CN109273852A - Automatically adjust the method and system of satellite antenna - Google Patents
Automatically adjust the method and system of satellite antenna Download PDFInfo
- Publication number
- CN109273852A CN109273852A CN201811190892.0A CN201811190892A CN109273852A CN 109273852 A CN109273852 A CN 109273852A CN 201811190892 A CN201811190892 A CN 201811190892A CN 109273852 A CN109273852 A CN 109273852A
- Authority
- CN
- China
- Prior art keywords
- satellite
- terminal
- angle
- satellite antenna
- latitude
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
-
- 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
Present invention discloses a kind of methods for automatically adjusting satellite antenna, comprising: obtains the current direction parameter of telecommunication satellite current location parameter and terminal；According to the location parameter and the direction parameter, the satellite antenna for calculating the terminal is directed at the directional information adjusted required for the telecommunication satellite；The satellite antenna is adjusted according to the directional information, so that the satellite antenna is directed at the telecommunication satellite.Realize that automatic adjustment makes satellite antenna be directed at telecommunication satellite；Whole process does not need manual operation, and system automatic adjustment is more accurate, enhances user experience.
Description
Technical field
The present invention relates to satellite antenna fields, especially relate to the method and system of automatic adjustment satellite antenna.
Background technique
During carrying out satellite communication using satellite phone, since satellite-signal is weaker, antenna alignment is needed to communicate
The position of satellite could obtain relatively good communication efficiency.But terminal user is during using satellite phone, best to find
Satellite-signal need to manually adjust antenna direction or other supplementary modes are adjusted, but it is cumbersome and not smart enough
Standard, user experience are bad.
Summary of the invention
The main object of the present invention is to provide a kind of method and system for automatically adjusting satellite antenna, realizes that automatic adjustment is defended
Star antenna alignment telecommunication satellite.
The present invention proposes a kind of method for automatically adjusting satellite antenna, comprising:
Obtain the current direction parameter of telecommunication satellite current location parameter and terminal；
According to location parameter and direction parameter, the side adjusted required for the satellite antenna alignment telecommunication satellite of terminal is calculated
To information；
Satellite antenna is adjusted according to directional information, so that satellite antenna is directed at telecommunication satellite.
Further, location parameter includes the first longitude, the first latitude and the first height above sea level；Direction parameter includes the second warp
Degree, the second latitude, the second height above sea level, horizontal azimuth and 3-axis acceleration；Obtain telecommunication satellite current location parameter and terminal
The step of current direction parameter, comprising:
Obtain telecommunication satellite current the first longitude, the first latitude and the first height above sea level；
Obtain terminal current the second longitude, the second latitude and the second height above sea level；
Obtain the current horizontal azimuth of terminal；
Obtain the current 3-axis acceleration of terminal.
Further, directional information includes third horizontal angle and third pitch angle；According to location parameter and direction parameter, meter
The step of calculating the directional information of satellite antenna alignment telecommunication satellite of terminal, comprising:
According to the first longitude, the first latitude, the first height above sea level, the second longitude, the second latitude and the second height above sea level, computing terminal with
The first level angle of line segment and the first pitch angle where telecommunication satellite；
According to horizontal azimuth and 3-axis acceleration, the second horizontal angle and the second pitching that satellite antenna currently points to are calculated
Angle；
According to first level angle and the second horizontal angle, the third water for needing to adjust when calculating satellite antenna alignment telecommunication satellite
The straight angle；
According to the first pitch angle and the second pitch angle, the third adjusted is needed to bow when calculating satellite antenna alignment telecommunication satellite
The elevation angle.
Further, according to the first longitude, the first latitude, the first height above sea level, the second longitude, the second latitude and the second height above sea level,
The step of first level angle of line segment where computing terminal and telecommunication satellite and the first pitch angle, comprising:
According to the first longitude, the first latitude and the first height above sea level, when calculating telecommunication satellite using earth the earth's core as origin first
Coordinate；
The second coordinate according to the second longitude, the second latitude and the second height above sea level, when computing terminal is using earth the earth's core as origin；
According to the first coordinate and the second coordinate, the first level angle and first of computing terminal and line segment where telecommunication satellite is bowed
The elevation angle.
Further, satellite antenna is adjusted according to directional information, so that after the step of satellite antenna is directed at telecommunication satellite,
Include:
Obtain three current axis angular rates of terminal；
According to three current axis angular rates of terminal, satellite antenna is adjusted according to preset rules, so that satellite antenna tracking is logical
Believe satellite.
The present invention also provides a kind of systems for automatically adjusting satellite antenna, comprising:
Module is obtained, for obtaining the current location parameter of telecommunication satellite and the current direction parameter of terminal；
Computing module, for calculating the satellite antenna alignment telecommunication satellite of terminal according to location parameter and direction parameter
The directional information of required adjusting；
Alignment modules, for adjusting satellite antenna according to directional information, so that satellite antenna is directed at telecommunication satellite.
Further, location parameter includes the first longitude, the first latitude and the first height above sea level；Direction parameter includes the second warp
Degree, the second latitude, the second height above sea level, horizontal azimuth and 3-axis acceleration；Obtain module, comprising:
First acquisition unit, for obtaining telecommunication satellite current the first longitude, the first latitude and the first height above sea level；
Second acquisition unit, for obtaining terminal current the second longitude, the second latitude and the second height above sea level；
Third acquiring unit, for obtaining the current horizontal azimuth of terminal；
4th acquiring unit, for obtaining the current 3-axis acceleration of terminal.
Further, directional information includes third horizontal angle and third pitch angle；Computing module, further includes:
First computing unit, for according to the first longitude, the first latitude, the first height above sea level, the second longitude, the second latitude and the
The first level angle of line segment and the first pitch angle where two height above sea level, computing terminal and telecommunication satellite；
Second computing unit, for calculating the second of the direction of satellite antenna according to horizontal azimuth and 3-axis acceleration
Horizontal angle and the second pitch angle；
Third computing unit, for calculating satellite antenna and being directed at telecommunication satellite according to first level angle and the second horizontal angle
When need the third horizontal angle that adjusts；
4th computing unit, for calculating satellite antenna and being directed at telecommunication satellite according to the first pitch angle and the second pitch angle
When need the third pitch angle that adjusts.
Further, the first computing unit, comprising:
First computation subunit, for calculating telecommunication satellite with the earth according to the first longitude, the first latitude and the first height above sea level
The first coordinate when the earth's core is origin；
Second computation subunit, for according to the second longitude, the second latitude and the second height above sea level, computing terminal to be with earth the earth's core
The second coordinate when for origin；
Third computation subunit is used for according to the first coordinate and the second coordinate, line segment where computing terminal and telecommunication satellite
First level angle and the first pitch angle.
Further, system further include:
Angular speed obtains module, for obtaining three current axis angular rates of terminal；
Tracking module adjusts satellite antenna according to preset rules, so as to defend for three axis angular rates current according to terminal
Star antenna tracking telecommunication satellite.
The beneficial effects of the present invention are, by obtaining the location parameter of telecommunication satellite and the direction parameter of terminal, according to
Parameter calculates the directional information that satellite antenna alignment telecommunication satellite needs to adjust, and controls satellite antenna pair further according to directional information
Quasi- telecommunication satellite, and then realize that automatic adjustment satellite antenna is directed at telecommunication satellite；By obtaining three axis angular rates of terminal, make to defend
Star antenna automatically tracks telecommunication satellite according to three axis angular rates；System automatic adjustment keeps satellite antenna more accurate to satelloid；
Whole process does not need manual operation, enhances user experience.
Detailed description of the invention
Fig. 1 is the step schematic diagram of one embodiment of method of present invention automatic adjustment satellite antenna；
Fig. 2 is that the one embodiment terminal of method of present invention automatic adjustment satellite antenna and the mathematical modeling of telecommunication satellite are illustrated
Figure；
Fig. 3 is that terminal and telecommunication satellite are in one embodiment of method of present invention automatic adjustment satellite antenna with earth the earth's core
The mathematical modeling schematic diagram of origin；
Fig. 4 is the terminal movement locus schematic diagram of one embodiment of method of present invention automatic adjustment satellite antenna；
Fig. 5 is the structural schematic diagram of one embodiment of system of present invention automatic adjustment satellite antenna；
Fig. 6 is the structural schematic diagram of acquisition module in one embodiment of system of present invention automatic adjustment satellite antenna；
Fig. 7 is the structural schematic diagram of computing module in one embodiment of system in present invention automatic adjustment satellite day；
Fig. 8 is the structural schematic diagram of the first computing unit in one embodiment of system in present invention automatic adjustment satellite day；
Fig. 9 is the structural schematic diagram of another embodiment of system in present invention automatic adjustment satellite day.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Referring to Fig.1, the present invention automatically adjusts one embodiment of method of satellite antenna, comprising:
S1 obtains the current direction parameter of telecommunication satellite current location parameter and terminal；
S2 is calculated and is adjusted required for the satellite antenna alignment telecommunication satellite of terminal according to location parameter and direction parameter
Directional information；
S3 adjusts satellite antenna according to directional information, so that satellite antenna alignment call satellite.
In above-mentioned steps S1, the position of telecommunication satellite be it is fixed, if day leads to satellite positioning in 101.4 degree of east longitude, institute
As long as being which satellite to carry out satellite telephony by with terminal determination, so that it may get the location parameter of telecommunication satellite, position
Parameter includes longitude and latitude and height above sea level；At the terminal, the position of satellite antenna installation is fixed, but satellite day for above-mentioned satellite antenna installation
The direction of line is simultaneously not fixed；The direction parameter of terminal includes longitude and latitude, height above sea level, horizontal azimuth and the placement side where terminal
Formula；Because the link position of terminal and satellite antenna be it is fixed, know the modes of emplacement of terminal it is known that satellite
The direction of antenna, modes of emplacement can upwards, upwards a certain angle to the left, upwards a certain angle to the right, downwards, downwards it is to the left certain
One angle, downwards a certain angle to the right；In some embodiments, the modes of emplacement of terminal and the direction of satellite antenna are identical.
In above-mentioned steps S2, directional information includes horizontal angle and pitch angle；Step S2 includes: S201, according to terminal
The longitude and latitude and height above sea level of longitude and latitude and height above sea level and telecommunication satellite, calculate the linear distance between terminal and telecommunication satellite, S202,
According to the longitude and latitude of the longitude and latitude of terminal and telecommunication satellite, calculate lateral distance between terminal and telecommunication satellite and it is longitudinal away from
From, S203, according to the height above sea level of terminal and the height above sea level of telecommunication satellite, calculate the difference in height of terminal and telecommunication satellite, S204, basis
Pythagorean theorem is known that horizontal angle and pitch angle between terminal and telecommunication satellite；The longitude and latitude and height above sea level of terminal are on earth
It is one place, regards terminal as a coordinate points, the longitude and latitude and height above sea level of telecommunication satellite are also one place on earth,
Regard telecommunication satellite as a coordinate points, point be do not have it is directive, so horizontal angle and pitching between terminal and telecommunication satellite
Horizontal angle and pitch angle when angle is the satellite antenna alignment telecommunication satellite in terminal；It further, further include step S205, root
According to the modes of emplacement and terminal of terminal and the link position of satellite antenna, the pitch angle that satellite antenna currently points to is calculated；
S206, according to the link position of terminal current horizontal azimuth and terminal and satellite antenna, calculate satellite antenna and currently refer to
To horizontal angle；Because the distance between terminal and satellite antenna are infinitely small compared at a distance from telecommunication satellite and terminal, ignore
The distance between terminal and satellite antenna, the longitude and latitude and height above sea level of terminal are identical as the longitude and latitude of satellite antenna and height above sea level；Into one
Step ground, further include step S207, the horizontal angle currently pointed to according to satellite antenna and pitch angle be aligned with satellite antenna communicate defend
Horizontal angle and pitch angle when star calculate satellite antenna and currently point to need the horizontal angle adjusted when alignment telecommunication satellite and bow
The elevation angle.
In above-mentioned steps S3, terminal calculates the horizontal angle and pitch angle of present satellites antenna direction, further calculates
Horizontal angle and pitch angle when satellite antenna alignment telecommunication satellite, so that calculating present satellites antenna is directed toward alignment telecommunication satellite
When need the directional information that adjusts, terminal makes corresponding adjustment according to directional information by motor, so that satellite antenna alignment
Telecommunication satellite improves speech quality, enhances user experience.
In an embodiment of the present invention, location parameter includes the first longitude, the first latitude and the first height above sea level；Direction parameter packet
Include the second longitude, the second latitude, the second height above sea level, horizontal azimuth and 3-axis acceleration；The current position of above-mentioned acquisition telecommunication satellite
Set the step S1 of parameter and the current direction parameter of terminal, comprising:
S11 obtains telecommunication satellite current the first longitude, the first latitude and the first height above sea level；
S12 obtains terminal current the second longitude, the second latitude and the second height above sea level；
S13 obtains the current horizontal azimuth of terminal；
S14 obtains the current 3-axis acceleration of terminal.
In above-mentioned steps S11, the position of telecommunication satellite is fixed, as long as so terminal, which detects, to be communicated by which
Satellite establishes communication connection, and terminal can directly acquire the first longitude j known to telecommunication satellite1, the first latitude w1With first
Height above sea level h1。
In above-mentioned steps S12, GPS (Global Positioning System, global positioning system are installed at the terminal
System), GPS obtains the second longitude j of present terminal2, the second latitude w2With the second height above sea level h2；In some embodiments, because of terminal
The second height above sea level h2Compared to the first height above sea level h of telecommunication satellite1It can be approximately 0, so ignoring the second height above sea level h2。
In above-mentioned steps S13, geomagnetic sensor, i.e. electronic compass are installed at the terminal；When terminal is oriented to the positive north
Xiang Shi, the horizontal azimuth that geomagnetic sensor obtains are 0 °；When terminal is oriented to due east direction, the water of geomagnetic sensor acquisition
Square parallactic angle is 90 °；When terminal is oriented to due south direction, the horizontal direction angle that geomagnetic sensor obtains is 180 °；Work as terminal
When being oriented to due west direction, the horizontal direction angle that geomagnetic sensor obtains is 270 °；Because of the connection of the satellite antenna in terminal
Position is fixed, so obtaining the horizontal azimuth of terminal, so that it may know being horizontally directed to for satellite antenna；In some implementations
In example, being horizontally directed to for the horizontal azimuth of terminal and satellite antenna is identical.
In above-mentioned steps S14, acceleration transducer is also known as gravity accelerometer, is obtained according to acceleration transducer
The current 3-axis acceleration of the terminal taken, respectively the component of acceleration G of x-axis directionx, y-axis direction component of acceleration GyAnd z
The component of acceleration G of axis directionz, the current tilt angle of terminal can be calculated by calculation formula；Similarly, in terminal
The link position of satellite antenna is fixed, it is possible to know the tilt angle of satellite antenna, i.e. pitch angle.
In an embodiment of the present invention, directional information includes third horizontal angle and third pitch angle；It is above-mentioned to be joined according to position
Several and direction parameter calculates the step S2 of the directional information of the satellite antenna alignment telecommunication satellite of terminal, comprising:
S21 is calculated eventually according to the first longitude, the first latitude, the first height above sea level, the second longitude, the second latitude and the second height above sea level
First level angle and first pitch angle of the end with line segment where telecommunication satellite；
S22 calculates the second horizontal angle and the second pitching that satellite antenna is directed toward according to horizontal azimuth and 3-axis acceleration
Angle；
S23, according to first level angle and the second horizontal angle, need to adjust when calculating satellite antenna alignment telecommunication satellite the
Three horizontal angles；
S24, according to the first pitch angle and the second pitch angle, need to adjust when calculating satellite antenna alignment telecommunication satellite the
Three pitch angles.
Referring to Fig. 2, in above-mentioned steps S21, N is direct north, and X is the straight line that coordinate A and coordinate B are projected in X-axis
Distance, Y are the linear distance that coordinate A and coordinate B are projected in Y-axis；The folder of line segment and horizontal plane where terminal and telecommunication satellite
Angle is the first pitch angle, and the angle with direct north is first level angle；Terminal is regarded as with communication antenna and is with earth the earth's core
Two coordinates of the solid space of origin, wherein the seat of terminal is calculated according to the second longitude, the second latitude and the second height above sea level
Punctuate B is (Xb, Yb, Zb), it is according to the coordinate points A that telecommunication satellite is calculated in the first longitude, the first latitude and the first height above sea level
(Xa, Ya, Za), so according to calculation formulaThe first water between terminal and telecommunication satellite is calculated
Straight angle α1；According to calculation formulaThe first pitch angle β between terminal and telecommunication satellite is calculated1,
Wherein, L is the linear distance of the coordinate A of terminal and the coordinate B point-to-point transmission of telecommunication satellite,In some embodiments, the first pitch angle between terminal and telecommunication satellite
β1It can also be according to calculation formulaIt is calculated.
In above-mentioned steps S22, since the link position of the satellite antenna in terminal is fixed, it is possible to pre- prophet
The angle of the direction of the direction and terminal of road satellite antenna；As an embodiment of the present invention, the direction of above-mentioned satellite antenna and end
The angle of the direction at end is 0 °, and the second horizontal angle that satellite antenna is directed toward is denoted as α2, then α2Value be geomagnetic sensor obtain
Current horizontal azimuth；The second pitch angle that satellite antenna is directed toward is denoted as β2, then β2Value be the current inclination of terminal
Angle, wherein according to the current 3-axis acceleration of the terminal of acceleration transducer acquisition, pass through calculation formulaThe current tilt angle of terminal is calculated；As further limiting, when terminal is in motion state
When, 3-axis acceleration should meetWherein, g is acceleration of gravity.
In above-mentioned steps S23, according to first level angle α1With the second horizontal angle α2, pass through calculation formula α3=α2-α1Meter
Calculate the third horizontal angle α for obtaining needing to adjust when satellite antenna alignment telecommunication satellite3；Work as α3Value be negative when, satellite antenna
The direction of adjusting and α3Value be positive number phase it is anti-.
In above-mentioned steps S24, according to the first pitch angle β1With the second pitch angle β2, pass through calculation formula β3=β2-β1Meter
Calculate the third pitch angle β for obtaining needing to adjust when satellite antenna alignment telecommunication satellite3；Work as β3Value be negative when, satellite antenna
The direction of adjusting and β3Value be positive number phase it is anti-.
In an embodiment of the present invention, above-mentioned according to the first longitude, first latitude, first height above sea level, described
Two longitudes, second latitude and second height above sea level, the first water of line segment where calculating the terminal and the telecommunication satellite
The step S21 of the straight angle and the first pitch angle, comprising:
S211, according to the first longitude, the first latitude and the first height above sea level, when calculating telecommunication satellite using earth the earth's core as origin
First coordinate；
S212, according to the second longitude, the second latitude and the second height above sea level, when computing terminal is using earth the earth's core as origin second
Coordinate.
S213, according to the first coordinate and the second coordinate, the first level angle of line segment where computing terminal and telecommunication satellite and
First pitch angle.
, using earth the earth's core as origin, telecommunication satellite is regarded as in solid space in above-mentioned steps S211 referring to Fig. 3
Coordinate points A (Xa, Ya, Za)；According to the first longitude j1, the first latitude w1 and the first height above sea level h1, pass through calculation formula Xa=(R+h1)
cos(w1)cos(j1)、Ya=(R+h1)cos(w1)sin(j1)、Za=(R+h1)sin(w1)；Be calculated the first coordinate (Xa,
Ya, Za), wherein R is earth radius.
In above-mentioned steps S212, using earth the earth's core as origin, by terminal regard as in solid space coordinate points B (Xb,
Yb, Zb)；According to the second longitude j2, the second latitude w2 and the second height above sea level h2, pass through calculation formula Xb=(R+h2)cos(w2)cos
(j2)、Yb=(R+h2)cos(w2)sin(j2)、Zb=(R+h2)sin(w2)；The second coordinate (Xb, Yb, Zb) is calculated, wherein R
For earth radius.
In above-mentioned steps S213, the angle of line segment and horizontal plane where terminal and telecommunication satellite is the first pitch angle, with
The angle of direct north is first level angle；According to calculation formulaBe calculated terminal with communicate
Intersatellite first level angle α1；According to calculation formulaIt is calculated between terminal and telecommunication satellite
The first pitch angle β1, wherein L is the linear distance of the coordinate A of terminal and the coordinate B point-to-point transmission of telecommunication satellite,In some embodiments, the first pitch angle between terminal and telecommunication satellite
β1It can also be according to calculation formulaIt is calculated.
In an embodiment of the present invention, above-mentioned that satellite antenna is adjusted according to directional information, so that satellite antenna alignment communication
After the step S3 of satellite, comprising:
S4 obtains three current axis angular rates of the terminal；
S5 adjusts satellite antenna according to preset rules according to three axis angular rates of terminal, so that satellite antenna tracking communication
Satellite.
Although above-mentioned satellite antenna aligned telecommunication satellite, when the position of terminal changes, satellite antenna
Can deviate from the aligning direction of telecommunication satellite, thus need be arranged when terminal location changes, satellite antenna automatically with
Track telecommunication satellite.
Referring to Fig. 4, in above-mentioned steps S4, what gyroscope measured is three axis angular rates of terminal, i.e., terminal is in three axis sides
To angle change；The motion profile of terminal is defined as vector V, Vxz is projection of the vector V in XZ plane, and Vxy is vector
Projection of the V on X/Y plane, Vyz are projection of the vector V in YZ plane, thus obtain included angle A xz, Vxy and X of Vxz and X-axis
Included angle A xy, Vyz of axis and the included angle A yz of Y-axis, when the variation of the motion profile of terminal, vector V variation, Axz, Axy and Ayz
Change therewith, it can be seen that gyroscope measured is the variation of angle.
In above-mentioned steps S5, since the position of the satellite antenna connection in terminal is fixed, it is possible to which pre-selection is known
Angle between the direction of road satellite antenna and the direction of terminal；Satellite antenna is according to three axis angular rates, i.e. Axz, Axy and Ayz
Variable quantity adjusts satellite antenna according to preset rules, so that satellite antenna automatically tracks telecommunication satellite；Preset rules can be terminal
To cause the opposite direction of the changed motion profile of Axz, Axy and Ayz to adjust above-mentioned satellite antenna.
Referring to Fig. 5, the system that the present invention automatically adjusts satellite antenna can be applied to terminal, which includes:
Module 1 is obtained, for obtaining the current location parameter of telecommunication satellite and the current direction parameter of terminal；
Computing module 2, for calculating the satellite antenna alignment telecommunication satellite of terminal according to location parameter and direction parameter
The directional information of required adjusting；
Alignment modules 3, for adjusting satellite antenna according to directional information, so that satellite antenna is to satelloid.
In above-mentioned acquisition module 1, the position of telecommunication satellite be it is fixed, if day leads to satellite positioning in 101.4 degree of east longitude,
So obtaining as long as the determination of module 1 is which satellite to carry out satellite telephony by, so that it may get the position ginseng of telecommunication satellite
Number, location parameter includes longitude and latitude and height above sea level；At the terminal, the position of satellite antenna installation is fixed for above-mentioned satellite antenna installation,
But the direction of satellite antenna is simultaneously not fixed；The direction parameter of terminal include longitude and latitude where terminal, height above sea level, horizontal azimuth and
Modes of emplacement；Because the link position of terminal and satellite antenna be it is fixed, know that the modes of emplacement of terminal can be known
The direction of road satellite antenna, modes of emplacement can upwards, a certain angle to the left, upwards a certain angle to the right, downwards, downwards upwards
A certain angle, downwards a certain angle to the right to the left；In some embodiments, the direction phase of the modes of emplacement with satellite antenna of terminal
Together.
In above-mentioned computing module 2, directional information includes horizontal angle and pitch angle；Computing module 2 includes calculating the first list
Member: it according to the longitude and latitude and height above sea level of the longitude and latitude of terminal and height above sea level and telecommunication satellite, calculates between terminal and telecommunication satellite
Linear distance calculates second unit: according to the longitude and latitude of the longitude and latitude of terminal and telecommunication satellite, calculating terminal and telecommunication satellite
Between lateral distance and fore-and-aft distance, calculate third unit: according to the height above sea level of the height above sea level of terminal and telecommunication satellite, calculate end
End and the difference in height of telecommunication satellite, calculate Unit the 4th: according to Pythagorean theorem it is known that water between terminal and telecommunication satellite
The straight angle and pitch angle；The longitude and latitude and height above sea level of terminal are one place on earth, regard terminal as a coordinate points, communication is defended
The longitude and latitude and height above sea level of star are also one place on earth, also regard telecommunication satellite as a coordinate points, and point is no direction
, so horizontal angle and pitch angle between terminal and telecommunication satellite are water when satellite antenna in terminal is directed at telecommunication satellite
The straight angle and pitch angle；It further, further include calculating Unit the 5th: according to the modes of emplacement of terminal and terminal and satellite antenna
Link position calculates the pitch angle that satellite antenna currently points to；Calculate Unit the 6th: according to the current horizontal azimuth of terminal
With the link position of terminal and satellite antenna, the horizontal angle that satellite antenna currently points to is calculated；Because of terminal and satellite antenna
The distance between it is infinitely small at a distance from terminal compared with telecommunication satellite, so ignore the distance between terminal and satellite antenna, terminal
Longitude and latitude and height above sea level it is identical as the longitude and latitude of satellite antenna and height above sea level；It further, further include calculating Unit the 7th: according to defending
Horizontal angle and pitch angle when the horizontal angle and pitch angle that star antenna currently points to are directed at telecommunication satellite with satellite antenna, calculate
Satellite antenna currently points to the horizontal angle for needing to adjust when alignment telecommunication satellite and pitch angle.
In above-mentioned alignment modules 3, computing module 2 calculates the horizontal angle and pitch angle of present satellites antenna direction, into
Horizontal angle and pitch angle when one step calculating satellite antenna alignment telecommunication satellite, so that calculating present satellites antenna is directed toward alignment
The directional information for needing to adjust when telecommunication satellite, alignment modules 3 can be motor, make corresponding tune according to directional information
It is whole, so that satellite antenna is directed at telecommunication satellite, speech quality is improved, enhances user experience.
Referring to Fig. 6, in an embodiment of the present invention, above-mentioned location parameter includes the first longitude, the first latitude and the first sea
It pulls out；Above-mentioned direction parameter includes the second longitude, the second latitude, the second height above sea level, horizontal azimuth and 3-axis acceleration；Obtain module
1, comprising:
First acquisition unit 11, for obtaining telecommunication satellite current the first longitude, the first latitude and liftoff first height above sea level；
Second acquisition unit 12, for obtaining terminal current the second longitude, the second latitude and the second height above sea level；
Third acquiring unit 13, for obtaining the current horizontal azimuth of terminal；
4th acquiring unit 14, for obtaining the current 3-axis acceleration of terminal.
In above-mentioned first acquisition unit 11, the position of telecommunication satellite is fixed, as long as so first acquisition unit 11 is examined
Measuring is which telecommunication satellite to establish communication connection by, and first acquisition unit 11 can directly acquire known to telecommunication satellite
The first longitude j1, the first latitude w1With the first height above sea level h1。
Above-mentioned second acquisition unit 12 can be GPS (Global Positioning System, global positioning system),
Second longitude j of GPS acquisition present terminal2, the second latitude w2With the second height above sea level h2；In some embodiments, because the of terminal
Two height above sea level h2Compared to the first height above sea level h of telecommunication satellite1It can be approximately 0, so ignoring the second height above sea level h2。
It can be geomagnetic sensor, i.e. electronic compass in above-mentioned third acquiring unit 13；When terminal is oriented to direct north
When, the horizontal azimuth that geomagnetic sensor obtains is 0 °；When terminal is oriented to due east direction, the level of geomagnetic sensor acquisition
Azimuth is 90 °；When terminal is oriented to due south direction, the horizontal direction angle that geomagnetic sensor obtains is 180 °；When terminal refers to
To be positive west to when, geomagnetic sensor obtain horizontal direction angle be 270 °；Because of the connection position of the satellite antenna in terminal
It is fixed for setting, so obtaining the horizontal azimuth of terminal, so that it may know being horizontally directed to for satellite antenna；In some embodiments
In, being horizontally directed to for the horizontal azimuth of terminal and satellite antenna is identical.
Above-mentioned 4th acquiring unit 14 can be acceleration transducer, gravity accelerometer is also known as, according to adding
The current 3-axis acceleration of the terminal that velocity sensor obtains, respectively the component of acceleration G of x-axis directionx, y-axis direction plus
Velocity component GyWith the component of acceleration G in z-axis directionz, the current tilt angle of terminal can be calculated by calculation formula；
Similarly, the link position of the satellite antenna in terminal is fixed, it is possible to know the tilt angle of satellite antenna, i.e. pitching
Angle.
Referring to Fig. 7, in an embodiment of the present invention, above-mentioned directional information includes third horizontal angle and third pitch angle, meter
Calculate module 2, further includes:
First computing unit 21, for according to the first coordinate, the second coordinate and linear distance, computing terminal and telecommunication satellite
The first level angle of place line segment and the first pitch angle；
Second computing unit 22, for calculating satellite antenna is directed toward second according to horizontal azimuth and 3-axis acceleration
Horizontal angle and the second pitch angle；
Third computing unit 23, for calculating satellite antenna alignment communication and defending according to first level angle and the second horizontal angle
The third horizontal angle for needing to adjust when star；
4th computing unit 24, for calculating satellite antenna alignment communication and defending according to the first pitch angle and the second pitch angle
The third pitch angle for needing to adjust when star.
In above-mentioned first computing unit 21, the angle of line segment and horizontal plane where terminal and telecommunication satellite is the first pitching
Angle, the angle with direct north are first level angle；Terminal and communication antenna are regarded as empty using earth the earth's core as the solid of origin
Between two coordinates, wherein terminal is calculated according to the second longitude, the second latitude and the second height above sea level in the first computing unit 21
Coordinate points B is (Xb, Yb, Zb), it is according to the coordinate points A that telecommunication satellite is calculated in the first longitude, the first latitude and the first height above sea level
(Xa, Ya, Za), so according to calculation formulaThe first water between terminal and telecommunication satellite is calculated
Straight angle α1；According to calculation formulaThe first pitch angle between terminal and telecommunication satellite is calculated
β1, wherein L is the linear distance of the coordinate A of terminal and the coordinate B point-to-point transmission of telecommunication satellite,In some embodiments, the first pitch angle between terminal and telecommunication satellite
β1It can also be according to calculation formulaIt is calculated.
In above-mentioned second computing unit 22, since the link position of the satellite antenna in terminal is fixed, so can
The angle of the direction of satellite antenna and the direction of terminal is known in advance；As an embodiment of the present invention, above-mentioned satellite antenna
Being directed toward with the angle of the direction of terminal is 0 °, and the second horizontal angle that satellite antenna is directed toward is denoted as α2, then α2Value be earth magnetism pass
The current horizontal azimuth that sensor obtains；The second pitch angle that satellite antenna is directed toward is denoted as β2, then β2Value work as terminal
Preceding tilt angle, wherein according to the current 3-axis acceleration of the terminal of acceleration transducer acquisition, the second computing unit 22 is logical
Cross calculation formulaThe current tilt angle of terminal is calculated；As further limiting, when terminal exists
When motion state, 3-axis acceleration should meetWherein, g is acceleration of gravity.
In above-mentioned third computing unit 23, third computing unit 23 is according to first level angle α1With the second horizontal angle α2, lead to
Cross calculation formula α3=α2-α1The third horizontal angle α for needing to adjust when satellite antenna alignment telecommunication satellite is calculated3；Work as α3's
When value is negative, direction and α that satellite antenna is adjusted3Value be positive number phase it is anti-.
In above-mentioned 4th computing unit 24, the 4th computing unit 24 is according to the first pitch angle β1With the second pitch angle β2, lead to
Cross calculation formula β3=β2-β1The third pitch angle β for needing to adjust when satellite antenna alignment telecommunication satellite is calculated3；Work as β3's
When value is negative, direction and β that satellite antenna is adjusted3Value be positive number phase it is anti-.
Referring to Fig. 8, in an embodiment of the present invention, the first computing unit 21, comprising:
First computation subunit 211, for according to the first longitude, the first latitude and the first height above sea level, calculating telecommunication satellite with
The first coordinate when earth the earth's core is origin；
Second computation subunit 212, for according to the second longitude, the second latitude and the second height above sea level, computing terminal to be with the earth
The second coordinate when the earth's core is origin；
Third computation subunit 213, for according to the first coordinate and the second coordinate, computing terminal and telecommunication satellite institute to be online
The first level angle of section and the first pitch angle.
In above-mentioned first computation subunit 211, using earth the earth's core as origin, telecommunication satellite is regarded as in solid space
Coordinate points A (Xa, Ya, Za)；First computation subunit 211 passes through according to the first longitude j1, the first latitude w1 and the first height above sea level h1
Calculation formula Xa=(R+h1)cos(w1)cos(j1)、Ya=(R+h1)cos(w1)sin(j1)、Za=(R+h1)sin(w1)；It calculates
The first coordinate (Xa, Ya, Za) is obtained, wherein R is earth radius.
In above-mentioned second computation subunit 212, using earth the earth's core as origin as, terminal is regarded to the coordinate in solid space
Point B (Xb, Yb, Zb)；Second computation subunit 212 passes through calculating according to the second longitude j2, the second latitude w2 and the second height above sea level h2
Formula Xb=(R+h2)cos(w2)sos(j2)、Yb=(R+h2)cos(w2)sin(j2)、Zb=(R+h2)sin(w2)；It is calculated
Second coordinate (Xb, Yb, Zb), wherein R is earth radius.
In above-mentioned third computation subunit 213, the angle of line segment and horizontal plane where terminal and telecommunication satellite is first
Pitch angle, the angle with direct north are first level angle；Third computation subunit 213 is according to calculation formulaThe first level angle α between terminal and telecommunication satellite is calculated1；According to calculation formulaThe first pitch angle β between terminal and telecommunication satellite is calculated1, wherein L is the coordinate of terminal
The linear distance of the coordinate B point-to-point transmission of A and telecommunication satellite,Some
In embodiment, the first pitch angle β between terminal and telecommunication satellite1It can also be according to calculation formulaIt is calculated.
Referring to Fig. 9, in an embodiment of the present invention, system further include:
Angular speed obtains module 4, for obtaining three current axis angular rates of terminal；
Tracking module 5, for adjusting satellite antenna according to preset rules according to three axis angular rates so that satellite antenna with
Track telecommunication satellite.
Although above-mentioned satellite antenna aligned telecommunication satellite, when the position of terminal changes, satellite antenna
Can deviate from the aligning direction of telecommunication satellite, thus need be arranged when terminal location changes, satellite antenna automatically with
Track telecommunication satellite.
It is obtained in module 4 in above-mentioned angular speed, it can be gyroscope that angular speed, which obtains module 4, and measurement is terminal
The angle change of three axis angular rates, i.e. terminal in three axis directions；The motion profile of terminal is defined as vector V, Vxz is vector V
Projection in XZ plane, Vxy are projection of the vector V on X/Y plane, and Vyz is projection of the vector V in YZ plane, thus
To included angle A xy, Vyz of included angle A xz, Vxy and X-axis of Vxz and X-axis and the included angle A yz of Y-axis, when the motion profile of terminal changes
When, vector V variation, Axz, Axy and Ayz also change therewith, it can be seen that gyroscope measured is the variation of angle.
In above-mentioned tracking module 5, since the position of the satellite antenna connection in terminal is fixed, it is possible to preselect
Know the angle between the direction of satellite antenna and the direction of terminal；Satellite antenna is according to three axis angular rates, i.e. Axz, Axy and Ayz
Variable quantity, according to preset rules adjust satellite antenna so that satellite antenna automatically tracks telecommunication satellite；Preset rules can be for eventually
End is to cause the opposite direction of the changed motion profile of Axz, Axy and Ayz to adjust above-mentioned satellite antenna.
The present invention by obtain module 1 obtain telecommunication satellite location parameter and terminal direction parameter, computing module 2
The directional information that satellite antenna alignment telecommunication satellite needs to adjust is calculated according to parameter, alignment modules 3 are controlled according to directional information
Satellite antenna is directed at telecommunication satellite, and then realizes that automatic adjustment satellite antenna is directed at telecommunication satellite；Module 4 is obtained by angular speed
Three axis angular rates of terminal are obtained, tracking module 5 makes satellite antenna automatically track telecommunication satellite according to three axis angular rates；System is certainly
Dynamic adjusting keeps satellite antenna more accurate to satelloid；Whole process does not need manual operation, enhances user experience.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all utilizations
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content is applied directly or indirectly in other correlations
Technical field, be included within the scope of the present invention.
Claims (10)
1. a kind of method for automatically adjusting satellite antenna characterized by comprising
Obtain the current direction parameter of telecommunication satellite current location parameter and terminal；
According to the location parameter and the direction parameter, the satellite antenna for calculating the terminal is directed at the telecommunication satellite institute
The directional information for needing to adjust；
The satellite antenna is adjusted according to the directional information, so that the satellite antenna is directed at the telecommunication satellite.
2. the method for automatic adjustment satellite antenna according to claim 1, which is characterized in that the location parameter includes the
One longitude, the first latitude and the first height above sea level；The direction parameter includes the second longitude, the second latitude, the second height above sea level, level orientation
Angle and 3-axis acceleration；Described the step of obtaining telecommunication satellite current location parameter and terminal current direction parameter, comprising:
Obtain the telecommunication satellite current first longitude, first latitude and first height above sea level；
Obtain the terminal current second longitude, second latitude and second height above sea level；
Obtain the current horizontal azimuth of the terminal；
Obtain the current 3-axis acceleration of the terminal.
3. the method for automatic adjustment satellite antenna according to claim 2, which is characterized in that the directional information includes the
Three horizontal angles and third pitch angle；It is described according to the location parameter and the direction parameter, calculate the satellite of the terminal
The step of directional information of telecommunication satellite described in antenna alignment, comprising:
According to first longitude, first latitude, first height above sea level, second longitude, second latitude and institute
The second height above sea level is stated, the first level angle of line segment and the first pitch angle where calculating the terminal and the telecommunication satellite；
According to the horizontal azimuth and the 3-axis acceleration, calculate the second horizontal angle that the satellite antenna currently points to and
Second pitch angle；
According to the first level angle and second horizontal angle, the needs when satellite antenna is directed at the telecommunication satellite are calculated
The third horizontal angle adjusted；
According to first pitch angle and second pitch angle, the needs when satellite antenna is directed at the telecommunication satellite are calculated
The third pitch angle adjusted.
4. the method for automatic adjustment satellite antenna according to claim 3, which is characterized in that described according to first warp
Degree, first latitude, first height above sea level, second longitude, second latitude and second height above sea level, described in calculating
The step of first level angle of line segment where terminal and the telecommunication satellite and the first pitch angle, comprising:
According to first longitude, first latitude and first height above sea level, calculating the telecommunication satellite with earth the earth's core is
The first coordinate when origin；
According to second longitude, second latitude and second height above sea level, the terminal is calculated using earth the earth's core as origin
When the second coordinate；
According to first coordinate and second coordinate, the first water of line segment where calculating the terminal and the telecommunication satellite
The straight angle and the first pitch angle.
5. the method for automatic adjustment satellite antenna according to claim 1, which is characterized in that described to be believed according to the direction
Breath adjusts the satellite antenna, so that after the step of satellite antenna is directed at the telecommunication satellite, comprising:
Obtain three current axis angular rates of the terminal；
According to three current axis angular rates of the terminal, the satellite antenna is adjusted according to preset rules, so that the satellite day
Line tracks the telecommunication satellite.
6. a kind of system for automatically adjusting satellite antenna characterized by comprising
Module is obtained, for obtaining the current location parameter of telecommunication satellite and the current direction parameter of terminal；
Computing module, for calculating the satellite antenna alignment of the terminal according to the location parameter and the direction parameter
The directional information adjusted required for the telecommunication satellite；
Alignment modules, for adjusting the satellite antenna according to the directional information, so that satellite antenna alignment is described logical
Believe satellite.
7. the system of automatic adjustment satellite antenna according to claim 6, which is characterized in that the location parameter includes the
One longitude, the first latitude and the first height above sea level；The direction parameter includes the second longitude, the second latitude, the second height above sea level, level orientation
Angle and 3-axis acceleration；The acquisition module, comprising:
First acquisition unit, for obtaining current first longitude of the telecommunication satellite, first latitude and described the
One height above sea level；
Second acquisition unit, for obtaining current second longitude of the terminal, second latitude and second sea
It pulls out；
Third acquiring unit, for obtaining the current horizontal azimuth of the terminal；
4th acquiring unit, for obtaining the current 3-axis acceleration of the terminal.
8. the system of automatic adjustment satellite antenna according to claim 7, which is characterized in that the directional information includes the
Three horizontal angles and third pitch angle；The computing module, comprising:
First computing unit, for according to first longitude, first latitude, first height above sea level, second longitude,
Second latitude and second height above sea level, the first level angle of line segment where calculating the terminal and the telecommunication satellite and the
One pitch angle；
Second computing unit, for calculating the finger of the satellite antenna according to the horizontal azimuth and the 3-axis acceleration
To the second horizontal angle and the second pitch angle；
Third computing unit, for calculating the satellite antenna alignment according to the first level angle and second horizontal angle
The third horizontal angle for needing to adjust when the telecommunication satellite；
4th computing unit, for calculating the satellite antenna alignment according to first pitch angle and second pitch angle
The third pitch angle for needing to adjust when the telecommunication satellite.
9. the system of automatic adjustment satellite antenna according to claim 8, which is characterized in that first computing unit,
Include:
First computation subunit, for calculating described logical according to first longitude, first latitude and first height above sea level
Believe first coordinate of the satellite using earth the earth's core as origin when；
Second computation subunit, for calculating the end according to second longitude, second latitude and second height above sea level
The second coordinate when holding using earth the earth's core as origin；
Third computation subunit, for calculating the terminal and the communication according to first coordinate and second coordinate
The first level angle of line segment and the first pitch angle where satellite.
10. the system of automatic adjustment satellite antenna according to claim 6, which is characterized in that the system also includes:
Angular speed obtains module, for obtaining three current axis angular rates of the terminal；
Tracking module, for the satellite antenna being adjusted according to preset rules, so that the satellite according to three axis angular rate
Telecommunication satellite described in antenna tracking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811190892.0A CN109273852B (en) | 2018-10-12 | 2018-10-12 | Method and system for automatically adjusting satellite antenna |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811190892.0A CN109273852B (en) | 2018-10-12 | 2018-10-12 | Method and system for automatically adjusting satellite antenna |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109273852A true CN109273852A (en) | 2019-01-25 |
| CN109273852B CN109273852B (en) | 2020-10-27 |
Family
ID=65196545
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811190892.0A Active CN109273852B (en) | 2018-10-12 | 2018-10-12 | Method and system for automatically adjusting satellite antenna |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109273852B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109672471A (en) * | 2019-02-25 | 2019-04-23 | 中国人民解放军军事科学院国防科技创新研究院 | Space-based information distribution system and distribution method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1124891A3 (en) * | 1975-07-23 | 1984-11-15 | Сайентифик-Атланта,Инк (Фирма) | Satellite tracking antenna arrangement |
| JP3540116B2 (en) * | 1997-03-21 | 2004-07-07 | アルプス電気株式会社 | Antenna device |
| CN101089764A (en) * | 2006-06-13 | 2007-12-19 | 中国科学院空间科学与应用研究中心 | Antenna automatic tracking inter-satellite control device and method |
| CN106469853A (en) * | 2015-08-19 | 2017-03-01 | 中国移动通信集团公司 | A kind of mobile earth station and the method for mobile earth station tracking satellite wave beam |
| CN106656305A (en) * | 2016-11-10 | 2017-05-10 | 协同通信技术有限公司 | Automatic satellite alignment method and apparatus, and satellite |
| CN107946768A (en) * | 2017-11-15 | 2018-04-20 | 北京华力创通科技股份有限公司 | Automatically to star method, apparatus and satellite antenna system |
-
2018
- 2018-10-12 CN CN201811190892.0A patent/CN109273852B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1124891A3 (en) * | 1975-07-23 | 1984-11-15 | Сайентифик-Атланта,Инк (Фирма) | Satellite tracking antenna arrangement |
| JP3540116B2 (en) * | 1997-03-21 | 2004-07-07 | アルプス電気株式会社 | Antenna device |
| CN101089764A (en) * | 2006-06-13 | 2007-12-19 | 中国科学院空间科学与应用研究中心 | Antenna automatic tracking inter-satellite control device and method |
| CN106469853A (en) * | 2015-08-19 | 2017-03-01 | 中国移动通信集团公司 | A kind of mobile earth station and the method for mobile earth station tracking satellite wave beam |
| CN106656305A (en) * | 2016-11-10 | 2017-05-10 | 协同通信技术有限公司 | Automatic satellite alignment method and apparatus, and satellite |
| CN107946768A (en) * | 2017-11-15 | 2018-04-20 | 北京华力创通科技股份有限公司 | Automatically to star method, apparatus and satellite antenna system |
Non-Patent Citations (2)
| Title |
|---|
| L. SAKR 等: "The higher order modes in the feeds of the satellite monopulse tracking antennas", 《 11TH IEEE MEDITERRANEAN ELECTROTECHNICAL CONFERENCE》 * |
| 孙兴邦: "卫星天线自动跟踪算法的研究", 《中国优秀硕士学位论文全文数据库》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109672471A (en) * | 2019-02-25 | 2019-04-23 | 中国人民解放军军事科学院国防科技创新研究院 | Space-based information distribution system and distribution method |
| CN109672471B (en) * | 2019-02-25 | 2020-01-14 | 中国人民解放军军事科学院国防科技创新研究院 | Space-based information distribution system and distribution method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109273852B (en) | 2020-10-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110926468B (en) | Communication-in-motion antenna multi-platform navigation attitude determination method based on transfer alignment | |
| EP3499260B1 (en) | Phased array antenna pointing direction estimation and control | |
| CN108535755B (en) | GNSS/IMU vehicle-mounted real-time integrated navigation method based on MEMS | |
| CN110487301A (en) | A kind of airborne strapdown inertial navigation system Initial Alignment Method of radar auxiliary | |
| CN102540200B (en) | Global navigation satellite system receiver and position measurement method | |
| CN108594283B (en) | Free installation method of GNSS/MEMS inertial integrated navigation system | |
| CN105509769B (en) | A kind of full self alignment method of carrier rocket inertial navigation | |
| CN112611394B (en) | Aircraft attitude alignment method and system under emission coordinate system | |
| CN115200574B (en) | Polar region transverse combined navigation method under earth ellipsoid model | |
| CN108303079B (en) | Data smoothing method for underwater USBL reverse application | |
| CN113074732A (en) | Indoor and outdoor seamless positioning system and positioning method thereof | |
| CN106410410A (en) | Satellite capturing and tracking method for VSAT (Very Small Aperture Terminal) antenna system with physical level platform | |
| CN105043418B (en) | A kind of quick initial coarse alignment method of inertial navigation system suitable for boat-carrying communication in moving | |
| CN106052672A (en) | Device, system and method for recording and presenting animal motion trail | |
| KR20150106004A (en) | Method and apparatus for handling vertical orientations of devices for constraint free portable navigation | |
| CN209001138U (en) | The tracking device of low orbit satellite earth station antenna | |
| CN106654531B (en) | Satellite capturing method for shipborne VSAT antenna system | |
| CN103411616A (en) | Vehicle-mounted integrated navigation method based on simplified inertia measurement assembly | |
| CN109273852A (en) | Automatically adjust the method and system of satellite antenna | |
| CN109742543A (en) | It is a kind of for by the method and corresponding system of the antenna alignment satellite of terminal | |
| CN202676915U (en) | Global navigation satellite system receiver | |
| CN112833878A (en) | Near-ground multi-source astronomical autonomous navigation method | |
| CN113640833A (en) | Communication-in-motion terminal equipment and satellite alignment method | |
| CN115542363B (en) | Attitude measurement method suitable for vertical downward-looking aviation pod | |
| JP3354805B2 (en) | Method and apparatus for measuring flow velocity distribution of moving position of underwater vehicle and flow field around it |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210902 Address after: 518000 201, No.26, yifenghua Innovation Industrial Park, Xinshi community, Dalang street, Longhua District, Shenzhen City, Guangdong Province Patentee after: Shenzhen waterward Information Co.,Ltd. Address before: 518000, block B, huayuancheng digital building, 1079 Nanhai Avenue, Shekou, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Waterward Co.,Ltd. |
|
| TR01 | Transfer of patent right |