CN110542912A - Omnidirectional satellite navigation signal receiving system suitable for random attitude change - Google Patents
Omnidirectional satellite navigation signal receiving system suitable for random attitude change Download PDFInfo
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- CN110542912A CN110542912A CN201910769695.2A CN201910769695A CN110542912A CN 110542912 A CN110542912 A CN 110542912A CN 201910769695 A CN201910769695 A CN 201910769695A CN 110542912 A CN110542912 A CN 110542912A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses an omnidirectional satellite navigation signal receiving system suitable for arbitrary change of attitude, belonging to the technical field of spacecrafts, comprising: the device comprises a carrier shell, a mounting disc, six in-phase circularly polarized antenna array elements, a combiner, a satellite navigation receiver and a data resolving unit; the antenna array elements AI, the antenna array elements AIII, the antenna array elements BI and the antenna array elements BIII are uniformly distributed at intervals along the circumferential direction of the mounting disc, the antenna array elements AII and the antenna array elements BII are respectively arranged on the upper side and the lower side of the mounting disc, and the antenna array elements AII and the antenna array elements BII are symmetrically distributed along the mounting disc; the antenna array element AI, the antenna array element AII, the antenna array element AIII, the antenna array element BI, the antenna array element BII and the antenna array element BIII are positioned on the same spherical surface; the invention can receive satellite signals sent by a navigation satellite operating on a surrounding earth orbit, complete navigation calculation and realize the measurement of the real-time position and the moving speed of the navigation satellite.
Description
Technical Field
The invention belongs to the technical field of spacecrafts, and particularly relates to an omnidirectional satellite navigation signal receiving system suitable for randomly changing postures.
Background
to realize the resolving of the satellite navigation signals, the satellite navigation receiver needs to capture more than four navigation satellite signals and continuously track and lock the navigation satellite signals so as to realize the dynamic flight trajectory measurement of the space vehicle or the measuring device.
approximately 30 navigation satellite orbits cover almost the entire dome. For a single antenna, the beamwidth of its effective received signal is limited and determined. When the satellite navigation receiving system is applied to an aerospace vehicle, the receiving antenna is fixedly mounted to the vehicle at a position close to the surface. When the aircraft rotates, the antenna rotates along with the aircraft, the navigation satellite pointed by the antenna is continuously changed in the process, and the signal of the same navigation satellite is intermittent, so that the signal is easy to lose lock, and the resolving failure occurs. For missiles and rockets, rotation mainly surrounds the axis of the missile/rocket, and the conventional solution is to use a plurality of annular antenna unit arrays and combiners surrounding the axis to realize continuous coverage of a navigation satellite in a certain direction range, but a synthetic directional diagram of an antenna has large zero depth at two ends of the axis, so that reception and navigation calculation of the navigation satellite signal cannot be realized in the range, and only the navigation satellite signal in a transverse range can be used. For a detector without a fixed rotating shaft, due to the design of the annular multiple antenna unit arrays and the combiners around the axis, the satellite signals which are locked and participate in the calculation are easily interrupted, continued and even lost, the continuous tracking, locking and calculation of the navigation satellite signals cannot be met, and the stable and high-quality satellite navigation data output is difficult to realize.
disclosure of Invention
In view of this, the invention provides an omnidirectional satellite navigation signal receiving system suitable for any change of attitude, which is applied to various spacecrafts and detectors, can receive satellite signals sent by navigation satellites running on the orbit around the earth, completes navigation calculation, and realizes measurement of real-time positions and moving speeds of the navigation satellites.
the invention is realized by the following technical scheme:
An omnidirectional satellite navigation signal receiving system suitable for arbitrary attitude change, comprising: the device comprises a carrier shell, a mounting disc, six in-phase circularly polarized antenna array elements, a combiner, a satellite navigation receiver and a data resolving unit;
the six circularly polarized antenna elements are antenna element AI, antenna element AII, antenna element AIII, antenna element BI, antenna element BII and antenna element BIII respectively;
The mounting disc is fixed in the inner center of the carrier shell; the antenna array element AI, the antenna array element AIII, the antenna array element BI and the antenna array element BIII are respectively arranged on the side edge of the mounting disc through antenna supports, and are uniformly distributed at intervals along the circumferential direction of the mounting disc, the antenna array element AII and the antenna array element BII are respectively arranged on the upper side and the lower side of the mounting disc through the antenna supports, and the antenna array element AII and the antenna array element BII are symmetrically distributed along the mounting disc; the antenna array element AI, the antenna array element AII, the antenna array element AIII, the antenna array element BI, the antenna array element BII and the antenna array element BIII are positioned on the same spherical surface;
The combiner, the satellite navigation receiver and the data resolving unit are all arranged in the carrier shell; one end of the combiner is electrically connected with the six circularly polarized antenna array elements respectively, and the other end of the combiner is electrically connected with the radio frequency input end of the satellite navigation receiver; the output end of the satellite navigation receiver is electrically connected with the data resolving unit;
The circularly polarized antenna array element is used for receiving all received satellite signals sent by the navigation satellite, forming a signal set and sending the signal set to the combiner; the combiner is used for superposing and synthesizing the received signal sets, forming a path of signal and outputting the signal to the satellite navigation receiver; the satellite navigation receiver is used for solving measurement information of satellite signals of navigation satellites according to satellite ephemeris information after carrying out frequency conversion processing on the received signals, wherein the measurement information comprises pseudo range, carrier phase and signal to noise ratio, and the measurement information is sent to the data resolving unit; and the data calculating unit is used for calculating the position, speed and time data of the navigation satellite according to the measurement information.
furthermore, the number of the combiners is two, and the number of the satellite navigation receivers is two; the two combiners are respectively a combiner A and a combiner B;
the antenna array element AI, the antenna array element AII and the antenna array element AIII are a first group of antenna arrays, and three antenna array elements in the group are respectively and electrically connected with the combiner A; the antenna array element BI, the antenna array element BII and the antenna array element BIII are a second group of antenna arrays, and three antenna array elements in the group are respectively and electrically connected with the combiner B; the two combiners are respectively and electrically connected with the two satellite navigation receivers in a one-to-one correspondence manner; the antenna element AI is opposite to the antenna element AIII, and the antenna element BI is opposite to the antenna element BIII.
Further, the device also comprises a diversity combining unit; the diversity synthesis unit is electrically connected with the output ends of the two satellite navigation receivers respectively;
When the two satellite navigation receivers receive the signal data of the same navigation satellite, the two satellite navigation receivers both send the measurement information of the same navigation satellite to the diversity synthesis unit; the diversity synthesis unit checks the measurement information sent by the two satellite navigation receivers to compare the synchronization state, the signal-to-noise ratio and the signal intensity parameter of the satellite signal of the same navigation satellite, and selects the measurement information of the navigation satellite meeting the set requirement in real time to send to the data calculation unit; when the two satellite navigation receivers receive signal data of different navigation satellites, the two satellite navigation receivers directly send the measurement information of the different navigation satellites to the data resolving unit.
Has the advantages that: (1) according to the invention, six in-phase circularly polarized antenna array elements arranged along a spherical surface are adopted to form a complete directional diagram which is mutually compensated along the spherical surface direction, namely, the antenna array in three-dimensional omnidirectional layout is adopted to replace the existing two-dimensional annular antenna array, so that the problem that the gain of the two-dimensional annular antenna array in the axial direction vertical to a two-dimensional plane is too low is solved, and the problem that the locked satellite signals are easily lost when the two-dimensional annular antenna array is used on an aircraft without a determined rotating shaft, so that the navigation data cannot be solved within a certain time is solved; the omnidirectional coverage of the navigation satellite signals is realized, and all, stable and continuous navigation satellite signals can be provided for the satellite navigation receiver in any rotation state of the carrier.
(2) the invention combines three antenna array elements into one group, reduces the fading degree of the same satellite signal after the phase difference after the same satellite signal enters through different antennas after being combined when a plurality of antenna array elements are combined, simultaneously reduces the superposition noise of the combined signal, and can further improve the quality of the navigation satellite signal by matching with a method of independently resolving and selectively combining two groups of signals.
Drawings
FIG. 1 is a three-dimensional layout of the present invention;
FIG. 2 is a first two-dimensional layout of the present invention;
FIG. 3 is a two-dimensional layout of the present invention;
FIG. 4 is a schematic diagram of the operation of the present invention;
FIG. 5 is a diagram of the present embodiment combining the satellite signals into a 0 ° pitch pattern with the existing two-dimensional circular four-antenna array scheme with a fixed axis of rotation;
FIG. 6 is a diagram of the present embodiment combining the 45 ° pitch pattern with the satellite signals of the prior art two-dimensional circular four-antenna array scheme with a fixed axis of rotation;
FIG. 7 is a schematic diagram of the present embodiment combining the satellite signals into a 90 ° pitch pattern with the existing two-dimensional circular four-antenna array scheme with a fixed axis of rotation;
FIG. 8 is a schematic diagram of the satellite signal synthetic azimuth pattern of this embodiment in combination with a conventional two-dimensional circular quad-array scheme with a fixed axis of rotation;
the satellite navigation receiver comprises 1-antenna array element AI, 2-antenna array element AII, 3-antenna array element AIII, 4-antenna array element BI, 5-antenna array element BII, 6-antenna array element BIII, 7-falling ball shell, 8-mounting disc, 9-combiner and 10-satellite navigation receiver.
Detailed Description
the invention is described in detail below by way of example with reference to the accompanying drawings.
Taking a hard falling ball as a sounding rocket detection load as an example, the embodiment provides an omnidirectional satellite navigation signal receiving system suitable for any attitude change, and the system is used for measuring the position and the speed of the falling ball corresponding to time in the free flight process; the working state of the falling ball determines that the falling ball can rotate around the straight line with any diameter as a rotating shaft in the flying process.
referring to fig. 1-3, the system includes: the device comprises a carrier shell, a mounting disc 8, six in-phase circularly polarized antenna array elements, two combiners 9, two satellite navigation receivers 10, a diversity synthesis unit and a data resolving unit;
the carrier housing in this embodiment is a ball-drop housing 7;
The six circularly polarized antenna elements are antenna element AI1, antenna element AII2, antenna element AIII3, antenna element BI4, antenna element BII5 and antenna element BIII 6;
The mounting plate 8 is fixed in the center of the inner part of the ball falling shell 7; the antenna array element AI1, the antenna array element AIII3, the antenna array element BI4 and the antenna array element BIII6 are respectively installed on the side edge of the installation disc 8 through an antenna support, and the antenna array element AI1, the antenna array element AIII3, the antenna array element BI4 and the antenna array element BIII6 are evenly distributed at intervals along the circumferential direction of the installation disc 8, wherein the antenna array element AI1 is opposite to the antenna array element AIII3, and the antenna array element BI4 is opposite to the antenna array element BIII 6; the antenna array element AII2 and the antenna array element BII5 are respectively arranged on the upper side and the lower side of the mounting plate 8 through antenna supports, and the antenna array element AII2 and the antenna array element BII5 are symmetrically distributed along the mounting plate 8; the antenna element AI1, the antenna element AII2, the antenna element AIII3, the antenna element BI4, the antenna element BII5 and the antenna element BIII6 are positioned on the same spherical surface; the antenna array element AI1, the antenna array element AII2 and the antenna array element AIII3 are taken as a first group of antenna arrays, and three antenna array elements in the group are distributed at intervals of 90 degrees on a semicircle line taking the sphere center as the origin; the antenna array element BI4, the antenna array element BII5 and the antenna array element BIII6 are taken as a second group of antenna arrays, and three antenna array elements in the group are distributed at intervals of 90 degrees on a semicircle line taking the sphere center as the origin; the antenna array composed of six circularly polarized antenna elements can cover the signals of the navigation satellite in the whole spherical direction, and when the falling ball shell 7 rotates around the straight line with any diameter as a rotating shaft, the switching chance and time of the signals of the same navigation satellite between the two groups of antennas are the shortest;
two satellite navigation receivers 10 are arranged on the mounting disc 8 in a stacked mode, two combiners 9 are respectively arranged on the upper surface and the lower surface of the whole body formed by the two satellite navigation receivers 10, and the two combiners 9 are respectively a combiner A and a combiner B; three antenna array elements in the first group of antenna arrays are respectively and electrically connected with the combiner A through radio frequency cables with equal length; three antenna array elements in the second group of antenna arrays are respectively and electrically connected with the combiner B through radio frequency cables with equal length; the combiner A and the combiner B are respectively electrically connected with the radio frequency input ends of the two satellite navigation receivers 10 in a one-to-one correspondence manner through radio frequency cables; the output end of each satellite navigation receiver 10 is electrically connected to the diversity combining unit and the data resolving unit, respectively.
The working principle is as follows: referring to fig. 4, each circularly polarized antenna array element receives all the received satellite signals transmitted by the navigation satellite, and forms a signal set; three antenna array elements in the first group of antenna arrays simultaneously transmit three corresponding signal sets to a combiner A, and three antenna array elements in the second group of antenna arrays simultaneously transmit three corresponding signal sets to a combiner B; the combiner a and the combiner B superpose and synthesize the signal sets received by the corresponding three antenna array elements, and output the signal sets to the corresponding satellite navigation receiver 10 after forming a signal path; the satellite navigation receiver 10 includes a channel module and a baseband module; the channel module receives the signal transmitted by the combiner 9, performs frequency conversion processing on the received signal, and sends the signal to the baseband module; the baseband module is provided with 12 channels with functions of acquisition, tracking, despreading and demodulation processing, and each channel is used for calculating the measurement information of a navigation satellite based on satellite ephemeris information, wherein the measurement information comprises pseudo range, carrier phase and signal-to-noise ratio of satellite signals; when the two satellite navigation receivers 10 receive the signal data of the same navigation satellite, the two satellite navigation receivers 10 both send the measurement information of the same navigation satellite to the diversity combining unit; the diversity synthesis unit checks the measurement information sent by the two satellite navigation receivers 10 to compare the synchronization state, the signal-to-noise ratio and the signal intensity parameters of the satellite signals of the same navigation satellite, and selects the measurement information of the navigation satellite meeting the set requirement in real time to send to the data calculation unit; when the two satellite navigation receivers 10 receive signal data of different navigation satellites, the two satellite navigation receivers 10 directly send measurement information of the different navigation satellites to the data resolving unit; the data calculating unit carries out PVT calculation on the received measurement information, namely the calculation of the position, the moving speed and the corresponding time data of the carrier installed on the satellite navigation receiver.
the characteristics of the antenna are directly related to the structural form and the unit layout of the antenna, and directional patterns formed by different antenna structural forms or different unit layouts have obvious gain difference in different spatial directions and are greatly different in uniformity. Referring to fig. 5-8, the synthesized directional diagram of this embodiment (labeled "three-two synthesis diversity" in the figure) is compared with the synthesized directional diagram of the existing two-dimensional circular quad-array scheme with fixed rotation axis (labeled "circular quad synthesis" in the figure); as can be seen from the figure, the directional diagram of the present embodiment not only overcomes the zero depth of the two-dimensional annular four-antenna array scheme in the direction of the fixed rotation axis, but also overcomes the mutual interference of the electromagnetic wave signals of the two groups of antennas, and has good uniformity, i.e., omni-directionality, in each direction along the spherical surface, so that the comprehensive coverage of the navigation satellite in the measurement area can be realized, the antenna array can be ensured to participate in the continuous tracking and locking of resolving the satellite signals in any rotation state, and the continuous resolving of the navigation data (the navigation data includes position, speed and time) of the navigation satellite can be realized.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. an omnidirectional satellite navigation signal receiving system suitable for arbitrary attitude change, comprising: the device comprises a carrier shell, a mounting disc (8), six in-phase circularly polarized antenna array elements, a combiner (9), a satellite navigation receiver (10) and a data resolving unit;
The six circularly polarized antenna elements are respectively an antenna element AI (1), an antenna element AII (2), an antenna element AIII (3), an antenna element BI (4), an antenna element BII (5) and an antenna element BIII (6);
the mounting plate (8) is fixed in the inner center of the carrier shell; the antenna array element AI (1), the antenna array element AIII (3), the antenna array element BI (4) and the antenna array element BIII (6) are respectively arranged on the side edge of the mounting disc (8) through an antenna bracket, the antenna array element AI (1), the antenna array element AIII (3), the antenna array element BI (4) and the antenna array element BIII (6) are uniformly distributed at intervals along the circumferential direction of the mounting disc (8), the antenna array element AII (2) and the antenna array element BII (5) are respectively arranged on the upper side and the lower side of the mounting disc (8) through the antenna bracket, and the antenna array element AII (2) and the antenna array element BII (5) are symmetrically distributed along the mounting disc (8); the antenna array element AI (1), the antenna array element AII (2), the antenna array element AIII (3), the antenna array element BI (4), the antenna array element BII (5) and the antenna array element BIII (6) are positioned on the same spherical surface;
the combiner (9), the satellite navigation receiver (10) and the data resolving unit are all arranged in the carrier shell; one end of the combiner (9) is electrically connected with the six circularly polarized antenna array elements respectively, and the other end of the combiner is electrically connected with the radio frequency input end of the satellite navigation receiver (10); the output end of the satellite navigation receiver (10) is electrically connected with the data resolving unit;
the circularly polarized antenna array element is used for receiving all received satellite signals sent by the navigation satellite, forming a signal set and sending the signal set to the combiner (9); the combiner (9) is used for superposing and synthesizing the received signal sets, forming a path of signal and outputting the signal to the satellite navigation receiver (10); the satellite navigation receiver (10) is used for carrying out frequency conversion processing on the received signals, then calculating the measurement information of the satellite signals of the navigation satellite according to the satellite ephemeris information, wherein the measurement information comprises pseudo range, carrier phase and signal-to-noise ratio, and sending the measurement information to the data resolving unit; and the data calculating unit is used for calculating the position, speed and time data of the navigation satellite according to the measurement information.
2. the system for receiving a satellite navigation signal of omnidirectional type adapted to any change of attitude according to claim 1, wherein there are two combiners (9) and two satellite navigation receivers (10); the two combiners (9) are respectively a combiner A and a combiner B;
The antenna array element AI (1), the antenna array element AII (2) and the antenna array element AIII (3) are a first group of antenna arrays, and three antenna array elements in the group are respectively and electrically connected with the combiner A; the antenna array element BI (4), the antenna array element BII (5) and the antenna array element BIII (6) are a second group of antenna arrays, and three antenna array elements in the group are respectively and electrically connected with the combiner B; the two combiners (9) are respectively and correspondingly electrically connected with the two satellite navigation receivers (10) one by one; the antenna element AI (1) is opposite to the antenna element AIII (3), and the antenna element BI (4) is opposite to the antenna element BIII (6).
3. The system for receiving an omnidirectional satellite navigation signal, which is suitable for any change in attitude, according to claim 2, further comprising a diversity combining unit; the diversity synthesis unit is respectively electrically connected with the output ends of the two satellite navigation receivers (10);
When two satellite navigation receivers (10) receive signal data of the same navigation satellite, the two satellite navigation receivers (10) both send the measurement information of the same navigation satellite to a diversity synthesis unit; the diversity synthesis unit checks the measurement information sent by the two satellite navigation receivers (10) to compare the synchronization state, the signal-to-noise ratio and the signal intensity parameter of the satellite signal of the same navigation satellite, and selects the measurement information of the navigation satellite meeting the set requirement in real time to send to the data calculation unit;
when the two satellite navigation receivers (10) receive signal data of different navigation satellites, the two satellite navigation receivers (10) directly send measurement information of the different navigation satellites to the data resolving unit.
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| CN201910769695.2A CN110542912A (en) | 2019-08-20 | 2019-08-20 | Omnidirectional satellite navigation signal receiving system suitable for random attitude change |
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| CN201910769695.2A CN110542912A (en) | 2019-08-20 | 2019-08-20 | Omnidirectional satellite navigation signal receiving system suitable for random attitude change |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111726780A (en) * | 2020-06-28 | 2020-09-29 | 北京星际荣耀空间科技有限公司 | Arrow-ground wireless test and launch method, system and control equipment |
| CN115856943A (en) * | 2022-12-27 | 2023-03-28 | 浙江众星志连科技有限责任公司 | Satellite-borne full-view-field four-mode GNSS receiving system based on three-wire antenna |
| GB2621460A (en) * | 2022-06-27 | 2024-02-14 | Secr Defence | Omnidirectional vehicle antenna apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111726780A (en) * | 2020-06-28 | 2020-09-29 | 北京星际荣耀空间科技有限公司 | Arrow-ground wireless test and launch method, system and control equipment |
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| CN115856943A (en) * | 2022-12-27 | 2023-03-28 | 浙江众星志连科技有限责任公司 | Satellite-borne full-view-field four-mode GNSS receiving system based on three-wire antenna |
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Application publication date: 20191206 |