CN106785442B - Method and system for tracking satellite by vehicle-mounted satellite antenna - Google Patents
Method and system for tracking satellite by vehicle-mounted satellite antenna Download PDFInfo
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- CN106785442B CN106785442B CN201611176566.5A CN201611176566A CN106785442B CN 106785442 B CN106785442 B CN 106785442B CN 201611176566 A CN201611176566 A CN 201611176566A CN 106785442 B CN106785442 B CN 106785442B
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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
Abstract
The invention relates to a method and a system for tracking a satellite by a vehicle-mounted satellite antenna, wherein the method for tracking the satellite by the vehicle-mounted satellite antenna comprises the following steps: s1: the method comprises the steps of collecting track information data of a high-speed train in advance, and storing the track information data collected in advance in a database of a satellite vehicle-mounted station of the high-speed train; s2: acquiring positioning information of a moving high-speed train by using a GPS module; s3: searching position information which is the same as or closest to the position information in the positioning information in the track data; s4: predicting a pitch angle, an azimuth angle and a roll polarization angle of the satellite antenna at the next position according to the searched position information; s5: and controlling the horizontal rotation, the pitch rotation and the roll polarization rotation of the antenna according to the predicted rotation angle of the satellite antenna at the next position. The method predicts the rotation angle of the antenna by combining GPS positioning information according to the pre-collected orbit information data, and controls the antenna to always aim at the direction of a target satellite, thereby achieving the purpose of accurate tracking.
Description
Technical Field
The invention relates to the technical field of satellite communication, in particular to a method and a system for tracking a satellite by a vehicle-mounted satellite antenna.
Background
In the moving process of the carrier, because the attitude and the geographic position of the carrier change, the antenna of the original alignment satellite deviates from the satellite, and the communication is interrupted, so the changes of the carrier must be isolated, the antenna is not affected and is always aligned with the satellite, and the main problem to be solved by an antenna stabilizing system is the premise that the mobile carrier carries out uninterrupted satellite communication.
In the method for tracking the satellite by the antenna in the prior art, the direction of the satellite is judged by continuously detecting the satellite signal strength by utilizing the characteristic that the satellite signal strength is reduced along with the increase of the pointing error of the antenna based on signal level scanning tracking so as to control a motor to track, and the tracking speed and the precision are poor due to the low control speed of the motor; or based on the tracking of the MEMS gyroscope, inputting angular velocity signals in the yaw and pitch directions measured by the gyroscope into a differential circuit, and transmitting the deviation correcting signals to a controller in a negative feedback mode by the circuit to drive yaw and pitch motors so as to isolate the attitude change interference of the carrier and realize that the antenna is aligned with the satellite. As the MEMS gyroscope has the defects that the measured data drift along with time and errors exist in data quantification, and the control process has hysteresis, the application of the satellite antenna on the railway is limited to trains with the speed per hour below 80 km.
Disclosure of Invention
In order to overcome the problems in the prior art, the invention provides a method for tracking a satellite by a vehicle-mounted satellite antenna, which predicts the rotation angle of the antenna by combining GPS positioning information according to pre-collected orbit information data, controls the antenna to be always aligned to the direction of a target satellite and achieves the aim of accurate tracking.
In order to solve the above problems, the method for tracking a satellite by a vehicle-mounted satellite antenna provided by the invention specifically comprises the following steps:
a method for tracking a satellite by an on-board satellite antenna is suitable for satellite communication of a high-speed train, and the content comprises the following steps:
s1: the method comprises the steps of collecting track information data of a high-speed train in advance, and storing the track information data collected in advance in a database of a satellite vehicle-mounted station of the high-speed train;
s2: acquiring positioning information of a moving high-speed train by using a GPS module;
s3: comparing the position information in the positioning information with the position information in the stored track data, and searching the position information which is the same as or closest to the position information in the positioning information in the track data;
s4: predicting the pitch angle, the azimuth angle and the roll polarization angle of the satellite antenna at the next position according to the position information which is the same as or closest to the position information in the positioning information in the searched orbit data;
s5: and controlling the horizontal rotation and the pitch angle rotation of the antenna according to the predicted pitch angle, azimuth angle and roll polarization angle of the satellite antenna at the next position.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, in step S1, when the track information data of the high-speed train is acquired, the acquisition density of the straight section of the track is smaller than the acquisition density of the curve section or the inclination angle change section of the track.
Furthermore, the acquisition density of the straight section of the track is acquired once at intervals of 5-50 meters.
Further, the acquisition density of the curve section or the inclination angle change section of the track is acquired once at an interval of 5 meters.
Further, the acquisition density of the straight section of the track is acquired once at intervals of 20 meters.
Further, the calculation formula for predicting the pitch angle, azimuth angle and roll polarization angle of the next position satellite antenna according to the found position information in the orbit data which is the same as or closest to the position information in the positioning information is as follows:
wherein α is a pitch angle, β is an azimuth angle,
is the longitude of the vehicle-mounted station,
the longitude of the satellite, theta is the latitude of the vehicle-mounted station, R is the radius of the earth, M is the distance between the geocenter and the satellite, and omega is the roll polarization angle.
In order to solve the above technical problem, the present invention provides a system for tracking a satellite by a vehicle-mounted satellite antenna, comprising:
the track measuring unit is used for measuring track information and obtaining track measuring data;
the satellite antenna is used for receiving and transmitting Ku or L waveband communication signals of a geosynchronous orbit communication satellite or a small-dip-angle geosynchronous orbit communication satellite;
the GPS unit is used for acquiring positioning information of the high-speed train;
the attitude calculation server is used for comparing position information in the positioning information acquired by the GPS with position information in the orbit data, searching position information which is the same as or closest to the position information in the positioning information in the orbit data, and predicting a pitch angle, an azimuth angle and a roll polarization angle of the satellite antenna at the next position;
the control server is used for controlling the rotation of the motor according to the pitch angle, the azimuth angle and the roll polarization angle of the satellite antenna at the predicted next position;
and the stepping motor is used for driving the satellite antenna to rotate to the predicted next position, namely the pitch angle, the azimuth angle and the roll polarization angle.
Further, the processor of the attitude calculation server is an atom chip, and the processor of the control server adopts an STM32F singlechip.
Further, the satellite antenna is a low-profile flat panel array antenna.
Compared with the prior art, the invention has the beneficial effects that: according to the pre-collected track information data and the GPS positioning information, the rotation angle of the antenna is predicted in advance, and the tracking precision is higher; the gyro element with high price and the complex circuit are avoided, the system is simplified, the reliability is improved, and the whole cost is reduced.
Drawings
Fig. 1 is a flowchart of a method for tracking a satellite by a vehicle-mounted satellite antenna according to an embodiment of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
Example one
As shown in fig. 1, the present embodiment provides a method for tracking a satellite by a vehicle-mounted satellite antenna, which is suitable for satellite communication of a high-speed train, and specifically includes:
s1: the method comprises the steps of collecting track information data of a high-speed train in advance, and storing the track information data collected in advance in a database of a satellite vehicle-mounted station of the high-speed train;
s2: acquiring positioning information of a moving high-speed train by using a GPS module;
s3: comparing the position information in the positioning information with the position information in the stored track data, and searching the position information which is the same as or closest to the position information in the positioning information in the track data;
s4: predicting the pitch angle, the azimuth angle and the roll polarization angle of the satellite antenna at the next position according to the position information which is the same as or closest to the position information in the positioning information in the searched orbit data;
s5: and controlling the horizontal direction rotation and the pitch angle rotation of the antenna according to the predicted pitching, azimuth and roll polarization angles of the satellite antenna at the next position.
The beacon guiding or inertial guiding method adopted in the prior art is to acquire the changes of the pitch angle, the azimuth angle and the roll polarization angle of the satellite antenna brought by the advancing train in real time and then inform a servo mechanism to correct the deviation through a negative feedback circuit, so that the method can be called as 'known after-feel', has certain hysteresis and cannot accurately track the satellite. Based on the above problems, the method for tracking a satellite by a train-mounted satellite antenna provided by this embodiment collects track information data in advance, such as information data of GPS positioning, azimuth, inclination angle, pitch, and the like, it should be noted that the track information data may also be provided by a third party, when collecting the track information data, a certain collection interval time or a certain collection interval distance may be set, the track data of each measurement point on the track is collected, and the pitch angle and the azimuth angle of the antenna corresponding to each measurement point on the track may be calculated from the track data. When a train runs on the track, the GPS is utilized to obtain the positioning information of a high-speed train, such as longitude, latitude, speed, altitude and the like, the attitude calculation server compares the position information in the GPS positioning information with the position information in the track data stored in advance, finds the position information in the track data which is the same as or close to the position information in the positioning information, can predict the pitch angle, the azimuth angle and the roll polarization angle of the next position satellite antenna according to the position information in the found track data, and sends the predicted pitch angle, the azimuth angle and the roll polarization angle of the next position satellite antenna to the control server, the control server controls the stepping motor to respectively drive the horizontal direction rotation and the pitch angle rotation of the antenna, so that the antenna can cover the satellite signals of all directions to receive, thereby realizing the real-time accurate tracking of a target satellite, the system can continuously transmit multimedia information such as voice, data, images and the like for the high-speed train, and meet the requirements of various military and civil emergency communication and multimedia communication under the moving condition.
It should be noted that, in the track information data, the azimuth angle therein is an angle between the track and the north direction, that is, an angle between the tangential direction of the track and the magnetic meridian.
Based on the scheme, the method for tracking the satellite by the train-mounted satellite antenna provided by the embodiment predicts the rotation angle of the antenna in advance according to the pre-collected orbit information data and by combining with the GPS positioning information, and the tracking precision is higher; the gyro element with high price and the complex circuit are avoided, the system is simplified, the reliability is improved, and the whole cost is reduced.
Example two
The method for tracking the satellite by the vehicle-mounted satellite antenna provided by the embodiment is suitable for satellite communication of a high-speed train, and specifically comprises the following steps:
s1: the method comprises the steps of collecting track information data of a high-speed train in advance, and storing the track information data collected in advance in a database of a satellite vehicle-mounted station of the high-speed train;
s2: acquiring positioning information of a moving high-speed train by using a GPS module;
s3: comparing the position information in the positioning information with the position information in the stored track data, and searching the position information which is the same as or closest to the position information in the positioning information in the track data;
s4: predicting the pitch angle, the azimuth angle and the roll polarization angle of the satellite antenna at the next position according to the position information which is the same as or closest to the position information in the positioning information in the searched orbit data;
s5: and controlling the horizontal direction rotation, the pitch angle rotation and the roll polarization angle rotation of the antenna according to the predicted pitch, azimuth and roll polarization angles of the satellite antenna at the next position.
The method for tracking the satellite by the vehicle-mounted satellite antenna provided by the embodiment mainly depends on the acquired data of the orbit to control the antenna, so that the acquisition density of the orbit data has direct influence on the quality of control, and the required data type and the acquisition precision requirements are shown in table 1 according to the preliminary analysis.
TABLE 1 track data
The azimuth angle is an included angle between the track and the north direction, namely an included angle between the tangential direction of the track and the magnetic meridian, and the pitch angle is an included angle between the track and the horizontal plane.
Because the curve motion needs centripetal force when the high-speed railway excessively bends, and the two sides of the track need to have certain inclination angles to balance the pressure of the lanes on the two sides, the lane on the outer side is higher than the lane on the inner side by a certain angle, and the time for extracting the track information data and the GPS data by the attitude calculation server is calculated by using the following formula by taking the excessively bending inclination angle of 15 degrees as an example.
The formula I is as follows: centripetal acceleration a ═ gravitational acceleration g ≈ tan15 ° ≈ 2.6m/s2；
The formula II is as follows: the linear velocity and acceleration relationship is V ═ a × R.
TABLE 2 line speed and Angle of bend speed relationship
According to the first formula and the second formula, the calculated data are shown in table 2, the smaller the bending radius is, the lower the linear velocity is, the larger the angular velocity is, according to the requirement of tracking accuracy index 0.3 ° (without considering the track data acquisition error and the GPS error as the premise), when the bending is performed with the minimum radius of 100 meters, the minimum running speed of the high-speed rail is 58km/h, and the minimum time of sampling and operation is 1000 milliseconds 0.3/9.24 and 32.4 milliseconds.
The data frequency provided by the GPS is 20Hz, the single receiving time is 50ms, and the running distance of 50ms is about 5 meters if the operation is carried out according to the highest speed of 350Km/h of high-speed rail. If the operation is carried out according to the speed of 60Km/h when the speed is low, the running distance of 50ms is about 0.8 m. The acquisition density of the orbit data may take into account the following: if high-density acquisition is carried out, under the condition that track curve fitting is not needed, the data acquisition interval is 50ms or 5m once; if the medium density acquisition is carried out, first-order equation fitting is required, and the interval of data sampling can be 100ms or 10 meters once; if low-density acquisition is carried out, a second-order or higher-order equation is required to be adopted for fitting, the density of data acquisition can be lower, the sampling time can be longer, and algorithm optimization needs to be carried out in later-stage design according to high-speed rail design indexes. Based on the comprehensive consideration of the three track data acquisition densities, the acquisition density of the straight section of the track is acquired once at an interval of 5-50 meters, preferably, the data sampling interval can be 20 meters, and the data sampling interval can also be set to 200ms once according to the highest running speed of high-speed rail. The sampling principle is that when a curve or an inclination angle changes, the data acquisition density is increased as much as possible, and when a track is in a straight section, the data acquisition density can be properly reduced, namely the acquisition density of the straight section of the track is smaller than that of the curve section or the inclination angle change section of the track. The acquisition density of the curve section or the inclination angle change section of the track can be acquired once at intervals of 5 meters.
The attitude calculation server receives a group of GPS data every 50ms, the time for searching the same or closest orbit position information in the orbit data as the position information in the positioning information according to the position information in the GPS positioning information is about 10ms, the operation time for predicting the pitch angle, the azimuth angle and the roll polarization angle of the next position satellite antenna is about 5ms according to the same or closest position information in the searched orbit data as the position information in the positioning information, when the calculation result is sent to the control server, the communication rate is temporarily 115200, the data volume is 20 bytes which is 160 bytes, and the sending time is 160/115200 milliseconds which is 1000 milliseconds which is 1.39 milliseconds. Therefore, after the attitude calculation server receives the GPS data, the total time for inquiring, calculating, and transmitting the data is about 16.39ms, which is much less than 50ms, and therefore, the data transmission rate of the attitude calculation server is set to 20 Hz.
According to the collected track data of each measuring point on the track, the pitch angle and the azimuth angle of the antenna corresponding to each measuring point on the track can be calculated through the track data, the track data is certain and can be regarded as a theoretical curve, and the pitch angle, the azimuth angle and the roll polarization angle of the antenna corresponding to the next point can be predicted after the position information of the train on the track is determined.
The calculation formula of the pitch angle, the azimuth angle and the roll polarization angle of the satellite antenna is as follows:
wherein α is a pitch angle, β is an azimuth angle,
is the longitude of the vehicle-mounted station,
the longitude of the satellite, theta is the latitude of the vehicle-mounted station, R is the earth radius, M is the distance between the earth center and the satellite, and omega is the roll polarization angle; wherein is the longitude of the vehicle-mounted station
The vehicle station latitude theta can be measured by the GPS.
The rotation angle of the satellite antenna is obtained through the formula, the attitude calculation server sends the data result to the control server, the control server controls the three groups of motors to respectively drive the antenna to rotate in the horizontal direction, rotate in the pitch angle and rotate in the roll polarization angle, and the antenna can be enabled to cover and receive satellite signals in all directions through the control of the three groups of antennas. When the motor is selected, the stepping motor is used, so that the rotating step length can be conveniently controlled, the proper rotating angle can be controlled, and the motor driver subdivision ratio is controlled to realize the accurate control of the motor angle.
EXAMPLE III
Based on the method for tracking a satellite by using a vehicle-mounted satellite antenna in the first or second embodiments, the present embodiment provides a system for tracking a satellite by using a vehicle-mounted satellite antenna, which includes:
the track measuring unit is used for measuring track information and obtaining track measuring data;
the satellite antenna is used for receiving and transmitting Ku or L waveband communication signals of a geosynchronous orbit communication satellite or a small-dip-angle geosynchronous orbit communication satellite;
the GPS unit is used for acquiring positioning information of the high-speed train;
the attitude calculation server is used for comparing position information in the positioning information acquired by the GPS with position information in the orbit data, searching position information which is the same as or closest to the position information in the positioning information in the orbit data, and predicting a pitch angle, an azimuth angle and a roll polarization angle of the satellite antenna at the next position;
the control server is used for controlling the rotation of the motor according to the pitch angle, the azimuth angle and the roll polarization angle of the satellite antenna at the predicted next position;
and the stepping motor is used for driving the satellite antenna to rotate to the predicted next position, namely the pitch angle, the azimuth angle and the roll polarization angle.
The attitude calculation server is characterized in that a processor of the attitude calculation server is executed by adopting a low-power-consumption atom chip, an operating system adopts Linux, the problems are relatively few, the requirement on long-time running stability can be met, the computing capability is relatively strong, rapid orbit prediction and attitude calculation can be carried out according to GPS positioning information and orbit acquisition data, and a calculation result is output to the control server. And the processor of the control server adopts an STM32F series single chip microcomputer to control the antenna and perform signal optimization scanning according to the received data. The attitude resolving server and the control server are communicated through a four-wire RS485 interface, and the stability of the interface is fully guaranteed.
The rotation of the satellite antenna is driven by three stepping motors, and the control server controls the three motors to respectively drive the horizontal rotation, the pitch angle rotation and the roll polarization angle rotation of the satellite antenna according to the received data, so that the satellite antenna can receive satellite signals in all directions in a covering mode. When the motor is selected, the stepping motor is used, so that the rotating step length can be conveniently controlled, the appropriate rotating angle can be controlled, the motor driver subdivision is controlled, the accurate control of the motor angle is realized, and the satellite tracking precision of the satellite antenna is further enhanced.
By adopting the system for tracking the satellite by the vehicle-mounted satellite antenna, the rotation angle of the antenna is predicted in advance according to the pre-collected orbit information data and the GPS positioning information, so that the tracking precision is higher; the gyro element with high price and the complex circuit are avoided, the system is simplified, the reliability is improved, and the whole cost is reduced.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A method for tracking a satellite by a vehicle-mounted satellite antenna is suitable for satellite communication of a high-speed train, and is characterized by comprising the following steps:
s1: the method comprises the steps of collecting track information data of a high-speed train in advance, and storing the track information data collected in advance in a database of a satellite vehicle-mounted station of the high-speed train;
s2: acquiring positioning information of a moving high-speed train by using a GPS module;
s3: comparing the position information in the positioning information with the position information in the stored track data, and searching the position information which is the same as or closest to the position information in the positioning information in the track data;
s4: predicting the pitch angle, the azimuth angle and the roll polarization angle of the satellite antenna at the next position according to the position information which is the same as or closest to the position information in the positioning information in the searched orbit data;
s5: and controlling the horizontal rotation, the pitch angle rotation and the roll polarization angle rotation of the antenna according to the predicted pitch angle, azimuth angle and roll polarization angle of the satellite antenna at the next position.
2. The method for tracking a satellite by using an on-board satellite antenna according to claim 1, wherein in the step S1, when acquiring the track information data of the high-speed train, the acquisition density of the straight section of the track is smaller than the acquisition density of the curve section or the inclination angle change section of the track.
3. The method for tracking a satellite by an on-board satellite antenna as recited in claim 2, wherein the acquisition density of the straight sections of the orbit is acquired once every 5-50 meters.
4. The method for tracking a satellite by an on-board satellite antenna according to claim 2, wherein the acquisition density of the curve section or the inclination change section of the orbit is once acquired at intervals of 5 meters.
5. The method for tracking a satellite by an on-board satellite antenna of claim 3, wherein the acquisition density of the straight sections of the orbit is acquired once at intervals of 20 meters.
6. The method for tracking satellite by vehicle-mounted satellite antenna according to any one of claims 1 to 5, wherein the calculation formula for predicting the pitch angle, azimuth angle and roll polarization angle of the next position satellite antenna according to the searched position information in the orbit data which is the same as or closest to the position information in the positioning information is as follows:
wherein α is a pitch angle, β is an azimuth angle,
is the longitude of the vehicle-mounted station,
the longitude of the satellite, theta is the latitude of the vehicle-mounted station, R is the radius of the earth, M is the distance between the geocenter and the satellite, and omega is the roll polarization angle.
7. A system for tracking satellites with an on-board satellite antenna, comprising:
the track measuring unit is used for measuring track information and obtaining track measuring data;
the satellite antenna is used for receiving and transmitting Ku or L waveband communication signals of the geosynchronous orbit communication satellite or the small-inclination-angle geosynchronous orbit communication satellite;
the GPS unit is used for acquiring positioning information of the high-speed train;
the attitude calculation server is used for comparing position information in the positioning information acquired by the GPS with position information in the orbit data, searching position information which is the same as or closest to the position information in the positioning information in the orbit data, and predicting a pitch angle, an azimuth angle and a roll polarization angle of the satellite antenna at the next position;
the control server is used for controlling the rotation of the motor according to the pitch angle, the azimuth angle and the roll polarization angle of the satellite antenna at the predicted next position;
and the stepping motor is used for driving the satellite antenna to rotate to the predicted next position, namely the pitch angle, the azimuth angle and the roll polarization angle.
8. The system for tracking the satellite by the vehicle-mounted satellite antenna as claimed in claim 7, wherein the processor of the attitude calculation server is an atom chip, and the processor of the control server adopts an STM32F singlechip.
9. The system for tracking satellites by vehicle-mounted satellite antenna according to claim 7 or 8, wherein the satellite antenna is a low-profile flat panel array antenna.
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