substitution formula (1), formula (2), repeated execution of steps 1.-6., can realize the tenacious tracking control to antenna.
The described step 5. implementation method of antenna surface active scan motion and signal peak recognition technology is:
1) when antenna surface is during completely to satelloid, the intensity maximum of the signal that antenna reception arrives, in the time that azimuth, the angle of pitch of antenna surface depart from satellite certain angle, antenna reception to the intensity of signal will weaken to some extent, the azimuth axis of control antenna face, pitch axis do scanning motion certain among a small circle, the intensity of the satellite-signal that in writing scan process, antenna reception arrives, can set up the functional relation between antenna surface pitching, azimuth axis deflecting angle and signal strength signal intensity:
In formula, V
maxthe satellite-signal intensity level of maximum while representing antenna surface to satelloid, V represents satellite-signal intensity level under current state,
represent drift angle, orientation
the drop-out value of the satellite-signal intensity causing; f
2the drop-out value of the satellite-signal intensity that (Δ θ) expression pitching drift angle Δ θ causes;
2) control antenna face motion according to certain rules in space around its azimuth axis and pitch axis, its characteristics of motion is:
(5)
In formula,
be respectively the scanning motion angular speed of antenna surface pitch axis, azimuth axis, ω
0for the maximum angular rate of pitch orientation, azimuth direction scanning motion, f is the frequency of antenna surface scanning motion;
3) record satellite-signal intensity V in antenna surface scanning motion process and corresponding scanning motion angle Δ θ and
and it is as follows to set up corresponding relation:
4) known according to formula (5), Δ θ and
90 ° of sun phasic differences, when | Δ θ | when maximum,
be 0; When
when maximum, Δ θ is 0; According to formula (4) and formula (5), be defined in
be 0 o'clock, signal strength signal intensity when Δ θ forward is maximum is
signal strength signal intensity when Δ θ negative sense is maximum is
be 0 o'clock at Δ θ,
signal strength signal intensity when forward is maximum is
signal strength signal intensity when negative sense is maximum is
5) will
substitution formula (4), can calculate antenna surface and satellite deflecting angle Δ θ and
value.
Non-elaborated part of the present invention belongs to techniques well known.
Obviously, for the person of ordinary skill of the art, also may make other execution mode with reference to embodiment mentioned above.Embodiment in the present invention is exemplary instead of circumscribed.All amendments within the essence of claim technical scheme of the present invention all belong to its scope required for protection.
Claims (2)
1. an exceedingly high line stabilization tracking in inertia/GNSS/ satellite beacon combined moving, is characterized in that: comprise the following steps:
1. the base corner rate information of inertia system being measured
obtain the angular speed information under antenna coordinate system by Coordinate Conversion
wherein:
θ
a, γ
a,
be respectively the angle of pitch, roll angle, the azimuth of base coordinate system with respect to antenna coordinate system;
2. will
as instruction angle, antenna is carried out to the control of first order tenacious tracking, wherein
Being respectively antenna coordinate is the motion angular speed of pitch axis, polaxis, azimuth axis;
3. by the pitching angle theta of inertia/GNSS integrated navigation system output
b, γ
b,
calculating antenna surface is the pitch demand angle θ that satelloid is needed
p, polarization instruction angle γ
p, orientation instruction angle
4. 3. step is calculated to pitch demand angle θ
p, polarization instruction angle γ
p, orientation instruction angle
as control command, control motor driven antenna face, antenna is carried out to second level tenacious tracking control, make the antenna surface can be to satelloid;
5. on the basis of aforementioned stable, move and signal peak recognition technology by antenna surface active scan, satellite signal receiver can calculate the azimuth that current antenna surface departs from satellite
with angle of pitch Δ θ
p, using two drift angles as control command, azimuth, the angle of pitch to antenna surface carry out Correction and Control, complete the tenacious tracking control of the third level;
6. pass through
and Δ θ
pafter correction, obtain correct orientation instruction angle
with pitch demand angle θ '
p, by coordinate inverse transformation, can be back-calculated to obtain pitching, roll, the azimuth revision directive Δ θ of inertial navigation system
b, Δ γ
b,
and calculate correct inertial navigation pitching, roll, azimuth and be:
θ′
b＝θ
b+Δθ
b
γ′
b＝γ
b+Δγ
b
Repeated execution of steps 1.-6., can realize the tenacious tracking control to antenna.
2. an exceedingly high line stabilization tracking in inertia/GNSS/ satellite beacon combined moving, is characterized in that: the described step 5. implementation method of antenna surface active scan motion and signal peak recognition technology is:
1) when antenna surface is during completely to satelloid, the intensity maximum of the signal that antenna reception arrives, in the time that azimuth, the angle of pitch of antenna surface depart from satellite certain angle, antenna reception to the intensity of signal will weaken to some extent, azimuth axis, the pitch axis of control antenna face do scanning motion within the specific limits, the intensity of the satellite-signal that in writing scan process, antenna reception arrives, can set up the functional relation between antenna surface pitching, azimuth axis deflecting angle and signal strength signal intensity:
In formula, V
maxthe satellite-signal intensity level of maximum while representing antenna surface to satelloid, V represents satellite-signal intensity level under current state,
represent drift angle, orientation
the drop-out value of the satellite-signal intensity causing; f
2the drop-out value of the satellite-signal intensity that (Δ θ) expression pitching drift angle Δ θ causes;
2) control antenna face motion according to certain rules in space around its azimuth axis and pitch axis, its characteristics of motion is:
In formula,
be respectively the scanning motion angular speed of antenna surface pitch axis, azimuth axis, ω
0for the maximum angular rate of pitch orientation, azimuth direction scanning motion, f is the frequency of antenna surface scanning motion;
3) record satellite-signal intensity V in antenna surface scanning motion process and corresponding scanning motion angle Δ θ and
and it is as follows to set up corresponding relation:
4) according to step 2) known, Δ θ and
90 ° of phase phasic differences, when | Δ θ | when maximum,
be 0; When
when maximum, Δ θ is 0; According to step 1), be defined in
be 0 o'clock, signal strength signal intensity when Δ θ forward is maximum is
signal strength signal intensity when Δ θ negative sense is maximum is
be 0 o'clock at Δ θ,
signal strength signal intensity when forward is maximum is
signal strength signal intensity when negative sense is maximum is
5) will
substitution step 1) functional relation between described antenna surface pitching, azimuth axis deflecting angle and signal strength signal intensity, the deflecting angle Δ θ that can calculate antenna surface and satellite with
value.
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| CN105630009A (en) * | 2016-03-29 | 2016-06-01 | 天津航天中为数据系统科技有限公司 | Mobile satellite ground station signal stable control method and device |
| CN106597473A (en) * | 2015-12-22 | 2017-04-26 | 中国电子科技集团公司第二十研究所 | Antenna tracking and self-calibration apparatus and method for satellite communications among stations |
| CN106602263A (en) * | 2016-11-17 | 2017-04-26 | 上海无线电设备研究所 | Strapdown-type high-precision stabilized platform system built based on integrated navigation |
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