CN106785442A - A kind of method and system of vehicle-mounted satellite antenna tracking satellite - Google Patents
A kind of method and system of vehicle-mounted satellite antenna tracking satellite Download PDFInfo
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- CN106785442A CN106785442A CN201611176566.5A CN201611176566A CN106785442A CN 106785442 A CN106785442 A CN 106785442A CN 201611176566 A CN201611176566 A CN 201611176566A CN 106785442 A CN106785442 A CN 106785442A
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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
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Abstract
The present invention relates to a kind of method and system of vehicle-mounted satellite antenna tracking satellite, the method for vehicle-mounted satellite antenna tracking satellite therein includes：S1：The track information data of collection bullet train, the track information data of advance collection is stored in the database at the vehicle-mounted station of satellite of the bullet train in advance；S2：The location information of the bullet train in motion is obtained using GPS module；S3：Search identical or nearest with the positional information in location information positional information in the orbital data；S4：Positional information according to finding predicts the angle of pitch, azimuth and the roll polarizing angle of the next position satellite antenna；S5：The horizontal direction of the anglec of rotation control antenna according to the next position satellite antenna for predicting is rotated, the angle of pitch is rotated and roll polarizing angle is rotated.It with reference to GPS location information, predicts the anglec of rotation of antenna according to the track information data of collection in advance, the direction of control antenna alignment target satellite all the time, reaches the purpose of accurate tracking.
Description
Technical field
The present invention relates to technical field of satellite communication, more particularly to a kind of vehicle-mounted satellite antenna tracking satellite method and be
System.
Background technology
Carrier, because its attitude and geographical position change, can cause former alignment satellite antenna inclined in moving process
From satellite, make communication disruption, it is therefore necessary to which these changes to carrier are isolated, make antenna unaffected and alignment is defended all the time
Star, here it is the antenna stabilization system subject matter to be solved, is also that mobile vehicle carries out the premise of uninterrupted satellite communication.
In the prior art the method for antenna tracking satellite be based on signal level scan tracing, using satellite signal strength with
The characteristic that antenna pointing error increases and reduces, the direction of satellite is judged by constantly detection satellite signal strength, to control
Motor is tracked, and because motor control speed is slow, therefore causes that tracking velocity is slow, low precision；Or based on MEMS gyroscope with
Track, the angular velocity signal input differential circuit in the driftage that gyroscope is measured, pitch orientation, the circuit is with negative feedback mode
Deviation correcting signal is delivered to controller, to drive driftage, pitching motor, is disturbed with the attitudes vibration for reaching isolation carrier, realized
Antenna alignment satellite.Quantify the shortcoming of error, and control with time drift, data with the presence of the data of measurement due to MEMS gyroscope
There is hysteresis quality in process processed, application of such satellite antenna on railway is only limitted to the train of below speed per hour 80km.
The content of the invention
It is the above mentioned problem for overcoming prior art to exist, the invention provides a kind of side of vehicle-mounted satellite antenna tracking satellite
Method, it, with reference to GPS location information, predicts the anglec of rotation of antenna according to the track information data of collection in advance, and control antenna begins
The direction of whole alignment target satellite, reaches the purpose of accurate tracking.
To solve the above problems, a kind of method of vehicle-mounted satellite antenna tracking satellite that the present invention is provided is specific as follows：
A kind of method of vehicle-mounted satellite antenna tracking satellite, its satellite communication for being applied to bullet train, its content includes：
S1：The track information data of collection bullet train, the track information data of advance collection is stored described in advance
In the database at the vehicle-mounted station of satellite of bullet train；
S2：The location information of the bullet train in motion is obtained using GPS module；
S3：Positional information in the location information is right compared with the positional information in the orbital data of storage,
Search identical or nearest with the positional information in location information positional information in the orbital data；
S4：According to position identical or nearest with the positional information in the location information in the orbital data for finding
Put the angle of pitch, azimuth and the roll polarizing angle of information prediction the next position satellite antenna；
S5：The angle of pitch, azimuth and roll polarizing angle control day according to the next position satellite antenna for predicting
The horizontal direction of line is rotated, the angle of pitch is rotated.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, in the step S1, when gathering the track information data of bullet train, the straight trip section of the track
Collection density is less than the bend section of the track or the collection density of change of pitch angle section.
Further, the collection density of the straight trip section of the track is gathered once for 5-50 meters for interval.
Further, the bend section of the track or the collection density of change of pitch angle section are gathered once for 5 meters for interval.
Further, the collection density of the straight trip section of the track is gathered once for 20 meters for interval.
Further, in the orbital data that the basis finds it is identical with the positional information in the location information or
Nearest positional information predicts that the computing formula of the angle of pitch, azimuth and roll polarizing angle of the next position satellite antenna is：
Wherein, α is the angle of pitch, and β is azimuth,It is vehicle-mounted station longitude,It is satellite longitude, θ is vehicle-mounted station latitude,
The distance of R-earth radius, M-between the earth's core and satellite, ω is roll polarizing angle.
In order to solve the above technical problems, a kind of system of vehicle-mounted satellite antenna tracking satellite that the present invention is provided, it includes：
Orbit measurement unit, for measure track information, obtains orbital measurement data；
Satellite antenna, for receiving and dispatching geostationary orbit telecommunication satellite or small inclination geostationary orbit telecommunication satellite satellite
Ku or L-band signal of communication；
GPS unit, the location information for obtaining bullet train；
Attitude algorithm server, for positional information and the orbital data in the location information that obtains the GPS
In positional information it is compared to right and identical with the positional information in the location information or most in the orbital data for searching
Near positional information, and for predicting the angle of pitch, azimuth and the roll polarizing angle of satellite antenna described in the next position；
Control server, for the angle of pitch of satellite antenna, azimuth and horizontal stroke described in the next position according to the prediction
Roll the rotation of polarizing angle controlled motor；
Stepper motor, for drive the satellite antenna turn to the angle of pitch described in the next position of prediction, azimuth and
Roll polarizing angle.
Further, the processor of the attitude algorithm server is atom chips, and the processor of the control server is adopted
Use STM32F single-chip microcomputers.
Further, the satellite antenna is low profile flat plate array antenna.
Compared with prior art, beneficial effects of the present invention are：According to the track information data of advance collection, with reference to GPS
Location information, the anglec of rotation of look-ahead antenna, tracking accuracy is higher；Avoid using expensive gyro element and complexity
Circuit, simplify system, improve reliability, and reduce overall cost.
Brief description of the drawings
Fig. 1 is the method flow diagram that the present invention implements a vehicle-mounted satellite antenna tracking satellite for providing.
Specific embodiment
Principle of the invention and feature are described below in conjunction with accompanying drawing, example is served only for explaining the present invention, and
It is non-for limiting the scope of the present invention.It should be noted that in the case where not conflicting, in embodiments herein and embodiment
Feature can be mutually combined.
Embodiment one
As shown in figure 1, present embodiments providing a kind of method of vehicle-mounted satellite antenna tracking satellite, it is applied to row at a high speed
The satellite communication of car, specifically includes：
S1：The track information data of collection bullet train, the track information data of advance collection is stored described in advance
In the database at the vehicle-mounted station of satellite of bullet train；
S2：The location information of the bullet train in motion is obtained using GPS module；
S3：Positional information in the location information is right compared with the positional information in the orbital data of storage,
Search identical or nearest with the positional information in location information positional information in the orbital data；
S4：According to position identical or nearest with the positional information in the location information in the orbital data for finding
Put the angle of pitch, azimuth and the roll polarizing angle of information prediction the next position satellite antenna；
S5：The angle control day of pitching, orientation and the roll polarization according to the next position satellite antenna for predicting
The horizontal direction of line is rotated, the angle of pitch is rotated.
Because use in the prior art beacon guiding or inertial guidance method be by Real-time Collection advance in train to
The change of the angle of pitch, azimuth and roll polarizing angle that satellite antenna brings, then notifies servo control mechanism by negative-feedback circuit
Correction, this method is " knowing aftersensation afterwards ", there is certain hysteresis quality, it is impossible to accurate tracking satellite.It is based on above-mentioned asking
Topic, the method for the row vehicle-mounted satellite antenna tracking satellite that the present embodiment is provided, its by advance acquisition trajectory information data, such as
The information datas such as GPS location, orientation, inclination angle, pitching are, it is necessary to illustrate, the track information data can also be carried by third party
For in acquisition trajectory information data, the spacing distance of settable certain acquisition interval time or collection collects track
The orbital data of upper each measurement point, bowing for the antenna corresponding to each measurement point on errant can be calculated as orbital data
The elevation angle and azimuth, because the orbital data is certain, can be considered a theoretical curve, when it is determined that train position in orbit
Just the angle of pitch of antenna corresponding to subsequent point, azimuth and roll polarizing angle can be predicted after information.When train row in orbit
When making, the location information of bullet train, such as longitude, latitude, speed and height above sea level information, attitude algorithm are obtained using GPS
It is right compared with the positional information in the orbital data being previously stored that server searches the positional information in GPS location information, looks into
Find in orbital data with the location information in the same or like positional information of positional information, according to the track that this finds
Positional information in data just can be predicted the angle of pitch, azimuth and the roll polarizing angle of the next position satellite antenna, and will be pre-
The angle of pitch of the next position satellite antenna for measuring, azimuth and roll polarizing angle are sent to control server, control server
Control stepper motor drives the horizontal direction of antenna to rotate respectively, the angle of pitch is rotated, and antenna can be allowed to cover to all orientation
Satellite signal receiving, so as to realize accurately tracking target satellite in real time, be high-speed motion train transmit incessantly voice,
The multimedia messages such as data, image, the need for meeting the multimedia communication under various military-civil emergency communications and mobile condition.
It should be noted that in track information data, azimuth therein is the angle of track and north orientation, i.e. track is cut
Line direction and the angle of magnetic meridian.
The method of the row vehicle-mounted satellite antenna tracking satellite provided based on above-mentioned scheme, the present embodiment, it is according in advance
The track information data of collection, with reference to GPS location information, the anglec of rotation of look-ahead antenna, tracking accuracy is higher；Avoid making
With expensive gyro element and the circuit of complexity, system is simplified, improve reliability, and reduce overall cost.
Embodiment two
The method of the vehicle-mounted satellite antenna tracking satellite that the present embodiment is provided, its satellite communication for being applied to bullet train,
Specifically include：
S1：The track information data of collection bullet train, the track information data of advance collection is stored described in advance
In the database at the vehicle-mounted station of satellite of bullet train；
S2：The location information of the bullet train in motion is obtained using GPS module；
S3：Positional information in the location information is right compared with the positional information in the orbital data of storage,
Search identical or nearest with the positional information in location information positional information in the orbital data；
S4：According to position identical or nearest with the positional information in the location information in the orbital data for finding
Put the angle of pitch, azimuth and the roll polarizing angle of information prediction the next position satellite antenna；
S5：Pitching, orientation and roll polarisation angles control antenna according to the next position satellite antenna for predicting
Horizontal direction rotate, the angle of pitch rotate and roll polarizing angle rotate.
The method of the vehicle-mounted satellite antenna tracking satellite that the present embodiment is provided, the gathered data for depending on track is carried out
The control of antenna, thus orbital data collection density on control quality have directly influence, according to initial analysis, it is necessary to
Data type and acquisition precision requirement it is as shown in table 1.
The orbital data of table 1
Azimuth therein is the angle in the angle of track and north orientation, i.e. track tangential direction and magnetic meridian, therein
The angle of pitch is the angle of track and horizontal plane.
Because curvilinear motion needs centripetal force when high ferro is excessively curved, track both sides need certain inclination angle to balance both sides track
Pressure, so kerb lane is higher by certain angle than fast lane, by taking excessively curved 15 ° of inclination angle as an example, calculated using following formula
Attitude algorithm server extracts track information data and gps data and carries out the time of computing.
Formula one：Centripetal acceleration a=gravity acceleration g * tan15 ° ≈ 2.6m/s2；
Formula two：Linear velocity and acceleration relation are V=a*R.
The linear velocity of table 2 and excessively bent angle length velocity relation
According to formula one and two, data are calculated as shown in table 2, excessively curved radius is smaller, and linear velocity is lower, and angular speed is bigger,
According to the requirement (do not consider orbital data Acquisition Error and GPS error premised on) of 0.3 ° of tracking accuracy index, least radius is
100 meters when carrying out curved, high ferro minimum operation speed per hour is 58km/h, and the minimum time of sampling and computing will reach 1000 milliseconds of *
0.3/9.24 32.4 milliseconds of ≈.
The data frequency that GPS is provided is 20Hz, and single receives the time for 50ms, such as according to high ferro F-Zero 350Km/h
Computing, the range ability of 50ms is about 5 meters.If according to low cruise speed per hour 60Km/h computings, the range ability of 50ms is about
0.8 meter.The collection density of orbital data can contemplate situations below：If carrying out high-density acquisition, it is not necessary to carry out orbital curve
In the case of fitting, data acquisition at intervals of 50ms or 5 meter once；If carrying out Midst density collection, it is necessary to carry out single order side
Journey is fitted, and the interval of data sampling can be for 100ms or 10 meter once；If carry out low-density collection, it is necessary to using second order or
Higher order equation is fitted, and the density of data acquisition can be lower, and the sampling time can be with longer, it is necessary in the design in later stage
Algorithm optimization is carried out according to high-speed railway rail design objective.Based on considering for above-mentioned three kinds of orbital datas collection density, track
Straight trip section collection density for interval 5-50 meter collection once, it is preferable that data sampling interval can be 20 meters once, according to height
The highest operation speed per hour of iron, data sampling interval also may be set to 200ms collections once.Sampling principle becomes to have bend or inclination angle
During change, data acquisition density is tried one's best increasing, during track straight trip section, collection density can be reduced suitably, i.e. the straight trip section of track is adopted
Collection density should be less than the bend section of track or the collection density of change of pitch angle section.Bend section or change of pitch angle in track therein
The collection density of section can be for the collection of 5 meters of interval once.
Attitude algorithm server receives one group of gps data per 50ms, and the positional information in GPS location information searches rail
The time of track location information identical with the positional information in location information or nearest is about 10ms in track data, according to looking into
Positional information prediction next bit identical or nearest with the positional information in the location information in the orbital data for finding
The operation time about 5ms of the angle of pitch, azimuth and roll polarizing angle of satellite antenna is put, result of calculation is sent to control
During server, traffic rate tentative 115200,20 byte=160 of data volume, the time that sends be 160/115200*1000 in the least
Second=1.39 milliseconds.Therefore, after attitude algorithm server receives gps data, inquire about, the time of computing and transmission data is total
Meter is about 16.39ms, much smaller than 50ms, therefore, the flat rate of the data is activation of attitude algorithm server is set as 20Hz.
According to the orbital data of each measurement point on the track for collecting, just can be calculated on errant by orbital data
The angle of pitch of the antenna corresponding to each measurement point and azimuth, because the orbital data is certain, can be considered a theory
Curve, when it is determined that the angle of pitch, the azimuth of the antenna corresponding to subsequent point just can be predicted after train positional information in orbit
With roll polarizing angle.
The computing formula of the angle of pitch, azimuth and roll polarizing angle of the satellite antenna is：
Wherein, α is the angle of pitch, and β is azimuth,It is vehicle-mounted station longitude,It is satellite longitude, θ is vehicle-mounted station latitude,
The distance of R-earth radius, M-between the earth's core and satellite, ω is roll polarizing angle；Therein is vehicle-mounted station longitudeVehicle-mounted station
Latitude θ can be measured by GPS.
The anglec of rotation of satellite antenna is obtained by above-mentioned formula, attitude algorithm server sends to control above-mentioned data result
Control server, control three groups of motors of server controls drive the horizontal direction of antenna to rotate respectively, the angle of pitch is rotated and roll pole
Change angle to rotate, by this three groups of controls of antenna, antenna can be allowed to cover the satellite signal receiving to all orientation.In motor choosing
Used time uses stepper motor, can easily control to rotate step-length so as to control to rotate suitable angle, controlled motor driver
Ratio is segmented to realize motor angle precise control.
Embodiment three
Based on the method for the vehicle-mounted satellite antenna tracking satellite described in above-described embodiment one or two, one is present embodiments provided
The system for planting vehicle-mounted satellite antenna tracking satellite, it includes：
Orbit measurement unit, for measure track information, obtains orbital measurement data；
Satellite antenna, for receiving and dispatching geostationary orbit telecommunication satellite or small inclination geostationary orbit telecommunication satellite satellite
Ku or L-band signal of communication；
GPS unit, the location information for obtaining bullet train；
Attitude algorithm server, for positional information and the orbital data in the location information that obtains the GPS
In positional information it is compared to right and identical with the positional information in the location information or most in the orbital data for searching
Near positional information, and for predict the angle of pitch of satellite antenna described in the next position, azimuth and with roll polarizing angle；
Control server, for the angle of pitch of satellite antenna, azimuth and horizontal stroke described in the next position according to the prediction
Roll the rotation of polarizing angle controlled motor；
Stepper motor, for drive the satellite antenna turn to the angle of pitch described in the next position of prediction, azimuth and
Roll polarizing angle.
The processor of attitude algorithm server is performed using the atom chips of low-power consumption, and operating system selects Linux, is asked
Topic is relatively fewer, disclosure satisfy that prolonged operation stability requirement, and operational capability is relatively strong, can be believed according to GPS location
Breath and track gathered data carry out fast railway prediction and attitude algorithm, and result of calculation is exported give control server.Control
The processor of server uses STM32F series monolithics, antenna is controlled according to the data for receiving and signal optimization is swept
Retouch.Attitude algorithm server therein is communicated with control server by four line RS485 interfaces, fully ensures that the steady of interface
It is qualitative.
The rotation of satellite antenna is driven by three stepper motors, and control server is according to the data control three for receiving
Individual motor drives the horizontal direction of satellite antenna to rotate respectively, the angle of pitch is rotated and roll polarizing angle is rotated, and antenna can be allowed to cover
Cover the satellite signal receiving to all orientation.When motor is selected use stepper motor, can easily control rotate step-length from
And the suitable angle of rotation is controlled, controlled motor driver segments ratio to realize the precise control of motor angle, further enhances
The precision of satellite antenna tracking satellite.
The system of the vehicle-mounted satellite antenna tracking satellite provided using the present embodiment, according to the orbit information number of advance collection
According to reference to GPS location information, the anglec of rotation of look-ahead antenna, tracking accuracy is higher；Avoid using expensive gyro
The circuit of element and complexity, simplifies system, improves reliability, and reduce overall cost.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all it is of the invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (9)
1. a kind of method of vehicle-mounted satellite antenna tracking satellite, its satellite communication for being applied to bullet train, it is characterised in that bag
Include：
S1：The track information data of collection bullet train, the track information data of advance collection is stored in the high speed in advance
In the database at the vehicle-mounted station of satellite of train；
S2：The location information of the bullet train in motion is obtained using GPS module；
S3：Positional information in the location information is right compared with the positional information in the orbital data of storage, search
The positional information identical or nearest with the positional information in the location information in the orbital data；
S4：Believed according to position identical or nearest with the positional information in the location information in the orbital data for finding
Breath predicts the angle of pitch, azimuth and the roll polarizing angle of the next position satellite antenna；
S5：The angle of pitch, azimuth and roll polarizing angle according to the next position satellite antenna for predicting control antenna
Horizontal direction is rotated, the angle of pitch is rotated and roll polarizing angle is rotated.
2. the method for vehicle-mounted satellite antenna tracking satellite according to claim 1, it is characterised in that in the step S1
In, when gathering the track information data of bullet train, the bend of the collection density less than the track of the straight trip section of the track
The collection density of section or change of pitch angle section.
3. the method for vehicle-mounted satellite antenna tracking satellite according to claim 2, it is characterised in that the straight trip of the track
The collection density of section is gathered once for 5-50 meters for interval.
4. the method for vehicle-mounted satellite antenna tracking satellite according to claim 2, it is characterised in that the bend of the track
The collection density of section or change of pitch angle section is gathered once for 5 meters for interval.
5. the method for vehicle-mounted satellite antenna tracking satellite according to claim 3, it is characterised in that the straight trip of the track
The collection density of section is gathered once for 20 meters for interval.
6. according to the method for the vehicle-mounted satellite antenna tracking satellite described in claim 1 to 5 any of which, it is characterised in that
The positional information identical or nearest with the positional information in the location information in the orbital data that the basis finds
The computing formula of the angle of pitch, azimuth and roll polarizing angle for predicting the next position satellite antenna is：
Wherein, α is the angle of pitch, and β is azimuth,It is vehicle-mounted station longitude,It is satellite longitude, θ is vehicle-mounted station latitude, the R-earth
Radius, the distance of M-between the earth's core and satellite, ω is roll polarizing angle.
7. a kind of system of vehicle-mounted satellite antenna tracking satellite, it is characterised in that including：
Orbit measurement unit, for measure track information, obtains orbital measurement data；
Satellite antenna, for receive and dispatch geostationary orbit telecommunication satellite or small inclination geostationary orbit telecommunication satellite Ku or
L-band signal of communication；
GPS unit, the location information for obtaining bullet train；
Attitude algorithm server, in the positional information in the location information that obtains the GPS and the orbital data
Compared to right, and for searching identical or nearest with the positional information in location information position letter in the orbital data
Breath, and for predicting the angle of pitch, azimuth and the roll polarizing angle of satellite antenna described in the next position；
Control server, for the angle of pitch of satellite antenna, azimuth and roll pole described in the next position according to the prediction
Change the rotation of angle controlled motor；
Stepper motor, for driving the satellite antenna to turn to the angle of pitch, azimuth and roll described in the next position of prediction
Polarizing angle.
8. the system of vehicle-mounted satellite antenna tracking satellite according to claim 7, it is characterised in that the attitude algorithm clothes
The processor of business device is atom chips, and the processor of the control server uses STM32F single-chip microcomputers.
9. the system of the vehicle-mounted satellite antenna tracking satellite according to claim 7 or 8, it is characterised in that the satellite day
Line is low profile flat plate array antenna.
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