CN110233352A - The deep space target with high precision tracking merged based on beam tilt compensation with conical scanning - Google Patents
The deep space target with high precision tracking merged based on beam tilt compensation with conical scanning Download PDFInfo
- Publication number
- CN110233352A CN110233352A CN201910473925.0A CN201910473925A CN110233352A CN 110233352 A CN110233352 A CN 110233352A CN 201910473925 A CN201910473925 A CN 201910473925A CN 110233352 A CN110233352 A CN 110233352A
- Authority
- CN
- China
- Prior art keywords
- antenna
- frequency range
- conical scanning
- directed toward
- satellite
- 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.)
- Pending
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
- H01Q3/02—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
- H01Q3/10—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 to produce a conical or spiral scan
Landscapes
- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
The present invention proposes a kind of deep space target with high precision tracking merged based on beam tilt compensation with conical scanning, conical scanning is done using X frequency range and signal on the basis of program designation and realizes that X frequency range high-precision is directed toward tracking, according to X and Ka frequency range and directional diagram peak error to amendment is directed toward, obtains Ka frequency range high-precision and be directed toward tracking.Specific steps are as follows: driving antenna does orientation, pitching scanning respectively first, and the angle position information and X frequency range AGC voltage of antenna, estimate X band satellite position approximate when writing scan；Then driving antenna is directed toward satellite position approximate, and conical scanning is done around position approximate, the angle information and X frequency range AGC information of voltage exported according to angular encoder in scanning process, further estimate satellite position error, according to estimation X frequency range location error and the initial position approximate of satellite, obtains X frequency range high-precision and be directed toward tracking, finally, according to X frequency range and Ka frequency range and directional diagram peak error to further amendment is directed toward, it can get Ka frequency range high-precision and be directed toward tracking.
Description
Technical field
The present invention relates to communication engineering field, merged based on beam tilt compensation with conical scanning more particularly to a kind of
Deep space target with high precision tracking.
Background technique
For deep space TT&C large aperture antenna, improving working frequency is to avoid one of increased method of path impairment,
Deep space TT&C communication station generallys use S, X band antenna in the world at present, and about 12dB increasing can be improved compared with S frequency range in X frequency range
Benefit, and how to use Ka frequency range, then 20dB gain is improved than S frequency range.
But large aperture antenna work is in Ka and when with super band, since half-power beam width is narrow, when the external world has disturbance
When larger, because antenna shake cannot achieve automatic school phase, it is difficult to realize monopulse tracking.
Summary of the invention
In view of the above-mentioned problems, the present invention proposes that a kind of deep space target merged based on beam tilt compensation with conical scanning is high
Precision tracking realizes X frequency range high precision tracking by conical scanning, and then according to X/Ka frequency range and directional diagram peak error
Ka frequency range direction is compensated, to realize Ka frequency range and be directed toward with super band in 35 meters and above large aperture antenna high-precision
Tracking.
Conical scanning method is a kind of conical scanning movement increased in antenna control position loop.It is several by control antenna
What axis deviates original and is directed toward target direction, and is directed toward target direction around original and is scanned with certain speed, when target actual positions deviate original
When pointing direction, received signal level can change with the variation of antenna Angle Position, and conical scanning is exactly according to reception signal
Level and angle position information and a kind of scanning motion for estimating space target position error.When obtaining satellite by conical scanning
It after the estimation of location error, X frequency range high-precision can get according to satellite position approximate is directed toward and track, finally by establishing GRASP antenna
Simulation model obtains X/Ka frequency range and directional diagram peak error under different Angle Position states, is directed toward and is tracked according to X frequency range high-precision
X/Ka frequency range and directional diagram peak error under the different Angle Position states that data and GRASP emulation obtain, it is high-precision to obtain Ka frequency range
Degree is directed toward tracking.
Based on the above principles, the technical solution of the present invention is as follows:
A kind of deep space target with high precision tracking merged based on beam tilt compensation with conical scanning, feature
It is: the following steps are included:
Step 1: antenna coarse scan range, conical scanning radius, conical scanning period are determined according to antenna aperture, working frequency range
Parameter；Wherein working frequency range is X frequency range；
Step 2: according to antenna coarse scan range, controlling antenna and do orientation, pitching scanning respectively, defended according to scan data acquisition
Star position approximate；And obtain received signal level value when antenna is directed toward present satellites position approximate；
Step 3: driving antenna to deviate satellite position approximate by antenna control unit, carry out conical scanning, while recording orientation
Pitch position information and received signal level value；Realize the process of conical scanning are as follows: antenna control unit draws in itself program
It leads and is superimposed azimuth deviation instruction and pitching offset commands in the azimuth and pitch command of instruction respectively, wherein azimuth deviation refers to
Enabling is Az (t)=δ sin (2 π t/T)/cos (El (t)), and pitching offset commands are El (t)=δ cos (2 π t/T)；Wherein δ is step
The rapid 1 conical scanning radius determined, T are the conical scanning period that step 1 determines；
Step 4: within a certain conical scanning period, in ti=i time Δt, Δ t are the sampling period, obtain estimation satellite
The model of location information is
Δpi=gsecosωti+gsxsinωti+vi
Wherein Δ piFor tiThe received signal level variable that moment obtains, by Δ pi=pi-pmIt determines, piFor tiMoment measurement
Obtained received signal level value, pmFor average signal level；viFor noise signal, g is intermediate variable, is takenμ=4ln (2), h are antenna half-power beamwidth, poReception letter when present satellites position approximate is directed toward for antenna
Number level value, wherein for first conical scanning period, poReception when antenna obtained in step 2 being taken to be directed toward satellite position approximate
Signal level value, for remaining conical scanning period, poAntenna obtained in a conical scanning period is taken to be directed toward new satellite
Received signal level value when position approximate；For satellite position to be estimated；
Step 5: the model obtained according to step 4 is become within a conical scanning period with obtained received signal level
Discharge observation value Δ p and its estimated valueThe minimum target of residual sum of squares (RSS), least square is carried out to satellite position to be estimated
Estimation, obtains the least square solution of satellite position in the current conical scanning periodWherein
N=T/ Δ t, ki=g [cos ω ti sinωti]；
Step 6: the least square solution of satellite position in the current conical scanning period obtained according to step 5 drives antenna
The satellite position deflection obtained to estimation, obtains reception signal when new satellite position approximate and antenna are directed toward new satellite position approximate
Level value；Then return step 3 carry out the conical scanning in next period, during the conical scanning of a cycle, antenna
Received signal level amplitude is equal, indicates that antenna geometrical axis is directed toward target, obtains satellite Angle Position under X frequency range and accurately estimate；
Step 7: according to plane mirror in antenna and the geometry site and X frequency range feed of frequency selective surface
Positional relationship between Ka frequency range feed establishes X/Ka frequency range and side under different Angle Position states using GRASP simulation software
To figure peak error；
Step 8: the different angles that satellite Angle Position is accurately estimated under the X frequency range obtained according to step 6 and step 7 obtains
X/Ka frequency range and directional diagram peak error under location status obtain satellite Angle Position under Ka frequency range and accurately estimate, realize Ka frequency range
High-precision is directed toward tracking.
Further preferred embodiment, a kind of deep space target merged based on beam tilt compensation with conical scanning are high-precision
Spend tracking, it is characterised in that: antenna coarse scan range, conical scanning half is determined according to antenna aperture, working frequency range in step 1
Diameter, the process of conical scanning cycle parameter are as follows:
When satellite initial angle position error is not more than given threshold, it is wide that antenna coarse scan range is selected as antenna half-power wave beam
3 times of degree；When satellite initial angle position error is greater than given threshold, antenna coarse scan range is selected as antenna half-power beamwidth
6 times；Wherein antenna half-power beamwidth is determined according to antenna aperture and Antenna Operation frequency range；
Conical scanning radius is determined according to antenna half-power beamwidth and received signal level maximum loss, wherein connecing
It receives signal level maximum loss and is not more than 0.1dB；
The conical scanning period is chosen within the scope of 30s~120s, and specific value is according to the wideband of antenna tracking equipment
Observation noise spectrum distribution and target state estimator requirement of real-time are selected.
Further preferred embodiment, a kind of deep space target merged based on beam tilt compensation with conical scanning are high-precision
Spend tracking, it is characterised in that: for 35 meters of aperture antennas, the conical scanning radius under X frequency range is 6.4mdeg.
Further preferred embodiment, a kind of deep space target merged based on beam tilt compensation with conical scanning are high-precision
Spend tracking, it is characterised in that: according to antenna coarse scan range in step 2, control antenna and do orientation, pitching scanning, root respectively
The detailed process of satellite position approximate is obtained according to scan data are as follows:
Firstly, control antenna deviates the antenna coarse scan range of half in azimuth direction, then drive antenna in opposite side
Position direction at the uniform velocity deflects antenna coarse scan range, while recording antenna azimuth and AGC level value, according to antenna bearingt motion process
Obtained in AGC maximum level value be arranged threshold value, reject be less than threshold value level value and corresponding azimuth information, to residue
AGC level value and corresponding azimuth information, be fitted using power exponential function, obtain AGC level value and azimuth
Power exponential function, the corresponding azimuth of level value maximum value is calculated according to obtained power exponential function, as at the beginning of satellite position
Begin to be directed toward estimation；It is initially directed toward estimation according to the satellite position of acquisition, driving antenna is directed toward corresponding azimuth；
It keeps azimuth direction constant, allows antenna to deviate the antenna coarse scan range of half in pitch orientation, then drive antenna
Antenna coarse scan range is at the uniform velocity deflected in opposite pitch orientation, while recording antenna elevation angle and AGC level value, is bowed according to antenna
The setting threshold value of AGC maximum level value obtained in motion process is faced upward, the level value and corresponding pitch angle for being less than threshold value are rejected
Information is fitted remaining AGC level value and corresponding pitch angle information using power exponential function, obtains AGC level
The power exponential function of value and pitch angle calculates the corresponding pitch angle of level value maximum value according to obtained power exponential function, as
Estimation is initially directed toward in satellite pitching；It is initially directed toward estimation according to the satellite pitching of acquisition, driving antenna is directed toward corresponding pitch angle.
Further preferred embodiment, a kind of deep space target merged based on beam tilt compensation with conical scanning are high-precision
Spend tracking, it is characterised in that: the AGC maximum level value according to obtained in antenna bearingt motion process is arranged in step 2
Threshold value is 50% of AGC maximum level value obtained in antenna bearingt motion process；It is obtained according in antenna pitching motion process
AGC maximum level value setting threshold value be antenna pitching motion process obtained in AGC maximum level value 50%.
Beneficial effect
1) a kind of high band antenna is provided for ground observing and controlling communications antenna system be accurately directed to tracking mesh calibration method, it can
Solving the problems, such as to shake because of antenna cannot achieve the automatic school of Ka frequency range mutually and then cannot use monopulse tracking.
2) this method only increases a set of control algolithm and X/Ka frequency range and directional diagram peak error algorithm in control loop,
In the case where not increasing TT&C antenna system hardware cost conditions, the reliability that Ka frequency range high-precision is directed toward tracking is improved；
3) blending algorithm can be tracked using the direction of any narrow beam two-band communication reflector antenna, therefore be applied
Range is wide.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is a kind of reflector antenna conical scanning maximum tracking flow chart of the present invention；
Fig. 2 is conical scanning tracking schematic diagram；
Fig. 3 is conical scanning geometrical relationship schematic diagram；
Fig. 4 is the definition of antenna coordinate system；
Fig. 5 is conical scanning received signal level characteristic, wherein upper figure is accurate tracking, the following figure is that there are 2mdeg for pitching
It is directed toward deviation；
Antenna azimuth kinetic characteristic when Fig. 6 is the tracking of certain engineering maximum；
Antenna elevation angle kinetic characteristic when Fig. 7 is the tracking of certain engineering maximum；
AGC voltage change characteristic when Fig. 8 is the tracking of certain engineering maximum；
When Fig. 9 is the tracking of certain engineering maximum target position valuation cumulative and；
Figure 10 is X, Ka frequency range and directional diagram peak position relationship when X frequency range is directed toward tracking；
Figure 11 is that Ka band gain loses when X frequency range is directed toward tracking.
Specific embodiment
The embodiment of the present invention is described below in detail, the embodiment is exemplary, it is intended to it is used to explain the present invention, and
It is not considered as limiting the invention.
The present embodiment proposes a kind of deep space target with high precision track side merged based on beam tilt compensation with conical scanning
Method is realized X frequency range high precision tracking by conical scanning, and then is referred to according to X/Ka frequency range and directional diagram peak error to Ka frequency range
To compensating, to realize Ka frequency range and be directed toward tracking in 35 meters and above large aperture antenna high-precision with super band.
Conical scanning method is a kind of conical scanning movement increased in antenna control position loop.It is several by control antenna
What axis deviates original and is directed toward target direction, and is directed toward target direction around original and is scanned with certain speed, when target actual positions deviate original
When pointing direction, received signal level can change with the variation of antenna Angle Position, and conical scanning is exactly according to reception signal
Level and angle position information and a kind of scanning motion for estimating space target position error.When obtaining satellite by conical scanning
It after the estimation of location error, X frequency range high-precision can get according to satellite position approximate is directed toward and track, finally by establishing GRASP antenna
Simulation model obtains X/Ka frequency range and directional diagram peak error under different Angle Position states, is directed toward and is tracked according to X frequency range high-precision
X/Ka frequency range and directional diagram peak error under the different Angle Position states that data and GRASP emulation obtain, it is high-precision to obtain Ka frequency range
Degree is directed toward tracking.
Specific steps of the invention are as follows:
Step 1: antenna coarse scan range, conical scanning radius, conical scanning period are determined according to antenna aperture, working frequency range
Parameter；Wherein working frequency range is X frequency range；Detailed process are as follows:
When satellite initial angle position error is not more than given threshold, it is wide that antenna coarse scan range is selected as antenna half-power wave beam
3 times of degree；When satellite initial angle position error is greater than given threshold, antenna coarse scan range is selected as antenna half-power beamwidth
6 times；Wherein antenna half-power beamwidth is determined according to antenna aperture and Antenna Operation frequency range.
During conical scanning, conical scanning radius and conical scanning period are influence satellite position estimated accuracy two
A key parameter.Wherein conical scanning radius is true according to antenna half-power beamwidth and received signal level maximum loss
It is fixed, it is desirable that received signal level maximum loss is not more than 0.1dB, so that equipment begins during tracking satellite with signal
Intensity with higher eventually, for 35 meters of antennas, sweep radius is 6.4mdeg under X frequency range.And for deep space exploration target,
Since target is remote, antenna rotational angular velocity is smaller when antenna tracking target, so the conical scanning period is in 30s~120s range
It is inside chosen, specific value is according to the wideband observation noise spectrum distribution and target state estimator requirement of real-time of antenna tracking equipment
It is selected, it is better to the wideband observation noise filter effect of antenna tracking equipment because the conical scanning period is bigger, but target
Real-time is estimated with regard to poor, so here according to the wideband observation noise frequency spectrum of antenna tracking equipment point within the scope of 30s~120s
Cloth and target state estimator requirement of real-time synthesis are selected.
Step 2: according to antenna coarse scan range, controlling antenna and do orientation, pitching scanning respectively, defended according to scan data acquisition
Star position approximate；And obtain received signal level value when antenna is directed toward present satellites position approximate.
According to antenna coarse scan range, controls antenna and do orientation, pitching scanning respectively, satellite position approximate is obtained according to scan data
Detailed process are as follows:
The antenna coarse scan range that antenna deviates half in azimuth direction is controlled, then drives antenna in opposite azimuth direction
Antenna coarse scan range is at the uniform velocity deflected, while recording antenna azimuth and AGC level value, obtained in antenna bearingt motion process
The 50% of AGC maximum level value is used as threshold value, the level value and corresponding azimuth information for being less than threshold value is rejected, to remaining
AGC level value and corresponding azimuth information, are fitted using power exponential function, obtain AGC level value with it is azimuthal
Power exponential function calculates the corresponding azimuth of level value maximum value according to obtained power exponential function, initial as satellite position
It is directed toward estimation；It is initially directed toward estimation according to the satellite position of acquisition, driving antenna is directed toward corresponding azimuth；
It keeps azimuth direction constant, allows antenna to deviate the antenna coarse scan range of half in pitch orientation, then drive antenna
Antenna coarse scan range is at the uniform velocity deflected in opposite pitch orientation, while recording antenna elevation angle and AGC level value, with antenna pitching
The 50% of AGC maximum level value obtained in motion process is used as threshold value, rejects the level value for being less than threshold value and corresponding bows
Elevation information is fitted using power exponential function to remaining AGC level value and corresponding pitch angle information, obtains AGC
The power exponential function of level value and pitch angle calculates the corresponding pitch angle of level value maximum value according to obtained power exponential function,
Estimation is initially directed toward as satellite pitching；It is initially directed toward estimation according to the satellite pitching of acquisition, driving antenna is directed toward corresponding pitching
Angle.
Step 3: driving antenna to deviate satellite position approximate by antenna control unit, carry out conical scanning, while recording orientation
Pitch position information and received signal level value；Realize the process of conical scanning are as follows: antenna control unit draws in itself program
It leads and is superimposed azimuth deviation instruction and pitching offset commands in the azimuth and pitch command of instruction respectively, wherein azimuth deviation refers to
Enabling is Az (t)=δ sin (2 π t/T)/cos (El (t)), and pitching offset commands are El (t)=δ cos (2 π t/T)；Wherein δ is step
The rapid 1 conical scanning radius determined, T are the conical scanning period that step 1 determines.
Step 4: within a certain conical scanning period, in ti=i time Δt, Δ t are the sampling period, obtain estimation satellite
The model of location information is
Δpi=gsecosωti+gsxsinωti+vi
Wherein Δ piFor tiThe received signal level variable that moment obtains, by Δ pi=pi-pmIt determines, piFor tiMoment measurement
Obtained received signal level value, pmFor average signal level；viFor noise signal, g is intermediate variable, is takenμ=4ln (2), h are antenna half-power beamwidth, poReception letter when present satellites position approximate is directed toward for antenna
Number level value, wherein for first conical scanning period, poReception when antenna obtained in step 2 being taken to be directed toward satellite position approximate
Signal level value, for remaining conical scanning period, poAntenna obtained in a conical scanning period is taken to be directed toward new satellite
Received signal level value when position approximate；For satellite position to be estimated.
Step 5: the model obtained according to step 4 is become within a conical scanning period with obtained received signal level
Discharge observation value Δ p and its estimated valueThe minimum target of residual sum of squares (RSS), least square is carried out to satellite position to be estimated
Estimation, obtains the least square solution of satellite position in the current conical scanning periodWherein
N=T/ Δ t, ki=g [cos ω ti sinωti]。
The theory analysis process of step 4 and step 5 is given below:
Antenna direction graph model is established in step 4, and Taylor's One step development is carried out to received signal level, obtains error electricity
The linear model of pressure and Satellite Targets location information:
Antenna receives sense figure and is described with Gaussian function are as follows:
In formula: δ is conical scanning radius, θBFor antenna half-power beamwidth；
In order to establish received signal level with the mathematical model of aerial position during conical scanning, it is necessary first to establish
Unified coordinate system provides the definition of antenna coordinate system: using Antenna aperture center as coordinate origin, perpendicular to antenna opening thus
Face is positive Z axis far from antenna, parallel and perpendicular to two axis of Z axis is respectively X-axis with Antenna aperture (title intersects pitch axis XEL)
With Y-axis (claiming pitch axis EL).
When antenna makees conical scanning, in ti=i time Δt, the superposed positions a of antennaiIt is by pitch angle aeiAnd intersection
Pitch angle axiComposition.Δ t is the sampling period
According to space target position s to be estimatediWith antenna superposed positions aiIt can define antenna turning error
ei=si-ai (3)
In ti=i time Δt, turning error size can use H2Norm describes:
It can be obtained by formula (3) and (4)
Received signal level p can be obtained according to formula (1)iWith turning error εiFunctional relation are as follows:
It is believed that target position is to immobilize, i.e., during conical scanningpoPresent satellites are directed toward for antenna
Received signal level value when position approximate, wherein for first conical scanning period, poThe direction of antenna obtained in step 2 is taken to defend
Received signal level value when star position approximate, for remaining conical scanning period, poTake day obtained in a conical scanning period
Line is directed toward received signal level value when new satellite position approximate.
Taylor's One step development formula is taken to obtain (6) formula:
μ is 4ln (2), h θ in formulaB。
Wushu (5) substitutes into above formula and can obtain:
Convolution (2)~(3):
Here pmIt is average signal level, is defined as:
According to average signal level defined variable Δ pi=pi-pm, it can be obtained by formula (9):
Δpi=gsecosωti+gsxsinωti+vi (11)
Wherein
In practice, within a conical scanning period, g and ω are known parameters, signal level variation Δ piIt can survey
It measures, therefore can determine space target position s by formula (11)e,sx.If there is no observation noise, target position can pass through
The amplitude and phase of signal level variation obtain, however usually have respectively in engineering actually aerial position and received signal level
Kind observation noise, needs to be obtained the estimation to target position by means of least square method thus.
According to formula (11)~(12), provide as given a definition
ki=g [cos ω ti sinωti] (13)
According to the definition of above formula, then (11) formula can be write as
Δpi=kis+vi (14)
In each scan period T, t sample information amount of available n=T/ Δ:
And V=[v1 v2 … vn]TCan not precise measurement obtain.It can get following expression according to formula (13)~(15)
Formula:
Δ p=Ks+V (16)
Observation Δ p and its estimated valueResidual sum of squares (RSS) are as follows:
Formula (17) is rightPartial derivative is sought, and its partial derivative is enabled to be equal to zero estimated value that can find out s:
That is:
So as to obtain the least square solution of space target positionEstimation:
Step 6: the least square solution of satellite position in the current conical scanning period obtained according to step 5 drives antenna
The satellite position deflection obtained to estimation, obtains reception signal when new satellite position approximate and antenna are directed toward new satellite position approximate
Level value；Then return step 3 carry out the conical scanning in next period, during the conical scanning of a cycle, antenna
Received signal level amplitude is equal, indicates that antenna geometrical axis is directed toward target, obtains satellite Angle Position under X frequency range and accurately estimate.
Step 7: according to plane mirror in antenna and the geometry site and X frequency range feed of frequency selective surface
Positional relationship between Ka frequency range feed establishes X/Ka frequency range and side under different Angle Position states using GRASP simulation software
To figure peak error.
Step 8: the different angles that satellite Angle Position is accurately estimated under the X frequency range obtained according to step 6 and step 7 obtains
X/Ka frequency range and directional diagram peak error under location status obtain satellite Angle Position under Ka frequency range and accurately estimate, realize Ka frequency range
High-precision is directed toward tracking.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.
Claims (5)
1. a kind of deep space target with high precision tracking merged based on beam tilt compensation with conical scanning, it is characterised in that:
The following steps are included:
Step 1: determining that antenna coarse scan range, conical scanning radius, conical scanning period join according to antenna aperture, working frequency range
Number；Wherein working frequency range is X frequency range；
Step 2: according to antenna coarse scan range, controlling antenna and do orientation, pitching scanning respectively, it is general to obtain satellite according to scan data
Position；And obtain received signal level value when antenna is directed toward present satellites position approximate；
Step 3: driving antenna to deviate satellite position approximate by antenna control unit, carry out conical scanning, while recording azimuth pitch
Angle position information and received signal level value；Realize the process of conical scanning are as follows: antenna control unit refers in itself program designation
Azimuth deviation instruction and pitching offset commands are superimposed in the azimuth of order and pitch command respectively, wherein azimuth deviation instruction is
Az (t)=δ sin (2 π t/T)/cos (El (t)), pitching offset commands are El (t)=δ cos (2 π t/T)；Wherein δ is that step 1 is true
Fixed conical scanning radius, T are the conical scanning period that step 1 determines；
Step 4: within a certain conical scanning period, in ti=i time Δt, Δ t are the sampling period, obtain estimation satellite position letter
The model of breath is
Δpi=gsecosωti+gsxsinωti+vi
Wherein Δ piFor tiThe received signal level variable that moment obtains, by Δ pi=pi-pmIt determines, piFor tiMoment measurement obtains
Received signal level value, pmFor average signal level；viFor noise signal, g is intermediate variable, is takenμ=4ln (2), h are antenna half-power beamwidth, poReception letter when present satellites position approximate is directed toward for antenna
Number level value, wherein for first conical scanning period, poReception when antenna obtained in step 2 being taken to be directed toward satellite position approximate
Signal level value, for remaining conical scanning period, poAntenna obtained in a conical scanning period is taken to be directed toward new satellite
Received signal level value when position approximate；For satellite position to be estimated；
Step 5: the model obtained according to step 4 is seen within a conical scanning period with obtained received signal level variable
Measured value Δ p and its estimated valueThe minimum target of residual sum of squares (RSS), least square is carried out to satellite position to be estimated and is estimated
Meter, obtains the least square solution of satellite position in the current conical scanning periodWherein
N=T/ Δ t, ki=g [cos ω ti sinωti]；
Step 6: the least square solution of satellite position in the current conical scanning period obtained according to step 5, driving antenna is to estimating
Obtained satellite position deflection is counted, received signal level when new satellite position approximate and antenna are directed toward new satellite position approximate is obtained
Value；Then return step 3 carry out the conical scanning in next period, and during the conical scanning of a cycle, antenna is received
Signal level amplitude is equal, indicates that antenna geometrical axis is directed toward target, obtains satellite Angle Position under X frequency range and accurately estimate；
Step 7: according to the geometry site and X frequency range feed and Ka of plane mirror in antenna and frequency selective surface
Positional relationship between frequency range feed establishes X/Ka frequency range and directional diagram under different Angle Position states using GRASP simulation software
Peak error；
Step 8: the different Angle Positions that satellite Angle Position is accurately estimated under the X frequency range obtained according to step 6 and step 7 obtains
X/Ka frequency range and directional diagram peak error under state obtain satellite Angle Position under Ka frequency range and accurately estimate, realize that Ka frequency range is high-precision
Degree is directed toward tracking.
2. a kind of deep space target with high precision tracking merged based on beam tilt compensation with conical scanning according to claim 1
Method, it is characterised in that: antenna coarse scan range, conical scanning radius, circle are determined according to antenna aperture, working frequency range in step 1
The process for boring scan period parameter is as follows:
When satellite initial angle position error is not more than given threshold, antenna coarse scan range is selected as antenna half-power beamwidth
3 times；When satellite initial angle position error is greater than given threshold, antenna coarse scan range is selected as the 6 of antenna half-power beamwidth
Times；Wherein antenna half-power beamwidth is determined according to antenna aperture and Antenna Operation frequency range；
Conical scanning radius is determined according to antenna half-power beamwidth and received signal level maximum loss, wherein receiving letter
Number level maximum loss is not more than 0.1dB；
The conical scanning period is chosen within the scope of 30s~120s, and specific value is observed according to the wideband of antenna tracking equipment
Noise spectrum distribution and target state estimator requirement of real-time are selected.
3. a kind of deep space target with high precision tracking merged based on beam tilt compensation with conical scanning according to claim 2
Method, it is characterised in that: for 35 meters of aperture antennas, the conical scanning radius under X frequency range is 6.4mdeg.
4. a kind of deep space target with high precision tracking merged based on beam tilt compensation with conical scanning according to claim 1
Method, it is characterised in that: according to antenna coarse scan range in step 2, control antenna and do orientation, pitching scanning respectively, according to scanning
The detailed process of data acquisition satellite position approximate are as follows:
Firstly, control antenna deviates the antenna coarse scan range of half in azimuth direction, then drive antenna in opposite orientation side
To at the uniform velocity deflection antenna coarse scan range, while antenna azimuth and AGC level value are recorded, is obtained according in antenna bearingt motion process
The AGC maximum level value setting threshold value arrived, rejects the level value and corresponding azimuth information for being less than threshold value, to remaining
AGC level value and corresponding azimuth information, are fitted using power exponential function, obtain AGC level value with it is azimuthal
Power exponential function calculates the corresponding azimuth of level value maximum value according to obtained power exponential function, initial as satellite position
It is directed toward estimation；It is initially directed toward estimation according to the satellite position of acquisition, driving antenna is directed toward corresponding azimuth；
It keeps azimuth direction constant, antenna is allowed to deviate the antenna coarse scan range of half in pitch orientation, then drive antenna in phase
Anti- pitch orientation at the uniform velocity deflects antenna coarse scan range, while recording antenna elevation angle and AGC level value, is transported according to antenna pitching
Threshold value is arranged in AGC maximum level value obtained in dynamic process, rejects the level value for being less than threshold value and corresponding pitch angle information,
To remaining AGC level value and corresponding pitch angle information, be fitted using power exponential function, obtain AGC level value with
The power exponential function of pitch angle calculates the corresponding pitch angle of level value maximum value according to obtained power exponential function, as satellite
Estimation is initially directed toward in pitching；It is initially directed toward estimation according to the satellite pitching of acquisition, driving antenna is directed toward corresponding pitch angle.
5. a kind of deep space target with high precision tracking merged based on beam tilt compensation with conical scanning according to claim 4
Method, it is characterised in that: the threshold value of the setting of the AGC maximum level value according to obtained in antenna bearingt motion process is in step 2
The 50% of AGC maximum level value obtained in antenna bearingt motion process；Most according to AGC obtained in antenna pitching motion process
The threshold value of big level value setting is 50% of AGC maximum level value obtained in antenna pitching motion process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910473925.0A CN110233352A (en) | 2019-06-02 | 2019-06-02 | The deep space target with high precision tracking merged based on beam tilt compensation with conical scanning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910473925.0A CN110233352A (en) | 2019-06-02 | 2019-06-02 | The deep space target with high precision tracking merged based on beam tilt compensation with conical scanning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110233352A true CN110233352A (en) | 2019-09-13 |
Family
ID=67859024
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910473925.0A Pending CN110233352A (en) | 2019-06-02 | 2019-06-02 | The deep space target with high precision tracking merged based on beam tilt compensation with conical scanning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110233352A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111224240A (en) * | 2020-01-13 | 2020-06-02 | 深圳市星网荣耀科技有限公司 | Satellite antenna automatic satellite alignment method capable of achieving rapid convergence |
| CN112325840A (en) * | 2020-10-14 | 2021-02-05 | 中国人民解放军63921部队 | Directional antenna angle rapid calibration method based on celestial body tracking and scanning |
| CN113917949A (en) * | 2021-10-22 | 2022-01-11 | 广州辰创科技发展有限公司 | Ship-borne three-axis antenna satellite automatic tracking method, system, equipment and storage medium |
| CN114142956A (en) * | 2021-11-06 | 2022-03-04 | 中国电子科技集团公司第五十四研究所 | Method for carrying out cone scanning tracking demodulation by using TDMA (time division multiple Access) signal |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6181271B1 (en) * | 1997-08-29 | 2001-01-30 | Kabushiki Kaisha Toshiba | Target locating system and approach guidance system |
| CN1358392A (en) * | 1999-06-25 | 2002-07-10 | 阿斯特罗文森国际公司 | Direct broadcast satellite imaging system and method providing real-time, continuous monitoring of earth from grostationary earth orbit |
| US7633432B2 (en) * | 2006-12-13 | 2009-12-15 | The Boeing Company | Method and apparatus for precision antenna boresight error estimates |
| CN202189894U (en) * | 2011-01-10 | 2012-04-11 | 天津海洋数码科技有限公司 | Cone electronic scanning and tracking system |
| CN109390698A (en) * | 2018-10-18 | 2019-02-26 | 中国电子科技集团公司第三十九研究所 | A kind of method reflector antenna estimation satellite position and accurately tracked |
| CN109799516A (en) * | 2018-12-22 | 2019-05-24 | 中国电波传播研究所（中国电子科技集团公司第二十二研究所） | A kind of device for the positioning of GNSS Interference Detection |
-
2019
- 2019-06-02 CN CN201910473925.0A patent/CN110233352A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6181271B1 (en) * | 1997-08-29 | 2001-01-30 | Kabushiki Kaisha Toshiba | Target locating system and approach guidance system |
| CN1358392A (en) * | 1999-06-25 | 2002-07-10 | 阿斯特罗文森国际公司 | Direct broadcast satellite imaging system and method providing real-time, continuous monitoring of earth from grostationary earth orbit |
| US7633432B2 (en) * | 2006-12-13 | 2009-12-15 | The Boeing Company | Method and apparatus for precision antenna boresight error estimates |
| CN202189894U (en) * | 2011-01-10 | 2012-04-11 | 天津海洋数码科技有限公司 | Cone electronic scanning and tracking system |
| CN109390698A (en) * | 2018-10-18 | 2019-02-26 | 中国电子科技集团公司第三十九研究所 | A kind of method reflector antenna estimation satellite position and accurately tracked |
| CN109799516A (en) * | 2018-12-22 | 2019-05-24 | 中国电波传播研究所（中国电子科技集团公司第二十二研究所） | A kind of device for the positioning of GNSS Interference Detection |
Non-Patent Citations (1)
| Title |
|---|
| 徐崇彦等: ""Ka 频段低轨卫星跟踪技术研究"", 《无线电通信技术》 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111224240A (en) * | 2020-01-13 | 2020-06-02 | 深圳市星网荣耀科技有限公司 | Satellite antenna automatic satellite alignment method capable of achieving rapid convergence |
| CN112325840A (en) * | 2020-10-14 | 2021-02-05 | 中国人民解放军63921部队 | Directional antenna angle rapid calibration method based on celestial body tracking and scanning |
| CN112325840B (en) * | 2020-10-14 | 2023-03-31 | 中国人民解放军63921部队 | Directional antenna angle rapid calibration method based on celestial body tracking and scanning |
| CN113917949A (en) * | 2021-10-22 | 2022-01-11 | 广州辰创科技发展有限公司 | Ship-borne three-axis antenna satellite automatic tracking method, system, equipment and storage medium |
| CN113917949B (en) * | 2021-10-22 | 2022-10-28 | 广州辰创科技发展有限公司 | Ship-borne three-axis antenna satellite automatic tracking method, system, equipment and storage medium |
| CN114142956A (en) * | 2021-11-06 | 2022-03-04 | 中国电子科技集团公司第五十四研究所 | Method for carrying out cone scanning tracking demodulation by using TDMA (time division multiple Access) signal |
| CN114142956B (en) * | 2021-11-06 | 2024-04-09 | 中国电子科技集团公司第五十四研究所 | Method for cone scanning tracking demodulation by using TDMA signal |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109390698A (en) | A kind of method reflector antenna estimation satellite position and accurately tracked | |
| CN110233352A (en) | The deep space target with high precision tracking merged based on beam tilt compensation with conical scanning | |
| US5043737A (en) | Precision satellite tracking system | |
| CN108051803B (en) | Method for tracking target over-top by multi-beam spherical phased array antenna | |
| US7250902B2 (en) | Method of generating accurate estimates of azimuth and elevation angles of a target for a phased—phased array rotating radar | |
| CN110323571A (en) | A kind of in-orbit Calibration Method of multi-beam direction suitable for high-throughput satellite | |
| CN110308746A (en) | A kind of Star-Proofreading method suitable for three-axle table formula TT&C antenna | |
| CN109581279A (en) | A kind of bearing calibration of ultra wide band multiple-beam system direction finding precision and device | |
| US5912642A (en) | Method and system for aligning a sensor on a platform | |
| CN111220954B (en) | Radar angle error correction method based on self-correcting amplitude normalization | |
| CN110618408A (en) | System calibration method for antenna phase center of precision distance measurement system | |
| CN111948464B (en) | Offset-fed wireless closed-loop self-tracking phase correction system | |
| CN106403919B (en) | A kind of dynamic correcting method of Electronic Megnetic Compass | |
| CN111884704A (en) | Phase correction-free tracking system for ground station of satellite measurement, operation and control system | |
| RU2303229C1 (en) | Method for formation of stabilization and homing signal of movable carrier and on-board homing system for its realization | |
| US10996328B2 (en) | Adaptive discovery and correction of phase alignment errors in monopulse antenna systems | |
| CN114994420A (en) | Phased array antenna array element channel phase deflection characteristic test method | |
| CN111880173A (en) | Staring radar system and direction-finding method of amplitude-comparison phase thereof | |
| CN115622642A (en) | Correction method for tracking and calibrating dynamic target angle by spherical phased array antenna | |
| CN109407068B (en) | Method and device for determining direction and distance of target during headspace crossing | |
| CN105929361A (en) | Single antenna optimization amplitude comparison radio direction finding system and method | |
| CN108020850B (en) | A kind of in-orbit calibration method of Single Channel Monopulse Angle Tracking Systems phase and system | |
| CN113625063B (en) | Method for evaluating single pulse performance of antenna under complete machine condition | |
| US10495730B1 (en) | Phase agnostic monopulse tracking | |
| US10324176B1 (en) | Mainlobe detection process for monopulse antenna systems |
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 | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190913 |
|
| WD01 | Invention patent application deemed withdrawn after publication |