CN105007109A - Adaptive combination navigation antenna beam control method for satellite communication in motion system - Google Patents

Abstract

The invention discloses an adaptive combination navigation antenna beam control method for a satellite communication in motion communication system. The method comprises the following steps: (1) building a system equation of the satellite communication in motion system, calculating the state variable x of a combination navigation attitude estimation system according to the position error amount deltar of a carrier, the speed error amount deltav of the carrier and the attitude angle error amount Psi of the carrier, and meanwhile setting the observed quantity of a satellite communication in motion combination navigation attitude estimation algorithm with a main controller; (2) building a corresponding satellite communication in motion combination navigation measurement equation according to different driving environments of the carrier, and solving a measurement equation coefficient matrix Hk; and (3) performing attitude computation through adaptive extended Kalman filter to obtain the three-dimensional attitude angle of the carrier, and controlling three motors to adjust the direction of antenna beams according to the three-dimensional attitude angle of the carrier in order that an antenna is aligned with a satellite. Through implementation of the method, accurate alignment between the antenna and the satellite can be realized, and the cost is low.

Description

The self adaptation integrated navigation antenna beam control method of satellite communications system

Technical field

The invention belongs to satellite communication system antenna beam control technology field, relate to a kind of antenna beam control method, be specifically related to a kind of self adaptation integrated navigation antenna beam control method of satellite communications system.

Background technology

Along with the arrival of information age and the fast development of new military revolution, the demand of people to communication constantly increases, and people's active demand realizes two-forty, high-bandwidth communication in movement.But the mobile satellite communication resource of frequency range is limited, traffic rate is slow, service fee is high, seriously limits further developing of mobile communication, this greatly have stimulated a kind of development of new-type satellite communication terminal-communication in moving.Communication in moving is the important branch of satellite communication, it is intended to utilize price is low, frequency resource is enriched fixed satellite communication service band satellite resource to provide the communication service being better than mobile satellite communication frequency range for ground carrier, there is communication mobility strong, be not subject to the advantages such as region limits, level security are good, in civilian applications, communication in moving is the important leverage of major natural disasters emergency communication, being the strong guarantee of large-scale activity security communication, is the effective measures realizing wide-band mobile communication the information age, improve the quality of living.In Military Application, communication in moving is the powerful guarantee of fighting under adapting to IT-based warfare condition, is the effective means guaranteeing safe and secret communication, is the important channel realizing maneuver warfare commander.

The feature of communication in moving system realizes mobile satellite communication based on FSS frequency range, and its complete equipment needs to be arranged on the carrier of movement.Therefore, communication in moving should have less profile, good by property, reduces the probability that battlefield gives away one's position; Relatively low cost should be had, accelerate the range of application expanding communication in moving; Good applicability should be had, meet the demand of people to mobile middle width strip high rate communication; Good continuation should be had, make communication in moving ground station in movement, realize two-way, stable, high rate communication.The prerequisite of communication in moving proper communication be antenna beam in orientation, pitching, polarization three directions aim at target satellite, but because communication in moving is installed on mobile vehicle, the change of the jolting of road surface, carrier transport condition all can affect controlling antenna wave beam to point, and therefore effective Attitude estimation scheme effectively isolates carrier movement guarantees efficient communication key to controlling antenna wave beam to point interference.

Communication in moving observation and control technology determines cost and the performance of whole communication in moving system, is to realize the key technology that communication in moving moves Satellite communication.The main purpose that communication in moving observation and control technology is obtains real-time, high-precision attitude measurement, carries out real-time control to controlling antenna wave beam to point, guarantees that wave beam in real time, accurately aims at the mark satellite.For low cost communication in moving, because system adopts micro mechanical sensor, there is accumulated error in the output of its attitude angle, certainty of measurement is low, and for the carrier in motion, the change of attitude angle is complicated, therefore design be applicable to low cost TT&C system, can estimate that the Attitude estimation algorithm of attitude of carrier becomes particularly important in real time.At present, the algorithm being applied to communication in moving low cost Attitude estimation has the direct blending algorithm of transducer, complementary filter algorithm etc.Multisensor directly merges that Attitude estimation algorithm is subject to the interference of the extraneous factor such as Maneuver Acceleration and yaw angle, attitude estimation error is difficult to correct completely, and the precision of Attitude estimation is limited.Complementary filter is a constant gain amplifier Kalman filter, and Attitude estimation precision is close with the sensor fusion algorithm based on nonlinear filter.Integrated navigation is the emerging Attitude estimation algorithm in communication in moving Attitude estimation field, which overcome transducer and directly merge the shortcoming that Attitude estimation algorithm is subject to yaw angle, the Maneuver Acceleration of carrier affects, calculate easy, be applicable to real-time attitude measurement system, for reducing communication in moving TT&C system cost, the integrated navigation based on micromachined process and GPS becomes the focus of Attitude estimation area research.

Summary of the invention

The object of the invention is to the shortcoming overcoming above-mentioned prior art, provide a kind of self adaptation integrated navigation antenna beam control method of satellite communications system, the method can realize antenna and aim at the accurate of satellite, and cost is low.

For achieving the above object, the self adaptation integrated navigation antenna beam control method of satellite communications system of the present invention comprises the following steps:

1) system equation of satellite communications system is set up, wherein, the quantity of state x of integrated navigation posture estimation system is chosen for site error amount δ r, the velocity error amount δ v of carrier and the attitude error amount ψ of carrier, x=[the δ r of carrier, δ v, ψ] ^t, the observed quantity Z of the communication in moving of master controller setting simultaneously integrated navigation Attitude estimation _k, wherein, the observed quantity Z of setting integrated navigation Attitude estimation _kfor the position r that micromechanical gyro and micro-mechanical accelerometer export _iNSand speed v _iNSthe position r exported with single baseline GPS _gPSand speed v _gPSdifference, namely

Wherein, λ _iNS, h _iNSwith λ _gPS, h _gPSbe respectively latitude, longitude and elevation information that micro-mechanical inertia measuring unit and GPS record;

2) set up communication in moving integrated navigation measurement equation, solve communication in moving integrated navigation measurement equation, obtain measurement equation coefficient matrix H _k;

3) then according to system equation, the measurement equation coefficient matrix H of satellite communications system _k, and the observed quantity Z of master controller setting communication in moving integrated navigation Attitude estimation _kuse EKF to carry out attitude algorithm, obtain the three-dimension altitude angle of carrier, then controlling the direction of three motor adjustment antenna beams according to the three-dimension altitude angle of carrier, is antenna alignment satellite.

When the quantity of state x of integrated navigation posture estimation system is chosen for the attitude error amount ψ of the site error amount δ r of carrier, the velocity error amount δ v of carrier and carrier, the system equation of middle satellite communications system is: $\stackrel{\·}{x}=Fx+Gu,$ Wherein: $F=\left(\begin{array}{ccc}{F}_{rr}& F_{rv}& 0\\ F_{vr}& F_{vv}& f^n\×\\ F_{er}& F_{ev}& -{\mathrm{\ω}}_{in}^n\×\end{array}\right),$ $G=\left(\begin{array}{cc}{0}_{3\×3}& 0_{3\×3}\\ C& 0_{3\×3}\\ 0_{3\×3}& -C\end{array}\right),u=\left(\begin{array}{c}\mathrm{\δ}{f}^b\\ {\mathrm{\δ\ω}}_{in}^n\end{array}\right),$ F _rrfor the auto-correlation coefficient of position and position, F _rvfor the cross-correlation coefficient of Position And Velocity, F _vvfor the auto-correlation coefficient of speed and speed, F _vrfor the cross-correlation coefficient of speed and position, F _erfor the cross-correlation coefficient between attitude and position, F _evfor the cross-correlation coefficient between attitude and speed, C is direction cosine matrix, δ f ^bfor carrier system specific force error, for the relative angle rate error between inertial system and Department of Geography.

When single baseline GPS receipts star number order is greater than 6, measurement equation coefficient matrix is $H_k=\left(\begin{array}{ccc}{I}_{3\×3}& 0_{3\×3}& 0_{3\×3}\\ 0_{3\×3}& I_{3\×3}& 0_{3\×3}\\ 0_{3\×1}& 0_{3\×1}& \left[\begin{array}{ccc}0& 0& 1\end{array}\right]\end{array}\right),$ I _{3 × 3}be the unit matrix of 3 × 3,0 _{3 × 3}it is the null matrix of 3 × 3.

When single baseline GPS receive star number order be greater than 4 be less than 6 time, measurement equation coefficient matrix H _kexpression formula be: $H_k=\left(\begin{array}{cccc}{H}_k& 0_{3\×1}& 0_{3\×1}& 0_{3\×1}\\ 0_{1\×3}& \frac{\∂\widehat{\mathrm{\ψ}}}{\∂{\mathrm{\ϵ}}_N}& \frac{\∂\widehat{\mathrm{\ψ}}}{\∂{\mathrm{\ϵ}}_E}& \frac{\∂\widehat{\mathrm{\ψ}}}{\∂{\mathrm{\ϵ}}_D}\end{array}\right),$ ε _n, ε _eand ε _dbe respectively attitude angle in N direction, the error in E direction and D direction.

The present invention has following beneficial effect:

Satellite communications system self adaptation integrated navigation antenna beam control method of the present invention is when operating, EKF is used to carry out attitude algorithm according to system equation, observed quantity and measurement equation coefficient matrix, obtain the three-dimension altitude angle of carrier, aiming at of antenna and satellite is realized according to described three-dimension altitude angle, and the observed quantity Z of integrated navigation Attitude estimation _kadopt the r that micromechanical gyro and micro-mechanical accelerometer calculate _iNSand v _iNSthe r exported with single baseline GPS _gPSand v _gPSthus effectively reduce cost, EKF is adopted to carry out attitude algorithm, the effective precision improving aligning, operability is extremely strong, and stable performance, reliable, facilitate popularization and the application of communication in moving greatly, and without the need to considering the interference of the extraneous factor such as Maneuver Acceleration, yaw angle.The Integrated Navigation Algorithm that the present invention is based on course angle auxiliary is simple, overcome transducer and directly merge the shortcoming that Attitude estimation algorithm is subject to extraneous factor interference, evaluated error is difficult to correction, Attitude estimation precision is high, meets antenna for satellite communication in motion beam position demand well.

Further, when obtaining measurement equation coefficient matrix, receiving star number object according to single baseline GPS how many, determining corresponding measurement equation coefficient matrix, thus the precision of the corresponding satellite of effective raising antenna.

Accompanying drawing explanation

Fig. 1 is the structural representation of satellite communications system in the present invention.

Embodiment

Below in conjunction with accompanying drawing, the present invention is described in further detail:

With reference to figure 1, the self adaptation integrated navigation antenna beam control method of satellite communications system of the present invention comprises the following steps:

1) set up the system equation of satellite communications system, the quantity of state x of integrated navigation posture estimation system is chosen for the site error amount δ r of carrier, the velocity error amount δ v of carrier and the attitude error amount ψ of carrier, i.e. x=[δ r, δ v, ψ] ^t, then the system equation of integrated navigation posture estimation system is: $\stackrel{\·}{x}=Fx+Gu,$ In formula: $F=\left(\begin{array}{ccc}{F}_{rr}& F_{rv}& 0\\ F_{vr}& F_{vv}& f^n\×\\ F_{er}& F_{ev}& -{\mathrm{\ω}}_{in}^n\×\end{array}\right),G=\left(\begin{array}{cc}{0}_{3\×3}& 0_{3\×3}\\ C& 0_{3\×3}\\ 0_{3\×3}& -C\end{array}\right),u=\left(\begin{array}{c}\mathrm{\δ}{f}^b\\ {\mathrm{\δ\ω}}_{in}^n\end{array}\right),$ The system equation of discrete integrated navigation posture estimation system is: x _k+1=φ _kx _k+ ω _k, in formula, φ _kfor coefficient matrix, φ _k=I _{9 × 9}+ F Δ t; Δ t is the sample rate of MEMS sensor; ω _kfor system noise;

The observed quantity Z of setting integrated navigation Attitude estimation _kfor the position r that micromechanical gyro and micro-mechanical accelerometer calculate _iNSand speed v _iNSthe position r exported with single baseline GPS _gPSand speed v _gPSdifference, that is: observed quantity

2) communication in moving integrated navigation measurement equation Z is set up _k=H _kx _k+ e _k, e _kfor measurement noise, solve measurement equation coefficient matrix H _k;

3) according to the receipts star number order of GPS, observed quantity and calculation matrix are revised, then EKF is used to carry out attitude algorithm according to system equation and observed quantity and calculation matrix, obtain the three-dimension altitude angle of carrier, then control the direction of three motor adjustment antenna beams according to the three-dimension altitude angle of carrier, make antenna alignment satellite.

When single baseline GPS (3) receipts star number order is greater than 6, the course angle using single baseline GPS to provide is as auxiliary, the course angle exported by single baseline GPS is as the course angle of carrier, in addition, the observation to course angle error is increased in measurement equation, the estimated accuracy of further raising attitude angle, single baseline GPS is made up of two gps antennas and receiver user, two gps antennas in single baseline GPS respectively front and back are installed on the longitudinal axis of carrier, if the length of the baseline vector of two gps antenna line formations is b, then baseline vector is (0 b 0) at the coordinate of carrier coordinate system ^t.Single baseline GPS baseline vector also can be carried out data by GPS at the coordinate of navigational coordinate system and be resolved acquisition, if it is (x y z) ^t, obtained by the transformational relation between the position vector of single baseline GPS in b system and the position vector in n system: $\left[\begin{array}{c}x\\ y\\ z\end{array}\right]=C_b^n\left[\begin{array}{c}0\\ r\\ 0\end{array}\right],$ The course angle of the carrier that single baseline GPS exports is increase the observation to course angle error in measurement equation, i.e. the difference of course angle that obtains of the course angle of single baseline GPS and micromechanical gyro differential, now measurement equation coefficient matrix is: $H_k=\left(\begin{array}{ccc}{I}_{3\×3}& 0_{3\×3}& 0_{3\×3}\\ 0_{3\×3}& I_{3\×3}& 0_{3\×3}\\ 0_{3\×1}& 0_{3\×1}& \left[\begin{array}{ccc}0& 0& 1\end{array}\right]\end{array}\right).$

When single baseline GPS receive star number order be greater than 4 be less than 6 time, the flight-path angle using the single gps antenna of single baseline GPS to provide, as auxiliary, solves by using the supplementary observation of single-antenna GPS flight-path angle the problem that assembled gesture algorithm for estimating course angle ornamental is weak, pose estimation value is easily dispersed; By adaptive control algorithm, reduce the measure error of flight-path angle to the impact of Attitude estimation; Judged the motion state of carrier by turning judgment rule, when carrier is not turned, use the course angle ψ of flight-path angle as carrier of single-antenna GPS, wherein, GPS flight-path angle ψ _vcan be expressed as in formula, v _e, v _neast orientation, the north orientation speed that under navigational coordinate system, single-antenna GPS records respectively; When carrier is turned, utilize the integration of precision in short-term of gyro to obtain the attitude angle of carrier, turning judgment rule is: ${\mathrm{\σ}}_{{\mathrm{\ψ}}_v}=\left\{\begin{array}{cc}{\mathrm{\σ}}_{{\mathrm{\ψ}}_v}& \left|{\mathrm{\ω}}_z\right|\≤\mathrm{\λ}\\ \mathrm{\∞}& \left|{\mathrm{\ω}}_z\right|>\mathrm{\λ}\end{array}\right.,$ for the variance that course angle noise is corresponding, ω _zfor the angular speed output valve of micromechanics directional gyro, λ is turning decision threshold.When | ω _z| during > λ, do not use the flight-path angle output information of single-antenna GPS, at short notice, rely on the integrated value of MEMS gyro to ensure effective output of course angle, then measurement equation coefficient matrix $H_k=\left(\begin{array}{cccc}{H}_k& 0_{3\×1}& 0_{3\×1}& 0_{3\×1}\\ 0_{1\×3}& \frac{\∂\widehat{\mathrm{\ψ}}}{\∂{\mathrm{\ϵ}}_N}& \frac{\∂\widehat{\mathrm{\ψ}}}{\∂{\mathrm{\ϵ}}_E}& \frac{\∂\widehat{\mathrm{\ψ}}}{\∂{\mathrm{\ϵ}}_D}\end{array}\right);$

Kalman filtering also can be divided into the time to upgrade and measurement renewal two walks greatly, and the time upgrades: a step error covariance $P_{m,m-1}={\mathrm{\φ}}_m{P}_{m-1,m-1}{{\mathrm{\φ}}_m}^T+{\hat{Q}}_{m-1},$ State one-step prediction: ${\hat{x}}_{m,m-1}=K_m{\tilde{Z}}_m+{\hat{q}}_m;$ Measurement updaue: adaptive-filtering gain matrix: $K_m=P_{m,m-1}{H_m}^T{(H_m{P}_{m,m-1}{H_m}^T+{\hat{R}}_m)}^{-1},$ In formula: $H_k=\left(\begin{array}{cccc}{H}_k& 0_{3\×1}& 0_{3\×1}& 0_{3\×1}\\ 0_{1\×3}& \frac{\∂\widehat{\mathrm{\ψ}}}{\∂{\mathrm{\ϵ}}_N}& \frac{\∂\widehat{\mathrm{\ψ}}}{\∂{\mathrm{\ϵ}}_E}& \frac{\∂\widehat{\mathrm{\ψ}}}{\∂{\mathrm{\ϵ}}_D}\end{array}\right),\frac{\∂\widehat{\mathrm{\ψ}}}{\∂{\mathrm{\ϵ}}_N}=\frac{-{\hat{c}}_{31}{\hat{c}}_{11}}{{{\hat{c}}_{11}}^2+{{\hat{c}}_{21}}^2},\frac{\∂\widehat{\mathrm{\ψ}}}{\∂{\mathrm{\ϵ}}_D}=1,\frac{\∂\widehat{\mathrm{\ψ}}}{\∂{\mathrm{\ϵ}}_E}=\frac{-{\hat{c}}_{31}{\hat{c}}_{21}}{{{\hat{c}}_{11}}^2+{{\hat{c}}_{21}}^2},$ ε _n, ε _e, ε _dbe respectively N, E, D deflection error of attitude angle, quantity of state estimated value error co-variance matrix: P _m=(I-K _mh _m) P _{m, m-1}, said process, time varying noise estimator recursion can be used and obtain.

When single baseline gps signal is invalid, relies on the precision in short-term of micromechanical gyro to maintain the output of system, but need recapture when blocking overlong time.

The above; it is only preferred embodiment of the present invention; not the present invention is imposed any restrictions, every above embodiment is done according to the technology of the present invention essence any simple modification, change and equivalent structure change, all still belong in the protection range of technical solution of the present invention.

Claims (4)

1. a self adaptation integrated navigation antenna beam control method for satellite communications system, is characterized in that, comprise the following steps:

1) system equation of satellite communications system is set up, wherein, the quantity of state x of integrated navigation posture estimation system is chosen for site error amount δ r, the velocity error amount δ v of carrier and the attitude error amount ψ of carrier, x=[the δ r of carrier, δ v, ψ] ^t, meanwhile, the observed quantity Z of master controller setting communication in moving integrated navigation Attitude estimation _k, wherein, the observed quantity Z of setting integrated navigation Attitude estimation _kfor the position r that micromechanical gyro and micro-mechanical accelerometer export _iNSand speed v _iNSthe position r exported with single baseline GPS _gPSand speed v _gPSdifference, namely

Wherein, λ _iNS, h _iNSwith λ _gPS, h _gPSbe respectively latitude, longitude and elevation information that micro-mechanical inertia measuring unit and GPS record;

2) set up communication in moving integrated navigation measurement equation, solve communication in moving integrated navigation measurement equation, obtain measurement equation coefficient matrix H _k;

3) then according to system equation, the measurement equation coefficient matrix H of satellite communications system _k, and the observed quantity Z of master controller setting communication in moving integrated navigation Attitude estimation _kuse EKF to carry out attitude algorithm, obtain the three-dimension altitude angle of carrier, then controlling the direction of three motor adjustment antenna beams according to the three-dimension altitude angle of carrier, is antenna alignment satellite.

2. the self adaptation integrated navigation antenna beam control method of satellite communications system according to claim 1, it is characterized in that, when the quantity of state x of integrated navigation posture estimation system is chosen for the attitude error amount ψ of the site error amount δ r of carrier, the velocity error amount δ v of carrier and carrier, the system equation of middle satellite communications system is: wherein: $F=\left(\begin{array}{ccc}{F}_{rr}& F_{rv}& 0\\ F_{vr}& F_{vv}& f^n\×\\ F_{er}& F_{ev}& -{\mathrm{\ω}}_{in}^n\×\end{array}\right),G=\left(\begin{array}{cc}{0}_{3\×3}& 0_{3\×3}\\ C& 0_{3\×3}\\ 0_{3\×3}& -C\end{array}\right),u=\left(\begin{array}{c}{\mathrm{\δf}}^b\\ {\mathrm{\δ\ω}}_{in}^n\end{array}\right),$ F _rrfor the auto-correlation coefficient of position and position, F _rvfor the cross-correlation coefficient of Position And Velocity, F _vvfor the auto-correlation coefficient of speed and speed, F _vrfor the cross-correlation coefficient of speed and position, F _erfor the cross-correlation coefficient between attitude and position, F _evfor the cross-correlation coefficient between attitude and speed, C is direction cosine matrix, δ f ^bfor carrier system specific force error, for the relative angle rate error between inertial system and Department of Geography.

3. the self adaptation integrated navigation antenna beam control method of satellite communications system according to claim 1, is characterized in that, when single baseline GPS receipts star number order is greater than 6, measurement equation coefficient matrix is $H_k=\left(\begin{array}{ccc}{I}_{3\×3}& 0_{3\×3}& 0_{3\×3}\\ 0_{3\×3}& I_{3\×3}& 0_{3\×3}\\ 0_{3\×1}& 0_{3\×1}& \[001\]\end{array}\right),$ I _{3 × 3}be the unit matrix of 3 × 3,0 _{3 × 3}it is the null matrix of 3 × 3.

4. the self adaptation integrated navigation antenna beam control method of satellite communications system according to claim 1, is characterized in that, when single baseline GPS receive star number order be greater than 4 be less than 6 time, measurement equation coefficient matrix H _kexpression formula be: $H_k=\left(\begin{array}{cccc}{H}_k& 0_{3\×1}& 0_{3\×1}& 0_{3\×1}\\ 0_{1\×3}& \frac{\∂\widehat{\mathrm{\ψ}}}{\∂{\mathrm{\ϵ}}_N}& \frac{\∂\widehat{\mathrm{\ψ}}}{\∂{\mathrm{\ϵ}}_E}& \frac{\∂\widehat{\mathrm{\ψ}}}{\∂{\mathrm{\ϵ}}_D}\end{array}\right),$ ε _n, ε _eand ε _dbe respectively attitude angle in N direction, the error in E direction and D direction.