CN111026167A - Star finding system and star finding and aiming method - Google Patents
Star finding system and star finding and aiming method Download PDFInfo
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Abstract
The invention provides a satellite finding compass system and a satellite finding and aiming method, wherein the satellite finding compass system comprises a satellite station and an intelligent terminal, the satellite station comprises an electronic compass, an electronic inclinometer, a GPS/Beidou module, a portable satellite antenna, a satellite modem, a control main board and a power supply module, the electronic compass and the electronic inclinometer are positioned on an antenna feed source supporting arm of the satellite antenna, the control main board is connected with the intelligent terminal through a network, parameters of each satellite are stored in the intelligent terminal, the intelligent terminal sends the parameters of a selected target satellite to the control main board, and the control main board calculates a target azimuth angle, a pitch angle and a polarization angle which are aimed at by the satellite antenna and feeds back the target azimuth angle, the pitch angle and the polarization angle to the intelligent terminal; and sequentially adjusting the polarization angle, the pitching angle and the azimuth angle of the satellite antenna until the polarization angle, the pitching angle and the azimuth angle correspond to the target parameters. By adopting the technical scheme of the invention, the problem of difficulty in aligning the satellites of the manual portable satellite antenna is solved, the manual satellite aligning precision is improved, and the satellite aligning time is greatly shortened.
Description
Technical Field
The invention belongs to the technical field of communication, and particularly relates to a satellite finding system and a satellite finding and aiming method.
Background
The GEO satellite is in a synchronous orbit of 36000 kilometers of the earth, because of a long distance and serious loss of wireless signals in a Ku/Ka frequency band, the ground communication antenna must be accurately aligned with an antenna on the satellite to carry out communication, otherwise, the communication cannot be carried out, and adjacent satellite interference can be caused. The portable satellite station is widely applied to various industries such as public security, fire protection, emergency, civil air defense, news media, power grids, petrifaction, frontier defense, military and the like, is used for various fields such as emergency rescue, stability maintenance outburst, pipeline inspection, news interview and the like, and is important equipment for providing a safe high-speed data communication link under the condition that a ground public/private network is not covered or is degraded due to paralysis.
The traditional portable satellite station has two basic forms, one of which is composed of a portable automatic satellite antenna driven by a servo motor to the satellite, an external Modem (Modem) and a Transceiver (Transceiver), and the satellite antenna has the advantages of one key to the satellite, high satellite locking speed and high satellite precision after satellite orbit parameters are set, but the portable automatic satellite antenna has the defects of large power consumption, heavy weight, large volume, complex driving and transmission devices and inconvenient carrying because a plurality of servo motors are adopted to drive the antenna azimuth and the pitching; the other type is composed of a manual portable satellite antenna driven by a servo-free motor, an external Modem and a Transceiver, and the satellite antenna has the advantages of light weight, low power consumption, small size, simple transmission device and capability of being carried by a single person.
When the traditional manual portable satellite station is used, the horizontal position is adjusted by the satellite antenna supporting legs when the satellite antenna is erected, and then the satellite antenna is leveled, and according to the rail position parameters of a target satellite to be aligned, the geographic position information measured by the GPS/Beidou positioning instrument is combined by the external auxiliary instruments such as the GPS/Beidou positioning instrument, the compass, the inclinometer and the frequency spectrograph, the satellite antenna is calculated by using auxiliary tools or manual work to the satellite position, the pitching and the polarization angle. The method comprises the following steps that the starting process is divided into five steps, wherein in the first step, the polarization angle of the satellite antenna is manually adjusted to a calculated position and locked; step two, manually rotating the pitching angle of the satellite antenna to the calculated pitching angle and locking the satellite antenna; thirdly, manually rotating the satellite antenna azimuth angle to approach the calculated azimuth angle, meanwhile carefully observing the signal intensity change of a connected frequency spectrograph or a satellite modem, if a signal is found, finding the maximum point of the signal and locking, if no signal is found, finely adjusting the pitch angle, then rotating the azimuth angle, and repeating the steps until the signal is found and the maximum point of the signal at the azimuth angle is found; fourthly, finely adjusting the pitch angle of the satellite antenna, observing the signal intensity change of a frequency spectrograph or a satellite modem, and finding out the optimal position of a satellite signal; and fifthly, setting parameters of the satellite modem and opening satellite communication.
In the process of opening a traditional manual portable satellite station, a worker needs to rely on experience to assist precious professional instruments such as a frequency spectrograph and the like, accurately know the orbit position of a GEO satellite to be aimed at, and manually rotate the direction of a satellite antenna to search the satellite. In the two portable satellite stations, the external modem parameters are required to be set after the satellite antenna is aligned with the target satellite to complete the network access, and the access time is long.
At present, a gyroscope, a compass, an inclinometer and a GPS/Beidou positioning module which are carried by intelligent terminals such as a mobile phone or a PAD are utilized, a designated intelligent terminal (mainly the intelligent terminal is required to be consistent with the size of a position on a satellite antenna) is placed at a specific position of a portable satellite antenna, the inclinometer is utilized to assist the portable satellite antenna to be erected at a horizontal position, then the satellite antenna position and a pitch angle are calculated according to the rail position information of a target satellite, the satellite antenna position and the pitch position are manually rotated, whether the satellite is successfully aimed or not is judged according to the signal intensity output by a satellite modem or a frequency spectrograph, then the satellite modem parameters are set, and the network access is opened. The method has the advantages that the commercial sensor carried by the intelligent terminal is low in sensitivity, poor in precision, slow in response of adjusting the azimuth/pitching attitude, easy to be influenced by the surrounding environment, and whether the position of the intelligent terminal is set in place or not in the satellite antenna, and the intelligent terminal is clamped, so that the method can hardly finish the satellite in the area with severe environment, particularly the area with complex magnetic field, and can not ensure whether the position is the optimal position of the satellite even if the satellite is reluctant to be touched, the adjacent satellite interference is easily caused, and the serious result is generated.
Disclosure of Invention
Aiming at the technical problems, the invention discloses a satellite finding system and a satellite finding and aiming method, which solve the defect of difficult satellite aiming of a manual portable satellite antenna, improve the manual satellite aiming precision and greatly shorten the satellite aiming time.
In contrast, the technical scheme adopted by the invention is as follows:
a star finding and satellite aligning method of a star finding compass system comprises a satellite station and an intelligent terminal, wherein the satellite station comprises an electronic compass, an electronic inclinometer, a GPS/Beidou module, a portable satellite antenna, a satellite modem, a control main board and a power supply module, the electronic compass, the electronic inclinometer, the GPS/Beidou module, the portable satellite antenna and the satellite modem are respectively connected with the control main board, the power supply module is connected with the control main board, the electronic compass and the electronic inclinometer are positioned on an antenna supporting arm feed source of the portable satellite antenna, the control main board is connected with the intelligent terminal through a network, and parameters of each satellite are stored in the intelligent terminal; the star searching and star aiming method comprises the following steps:
selecting a target satellite at an intelligent terminal, and sending the parameters of the selected target satellite to a control main board by the intelligent terminal;
the control main board obtains the geographic position information of the current satellite station according to the data of the GPS/Beidou module, calculates a target azimuth angle, a target pitching angle and a target polarization angle to which the satellite antenna is aligned according to a geodetic coordinate system and the selected satellite orbit parameter, and feeds back the target azimuth angle, the target pitching angle and the target polarization angle to the intelligent terminal;
the intelligent terminal displays target azimuth angle information, target pitch angle information and a polarization angle to be selected on a user interface; subsequently guiding a user to adjust the polarization angle, the pitch angle and the azimuth angle of the portable satellite antenna according to the information;
the control main board obtains real-time variable data of an electronic compass and an electronic inclinometer sensor, calculates current azimuth angle information and current elevation angle information of the adjusted satellite antenna attitude, and sends the information and a signal strength value output by a satellite modem to an intelligent terminal, and the intelligent terminal displays the azimuth information, the elevation information and the signal strength of the current satellite antenna;
and adjusting the portable satellite antenna until the azimuth information and the pitching information of the current antenna displayed on the intelligent terminal correspond to the target azimuth and the target pitching information, and the signal strength reaches the maximum value which is determined after comparison.
As a further improvement of the invention, in the satellite alignment process, the preferred sequence of angle adjustment is to firstly complete the adjustment and locking of the polarization angle, secondly complete the adjustment and locking of the pitch angle and finally complete the adjustment and locking of the azimuth angle.
Further, after the parameters of the target satellite are obtained, when the polarization angle, the pitching angle and the azimuth angle of the portable satellite antenna are adjusted, the antenna feed source is firstly rotated to the corresponding left-handed or right-handed position and locked, and the polarization angle of the satellite antenna is further fixed through the locking device; then adjusting the pitch angle of the satellite antenna to enable the pitch angle to correspond to the target pitch angle, locking the pitch angle, and further locking the pitch angle of the satellite antenna through a threaded locking device; and finally, adjusting the azimuth angle of the satellite antenna to enable the azimuth angle to correspond to the target azimuth angle, and further locking the azimuth angle of the satellite antenna through a threaded locking device.
As a further improvement of the invention, when the electronic compass is interfered by a strong magnetic field, the antenna feed source is firstly rotated to a corresponding left-handed or right-handed position and locked; then adjusting the pitching angle of the satellite antenna to correspond to the target pitching angle, and locking; and finally, rotating the azimuth angle of the satellite antenna to find the position point of the maximum signal intensity value, and finishing the satellite alignment. The above scheme is a method for aligning satellites in a complex environment mode.
Further, in the complex environment mode, the maximum value of the signal strength is calculated by using the following formula (5):
Emax=EN-2<EN-1<EN>EN+1>EN+2=EN(5)
wherein N represents the collection serial number of a group of collected signal strength base points, N>2；ENRepresenting the signal strength of the Nth acquisition, EmaxAnd (3) comparing the signal intensity acquired and stored for 5 times continuously, taking a large value as a function base point, removing the data of the first time if the function base point does not meet the formula (5), and acquiring the signal intensity value once again to compile the signal intensity value into a group of data. Only the relationship satisfying equation (5) indicates that the signal maximum point is found. Furthermore, the main board is controlled to collect the signal intensity once every 1 ms.
Furthermore, the main board is controlled to collect the signal intensity once every 1 ms.
As a further improvement of the invention, the intelligent terminal guides an operator to rotate the satellite antenna to a specified position through voice, text or image prompt according to the parameters of the actual position of the satellite antenna and the parameters of the target satellite fed back by the control main board, so as to complete the satellite-to-satellite operation.
As a further improvement of the invention, the target azimuth angle A is calculated by the following formula (1), the target pitch angle E is calculated by the following formula (2),
A=arctan
（1）
target pitch calculation:
E=arctan
（2）
wherein, ω ise、φFor the longitude and latitude, omega, of the current geographical position of the satellite antennasIs the satellite orbital longitude.
As a further improvement of the invention, before the satellite is aimed, a control main board of the satellite station firstly carries out self-checking and sensor calibration, wherein the self-checking and sensor calibration comprises the initialization of a GPS/Beidou module, an electronic compass and an electronic inclinometer, and initial values of the geographic position, the azimuth and the inclination angle of the satellite station are obtained.
As a further improvement of the invention, the error calibration of the inclinometer comprises:
the control main board acquires the geographic position of the satellite station and initial antenna pointing data of the electronic compass, the east deviation and the west deviation of the local magnetic declination quantity of the electronic compass are eliminated, and the electronic inclinometer calibrates the error of the inclinometer according to the initial inclination angle and the elevation of the satellite station acquired by the GPS/Beidou through the following formula:
the satellite-ground distance D is calculated by adopting the formula (3):
D=R
(3)
wherein R is 6378km of earth radius, h is the height of a synchronous orbit satellite-the current elevation of the satellite station, namely 35786-x km, x is the current elevation of the satellite station obtained by the GPS/Beidou, and omegaePhi is the longitude and latitude, omega, of the current geographic position of the satellite antennasIs the satellite orbital longitude;
the initial error theta of the inclinometer is calculated by adopting the formula (4):
θ=arctan(l/D)±λ (4)
wherein l is the current satellite station elevation, D is the satellite-ground distance, and lambda is the initial horizontal error angle, namely the initial reading of the satellite station power-up stable caster.
As a further improvement of the present invention, the user interface of the intelligent terminal includes a pitch dial, an azimuth dial, polarization angle information, and a signal strength energy bar or a dial, the target azimuth angle information and the target pitch angle information are respectively displayed on the pitch dial and the azimuth dial in the form of target points, and the current azimuth angle information and the current pitch angle information are displayed by pointing with a pointer.
As a further improvement of the invention, the intelligent terminal guides an operator to rotate the satellite antenna to an appointed position through dial graphics and voice prompt according to the parameters of the actual position of the satellite antenna and the parameters of the target satellite fed back by the control main board, and the satellite-aiming operation is completed.
Further, the invention comprises two star finding modes, namely a standard mode star finding mode and a complex environment mode star finding mode:
the standard mode star finding comprises the following steps:
step S1, erecting a satellite station, wherein the electronic compass and the electronic inclinometer are positioned on the antenna feed source supporting arm of the portable satellite antenna, and the power supply is switched on;
step S2, the control mainboard of the satellite station carries out self-checking and sensor calibration to obtain the initial values of the geographical position, the azimuth and the inclination angle of the satellite station;
step S3, the intelligent terminal is connected with the control main board through a network, and a target satellite is selected at the intelligent terminal;
step S4, the control mainboard reads the data of the GPS/Beidou module to obtain the current geographic position information and the target satellite orbit information, the target azimuth, the target pitching and the target polarization angle which the satellite antenna should aim at are calculated by adopting a geodetic coordinate system and fed back to the intelligent terminal to obtain the target position parameter point, the polarization angle is displayed on the intelligent terminal, and the target point on the azimuth and pitching dial plate is generated;
step S5, the polarization angle is adjusted to the right, the antenna feed source is manually rotated to the corresponding left-handed or right-handed position, and the antenna feed source is locked;
step S6, adjusting the pitch angle of the satellite antenna, acquiring the variable data of the electronic compass and the electronic inclinometer sensor in real time by the control mainboard, feeding the variable data back to the intelligent terminal, judging the difference between the variable data and the target position parameter point by the intelligent terminal according to the current variable data, visually embodying whether to align the target point to which the dial is pointed by a pointer on the pitch dial, guiding the user to rotate the pitch angle of the satellite antenna by adopting graphics and voice until the pointer on the dial aligns with the target point, finishing the pitch angle corresponding to the target position parameter point, and locking;
and step S7, adjusting the azimuth angle of the satellite antenna, acquiring variable data of an electronic compass and an electronic inclinometer sensor in real time by the control mainboard, feeding the variable data back to the intelligent terminal, judging the difference between the variable data and a target position parameter point by the intelligent terminal according to the current variable data, visually embodying whether to align to a target point to which the dial is to be pointed by a pointer on the azimuth dial, guiding a user to rotate the azimuth angle of the satellite antenna by adopting graphics and voice until the pointer on the dial aligns to the target point, finishing the azimuth angle correspondence with the target position parameter point, and locking.
The complex environment mode star finding method comprises the following steps:
step S1-step S6 is consistent with the standard pattern star finding;
when the electronic compass is under the condition of being interfered by a strong magnetic field, a user can find that the pointer on the azimuth dial plate shakes greatly and is aligned with a target red point, and the signal intensity in a graphic signal energy strip on the intelligent terminal is low. In step S7, the standard mode is switched to the complex environment mode on the intelligent terminal, the portable satellite antenna orientation is rotationally adjusted, the position point of the maximum signal strength is approximately found by whether the current energy pointer on the intelligent terminal energy dial is aligned to the searched maximum signal point, the satellite alignment is completed, and the orientation dial is locked by the thread locking device.
As a further improvement of the present invention, after the satellite is finished in step S7, the frequency and modulation mode of the received signal are identified, and the modem parameters are set to open the access network.
The invention also discloses a satellite-finding compass system, which comprises a satellite station and an intelligent terminal, wherein the satellite station comprises an electronic compass, an electronic inclinometer, a GPS/Beidou module, a portable satellite antenna, a satellite modem, a communication module, a control main board and a power module, the electronic compass, the electronic inclinometer, the GPS/Beidou module, the portable satellite antenna and the satellite modem are respectively connected with the control main board, the power module is connected with the control main board, the electronic compass and the electronic inclinometer are positioned on an antenna supporting arm feed source of the portable satellite antenna, and the control main board is connected with the intelligent terminal through the communication module;
the control main board obtains the geographic position information of the current satellite station according to the GPS/Beidou module, and calculates the target azimuth, the target pitch and the target polarization angle to which the satellite antenna is aligned according to the geodetic coordinate system and the selected satellite orbit parameter; calculating the current attitude orientation and the pitching angle of the adjusted satellite antenna according to the real-time variable data of the electronic compass and the electronic inclinometer sensor;
the intelligent terminal comprises a storage module used for storing parameters of each satellite;
and the user interface is used for a user to select a target satellite and display a target azimuth angle, a target elevation angle and a target polarization angle which are aimed at by the satellite antenna, and azimuth information, elevation information, a polarization angle and signal strength of the current satellite antenna.
As a further improvement of the present invention, the intelligent terminal further includes: and the guiding and prompting module is used for prompting and guiding an operator to rotate the satellite antenna to a specified position by voice, characters or images according to the parameters of the actual position of the satellite antenna and the parameters of the target satellite fed back by the control main board so as to complete satellite alignment operation.
As a further improvement of the present invention, the control main board includes:
the target azimuth angle calculation module calculates a target azimuth angle by adopting the following formula (1):
A=arctan
（1）
the target pitch angle calculation module is used for calculating a target pitch angle E by adopting the following formula (2):
E=arctan
（2）
wherein, ω ise、φFor the longitude and latitude, omega, of the current geographical position of the satellite antennasIs the satellite orbital longitude;
the system comprises an inclinometer error calibration module, an electronic inclinometer, a GPS/Beidou satellite station and a GPS/Beidou satellite station, wherein the inclinometer error calibration module calibrates an inclinometer error according to the following formula:
the satellite-ground distance D is calculated by adopting the formula (3):
D=R
(3)
wherein R is 6378km of earth radius, h is the height of a synchronous orbit satellite-the current elevation of the satellite station, namely 35786-x km, x is the current elevation of the satellite station obtained by the GPS/Beidou, and omegaePhi is the longitude and latitude, omega, of the current geographic position of the satellite antennasIs the satellite orbital longitude;
the initial error theta of the inclinometer is calculated by adopting the formula (4):
θ=arctan(l/D)±λ (4)
l is the current satellite station elevation, D is the satellite-ground distance, and lambda is the initial horizontal error angle, i.e., the initial reading of the satellite station after power-up and stabilization.
Furthermore, the intelligent terminal comprises a processing module and a display screen, wherein a pitching angle dial plate and an azimuth angle dial plate are displayed on the display screen, the processing module displays a pitching target point of the target satellite on the pitching angle dial plate according to the selected target satellite parameters, and displays an azimuth target point on the azimuth angle dial plate; and the processing module displays the current pitching angle on the pitching angle dial plate by using the pointer according to the current posture of the satellite antenna fed back by the control main board, displays the current azimuth angle on the azimuth angle dial plate by using the pointer, and displays the signal strength output by the satellite modem.
Compared with the prior art, the invention has the beneficial effects that:
by adopting the technical scheme of the invention, the defect of difficult satellite alignment of the manual portable satellite antenna is solved by combining various sensors and artificial intelligence, the satellite alignment precision of the automatic portable satellite antenna is achieved by using the sensors and the intelligent terminal, the satellite alignment time is greatly shortened compared with the automatic portable satellite antenna, and meanwhile, the automatic network access of the satellite modem is completed according to the intelligent identification of the satellite frequency range and the modulation mode. The star alignment algorithm in the intelligent terminal guides an operator to quickly complete star alignment by adopting an intuitive dial pointer and voice prompt, and the network access is automatically opened without manual setting, so that the user experience is improved.
The technical scheme of the invention has wide applicability, and can be applied to the satellite alignment process of a portable satellite station, the satellite alignment process of a fixed satellite station, a static intermediate satellite station and a microwave relay station.
Drawings
Fig. 1 is a flow chart of a satellite station-to-satellite provisioning flow chart of the present invention.
FIG. 2 is an APP user interface diagram of an intelligent terminal star finder compass in a standard mode.
FIG. 3 is an APP user interface diagram of an intelligent terminal star finder compass in a complex environment mode.
Detailed Description
Preferred embodiments of the present invention are described in further detail below.
A star finder compass system comprises a satellite station and an intelligent terminal, wherein the satellite station comprises an electronic compass, an electronic inclinometer, a GPS/Beidou module, a portable satellite antenna, a satellite modem, a communication module, a control main board and a power module, the electronic compass, the electronic inclinometer, the GPS/Beidou module, the portable satellite antenna and the satellite modem are respectively connected with the control main board, the power module is connected with the control main board, the electronic compass and the electronic inclinometer are positioned on an antenna feed source supporting arm of the portable satellite antenna, and the control main board is connected with the intelligent terminal through the communication module;
the control main board obtains the geographic position information of the current satellite station according to the GPS/Beidou module, and calculates the target azimuth, the target pitch and the target polarization angle to which the satellite antenna is aligned according to the geodetic coordinate system and the selected satellite orbit parameter; calculating the current attitude orientation and the pitching angle of the adjusted satellite antenna according to the real-time variable data of the electronic compass and the electronic inclinometer sensor;
the intelligent terminal comprises a storage module used for storing parameters of each satellite;
and the user interface is used for a user to select a target satellite and display a target azimuth angle, a target elevation angle and a target polarization angle which are aimed at by the satellite antenna, and azimuth information, elevation information, a polarization angle and signal strength of the current satellite antenna.
Further, the intelligent terminal further comprises: and the guiding and prompting module is used for prompting and guiding an operator to rotate the satellite antenna to a specified position by voice, characters or images according to the parameters of the actual position of the satellite antenna and the parameters of the target satellite fed back by the control main board so as to complete satellite alignment operation.
Further, the control main board comprises a target azimuth angle calculation module, a target pitch angle calculation module and an inclinometer error calibration module:
the target azimuth angle calculation module calculates a target azimuth angle by adopting the following formula (1):
A=arctan
（1）
the target pitch angle calculation module is used for calculating a target pitch angle E by adopting the following formula (2):
E=arctan
（2）
wherein, ω ise、φFor the longitude and latitude, omega, of the current geographical position of the satellite antennasIs the satellite orbital longitude;
the system comprises an inclinometer error calibration module, an electronic inclinometer, a GPS/Beidou satellite station and a GPS/Beidou satellite station, wherein the inclinometer error calibration module calibrates an inclinometer error according to the following formula:
the satellite-ground distance D is calculated by adopting the formula (3):
D=R
(3)
wherein R is 6378km of earth radius, h is the altitude of a synchronous orbit satellite-the current elevation of a satellite station, namely 35786-x km, and x is GPS/Beidou acquisitionCurrent elevation, omega, of the satellite stationePhi is the longitude and latitude, omega, of the current geographic position of the satellite antennasIs the satellite orbital longitude;
the initial error theta of the inclinometer is calculated by adopting the formula (4):
θ=arctan(l/D)±λ (4)
l is the current satellite station elevation, D is the satellite-ground distance, and lambda is the initial horizontal error angle, i.e., the initial reading of the satellite station after power-up and stabilization.
Furthermore, the intelligent terminal comprises a processing module and a display screen, wherein a pitching angle dial plate and an azimuth angle dial plate are displayed on the display screen, the processing module displays a pitching target point of a target satellite on the pitching angle dial plate according to the stored parameters of each satellite, and displays an azimuth target point on the azimuth angle dial plate; and the processing module displays the current pitching angle on the pitching angle dial plate according to the current posture of the satellite antenna fed back by the control main board, displays the current azimuth angle on the azimuth angle dial plate, and displays the signal strength output by the satellite modem.
The star finding and star aiming method of the star finding compass system comprises the following steps:
selecting a target satellite at an intelligent terminal, and sending the parameters of the selected target satellite to a control main board by the intelligent terminal;
the control main board obtains the geographic position information of the current satellite station according to the data of the GPS/Beidou module, calculates a target azimuth angle, a target pitching angle and a target polarization angle to which the satellite antenna is aligned according to a geodetic coordinate system and the selected satellite orbit parameter, and feeds back the target azimuth angle, the target pitching angle and the target polarization angle to the intelligent terminal;
the intelligent terminal displays target azimuth angle information, target pitch angle information and a polarization angle to be selected on a user interface; adjusting the polarization angle, the pitching angle and the azimuth angle of the portable satellite antenna;
the control main board obtains real-time variable data of an electronic compass and an electronic inclinometer sensor, calculates current azimuth angle information and current elevation angle information of the adjusted satellite antenna attitude, and sends the information and a signal strength value output by a satellite modem to an intelligent terminal, and the intelligent terminal displays the azimuth information, the elevation information and the signal strength of the current satellite antenna;
and adjusting the portable satellite antenna until the azimuth information and the pitching information of the current antenna displayed on the intelligent terminal correspond to the target azimuth and the target pitching information, and the signal strength reaches the maximum value which is determined after comparison.
In the satellite alignment process, the preferred sequence of angle adjustment is to firstly complete the adjustment and locking of the polarization angle, secondly complete the adjustment and locking of the pitch angle and finally complete the adjustment and locking of the azimuth angle. Further, after the parameters of the target satellite are obtained, when the polarization angle, the pitching angle and the azimuth angle of the portable satellite antenna are adjusted, the antenna feed source is firstly rotated to the corresponding left-handed or right-handed position and locked, and the polarization angle of the satellite antenna is further fixed through the locking device; then adjusting the pitch angle of the satellite antenna to enable the pitch angle to correspond to the target pitch angle, locking the pitch angle, and further locking the pitch angle of the satellite antenna through a threaded locking device; and finally, adjusting the azimuth angle of the satellite antenna to enable the azimuth angle to correspond to the target azimuth angle, and further locking the azimuth angle of the satellite antenna through a threaded locking device.
If the electronic compass is interfered by a strong magnetic field, firstly rotating the antenna feed source to a corresponding left-handed or right-handed position and locking; then adjusting the pitching angle of the satellite antenna to correspond to the target pitching angle, and locking; and finally, rotating the azimuth angle of the satellite antenna to approach to find the position point of the maximum signal intensity value, thereby completing the satellite alignment. The above scheme is a method for aligning satellites in a complex environment mode.
Further, in the complex environment mode, the maximum value of the signal strength is calculated by using the following formula (5):
Emax=EN-2<EN-1<EN>EN+1>EN+2=EN(5)
wherein N represents the collection serial number of a group of collected signal strength base points, N>2；ENRepresentsSignal strength of the Nth acquisition, EmaxAnd (3) comparing the signal intensity acquired and stored for 5 times continuously, taking a large value as a function base point, removing the data of the first time if the function base point does not meet the formula (5), and acquiring the signal intensity value once again to compile the signal intensity value into a group of data. Only the relationship satisfying equation (5) indicates that the signal maximum point is found. Furthermore, the main board is controlled to collect the signal intensity once every 1 ms.
Furthermore, in the satellite alignment process, the intelligent terminal guides an operator to rotate the satellite antenna to a specified position through voice, text or image prompt according to the parameters of the actual position of the satellite antenna and the parameters of the target satellite fed back by the control main board, and satellite alignment operation is completed.
The target azimuth angle A is calculated by adopting the following formula (1), the target pitch angle E is calculated by adopting the following formula (2),
A=arctan
（1）
target pitch calculation:
E=arctan
（2）
wherein, ω ise、φFor the longitude and latitude, omega, of the current geographical position of the satellite antennasIs the satellite orbital longitude.
Before satellite alignment, a control main board of a satellite station firstly carries out self-checking and sensor calibration, wherein the self-checking and sensor calibration comprises the initialization of a GPS/Beidou module, an electronic compass and an electronic inclinometer, and initial values of the geographic position, the azimuth and the inclination angle of the satellite station are obtained; the error calibration of the inclinometer comprises the following steps:
the control main board acquires the geographic position of the satellite station and initial antenna pointing data of the electronic compass, the east deviation and the west deviation of the local magnetic declination quantity of the electronic compass are eliminated, and the electronic inclinometer calibrates the error of the inclinometer according to the initial inclination angle and the elevation of the satellite station acquired by the GPS/Beidou through the following formula:
the satellite-ground distance D is calculated by adopting the formula (3):
D=R
(3)
wherein R is 6378km of earth radius, h is the height of a synchronous orbit satellite-the current elevation of the satellite station, namely 35786-x km, x is the current elevation of the satellite station obtained by the GPS/Beidou, and omegaePhi is the longitude and latitude, omega, of the current geographic position of the satellite antennasIs the satellite orbital longitude;
the initial error theta of the inclinometer is calculated by adopting the formula (4):
θ=arctan(l/D)±λ (4)
wherein l is the current satellite station elevation, D is the satellite-ground distance, and lambda is the initial horizontal error angle, namely the initial reading of the satellite station power-up stable caster.
Furthermore, the user interface of the intelligent terminal comprises a pitching dial plate, an azimuth dial plate, polarization angle information and a signal intensity energy bar or a dial plate, the target azimuth angle information and the target pitching angle information are respectively displayed on the pitching dial plate and the azimuth dial plate in a target point mode, and the current azimuth angle information and the current pitching angle information are displayed in a pointing mode through a pointer. The intelligent terminal guides an operator to rotate the satellite antenna to a specified position through dial graphics and voice prompt according to the parameters of the satellite station actual position and the parameters of the target satellite fed back by the control main board, and satellite alignment operation is completed. Specifically, as shown in fig. 1, the star finding and star aligning method of the star finding compass system includes:
1. after a satellite station is erected and a power supply is switched on, the satellite station is firstly subjected to self-checking and calibration on each sensor to obtain an initial value of the inclination angle of the satellite station, a control main board reads GPS/Beidou module data, and an initial error theta of an inclinometer is calculated according to formulas (3) and (4). Reading an initial value of the electronic inclinometer as an initial system error, so that the portable satellite station does not need to be horizontally placed, subsequently carrying out calculation on the inclination value during satellite alignment, and simultaneously controlling a WIFI hotspot carried on the main board to be connected with the intelligent terminal by using the portable satellite station;
2. selecting a target satellite (the target satellite can be managed, increased, decreased and parameter input) through an APP software user interface of the intelligent terminal, and issuing instructions and data to the portable satellite station;
3. the portable satellite station obtains geographical position information through the GPS/big dipper module on the control mainboard according to received target satellite parameter, and the control mainboard adopts formula (1), (2) accurate calculation satellite antenna position, every single move and the angle of polarization that should aim at, gives intelligent terminal APP software, generates the target red dot respectively on the every single move dial plate and the position dial plate of intelligent terminal APP software user interface to show polarization angle (levogyration or dextrorotation).
4. In the process of aligning the satellites, the polarization angle is adjusted in place and locked by a thread locking device; and adjusting the pitching angle of the satellite antenna, controlling the main board to read the data of the primary inclinometer for 1ms, and subtracting the initial error theta from the reading to obtain the accurate horizontal included angle degree of the inclinometer. And data are transmitted to the intelligent terminal, pointer change or voice prompt on the pitching dial plate on the APP is observed, the pitching angle of the satellite antenna is rotated according to the prompt, and satellite antenna pitching alignment is completed when the pointer is aligned to the target red point of the pitching dial plate.
5. And in the standard mode, the azimuth angle of the satellite antenna is adjusted, the main board is controlled to read the primary electronic compass for 1ms, the reading is subtracted from the magnetic bias value, and the accurate true north reading of the electronic compass is obtained. And data transmission gives intelligent terminal, observes on the APP pointer change or voice prompt on the position dial plate, rotates satellite antenna's azimuth angle according to the suggestion, waits that the pointer aims at the target red point of position dial plate and accomplishes satellite antenna position to the star promptly. The interface is shown in fig. 2.
6. Under the complex environment mode, because electron compass easily receives strong magnetic field interference, and electron inclinometer is very accurate reliable, APP software will be switched to the complex environment mode by standard mode, under this mode, rotatory satellite antenna position 360 degrees, and control mainboard 1ms reads signal strength once, satisfies that formula (5) is signal maximum. Observing the change of a pointer on a signal intensity dial on an APP user interface, and finishing the satellite alignment operation when the measured maximum signal value is reached approximately, see the attached figure 3;
in the satellite alignment process, the preferred sequence of adjusting each angle is to firstly complete the adjustment and locking of the polarization angle, secondly complete the adjustment and locking of the pitch angle and finally complete the adjustment and locking of the azimuth angle;
7. after the satellite is paired, the broadband receiver intelligently identifies the frequency and the modulation mode, and the frequency and the modulation mode of the received signal are identified in the broadband mode, so that the parameter setting of the modem is completed, and the network access is automatically opened. And completing the satellite station opening.
By adopting the technical scheme of the embodiment, in the system initialization process, error calibration or initial data acquisition is carried out on each high-precision sensor, errors are removed or comprehensive substitution calculation is carried out in the subsequent calculation of the azimuth, the elevation and the polarization angle of the satellite antenna, and the satellite alignment precision is greatly improved; by adopting an artificial intelligence algorithm, a dial pointer and a voice guide operation mode, the defect that operators cannot see a graphical interface clearly or cannot hear voice clearly in a noisy environment under strong light is eliminated, the portable satellite station is simple, convenient and quick to satellite, the station is automatically switched on and switched into a network, manual setting is not needed, and the portable satellite station is greatly intelligentized.
In addition, two satellite alignment modes of a standard mode and a complex environment mode are configured, so that the problem that the direction cannot be accurately aligned due to the influence of a strong magnetic field on an electronic compass in the complex environment is solved; and intelligent frequency and modulation mode identification are carried out, the parameter setting of the satellite modem is completed, and the user experience is greatly improved.
The system and the method have wide applicability, and can be applied to the satellite alignment process of a portable satellite station, the satellite alignment process of a fixed satellite station, a static satellite station and a microwave relay station. The applicable frequency band comprises S/C/X/Ku/K/Ka.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. A star finding and star aiming method of a star finding compass system is characterized in that: the satellite searching compass system comprises a satellite station and an intelligent terminal, wherein the satellite station comprises an electronic compass, an electronic inclinometer, a GPS/Beidou module, a portable satellite antenna, a satellite modem, a control mainboard and a power module, the electronic compass, the electronic inclinometer, the GPS/Beidou module, the portable satellite antenna and the satellite modem are respectively connected with the control mainboard, the power module is connected with the control mainboard, the electronic compass and the electronic inclinometer are positioned on an antenna feed source supporting arm of the satellite antenna, the control mainboard is connected with the intelligent terminal through a network, and parameters of each satellite are stored in the intelligent terminal; the star searching and star aiming method comprises the following steps:
selecting a target satellite at an intelligent terminal, and sending the parameters of the selected target satellite to a control main board by the intelligent terminal;
the control main board obtains the geographic position information of the current satellite station according to the data of the GPS/Beidou module, calculates a target azimuth angle, a target pitching angle and a target polarization angle to which the satellite antenna is aligned according to a geodetic coordinate system and the selected satellite orbit parameter, and feeds back the target azimuth angle, the target pitching angle and the target polarization angle to the intelligent terminal;
the intelligent terminal displays target azimuth angle information, target pitch angle information and a polarization angle to be selected on a user interface; subsequently guiding a user to adjust the polarization angle, the pitch angle and the azimuth angle of the portable satellite antenna according to the information;
the control main board obtains real-time variable data of an electronic compass and an electronic inclinometer sensor, calculates current azimuth angle information and current elevation angle information of the adjusted satellite antenna attitude, and sends the information and a signal strength value output by a satellite modem to an intelligent terminal, and the intelligent terminal displays the azimuth information, the elevation information and the signal strength of the current satellite antenna;
and adjusting the portable satellite antenna until the azimuth information and the pitching information of the current antenna displayed on the intelligent terminal correspond to the target azimuth and the target pitching information, and the signal strength reaches the maximum value.
2. The star finding and star aligning method of the star finding compass system according to claim 1, wherein: after the parameters of the target satellite are obtained, when the polarization angle, the pitching angle and the azimuth angle of the portable satellite antenna are adjusted, the antenna feed source is firstly rotated to the corresponding left-handed or right-handed position and locked; then adjusting the pitching angle of the satellite antenna to correspond to the target pitching angle, and locking; and finally, adjusting the azimuth angle of the satellite antenna to enable the azimuth angle to correspond to the target azimuth angle.
3. The star finding and star aligning method of the star finding compass system according to claim 1, wherein: under the condition that the electronic compass is interfered by a strong magnetic field, firstly rotating the antenna feed source to a corresponding left-handed or right-handed position, and locking; then adjusting the pitching angle of the satellite antenna to correspond to the target pitching angle, and locking; and finally, rotating the azimuth angle of the satellite antenna to approach to find the position point of the maximum signal intensity value, thereby completing the satellite alignment.
4. The star finding and star aligning method of the star finding compass system according to any one of claims 1 to 3, wherein: the intelligent terminal guides an operator to rotate the satellite antenna to a specified position according to the parameters of the actual position of the satellite antenna and the parameters of the target satellite fed back by the control main board and the voice, character or image prompts, and the satellite alignment operation is completed.
5. The star finding and star aligning method of the star finding compass system according to any one of claims 1 to 3, wherein: the target azimuth angle A is calculated by adopting the following formula (1), the target pitch angle E is calculated by adopting the following formula (2),
A=arctan
（1）
E=arctan
（2）
wherein, ω ise、φFor the longitude and latitude, omega, of the current geographical position of the satellite antennasIs the satellite orbital longitude.
6. The star finding and star aligning method of the star finding compass system according to claim 5, wherein: before going on to the star, the control mainboard of satellite station carries out self-checking and sensor calibration earlier, self-checking and sensor calibration include GPS big dipper module, electron compass, the initialization of electron inclinometer, acquire the initial value of satellite station geographical position, inclination, wherein, the error calibration of inclinometer includes:
the control main board acquires the geographic position of the satellite station and initial antenna pointing data of the electronic compass, the east deviation and the west deviation of the local magnetic declination quantity of the electronic compass are eliminated, and the electronic inclinometer calibrates the error of the inclinometer according to the initial inclination angle and the elevation of the satellite station acquired by the GPS/Beidou through the following formula:
the satellite-ground distance D is calculated by adopting the formula (3):
D=R
(3)
wherein R is 6378km of earth radius, h is the height of a synchronous orbit satellite-the current elevation of the satellite station, namely 35786-x km, and x is the current elevation of the satellite station obtained by a GPS/Beidou module, omegaePhi is the longitude and latitude, omega, of the current geographic position of the satellite antennasIs the satellite orbital longitude;
the initial error theta of the inclinometer is calculated by adopting the formula (4):
θ=arctan(l/D)±λ (4)
wherein l is the elevation of the current satellite station, D is the satellite-ground distance, and lambda is the initial horizontal error angle.
7. The star finding and aiming method of the star finding compass system according to claim 6, wherein: the user interface of the intelligent terminal comprises a pitching dial plate, an azimuth dial plate, polarization angle information and a signal intensity energy bar or a dial plate, the target azimuth angle information and the target pitching angle information are respectively displayed on the pitching dial plate and the azimuth dial plate in a target point mode, and the current azimuth angle information and the current pitching angle information are displayed in a pointing mode through a pointer.
8. A star finder compass system, comprising: the satellite searching compass system comprises a satellite station and an intelligent terminal, wherein the satellite station comprises an electronic compass, an electronic inclinometer, a GPS/Beidou module, a portable satellite antenna, a satellite modem, a communication module, a control main board and a power module, the electronic compass, the electronic inclinometer, the GPS/Beidou module, the portable satellite antenna and the satellite modem are respectively connected with the control main board, the power module is connected with the control main board, the electronic compass and the electronic inclinometer are positioned on an antenna feed source supporting arm of the portable satellite antenna, and the control main board is connected with the intelligent terminal through the communication module;
the control main board obtains the geographic position information of the current satellite station according to the GPS/Beidou module, and calculates the target azimuth, the target pitch and the target polarization angle to which the satellite antenna is aligned according to the geodetic coordinate system and the selected satellite orbit parameter; calculating the current attitude orientation and the pitching angle of the adjusted satellite antenna according to the real-time variable data of the electronic compass and the electronic inclinometer sensor;
the intelligent terminal comprises a storage module used for storing parameters of each satellite;
and the user interface is used for a user to select a target satellite and display a target azimuth angle, a target elevation angle and a target polarization angle which are aimed at by the satellite antenna, and azimuth information, elevation information, a polarization angle and signal strength of the current satellite antenna.
9. The star finder compass system of claim 8, wherein: the intelligent terminal further comprises: and the guiding and prompting module is used for prompting and guiding an operator to rotate the satellite antenna to a specified position by voice, characters or images according to the parameters of the actual position of the satellite antenna and the parameters of the target satellite fed back by the control main board so as to complete satellite alignment operation.
10. The star finder compass system of claim 8, wherein: the control main board includes:
the target azimuth angle calculation module calculates a target azimuth angle by adopting the following formula (1)
A=arctan
（1）
The target pitch angle calculation module calculates a target pitch angle E by adopting the following formula (2)
E=arctan
（2）
Wherein, ω ise、φFor the longitude and latitude, omega, of the current geographical position of the satellite antennasIs the satellite orbital longitude;
the system comprises an inclinometer error calibration module, an electronic inclinometer, a GPS/Beidou satellite station and a GPS/Beidou satellite station, wherein the inclinometer error calibration module calibrates an inclinometer error according to the following formula:
the satellite-ground distance D is calculated by adopting the formula (3):
D=R
(3)
wherein R is 6378km of earth radius, h is the height of a synchronous orbit satellite-the current elevation of the satellite station, namely 35786-x km, x is the current elevation of the satellite station obtained by the GPS/Beidou, and omegaePhi is the longitude and latitude, omega, of the current geographic position of the satellite antennasIs the satellite orbital longitude;
the initial error theta of the inclinometer is calculated by adopting the formula (4):
θ=arctan(l/D)±λ (4)
l is the elevation of the current satellite station, D is the satellite-ground distance, and lambda is the initial horizontal error angle.
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