CN106410410B - A kind of VSAT antenna system satellite capture tracking with physics levelling bench - Google Patents
A kind of VSAT antenna system satellite capture tracking with physics levelling bench Download PDFInfo
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- CN106410410B CN106410410B CN201610880288.5A CN201610880288A CN106410410B CN 106410410 B CN106410410 B CN 106410410B CN 201610880288 A CN201610880288 A CN 201610880288A CN 106410410 B CN106410410 B CN 106410410B
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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
Abstract
The present invention proposes a kind of VSAT antenna system satellite capture tracking with physics levelling bench, and the applicable control object of this method is orientation, pitching, three axis of roll (A-E-C) mounting form antenna system.By establishing a physics levelling bench in antenna system, and establish local geographic coordinate system on it, so that it is consistent with the orientation of the mobile local geographic coordinate system on this physics levelling bench, pitch angle so that antenna is directed toward the theoretical orientation relative to fixed local geographic coordinate system, pitch angle.On this basis in the mode similar with fixed antenna, controls the electrical boresight of antenna and be accurately directed toward satellite, and the automatic tracking satellite when carrier is mobile.Method provided by the invention participates in operation without the real-time course posture of carrier during capture, tracking, there is no need to carriers to install boat-carrying compass system, the environmental condition of carrier is required to decrease, is conducive to the application on the civilian ship of the limited small tonnage of equipment budget and device resource or water surface carrier.
Description
Technical field
The present invention relates to satellite mobile tracking fields of communication technology.Especially suitable for the mobile vehicles satellite communication such as boat-carrying
A kind of VSAT antenna satellite capture and tracking.
Background technique
VSAT is the abbreviation of " Very Small Aperture Terminal ", means " very small aperture antenna earth station ".
And moving VSAT system is exactly that we are usually said " communication in moving " system.Its function is in all kinds of loads such as automobile, naval vessel, aircraft
By communications platforms such as mobile VSAT system real-time tracking Syncom satellites in body motion process, continual is carrier
The plurality of communication services such as data, voice and video are provided.Mobile VSAT system connects as providing internet for all kinds of motion carriers
The end product entered, wide market.Has more successful application in military and special trade at present.But due to existing production
Product price and communication cost are more high, and civil field, which still has, is difficult to the problem of promoting.
The electric axis of fixed VSAT antenna system be directed toward control be based in the local geographic coordinate system where antenna around orientation
What the angle of axis and pitch axis carried out.As long as obtaining warp, latitude data and the satellite rail of required capture of antenna position
Track data can accurately calculate azimuth, pitch angle and the polarizing angle of electrical boresight of antenna direction by mature formula.By watching
It takes orientation, pitching and polarizing angle that antenna is directed toward by control unit respectively to control to calculated point of theory, can be realized and defend
The capture of star is simultaneously accurately tracked.However for mobile VSAT system, since the movement of carrier leads to the movement benchmark of antenna
Deviate with local geographic coordinate system, so that above-mentioned tracking mode fails.
To solve the above problems, existing mobile VSAT system is usually to pass through the kinematic parameter for obtaining carrier, coordinate is carried out
Transformation, azimuth pitch angle when antenna is directed toward satellite relative to local geographic coordinate system are converted to carrier coordinate system, thus
Control antenna is accurately directed toward satellite, and remains direction satellite during exercise by scan tracing or single-pulse track mode.
Such method needs inertial navigation system or other equipment to provide the accurate motion state of carrier.And the scan tracing in tracking technique is
The error in pointing of antenna is obtained by the additional scanning movement on two-dimensional space, therefore gain has loss and algorithm more
It is complicated.The tracking accuracy and speed of single-pulse track mode are all higher, but structure is complicated, expensive for Monopulse feed.
Summary of the invention
In order to solve the problems existing in the prior art, the invention proposes a kind of VSAT aerial systems with physics levelling bench
System satellite capture tracking, the applicable control object of this method are orientation, pitching, three axis of roll (A-E-C) mounting form day
Linear system system.It is established on it by establishing a physics levelling bench in antenna system, and by local geographic coordinate system, thus
Antenna is set to be directed toward the shifting on the theoretical orientation relative to fixed local geographic coordinate system, pitch angle and this opposite physics levelling bench
The orientation of dynamic locality geographic coordinate system, pitch angle are consistent.On this basis in the mode similar with fixed antenna, antenna electric is controlled
Axis is accurately directed toward satellite, and the automatic tracking satellite when carrier is mobile.
The technical solution of the present invention is as follows:
A kind of VSAT antenna system satellite capture tracking with physics levelling bench, it is characterised in that: packet
Include following steps:
Step 1: VSAT antenna system is powered on and initialized；
Step 2: the physical platform of control VSAT antenna system keeps horizontal: on the physical platform there is platform stance to survey
Measure unit and servo control unit, servo control unit in platform stance measuring unit pitching obliquity sensor and roll
Obliquity sensor output quantity is as position feedback, using the angular rate gyroscope output quantity in respective shaft as velocity feedback, constitutes tool
There is the closed-loop control system of incident angle ring and gyro speed ring, the physical platform of control VSAT antenna system remains water
It is flat；
Step 3: the geographic position data and satellite longitude data provided according to the GNSS module of VSAT antenna system calculates
Antenna is directed toward theoretical orientation, pitching and polarizing angle relative to the earth horizontal coordinates out:
Wherein θ 1 is theoretical azimuth of the antenna direction relative to the earth horizontal coordinates, and θ 2 is that antenna is directed toward relative to big
The theoretical pitch angle of ground horizontal coordinates, θ 3 are theoretical polarizing angle；Ant_longitude is antenna position longitude, Ant_
Latitude is antenna position latitude, and Sat_longitude is satellite longitude；
Step 4: theoretical orientation, pitching and polarizing angle are directed toward according to the antenna being calculated；Servo control unit drives day
Each spindle motor of line carries out antenna theory and walks；
Step 5: after the completion of antenna theory walks, servo control unit driving azimuth-drive motor is scanned, antenna logic master
Control unit acquires satellite signal receiver data in real time, and records azimuth position corresponding when its signal strength maximum value；
After the completion of scanning, antenna logic main control unit controls servo control unit and antenna is directed toward return signal maximum of intensity position
It sets, if antenna direction can receive locking signal after being maintained at signal strength maximum value position, determines to have captured satellite, if
It does not receive locking signal after the completion of scanning, then expands scanning range and continue scanning until capture satellite；
Step 6: after capture satellite, tracked using following steps:
Step 6.1: frequency is inputted to antenna bearingt servo control unit as f, the sinusoidal scanning signal θ that amplitude is A=
Asin (2 π ft), scans antenna azimuth with sinus wave patters, and realization is superimposed frequency in aerial receiver AGC DC level
For the sinusoidal signal of f；
Step 6.2: the positive negative direction of the antenna rotation according to setting calculates separately the AGC direct current of the positive-negative half-cycle of scanning
Level average P_average and N_average；
Step 6.3: according to P_average and N_average, determine direction and the size of orientation adjustment:
Δ θ=k (P_average-N_average)
Wherein Δ θ is that antenna bearingt angle is poor；K is proportionality coefficient；
Step 6.4: antenna bearingt angle difference being inputted into antenna bearingt servo-control system, controls antenna alignment satellite.
Further preferred embodiment, a kind of VSAT antenna system satellite capture track side with physics levelling bench
Method, it is characterised in that: in step 2, to the pitching obliquity sensor and roll obliquity sensor in platform stance measuring unit
Output quantity be modified using following steps:
Step 2.1: the course that is provided according to the GNSS module of VSAT antenna system, speed data calculate linear acceleration
αtWith centripetal acceleration αn:
αt=(Vn-Vn-1)/ΔT
αn=[(Hn-Hn-1)/ΔT]Vn
Wherein VnAnd Vn-1For n-th and (n-1)th speed sampled to GNSS module, HnAnd Hn-1For n-th with
And (n-1)th course angle sampled to GNSS module, Δ T are sampling time interval；
Step 2.2: calculating linear acceleration αtWith centripetal acceleration αnPitching inclination angle in platform stance measuring unit passes
Component on sensor and roll obliquity sensor sensitive direction
ac=αnsin(H-Hn)-αtcos(H-Hn)
ae=αncos(H-Hn)+αtsin(H-Hn)
Wherein acComponent for acceleration in roll obliquity sensor sensitive direction, aeIt is sensed for acceleration at pitching inclination angle
The component of device sensitive direction, H are antenna theory azimuth；
Step 2.3: using acceleration roll durection component acWith acceleration pitch orientation component ae, calculate roll and pitching
The inclination angle of obliquity sensor sensitive direction relative level:
Θc=sin-1((Ac-ac)/g)
Θe=sin-1((Ae-ae)/g)
Wherein ΘcFor the inclination angle of roll obliquity sensor sensitive direction relative level, ΘeIt is quick for pitching obliquity sensor
Feel the inclination angle of direction relative level, AcFor roll obliquity sensor sensitive direction specific force value, AeFor pitching obliquity sensor
Sensitive direction specific force value, g are acceleration of gravity.
Further preferred embodiment, a kind of VSAT antenna system satellite capture track side with physics levelling bench
Method, it is characterised in that: in step 6.2, calculate separately the corresponding AGC DC level of sinusoidal signal positive-negative half-cycle and value:
The corresponding AGC DC level of positive half cycle and value
The corresponding AGC DC level of negative half period and value
P_Count is the corresponding AGC DC level number of sinusoidal signal positive half cycle, and N_Count is sinusoidal signal negative half period
Corresponding AGC DC level number；And after a cycle is completed in scanning, the AGC direct current that positive-negative half-cycle is calculated is average
Mean value
Beneficial effect
The present invention has the effect that
1, using method provided by the invention, the requirement to VSAT antenna system itself and attachment device is reduced, without peace
Expensive Monopulse feed and inertial navigation system are filled, product cost is thus greatly reduced.
2, method provided by the invention effectively reduces system operations amount, to control without complicated coordinate transformation algorithm
Device performance requirement reduces, to reduce hardware circuit cost.
3, method provided by the invention is down to scan tracing from traditional two-dimensional scanning one-dimensional, effectively reduces scanning
To the disturbance that antenna is directed toward, communication signal quality is improved, while reduce the software complexity of scan tracing algorithm, thus
While improving software reliability, product development cycle is greatly reduced.
4, method provided by the invention participates in operation without the real-time course posture of carrier during capture, tracking, therefore
Boat-carrying compass system is installed without carrier, the environmental condition of carrier is required to decrease, is conducive in equipment budget and equipment
Application on the civilian ship of the limited small tonnage of resource or water surface carrier.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1: control method flow chart of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, the embodiment is exemplary, it is intended to it is used to explain the present invention, and
It is not considered as limiting the invention.
The invention is characterized in that
1. control object be with orientation, pitching, three axis of roll (A-E-C) mounting form antenna system；
2. establishing a physics levelling bench in antenna system, and local geographic coordinate system is established on it；
3. the azimuth for the local geographic coordinate system established is mentioned by the Electronic Megnetic Compass being installed on physics levelling bench
For；
4. the origin for the local geographic coordinate system established is local geographical coordinate point, provided by GNSS module；
5. carrier is isolated around the movement of pitch axis and roll axis by control system in physics levelling bench, water is remained
It is flat；
6. the pitch angle and polarizing angle of antenna are calculated and are passed through in the formula of earth coordinates by fixed VSAT system
Control system control；
7. due to the Electronic Megnetic Compass azimuth and theoretical azimuth of the local geographic coordinate system established on physical platform
Have large error, need by antenna be accurately directed toward when azimuth on the basis of demarcated；
8. the Electronic Megnetic Compass azimuth and theoretical azimuth due to establishing earth coordinates on physical platform have compared with
Big error, so need to also capture satellite in a manner of azimuth scan when antenna movement is to Electronic Megnetic Compass azimuth；
9. mobile VSAT Systems Theory azimuth is variation due to the movement of carrier；So in antenna bearingt control
By the way of low-angle sine sweep modulation, the azimuthal error that the electrical boresight of antenna is directed toward is obtained, and error is fed back to orientation control
System processed, the real-time control electrical boresight of antenna accurately track direction satellite.
10. mobile VSAT Systems Theory polarizing angle and pitch angle are also required to be become according to geographical location due to the movement of carrier
Change is adjusted.Adjustment mode is to make a move to correspond to the step pitch of each electric axis as threshold value progress through transmission mechanism using stepper motor
Adjustment, when the variation in the geographical location GNSS causes the deviation between new theoretical pitching, polarizing angle and current pitching, polarizing angle big
When adjusting threshold value, an active accommodation is carried out.To guarantee that mobile VSAT antenna system is smart always in carrier traveling process
Ensure to hold satellite direction.
It is described in detail below:
Control object of the invention is a kind of orientation, pitching, roll three-axis mount (A-E-C) form parabola antenna,
Middle pitch axis and roll axis are mutually perpendicular to.Platform stance measuring unit is with parallel with pitch axis and can be around the mould of pitch axes
Formula connects firmly, and wherein sensor mounting plane is the physics levelling bench of antenna system, and local geographic coordinate system is established at it
On；Orthogonal micromechanics obliquity sensor there are two installations on sensor mounting plane, one of obliquity sensor
Sensitive direction is vertical with pitch axis, therefore is referred to as pitch inclinometer, another is then known as roll inclinator；Three mutually hang down
Straight micromechanical angle rate gyroscope, two of them angular rate gyroscope sensitive axes are sensitive with pitch inclinometer and roll inclinator respectively
Direction is vertical, and the sensitive axes of another angular rate gyroscope are vertical with physical platform, therefore is referred to as pitching, roll, side
Parallactic angle rate gyroscope；One two axis Electronic Megnetic Compass local geographical coordinate installed, established parallel with sensor mounting plane
The azimuth of system is provided by the Electronic Megnetic Compass being installed on physics levelling bench.Azimuth axis of antenna, pitch axis and roll axis are equal
It is connected by belt with brshless DC motor；Polaxis and platform Attitude Measuring Unit sensor plane pitch axis respectively with step
It is connected into motor.GNSS antenna module is mounted on VSAT antenna paraboloid top, the original for the local geographic coordinate system established
Point is local geographical coordinate point, is provided by GNSS module.Satellite signal receiver is mounted in antenna column.
The antenna system that the present invention is used to have orientation, pitching, three axis of roll (A-E-C) mounting form.Its control section
Mainly have: logic main control unit, platform stance measuring unit, servo control unit, GNSS module and satellite signal receiver.Its
Middle logic main control unit, platform stance measuring unit, servo control unit are connected with satellite signal receiver by CAN bus
It connects, to realize the interaction of data and instruction；Logic main control unit and GNSS module connect by RS-232 realize the speed of a ship or plane, course with
And the acquisition of geographical location information.Servo control unit is connected with two-way stepper motor and three road brshless DC motors, respectively
Referred to as antenna be directed toward pitching stepper motor, polarization stepper motor, orientation brshless DC motor, platform pitching, platform roll is brushless
Direct current generator, to realize the control to antenna direction and platform stance；Tri- road micromechanical angle speed of platform stance measuring unit Zhong
Rate gyro, two-way micromechanics obliquity sensor and a two axis Electronic Megnetic Compass are used for logic main control unit and SERVO CONTROL
Unit provides all kinds of antennas and platform attitude data.
Method for capturing and tracing proposed by the present invention can be divided into five stages, respectively initialization, physics levelling bench establish,
Antenna theory angle walks, satellite capture and tenacious tracking stage, the specific steps are as follows:
Step 1: VSAT antenna system is powered on and initialized.
Step 2: after initializing successfully, servo control unit is according to the platform pitching inclination angle of platform stance measuring unit and cross
Inclination data is rolled, it is zero that control pitching and roll brshless DC motor, which drive pitching and roll axis to move to respective inclination data,
Physics levelling bench is established in position, and continues holding level, this is the basis that the present invention realizes capture, tracking.Detailed process
Are as follows: there is platform stance measuring unit and servo control unit, servo control unit is surveyed with platform stance on the physical platform
Pitching obliquity sensor and roll obliquity sensor output quantity in amount unit is as position feedback, with the angle speed in respective shaft
Rate gyro output quantity constitutes the closed-loop control system with incident angle ring and gyro speed ring, control as velocity feedback
The physical platform of VSAT antenna system remains horizontal；
Since micromechanics obliquity sensor is limited by working principle, when carrier carries out turning or linear accelerating, its is defeated
Inclination data will be influenced to generate deviation by horizontal or centripetal acceleration out, is caused physical platform to lose horizontality, is finally made
Antenna deviation is directed correctly to.For this problem, the course provided present invention preferably uses GNSS module and speed of a ship or plane data are calculated
Linear acceleration and centripetal acceleration out, are modified inclination data, obtain true inclination data with respect to the horizontal plane.
To the output quantity of pitching obliquity sensor and roll obliquity sensor in platform stance measuring unit use with
Lower step is modified:
Step 2.1: the course that is provided according to the GNSS module of VSAT antenna system, speed data calculate linear acceleration
αtWith centripetal acceleration αn:
αt=(Vn-Vn-1)/ΔT
αn=[(Hn-Hn-1)/ΔT]Vn
Wherein VnAnd Vn-1For n-th and (n-1)th speed sampled to GNSS module, HnAnd Hn-1For n-th with
And (n-1)th course angle sampled to GNSS module, Δ T are sampling time interval；
Step 2.2: calculating linear acceleration αtWith centripetal acceleration αnPitching inclination angle in platform stance measuring unit passes
Component on sensor and roll obliquity sensor sensitive direction
ac=αnsin(H-Hn)-αtcos(H-Hn)
ae=αncos(H-Hn)+αtsin(H-Hn)
Wherein acComponent for acceleration in roll obliquity sensor sensitive direction, aeIt is sensed for acceleration at pitching inclination angle
The component of device sensitive direction, H are antenna theory azimuth；
Step 2.3: using acceleration roll durection component acWith acceleration pitch orientation component ae, calculate roll and pitching
The inclination angle of obliquity sensor sensitive direction relative level:
Θc=sin-1((Ac-ac)/g)
Θe=sin-1((Ae-ae)/g)
Wherein ΘcFor the inclination angle of roll obliquity sensor sensitive direction relative level, ΘeIt is quick for pitching obliquity sensor
Feel the inclination angle of direction relative level, AcFor roll obliquity sensor sensitive direction specific force value, AeFor pitching obliquity sensor
Sensitive direction specific force value, g are acceleration of gravity.
After above-mentioned amendment, it is ensured that the inclination data of platform stance measuring unit is not added by centripetal acceleration and straight line
The influence of speed makes physical platform remain horizontality in the case where carrier movement.
Step 3: entering antenna theory angle after the foundation of physics levelling bench and walk the stage, according to VSAT antenna system
The geographic position data and satellite longitude data that GNSS module provides calculate antenna and are directed toward relative to the earth horizontal coordinates
Theoretical orientation, pitching and polarizing angle:
Wherein θ 1 is theoretical azimuth of the antenna direction relative to the earth horizontal coordinates, and θ 2 is that antenna is directed toward relative to big
The theoretical pitch angle of ground horizontal coordinates, θ 3 are theoretical polarizing angle；Ant_longitude is antenna position longitude, Ant_
Latitude is antenna position latitude, and Sat_longitude is satellite longitude.
Step 4: theoretical orientation, pitching and polarizing angle are directed toward according to the antenna being calculated；Servo control unit drives day
Each spindle motor of line carries out antenna theory and walks.Wherein theoretical azimuth walks is drawn using the bearing data of Electronic Megnetic Compass
It leads, the pitch angle and polarizing angle that antenna is directed toward are then according to the step pitch of the angle of theoretical pitch angle and polarizing angle and corresponding stepper motor
The step number for needing to adjust is calculated, is walked.Deceleration in the present embodiment between the polarization stepper motor and polaxis of antenna
Than being 75.48, it is 10 that antenna, which is directed toward the reduction ratio that pitching stepper motor and antenna are directed toward between pitch angle, and two stepper motors are equal
Postponing original step pitch by two fine distributions is 0.9 ° of every step, and the corresponding step pitch on polaxis of each step is approximately equal to after slowing down
0.011924 °, the corresponding step pitch on antenna direction pitch angle is 0.09 °.And the antenna aperture of KL9002 is 90mm, half function
Rate angle be 1.87 °, therefore antenna pitching and polarizing angle can satisfy antenna using the precision that walks of stepper motor and be accurately directed to
Demand.
Step 5: after the completion of antenna theory walks, into the satellite capture stage.Since Electronic Megnetic Compass is by external magnetic field ring
Border influences that there are errors, and external magnetic field is continually changing with carrier movement, thus using Electronic Megnetic Compass as benchmark into
After row bearing directing, the true bearing angle of antenna, which will be generally offset from, is directed correctly to certain angle, it is therefore desirable to be swept by orientation
Retouch the search and capture to realize satellite.
Servo control unit driving azimuth-drive motor is scanned, and antenna logic main control unit acquires satellite signal receiving in real time
Machine data, and record azimuth position corresponding when its signal strength maximum value；After the completion of scanning, antenna logic master control list
Antenna is directed toward return signal maximum of intensity position by member control servo control unit, if antenna direction is maintained at signal strength most
Locking signal can be received behind big value position, then determines to have captured satellite, if not receiving locking signal after the completion of scanning,
Expand scanning range and continues scanning until capture satellite.
Step 6: entering tracking phase after capture satellite.This stage uses low-angle sine azimuth scan modulation system.Root
Direction and the size of orientation adjustment are determined according to the direction of sinusoidal positive-negative half-cycle receiver signal strength average value and size.In antenna
When electric axis is directed at lobe center, the difference of positive-negative half-cycle receiver signal strength average value is zero, in this, as to satelloid according to
According to antenna will finally be directed toward and does small line scanning in lobe immediate vicinity, to be protected always during realizing carrier movement
Hold the function of being directed toward satellite.Specifically tracked using following steps:
Step 6.1: frequency is inputted to antenna bearingt servo control unit as f, the sinusoidal scanning signal θ that amplitude is A=
Asin (2 π ft), scans antenna azimuth with sinus wave patters, and realization is superimposed frequency in aerial receiver AGC DC level
For the sinusoidal signal of f.
Step 6.2: the positive negative direction of the antenna rotation according to setting calculates separately the AGC direct current of the positive-negative half-cycle of scanning
Level average P_average and N_average；It is realized by process once: it is corresponding to calculate separately sinusoidal signal positive-negative half-cycle
AGC DC level and value:
The corresponding AGC DC level of positive half cycle and value
The corresponding AGC DC level of negative half period and value
P_Count is the corresponding AGC DC level number of sinusoidal signal positive half cycle, and N_Count is sinusoidal signal negative half period
Corresponding AGC DC level number；And after a cycle is completed in scanning, the AGC direct current that positive-negative half-cycle is calculated is average
Mean value
Step 6.3: according to P_average and N_average, determine direction and the size of orientation adjustment:
Δ θ=k (P_average-N_average)
Wherein Δ θ is that antenna bearingt angle is poor；K is proportionality coefficient.
Step 6.4: antenna bearingt angle difference being inputted into antenna bearingt servo-control system, controls antenna alignment satellite.
Since carrier movement will cause the change of antenna system geographic location, the orientation of antenna direction, pitching
Variation with polarizing angle with geographic location is also required to be adjusted.But due in carrier operational process antenna azimuth by small
Angle sine scanning modulation tracking remains antenna azimuth to be directed correctly to, and there is no need to consider that geographical location changes to bring
Azimuthal variation.And polarizing angle and pitch angle then need to be adjusted according to geographical change in location, but due to carrier movement away from
It is very small from relative to synchronous satellite orbit height, therefore the movement bring in similar this kind of low speed carrier certain time of ship
Geographical location variation is reflected in varying less in pitching and polarizing angle, and there is no need to real-time perfoming adjustment.So we are with step
It makes a move into motor and corresponds to the conduct threshold value of the step pitch in electric axis through transmission mechanism, when the variation in the geographical location GNSS causes newly
When deviation between the theoretical pitch angle and polarizing angle and current pitch angle and polarizing angle of calculating is greater than adjustment threshold value, motor driven
Unit will carry out a pitching and polarizing angle active accommodation.This measure can guarantee mobile VSAT antenna system in carrier traveling process
In always accurately keep satellite be directed toward.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.
Claims (2)
1. a kind of VSAT antenna system satellite capture tracking with physics levelling bench, it is characterised in that: including following
Step:
Step 1: VSAT antenna system is powered on and initialized；
Step 2: the physical platform of control VSAT antenna system keeps horizontal: having platform stance measurement single on the physical platform
Member and servo control unit, servo control unit in platform stance measuring unit pitching obliquity sensor and roll inclination angle
Sensor output quantity is as position feedback, using the angular rate gyroscope output quantity in respective shaft as velocity feedback, constitutes to have and incline
The closed-loop control system of Angle Position ring and gyro speed ring, the physical platform of control VSAT antenna system remain horizontal；
Wherein to the output quantity of pitching obliquity sensor and roll obliquity sensor in platform stance measuring unit use with
Lower step is modified:
Step 2.1: the course that is provided according to the GNSS module of VSAT antenna system, speed data calculate linear acceleration αtWith to
Heart acceleration αn:
αt=(Vn-Vn-1)/ΔT
αn=[(Hn-Hn-1)/ΔT]Vn
Wherein VnAnd Vn-1For n-th and (n-1)th speed sampled to GNSS module, HnAnd Hn-1For n-th and
The n-1 course angle sampled to GNSS module, Δ T are sampling time interval；
Step 2.2: calculating linear acceleration αtWith centripetal acceleration αnPitching obliquity sensor in platform stance measuring unit
And the component on roll obliquity sensor sensitive direction
ac=αnsin(H-Hn)-αtcos(H-Hn)
ae=αncos(H-Hn)+αtsin(H-Hn)
Wherein acComponent for acceleration in roll obliquity sensor sensitive direction, aeIt is quick in pitching obliquity sensor for acceleration
Feel the component in direction, H is antenna theory azimuth；
Step 2.3: using acceleration roll durection component acWith acceleration pitch orientation component ae, calculate roll and pitching inclination angle
The inclination angle of sensor sensing direction relative level:
Θc=sin-1((Ac-ac)/g)
Θe=sin-1((Ae-ae)/g)
Wherein ΘcFor the inclination angle of roll obliquity sensor sensitive direction relative level, ΘeFor pitching obliquity sensor sensitivity side
To the inclination angle of relative level, AcFor roll obliquity sensor sensitive direction specific force value, AeIt is sensitive for pitching obliquity sensor
Direction specific force value, g are acceleration of gravity；
Step 3: the geographic position data and satellite longitude data provided according to the GNSS module of VSAT antenna system calculates day
Line is directed toward theoretical orientation, pitching and polarizing angle relative to the earth horizontal coordinates:
Wherein θ 1 is theoretical azimuth of the antenna direction relative to the earth horizontal coordinates, and θ 2 is that antenna is directed toward relative to the earth water
The theoretical pitch angle of flat coordinate system, θ 3 are theoretical polarizing angle；Ant_longitude is antenna position longitude, Ant_
Latitude is antenna position latitude, and Sat_longitude is satellite longitude；
Step 4: theoretical orientation, pitching and polarizing angle are directed toward according to the antenna being calculated；Servo control unit drives antenna each
Spindle motor carries out antenna theory and walks；
Step 5: after the completion of antenna theory walks, servo control unit driving azimuth-drive motor is scanned, antenna logic master control list
First acquisition satellite signal receiver data in real time, and record azimuth position corresponding when its signal strength maximum value；It is sweeping
After the completion of retouching, antenna logic main control unit controls servo control unit and antenna is directed toward return signal maximum of intensity position, if
Antenna direction can receive locking signal after being maintained at signal strength maximum value position, then determine to have captured satellite, if sweeping
Locking signal is not received after the completion of retouching, then expands scanning range and continue scanning until capture satellite；
Step 6: after capture satellite, tracked using following steps:
Step 6.1: being f to antenna bearingt servo control unit input frequency, amplitude is sinusoidal scanning signal θ=Asin (2 π of A
Ft), scan antenna azimuth with sinus wave patters, realize in aerial receiver AGC DC level be superimposed frequency be f just
String signal；
Step 6.2: the positive negative direction of the antenna rotation according to setting calculates separately the AGC DC level of the positive-negative half-cycle of scanning
Average value P _ average and N_average；
Step 6.3: according to P_average and N_average, determine direction and the size of orientation adjustment:
Δ θ=k (P_average-N_average)
Wherein Δ θ is that antenna bearingt angle is poor；K is proportionality coefficient；
Step 6.4: antenna bearingt angle difference being inputted into antenna bearingt servo-control system, controls antenna alignment satellite.
2. a kind of VSAT antenna system satellite capture tracking with physics levelling bench according to claim 1,
It is characterized in that: in step 6.2, calculate separately the corresponding AGC DC level of sinusoidal signal positive-negative half-cycle and value:
The corresponding AGC DC level of positive half cycle and value
The corresponding AGC DC level of negative half period and value
P_Count is the corresponding AGC DC level number of sinusoidal signal positive half cycle, and N_Count is corresponding for sinusoidal signal negative half period
AGC DC level number；And after a cycle is completed in scanning, the AGC DC level average value of positive-negative half-cycle is calculated
Priority Applications (1)
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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 |
| CN107728648A (en) * | 2017-11-03 | 2018-02-23 | 南京长峰航天电子科技有限公司 | A kind of detection method of servo turntable tracking accuracy |
| CN108134201B (en) * | 2018-01-08 | 2020-12-18 | 苏州果汁网信息科技有限公司 | Vehicle-mounted satellite antenna stabilization adjusting system |
| CN109149110B (en) * | 2018-08-31 | 2021-09-03 | 捷信（浙江）通信技术有限公司 | Satellite dynamic tracking method and antenna equipment |
| CN112993517B (en) * | 2019-12-16 | 2024-03-29 | 株式会社东芝 | Satellite capturing device and satellite capturing method |
| CN111224240A (en) * | 2020-01-13 | 2020-06-02 | 深圳市星网荣耀科技有限公司 | Satellite antenna automatic satellite alignment method capable of achieving rapid convergence |
| CN111864348B (en) * | 2020-06-24 | 2021-03-09 | 宁波大学 | Initial satellite finding method of VICTS antenna |
| CN115360516B (en) * | 2022-10-19 | 2023-01-24 | 南京中网卫星通信股份有限公司 | Satellite searching control method of satellite antenna in inclined state |
| CN116087869A (en) * | 2022-12-30 | 2023-05-09 | 泰斗微电子科技有限公司 | Satellite orientation method and device based on accelerometer and readable storage medium |
| CN116679327A (en) * | 2023-04-20 | 2023-09-01 | 西安恒达微波技术开发有限公司 | Antenna feed opportunistic electric axis calibration method based on fixed satellite |
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