CN112362053A - Satellite Internet of things terminal with attitude monitoring function and attitude adjusting method - Google Patents

Satellite Internet of things terminal with attitude monitoring function and attitude adjusting method Download PDF

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Publication number
CN112362053A
CN112362053A CN202011281600.1A CN202011281600A CN112362053A CN 112362053 A CN112362053 A CN 112362053A CN 202011281600 A CN202011281600 A CN 202011281600A CN 112362053 A CN112362053 A CN 112362053A
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satellite
attitude
terminal
antenna
formula
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陈牧
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Tianchen Xingtong Shenzhen Technology Co Ltd
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Tianchen Xingtong Shenzhen Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18—Stabilised platforms, e.g. by gyroscope
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
    • G01R29/08—Measuring electromagnetic field characteristics
    • G01R29/10—Radiation diagrams of antennas
    • 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
    • G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
    • 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
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • 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
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • 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
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/53—Determining attitude
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Variable-Direction Aerials And Aerial Arrays (AREA)

Abstract

The invention discloses a satellite Internet of things terminal with an attitude monitoring function and an attitude adjusting method, and relates to the technical field of satellite Internet of things; the terminal comprises a main controller, an attitude detection module, a WIFI communication module, a positioning module and a satellite communication module which are arranged in the terminal; the satellite communication module is connected with a main controller in the terminal and is provided with a satellite antenna; the positioning module is connected with a main controller in the terminal; the attitude detection module is connected with a main controller in the terminal and is used for acquiring attitude information of the satellite antenna in real time; the WIFI communication module is connected with a main controller in the terminal, and the main controller in the terminal calculates attitude adjustment prompt information of the satellite antenna by acquiring position information, satellite signal strength information and attitude information of the satellite antenna; the invention has the beneficial effects that: the method and the device can be used for calculating the parameters such as the satellite antenna azimuth and the like so as to adjust the satellite antenna attitude.

Description

Satellite Internet of things terminal with attitude monitoring function and attitude adjusting method
Technical Field
The invention relates to the technical field of satellite internet of things, in particular to a satellite internet of things terminal with attitude monitoring and an attitude adjusting method.
Background
The existing satellite internet of things terminal is fixed relative to an application scene during application, and once the terminal is well installed and fixed and the antenna direction is well adjusted to align to a satellite, the antenna direction is rarely adjusted subsequently.
With the continuous expansion of the application scenes of the satellite internet of things, in some application scenes, the terminal needs to move along with the application carrier/platform, so that the antenna direction of the terminal needs to be continuously adjusted, the terminal antenna can accurately align the satellite in real time, and normal communication is ensured. In such a scenario, the traditional fixed-direction antenna satellite internet-of-things terminal is not suitable.
The existing satellite Internet of things application terminal basically does not have an automatic satellite alignment function due to the limitation of volume and power consumption, and during actual use, the antenna alignment is realized by other external means, which brings great inconvenience to actual application. And because the satellite aiming means and the application terminal are mutually separated, the satellite aiming is not very accurate, and the actual satellite aiming effect is poor.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the satellite Internet of things terminal with the attitude monitoring function and the attitude adjusting method, which can be used for calculating parameters such as satellite antenna azimuth and the like so as to adjust the attitude of the satellite antenna.
The technical scheme adopted by the invention for solving the technical problems is as follows: the improvement of the satellite Internet of things terminal with the attitude monitoring function is that the terminal comprises a main controller inside the terminal, an attitude detection module, a WIF I communication module, a positioning module and a satellite communication module;
the satellite communication module is connected with a main controller in the terminal and is provided with a satellite antenna which is used for receiving signals sent by a satellite and satellite signal strength information in real time;
the positioning module is connected with a main controller in the terminal and is used for acquiring the position information of the terminal of the satellite internet of things in real time;
the attitude detection module is connected with a main controller in the terminal and is used for acquiring attitude information of the satellite antenna in real time;
the WIFI communication module is connected with a main controller in the terminal to realize two-way communication, the WIFI communication module is also used for being connected with the mobile terminal, and the main controller in the terminal calculates attitude adjustment prompt information of the satellite antenna by acquiring position information, satellite signal strength information and attitude information of the satellite antenna.
In the above structure, the satellite antenna includes a transmitting antenna and a receiving antenna, and both the transmitting antenna and the receiving antenna are connected to the satellite communication module.
In the above structure, the attitude information includes a current azimuth angle, a pitch angle, and a polarization angle of the antenna panel.
In the above structure, the location information includes, but is not limited to, longitude and latitude and altitude of the satellite internet of things terminal.
In the structure, the satellite internet of things terminal with the attitude monitoring function further comprises a sensor detection module, the sensor detection module is connected with a main controller in the terminal, and the sensor detection module is used for collecting sensor data of the satellite internet of things terminal at regular time.
On the other hand, the invention also discloses an attitude adjusting method of the satellite internet of things terminal with attitude monitoring, and the improvement is that the attitude adjusting method comprises the following steps:
s1, collecting data, wherein a positioning module collects position information of a satellite Internet of things terminal in real time, a satellite antenna collects satellite signal strength information in real time, and an attitude detection module collects attitude information of the satellite antenna in real time;
s2, real-time communication between the mobile terminal and the satellite Internet of things terminal is achieved, connection between the mobile terminal and the satellite Internet of things terminal is established through the WIFI communication module, and real-time communication between the mobile terminal and the satellite Internet of things terminal is achieved;
s3, acquiring data, namely sending a request to a main controller in the terminal by the mobile terminal to acquire position information of the terminal of the satellite Internet of things, satellite signal strength information and attitude information of a satellite antenna in real time;
s4, calculating the attitude adjustment prompt information of the satellite antenna, and calculating the attitude adjustment prompt information of the satellite antenna by the main controller in the terminal according to the data acquired in the step S3 and the current longitude of the satellite;
and S5, adjusting the satellite attitude, namely generating a control command by the main controller in the terminal according to the attitude adjustment prompt information of the satellite antenna in the step S4, so as to adjust the satellite antenna attitude.
Further, in step S1, the attitude information of the satellite antenna collected by the attitude detection module in real time includes, but is not limited to, the current azimuth angle, the pitch angle, and the polarization angle of the antenna panel; wherein the content of the first and second substances,
an azimuth (tg (satellite longitude-reception latitude)/SIN (reception latitude)) … … formula (i);
when the receiving latitude is south latitude, the actual azimuth angle of the satellite antenna which needs to be adjusted is (360 degrees + the solution value of the formula (i)), and then the actual azimuth angle is normalized to (0-360 degrees);
when the receiving latitude is north latitude, the actual azimuth angle of the satellite antenna which needs to be adjusted is 180-formula (i).
Further, the pitch angle is calculated as follows:
a pitch angle ═ arctg ((COS (ABS (satellite longitude-receiver longitude)))) COS (receiver latitude) -0.1513)/SQRT (1- (COS (ABS (satellite longitude-receiver longitude)) < 2 >) (COS (receiver latitude) < 2)))).
Further, the calculation formula of the polarization angle is as follows:
a polarization angle (SIN (satellite longitude-reception latitude)/tg reception latitude) … … formula (ii);
s41, when the receiving ground latitude is located in the north latitude:
if the receiving polarization mode of the terminal antenna is set as horizontal polarization, the actual polarization angle of the satellite antenna which needs to be adjusted is a formula (II) and a calculation value is obtained;
if the receiving polarization mode of the terminal antenna is set to be vertical polarization, the judgment of the steps S411 to S413 is carried out;
s411, when the calculation value of the formula II is smaller than 0 degree, the actual polarization angle of the satellite antenna needing to be adjusted is equal to the formula II, and the calculation value is plus 90 degrees;
s412, when the calculation value of the formula II is larger than 0 degrees, the actual polarization angle of the satellite antenna needing to be adjusted is equal to the formula II, and the calculation value is-90 degrees;
s413, when the calculation value of the formula ═ 0 °, the actual polarization angle of the satellite antenna to be adjusted is equal to 0 °;
s42, when the received ground latitude is located in the south latitude:
if the receiving polarization mode of the terminal antenna is set as horizontal polarization, the actual polarization angle of the satellite antenna which needs to be adjusted is a formula (II) and a calculation value is obtained;
if the receiving polarization mode of the terminal antenna is set to be vertical polarization, the judgment of the steps S421 to S423 is carried out;
s421, when the calculation value of the formula (II) is less than 0 degrees, the actual polarization angle of the satellite antenna which needs to be adjusted is- (the formula calculation value +90 degrees);
s422, when the calculation value of the formula II is larger than 0 degrees, the actual polarization angle of the satellite antenna which needs to be adjusted is- (the calculation value of the formula is-90 degrees);
s423, when the solution value of the formula (ii) is 0 °, the actual polarization angle of the satellite antenna that needs to be adjusted is 0 °.
Further, in the step S5, in the process of adjusting the satellite attitude, the attitude information of the satellite antenna is transmitted to the mobile terminal in real time, and the attitude adjustment prompt information of the satellite antenna is calculated and updated in real time in combination with the attitude adjustment prompt information of the satellite antenna.
The invention has the beneficial effects that: the terminal has an attitude monitoring function inside, the current attitude of the terminal can be monitored in real time, and parameters such as the orientation of the satellite antenna can be calculated by combining parameters such as the current position of the terminal and the position of a locked satellite, so that field operators can adjust the direction of the antenna conveniently.
Drawings
Fig. 1 is a schematic diagram of a frame structure of a satellite internet of things terminal with attitude monitoring according to the present invention.
Fig. 2 is a schematic circuit structure diagram of a main controller in a terminal of a satellite internet of things terminal with attitude monitoring according to the invention.
Fig. 3 is a schematic circuit structure diagram of an attitude detection control chip of a satellite internet of things terminal with attitude monitoring according to the invention.
Fig. 4 is a schematic circuit structure diagram of a positioning module of a satellite internet of things terminal with attitude monitoring according to the present invention.
Fig. 5 is a schematic circuit structure diagram of a sensor detection module of a satellite internet of things terminal with attitude monitoring according to the present invention.
Fig. 6 is a schematic flow chart of an attitude adjustment method of a satellite internet of things terminal with attitude monitoring according to the present invention.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
The conception, the specific structure, and the technical effects produced by the present invention will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the features, and the effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention. In addition, all the connection/connection relations referred to in the patent do not mean that the components are directly connected, but mean that a better connection structure can be formed by adding or reducing connection auxiliary components according to specific implementation conditions. All technical characteristics in the invention can be interactively combined on the premise of not conflicting with each other.
Referring to fig. 1, the invention discloses a satellite internet of things terminal with attitude monitoring, which specifically comprises a main controller 10, an attitude detection module 20, a WIFI communication module 30, a positioning module 40 and a satellite communication module 50 inside the terminal; the satellite communication module 50 is connected to the main controller 10 inside the terminal, the satellite communication module 50 is provided with a satellite antenna 60, and the satellite antenna 60 is used for receiving signals sent by a satellite and satellite signal strength information in real time.
Further, the positioning module 40 is connected to the main controller 10 inside the terminal, and the positioning module 40 is configured to acquire, in real time, position information of the terminal of the satellite internet of things, where the position information includes, but is not limited to, longitude and latitude and altitude of the terminal of the satellite internet of things. The attitude detection module 20 is connected with the main controller 10 in the terminal, and the attitude detection module 20 is used for acquiring the attitude information of the satellite antenna 60 in real time; the WIFI communication module 30 is connected with the main controller 10 in the terminal to realize two-way communication, the WIFI communication module 30 is further used for being connected with the mobile terminal 80, the main controller 10 in the terminal calculates attitude adjustment prompt information of the satellite antenna 60 by acquiring position information, satellite signal strength information and attitude information of the satellite antenna 60, and the attitude adjustment prompt information is displayed through the mobile terminal 80. In this scheme, this mobile terminal 80 is last to have and to carry out communication APP with WIFI communication module 30, for example mobile terminal 80 can be cell-phone or panel computer etc..
Furthermore, the attitude information comprises the current azimuth angle, the pitch angle and the polarization angle of the antenna panel; the manner in which the azimuth, pitch, and polarization angles are calculated will be explained further below. In addition, as shown in fig. 1, the satellite internet of things terminal with attitude monitoring further includes a sensor detection module 70, the sensor detection module 70 is connected with the main controller 10 inside the terminal, and the sensor detection module 70 is used for regularly acquiring sensor data of the satellite internet of things terminal.
In the above embodiment, the terminal internal main controller 10 includes a main control chip, and the model of the main control chip is STM32L151, as shown in fig. 2, which is a schematic circuit structure diagram of the main control chip. The attitude detection module 20 adopts a 9-axis attitude detection sensor, specifically comprises a 3-axis gyroscope, a 3-axis accelerometer and a 3-axis magnetometer, and can measure the angular velocity, the acceleration and the magnetic induction intensity of three axes; in this embodiment, the attitude detection module 20 includes an attitude detection control chip, and the model of the attitude detection control chip is MPU 9250; as shown in fig. 3, it is a schematic diagram of a circuit structure of the attitude detection control chip.
In this embodiment, the positioning module 40 adopts a big dipper/GPS module to realize real-time positioning of the terminal of the satellite internet of things, as shown in fig. 4, the positioning module 40 is NEO-6M, and fig. 4 is a schematic circuit structure diagram of the NEO-6M. As shown in fig. 5, the sensor detection module 70 includes a sensor detection interface chip, and the specific model thereof is SN65HVD 230. The satellite communication module 50 communicates with the terminal internal main controller 10 through a serial port, transmits sensor data, attitude data and positioning data acquired by the terminal to the remote background server through a satellite in real time, and receives a control interaction instruction and the like transmitted by the remote background server through the satellite in real time.
In summary, the main controller calculates the attitude of the external antenna of the terminal, which should be finally adjusted in place, specifically including an azimuth angle, a pitch angle and a polarization angle, through an internal algorithm according to the position information of the terminal of the satellite internet of things, the satellite signal strength information and the attitude information of the satellite antenna 60. The terminal outputs the calculated attitude information in an intuitive data display format for field personnel to refer to, and the terminal can be used for manually adjusting the attitude of the antenna. The terminal can also control external antenna attitude automatic adjustment mechanical equipment through the interface control module, and automatic adjustment of the antenna attitude is realized.
Based on the above, the satellite internet of things terminal with the attitude monitoring function is internally provided with the attitude monitoring function, the current attitude of the terminal can be monitored in real time, and parameters such as the orientation of the satellite antenna 60 can be calculated by combining parameters such as the current position of the terminal and the position of a locked satellite, so that an on-site operator can conveniently adjust the antenna direction. If the satellite antenna 60 is used in combination with an external automatic mechanical device for attitude control, real-time regulation and control of the terminal can be realized.
On the other hand, as shown in fig. 6, the invention further provides an attitude adjustment method of a satellite internet of things terminal with attitude monitoring, and in this embodiment, the attitude adjustment method includes the following steps:
s1, collecting data, wherein the positioning module 40 collects position information of a terminal of the Internet of things of the satellite in real time, the satellite antenna 60 collects satellite signal strength information in real time, and the attitude detection module 20 collects attitude information of the satellite antenna 60 in real time;
s2, real-time communication between the mobile terminal 80 and the satellite Internet of things terminal is achieved, connection between the mobile terminal 80 and the satellite Internet of things terminal is established through the WIFI communication module 30, and real-time communication between the mobile terminal 80 and the satellite Internet of things terminal is achieved;
s3, acquiring data, namely, sending a request to the main controller 10 in the terminal by the mobile terminal 80, and acquiring the position information of the terminal of the satellite Internet of things, the satellite signal strength information and the attitude information of the satellite antenna 60 in real time;
s4, calculating the attitude adjustment prompt information of the satellite antenna 60, and calculating the attitude adjustment prompt information of the satellite antenna 60 by the main controller 10 in the terminal through the data acquired in the step S3 and the current longitude of the satellite;
and S5, adjusting the satellite attitude, namely generating a control command by the main controller 10 in the terminal according to the attitude adjustment prompt information of the satellite antenna 60 in the step S4, so as to adjust the attitude of the satellite antenna 60. In the process of adjusting the satellite attitude, the attitude information of the satellite antenna 60 is transmitted to the mobile terminal 80 in real time, and the attitude adjustment prompt information of the satellite antenna 60 is calculated and updated in real time in combination with the attitude adjustment prompt information of the satellite antenna 60.
In step S1, the attitude information of the satellite antenna 60 acquired by the attitude detection module 20 in real time includes, but is not limited to, the current azimuth angle, the pitch angle, and the polarization angle of the antenna panel; wherein the content of the first and second substances,
an azimuth (tg (satellite longitude-reception latitude)/SIN (reception latitude)) … … formula (i);
when the receiving latitude is south latitude, the actual azimuth angle of the satellite antenna 60 to be adjusted is (360 ° + formula (i) solution value), and then normalized to (0 ° -360 °);
when the receiving latitude is north latitude, the actual azimuth angle of the satellite antenna 60 that needs to be adjusted is 180 ° -formula (i).
Further, the pitch angle is calculated as follows:
a pitch angle ═ arctg ((COS (ABS (satellite longitude-receiver longitude)))) COS (receiver latitude) -0.1513)/SQRT (1- (COS (ABS (satellite longitude-receiver longitude)) < 2 >) (COS (receiver latitude) < 2)))).
Further, the calculation formula of the polarization angle is as follows:
a polarization angle (SIN (satellite longitude-reception latitude)/tg reception latitude) … … formula (ii);
s41, when the receiving ground latitude is located in the north latitude:
if the receiving polarization mode of the terminal antenna is set as horizontal polarization, the actual polarization angle of the satellite antenna which needs to be adjusted is a formula (II) and a calculation value is obtained;
if the receiving polarization mode of the terminal antenna is set to be vertical polarization, the judgment of the steps S411 to S413 is carried out;
s411, when the calculation value of the formula II is less than 0 degrees, the actual polarization angle of the satellite antenna 60 needing to be adjusted is equal to the formula II, and the calculation value is +90 degrees;
s412, when the calculation value of the formula II is larger than 0 degrees, the actual polarization angle of the satellite antenna 60 needing to be adjusted is equal to the formula II, and the calculation value is-90 degrees;
s413, when the calculation value of the formula ═ 0 °, the actual polarization angle of the satellite antenna 60 that needs to be adjusted is equal to 0 °;
s42, when the received ground latitude is located in the south latitude:
if the receiving polarization mode of the terminal antenna is set as horizontal polarization, the actual polarization angle of the satellite antenna 60 to be adjusted is a formula (ii) a solution value;
if the receiving polarization mode of the terminal antenna is set to be vertical polarization, the judgment of the steps S421 to S423 is carried out;
s421, when the calculation value of the formula (ii) is less than 0 °, the actual polarization angle of the satellite antenna 60 that needs to be adjusted is ═ - (the formula calculation value +90 °);
s422, when the calculation value of the formula (ii) is greater than 0 °, the actual polarization angle of the satellite antenna 60 that needs to be adjusted is ═ - (the formula calculation value-90 °);
s423, when the solution value of the formula (c) is 0 °, the actual polarization angle of the satellite antenna 60 that needs to be adjusted is 0 °.
When the mobile terminal is a smart phone, an auxiliary satellite alignment APP is installed inside the smart phone; when the terminal is installed and applied on site, after the terminal is powered on, the main controller 10 in the terminal sequentially turns on a power supply of a positioning module, and collects information such as longitude and latitude, altitude and the like of the terminal in real time; turning on a power supply of an attitude detection module, acquiring the attitude of the terminal antenna in real time, and simply calculating the current azimuth angle, the pitch angle and the polarization angle of an antenna panel; opening a power supply of the satellite communication module and a power supply of the receiving antenna to prepare for receiving satellite signal quality in real time; and opening a power supply of the WiFi communication module in the terminal, and controlling the WiFi communication module to work in an AP hot spot state.
And the user starts the wifi function of the smart phone and manually connects the wifi hotspot of the application terminal. The user opens the GPS positioning function of the mobile phone and acquires the current position information, the altitude information and the like of the user in real time. The user opens the smart phone APP, the smart phone APP automatically establishes real-time communication with the terminal through wifi, and after the communication is successfully established, the smart phone APP sends a request for obtaining antenna posture related information of the terminal and satellite signal strength information of a receiving antenna.
The user selects the communication satellite name adopted by the satellite internet of things terminal, and the app software automatically searches and loads the parameters (mainly longitude) of the satellite from a built-in database. And the App software calculates the target attitude orientation of the satellite receiving and transmitting antenna on the terminal of the Internet of things at the current position by combining the positioning information of the terminal and the selected satellite parameter information. The target azimuth is compared with a real-time azimuth transmitted by the satellite internet of things terminal through wifi, and attitude adjustment prompt information such as 'azimuth angle rotates 4 degrees to east', 'elevation angle adjusts 10 degrees upwards', and 'polarization angle rotates 36 degrees to left' is generated on an app interface.
And manually adjusting the satellite antenna attitude by the user according to the prompt message on the app. In the adjusting process, antenna attitude information and the quality of a received antenna signal are transmitted to a mobile phone app interface in real time through wifi, app software calculates and updates prompt information in real time according to the latest attitude parameter value transmitted from a terminal and the target attitude parameter value calculated just beginning, such as 'azimuth angle rotates to the east by 1 degree', and 'elevation angle is adjusted in place'.
When the satellite signal quality intensity which is monitored in real time by the satellite internet of things terminal and transmitted to the mobile phone app through wifi reaches a specified value capable of carrying out normal communication, the mobile phone app prompts the antenna attitude to be adjusted in place, the antenna attitude of the terminal can be locked manually at the moment, and the whole terminal finishes adjustment and enters a formal use stage.
When the terminal is in formal use, the satellite internet of things terminal acquires sensor data of the terminal at regular time through the sensor detection module, and transmits the antenna attitude, the received signal quality and the position information to the background server through a satellite channel together with the sensor data. The background server analyzes the data, stores antenna attitude parameter information, signal quality and other information of the terminal, and is used for judging the communication performance of the satellite internet of things terminal and configuring antenna attitude information of a plurality of terminal devices in the same area in batch without performing repeated antenna attitude adjustment work on each terminal in the area.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. A satellite Internet of things terminal with attitude monitoring is characterized by comprising a main controller inside the terminal, an attitude detection module, a WIFI communication module, a positioning module and a satellite communication module;
the satellite communication module is connected with a main controller in the terminal and is provided with a satellite antenna which is used for receiving signals sent by a satellite and satellite signal strength information in real time;
the positioning module is connected with a main controller in the terminal and is used for acquiring the position information of the terminal of the satellite internet of things in real time;
the attitude detection module is connected with a main controller in the terminal and is used for acquiring attitude information of the satellite antenna in real time;
the WIFI communication module is connected with a main controller in the terminal, the WIFI communication module is also used for being connected with the mobile terminal to realize two-way communication between the mobile terminal and the main controller, and the main controller in the terminal calculates attitude adjustment prompt information of the satellite antenna by acquiring position information, satellite signal strength information and attitude information of the satellite antenna.
2. The satellite internet of things terminal with attitude monitoring function according to claim 1, wherein the satellite antenna comprises a transmitting antenna and a receiving antenna, and the transmitting antenna and the receiving antenna are both connected to the satellite communication module.
3. The satellite internet of things terminal with attitude monitoring as claimed in claim 1, wherein the attitude information includes a current azimuth angle, a pitch angle and a polarization angle of an antenna panel.
4. The satellite internet of things terminal with attitude monitoring as claimed in claim 1, wherein the location information includes, but is not limited to, longitude and latitude and altitude of the satellite internet of things terminal.
5. The satellite Internet of things terminal with the attitude monitoring function according to claim 1, further comprising a sensor detection module, wherein the sensor detection module is connected with a main controller in the terminal and is used for collecting sensor data of the satellite Internet of things terminal at regular time.
6. The attitude adjusting method of the satellite internet of things terminal with the attitude monitoring function is characterized by comprising the following steps of:
s1, collecting data, wherein a positioning module collects position information of a satellite Internet of things terminal in real time, a satellite antenna collects satellite signal strength information in real time, and an attitude detection module collects attitude information of the satellite antenna in real time;
s2, real-time communication between the mobile terminal and the satellite Internet of things terminal is achieved, connection between the mobile terminal and the satellite Internet of things terminal is established through the WIFI communication module, and real-time communication between the mobile terminal and the satellite Internet of things terminal is achieved;
s3, acquiring data, namely sending a request to a main controller in the terminal by the mobile terminal to acquire position information of the terminal of the satellite Internet of things, satellite signal strength information and attitude information of a satellite antenna in real time;
s4, calculating the attitude adjustment prompt information of the satellite antenna, and calculating the attitude adjustment prompt information of the satellite antenna by the main controller in the terminal according to the data acquired in the step S3 and the current longitude of the satellite;
and S5, adjusting the satellite attitude, namely generating a control command by the main controller in the terminal according to the attitude adjustment prompt information of the satellite antenna in the step S4, so as to adjust the satellite antenna attitude.
7. The attitude adjustment method of the satellite internet of things terminal with attitude monitoring function according to claim 6, wherein in step S1, the attitude information of the satellite antenna collected by the attitude detection module in real time includes but is not limited to a current azimuth angle, a pitch angle and a polarization angle of an antenna panel; wherein the content of the first and second substances,
an azimuth (tg (satellite longitude-reception latitude)/SIN (reception latitude)) … … formula (i);
when the receiving latitude is south latitude, the actual azimuth angle of the satellite antenna which needs to be adjusted is (360 degrees + the solution value of the formula (i)), and then the actual azimuth angle is normalized to (0-360 degrees);
when the receiving latitude is north latitude, the actual azimuth angle of the satellite antenna which needs to be adjusted is 180-formula (i).
8. The attitude adjustment method of the satellite internet of things terminal with the attitude monitoring function according to claim 7, wherein the pitch angle is calculated according to the following formula:
a pitch angle ═ arctg ((COS (ABS (satellite longitude-receiver longitude)))) COS (receiver latitude) -0.1513)/SQRT (1- (COS (ABS (satellite longitude-receiver longitude)) < 2 >) (COS (receiver latitude) < 2)))).
9. The attitude adjustment method of the satellite internet of things terminal with the attitude monitoring function according to claim 7, wherein the calculation formula of the polarization angle is as follows:
a polarization angle (SIN (satellite longitude-reception latitude)/tg reception latitude) … … formula (ii);
s41, when the receiving ground latitude is located in the north latitude:
if the receiving polarization mode of the terminal antenna is set as horizontal polarization, the actual polarization angle of the satellite antenna which needs to be adjusted is a formula (II) and a calculation value is obtained;
if the receiving polarization mode of the terminal antenna is set to be vertical polarization, the judgment of the steps S411 to S413 is carried out;
s411, when the calculation value of the formula II is smaller than 0 degree, the actual polarization angle of the satellite antenna needing to be adjusted is equal to the formula II, and the calculation value is plus 90 degrees;
s412, when the calculation value of the formula II is larger than 0 degrees, the actual polarization angle of the satellite antenna needing to be adjusted is equal to the formula II, and the calculation value is-90 degrees;
s413, when the calculation value of the formula ═ 0 °, the actual polarization angle of the satellite antenna to be adjusted is equal to 0 °;
s42, when the received ground latitude is located in the south latitude:
if the receiving polarization mode of the terminal antenna is set as horizontal polarization, the actual polarization angle of the satellite antenna which needs to be adjusted is a formula (II) and a calculation value is obtained;
if the receiving polarization mode of the terminal antenna is set to be vertical polarization, the judgment of the steps S421 to S423 is carried out;
s421, when the calculation value of the formula (II) is less than 0 degrees, the actual polarization angle of the satellite antenna which needs to be adjusted is- (the formula calculation value +90 degrees);
s422, when the calculation value of the formula II is larger than 0 degrees, the actual polarization angle of the satellite antenna which needs to be adjusted is- (the calculation value of the formula is-90 degrees);
s423, when the solution value of the formula (ii) is 0 °, the actual polarization angle of the satellite antenna that needs to be adjusted is 0 °.
10. The attitude adjustment method of the satellite internet of things terminal with attitude monitoring as claimed in claim 6, wherein in the step S5, in the process of adjusting the satellite attitude, the attitude information of the satellite antenna is transmitted to the mobile terminal in real time, and the attitude adjustment prompt information of the satellite antenna is calculated and updated in real time in combination with the attitude adjustment prompt information of the satellite antenna.
CN202011281600.1A 2020-11-16 2020-11-16 Satellite Internet of things terminal with attitude monitoring function and attitude adjusting method Pending CN112362053A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011281600.1A CN112362053A (en) 2020-11-16 2020-11-16 Satellite Internet of things terminal with attitude monitoring function and attitude adjusting method

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Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114499631A (en) * 2021-12-29 2022-05-13 航天行云科技有限公司 Method for determining optimal communication position of Internet of things terminal in scene of satellite Internet of things
CN115695868A (en) * 2022-08-24 2023-02-03 中山亿联智能科技有限公司 Method for displaying frequency locking signal of set top box by using mobile phone app

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114499631A (en) * 2021-12-29 2022-05-13 航天行云科技有限公司 Method for determining optimal communication position of Internet of things terminal in scene of satellite Internet of things
CN114499631B (en) * 2021-12-29 2024-05-14 航天行云科技有限公司 Optimal communication position determining method of Internet of things terminal in satellite Internet of things scene
CN115695868A (en) * 2022-08-24 2023-02-03 中山亿联智能科技有限公司 Method for displaying frequency locking signal of set top box by using mobile phone app

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