CN105609953A - Separated vehicle-mounted stationary satelliteantenna controller - Google Patents
Separated vehicle-mounted stationary satelliteantenna controller Download PDFInfo
- Publication number
- CN105609953A CN105609953A CN201510981153.3A CN201510981153A CN105609953A CN 105609953 A CN105609953 A CN 105609953A CN 201510981153 A CN201510981153 A CN 201510981153A CN 105609953 A CN105609953 A CN 105609953A
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- Prior art keywords
- antenna
- angle
- star
- controller
- azimuth
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Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/32—Adaptation for use in or on road or rail vehicles
- H01Q1/3208—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used
- H01Q1/3216—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used where the road or rail vehicle is only used as transportation means
Abstract
The invention provides a separated vehicle-mounted stationary satelliteantenna controller. The separated vehicle-mounted stationary satelliteantenna controller comprises an in-car terminal controller and an antenna base controller, wherein the in-car terminal controller is arranged on a cabinet inside a vehicle body, the antenna base controller is arranged in an antenna turntable outside the vehicle, the in-car terminal controller and the antenna base controller are connected with a cascaded line by an intermediate-frequency receiving line, and the cascaded line comprises a CAN communication line, an RS232 communication line and a power line. The antenna controller is designed in a separated way, a main control part is arranged in the antenna turntable, internal and external connection is simplified, and two lines of the terminal controller and the base controller are only needed to connect during installation; an antenna is controlled to beaccurate in satellite alignment and rapid in speed; dual directional calibration sensors of a compass and dual GPS positioning directional instruments are adopted, the functions of the compass and the dual GPS positioning directional instruments are automatically switched in different environments, rapid satellite alignment is synergistically achieved, and the antenna controller is suitably used for a complicated terrestrial magnetic environment; and the antenna controller is simple to operate and convenient and rapid to maintain, and is low in after-sale cost.
Description
Technical field
The present invention relates to technical field of satellite communication, relate in particular to a kind of separate type vehicle-mounted quiet in exceedingly high line traffic controlDevice.
Background technology
In domestic market vehicle-mounted quiet there is following shortcoming in exceedingly high lane controller product: (1) adopts independentFormula design, man-machine interaction and control antenna motion are integrated on a controller, cause controller heaviness, noEasily carrying and installation; (2) the multiple motors outside car and multiple sensor all will and car body internal controller between enterRow connects, and causes line many, must make a call to a large hole at roof and just can carry out connecting inside and outside car, causes installationDifficult and too much cabling is easy to produce signal and disturbs, and causes the reliability of system to reduce, once antennaThe maintenance difficult that breaks down, cost is high; (3) aspect sensor as antenna with independent electronic compass only,When antenna is in the environment of earth magnetism circumstance complication, electronic compass is by misorientation, and antenna can not be to upper satellite.
Summary of the invention
The invention provides a kind of separate type vehicle-mounted quiet in exceedingly high lane controller, simplified that car is inside and outside to be connected, in carOuter needs two lines to connect, and has installed two GPS positioning and directing instrument additional, makes antenna at intricately magnet ringIn border, normally use; .
The present invention is achieved through the following technical solutions:
A kind of separate type vehicle-mounted quiet in exceedingly high lane controller, it comprises: terminal control unit and antenna base in carController; In car, terminal control unit is arranged on the inner rack of car body, and antenna base controller is arranged on outside carAntenna rotating platform in;
The interior terminal control unit of car receives line with antenna base controller by intermediate frequency and is connected with a level on line; Level on lineComprise: CAN order wire, RS232 order wire and power line;
Antenna base controller receives the command information of terminal control unit in car by CAN order wire, and according toThis command information control antenna acts accordingly, and antenna base controller passes through CAN order wire by sky simultaneouslyLine angle degree and antenna failure location information are sent to terminal control unit in car;
Wherein, antenna base controller obtains theing contents are as follows of aerial angle:
Antenna LNB receiving satellite signal strength simulation amount signal, and receive line by intermediate frequency and be sent in car eventuallyRadio Beacon in side controller, Radio Beacon changes analog signals after data signal into, then passes through RS232Order wire is sent to antenna base controller, is scanned and is being scanned by antenna base controller control antennaDetermine in scope AGC maximum corresponding to star aerial angle, if this is to star aerial angle and current antenna angleSpend identically, the satellite-signal that under current aerial angle, antenna obtains is maximum, without adjusting aerial angle;If these are different from current aerial angle to star aerial angle, antenna base controller control antenna is by working as the day before yesterdayLine angle degree is adjusted to star aerial angle.
Further, in car, terminal control unit comprises: LCD display, button, power module, terminal master controlPlate, Radio Beacon and status lamp;
LCD display, for showing aerial angle, antenna failure location information;
Button, for a key control antenna receiving-sending, antenna, to star, manually control antenna is to star; A wherein keyControl antenna, to star, sends star enabling signal to terminal master control borad;
Power module, is used to terminal control unit power supply in whole car;
Terminal master control borad, reception antenna angle and antenna failure location information also show on LCD display,And receive button to star enabling signal, send antenna adjustment to star angle to star instruction, this is to star instructionBe sent to antenna base controller by RS232 order wire;
Radio Beacon, for carrying out signal conversion;
Whether status lamp, for pointing out antenna to report to the police.
Further, antenna base controller comprises:
Azimuth driver, driven antenna azimuthal movement and acquisition antenna azimuth;
The antenna pitching angular movement of pitching driver drives and acquisition antenna elevation angle;
Polarization actuator, the motion of driven antenna polarizing angle and acquisition antenna polarization angle;
Base master control borad, according to terminal control unit in car to star instruction control base adjust antenna to star angle;
Compass, compensates antenna azimuth and the angle of pitch, obtains antenna actual angle;
Two GPS positioning and directing instrument, obtain antenna longitude and latitude and antenna course angle;
Limit switch, prevents that antenna movement from transfiniting;
Wherein, compass and two GPS positioning and directing instrument collaborative works, complete star.
Further, in the situation that blocking, antenna comprises the step of star:
Step 1, utilizes compass to compensate rear acquisition antenna reality relative to the earth to antenna azimuth and the angle of pitchBorder angle;
Step 2, azimuth according to the antenna calculation of longitude & latitude antenna of two GPS positioning and directing instrument to star, bowsThe theoretical value of the elevation angle, polarizing angle;
Step 3, base master control borad control azimuth driver, pitching driver, polarization actuator drive respectively skyLine azimuth axis, pitch axis, polaxis move to angle corresponding to theoretical value that step 2 is calculated;
Step 4, antenna carries out the scanning of thick property, obtains the antenna azimuth and the pitching that are greater than for the first time beacon threshold valueAngle; Near this antenna azimuth obtaining for the first time and the angle of pitch, carry out essence scanning, obtain and be finally greater than letterAntenna bearingt and the angle of pitch of mark threshold value, obtain according to the antenna bearingt and the angle of pitch that are finally greater than beacon threshold valueAntenna with respect to the earth to star angle, antenna stop scanning;
Step 5, base master control borad control antenna, moves to it to star angle from current actual angle.
Further, in unscreened situation, antenna comprises the step of star:
Step 1, the inclination angle of reading compass;
Step 2, utilizes inclination angle to compensate antenna elevation angle, obtains the angle of pitch of antenna to the earth;
Step 3, reads the course angle of two GPS positioning and directing instrument;
Step 4, utilizes course angle to compensate antenna azimuth, obtains the azimuth of antenna to the earth, instituteThe angle of pitch of stating azimuth and step 2 forms the actual angle of antenna with respect to the earth;
Step 5, obtains antenna longitude and latitude from two GPS positioning and directing instrument, carries out theoretical value according to antenna longitude and latitudeCalculate, obtain antenna with respect to the earth to star angle;
Step 6, base master control borad 2-4 control antenna, moves to it to star angle from actual angle.
Compared with prior art, the invention has the beneficial effects as follows:
(1) antenna controller is designed to separate type by the present invention, and major control part is arranged in antenna rotating platform,Simplify inside and outside connection, when installation, only need to connect two lines of terminal control unit and base controller;
(2) control antenna of the present invention is accurate to star, speed is fast;
(3) the present invention adopts compass and two GPS positioning and directing instrument amphiorentation calibrating sensors, and both are notWith environment in function automatically switch, collaborative realization is fast to star and be applicable in intricately magnetic environment;
(4) modularized design of the present invention, simple to operate, easy to maintenance quick, after cost is low.
Brief description of the drawings
Fig. 1 is structured flowchart of the present invention;
Fig. 2 is the structural representation of terminal control unit in car of the present invention;
Fig. 3 is the structural representation of base controller of the present invention;
Fig. 4 is the structural representation of level on line of the present invention;
Wherein, the interior terminal control unit of 1-car, 1-1LCD display screen, 1-2 button, 1-3 power module, 1-4 are eventuallyEnd master control borad, 1-5 Radio Beacon, 1-6 status lamp; 2-antenna base controller, 2-1 azimuth driver, 2-2Pitching driver, 2-3 polarization actuator, 2-4 base master control borad, 2-5 compass, the two GPS positioning and directings of 2-6Instrument, 2-7 limit switch, 3-intermediate frequency receive line, 4-level on line, 4-1CAN order wire, 4-2RS232 order wire,4-3 power line.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and realityExecute example, the present invention is further elaborated. Only should be appreciated that specific embodiment described hereinOnly, in order to explain the present invention, be not intended to limit the present invention.
Employing split design, by background technology independently a controller be divided into terminal control unit 1 and position in carAntenna base controller 2 outside car, in car, terminal control unit 1 is arranged on the inner rack of car body, at the bottom of antennaSeat controller 2 is arranged in the antenna rotating platform outside car. Referring to accompanying drawing 1, a kind of separate type vehicle-mounted quiet in exceedingly high lineController, it comprises: in car, terminal control unit 1, antenna base controller 2, intermediate frequency receive line 3 and levelOn line 4;
Comprise referring to Fig. 4 level on line 4: CAN order wire 4-1, RS232 order wire 4-2 and power line 4-3;
The interior terminal control unit 1 of car receives line 3 with antenna base controller 2 by intermediate frequency and is connected with a level on line 4;Greatly reduce the cabling of roof. Antenna base controller 2 receives terminal in car by CAN order wire 4-1The command information of controller 1 acts accordingly, and passes through CAN order wire 4-1 by aerial angle, sky simultaneouslyLine trouble location information is sent to terminal control unit 1 in car.
Wherein, antenna base controller 2 obtains theing contents are as follows of aerial angle:
Antenna LNB receiving satellite signal strength simulation amount signal, and receive line 3 by intermediate frequency and be sent in carRadio Beacon 1-5 in terminal control unit 1, Radio Beacon 1-5 changes analog signals after data signal into, thenBy RS232 order wire, 4-2 is sent to antenna base controller 2, by antenna base controller 2 control antennasScan and in sweep limits determine AGC maximum corresponding to star aerial angle, if this is to star antennaAngle is identical with current aerial angle, and the satellite-signal that under current aerial angle, antenna obtains is maximum,Without adjusting aerial angle; If these are different from current aerial angle to star aerial angle, antenna base controlDevice 2 control antennas are adjusted to star aerial angle by current aerial angle.
Comprise referring to terminal control unit 1 in Fig. 2 car: LCD display 1-1, button 1-2, power module 1-3,Terminal master control borad 1-4, Radio Beacon 1-5 and status lamp 1-6;
LCD display 1-1, for showing aerial angle, antenna failure location information;
Button 1-2, for a key control antenna receiving-sending, antenna, to star, manually control antenna is to star; Wherein oneKey control antenna, to star, sends star enabling signal to terminal master control borad 1-4;
Power module 1-3, is used to terminal control unit 1 in whole car to power;
Terminal master control borad 1-4, reception antenna angle and antenna failure location information on LCD display 1-1Show, and receive button 1-2 to star enabling signal, send antenna adjustment to star angle to star instruction, shouldStar instruction is sent to antenna base controller 2 by RS232 order wire 4-2;
Radio Beacon 1-5, for carrying out signal conversion;
Whether status lamp 1-6, for pointing out antenna to report to the police.
Comprise referring to Fig. 3 antenna base controller 2: azimuth driver 2-1, driven antenna azimuthal movement andObtain antenna azimuth;
Pitching driver 2-2 driven antenna pitch movement and acquisition antenna elevation angle;
Polarization actuator 2-3, the motion of driven antenna polarizing angle and acquisition antenna polarization angle;
Base master control borad 2-4, according to terminal control unit in car 1 to star instruction control base adjust antenna to starAngle;
Compass 2-5, compensates antenna azimuth and the angle of pitch, obtains antenna actual angle;
Two GPS positioning and directing instrument 2-6, obtain antenna longitude and latitude and antenna course angle;
Limit switch 2-7, prevents that antenna movement from transfiniting;
Wherein, compass 2-5 and two GPS positioning and directing instrument 2-6 collaborative works, complete star.
To the particular content of star as:
1 in the situation that blocking, and antenna comprises the step of star:
Step 1, utilizes compass 2-5 to compensate rear acquisition antenna relative to the earth to antenna azimuth and the angle of pitchActual angle;
Step 2, azimuth according to the antenna calculation of longitude & latitude antenna of two GPS positioning and directing instrument 2-6 to star,The theoretical value of the angle of pitch, polarizing angle;
Step 3, base master control borad 2-4 control azimuth driver 2-1, pitching driver 2-2, polarization actuator2-3 respectively driven antenna azimuth axis, pitch axis, polaxis moves to angle corresponding to theoretical value that step 2 is calculatedDegree;
Step 4, antenna carries out the scanning of thick property, obtains the antenna azimuth and the pitching that are greater than for the first time beacon threshold valueAngle; Near this antenna azimuth obtaining for the first time and the angle of pitch, carry out essence scanning, obtain and be finally greater than letterAntenna bearingt and the angle of pitch of mark threshold value, obtain according to the antenna bearingt and the angle of pitch that are finally greater than beacon threshold valueAntenna with respect to the earth to star angle, antenna stop scanning;
Step 5, base master control borad 2-4 control antenna, moves to it to star angle from current actual angle.
2 in unscreened situation, and antenna comprises the step of star:
Step 1, the inclination angle of reading compass 2-5;
Step 2, utilizes inclination angle to compensate antenna elevation angle, obtains the angle of pitch of antenna to the earth;
Step 3, reads the course angle of two GPS positioning and directing instrument 2-6;
Step 4, utilizes course angle to compensate antenna azimuth, obtains the azimuth of antenna to the earth, instituteThe angle of pitch of stating azimuth and step 2 forms the actual angle of antenna with respect to the earth;
Step 5, obtains antenna longitude and latitude from two GPS positioning and directing instrument 2-6, carries out theory according to antenna longitude and latitudeValue calculate, obtain antenna with respect to the earth to star angle;
Step 6, base master control borad 2-4 control antenna, moves to it to star angle from actual angle.
The present invention is in use:
A. user only need to open a smaller hole at roof, both can complete the inside and outside connection of car body;
B. sensor compass 2-5, two GPS positioning and directing instrument 2-6 and limit switch 2-7 are connected by air plug headReceive on antenna base controller 2;
C. azimuth-drive motor, pitching motor and polarization motor are connected to antenna base controller 2 by air plug headOn;
D. user only need to be in car to terminal control unit in car operate can complete antenna to star, reset,Collection and manually control, display screen can show various states, warning and the phase of antenna very intuitivelyRelated parameter;
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, not all at thisAny amendment of doing within bright spirit and principle, be equal to and replace and improvement etc., all should be included in the present inventionProtection domain within.
Claims (5)
- Separate type vehicle-mounted quiet in an exceedingly high lane controller, it is characterized in that, it comprises: terminal control in carDevice (1) and antenna base controller (2); In car, terminal control unit (1) is arranged on the inner rack of car body,Antenna base controller (2) is arranged in the antenna rotating platform outside car;In car, terminal control unit (1) and antenna base controller (2) receive line (3) and cascade by intermediate frequencyLine (4) connects; Level on line (4) comprising: CAN order wire (4-1), RS232 order wire (4-2) andPower line (4-3);Antenna base controller (2) passes through the interior terminal control unit (1) of CAN order wire (4-1) reception carCommand information, and act accordingly according to this command information control antenna, antenna base controller (2) simultaneouslyBy CAN order wire (4-1), aerial angle and antenna failure location information are sent to terminal control unit in car(1)；Wherein, antenna base controller (2) obtains theing contents are as follows of aerial angle:Antenna LNB receiving satellite signal strength simulation amount signal, and receive line (3) by intermediate frequency and be sent to carRadio Beacon (1-5) in interior terminal control unit (1), Radio Beacon (1-5) changes analog signals into numeralAfter signal, then be sent to antenna base controller (2) by RS232 order wire (4-2), by antenna baseController (2) control antenna scan and in sweep limits determine AGC maximum corresponding to star skyLine angle degree, if this is identical with current aerial angle to star aerial angle, under current aerial angle, antenna obtainsSatellite-signal be maximum, without adjust aerial angle; If this is to star aerial angle and current aerial angleDifference, antenna base controller (2) control antenna is adjusted to star aerial angle by current aerial angle.
- Separate type as claimed in claim 1 vehicle-mounted quiet in exceedingly high lane controller, it is characterized in that, in carTerminal control unit (1) comprising: LCD display (1-1), button (1-2), power module (1-3), terminalMaster control borad (1-4), Radio Beacon (1-5) and status lamp (1-6);LCD display (1-1), for showing aerial angle, antenna failure location information;Button (1-2), for a key control antenna receiving-sending, antenna, to star, manually control antenna is to star; WhereinOne key control antenna, to star, sends star enabling signal to terminal master control borad (1-4);Power module (1-3), is used to terminal control unit (1) power supply in whole car;Terminal master control borad (1-4), reception antenna angle and antenna failure location information in LCD display (1-1)Upper demonstration, and receive button (1-2) to star enabling signal, send antenna adjustment star is referred to star angleOrder, this is sent to antenna base controller (2) to star instruction by RS232 order wire (4-2);Radio Beacon (1-5), for carrying out signal conversion;Whether status lamp (1-6), for pointing out antenna to report to the police.
- Separate type as claimed in claim 2 vehicle-mounted quiet in exceedingly high lane controller, it is characterized in that, at the bottom of antennaSeat controller (2) comprising:Azimuth driver (2-1), driven antenna azimuthal movement and acquisition antenna azimuth;Pitching driver (2-2) driven antenna pitch movement and acquisition antenna elevation angle;Polarization actuator (2-3), the motion of driven antenna polarizing angle and acquisition antenna polarization angle;Base master control borad (2-4), according to terminal control unit in car (1) to star instruction control base adjust dayLine is to star angle;Compass (2-5), compensates antenna azimuth and the angle of pitch, obtains antenna actual angle;Two GPS positioning and directing instrument (2-6), obtain antenna longitude and latitude and antenna course angle;Limit switch (2-7), prevents that antenna movement from transfiniting;Wherein, compass (2-5) and two GPS positioning and directing instrument (2-6) collaborative works, complete star.
- Separate type as claimed in claim 3 vehicle-mounted quiet in exceedingly high lane controller, it is characterized in that havingIn the situation of blocking, antenna comprises the step of star:Step 1, utilizes compass (2-5) to compensate rear acquisition antenna to antenna azimuth and the angle of pitch relative largeThe actual angle on ground;Step 2, the orientation according to the antenna calculation of longitude & latitude antenna of two GPS positioning and directing instrument (2-6) to starThe theoretical value of angle, the angle of pitch, polarizing angle;Step 3, base master control borad (2-4) control azimuth driver (2-1), pitching driver (2-2), the utmost pointDriven antenna azimuth axis, pitch axis, polaxis move to the reason that step 2 is calculated respectively to change driver (2-3)The angle that opinion value is corresponding;Step 4, antenna carries out the scanning of thick property, obtains the antenna azimuth and the pitching that are greater than for the first time beacon threshold valueAngle; Near this antenna azimuth obtaining for the first time and the angle of pitch, carry out essence scanning, obtain and be finally greater than letterAntenna bearingt and the angle of pitch of mark threshold value, obtain according to the antenna bearingt and the angle of pitch that are finally greater than beacon threshold valueAntenna with respect to the earth to star angle, antenna stop scanning;Step 5, base master control borad (2-4) control antenna, moves to it to star angle from current actual angleDegree.
- Separate type as claimed in claim 3 vehicle-mounted quiet in exceedingly high lane controller, it is characterized in that, in nothingIn the situation of blocking, antenna comprises the step of star:Step 1, the inclination angle of reading compass (2-5);Step 2, utilizes inclination angle to compensate antenna elevation angle, obtains the angle of pitch of antenna to the earth;Step 3, reads the course angle of two GPS positioning and directing instrument (2-6);Step 4, utilizes course angle to compensate antenna azimuth, obtains the azimuth of antenna to the earth, instituteThe angle of pitch of stating azimuth and step 2 forms the actual angle of antenna with respect to the earth;Step 5, obtains antenna longitude and latitude from two GPS positioning and directing instrument (2-6), carries out according to antenna longitude and latitudeTheoretical value calculate, obtain antenna with respect to the earth to star angle;Step 6, base master control borad 2-4 control antenna, moves to it to star angle from actual angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510981153.3A CN105609953A (en) | 2015-12-23 | 2015-12-23 | Separated vehicle-mounted stationary satelliteantenna controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510981153.3A CN105609953A (en) | 2015-12-23 | 2015-12-23 | Separated vehicle-mounted stationary satelliteantenna controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105609953A true CN105609953A (en) | 2016-05-25 |
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ID=55989617
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510981153.3A Pending CN105609953A (en) | 2015-12-23 | 2015-12-23 | Separated vehicle-mounted stationary satelliteantenna controller |
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| Country | Link |
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| CN (1) | CN105609953A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111238468A (en) * | 2020-03-02 | 2020-06-05 | 中国人民解放军96852部队 | Satellite antenna pitch angle error measurement method |
| CN114056242A (en) * | 2020-08-03 | 2022-02-18 | 丰田自动车株式会社 | Sensor mounting structure for vehicle |
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| US20030080898A1 (en) * | 2001-11-01 | 2003-05-01 | Tia Mobile, Inc. | Easy set-up, low profile, vehicle mounted, in-motion tracking, satellite antenna |
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| CN202150552U (en) * | 2011-02-24 | 2012-02-22 | 北京波尔通导科技有限公司 | Automatic control system for satellite antenna |
| CN103022692A (en) * | 2012-11-14 | 2013-04-03 | 广东隆伏通讯设备有限公司 | Communication-in-motion satellite pointing, capturing and tracking method and system thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030080898A1 (en) * | 2001-11-01 | 2003-05-01 | Tia Mobile, Inc. | Easy set-up, low profile, vehicle mounted, in-motion tracking, satellite antenna |
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| CN101055310A (en) * | 2007-05-30 | 2007-10-17 | 南京中网通信有限公司 | GPS differential positioning device |
| CN101222265A (en) * | 2008-01-24 | 2008-07-16 | 翟新海 | Automatic star finding controller of vehicle mounted satellite communication antenna |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111238468A (en) * | 2020-03-02 | 2020-06-05 | 中国人民解放军96852部队 | Satellite antenna pitch angle error measurement method |
| CN114056242A (en) * | 2020-08-03 | 2022-02-18 | 丰田自动车株式会社 | Sensor mounting structure for vehicle |
| CN114056242B (en) * | 2020-08-03 | 2024-03-12 | 丰田自动车株式会社 | Sensor mounting structure for vehicle |
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