CN113296529A - Communication-in-motion phased array antenna for low-orbit satellite and control method thereof - Google Patents
Communication-in-motion phased array antenna for low-orbit satellite and control method thereof Download PDFInfo
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- CN113296529A CN113296529A CN202110693642.4A CN202110693642A CN113296529A CN 113296529 A CN113296529 A CN 113296529A CN 202110693642 A CN202110693642 A CN 202110693642A CN 113296529 A CN113296529 A CN 113296529A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
- G05D1/0833—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using limited authority control
Abstract
The invention discloses a communication-in-motion phased array antenna for a low earth orbit satellite and a control method thereof, wherein the communication-in-motion phased array antenna comprises an antenna main body, a mechanical steering compensation mechanism and a controller, wherein the mechanical steering compensation mechanism comprises an antenna mounting platform, a steering execution unit and a base; the antenna main body is fixed on the antenna mounting platform, the antenna mounting platform is connected to the base through the steering execution unit, and the steering execution unit drives the antenna mounting platform and the antenna main body to rotate on the base; the antenna mounting platform is provided with an azimuth sensing unit and a motion sensing unit, and the antenna main body, the steering execution unit, the azimuth sensing unit and the motion sensing unit are electrically connected with the controller. According to the invention, through a mechanical steering actuating mechanism, angle compensation is carried out before the antenna body is scanned according to the moving direction of a satellite; before the antenna main body is scanned, the shaking of the attitude correction isolation carrier is carried out; the phased array directional scanning range is enlarged, the tracking speed is high, and the shipborne and low-rail use requirements are met.
Description
Technical Field
The invention relates to a phased array antenna and a control method thereof, in particular to a communication-in-motion phased array antenna for a low earth orbit satellite and a control method thereof.
Background
The existing ship-borne moving communication-in-motion antenna product is used for high-orbit geostationary satellite communication, generally adopts a form of combining a three-axis servo turntable and a reflector antenna, and three-axis rotation is used for isolating pitching, rolling and course motion of a ship, so that the reflector antenna stably points to the geostationary satellite.
The low-orbit satellite is a communication satellite constellation which is usually formed by hundreds of communication satellites and more, when the satellite is seen from the ground, the high-orbit static satellite is static, the low-orbit satellite moves rapidly, after the satellite tracked by the current ship-borne communication-in-motion antenna leaves the sky view, the satellite needs to be pointed to another satellite in the sky view again, due to the limitation of the rotating speed of the servo turntable, a certain time is needed for pointing to a new satellite, usually, the time of the order of seconds to ten meters and seconds is needed, and at the moment, the communication is interrupted.
The phased array antenna adopts an electric control scanning mode when the pointing is adjusted, the pointing can be completed again within microseconds to milliseconds, and the communication interruption can be effectively prevented. However, the directional scanning range of the phased array antenna is usually within ± 60 ° of the normal direction, and the directional range of the phased array antenna is further narrowed due to the shaking of the ship as a carrier. Is not suitable for tracking the large-scale movement of the low-orbit satellite. Therefore, the prior art is in need of improvement.
Disclosure of Invention
The invention provides a communication-in-motion phased array antenna for a low-orbit satellite and a control method thereof.
The invention provides a communication-in-motion phased array antenna for a low earth orbit satellite, which comprises an antenna main body, a mechanical steering compensation mechanism and a controller, wherein the mechanical steering compensation mechanism comprises an antenna mounting platform, a steering execution unit and a base, the base is fixedly mounted on a motion carrier, the antenna main body is fixed on the antenna mounting platform, the antenna mounting platform is connected to the base through the steering execution unit, and the steering execution unit drives the antenna mounting platform and the antenna main body to rotate on the base; the antenna mounting platform is provided with an azimuth sensing unit and a motion sensing unit, and the antenna main body, the steering execution unit, the azimuth sensing unit and the motion sensing unit are electrically connected with the controller.
Furthermore, the antenna main body transmits and receives electromagnetic waves for satellite communication, and the azimuth sensing unit and the motion sensing unit acquire azimuth and attitude information of the antenna main body and send the information to the controller; the steering execution unit drives the antenna installation platform and the antenna main body to perform pitching motion and rolling motion relative to the base; the controller controls the antenna main body to adjust the electric scanning angle and controls the steering execution unit to adjust the posture and the direction of the antenna main body through electromagnetic energy information received by the antenna main body; the adjustment range of the electrical scanning angle of the antenna main body is +/-60 degrees of the normal direction.
Furthermore, the orientation sensing unit comprises a GNSS dual-antenna direction-finding module and/or a gyrocompass, and the orientation sensing unit detects the orientation of the antenna body in real time; the motion sensing unit comprises a triaxial accelerometer and a triaxial gyroscope and detects the posture of the antenna body in real time.
Furthermore, the steering execution unit comprises at least three electric push rods, the electric push rods are connected to the base and the antenna installation platform through kinematic pairs, and the length of each electric push rod is adjusted to realize the posture adjustment of the antenna installation platform.
Furthermore, the steering execution unit comprises an external movement frame and an internal movement frame, wherein the external movement frame is connected with the base and is driven by the outer frame motor to perform pitching movement relative to the base; the antenna mounting platform comprises an inner moving frame, an outer moving frame, an inner frame motor, an outer frame motor, an antenna mounting platform and an antenna mounting platform, wherein the inner moving frame is arranged in the outer moving frame and moves in a pitching mode along with the outer moving frame, the outer moving frame is provided with the inner frame motor, the inner frame motor and the outer frame motor are perpendicular and orthogonal in a plane where the outer moving frame is located, the inner frame motor drives the inner moving frame to rotate to form a rolling motion perpendicular to the pitching motion, and the antenna mounting platform is fixed in the inner moving frame.
Another technical solution adopted by the present invention to solve the above technical problem is to provide a method for controlling a mobile communication phased array antenna for a low earth orbit satellite, comprising the steps of: s1: the controller reads data of the direction sensing unit and the motion sensing unit and acquires information of the current direction and the attitude of the antenna body; s2: the controller controls the steering execution unit to perform attitude correction and/or attitude compensation on the antenna main body; s3: the controller calculates an azimuth angle and a pitch angle of the satellite under the antenna body coordinate system according to the azimuth information, the attitude information and the satellite ephemeris information of the antenna body, and controls the radio wave beam of the antenna body to point to the satellite; s4, after the antenna main body receives the satellite signal, the controller controls the antenna main body to perform electric scanning around the satellite to search the azimuth of the strongest signal of electromagnetic energy, and controls the radio wave beam of the antenna main body to always point to the azimuth of the strongest signal of electromagnetic energy, thereby realizing the continuous tracking of the satellite signal; and S5, repeating the steps S1, S2 and S4 to enable the antenna main body to continuously communicate with the satellite.
Further, the posture correction of the antenna body in the step S2 includes: the steering execution unit adjusts the attitude of the antenna body to enable the attitude of the antenna body to move towards the direction of reducing the pitch angle and the roll angle until the pitch angle and the roll angle of the antenna body detected by the motion sensing unit are zero, so that the antenna body is dynamically controlled to carry out attitude correction under the condition that the attitude of the motion carrier is constantly changed, and the antenna body is always in a horizontal state. .
Further, the attitude compensation of the antenna body of step S2 includes: the controller pre-judges the current satellite moving direction according to the satellite ephemeris information, presets an attitude compensation angle x of the antenna main body before the satellite reaches a phased array scanning boundary, and the steering execution unit adjusts the attitude of the antenna main body so that the attitude angle of the antenna main body is increased by x, and completes the attitude compensation of the antenna main body.
Further, the attitude correction and the attitude compensation of the antenna body in the step S2 include; the controller pre-judges the current satellite movement direction according to satellite ephemeris information, presets an attitude compensation angle x of the antenna main body before the satellite reaches a phased array scanning boundary, and the steering execution unit adjusts the attitude of the antenna main body so that the attitude of the antenna main body moves towards a direction close to the attitude compensation angle x until the attitude angles of the antenna main body detected by the azimuth sensing unit and the motion sensing unit are the attitude compensation angle x, so that the antenna main body is dynamically controlled to perform attitude compensation and attitude correction under the condition that the attitude of the motion carrier constantly changes, and the attitude angle of the antenna main body is always the attitude compensation angle x.
Further, the step S3 includes: s31: according to the azimuth information and the satellite ephemeris information of the antenna body, an SGP4 algorithm is used for calculating the azimuth angle and the pitch angle of the satellite relative to the antenna at the current moment; s32: calculating the coordinates of the satellite in the geodetic coordinate system according to the azimuth angle and the pitch angle of the satellite relative to the antenna, which are calculated in the step S31; s33: obtaining the coordinates of the satellite in the antenna coordinate system through coordinate system transformation according to the attitude information of the antenna main body; s34: and calculating the azimuth angle and the pitch angle of the satellite in the antenna body coordinate system according to the satellite coordinates obtained in the step S23.
Compared with the prior art, the invention has the following beneficial effects: according to the communication-in-motion phased array antenna for the low earth orbit satellite and the control method thereof, angle compensation is performed before the antenna body scans according to the satellite moving direction through the mechanical steering actuating mechanism; before the antenna main body is scanned, the shaking of the attitude correction isolation carrier is carried out; the real-time scanning difficulty of the antenna body is reduced while the pointing scanning range of the phased array is enlarged, compensation and correction are completed before scanning, scanning following time does not need to be occupied, the tracking speed is higher, and shipborne and low-rail use requirements are met.
Drawings
Fig. 1 is a schematic structural diagram of a mobile communication phased array antenna for a low earth orbit satellite according to an embodiment of the present invention;
FIG. 2 is a schematic view of a mechanical steering compensation mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic view of another mechanical steering compensation mechanism according to an embodiment of the present invention;
fig. 4 is a flowchart of a communication-in-motion phased array antenna control method for a low earth orbit satellite according to an embodiment of the present invention.
In the figure:
1. a base; 2. an antenna mounting platform; 3. an electric push rod; 4. an outer motion frame; 5. an outer frame motor; 6. an inner motion frame; 7. an inner frame motor.
Detailed Description
The invention is further described below with reference to the figures and examples.
Fig. 1 is a schematic structural diagram of a mobile communication phased array antenna for a low earth orbit satellite according to an embodiment of the present invention.
Referring to fig. 1, the mobile communication phased array antenna for a low earth orbit satellite according to the embodiment of the present invention includes an antenna main body, a mechanical steering compensation mechanism and a controller, where the mechanical steering compensation mechanism includes an antenna mounting platform, a steering execution unit and a base; the antenna main body is fixed on the antenna mounting platform, the antenna mounting platform is connected to the base through the steering execution unit, the base is fixedly mounted on the moving carrier, and the steering execution unit drives the antenna mounting platform and the antenna main body to rotate on the base; the antenna mounting platform is provided with an azimuth sensing unit and a motion sensing unit, and the antenna main body, the steering execution unit, the azimuth sensing unit and the motion sensing unit are electrically connected with the controller.
Specifically, the antenna body transmits and receives electromagnetic waves for satellite communication, and the azimuth sensing unit and the motion sensing unit acquire azimuth and attitude information of the antenna body and send the information to the controller; the steering execution unit drives the antenna installation platform and the antenna main body to perform pitching motion and rolling motion relative to the base; the controller controls the antenna main body to adjust the electric scanning angle and controls the steering execution unit to adjust the posture and the direction of the antenna main body through electromagnetic energy information received by the antenna main body; the adjustment range of the electrical scanning angle of the antenna main body is +/-60 degrees of the normal direction.
Specifically, the orientation sensing unit comprises a GNSS dual-antenna direction-finding module and/or a gyrocompass, and the orientation sensing unit detects the orientation of the antenna body in real time; the motion sensing unit comprises a triaxial accelerometer and a triaxial gyroscope and detects the posture of the antenna body in real time.
The GNSS (global Navigation Satellite system) is a global Navigation Satellite system, and the GNSS dual-antenna direction-finding module carries a Beidou antenna and a GPS antenna, so that the measurement precision is high, and the positioning and orientation are accurate.
Referring to fig. 2, in an embodiment, the steering executing unit includes at least three electric push rods 3, the electric push rods 3 are connected to the base 1 and the antenna mounting platform 2 through kinematic pairs, and the length of the electric push rods 3 is adjusted to adjust the posture of the antenna mounting platform 2. The adjustment angle of the steering execution unit in each direction is limited within +/-90 degrees by the mechanical limitation of the electric push rod 3.
The kinematic pair is a movable connection that two components are in direct contact and can generate relative motion. Elements such as points, lines, and planes of the two members that are brought into contact to constitute the kinematic pair are referred to as kinematic pair elements. The kinematic pair comprises a ball hinge, a Hooke hinge, a hinge and the like. The kinematic pairs typically include 3-degree-of-freedom kinematic pairs and 6-degree-of-freedom kinematic pairs. Three degree of freedom motion pairs are connected three electric putter 3, and electric putter 3 passes through hinged joint with base 1, and is connected through universal structures such as ball joint, hooke hinge with antenna mounting platform 2: the six-degree-of-freedom kinematic pair is connected with six electric push rods 3, the electric push rods 3 are connected with the base 1 through hooke hinges, and are connected with the antenna mounting platform 2 through spherical hinges or hooke hinges.
Referring to fig. 3, in another embodiment, the steering executing unit includes an external moving frame 4 and an internal moving frame 6, the external moving frame 4 is connected to the base 1 and driven by the outer frame motor 5 to perform a pitching motion with respect to the base 1; the antenna mounting platform is characterized in that an inner frame motor 7 is arranged on the external moving frame 4, the inner frame motor 7 and the outer frame motor 5 are perpendicular and orthogonal in the plane where the external moving frame 4 is located, the inner frame motor 7 drives the internal moving frame 6 to rotate to form rolling movement perpendicular to pitching movement, and the antenna mounting platform is fixed in the internal moving frame 6. The rotation range of the inner moving frame 6 and the outer moving frame 4 is 0 to 360 DEG
Referring to fig. 4, a method for controlling a mobile communication phased array antenna for a low earth orbit satellite according to an embodiment of the present invention includes the following steps:
s1: the controller reads data of the direction sensing unit and the motion sensing unit and acquires information of the current direction and the attitude of the antenna body;
s2: the controller controls the steering execution unit to carry out attitude correction and/or attitude compensation on the antenna main body;
s3: the controller calculates an azimuth angle and a pitch angle of the satellite under the antenna body coordinate system according to the azimuth information, the attitude information and the satellite ephemeris information of the antenna body, and controls the radio wave beam of the antenna body to point to the satellite;
s4: after the antenna main body receives the satellite signals, the controller controls the antenna main body to perform electric scanning around the satellite to search the position of the strongest electromagnetic energy signal, and controls the radio wave beam of the antenna main body to always point to the position of the strongest electromagnetic energy signal, so that the satellite signals are continuously tracked;
s5: steps S1, S2, and S4 are repeated so that the antenna body continuously communicates with the satellite.
Specifically, the attitude correction of the antenna body in step S2 includes: the steering execution unit adjusts the attitude of the antenna body to enable the attitude of the antenna body to move towards the direction of reducing the pitch angle and the roll angle until the pitch angle and the roll angle of the antenna body detected by the motion sensing unit are zero, so that the antenna body is dynamically controlled to carry out attitude correction under the condition that the attitude of the motion carrier is constantly changed, and the antenna body is always in a horizontal state. Isolating the sloshing effect of the ship.
Specifically, the attitude compensation of the antenna body at step S2 includes: the controller pre-judges the current satellite moving direction according to satellite ephemeris information, presets an attitude compensation angle x of the antenna main body in combination with the current ship shaking condition before the satellite reaches a phased array scanning boundary, and the steering execution unit adjusts the attitude of the antenna main body so that the attitude angle of the antenna main body is increased by x to complete attitude compensation of the antenna main body. The adjustment range of the electric scanning angle of the antenna main body is +/-60 degrees of the normal direction, and the phased array scanning boundary is +/-60 degrees of the normal direction of the antenna main body.
Specifically, the attitude correction and the attitude compensation of the antenna body in step S2 include; the controller judges the current satellite moving direction according to satellite ephemeris information in advance, combines the current ship shaking condition, presets an attitude compensation angle x of the antenna main body before the satellite reaches a phased array scanning boundary, when a ship body shaking angle is y, namely the attitude of the antenna main body is x + y so as to deviate from the compensation angle x, the steering execution unit adjusts the attitude of the antenna main body to enable the attitude of the antenna main body to move towards the direction close to the attitude compensation angle x until the attitude angles of the antenna main body detected by the azimuth sensing unit and the motion sensing unit are the attitude compensation angle x, so that the ship shaking angle y is isolated, and the antenna main body is dynamically controlled to perform attitude compensation and attitude correction under the condition that the attitude of the motion carrier constantly changes, so that the attitude angle of the antenna main body is always the attitude compensation angle x.
Specifically, step S3 includes:
s31: according to the azimuth information and the satellite ephemeris information of the antenna body, an SGP4 algorithm is used for calculating the azimuth angle and the pitch angle of the satellite relative to the antenna at the current moment;
the method comprises the steps of obtaining position information, namely longitude and latitude information, of an antenna body through a GPS, obtaining a satellite double-row ephemeris, and calculating an azimuth angle and a pitch angle of a satellite relative to the antenna at the current moment by using an SGP4 algorithm
S32: calculating the coordinates of the satellite in the geodetic coordinate system according to the azimuth angle and the pitch angle of the satellite relative to the antenna, which are calculated in the step S21;
s33: obtaining the coordinates of the satellite in the antenna coordinate system through coordinate system transformation according to the attitude information of the antenna main body;
s34: and calculating the azimuth angle and the pitch angle of the satellite in the antenna coordinate system according to the satellite coordinates obtained in the step S23.
In a specific embodiment, the scanning range of the antenna body in the pitch axis is plus or minus 60 degrees in the normal direction, namely the pitch angle is 30-150 degrees, the carrier is a ship, when the ship moves in a long period (the ship movement period is usually several seconds) of plus or minus 10 degrees in the pitch angle, the scanning range of the antenna body is overlapped with the ship shaking, one boundary of the pitch angle finally output by the antenna body is 40-160 degrees, and the other boundary is 20-140 degrees. If the communication satellite is at an elevation angle of 35 deg., the antenna body will not be able to maintain continuous communication with the satellite.
And correcting the attitude of the antenna main body, controlling the steering execution unit to move towards the direction of adjusting the attitude of the antenna main body to the pitch angle to be zero, isolating the influence of ship shaking, and keeping the pitch angle finally output by the antenna main body to be 30-150 degrees, wherein the antenna main body can keep continuous communication with a satellite with an elevation angle of 35 degrees.
The attitude compensation of the antenna main body is carried out, the controller pre-judges the current satellite moving direction according to satellite ephemeris information, the attitude compensation angle of the antenna main body is preset to be a pitch angle of-20 degrees, the pitch angle of the antenna main body is 30-150 degrees, after the steering execution unit is controlled to superpose the attitude compensation angles, the pitch angle of the antenna main body is 10-130 degrees, the pitch angle of superposition ship pitching motion is +/-10 degrees, one boundary of the final pitch angle is 20-140 degrees, the other boundary is 0-120 degrees, and at the moment, the antenna main body can keep continuous communication with a satellite with an elevation angle of 35 degrees.
The attitude compensation and the attitude correction of the antenna main body are carried out, the controller judges the current satellite moving direction in advance according to satellite ephemeris information, the preset attitude compensation angle of the antenna main body is a pitch angle of-20 degrees, the pitch angle of the antenna main body is 30-150 degrees, after the steering execution unit is controlled to superpose the attitude compensation angles, the pitch angle of the antenna main body is 10-130 degrees, the steering execution unit is controlled to move towards the direction of adjusting the attitude of the antenna main body to the pitch angle of-20 degrees, the influence of ship shaking is isolated, the final output pitch angle of the antenna main body is 10-130 degrees, and at the moment, the antenna main body can keep continuous communication with a satellite with an elevation angle of 35 degrees.
And after the current tracked satellite leaves the sky view and tracks a new satellite, the steering execution unit performs prejudgment according to the ephemeris, outputs a new attitude compensation angle in advance and then performs further subsequent communication.
In summary, according to the communication-in-motion phased array antenna for a low earth orbit satellite and the control method thereof in the embodiments of the present invention, angle compensation is performed before scanning of an antenna main body according to a satellite moving direction by a mechanical steering actuator; before the antenna main body is scanned, the shaking of the attitude correction isolation carrier is carried out; the real-time scanning difficulty of the antenna body is reduced while the pointing scanning range of the phased array is enlarged, compensation and correction are completed before scanning, scanning following time does not need to be occupied, the tracking speed is higher, and shipborne and low-rail use requirements are met.
Although the present invention has been described with respect to the preferred embodiments, 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. The communication-in-motion phased array antenna for the low earth orbit satellite is characterized by comprising an antenna main body, a mechanical steering compensation mechanism and a controller, wherein the mechanical steering compensation mechanism comprises an antenna mounting platform, a steering execution unit and a base; the antenna main body is fixed on the antenna mounting platform, the antenna mounting platform is connected to the base through the steering execution unit, the base is fixedly mounted on the moving carrier, and the steering execution unit drives the antenna mounting platform and the antenna main body to rotate on the base; the antenna mounting platform is provided with an azimuth sensing unit and a motion sensing unit, and the antenna main body, the steering execution unit, the azimuth sensing unit and the motion sensing unit are electrically connected with the controller.
2. The phased array antenna for a satellite in motion for a low earth orbit according to claim 1, wherein the antenna body transmits and receives electromagnetic waves for satellite communication, and the orientation sensing unit and the motion sensing unit acquire orientation and attitude information of the antenna body and transmit to the controller; the steering execution unit drives the antenna installation platform and the antenna main body to perform pitching motion and rolling motion relative to the base; the controller controls the antenna main body to adjust the electric scanning angle and controls the steering execution unit to adjust the posture and the direction of the antenna main body through electromagnetic energy information received by the antenna main body; the adjustment range of the electrical scanning angle of the antenna main body is +/-60 degrees of the normal direction.
3. The mobile communication phased array antenna for low earth orbit satellites according to claim 1, wherein the orientation sensing unit comprises a GNSS dual antenna direction finding module and/or a gyrocompass, and the orientation sensing unit detects the orientation of the antenna body in real time; the motion sensing unit comprises a triaxial accelerometer and a triaxial gyroscope and detects the posture of the antenna body in real time.
4. The phased array antenna for the satellite communication in motion of claim 1, wherein the steering actuator unit comprises at least three electric push rods, the electric push rods are connected to the base and the antenna mounting platform through kinematic pairs, and the adjustment of the lengths of the electric push rods realizes the posture adjustment of the antenna mounting platform.
5. The phased array antenna for the satellite communication in motion of claim 1, wherein the steering execution unit comprises an external motion frame and an internal motion frame, the external motion frame is connected with the base and is driven by an outer frame motor to perform a pitching motion relative to the base; the antenna mounting platform comprises an inner moving frame, an outer moving frame, an inner frame motor, an outer frame motor, an antenna mounting platform and an antenna mounting platform, wherein the inner moving frame is arranged in the outer moving frame and moves in a pitching mode along with the outer moving frame, the outer moving frame is provided with the inner frame motor, the inner frame motor and the outer frame motor are perpendicular and orthogonal in a plane where the outer moving frame is located, the inner frame motor drives the inner moving frame to rotate to form a rolling motion perpendicular to the pitching motion, and the antenna mounting platform is fixed in the inner moving frame.
6. The method for controlling a mobile satellite communication-in-motion phased array antenna for a low earth orbit satellite according to any one of claims 1 to 5, comprising the steps of:
s1: the controller reads data of the direction sensing unit and the motion sensing unit and acquires information of the current direction and the attitude of the antenna body;
s2: the controller controls the steering execution unit to perform attitude correction and/or attitude compensation on the antenna main body;
s3: the controller calculates an azimuth angle and a pitch angle of the satellite under the antenna body coordinate system according to the azimuth information, the attitude information and the satellite ephemeris information of the antenna body, and controls the radio wave beam of the antenna body to point to the satellite;
s4: after the antenna main body receives the satellite signals, the controller controls the antenna main body to perform electric scanning around the satellite to search the position of the strongest electromagnetic energy signal, and controls the radio wave beam of the antenna main body to always point to the position of the strongest electromagnetic energy signal, so that the satellite signals are continuously tracked;
and S5, repeating the steps S1, S2 and S4 to enable the antenna main body to continuously communicate with the satellite.
7. The control method according to claim 6, wherein the posture correction of the antenna main body in the step S2 includes: the steering execution unit adjusts the attitude of the antenna main body to enable the attitude to move towards the direction of reducing the pitch angle and the roll angle until the pitch angle and the roll angle of the antenna main body detected by the motion sensing unit are zero, so that the antenna main body is dynamically controlled to carry out attitude correction under the condition that the attitude of the motion carrier is constantly changed, and the antenna main body is always in a horizontal state.
8. The control method of claim 6, wherein the attitude compensation of the antenna body of the step S2 includes: the controller pre-judges the current satellite moving direction according to the satellite ephemeris information, presets an attitude compensation angle x of the antenna main body before the satellite reaches a phased array scanning boundary, and the steering execution unit adjusts the attitude of the antenna main body so that the attitude angle of the antenna main body is increased by x, and completes the attitude compensation of the antenna main body.
9. The control method according to claim 6, wherein the attitude correction and the attitude compensation of the antenna main body in the step S2 include; the controller judges the current satellite movement direction in advance according to satellite ephemeris information, an attitude compensation angle x of the antenna body is preset before the satellite reaches a phased array scanning boundary, the steering execution unit adjusts the attitude of the antenna body to enable the attitude of the antenna body to move towards the direction close to the attitude compensation angle x until the attitude angles of the antenna body detected by the azimuth sensing unit and the motion sensing unit are the attitude compensation angle x, and therefore the antenna body can be dynamically controlled to perform attitude compensation and attitude correction under the condition that the attitude of a motion carrier constantly changes, and the attitude angle of the antenna body is always the attitude compensation angle x.
10. The control method according to claim 6, wherein the step S3 includes:
s31: according to the azimuth information and the satellite ephemeris information of the antenna body, an SGP4 algorithm is used for calculating the azimuth angle and the pitch angle of the satellite relative to the antenna at the current moment;
s32: calculating the coordinates of the satellite in the geodetic coordinate system according to the azimuth angle and the pitch angle of the satellite relative to the antenna, which are calculated in the step S31;
s33: obtaining the coordinates of the satellite in the antenna coordinate system through coordinate system transformation according to the attitude information of the antenna main body;
s34: and calculating the azimuth angle and the pitch angle of the satellite in the antenna body coordinate system according to the satellite coordinates obtained in the step S23.
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| CN202110693642.4A CN113296529A (en) | 2021-06-22 | 2021-06-22 | Communication-in-motion phased array antenna for low-orbit satellite and control method thereof |
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| CN202110693642.4A CN113296529A (en) | 2021-06-22 | 2021-06-22 | Communication-in-motion phased array antenna for low-orbit satellite and control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116111353A (en) * | 2023-03-31 | 2023-05-12 | 天津讯联科技有限公司 | Tracking method of phased array antenna fusion device, electronic equipment and storage medium |
| CN116191050A (en) * | 2023-04-27 | 2023-05-30 | 贵州师范大学 | Parabolic antenna control system and control method based on motion control card |
-
2021
- 2021-06-22 CN CN202110693642.4A patent/CN113296529A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116111353A (en) * | 2023-03-31 | 2023-05-12 | 天津讯联科技有限公司 | Tracking method of phased array antenna fusion device, electronic equipment and storage medium |
| CN116111353B (en) * | 2023-03-31 | 2023-06-23 | 天津讯联科技有限公司 | Tracking method of phased array antenna fusion device, electronic equipment and storage medium |
| CN116191050A (en) * | 2023-04-27 | 2023-05-30 | 贵州师范大学 | Parabolic antenna control system and control method based on motion control card |
| CN116191050B (en) * | 2023-04-27 | 2023-09-29 | 贵州师范大学 | Parabolic antenna control system and control method based on motion control card |
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