CN105404312A - Position tracking method and device applied to portable station - Google Patents
Position tracking method and device applied to portable station Download PDFInfo
- Publication number
- CN105404312A CN105404312A CN201510706367.XA CN201510706367A CN105404312A CN 105404312 A CN105404312 A CN 105404312A CN 201510706367 A CN201510706367 A CN 201510706367A CN 105404312 A CN105404312 A CN 105404312A
- Authority
- CN
- China
- Prior art keywords
- sampled point
- level value
- density
- satellite beacon
- drive system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Abstract
The embodiment of the invention provides a position tracking method and a device applied to a portable station. Through a pre-tracking model, an antenna position is judged and a satellite theoretical position is solved; a coarse tracking module carries out tracking in a dot matrix mode for searching for sampling points whose satellite beacon level values are larger than a tracking threshold; and a fine tracking module carries out tracking in a cross dot matrix mode for searching for the maximal satellite beacon level point. By adopting the method and the device provided by the embodiment of the invention, an open loop control method is adopted, in comparison with a closed loop control method, elements such as a position feedback element and an encoder can be saved, the space of the portable device can be saved, and the weight of the portable device is reduced. As the elements in the portable station are reduced, reliability of the portable station is enhanced, maintenance is easy, and stability is high.
Description
Technical field
The present invention relates to communication technical field, relate to a kind of location tracking method and the device that are applied to portable station more specifically.
Background technology
Portable station is portable equipment that is a set of and satellite communication, from satellite download data, also can upload data to satellite.Its major function, for providing two-way broadband transmission channel, provides the integrated services such as high quality speech, data and realtime graphic.
The lighter volume of portable device weight is the smaller the better, and the larger weight of the volume of portable device is larger in prior art, inventor finds in the process realizing the invention, portable station adopts the position of track algorithm tracking satellite signal, and adopt closed-loop control to improve the precision of the position of portable station tracking satellite signal, and the components and parts needed in closed-loop control are more, therefore occupy the space of portable device, cause portable device volume comparatively large, weight is larger.
Summary of the invention
In view of this, the invention provides a kind of location tracking method and the device that are applied to portable station, in order to solve the problem that in prior art, the larger weight of the volume of portable device is larger, its technical scheme is as follows:
Be applied to a location tracking method for portable station, described portable station comprises attitude sensor, aerial position gps data, control and drive system part and antenna, and described location tracking method comprises:
Read described attitude sensor and described aerial position gps data, calculate the theoretical position of satellite relative to described antenna;
Read the satellite beacon level value comprising each sampled point in the sampling dot matrix in the first energy area of described theoretical position with the first density by described control and drive system part, and obtain satellite beacon level value and be greater than the first sampled point following the tracks of threshold value;
The satellite beacon level value comprising each sampled point in the sampling dot matrix in the second energy area of described first sampled point with the second density is read by described control and drive system part, obtain and there is the maximum sampled point of the sampling dot matrix Satellite beacon level value of the second density, described second energy area is less than described first energy area, and described second density is greater than described first density;
The sampled point that described in described antenna direction, the second energy area Satellite beacon level value is maximum is controlled by described control and drive system part.
Wherein, the described attitude sensor of described reading and described aerial position gps data, calculate satellite and comprise relative to the theoretical position of described antenna:
Read described attitude sensor, obtain the position and attitude information of described portable station;
Read described aerial position gps data, obtain the aerial position original state of described antenna;
Described position and attitude information and described aerial position original state are carried out coordinate transform and calculates the theoretical position of satellite relative to described antenna;
Theoretical position described in described antenna direction is controlled by described control and drive system part.
Wherein, describedly read the satellite beacon level value comprising each sampled point in the sampling dot matrix in the first energy area of described theoretical position with the first density by described control and drive system part, and obtain satellite beacon level value and be greater than the first sampled point following the tracks of threshold value and comprise:
The satellite beacon level value of each sampled point in the sampling dot matrix with the first density is read successively by described control and drive system part, until obtain satellite beacon level value to be greater than the first sampled point following the tracks of threshold value, described sampling dot matrix is the sampling dot matrix of the first energy area comprising described theoretical position;
Control described antenna by described control and drive system part and be positioned at described first sampled point.
Wherein, describedly read the satellite beacon level value comprising each sampled point in the sampling dot matrix in the second energy area of described first sampled point with the second density by described control and drive system part, the sampled point obtaining the sampling dot matrix Satellite beacon level value with the second density maximum comprises:
Along the horizontal linear at described first sampled point place in described first energy area, with First Speed V
1, with the first prefixed time interval Δ t
1read the satellite beacon level value of each sampled point in described horizontal linear, and record the reading time of the satellite beacon level value of each sampled point, in described horizontal linear, the density of sampled point is greater than described first density;
Elapsed time T
1to read in complete described horizontal linear after each sampled point, determine the time t of the second sampled point that described horizontal linear Satellite beacon level value is maximum
1;
Control described antenna by described control and drive system part and be positioned at described second sampled point;
In described first energy area, along the vertical straight line at described second sampled point place, with second speed V
2, with the second prefixed time interval Δ t
2read the satellite beacon level value of each sampled point in described vertical straight line, and record the reading time of the satellite beacon level value of each sampled point, in described vertical straight line, the density of sampled point is greater than described first density;
Elapsed time T
2read in complete described horizontal linear the time t determining the 3rd sampled point that described vertical straight line Satellite beacon level value is maximum after each sampled point
2.
Wherein, describedly control described antenna by described control and drive system part and be positioned at described second sampled point and comprise:
Described antenna is controlled according to-V by described control and drive system part
1speed, run T along described horizontal linear
1-t
1be described second sampled point.
Be applied to a position tracking device for portable station, described portable station comprises attitude sensor, aerial position gps data, control and drive system part and antenna, and described position tracking device comprises:
Pre-tracking module, for reading described attitude sensor and described aerial position gps data, calculates the theoretical position of satellite relative to described antenna;
Rough tracking module, for being read the satellite beacon level value comprising each sampled point in the sampling dot matrix in the first energy area of described theoretical position with the first density by described control and drive system part, and obtain satellite beacon level value and be greater than the first sampled point following the tracks of threshold value;
Thin tracking module, for being read the satellite beacon level value comprising each sampled point in the sampling dot matrix in the second energy area of described first sampled point with the second density by described control and drive system part, obtain and there is the maximum sampled point of the sampling dot matrix Satellite beacon level value of the second density, described second energy area is less than described first energy area, and described second density is greater than described first density;
First points to module, for being controlled the sampled point that described in described antenna direction, the second energy area Satellite beacon level value is maximum by described control and drive system part.
Wherein, described pre-tracking module comprises:
First reading unit, for reading described attitude sensor, obtains the position and attitude information of described portable station;
Second reading unit, for reading described aerial position gps data, obtains the aerial position original state of described antenna;
Coordinate transformation unit, calculates the theoretical position of satellite relative to described antenna for described position and attitude information and described aerial position original state are carried out coordinate transform;
First control module, for controlling theoretical position described in described antenna direction by described control and drive system part.
Wherein, described rough tracking module comprises:
First acquiring unit, for read successively by described control and drive system part there is the first density sampling dot matrix in the satellite beacon level value of each sampled point, until obtain satellite beacon level value to be greater than the first sampled point following the tracks of threshold value, described sampling dot matrix is the sampling dot matrix of the first energy area comprising described theoretical position;
Second control module, is positioned at described first sampled point for controlling described antenna by described control and drive system part.
Wherein, described thin tracking module comprises:
First record cell, in described first energy area along the horizontal linear at described first sampled point place, with First Speed V
1, with the first prefixed time interval Δ t
1read the satellite beacon level value of each sampled point in described horizontal linear, and record the reading time of the satellite beacon level value of each sampled point, in described horizontal linear, the density of sampled point is greater than described first density;
First determining unit, for elapsed time T
1to read in complete described horizontal linear after each sampled point, determine the time t of the second sampled point that described horizontal linear Satellite beacon level value is maximum
1;
3rd control module, is positioned at described second sampled point for controlling described antenna by described control and drive system part;
Second record cell, in described first energy area, along the vertical straight line at described second sampled point place, with second speed V
2, with the second prefixed time interval Δ t
2read the satellite beacon level value of each sampled point in described vertical straight line, and record the reading time of the satellite beacon level value of each sampled point, in described vertical straight line, the density of sampled point is greater than described first density;
Second determining unit, for elapsed time T
2to read in complete described horizontal linear after each sampled point, determine the time t of the 3rd sampled point that described vertical straight line Satellite beacon level value is maximum
2.
Wherein, described 3rd control module specifically for:
Described antenna is controlled according to-V by described control and drive system part
1speed, run T along described horizontal linear
1-t
1be described second sampled point.
Technique scheme has following beneficial effect:
Provided by the inventionly be applied in the location tracking method of portable device, adopt the method for opened loop control relative to employing closed loop control method, eliminate the components and parts such as position feedback device, scrambler, therefore save the space of portable device and reduce the weight of portable device.
Further, first density of the sampled point in the first energy area is less, and sampled point is less, is convenient to like this find satellite beacon level value to be greater than the first sampled point following the tracks of threshold value fast, thus when ensureing communication condition, shorten the time of search first sampled point.But because the first density of the first sampled point is less, so tracking accuracy is lower, again obtain the maximum sampled point of satellite beacon level value by the sampled point in the second energy area with the second density, second energy area is less than the first energy area, and the second density is greater than the first density, thus shorten tracking time.
Further, because the components and parts in portable station decrease, so enhance the reliability of portable station, be easy to safeguard, stability is higher.
Accompanying drawing explanation
A kind of schematic flow sheet being applied to a kind of implementation of the location tracking method of portable station that Fig. 1 provides for the embodiment of the present invention;
A kind of being applied in the location tracking method of portable device that Fig. 2 provides for the embodiment of the present invention reads described attitude sensor and described aerial position gps data, calculates the method flow schematic diagram of satellite relative to a kind of implementation of the theoretical position of described antenna;
A kind of being applied in the location tracking method of portable device that Fig. 3 provides for the embodiment of the present invention reads by described control and drive system part the satellite beacon level value comprising each sampled point in the sampling dot matrix in the first energy area of described theoretical position with the first density, and obtains the method flow schematic diagram that satellite beacon level value is greater than a kind of implementation of the first sampled point following the tracks of threshold value;
A kind of being applied in the location tracking method of portable device that Fig. 4 provides for the embodiment of the present invention reads by described control and drive system part the satellite beacon level value comprising each sampled point in the sampling dot matrix in the second energy area of described first sampled point with the second density, obtains the method flow schematic diagram of a kind of implementation of the maximum sampled point of the sampling dot matrix Satellite beacon level value with the second density;
A kind of structural representation being applied to the position tracking device of portable station that Fig. 5 provides for the embodiment of the present invention.
Embodiment
For the purpose of quoting and know, the explanation of the technical term hereinafter used, write a Chinese character in simplified form or abridge and be summarized as follows:
GPS:GlobalPositioningSystem, GPS.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Refer to Fig. 1, for a kind of schematic flow sheet being applied to a kind of implementation of the location tracking method of portable station that the embodiment of the present invention provides, portable station comprises attitude sensor, aerial position gps data, control and drive system part and antenna, and this location tracking method comprises:
Step S101: read described attitude sensor and described aerial position gps data, calculate the theoretical position of satellite relative to described antenna.
Step S102: read the satellite beacon level value comprising each sampled point in the sampling dot matrix in the first energy area of described theoretical position with the first density by described control and drive system part, and obtain satellite beacon level value and be greater than the first sampled point following the tracks of threshold value.
The sampling dot matrix with the first density refers to the dense degree of each sampled point in sampling dot matrix, preferably, each sampled point in sampling dot matrix is equally distributed, and according to the difference of actual conditions, in sampling dot matrix, each sampled point also can be non-uniform Distribution.
In the embodiment of the present invention when obtaining satellite beacon level value and being greater than the first sampled point following the tracks of threshold value, stop sampling, because the energy of the first sampled point is enough.
Step S103: read the satellite beacon level value comprising each sampled point in the sampling dot matrix in the second energy area of described first sampled point with the second density by described control and drive system part, obtains the sampled point that the sampling dot matrix Satellite beacon level value with the second density is maximum.
Described second energy area is less than described first energy area, and described second density is greater than described first density.
The second energy area comprising described first sampled point can for centered by the first sampled point, take predeterminable range as the circle of radius, ellipse, square, rectangle, prismatic, cross, triangle etc., the embodiment of the present invention is not specifically limited the shape of the second energy area, can not certainly centered by the first sampled point, as long as comprise the second energy area of any shape of the first sampled point.
The sampling dot matrix with the second density can overlap with the second energy area, is namely covered with the second energy area, also can be the part in the second energy area.Suppose that the second energy area is cross, then the sampling dot matrix with the second density can for this is cross, and in now cross, vertically straight line can be identical with the density on horizontal linear, also can be different, is referred to as the second density here.
Because the second energy area is less than the first energy area, in order to better trace into the highest sampled point of energy, the first higher sampled point of energy is obtained in the sampling dot matrix that first Midst density is lower on a large scale, illustrate that high-octane sampled point should near the first sampled point, from higher the second energy area among a small circle of density, obtain the sampled point that more accurate satellite beacon level value is maximum again, thus save the time of tracking.
Step S104: control the sampled point that described in described antenna direction, the second energy area Satellite beacon level value is maximum by described control and drive system part.
Provided by the inventionly be applied in the location tracking method of portable device, the mode of opened loop control is adopted to improve the tracking accuracy of portable device, relative to employing closed loop control method, eliminate position feedback device etc. components and parts, therefore save the space of portable device and reduce the weight of portable device.
Further, first density of the sampled point in the first energy area is less, and sampled point is less, is convenient to like this find satellite beacon level value to be greater than the first sampled point following the tracks of threshold value fast, thus when ensureing communication condition, shorten the time of search first sampled point.But because the first density of the first sampled point is less, so tracking accuracy is lower, again obtain the maximum sampled point of satellite beacon level value by the sampled point in the second energy area with the second density, second energy area is less than the first energy area, and the second density is greater than the first density, thus shorten tracking time.
Further, because the components and parts in portable station decrease, so enhance the reliability of portable station, be easy to safeguard, stability is higher.
Refer to Fig. 2, a kind of being applied in the location tracking method of portable device provided for the embodiment of the present invention reads described attitude sensor and described aerial position gps data, calculate the method flow schematic diagram of satellite relative to a kind of implementation of the theoretical position of described antenna, the method comprises:
Step S201: read described attitude sensor, obtains the position and attitude information of described portable station.
Step S202: read described aerial position gps data, obtains the aerial position original state of described antenna.
Step S203: described position and attitude information and described aerial position original state are carried out coordinate transform and calculates the theoretical position of satellite relative to described antenna.
Step S204: control theoretical position described in described antenna direction by described control and drive system part.
Refer to Fig. 3, a kind of being applied in the location tracking method of portable device provided for the embodiment of the present invention reads by described control and drive system part the satellite beacon level value comprising each sampled point in the sampling dot matrix in the first energy area of described theoretical position with the first density, and obtain a kind of method flow schematic diagram of implementation that satellite beacon level value is greater than the first sampled point following the tracks of threshold value, the method comprises:
Step S301: the satellite beacon level value being read each sampled point in the sampling dot matrix with the first density by described control and drive system part successively, until obtain satellite beacon level value to be greater than the first sampled point following the tracks of threshold value.
Described sampling dot matrix is the sampling dot matrix of the first energy area comprising described theoretical position.
Step S302: control described antenna by described control and drive system part and be positioned at described first sampled point.
Experimentally data can extract experimental formula, calculate the tracking threshold value in rough tracking module.Be, in the first energy area, evenly can choose the sampling dot matrix that has the first density in the region of rough tracking module near antenna direction theoretical position.Control and drive system part, successively by above each sampled point, reads each point respective satellite beacon level value simultaneously.When often reading a satellite beacon level value, compare with tracking threshold value: if satellite beacon level value is not more than tracking threshold value, then continue rough tracking; If satellite beacon level value is greater than tracking threshold value, then control and drive system part makes antenna stop at this sampling point position, no longer continues rough tracking module and performs thin tracking module, shortens search time like this under guarantee communication condition.
Because what the device that the embodiment of the present invention provides adopted is that opened loop control is not equipped with position feedback device, rough tracking module adopts mode position to carry out control and drive system part, must at algorithm internal record control and drive system part run location, and the mode of internal record can not reflect the actual position of antenna accurately, so rough tracking module tracks precision is lower.But that its advantage is speed is fast, control algolithm simple, uses under open cycle system and contribute to shortening the system keeps track time and improving system stability.
Refer to Fig. 4, a kind of being applied in the location tracking method of portable device provided for the embodiment of the present invention reads by described control and drive system part the satellite beacon level value comprising each sampled point in the sampling dot matrix in the second energy area of described first sampled point with the second density, obtain the method flow schematic diagram of a kind of implementation with the maximum sampled point of the sampling dot matrix Satellite beacon level value of the second density, the method comprises:
Step S401: along the horizontal linear at described first sampled point place in described first energy area, with First Speed V
1, with the first prefixed time interval Δ t
1read the satellite beacon level value of each sampled point in described horizontal linear, and record the reading time of the satellite beacon level value of each sampled point.
In described horizontal linear, the density of sampled point is greater than described first density.
Step S402: elapsed time T
1to read in complete described horizontal linear after each sampled point, determine the time t of the second sampled point that described horizontal linear Satellite beacon level value is maximum
1.
Step S403: control described antenna by described control and drive system part and be positioned at described second sampled point.
Step S404: in described first energy area, along the vertical straight line at described second sampled point place, with second speed V
2, with the second prefixed time interval Δ t
2read the satellite beacon level value of each sampled point in described vertical straight line, and record the reading time of the satellite beacon level value of each sampled point.
In described vertical straight line, the density of sampled point is greater than described first density.
The density of the sampled point on horizontal linear or vertically straight line can be identical, also can be different.Here the second density is referred to as.
Step S405: elapsed time T
2read in complete described horizontal linear the time t determining the 3rd sampled point that described vertical straight line Satellite beacon level value is maximum after each sampled point
2.
First Speed V in the present embodiment
1with second speed V
2can be the same or different, time t
1with time t
2possibility is identical also may be different, time T
1with time T
2possibility is identical also may be different, the first prefixed time interval Δ t
1with the second prefixed time interval Δ t
2can be the same or different, specifically see actual conditions and determine.
The sampling dot matrix that above-described embodiment has the second density is cross, when the sampling dot matrix with the second density is circle, ellipse, triangle, square, rectangle, prismatic etc. shape, can according to the method described by first embodiment, in the sampling dot matrix with the second density, constantly determine the sampling dot matrix of the less and density in region higher than the second density, the density reducing regional extent and increase sampled point gradually, thus obtain the 3rd sampled point gradually.
In said method embodiment, control described antenna by described control and drive system part be positioned at described second sampled point and comprise: control described antenna according to-V by described control and drive system part
1speed, run T1-t1 along described horizontal linear and be described second sampled point.
Because read the satellite beacon level value of sampled point from the starting point of horizontal linear at control and drive system part, after reading all sampled points on complete horizontal linear, control and drive system part control antenna points to the end points of horizontal linear, if when control and drive system part needs control antenna to point to the second sampled point, need with the end points of horizontal linear for starting point, according to-V
1speed, run T1-t1 along described horizontal linear and be described second sampled point.
In said method embodiment, elapsed time T2 reads the time t2 determining the 3rd sampled point that described vertical straight line Satellite beacon level value is maximum in complete described horizontal linear after each sampled point, comprise: control the speed of described antenna according to-V2 by described control and drive system part, run T2 – t2 along described horizontal linear and be described 3rd sampled point.
Because read the satellite beacon level value of sampled point from the starting point of vertical straight line at control and drive system part, after reading all sampled points on complete vertical straight line, control and drive system part control antenna points to the end points of vertical straight line, if when control and drive system part needs control antenna to point to the 3rd sampled point, need with the end points of vertical straight line for starting point, according to the speed of-V2, run T2 – t2 along described horizontal linear and be described 3rd sampled point.
Describe method in detail in embodiment disclosed in the invention described above, the device of various ways can be adopted to realize for method of the present invention, therefore the invention also discloses multiple device, provide specific embodiment below and be described in detail.
Refer to Fig. 5, for a kind of structural representation being applied to the position tracking device of portable station that the embodiment of the present invention provides, this portable station comprises attitude sensor, aerial position gps data, control and drive system part and antenna, described position tracking device comprises: pre-tracking module 501, rough tracking module 502, thin tracking module 503 and first point to module 504, wherein:
Pre-tracking module 501, for reading described attitude sensor and described aerial position gps data, calculates the theoretical position of satellite relative to described antenna.
Rough tracking module 502, for being read the satellite beacon level value comprising each sampled point in the sampling dot matrix in the first energy area of described theoretical position with the first density by described control and drive system part, and obtain satellite beacon level value and be greater than the first sampled point following the tracks of threshold value.
The sampling dot matrix with the first density refers to the dense degree of each sampled point in sampling dot matrix, preferably, each sampled point in sampling dot matrix is equally distributed, and according to the difference of actual conditions, in sampling dot matrix, each sampled point also can be non-uniform Distribution.
In the embodiment of the present invention when obtaining satellite beacon level value and being greater than the first sampled point following the tracks of threshold value, stop sampling, because the energy of the first sampled point is enough.
Thin tracking module 503, for being read the satellite beacon level value comprising each sampled point in the sampling dot matrix in the second energy area of described first sampled point with the second density by described control and drive system part, obtain and there is the maximum sampled point of the sampling dot matrix Satellite beacon level value of the second density, described second energy area is less than described first energy area, and described second density is greater than described first density.
The second energy area comprising described first sampled point can for centered by the first sampled point, take predeterminable range as the circle of radius, ellipse, square, rectangle, prismatic, cross, triangle etc., the embodiment of the present invention is not specifically limited the shape of the second energy area, can not certainly centered by the first sampled point, as long as comprise the second energy area of any shape of the first sampled point.
The sampling dot matrix with the second density can overlap with the second energy area, is namely covered with the second energy area, also can be the part in the second energy area.Suppose that the second energy area is cross, then the sampling dot matrix with the second density can for this is cross, and in now cross, vertically straight line can be identical with the density on horizontal linear, also can be different, is referred to as the second density here.
Because the second energy area is less than the first energy area, in order to better trace into the highest sampled point of energy, the first higher sampled point of energy is obtained in the sampling dot matrix that first Midst density is lower on a large scale, illustrate that high-octane sampled point should near the first sampled point, from higher the second energy area among a small circle of density, obtain the sampled point that more accurate satellite beacon level value is maximum again, thus save the time of tracking.
First points to module 504, for being controlled the sampled point that described in described antenna direction, the second energy area Satellite beacon level value is maximum by described control and drive system part.
Provided by the inventionly be applied in the position tracking device of portable device, adopt the method for opened loop control relative to employing closed loop control method, eliminate the components and parts such as position feedback device, scrambler, therefore save the space of portable device and reduce the weight of portable device.
Further, first density of the sampled point in the first energy area is less, and sampled point is less, is convenient to like this find satellite beacon level value to be greater than the first sampled point following the tracks of threshold value fast, thus when ensureing communication condition, shorten the time of search first sampled point.But because the first density of the first sampled point is less, so tracking accuracy is lower, again obtain the maximum sampled point of satellite beacon level value by the sampled point in the second energy area with the second density, second energy area is less than the first energy area, and the second density is greater than the first density, thus shorten tracking time.
Further, because the components and parts in portable station decrease, so enhance the reliability of portable station, be easy to safeguard, stability is higher.
Pre-tracking module in said apparatus embodiment comprises: the first reading unit, for reading described attitude sensor, obtains the position and attitude information of described portable station; Second reading unit, for reading described aerial position gps data, obtains the aerial position original state of described antenna; Coordinate transformation unit, calculates the theoretical position of satellite relative to described antenna for described position and attitude information and described aerial position original state are carried out coordinate transform; First control module, for controlling theoretical position described in described antenna direction by described control and drive system part.
Rough tracking module in above-mentioned arbitrary device embodiment comprises: the first acquiring unit, for read successively by described control and drive system part there is the first density sampling dot matrix in the satellite beacon level value of each sampled point, until obtain satellite beacon level value to be greater than the first sampled point following the tracks of threshold value, described sampling dot matrix is the sampling dot matrix of the first energy area comprising described theoretical position; Second control module, is positioned at described first sampled point for controlling described antenna by described control and drive system part.
Experimentally data can extract experimental formula, calculate the tracking threshold value in rough tracking module.Be, in the first energy area, evenly can choose the sampling dot matrix that has the first density in the region of rough tracking module near antenna direction theoretical position.Control and drive system part, successively by above each sampled point, reads each point respective satellite beacon level value simultaneously.When often reading a satellite beacon level value, compare with tracking threshold value: if satellite beacon level value is not more than tracking threshold value, then continue rough tracking; If satellite beacon level value is greater than tracking threshold value, then control and drive system part makes antenna stop at this sampling point position, no longer continues rough tracking module and performs thin tracking module, shortens search time like this under guarantee communication condition.
Because what the device that the embodiment of the present invention provides adopted is that opened loop control is not equipped with position feedback device, rough tracking module adopts mode position to carry out control and drive system part, must at algorithm internal record control and drive system part run location, and the mode of internal record can not reflect the actual position of antenna accurately, so rough tracking module tracks precision is lower.But that its advantage is speed is fast, control algolithm simple, uses under open cycle system and contribute to shortening the system keeps track time and improving system stability.
Thin tracking module in above-mentioned arbitrary device embodiment comprises: the first record cell, in described first energy area along the horizontal linear at described first sampled point place, with First Speed V
1, with the first prefixed time interval Δ t
1read the satellite beacon level value of each sampled point in described horizontal linear, and record the reading time of the satellite beacon level value of each sampled point, in described horizontal linear, the density of sampled point is greater than described first density; First determining unit, for elapsed time T
1to read in complete described horizontal linear after each sampled point, determine the time t of the second sampled point that described horizontal linear Satellite beacon level value is maximum
1; 3rd control module, is positioned at described second sampled point for controlling described antenna by described control and drive system part; Second record cell, in described first energy area, along the vertical straight line at described second sampled point place, with second speed V
2, with the second prefixed time interval Δ t
2read the satellite beacon level value of each sampled point in described vertical straight line, and record the reading time of the satellite beacon level value of each sampled point, in described vertical straight line, the density of sampled point is greater than described first density; Second determining unit, for elapsed time T
2to read in complete described horizontal linear after each sampled point, determine the time t of the 3rd sampled point that described vertical straight line Satellite beacon level value is maximum
2.
The density of the sampled point on horizontal linear or vertically straight line can be identical, also can be different.Here the second density is referred to as.
First Speed V in the present embodiment
1with second speed V
2can be the same or different, time t
1with time t
2possibility is identical also may be different, time T
1with time T
2possibility is identical also may be different, the first prefixed time interval Δ t
1with the second prefixed time interval Δ t
2can be the same or different, specifically see actual conditions and determine.
The sampling dot matrix that above-described embodiment has the second density is cross, when the sampling dot matrix with the second density is circle, ellipse, triangle, square, rectangle, prismatic etc. shape, can according to the method described by first embodiment, in the sampling dot matrix with the second density, constantly determine the sampling dot matrix of the less and density in region higher than the second density, the density reducing regional extent and increase sampled point gradually, thus obtain the 3rd sampled point gradually.
The 3rd control module in above-mentioned arbitrary device embodiment specifically for: control described antenna according to-V by described control and drive system part
1speed, run T along described horizontal linear
1-t
1be described second sampled point.
Because read the satellite beacon level value of sampled point from the starting point of horizontal linear at control and drive system part, after reading all sampled points on complete horizontal linear, control and drive system part control antenna points to the end points of horizontal linear, if when control and drive system part needs control antenna to point to the second sampled point, need with the end points of horizontal linear for starting point, according to-V
1speed, run T1-t1 along described horizontal linear and be described second sampled point.
The second determining unit in above-mentioned arbitrary device embodiment specifically for: control the speed of described antenna according to-V2 by described control and drive system part, run T2 – t2 along described horizontal linear and be described 3rd sampled point.
Because read the satellite beacon level value of sampled point from the starting point of vertical straight line at control and drive system part, after reading all sampled points on complete vertical straight line, control and drive system part control antenna points to the end points of vertical straight line, if when control and drive system part needs control antenna to point to the 3rd sampled point, need with the end points of vertical straight line for starting point, according to the speed of-V2, run T2 – t2 along described horizontal linear and be described 3rd sampled point.
The embodiment of the present invention provides the algorithm involved by a kind of location tracking method being applied to portable station that C language can be used to write, and can run on single-chip microcomputer or (SuSE) Linux OS embedded platform.The position tracking device of what the embodiment of the present invention provided be applied to portable station is made up of three modules: pre-tracking module judges aerial position and resolve to draw satellite theory position; Rough tracking module can be followed the tracks of in rectangular lattice mode, finds satellite beacon level value and is greater than the sampled point following the tracks of threshold value; Thin tracking module can be followed the tracks of with cruciform dot matrix way, finds satellite beacon level maximum point.
The method that the embodiment of the present invention provides or device and open-loop control system support the use, and the tracking that operating speed pattern is combined with mode position, improves the precision of tracking.By the tracking threshold value calculated, tracking is divided multiple stage, both ensure that tracking accuracy, and shortened tracking time again.In conjunction with measured data and portable station physical property, algorithm adopts optimum parameter, reduces the weight of portable station system, volume requirement, enhances equipment complex performance.
Apparatus and method embodiment provided by the invention can use C language to write, and operational efficiency is high, is easy to safeguard, has favorable compatibility with portable, can run in the operating system such as single-chip microcomputer or Linux.
Method and apparatus embodiment provided by the invention can use modular construction to write, readable strong, is convenient to test and safeguards, having stronger reliability and stability.
In this instructions, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.
Also it should be noted that, in this article, the such as relational terms of first and second grades and so on is only used for an entity or operation to separate with another entity or operational zone, and not necessarily requires or imply the relation that there is any this reality between these entities or operation or sequentially.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or equipment and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or equipment.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment comprising described key element and also there is other identical element.
To the above-mentioned explanation of provided embodiment, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle provided in this article and features of novelty.
Claims (10)
1. be applied to a location tracking method for portable station, it is characterized in that, described portable station comprises attitude sensor, aerial position gps data, control and drive system part and antenna, and described location tracking method comprises:
Read described attitude sensor and described aerial position gps data, calculate the theoretical position of satellite relative to described antenna;
Read the satellite beacon level value comprising each sampled point in the sampling dot matrix in the first energy area of described theoretical position with the first density by described control and drive system part, and obtain satellite beacon level value and be greater than the first sampled point following the tracks of threshold value;
The satellite beacon level value comprising each sampled point in the sampling dot matrix in the second energy area of described first sampled point with the second density is read by described control and drive system part, obtain and there is the maximum sampled point of the sampling dot matrix Satellite beacon level value of the second density, described second energy area is less than described first energy area, and described second density is greater than described first density;
The sampled point that described in described antenna direction, the second energy area Satellite beacon level value is maximum is controlled by described control and drive system part.
2. location tracking method according to claim 1, it is characterized in that, the described attitude sensor of described reading and described aerial position gps data, calculate satellite and comprise relative to the theoretical position of described antenna:
Read described attitude sensor, obtain the position and attitude information of described portable station;
Read described aerial position gps data, obtain the aerial position original state of described antenna;
Described position and attitude information and described aerial position original state are carried out coordinate transform and calculates the theoretical position of satellite relative to described antenna;
Theoretical position described in described antenna direction is controlled by described control and drive system part.
3. location tracking method according to claim 1 or 2, it is characterized in that, describedly read the satellite beacon level value comprising each sampled point in the sampling dot matrix in the first energy area of described theoretical position with the first density by described control and drive system part, and obtain satellite beacon level value and be greater than the first sampled point following the tracks of threshold value and comprise:
The satellite beacon level value of each sampled point in the sampling dot matrix with the first density is read successively by described control and drive system part, until obtain satellite beacon level value to be greater than the first sampled point following the tracks of threshold value, described sampling dot matrix is the sampling dot matrix of the first energy area comprising described theoretical position;
Control described antenna by described control and drive system part and be positioned at described first sampled point.
4. location tracking method according to claim 1 or 2, it is characterized in that, describedly read the satellite beacon level value comprising each sampled point in the sampling dot matrix in the second energy area of described first sampled point with the second density by described control and drive system part, the sampled point obtaining the sampling dot matrix Satellite beacon level value with the second density maximum comprises:
Along the horizontal linear at described first sampled point place in described first energy area, with First Speed V
1, with the first prefixed time interval Δ t
1read the satellite beacon level value of each sampled point in described horizontal linear, and record the reading time of the satellite beacon level value of each sampled point, in described horizontal linear, the density of sampled point is greater than described first density;
Elapsed time T
1to read in complete described horizontal linear after each sampled point, determine the time t of the second sampled point that described horizontal linear Satellite beacon level value is maximum
1;
Control described antenna by described control and drive system part and be positioned at described second sampled point;
In described first energy area, along the vertical straight line at described second sampled point place, with second speed V
2, with the second prefixed time interval Δ t
2read the satellite beacon level value of each sampled point in described vertical straight line, and record the reading time of the satellite beacon level value of each sampled point, in described vertical straight line, the density of sampled point is greater than described first density;
Elapsed time T
2read in complete described horizontal linear the time t determining the 3rd sampled point that described vertical straight line Satellite beacon level value is maximum after each sampled point
2.
5. location tracking method according to claim 4, is characterized in that, describedly controls described antenna by described control and drive system part and is positioned at described second sampled point and comprises:
Described antenna is controlled according to-V by described control and drive system part
1speed, run T along described horizontal linear
1-t
1be described second sampled point.
6. be applied to a position tracking device for portable station, it is characterized in that, described portable station comprises attitude sensor, aerial position gps data, control and drive system part and antenna, and described position tracking device comprises:
Pre-tracking module, for reading described attitude sensor and described aerial position gps data, calculates the theoretical position of satellite relative to described antenna;
Rough tracking module, for being read the satellite beacon level value comprising each sampled point in the sampling dot matrix in the first energy area of described theoretical position with the first density by described control and drive system part, and obtain satellite beacon level value and be greater than the first sampled point following the tracks of threshold value;
Thin tracking module, for being read the satellite beacon level value comprising each sampled point in the sampling dot matrix in the second energy area of described first sampled point with the second density by described control and drive system part, obtain and there is the maximum sampled point of the sampling dot matrix Satellite beacon level value of the second density, described second energy area is less than described first energy area, and described second density is greater than described first density;
First points to module, for being controlled the sampled point that described in described antenna direction, the second energy area Satellite beacon level value is maximum by described control and drive system part.
7. position tracking device according to claim 6, it is characterized in that, described pre-tracking module comprises:
First reading unit, for reading described attitude sensor, obtains the position and attitude information of described portable station;
Second reading unit, for reading described aerial position gps data, obtains the aerial position original state of described antenna;
Coordinate transformation unit, calculates the theoretical position of satellite relative to described antenna for described position and attitude information and described aerial position original state are carried out coordinate transform;
First control module, for controlling theoretical position described in described antenna direction by described control and drive system part.
8. position tracking device according to claim 5 or 6, is characterized in that, described rough tracking module comprises:
First acquiring unit, for read successively by described control and drive system part there is the first density sampling dot matrix in the satellite beacon level value of each sampled point, until obtain satellite beacon level value to be greater than the first sampled point following the tracks of threshold value, described sampling dot matrix is the sampling dot matrix of the first energy area comprising described theoretical position;
Second control module, is positioned at described first sampled point for controlling described antenna by described control and drive system part.
9. position tracking device according to claim 5 or 6, is characterized in that, described thin tracking module comprises:
First record cell, in described first energy area along the horizontal linear at described first sampled point place, with First Speed V
1, with the first prefixed time interval Δ t
1read the satellite beacon level value of each sampled point in described horizontal linear, and record the reading time of the satellite beacon level value of each sampled point, in described horizontal linear, the density of sampled point is greater than described first density;
First determining unit, for elapsed time T
1to read in complete described horizontal linear after each sampled point, determine the time t of the second sampled point that described horizontal linear Satellite beacon level value is maximum
1;
3rd control module, is positioned at described second sampled point for controlling described antenna by described control and drive system part;
Second record cell, in described first energy area, along the vertical straight line at described second sampled point place, with second speed V
2, with the second prefixed time interval Δ t
2read the satellite beacon level value of each sampled point in described vertical straight line, and record the reading time of the satellite beacon level value of each sampled point, in described vertical straight line, the density of sampled point is greater than described first density;
Second determining unit, for elapsed time T
2to read in complete described horizontal linear after each sampled point, determine the time t of the 3rd sampled point that described vertical straight line Satellite beacon level value is maximum
2.
10. position tracking device according to claim 9, is characterized in that, described 3rd control module specifically for:
Described antenna is controlled according to-V by described control and drive system part
1speed, run T along described horizontal linear
1-t
1be described second sampled point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510706367.XA CN105404312A (en) | 2015-10-27 | 2015-10-27 | Position tracking method and device applied to portable station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510706367.XA CN105404312A (en) | 2015-10-27 | 2015-10-27 | Position tracking method and device applied to portable station |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105404312A true CN105404312A (en) | 2016-03-16 |
Family
ID=55469851
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510706367.XA Pending CN105404312A (en) | 2015-10-27 | 2015-10-27 | Position tracking method and device applied to portable station |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105404312A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018082342A1 (en) * | 2016-11-01 | 2018-05-11 | 中兴通讯股份有限公司 | Method and device for adjusting gps antenna |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005009970A (en) * | 2003-06-18 | 2005-01-13 | Anten Corp | Moving body communication navigation system |
| US20100171652A1 (en) * | 2009-01-06 | 2010-07-08 | Gutt Gregory M | Local clock frequency calibration using low earth orbit (leo) satellites |
| CN103337704A (en) * | 2013-02-19 | 2013-10-02 | 中国人民解放军66061部队 | Device and method for automatic satellite aiming of Ku waveband satellite communication portable station antenna |
| CN103648023A (en) * | 2013-12-23 | 2014-03-19 | 珠海迈越信息技术有限公司 | Satellite aligning method, portable device and set top box |
| CN203553337U (en) * | 2013-09-25 | 2014-04-16 | 中国人民武装警察部队工程大学 | Portable one-key-satellite-pairing double-fed antenna unit and antenna |
| CN104267739A (en) * | 2014-10-17 | 2015-01-07 | 成都国卫通信技术有限公司 | Satellite signal tracking device and method |
| CN104932532A (en) * | 2015-05-05 | 2015-09-23 | 南京中网卫星通信股份有限公司 | Backpack type satellite communication portable station control device and application method thereof |
-
2015
- 2015-10-27 CN CN201510706367.XA patent/CN105404312A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005009970A (en) * | 2003-06-18 | 2005-01-13 | Anten Corp | Moving body communication navigation system |
| US20100171652A1 (en) * | 2009-01-06 | 2010-07-08 | Gutt Gregory M | Local clock frequency calibration using low earth orbit (leo) satellites |
| CN103337704A (en) * | 2013-02-19 | 2013-10-02 | 中国人民解放军66061部队 | Device and method for automatic satellite aiming of Ku waveband satellite communication portable station antenna |
| CN203553337U (en) * | 2013-09-25 | 2014-04-16 | 中国人民武装警察部队工程大学 | Portable one-key-satellite-pairing double-fed antenna unit and antenna |
| CN103648023A (en) * | 2013-12-23 | 2014-03-19 | 珠海迈越信息技术有限公司 | Satellite aligning method, portable device and set top box |
| CN104267739A (en) * | 2014-10-17 | 2015-01-07 | 成都国卫通信技术有限公司 | Satellite signal tracking device and method |
| CN104932532A (en) * | 2015-05-05 | 2015-09-23 | 南京中网卫星通信股份有限公司 | Backpack type satellite communication portable station control device and application method thereof |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018082342A1 (en) * | 2016-11-01 | 2018-05-11 | 中兴通讯股份有限公司 | Method and device for adjusting gps antenna |
| CN108023647A (en) * | 2016-11-01 | 2018-05-11 | 中兴通讯股份有限公司 | Gps antenna method of adjustment and device |
| CN108023647B (en) * | 2016-11-01 | 2022-06-03 | 中兴通讯股份有限公司 | GPS antenna adjusting method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106093963B (en) | A method of improving the vehicle-mounted laser radar scanning data precision of railway | |
| CN205691120U (en) | A kind of topography mapping device of UAV flight's total powerstation | |
| CN104964647A (en) | Array photosensitive resistor laser collimation deformation measuring method and apparatus | |
| CN109613584A (en) | The positioning and orienting method of unmanned truck based on UWB | |
| CN101539397A (en) | Method for measuring three-dimensional attitude of object on precision-optical basis | |
| CN104807440A (en) | Full automatic high-frequency ground settlement monitoring method for airport | |
| CN104483091A (en) | Train airflow field site testing device and method | |
| CN108981660A (en) | A kind of Opposite side survey method of triangulated height | |
| CN105404312A (en) | Position tracking method and device applied to portable station | |
| CN103091508B (en) | Method and device of obtaining movement direction of navigation goal | |
| CN103697857B (en) | Height measurement method and device | |
| Zhang et al. | Research on the intelligent positioning method of tunnel excavation face | |
| CN105758411A (en) | Vehicular camera-based system and method for increasing positioning precision of vehicular GPS | |
| CN203133272U (en) | High frequency ground wave radar synchronization device based on CPCI bus | |
| CN106323281A (en) | Indoor space positioning method | |
| CN102865853B (en) | Rapid high-precision guiding method based on oblique datum photoelectric tracking and measuring equipment | |
| CN108532984B (en) | High-precision mounting method for supporting jig frame | |
| CN204115737U (en) | A kind of indoor positioning device based on inertial guidance and radio-frequency (RF) identification | |
| CN204115667U (en) | A kind of thermoelectricity list price coal plotting board based on four-axle aircraft | |
| CN116295294A (en) | Control network rapid retest device and method based on intelligent total station | |
| CN102209380A (en) | Mobile terminal positioning method based on global system for mobile communication (GSM) base station BASIC information | |
| CN109470259A (en) | A kind of method of Auto-matching up-to-date map in navigation procedure | |
| CN204510298U (en) | Based on the monitoring system of high precision wireless location technology monitoring foundation pit deformation | |
| CN100462679C (en) | Apparatus and method for measuring tidal flat elevation | |
| CN202103680U (en) | Network testing system in mobile communication room |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160316 |
|
| WD01 | Invention patent application deemed withdrawn after publication |