CN106329122A - SCIM (satellite communication in motion) plate array antenna tracking device and method - Google Patents
SCIM (satellite communication in motion) plate array antenna tracking device and method Download PDFInfo
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- CN106329122A CN106329122A CN201610767757.2A CN201610767757A CN106329122A CN 106329122 A CN106329122 A CN 106329122A CN 201610767757 A CN201610767757 A CN 201610767757A CN 106329122 A CN106329122 A CN 106329122A
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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
- H01Q3/08—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 for varying two co-ordinates of the orientation
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Abstract
The invention discloses an SCIM (satellite communication in motion) plate array antenna tracking device and method, and the device comprises a main control computer, an azimuth servo unit, a pitching wave control unit, a mobile carrier, a plate array antenna disposed on the mobile carrier, a geographic position detection unit which is used for detecting the longitude and latitude of the mobile carrier in real time, a carrier posture detection unit which is used for detecting the posture information of the mobile carrier in real time, and a signal intensity detection unit which is used for detecting the intensity of a signal received by the plate array antenna in real time. The main control computer is connected with the azimuth servo unit and the pitching wave control unit, and the azimuth servo unit and the pitching wave control unit are connected with the mobile carrier. The device and method can achieve a purpose that the plate array antenna is aligned with a target satellite precisely and quickly, and are lower in requirements for the plate array antenna.
Description
Technical field
The invention belongs to satellite communication system antenna beam tracking technique field, relate to a kind of satellite communication in motion flat board
Device and method followed the tracks of by array antenna.
Background technology
Satellite communication in motion (being called for short " communication in moving ") refers to that the motion carrier installing satellite antenna (such as automobile, train, flies
Machine, steamer etc.) communication link can be fast at carrier can be set up with fixed statellite (i.e. geosynchronous satellite target satellite)
The unimpeded to realize the mobile satellite communication system of real-time Communication for Power of communication link is kept during speed motion.
Communication in moving needs the top being installed on carrier could realize with the geo-synchronous orbit satellite in overhead, equator to lead to
Letter, low profile communication in moving need not dig a hole at carrier top or slot, and changes carrier outward appearance few, can keep the complete of carrier outward appearance
Whole property；It addition, the windage produced during installing the carrier movement of low profile communication in moving is little, run into the bridge of land, culvert
Time passability good.Typically use the structure of space electricity-feeding based on the communication in moving in reflector antenna, it is the highest, volume is huge
Greatly, motility poor, its height can be reduced despite many methods, but effect is unsatisfactory；And flat plate array antenna is usual
Use constrained feed, it is not necessary to reflecting surface and loudspeaker feed structure, be the common methods realizing communication in moving low profile.
Compared with traditional fixed satellite communication, antenna for satellite communication in motion is installed on motion carrier, the beam position meeting of antenna
Being disturbed by carrier movement, communication in moving reliable communication to be realized, its antenna must pull against this interference, and accurately to quasi goal
Satellite.But the antenna gain of satellite communication in motion is high, and wave beam is narrow, the athletic meeting of carrier movement especially territorial carrier causes ripple
Sensing and the attitude acute variation of bundle, must possess target satellite for this antenna for satellite communication in motion and follow the tracks of ability fast, accurately.
During actually used, the principal element affecting satellite communication in motion performance includes the motion appearance of communication in moving carrier
State and system tracking capabilities, the reliable satellite communication in motor process to be realized, the antenna beam of satellite communication in motion is necessary
In orientation, two axles of pitching carry out precision tracking control simultaneously.
Step trakcing, conical scanning tracking and single-pulse track are skies conventional in the fields such as radar, sonar, satellite communication
Line following mode.Though these three tracking technique can apply to communication in moving and follows the tracks of the design of system, but constrains to varying degrees
Universal and the application of satellite communications system, as the realization of conical scanning and single-pulse track must be introduced into extra device
Part, will increase complexity and the cost of system；Traditional step trakcing has dynamic lag, tracking accuracy is relatively low, tracking is fast
Spend defect and the deficiencies such as slower.Invention disclosed patent CN1469132A on January 21st, 2012 (seminar's early stage patent) drapes over one's shoulders
Reveal a kind of antenna Design for Satellite Communication in Motion wave beam tracking, but its tracking is mainly for traditional mechanical scanning sky
Line, although can also be used for flat plate array antenna, but as tradition tracking, it is desirable to plate aerial has the phase shifter of precision
Parameter model and strict array element passage consistency, this proposes the highest requirement to the design of flat plate array antenna.
Summary of the invention
It is an object of the invention to the shortcoming overcoming above-mentioned prior art, it is provided that a kind of satellite communication in motion flat board battle array
Array antenna follows the tracks of device and method, and this device and method is capable of the most right to target satellite of flat plate array antenna
Standard, and the requirement to flat plate array antenna is relatively low.
For reaching above-mentioned purpose, satellite communication in motion flat plate array antenna of the present invention is followed the tracks of device and is included master control
Computer, bearing servo unit, pitching ripple control unit, mobile vehicle, the flat plate array antenna being installed on mobile vehicle, for
The geographical position detector unit that in real time mobile vehicle place longitude and latitude detected, in real time, the attitude of mobile vehicle is believed
Cease the attitude of carrier detector unit carrying out detecting and in real time, the intensity of the signal that flat plate array antenna receives examined
The signal strength detection unit surveyed, main control computer is connected with bearing servo unit and pitching ripple control unit, bearing servo list
Unit and pitching ripple control unit are connected with mobile vehicle.
Attitude of carrier detector unit is gyroscope or accelerometer.
In flat plate array antenna, the distribution mode of array element is proportional spacing distribution, non-homogeneous spacing Discrete Distribution and non-homogeneous
A kind of distribution in spacing continuous distribution or two kinds of distributions combined.
Satellite communication in motion flat plate array antenna tracking of the present invention comprises the following steps:
1) main control computer control azimuth servo unit and pitching ripple control unit make flat plate array antenna initially to quasi goal
Satellite；
2) object function that satellite communications system is followed the tracks of is set, the mesh followed the tracks of according to satellite communications system
Scalar functions calculates the beam position that flat plate array antenna is current；
3) the control parameter of flat plate array antenna beam position θ is initialized according to the beam position that flat plate array antenna is current
μ=[w Az]T=[w1,w2,…,wN,Az]T, then calculate step size controlling factor a of flat plate array antennak, disturbance gain bkAnd it is little
Width disturbed value ck, wherein,
ak=a/ (A+k+1)α、bk=b/ (k+1)γAnd ck=c/ (k+1)γ, a, b, c, A, α and γ be constant, if k
Initial value is 0；
4) main control computer uses DSMC to generate N+1 and ties up random disturbance vector τk=(τk1, τk2…τkN+1)TAnd
N-dimensional random disturbance vector ξk=(ξk1, ξk2…ξkN)T, then disturbance random vector Δki=bkdiξki+ckτki, wherein, i=1,2 ...
N, ΔkN+1=bkΔAz+ckτkN+1, diPosition for i-th array element；
5) main control computer is according to disturbance random vector ΔkTo the beam position of flat plate array antenna according to+ΔkAnd-Δk
Carry out twice disturbance driving by bearing servo unit and pitching ripple control unit, and obtain signal intensity inspection after twice disturbance drives
Survey the magnitude of voltage P (μ of unit outputk+Δk) and P (μk-Δk), the electricity that main control computer exports according to signal strength detection unit
Pressure value P (μk+Δk) and P (μk-Δk) estimate the Grad g (μ that the wave beam of flat plate array antenna is adjustedk)；
6) the tracking error signal a of flat plate array antenna during main control computer calculates this secondary trackingk·g(μk), its
In, μk+1=μk-ak·g(μk), μkAnd μk+1It is respectively and flat plate array antenna beam position is adjusted before and after's flat plate array sky
The vector value of line beam pointing-angle, main control computer is according to the tracking error signal a of flat plate array antennak·g(μk) pass through orientation
Servo unit and pitching ripple control unit adjust the beam position of flat plate array antenna, make this signal strength detection unit export
Magnitude of voltage maximizes.
7) k is updated, make the k after renewal equal to update before k+1, repeat step 3), 4), 5) and 6), with
Time real-time update control flat plate array antenna beam position vector value μk, make magnitude of voltage that signal strength detection unit exports
Bigization；When the magnitude of voltage of signal strength detection unit output tapers into, then go to step 1).
Step 1) concrete operations be:
11) geographical position detector unit detection mobile vehicle place longitude and latitudeMain control computer is according to movement
Carrier place longitude and latitudeTarget satellite longitude information with user's inputCalculate flat plate array antenna at static shape
The theoretical azimuth Az and angle of pitch El of target satellite is pointed under state；
12) attitude information of attitude of carrier detector unit detection mobile vehicle, main control computer is according to the appearance of mobile vehicle
Flat plate array antenna is under static state pointed to the theoretical azimuth Az and angle of pitch El of target satellite and is modified by state information,
Main control computer under static state points to the theoretical azimuth Az of target satellite according to revised flat plate array antenna and bows
Elevation angle El controls flat plate array antenna by bearing servo unit and pitching ripple control unit, and the wave beam making flat plate array antenna is initial
Alignment target satellite.
Flat plate array antenna under static state points to the theoretical azimuth Az and angle of pitch El of target satellite:
Wherein,R is earth radius, and r=6378km, R are the target satellite height away from earth the earth's core, R=
42218km。
Step 1) in, when flat plate array antenna cannot be made to obtain target satellite signal in current theoretical spatial domain, master control calculates
Machine controls the wave beam of flat plate array antenna and scans in other spatial domains near current theoretical spatial domain, in search procedure, works as letter
When the output voltage of number intensity detection unit is more than or equal to preset voltage value, then show that the wave beam of flat plate array antenna is initially directed at
Target satellite, when the output voltage of signal strength detection unit is less than preset voltage value, shows the wave beam of flat plate array antenna
The most initially be directed at target satellite, then the wave beam controlling flat plate array antenna scans in next spatial domain, until flat board battle array
Till the wave beam of array antenna is initially directed at target satellite.
Step 2) in satellite communications system follow the tracks of object function be:
maxP(w,Az)s.t.wHW=1
Wherein, ()HFor conjugate transpose, P is the signal intensity that flat plate array antenna receives, and Az is flat plate array antenna ripple
The azimuth of bundle, w=[w1,w2,…,wN]TFor controlling the phase shifter output valve that flat plate array antenna wave beam pitching is pointed to, N is flat
Phase shifter quantity in plate array antenna, ()TFor transposition, wHW=1 represents that the most only adjusting array element in tracking receives letter
Number phase place, do not adjust receive signal amplitude.
Step 3) in main control computer use DSMC generate N+1 tie up random disturbance vector τk=(τk1, τk2…
τkN+1)TAnd N-dimensional random disturbance vector ξk=(ξk1, ξk2…ξkN)T, wherein, random disturbance vector τkIn N+1 element and random
Perturbation vector ξkIn N number of element independent mutually, and E{ τki}=0, i=1,2 ... N+1, E{ ξki}=0, i=1,2 ... N.
Step 5) in estimate the Grad g (μ that the wave beam of flat plate array antenna obtained is adjustedk) it is:
g(μk)=0.5 [P (μk+Δk)-P(μk-Δk)][(Δk1, Δk2…ΔkN+1)T]-1。
The method have the advantages that
Satellite communication in motion flat plate array antenna of the present invention tracking device and method, when concrete operations, first makes
Flat plate array antenna is initially directed at target satellite, then calculates step size controlling factor a of flat plate array antennak, disturbance gain bkAnd it is little
Width disturbed value ck, use DSMC to generate N+1 simultaneously and tie up random disturbance vector τkAnd N-dimensional random disturbance vector ξk, due to
bk、diAnd ξkiFor correcting the phase shifter because of the different impact on beam position of element position, ckAnd τkiFor compensating the phase shifter
Individual variation and random disturbance direction, thus the phase shifter controlled quentity controlled variable of direct disturbance flat plate array antenna, improve flat plate array
Accurate to target satellite of antenna beam.Meanwhile, the present invention makes, by the method for iteration, the signal that flat plate array antenna receives
Voltage maximizes, and improves the precision of flat plate array antenna alignment target satellite, and simple in construction, easy to operate, antenna tracking
Precision is high, speed is fast, it is possible to effectively overcome existing flat plate array antenna to need the ripple control element of precision, feeding network parameter to become
The factors such as change and sensor position uncertainties affect the problem of tracking process, greatly improve the stability of antenna tracking, reduce flat board
The hardware requirement of Antenna Design and cost.
Accompanying drawing explanation
Fig. 1 is the schematic block circuit diagram that satellite communication in motion flat plate array antenna 3 of the present invention follows the tracks of device；
Fig. 2 is the flow chart of satellite communication in motion flat plate array antenna 3 tracking of the present invention.
Wherein, 1 be geographical position detector unit, 2 be attitude of carrier detector unit, 3 be flat plate array antenna, 4 for pitching
Ripple control unit, 5 be bearing servo unit, 6 be signal strength detection unit, 7 for main control computer.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described in further detail:
With reference to Fig. 1, satellite communication in motion flat plate array antenna of the present invention is followed the tracks of device and is included main control computer
7, bearing servo unit 5, pitching ripple control unit 4, mobile vehicle, the flat plate array antenna 3 being installed on mobile vehicle, for reality
Time mobile vehicle place longitude and latitude is detected geographical position detector unit 1, in real time, the attitude of mobile vehicle is believed
Cease the attitude of carrier detector unit 2 carrying out detecting and in real time, the intensity of the signal that flat plate array antenna 3 receives carried out
The signal strength detection unit 6 of detection, main control computer 7 is connected with bearing servo unit 5 and pitching ripple control unit 4, orientation
Servo unit 5 and pitching ripple control unit 4 are connected with mobile vehicle.
Attitude of carrier detector unit 2 is gyroscope or accelerometer；In flat plate array antenna 3, the distribution mode of array element is equal
A kind of distribution in the distribution of even spacing, non-homogeneous spacing Discrete Distribution and non-homogeneous spacing continuous distribution or two kinds combine
Distribution.
With reference to Fig. 2, satellite communication in motion flat plate array antenna tracking of the present invention comprises the following steps:
1) main control computer 7 control azimuth servo unit 5 and pitching ripple control unit 4 make flat plate array antenna 3 initially be directed at
Target satellite；
2) object function that satellite communications system is followed the tracks of is set, the mesh followed the tracks of according to satellite communications system
Scalar functions calculates the beam position that flat plate array antenna 3 is current；
3) the control ginseng of flat plate array antenna 3 beam position θ is initialized according to the beam position that flat plate array antenna 3 is current
Number μ=[w Az]T=[w1,w2,…,wN,Az]T, then calculate step size controlling factor a of flat plate array antenna 3k, disturbance gain bk
And small size disturbed value ck, wherein,
ak=a/ (A+k+1) α, bk=b/ (k+1)γAnd ck=c/ (k+1)γ, a, b, c, A, α and γ be constant, if k
Initial value is 0；
4) main control computer 7 uses DSMC to generate N+1 and ties up random disturbance vector τk=(τk1, τk2…τkN+1)T
And N-dimensional random disturbance vector ξk=(ξk1, ξk2…ξkN)T, then disturbance random vector Δki=bkdiξki+ckτki, wherein, i=1,
2 ... N, ΔkN+1=bkΔAz+ckτkN+1, diPosition for i-th array element；
5) main control computer 7 is according to disturbance random vector ΔkTo the beam position of flat plate array antenna 3 according to+ΔkAnd-
ΔkCarry out twice disturbance driving by bearing servo unit 5 and pitching ripple control unit 4, and obtain signal after twice disturbance drives
Magnitude of voltage P (the μ of intensity detection unit 6 outputk+Δk) and P (μk-Δk), main control computer 7 is according to signal strength detection unit 6
Magnitude of voltage P (the μ of outputk+Δk) and P (μk-Δk) estimate the Grad g (μ that the wave beam of flat plate array antenna 3 is adjustedk)；
6) the tracking error signal a of flat plate array antenna 3 during main control computer 7 calculates this secondary trackingk·g(μk), its
In, μk+1=μk-ak·g(μk), μkAnd μk+1It is respectively and flat plate array antenna 3 beam position is adjusted before and after's flat plate array
The vector value of antenna 3 beam pointing-angle, main control computer 7 is according to the tracking error signal a of flat plate array antenna 3k·g(μk) logical
Cross bearing servo unit 5 and pitching ripple control unit 4 adjusts the beam position of flat plate array antenna 3, make this signal strength detection
The magnitude of voltage of unit 6 output maximizes.
7) k is updated, make the k after renewal equal to update before k+1, repeat step 3), 4), 5) and 6), with
Time real-time update control flat plate array antenna 3 beam position vector value μk, make the magnitude of voltage that signal strength detection unit 6 exports
Maximize；When the magnitude of voltage of signal strength detection unit 6 output tapers into, then go to step 1).
Step 1) concrete operations be:
11) geographical position detector unit 1 detects mobile vehicle place longitude and latitudeMain control computer 7 is according to shifting
Mobile carrier place longitude and latitudeTarget satellite longitude information with user's inputCalculate flat plate array antenna 3 quiet
Only point to the theoretical azimuth Az and angle of pitch El of target satellite under state；
12) attitude of carrier detector unit 2 detects the attitude information of mobile vehicle, and main control computer 7 is according to mobile vehicle
Flat plate array antenna 3 is under static state pointed to the theoretical azimuth Az and angle of pitch El of target satellite and repaiies by attitude information
Just, main control computer 7 under static state points to the theoretical azimuth Az of target satellite according to revised flat plate array antenna 3
And angle of pitch El controls flat plate array antenna 3 by bearing servo unit 5 and pitching ripple control unit 4, make flat plate array antenna 3
Wave beam is initially directed at target satellite.
Flat plate array antenna 3 under static state points to the theoretical azimuth Az and angle of pitch El of target satellite:
Wherein,R is earth radius, and r=6378km, R are the target satellite height away from earth the earth's core, R=
42218km。
Step 1) in, when flat plate array antenna 3 cannot be made to obtain target satellite signal in current theoretical spatial domain, master control calculates
Machine 7 controls the wave beam of flat plate array antenna 3 and scans in other spatial domains near current theoretical spatial domain, in search procedure, when
When the output voltage of signal strength detection unit 6 is more than or equal to preset voltage value, then show that the wave beam of flat plate array antenna 3 is initial
Alignment target satellite, when the output voltage of signal strength detection unit 6 is less than preset voltage value, shows flat plate array antenna 3
Wave beam be the most initially directed at target satellite, then the wave beam controlling flat plate array antenna 3 scans in next spatial domain, until
Till the wave beam of flat plate array antenna 3 is initially directed at target satellite.
Step 2) in satellite communications system follow the tracks of object function be:
maxP(w,Az)s.t.wHW=1
Wherein, ()HFor conjugate transpose, P is the signal intensity that flat plate array antenna 3 receives, and Az is flat plate array antenna 3
The azimuth of wave beam, w=[w1,w2,…,wN]TFor controlling the phase shifter output valve that flat plate array antenna 3 wave beam pitching is pointed to, N
For the phase shifter quantity in flat plate array antenna 3, ()TFor transposition, wHW=1 represents that the most only adjusting array element in tracking connects
The phase place of the collection of letters number, does not adjust the amplitude receiving signal.
Step 3) in main control computer 7 use DSMC generate N+1 tie up random disturbance vector τk=(τk1, τk2…
τkN+1)TAnd N-dimensional random disturbance vector ξk=(ξk1, ξk2…ξkN)T, wherein, random disturbance vector τkIn N+1 element and random
Perturbation vector ξkIn N number of element independent mutually, and E{ τki}=0, i=1,2 ... N+1, E{ ξki}=0, i=1,2 ... N.
Step 5) in estimate the Grad g (μ that the wave beam of flat plate array antenna 3 obtained is adjustedk) it is:
g(μk)=0.5 [P (μk+Δk)-P(μk-Δk)][(Δk1, Δk2…ΔkN+1)T]-1。
It should be noted that theoretical azimuth Az with positive north as zero degree and just be clockwise, theory angle of pitch El with
Horizontal direction is zero degree and horizontal plane is just arranged above, bk、diAnd ξkiWave beam is referred to because element position is different for correcting the phase shifter
To impact, ckAnd τkiFor compensating individual variation and the random disturbance direction of phase shifter.
The above, be only presently preferred embodiments of the present invention, not impose any restrictions the present invention, every according to the present invention
Any simple modification, change and the equivalent structure change that above example is made by technical spirit, all still falls within skill of the present invention
In the protection domain of art scheme.
Claims (10)
1. a satellite communication in motion flat plate array antenna follows the tracks of device, it is characterised in that include main control computer (7), side
Position servo unit (5), pitching ripple control unit (4), mobile vehicle, the flat plate array antenna (3) being installed on mobile vehicle, it is used for
The geographical position detector unit (1) that in real time mobile vehicle place longitude and latitude detected, for appearance to mobile vehicle in real time
State information carries out the attitude of carrier detector unit (2) that detects and in real time to the signal that flat plate array antenna (3) receives
Intensity carries out the signal strength detection unit (6) detected, main control computer (7) and bearing servo unit (5) and pitching ripple control list
Unit (4) is connected, and bearing servo unit (5) and pitching ripple control unit (4) are connected with mobile vehicle.
Satellite communication in motion flat plate array antenna the most according to claim 1 follows the tracks of device, it is characterised in that carrier appearance
State detector unit (2) is gyroscope or accelerometer.
Satellite communication in motion flat plate array antenna the most according to claim 1 follows the tracks of device, it is characterised in that flat board battle array
In array antenna (3), the distribution mode of array element is that proportional spacing distribution, non-homogeneous spacing Discrete Distribution and non-homogeneous spacing are divided continuously
A kind of distribution in cloth or two kinds of distributions combined.
4. a satellite communication in motion flat plate array antenna tracking, it is characterised in that based on moving described in claim 1
Middle communication satellite communication flat plate array antenna follows the tracks of device, comprises the following steps:
1) main control computer (7) control azimuth servo unit (5) and pitching ripple control unit (4) make flat plate array antenna (3) initial
Alignment target satellite；
2) object function that satellite communications system is followed the tracks of is set, the target letter followed the tracks of according to satellite communications system
Number calculates the beam position that flat plate array antenna (3) is current；
3) the control ginseng of flat plate array antenna (3) beam position θ is initialized according to the beam position that flat plate array antenna (3) is current
Number μ=[w Az]T=[w1,w2,…,wN,Az]T, then calculate step size controlling factor a of flat plate array antenna (3)k, disturbance gain
bkAnd small size disturbed value ck, wherein, ak=a/ (A+k+1)α、bk=b/ (k+1)γAnd ck=c/ (k+1)γ, a, b, c, A, α and γ are equal
For constant, if the initial value of k is 0；
4) main control computer (7) uses DSMC to generate N+1 and ties up random disturbance vector τk=(τk1, τk2…τkN+1)TAnd N
Dimension random disturbance vector ξk=(ξk1, ξk2…ξkN)T, then disturbance random vector Δki=bkdiξki+ckτki, wherein, i=1,2 ... N,
ΔkN+1=bkΔAz+ckτkN+1, diPosition for i-th array element；
5) main control computer (7) is according to disturbance random vector ΔkTo the beam position of flat plate array antenna (3) according to+ΔkAnd-
ΔkCarry out twice disturbance driving by bearing servo unit (5) and pitching ripple control unit (4), and obtain after twice disturbance drive
Magnitude of voltage P (the μ that signal strength detection unit (6) exportsk+Δk) and P (μk-Δk), main control computer (7) is according to signal intensity
Magnitude of voltage P (the μ that detector unit (6) exportsk+Δk) and P (μk-Δk) estimate what the wave beam of flat plate array antenna (3) was adjusted
Grad g (μk)；
6) the tracking error signal a of flat plate array antenna (3) during main control computer (7) calculates this secondary trackingk·g(μk), its
In, μk+1=μk-ak·g(μk), μkAnd μk+1It is respectively and flat plate array antenna (3) beam position is adjusted before and after's flat board battle array
The vector value of array antenna (3) beam pointing-angle, main control computer (7) is according to the tracking error signal of flat plate array antenna (3)
ak·g(μk) by bearing servo unit (5) and the beam position of pitching ripple control unit (4) adjustment flat plate array antenna (3), make
The magnitude of voltage that this signal strength detection unit (6) exports maximizes；
7) k is updated, makes the k after renewal equal to the k+1 before updating, repeat step 3), 4), 5) and 6), simultaneously real
Shi Gengxin controls vector value μ of flat plate array antenna (3) beam positionk, make the magnitude of voltage that signal strength detection unit (6) exports
Maximize；When the magnitude of voltage that signal strength detection unit (6) exports tapers into, then go to step 1).
Satellite communication in motion flat plate array antenna tracking the most according to claim 4, it is characterised in that step 1)
Concrete operations be:
11) geographical position detector unit (1) detection mobile vehicle place longitude and latitudeMain control computer (7) is according to shifting
Mobile carrier place longitude and latitudeTarget satellite longitude information with user's inputCalculate flat plate array antenna (3) to exist
The theoretical azimuth Az and angle of pitch El of target satellite is pointed under resting state；
12) attitude information of attitude of carrier detector unit (2) detection mobile vehicle, main control computer (7) is according to mobile vehicle
Flat plate array antenna (3) is under static state pointed to the theoretical azimuth Az and angle of pitch El of target satellite by attitude information to be carried out
Revising, main control computer (7) under static state points to the theory side of target satellite according to revised flat plate array antenna (3)
Parallactic angle Az and angle of pitch El control flat plate array antenna (3) by bearing servo unit (5) and pitching ripple control unit (4), make to put down
The wave beam of plate array antenna (3) is initially directed at target satellite.
Satellite communication in motion flat plate array antenna tracking the most according to claim 5, it is characterised in that flat board battle array
Array antenna (3) under static state points to the theoretical azimuth Az and angle of pitch El of target satellite:
Wherein,R is earth radius, and r=6378km, R are the target satellite height away from earth the earth's core, R=
42218km。
Satellite communication in motion flat plate array antenna tracking the most according to claim 5, it is characterised in that step 1)
In, when flat plate array antenna (3) cannot be made to obtain target satellite signal in current theoretical spatial domain, main control computer (7) controls flat
The wave beam of plate array antenna (3) scans in other spatial domains near current theoretical spatial domain, in search procedure, works as signal intensity
When the output voltage of detector unit (6) is more than or equal to preset voltage value, then show that the wave beam of flat plate array antenna (3) is initially directed at
Target satellite, when the output voltage of signal strength detection unit (6) is less than preset voltage value, shows flat plate array antenna (3)
Wave beam be the most initially directed at target satellite, then control the wave beam of flat plate array antenna (3) and scan for, directly in next spatial domain
Being initially directed at target satellite to the wave beam of flat plate array antenna (3).
Satellite communication in motion flat plate array antenna tracking the most according to claim 4, it is characterised in that step 2)
The object function that middle satellite communications system is followed the tracks of is:
max P(w,Az) s.t. wHW=1
Wherein, ()HFor conjugate transpose, P is the signal intensity that flat plate array antenna (3) receives, and Az is flat plate array antenna (3)
The azimuth of wave beam, w=[w1,w2,…,wN]TFor controlling the phase shifter output valve that flat plate array antenna (3) wave beam pitching is pointed to,
N is the phase shifter quantity in flat plate array antenna (3), ()TFor transposition, wHW=1 represent follow the tracks of the most only adjust battle array
Unit receives the phase place of signal, does not adjust the amplitude receiving signal.
Satellite communication in motion flat plate array antenna tracking the most according to claim 1, it is characterised in that step 3)
Middle main control computer (7) uses DSMC to generate N+1 and ties up random disturbance vector τk=(τk1, τk2…τkN+1)TAnd N-dimensional with
Machine perturbation vector ξk=(ξk1, ξk2…ξkN)T, wherein, random disturbance vector τkIn N+1 element and random disturbance vector ξkIn
N number of element independent mutually, and E{ τki}=0, i=1,2 ... N+1, E{ ξki}=0, i=1,2 ... N.
Satellite communication in motion flat plate array antenna tracking the most according to claim 1, it is characterised in that step
5) the Grad g (μ that the wave beam of the flat plate array antenna (3) obtained is adjusted is estimated ink) it is:
g(μk)=0.5 [P (μk+Δk)-P(μk-Δk)][(Δk1, Δk2…ΔkN+1)T]-1。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610767757.2A CN106329122A (en) | 2016-08-29 | 2016-08-29 | SCIM (satellite communication in motion) plate array antenna tracking device and method |
Applications Claiming Priority (1)
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Cited By (11)
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| CN107331967A (en) * | 2017-06-20 | 2017-11-07 | 中国电子科技集团公司第五十四研究所 | A kind of complex tracking method of onboard satellite communication antenna |
| CN107579759A (en) * | 2017-09-19 | 2018-01-12 | 清华大学 | The antihunt means and device of antenna beam in a kind of unmanned plane satellite communication system |
| CN107946768A (en) * | 2017-11-15 | 2018-04-20 | 北京华力创通科技股份有限公司 | Automatically to star method, apparatus and satellite antenna system |
| CN108092001A (en) * | 2017-12-07 | 2018-05-29 | 南京乾波通信技术有限公司 | The antenna that a kind of satellite communication mechanical scanning is combined with phase controlling |
| CN108493610A (en) * | 2018-03-16 | 2018-09-04 | 航天恒星科技有限公司 | A kind of phased array antenna is automatically to star method and device |
| CN108845500A (en) * | 2018-07-11 | 2018-11-20 | 中国电子科技集团公司第五十四研究所 | A kind of antenna for satellite communication in motion disturbance observation compensating control method |
| CN109561269A (en) * | 2018-12-04 | 2019-04-02 | 安徽站乾科技有限公司 | A kind of simplicity based on automatic identification tuner relevant parameter searches star device |
| CN109728438A (en) * | 2018-12-05 | 2019-05-07 | 安徽站乾科技有限公司 | A kind of hygienic trace reception system and method for high-speed mobile |
| CN111142575A (en) * | 2019-12-29 | 2020-05-12 | 北京航天科工世纪卫星科技有限公司 | Antenna tracking method for mobile earth station |
| WO2020248399A1 (en) * | 2019-06-10 | 2020-12-17 | 浙江大学 | Adaptive satellite alignment method for low earth orbit satellite communication network |
| CN113131215A (en) * | 2021-03-10 | 2021-07-16 | 星展测控科技股份有限公司 | Communication-in-motion antenna control method and device and electronic equipment |
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| CN107331967A (en) * | 2017-06-20 | 2017-11-07 | 中国电子科技集团公司第五十四研究所 | A kind of complex tracking method of onboard satellite communication antenna |
| CN107579759A (en) * | 2017-09-19 | 2018-01-12 | 清华大学 | The antihunt means and device of antenna beam in a kind of unmanned plane satellite communication system |
| CN107946768A (en) * | 2017-11-15 | 2018-04-20 | 北京华力创通科技股份有限公司 | Automatically to star method, apparatus and satellite antenna system |
| CN108092001A (en) * | 2017-12-07 | 2018-05-29 | 南京乾波通信技术有限公司 | The antenna that a kind of satellite communication mechanical scanning is combined with phase controlling |
| CN108493610B (en) * | 2018-03-16 | 2021-08-17 | 航天恒星科技有限公司 | Automatic satellite alignment method and device for phased array antenna |
| CN108493610A (en) * | 2018-03-16 | 2018-09-04 | 航天恒星科技有限公司 | A kind of phased array antenna is automatically to star method and device |
| CN108845500A (en) * | 2018-07-11 | 2018-11-20 | 中国电子科技集团公司第五十四研究所 | A kind of antenna for satellite communication in motion disturbance observation compensating control method |
| CN109561269A (en) * | 2018-12-04 | 2019-04-02 | 安徽站乾科技有限公司 | A kind of simplicity based on automatic identification tuner relevant parameter searches star device |
| CN109728438A (en) * | 2018-12-05 | 2019-05-07 | 安徽站乾科技有限公司 | A kind of hygienic trace reception system and method for high-speed mobile |
| WO2020248399A1 (en) * | 2019-06-10 | 2020-12-17 | 浙江大学 | Adaptive satellite alignment method for low earth orbit satellite communication network |
| US11764864B2 (en) | 2019-06-10 | 2023-09-19 | Zhejiang University | Adaptive satellite-aiming method for low-orbit mobile satellite communication network |
| CN111142575A (en) * | 2019-12-29 | 2020-05-12 | 北京航天科工世纪卫星科技有限公司 | Antenna tracking method for mobile earth station |
| CN113131215A (en) * | 2021-03-10 | 2021-07-16 | 星展测控科技股份有限公司 | Communication-in-motion antenna control method and device and electronic equipment |
| CN113131215B (en) * | 2021-03-10 | 2024-02-20 | 星展测控科技股份有限公司 | Method and device for controlling communication-in-motion antenna and electronic equipment |
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