CN108232451A - A kind of double-movement terminal data transmission antenna automatic bidirectional tracking system - Google Patents
A kind of double-movement terminal data transmission antenna automatic bidirectional tracking system Download PDFInfo
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- CN108232451A CN108232451A CN201711458421.9A CN201711458421A CN108232451A CN 108232451 A CN108232451 A CN 108232451A CN 201711458421 A CN201711458421 A CN 201711458421A CN 108232451 A CN108232451 A CN 108232451A
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- module
- antenna
- mobile
- processor
- receiving end
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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
- H01Q3/005—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 remotely controlled antenna positioning or scanning
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Astronomy & Astrophysics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
The invention discloses a kind of double-movement terminal data transmission antenna automatic bidirectional tracking systems, including processor, co-processor module, GPS module, height induction module, north orientation deviation angle sensor assembly, Kalman filtering algorithm, PID servo control algorithms, antenna auto-steering module etc., it is characterised in that：The present invention is using mobile transmitting terminal and mobile receiving end pattern, angle information is biased to using present position, height and the north orientation of the mobile transmitting terminals such as GPS module, height induction module and the north orientation deviation angle sensor assembly acquisition unmanned plane and mobile receiving end and passes receiving terminal processor back, run coprocessor and various algorithm softwares, it calculates the antenna servo data of the mobile receiving end and forms instruction, the antenna auto-steering module being equipped with is transferred to perform, it realizes double-movement terminal bi-directional tracking, obtains optimized image image quality, maximum distance, the data transmission of prestissimo.Overcome the deficiencies in the prior art.
Description
Technical field
The present invention relates to a kind of image transmission technology field more particularly to a kind of double-movement terminal data transmission antenna are automatic
Bi-directional tracking system.
Background technology
The mobile terminal data transmission of the prior art is using mobile transmitting terminal to fixed reception end pattern, data transmission antenna
The unidirectional tracking system pattern of mobile transmitting terminal is directed toward using fixed mode or the tracking of fixed reception end, cause mobile transmitting terminal with
Receiving terminal data transmission distance and transmission range are small, transmission speed is slow, the image quality of transmission is poor and cannot carry out bi-directional tracking
Mobile reception.So-called bi-directional tracking, i.e. receiving terminal are according to the positional information calculation of transmitting terminal location information and receiving terminal and control
For receiving terminal antenna direction processed in horizontal and pitching angle, it is made, which to be in mobile status in receiving terminal, can still be automatically aligned to transmitting terminal
Equipment.
The present invention is using mobile transmitting terminal and mobile receiving end pattern, in the mobile transmitting terminal setting GPS module, height
The present position and elevation information of the mobile transmitting terminal such as induction module, acquisition unmanned plane pass the receiving terminal processing of mobile receiving end back
Device sets co-processor module, GPS module, north orientation deviation angle sensor assembly, horizontal servo mould in the mobile receiving end
Block, elevation servo module, Kalman filtering algorithm, time series method, PID servo control algorithms, antenna auto-steering module, are adopted
Present position and the north orientation for collecting itself are biased to angle information, run coprocessor and various algorithm softwares, calculate the movement and connect
The antenna servo data of receiving end simultaneously form instruction, are transferred to the antenna auto-steering module that the mobile receiving end is equipped with and perform,
Bi-directional tracking is realized between double-movement terminal, obtains optimized image image quality, maximum distance, the data transmission of prestissimo.Gram
The deficiencies in the prior art are taken.
Invention content
The purpose of the present invention is to provide a kind of double-movement terminal data transmission antenna automatic bidirectional tracking systems, rationally have
Effect ground solves the mobile terminal data transmission distance of the prior art and transmission range is small, transmission speed is slow, the image picture of transmission
Matter difference and receiving terminal cannot carry out mobile the problem of receiving.
The present invention adopts the following technical scheme that：
A kind of double-movement terminal data transmission antenna automatic bidirectional tracking system, including mobile transmitting terminal, mobile receiving end,
Transmitting terminal processor, receiving terminal processor, co-processor module, wireless transport module, GPS module, height induction module, north orientation
Deviation angle sensor assembly, horizontal servo module, elevation servo module, Kalman filtering algorithm, time series method, PID servos
Control algolithm, antenna auto-steering module, antenna and power supply, it is characterised in that：
The mobile transmitting terminal is equipped with transmitting terminal processor, and the transmitting terminal processor is equipped with wireless transport module, GPS moulds
Block, height induction module and power supply are equipped with unidirectional between the transmitting terminal processor and the GPS module, height induction module
Data couple, and have bi-directional data to couple with the wireless transport module, are equipped with the power supply and electrically couple；
The mobile receiving end is equipped with receiving terminal processor, and the receiving terminal processor is equipped with the wireless of bi-directional data connection
Transmission module and co-processor module, GPS module, north orientation deviation angle sensor assembly equipped with one-way data connection, equipped with electricity
Property connection power supply, the wireless transport module be equipped with bi-directional data connection antenna, the co-processor module be equipped with level
Servo module, elevation servo module and Kalman filtering algorithm, time series method, PID servo control algorithms software, the water
Flat servo module and elevation servo module are equipped with the antenna auto-steering module of bi-directional data connection, the antenna auto-steering mould
Block is equipped with mechanical attachment with the antenna；
The mobile transmitting terminal obtains present position and elevation information, warp using the GPS module and height induction module
The transmitting terminal processor, wireless transport module and antenna transmission to the mobile receiving end receiving terminal processor, it is described to connect
The movement that receiving end processor is acquired with reference to the GPS module and north orientation deviation angle sensor assembly that the mobile receiving end is equipped with
It receives end position and north orientation is biased to angle information, run the co-processor module and its horizontal servo module, elevation servo module
With Kalman filtering algorithm, time series method, PID servo control algorithms software, calculate the absolute deviation angle and pitch angle, it is right
The mobile receiving end and the mobile transmitting terminal carry out position, direction, speed are prejudged, according to anticipation result, interference
Property and response speed calculate the opposite deviation angle and pitch angle, calculate the mobile receiving end automatically using pid control algorithm
The horizontal servo of antenna and elevation servo data, by the horizontal servo module and elevation servo module transfer to the antenna from
Dynamic steering module realizes the antenna automatic tracking movement transmitting terminal of the mobile receiving end using mechanical action, forms described one kind
Double-movement terminal data transmission antenna automatic bidirectional tracking system.
Further, the north orientation deviation angle sensor assembly is highly prone to environmental disturbances, using Kalman filtering algorithm
It is the method for improving tracking accuracy that sensing data, which is filtered,.
Further, due to causing system tracking response speed slow using the Kalman filtering algorithm, simultaneously because being
Weight of uniting is big, and inertia coeffeicent is big, also causes tracking response speed slow, therefore, is mutually tied using Kalman filtering and time series method
The mingled algorithm of conjunction carries out the mobile receiving end and mobile transmitting terminal the anticipation of position, direction, speed, is tied according to anticipation
Fruit is controlled in advance, greatly improves system tracking response speed, by PID servo control algorithms, improves motor response
Speed.
The method have the benefit that:
The invention discloses a kind of double-movement terminal data transmission antenna automatic bidirectional tracking systems, rationally and effectively solve
The mobile terminal data transmission distance and transmission range of the prior art are small, transmission speed is slow, the image quality difference of transmission and connect
Receiving end cannot carry out mobile the problem of receiving.
The present invention is using mobile transmitting terminal and mobile receiving end pattern, in the mobile transmitting terminal setting GPS module, height
The present position and elevation information of the mobile transmitting terminal such as induction module, acquisition unmanned plane pass the receiving terminal processing of mobile receiving end back
Device sets co-processor module, GPS module, north orientation deviation angle sensor assembly, horizontal servo mould in the mobile receiving end
Block, elevation servo module, Kalman filtering algorithm, time series method, PID servo control algorithms, antenna auto-steering module, are adopted
Present position and the north orientation for collecting itself are biased to angle information, run coprocessor and various algorithm softwares, calculate the movement and connect
The antenna servo data of receiving end simultaneously form instruction, are transferred to the antenna auto-steering module that the mobile receiving end is equipped with and perform,
Bi-directional tracking is realized between double-movement terminal, obtains optimized image image quality, maximum distance, the data transmission of prestissimo.Gram
The deficiencies in the prior art are taken.
Description of the drawings
Fig. 1 is present system Organization Chart.
Shown in figure：1- movements transmitting terminal, 2=mobile receiving ends, 3- transmitting terminals processor, 4- receiving terminals processor, 5-
Co-processor module, 6- wireless transport modules, 7-GPS modules, 8- height induction module, 9- north orientation deviations angle sensor assembly,
10- horizontal servos module, 11- elevation servos module, 12- Kalman filtering algorithms, 13- time series methods, 14-PID servo controls
Algorithm processed, 15- antenna auto-steerings module, 16- antennas, 17- power supplys.
Specific embodiment
By the following description to embodiment, it will more contribute to public understanding of the invention, but can't should be by Shen
Given specific embodiment of asking someone is considered as the limitation to technical solution of the present invention, any definition to component or technical characteristic
Be changed and/or make form to overall structure and immaterial transformation is regarded as what technical scheme of the present invention was limited
Protection domain.
Embodiment:
A kind of double-movement terminal data transmission antenna automatic bidirectional tracking system as shown in Figure 1, including mobile transmitting terminal
1st, mobile receiving end 2, transmitting terminal processor 3, receiving terminal processor 4, co-processor module 5, wireless transport module 6, GPS module
7th, height induction module 8, north orientation deviation angle sensor assembly 9, horizontal servo module 10, elevation servo module 11, Kalman's filter
Wave algorithm 12, time series method 13, PID servo control algorithms 14, antenna auto-steering module 15, antenna 16, power supply 17.
Mobile transmitting terminal 1 is set first, transmitting terminal processor 3, wireless transport module are set on the mobile transmitting terminal 1
6th, GPS module 7, height induction module 8, antenna 16, power supply 17, while establish circuit connection.
Then mobile receiving end 2 is set, receiving terminal processor 4, co-processor module are set in the mobile receiving end 2
5th, wireless transport module 6, GPS module 7, north orientation deviation angle sensor assembly 9, horizontal servo module 10, elevation servo module 11,
Kalman filtering algorithm 12, time series method 13, PID servo control algorithms 14, antenna auto-steering module 15, antenna 16, electricity
Source 17, while circuit connection is established, mechanical connection is established between the antenna auto-steering module 15 and antenna 16.
Finally receiving terminal processor 4, co-processor module 5 and Kalman filtering is run in the mobile receiving end 2 to calculate
The softwares such as method 12, time series method 13, PID servo control algorithms 14 calculate and send out the antenna 16 of the mobile receiving end 2
Horizontal servo and elevation servo data and instruction perform mechanical action rotary antenna 16 by antenna auto-steering module 15, realize
Bi-directional tracking.Complete a kind of implementation of double-movement terminal data transmission antenna automatic bidirectional tracking system.
Certainly, the present invention can also have other various embodiments, without deviating from the spirit and substance of the present invention,
Those skilled in the art can make various corresponding changes and deformation according to the present invention, but these it is corresponding change and
Deformation should all belong to the protection domain of appended claims of the invention.
Claims (3)
1. a kind of double-movement terminal data transmission antenna automatic bidirectional tracking system, including mobile transmitting terminal, mobile receiving end, hair
It is inclined to penetrate end processor, receiving terminal processor, co-processor module, wireless transport module, GPS module, height induction module, north orientation
To angle transducer module, horizontal servo module, elevation servo module, Kalman filtering algorithm, time series method, PID servo controls
Algorithm processed, antenna auto-steering module, antenna and power supply, it is characterised in that：
The mobile transmitting terminal be equipped with transmitting terminal processor, the transmitting terminal processor be equipped with wireless transport module, GPS module,
Height induction module and power supply are equipped with one-way data between the transmitting terminal processor and the GPS module, height induction module
Connection, has bi-directional data to couple with the wireless transport module, is equipped with the power supply and electrically couples；
The mobile receiving end is equipped with receiving terminal processor, and the receiving terminal processor is equipped with the wireless transmission of bi-directional data connection
Module and co-processor module, GPS module, north orientation deviation angle sensor assembly equipped with one-way data connection, equipped with electrical connection
The power supply connect, the wireless transport module are equipped with the antenna of bi-directional data connection, and the co-processor module is equipped with horizontal servo
Module, elevation servo module and Kalman filtering algorithm, time series method, PID servo control algorithms software, the level watches
Take the antenna auto-steering module that module and elevation servo module are equipped with bi-directional data connection, the antenna auto-steering module with
The antenna is equipped with mechanical attachment；
The mobile transmitting terminal obtains present position and elevation information using the GPS module and height induction module, through described
Transmitting terminal processor, wireless transport module and antenna transmission are to the receiving terminal processor of the mobile receiving end, the receiving terminal
The mobile reception that processor is acquired with reference to the GPS module and north orientation deviation angle sensor assembly that the mobile receiving end is equipped with
End position and north orientation are biased to angle information, run the co-processor module and its horizontal servo module, elevation servo module and card
Kalman Filtering algorithm, time series method, PID servo control algorithms software, the absolute deviation angle and pitch angle are calculated, to described
Mobile receiving end and the mobile transmitting terminal carry out position, direction, speed are prejudged, according to anticipation result, interference and
Response speed calculates the opposite deviation angle and pitch angle, calculates the antenna of the mobile receiving end automatically using pid control algorithm
Horizontal servo and elevation servo data, by the horizontal servo module and elevation servo module transfer to the antenna from turn
It realizes that the antenna automatic tracking of the mobile receiving end moves transmitting terminal using mechanical action to module, forms a kind of two-track
Dynamic terminal data transmission antenna automatic bidirectional tracking system.
2. a kind of double-movement terminal data transmission antenna automatic bidirectional tracking system according to claim 1, it is characterised in that：
The north orientation deviation angle sensor assembly is highly prone to environmental disturbances, and sensing data is filtered using Kalman filtering algorithm
Wave processing is the method for improving tracking accuracy.
3. a kind of double-movement terminal data transmission antenna automatic bidirectional tracking system according to claim 1, it is characterised in that：
Due to causing system tracking response speed slow using the Kalman filtering algorithm, simultaneously because system weight is big, inertia coeffeicent
Greatly, also cause tracking response speed slow, therefore, using the mingled algorithm that Kalman filtering and time series method are combined to institute
It states mobile receiving end and mobile transmitting terminal carries out the anticipation of position, direction, speed, controlled in advance according to anticipation result
System, greatly improves system tracking response speed, by PID servo control algorithms, improves motor response speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711458421.9A CN108232451A (en) | 2017-12-28 | 2017-12-28 | A kind of double-movement terminal data transmission antenna automatic bidirectional tracking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711458421.9A CN108232451A (en) | 2017-12-28 | 2017-12-28 | A kind of double-movement terminal data transmission antenna automatic bidirectional tracking system |
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| Publication Number | Publication Date |
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| CN108232451A true CN108232451A (en) | 2018-06-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711458421.9A Pending CN108232451A (en) | 2017-12-28 | 2017-12-28 | A kind of double-movement terminal data transmission antenna automatic bidirectional tracking system |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1515914A (en) * | 2001-12-29 | 2004-07-28 | 北京航空航天大学 | Operation method of antenna tracking device for unmanned hverplane |
| CN103745474A (en) * | 2014-01-21 | 2014-04-23 | 南京理工大学 | Image registration method based on inertial sensor and camera |
-
2017
- 2017-12-28 CN CN201711458421.9A patent/CN108232451A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1515914A (en) * | 2001-12-29 | 2004-07-28 | 北京航空航天大学 | Operation method of antenna tracking device for unmanned hverplane |
| CN103745474A (en) * | 2014-01-21 | 2014-04-23 | 南京理工大学 | Image registration method based on inertial sensor and camera |
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Application publication date: 20180629 |