CN113532428B - Data processing method, device, communication-in-motion terminal and computer readable storage medium - Google Patents
Data processing method, device, communication-in-motion terminal and computer readable storage medium Download PDFInfo
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- CN113532428B CN113532428B CN202010290042.9A CN202010290042A CN113532428B CN 113532428 B CN113532428 B CN 113532428B CN 202010290042 A CN202010290042 A CN 202010290042A CN 113532428 B CN113532428 B CN 113532428B
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- 238000003672 processing method Methods 0.000 title claims abstract description 22
- 238000012545 processing Methods 0.000 claims abstract description 25
- 238000000034 method Methods 0.000 claims abstract description 15
- 238000005259 measurement Methods 0.000 claims description 16
- 238000013213 extrapolation Methods 0.000 claims description 15
- 238000004422 calculation algorithm Methods 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 9
- 238000009825 accumulation Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 15
- 230000006870 function Effects 0.000 description 6
- 238000010295 mobile communication Methods 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
- G01S19/235—Calibration of receiver components
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18519—Operations control, administration or maintenance
Abstract
The disclosure relates to a data processing method, a data processing device, a communication-in-motion terminal and a computer readable storage medium, and relates to the technical field of satellite communication. The method of the present disclosure comprises: determining a third error range of azimuth data measured by an inertial navigation system of the terminal according to a first error corresponding to the calculated satellite position information, a second error of a positioning system of the terminal and antenna tracking precision; determining a calibration time range of the azimuth data of the inertial navigation system according to the third error range; calibrating the inertial navigation system in a calibration time range; and determining the azimuth angle to be adjusted and the pitch angle to be adjusted of the antenna pointing to the satellite of the terminal according to the azimuth data measured by the inertial navigation system.
Description
Technical Field
The present disclosure relates to the field of satellite communications technologies, and in particular, to a data processing method, a data processing device, a communication-in-motion terminal, and a computer readable storage medium.
Background
The satellite alignment method of the traditional high-orbit satellite (High Elliptical Orbit Satellite, HEO) communication-in-motion (Satcom on the move) terminal is based on the known position information of the high-precision high-orbit satellite, the position and posture information of the terminal is obtained through positioning and inertial navigation, the pointing direction of the terminal antenna is calculated, the antenna is controlled to rotate, the maximum gain direction of the antenna is pointed at the satellite, and then signals (carrier signals, beacon signals and the like) received in real time are processed to complete satellite alignment.
In recent years, the medium earth orbit satellite (Middle Earth Orbit Satellite, MEO) and low earth orbit satellite (Low Elliptical Orbit Satellite, LEO) systems have evolved rapidly. The medium-low orbit satellite, especially the low orbit satellite, has the characteristics of large constellation number, high-speed operation of the satellite, short overhead time, high working frequency, no beacon signal and the like. Therefore, the terminal-to-satellite process of the medium-low orbit satellite has higher requirements on accuracy and efficiency.
Disclosure of Invention
The inventors found that: for a middle-orbit or low-orbit satellite, a mobile communication terminal, especially a ship mobile communication terminal, needs to calculate the position of the satellite because the stored ephemeris information is not the high-precision ephemeris received in real time during cold start, but certain errors exist in calculation. In addition, because the positioning system and the inertial navigation system of the terminal can also generate measurement errors, the terminal can perform satellite alignment after the self position information and the gesture measurement information are calibrated. And how to select proper time to calibrate the azimuth information of the terminal measured by the inertial navigation system so as to ensure the accuracy of the satellite is a main research problem of the application.
One technical problem to be solved by the present disclosure is: aiming at the middle orbit or low orbit satellite, when the on-board communication terminal is started in a cold state, the inertial navigation system measures the azimuth information of the terminal, and how to select proper time for calibration, so that the accuracy of satellite alignment is improved.
According to some embodiments of the present disclosure, there is provided a data processing method including: determining a third error range of azimuth data measured by an inertial navigation system of the terminal according to a first error corresponding to the calculated satellite position information, a second error of a positioning system of the terminal and antenna tracking precision; determining a calibration time range of the azimuth data of the inertial navigation system according to the third error range; calibrating the inertial navigation system in a calibration time range; and determining the azimuth angle to be adjusted and the pitch angle to be adjusted of the antenna pointing to the satellite of the terminal according to the azimuth data measured by the inertial navigation system.
In some embodiments, the first error is zero in the case where the satellite is a high orbit stationary orbit satellite, or where the satellite is a medium or low orbit satellite and the terminal receives ephemeris information for the satellite in real time; under the condition that the satellite is a middle-orbit or low-orbit satellite and the terminal is a ship-borne communication-in-motion terminal, the position information of the satellite is calculated by an ephemeris extrapolation algorithm according to the history ephemeris information of the satellite, and the first error is determined according to a model error corresponding to the ephemeris extrapolation algorithm.
In some embodiments, determining a third error range for the position data measured by the inertial navigation system of the terminal comprises: determining a first azimuth error of the terminal relative to the satellite based on the first error; determining a second azimuth error of the terminal relative to the satellite based on the second error; determining an azimuth angle error range of the terminal relative to the satellite, which is caused by measurement of the inertial navigation system, according to the first azimuth angle error, the second azimuth angle error and an azimuth angle error range corresponding to the preset antenna tracking precision; a third error range of the azimuth angle of the terminal measured by the inertial navigation system is determined according to the azimuth angle error range of the terminal relative to the satellite due to the inertial navigation system measurement.
In some embodiments, the half power beamwidth is determined according to the antenna operating frequency and aperture of the terminal, with the antenna tracking accuracy being the product of a preset ratio and the half power beamwidth.
In some embodiments, determining the calibration time range for the position data of the inertial navigation system according to the third error range comprises: and determining a time range formed by the moment reaching the maximum value of the third error range and the previous calibration moment according to the relation between the azimuth error accumulation and the time of the inertial navigation system, and taking the time range as the calibration time range of the azimuth data of the inertial navigation system.
In some embodiments, determining an azimuth angle to be adjusted and a pitch angle to be adjusted of an antenna pointing to a satellite of the terminal based on azimuth data measured by the inertial navigation system comprises: determining the position information of the satellite at the moment according to the position information of the estimated satellite at the moment and the first error at the moment of the azimuth data measured by the inertial navigation system; determining the position information of the terminal at the moment according to the positioning data and the second error measured by the positioning system at the moment; according to azimuth data measured by the inertial navigation system at the moment, determining the azimuth angle of the terminal at the moment; according to the position information of the satellite at the moment, the position information of the terminal at the moment, the azimuth angle of the terminal at the moment and the pitch angle of the terminal measured by the inertial navigation system at the moment, the azimuth angle to be adjusted and the pitch angle to be adjusted of the antenna pointing to the satellite of the terminal are determined.
In some embodiments, the azimuth angle at which the antenna of the terminal is pointed at the satellite to be adjusted is determined using the following formula:
the pitch angle to be adjusted of the antenna pointing to the satellite of the terminal is determined by adopting the following formula:
wherein,representing azimuth angle to be adjusted, +.>Represents the pitch angle to be adjusted, +.>Representing the longitude difference between the terminal and the satellite, delta representing the latitude difference between the terminal and the satellite, +.>Indicating azimuth of the terminal, ++>Representing pitch angle of the terminal, R E Is the radius of the earth, h E Is the orbital altitude of the satellite.
According to further embodiments of the present disclosure, there is provided a data processing apparatus including: the error determining module is used for determining a third error range of azimuth data measured by the inertial navigation system of the terminal according to the first error corresponding to the calculated satellite position information, the second error of the positioning system of the terminal and a preset tracking error range; the time determining module is used for determining a calibration time range of the azimuth data of the inertial navigation system according to the third error range; the calibration module is used for calibrating the inertial navigation system in a calibration time range; and the satellite alignment module is used for determining the azimuth angle to be adjusted and the pitch angle to be adjusted of the antenna pointing to the satellite of the terminal according to the azimuth data measured by the inertial navigation system.
In some embodiments, the first error is zero in the case where the satellite is a high orbit stationary orbit satellite, or where the satellite is a medium or low orbit satellite and the terminal receives ephemeris information for the satellite in real time; under the condition that the satellite is a middle-orbit or low-orbit satellite and the terminal is a ship-borne communication-in-motion terminal, the position information of the satellite is calculated by an ephemeris extrapolation algorithm according to the history ephemeris information of the satellite, and the first error is determined according to a model error corresponding to the ephemeris extrapolation algorithm.
In some embodiments, the error determination module is configured to determine a first azimuth error of the terminal with respect to the satellite based on the first error; determining a second azimuth error of the terminal relative to the satellite based on the second error; determining an azimuth angle error range of the terminal relative to the satellite, which is caused by measurement of the inertial navigation system, according to the first azimuth angle error, the second azimuth angle error and the azimuth angle error range corresponding to the antenna tracking precision; a third error range of the azimuth angle of the terminal measured by the inertial navigation system is determined according to the azimuth angle error range of the terminal relative to the satellite due to the inertial navigation system measurement.
In some embodiments, the half power beamwidth is determined according to the antenna operating frequency and aperture of the terminal, with the antenna tracking accuracy being the product of a preset ratio and the half power beamwidth.
In some embodiments, the time determining module is configured to determine, as the calibration time range of the azimuth data of the inertial navigation system, a time range formed by a time point when the maximum value of the third error range is reached and a previous calibration time point according to a relationship between the azimuth error accumulation of the inertial navigation system and time.
In some embodiments, the satellite alignment module is configured to determine, at a time of the azimuth data measured by the inertial navigation system, position information of the satellite at the time according to the estimated position information of the satellite at the time and the first error; determining the position information of the terminal at the moment according to the positioning data and the second error measured by the positioning system at the moment; according to azimuth data measured by the inertial navigation system at the moment, determining the azimuth angle of the terminal at the moment; according to the position information of the satellite at the moment, the position information of the terminal at the moment, the azimuth angle of the terminal at the moment and the pitch angle of the terminal measured by the inertial navigation system at the moment, the azimuth angle to be adjusted and the pitch angle to be adjusted of the antenna pointing to the satellite of the terminal are determined.
In some embodiments, the azimuth angle at which the antenna of the terminal is pointed at the satellite to be adjusted is determined using the following formula:
the pitch angle to be adjusted of the antenna pointing to the satellite of the terminal is determined by adopting the following formula:
wherein,representing azimuth angle to be adjusted, +.>Represents the pitch angle to be adjusted, +.>Representing the longitude difference between the terminal and the satellite, delta representing the latitude difference between the terminal and the satellite, +.>Indicating azimuth of the terminal, ++>Representing pitch angle of the terminal, R E Is the radius of the earth, H E Is the orbital altitude of the satellite.
According to still further embodiments of the present disclosure, there is provided a data processing apparatus including: a processor; and a memory coupled to the processor for storing instructions that, when executed by the processor, cause the processor to perform the data processing method of any of the embodiments described above.
According to still further embodiments of the present disclosure, a non-transitory computer readable storage medium is provided, on which a computer program is stored, wherein the program when executed by a processor implements the steps of any of the foregoing embodiments of the data processing method.
According to still further embodiments of the present disclosure, there is provided a communication-in-motion terminal including: the data processing apparatus of any of the foregoing embodiments; the antenna control module is used for controlling the antenna to be positioned at the same time as the positioning system; the positioning system is used for measuring positioning data of the terminal; the inertial navigation system is used for measuring inertial navigation data of the terminal, and the inertial navigation data comprises: azimuth data; the antenna is used for receiving signals of the satellite or transmitting signals to the satellite; the antenna control module is used for receiving an azimuth angle to be adjusted and a pitch angle to be adjusted of the antenna pointing to the satellite, which are sent by the data processing device, and adjusting the antenna according to the azimuth angle to be adjusted and the pitch angle to be adjusted.
According to the first error corresponding to the calculated satellite position information, the second error of the positioning system of the terminal and the preset antenna tracking precision, a third error range of azimuth data measured by the inertial navigation system of the terminal is determined. Further, a calibration time range of the position data of the inertial navigation system is determined from the third error range. And calibrating the inertial navigation system within the calibration time range, so that the star alignment according to the azimuth data measured by the inertial navigation system can be ensured to always meet the antenna tracking precision as much as possible, thereby ensuring the accuracy of the star alignment. The scheme disclosed by the invention is suitable for the calibration of the azimuth information of the terminal measured by the inertial navigation system when the on-board communication-in-motion terminal is started in a cold state, and the accuracy of the satellite can be improved.
Other features of the present disclosure and its advantages will become apparent from the following detailed description of exemplary embodiments of the disclosure, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.
Fig. 1 illustrates a flow diagram of a data processing method of some embodiments of the present disclosure.
Fig. 2 shows a flow diagram of a data processing method of other embodiments of the present disclosure.
Fig. 3 illustrates a schematic diagram of a data processing apparatus of some embodiments of the present disclosure.
Fig. 4 shows a schematic structural view of a data processing apparatus of other embodiments of the present disclosure.
Fig. 5 shows a schematic structural diagram of a data processing apparatus of further embodiments of the present disclosure.
Fig. 6 illustrates a schematic structural diagram of a communication-in-motion terminal of some embodiments of the present disclosure.
Detailed Description
The following description of the technical solutions in the embodiments of the present disclosure will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.
The present disclosure provides a data processing method that may improve satellite-to-satellite accuracy for medium or low orbit satellites, as described below in connection with fig. 1.
FIG. 1 is a flow chart of some embodiments of the disclosed data processing method. As shown in fig. 1, the method of this embodiment includes: steps S102 to S108.
In step S102, a third error range of the azimuth data measured by the inertial navigation system of the terminal is determined according to the first error corresponding to the estimated satellite position information, the second error of the positioning system of the terminal, and the antenna tracking accuracy. The terminal is a communication-in-motion terminal, and is hereinafter referred to as a terminal.
The scheme disclosed by the invention is suitable for the following application scenes: (1) the satellite is a high-orbit stationary orbit satellite; (2) The satellite is a medium-orbit or low-orbit satellite, and the terminal receives ephemeris information of the satellite in real time, which includes: the satellite is a middle-orbit or low-orbit satellite, and the vehicle-mounted or ship-mounted mobile communication terminal receives ephemeris information of the satellite in real time after starting up for the first time; (3) The satellite is a middle-orbit or low-orbit satellite, the terminal is a ship-borne communication-in-motion terminal, and the satellite is aligned for the first time after the start-up is cold.
In some embodiments, the first error is zero in the case where the satellite is a high orbit stationary orbit satellite, or where the satellite is a medium or low orbit satellite and the terminal receives ephemeris information of the satellite in real time. Since the high orbit stationary satellites can be considered that the position information of the satellites can be accurately measured and is known information, i.e., the estimated satellite position information is accurate position information, the first error can be considered zero. Corresponds to the application scenarios (1) and (2) described above.
In some embodiments, in the case where the satellite is a mid-orbit or low-orbit satellite and the terminal is a marine mobile communication terminal, the position information of the satellite is calculated by an ephemeris extrapolation algorithm based on historical ephemeris information of the satellite, and the first error is determined based on a model error corresponding to the ephemeris extrapolation algorithm. Corresponds to the application scenario (3). In addition, for the situation that the satellite is a middle-orbit or low-orbit satellite and the terminal is an on-vehicle mobile communication terminal, when the mobile communication terminal is started, the inertial navigation system is also just started, defaults accurately, calibration is not needed, and the scheme of the present disclosure can not be applied. After the first satellite alignment is completed, the inertial navigation system generates errors over time, and the scheme of the present disclosure, namely one of the situations of the application scenario (2), can be applied.
For medium-orbit or low-orbit satellites, the ephemeris information stored when the on-board communication-in-motion terminal is started is historical ephemeris information. The position information of the satellite, and the first error, is calculated from the historical ephemeris information using an existing ephemeris extrapolation algorithm. For example, the ephemeris extrapolation algorithm obtains information such as normal direction, radial direction, movement direction and the like of the satellite in the RTN coordinate system according to the ephemeris initial data and the ephemeris extrapolation formula and by considering factors such as an earth gravitational field (JGM-3 model), a solar pressure coefficient, an atmospheric resistance coefficient, a third body perturbation and the like, so as to determine the position information of the satellite. For medium-orbit or low-orbit satellites, the earth gravitational field is a main factor, and for a common communication-in-motion terminal, the calculation capability is limited, an extrapolation model is generally 4×4 order, and compared with a high-order model, the numerical error is larger. The error of the different models is different and can be determined according to the models.
The second error of the positioning system of the terminal may be known. The antenna tracking precision of the terminal to the satellite is expressed in the precision range, so that the communication between the terminal and the satellite can be ensured, and the communication between the terminal and the satellite cannot be ensured if the error maximum value of the antenna tracking precision is exceeded. And according to the first error, the second error and the antenna tracking precision, determining a third error range which meets the requirement of the antenna tracking precision on azimuth data measured by an inertial navigation system of the terminal. In the actual star alignment process, the data which mainly need to be adjusted are azimuth data, so that the scheme of the present disclosure is mainly designed for the azimuth data.
In some embodiments, a first azimuth error of the terminal relative to the satellite is determined based on the first error; determining a second azimuth error of the terminal relative to the satellite based on the second error; determining an azimuth angle error range of the terminal relative to the satellite, which is caused by measurement of the inertial navigation system, according to the first azimuth angle error, the second azimuth angle error and the azimuth angle error range corresponding to the antenna tracking precision; a third error range of the azimuth angle of the terminal measured by the inertial navigation system is determined according to the azimuth angle error range of the terminal relative to the satellite due to the inertial navigation system measurement.
From the first error (satellite position error) it can be decomposed into a first azimuth error θ of the terminal relative to the satellite in the horizontal plane 1 . For example, the actual satellite position is a, and the direction angle of the terminal in the horizontal direction relative to the position a is 45 degrees north-west; the estimated satellite position is B, and the terminal is oriented at 50 degrees north-west relative to the position B, and the first azimuth error is 5 degrees. If the antenna is adjusted to point to 45 degrees north and west, the offset of 5 degrees is not aligned. The azimuth angle indication method or the azimuth angle direction of 0 degree can be set according to actual requirements, for example, the forward eastern direction is set as the azimuth angle direction of 0 degree, and the north rotation angle is sequentially increased until 360 degrees of rotation are achieved.
Likewise, the second error may be decomposed into a second azimuth error θ of the terminal relative to the satellite 2 . The tracking accuracy of the antenna can be decomposed into azimuth error ranges (0, theta) 0 ) Azimuth error maximum value is theta 0 . In the worst case, the first error, the second error and the third error may be superimposed on each other, and the range of the azimuth error of the terminal with respect to the satellite due to the inertial navigation system measurement may be represented by [0, θ ] 0 -(θ 1 +θ 2 )]. The third error range of the inertial navigation system for measuring the azimuth angle of the terminal can also be expressed as [0, theta ] 0 -(θ 1 +θ 2 )]。
In some embodiments, the antenna tracking accuracy is presetIn the case of the product of the ratio and the half-power beamwidth, the half-power beamwidth is determined according to the antenna operating frequency and aperture of the terminal. For example, the half power beam width is the ratio of the antenna operating frequency to the aperture multiplied by a preset value, for example 65 to 80, preferably 70. For example, the maximum value of the antenna tracking accuracy is less than 1/4 of the half-power beam width, and the half-power beam width of the satellite phased array antenna terminal with the equivalent caliber of D meters isLambda is the antenna operating frequency point.
In step S104, a calibration time range of the azimuth data of the inertial navigation system is determined according to the third error range.
In some embodiments, after determining the third error range of the azimuth angle of the inertial navigation system, determining a time range formed by the time when the maximum value of the third error range is reached and the previous calibration time (if the terminal is restarted, the time may be the starting time) according to the relationship between the accumulation of the azimuth angle errors of the inertial navigation system and time, and using the time range as the calibration time range of the azimuth data of the inertial navigation system. For example, the azimuth error drift rate of the inertial navigation system, i.e. the relationship of azimuth error accumulation and time, may be obtained in advance, from which it may be determined how long the inertial navigation system has passed to reach the maximum value of the third error range after the previous calibration. As long as the two calibration time intervals do not exceed the calibration time range, the error of the whole system can be ensured to meet the antenna tracking precision. Therefore, the time interval between the two times of calibration does not exceed the time range of the calibration, the number of times of calibration can be reduced as much as possible under the condition of ensuring the accuracy of the star, and the efficiency is improved.
In step S106, the inertial navigation system is calibrated within the calibration time frame.
The inertial navigation system may be calibrated by an existing method, for example, according to data measured by the positioning system, which is not described herein. The calibration of the inertial navigation system may be performed cyclically, and the timing of the next calibration may be determined from the calibration time frame each time the calibration is completed.
In step S108, according to the azimuth data measured by the inertial navigation system, an azimuth angle to be adjusted and a pitch angle to be adjusted of the antenna pointing to the satellite of the terminal are determined.
As long as the inertial navigation system is calibrated within the calibration time range every time, the azimuth data measured by the inertial navigation system can enable the whole system to meet the antenna tracking precision.
In some embodiments, at a time of the azimuth data measured by the inertial navigation system, determining the position information of the satellite at the time according to the estimated position information of the satellite at the time and the first error; determining the position information of the terminal at the moment according to the positioning data and the second error measured by the positioning system at the moment; according to azimuth data measured by the inertial navigation system at the moment, determining the azimuth angle of the terminal at the moment; according to the position information of the satellite at the moment, the position information of the terminal at the moment, the azimuth angle of the terminal at the moment and the pitch angle of the terminal measured by the inertial navigation system at the moment, the azimuth angle to be adjusted and the pitch angle to be adjusted of the antenna pointing to the satellite of the terminal are determined.
Further, the azimuth angle to be adjusted of the antenna pointing to the satellite of the terminal is determined by adopting the following formula:
the pitch angle to be adjusted of the antenna pointing to the satellite of the terminal is determined by adopting the following formula:
in the formulas (1) and (2),representing azimuth angle to be adjusted, +.>Represents the pitch angle to be adjusted, +.>Representing the longitude difference between the terminal and the satellite, delta representing the latitude difference between the terminal and the satellite, +.>Indicating azimuth of the terminal, ++>Representing pitch angle of the terminal, R E Is the radius of the earth, h E Is the orbital altitude of the satellite.
And according to the azimuth angle and pitch angle to be adjusted when the antenna points to the satellite, the maximum gain direction of the antenna beam points to the satellite, so that the quick satellite alignment is completed.
In the above embodiment, the third error range of the azimuth data measured by the inertial navigation system of the terminal is determined according to the first error corresponding to the estimated satellite position information, the second error of the positioning system of the terminal and the tracking accuracy of the antenna. Further, a calibration time range of the position data of the inertial navigation system is determined from the third error range. And calibrating the inertial navigation system within the calibration time range, so that the star alignment according to the azimuth data measured by the inertial navigation system can be ensured to always meet the antenna tracking precision as much as possible, thereby ensuring the accuracy of the star alignment. The scheme of the embodiment is suitable for the middle-orbit or low-orbit satellite, and the accuracy of the satellite can be improved by calibrating the azimuth information of the terminal measured by the inertial navigation system when the on-board communication terminal is started in a cold mode. In addition, the scheme of the embodiment is also suitable for the situations that the satellite is a high-orbit static orbit satellite or the satellite is a medium-orbit or low-orbit satellite and the terminal receives ephemeris information of the satellite in real time, and the accuracy of the satellite is improved. And moreover, the inertial navigation system is calibrated within the calibration time range, so that the calibration times can be reduced, the satellite alignment efficiency is improved, the satellite alignment calculation time of the terminal antenna is effectively shortened, and the rapid satellite alignment is completed.
Further embodiments of the data processing method of the present disclosure are described below in conjunction with fig. 2.
FIG. 2 is a flow chart of other embodiments of the data processing method of the present disclosure. As shown in fig. 2, the method of this embodiment includes: steps S202 to S214.
In step S202, a first error corresponding to the estimated satellite position information is acquired.
In step S204, it is determined whether the first error is greater than the maximum value of the antenna tracking accuracy, and if so, step S206 is performed, otherwise, step S208 is performed.
If the satellite is a high-orbit stationary orbit satellite or if the satellite is a medium-orbit or low-orbit satellite and the terminal receives ephemeris information of the satellite in real time, steps S202 to S204 may not be executed, and the first error is defaulted to 0, and the execution starts from step S208.
In step S206, ephemeris information of the satellite is updated.
If the terminal is started for too long from the last time of updating the ephemeris information of the satellite, the first error may exceed the maximum value of the tracking accuracy of the antenna, so that the ephemeris information of the satellite needs to be updated, and the position information of the satellite and the corresponding first error are redetermined based on the updated time. The update may be performed by acquiring real-time ephemeris information of the satellite from other systems.
In step S207, the first error corresponding to the estimated satellite position information is redetermined according to the updated ephemeris information and the ephemeris extrapolation algorithm.
If the updated ephemeris information is real-time ephemeris information, step S207 may not be performed, and the first error is considered to be 0. In the case that the satellite is a middle-orbit or low-orbit satellite and the terminal is a vehicle-mounted communication-in-motion terminal, the default inertial navigation data is accurate, after the step S206 or 207 is executed, the position of the satellite can be directly determined according to the real-time ephemeris information or the first error, the position of the terminal is determined according to the position of the terminal and the second error measured by the positioning system, and the satellite is completed according to the azimuth angle and the pitch angle of the terminal measured by the inertial navigation system and the position of the satellite and the position of the terminal.
In step S208, a third error range of the azimuth data measured by the inertial navigation system of the terminal is determined according to the first error corresponding to the estimated satellite position information, the second error of the positioning system of the terminal, and the antenna tracking accuracy.
In step S210, a calibration time range of the azimuth data of the inertial navigation system is determined according to the third error range.
In step S212, the inertial navigation system is calibrated within the calibration time frame.
In step S214, according to the azimuth data measured by the inertial navigation system, an azimuth angle to be adjusted and a pitch angle to be adjusted of the antenna pointing to the satellite of the terminal are determined.
According to the method, the calibration time range of the azimuth data of the inertial navigation system can be dynamically determined, the calibration and attitude measurement time of the inertial navigation system is reduced, the calculation time of the terminal antenna for the satellite is effectively shortened, and the quick satellite alignment is completed. For three application scenarios: (1) In the case that the satellite is a high-orbit stationary orbit satellite, or (2) in the case that the satellite is a medium-orbit or low-orbit satellite and the terminal receives ephemeris information of the satellite in real time, according to the method of the foregoing embodiment, the calibration time interval of the azimuth angle of the inertial navigation system is determined, so that the calibration frequency can be reduced and the calibration efficiency can be improved. The application scene (2) comprises the conditions that the satellite is a medium-orbit satellite or a low-orbit satellite, the terminal is a vehicle-mounted terminal, and the inertial navigation system is started immediately after the start-up and cold start-up, is accurate by default, does not need calibration, only needs to calculate whether the first error is the antenna tracking precision, if the first error is larger than the first error, the ephemeris is out of date for a long time, the ephemeris information needs to be input again from the outside and updated, and then the satellite is aligned, and if the first error is smaller than the second error, the satellite can be aligned. Then, along with the transition of the using time of the terminal and the accumulation of the azimuth drift errors of the inertial navigation system, a first application scene can be adopted to determine the calibration time interval of the azimuth angle of the inertial navigation system, and the calibration frequency is reduced. (3) The satellite is a middle-orbit or low-orbit satellite, the terminal is a ship-borne communication-in-motion terminal, and when the terminal is started, the inertial navigation system is in a working state and has azimuth drift, and calibration is needed, so that according to the method of the embodiment, the calibration time interval of the azimuth angle of the inertial navigation system is determined, the calibration frequency can be reduced, and the calibration efficiency is improved.
The present disclosure also provides a data processing apparatus, described below in connection with fig. 3. The data processing device may be provided in a communication-in-motion terminal (e.g., a terminal on a moving carrier of a vehicle, ship, etc.).
Fig. 3 is a block diagram of some embodiments of a data processing apparatus of the present disclosure. As shown in fig. 3, the apparatus 30 of this embodiment includes: error determination module 310, time determination module 320, calibration module 330, and star module 340.
The error determining module 310 is configured to determine a third error range of the azimuth data measured by the inertial navigation system of the terminal according to the first error corresponding to the estimated satellite position information, the second error of the positioning system of the terminal, and the tracking accuracy of the antenna. The terminal is a communication-in-motion terminal.
In some embodiments, the first error is zero in the case where the satellite is a high orbit stationary orbit satellite, or where the satellite is a medium or low orbit satellite and the terminal receives ephemeris information for the satellite in real time; under the condition that the satellite is a middle-orbit or low-orbit satellite and the terminal is a ship-borne communication-in-motion terminal, the position information of the satellite is calculated by an ephemeris extrapolation algorithm according to the history ephemeris information of the satellite, and the first error is determined according to a model error corresponding to the ephemeris extrapolation algorithm.
In some embodiments, the half power beamwidth is determined according to the antenna operating frequency and aperture of the terminal, with the antenna tracking accuracy being the product of a preset ratio and the half power beamwidth.
In some embodiments, the error determination module 310 is configured to determine a first azimuth error of the terminal with respect to the satellite based on the first error; determining a second azimuth error of the terminal relative to the satellite based on the second error; determining an azimuth angle error range of the terminal relative to the satellite, which is caused by measurement of the inertial navigation system, according to the first azimuth angle error, the second azimuth angle error and the azimuth angle error range corresponding to the antenna tracking precision; a third error range of the azimuth angle of the terminal measured by the inertial navigation system is determined according to the azimuth angle error range of the terminal relative to the satellite due to the inertial navigation system measurement.
The time determining module 320 is configured to determine a calibration time range of the azimuth data of the inertial navigation system according to the third error range.
In some embodiments, the time determining module 320 is configured to determine, as the calibration time range of the azimuth data of the inertial navigation system, a time range formed by a time point when the maximum value of the third error range is reached and a previous calibration time point according to the relationship between the azimuth error accumulation of the inertial navigation system and time.
The calibration module 330 is used for calibrating the inertial navigation system within a calibration time frame.
The satellite alignment module 340 is configured to determine an azimuth angle to be adjusted and a pitch angle to be adjusted of an antenna pointing to a satellite of the terminal according to azimuth data measured by the inertial navigation system.
In some embodiments, the satellite alignment module 340 is configured to determine, at a time of the azimuth data measured by the inertial navigation system, the position information of the satellite at the time according to the estimated position information of the satellite at the time and the first error; determining the position information of the terminal at the moment according to the positioning data and the second error measured by the positioning system at the moment; according to azimuth data measured by the inertial navigation system at the moment, determining the azimuth angle of the terminal at the moment; according to the position information of the satellite at the moment, the position information of the terminal at the moment, the azimuth angle of the terminal at the moment and the pitch angle of the terminal measured by the inertial navigation system at the moment, the azimuth angle to be adjusted and the pitch angle to be adjusted of the antenna pointing to the satellite of the terminal are determined.
In some embodiments, the azimuth angle at which the antenna of the terminal is pointed at the satellite to be adjusted is determined using the following formula:
the pitch angle to be adjusted of the antenna pointing to the satellite of the terminal is determined by adopting the following formula:
wherein,representing azimuth angle to be adjusted, +.>Represents the pitch angle to be adjusted, +.>Representing the longitude difference between the terminal and the satellite, delta representing the latitude difference between the terminal and the satellite, +.>Indicating azimuth of the terminal, ++>Representing pitch angle of the terminal, R E Is the radius of the earth, h E Is the orbital altitude of the satellite.
The data processing apparatus in embodiments of the present disclosure may each be implemented by various computing devices or computer systems, as described below in connection with fig. 4 and 5.
Fig. 4 is a block diagram of some embodiments of a data processing apparatus of the present disclosure. As shown in fig. 4, the apparatus 40 of this embodiment includes: a memory 410 and a processor 420 coupled to the memory 410, the processor 420 being configured to perform the data processing method in any of the embodiments of the present disclosure based on instructions stored in the memory 410.
The memory 410 may include, for example, system memory, fixed nonvolatile storage media, and the like. The system memory stores, for example, an operating system, application programs, boot Loader (Boot Loader), database, and other programs.
FIG. 5 is a block diagram of further embodiments of a data processing apparatus of the present disclosure. As shown in fig. 5, the apparatus 50 of this embodiment includes: memory 510 and processor 520 are similar to memory 410 and processor 420, respectively. Input/output interface 530, network interface 540, storage interface 550, and the like may also be included. These interfaces 530, 540, 550, as well as the memory 510 and the processor 520, may be connected by a bus 560, for example. The input/output interface 530 provides a connection interface for input/output devices such as a display, a mouse, a keyboard, a touch screen, etc. The network interface 540 provides a connection interface for various networking devices, such as may be connected to a database server or cloud storage server, or the like. The storage interface 550 provides a connection interface for external storage devices such as SD cards, U discs, and the like.
The present disclosure also provides a communication-in-motion terminal, described below in connection with fig. 6.
Figure 6 is a block diagram of some embodiments of the present public in-motion terminals. As shown in fig. 6, the terminal 6 of this embodiment includes: the data processing apparatus 30/40/50 of any of the previous embodiments; and an antenna 622, a positioning system 624 and an inertial navigation system 626, an antenna control module 628; the positioning system 624 is used to measure positioning data of the terminal 62; inertial navigation system 626 is used to measure inertial navigation data of terminal 62, including: azimuth data; antenna 622 is used to receive signals from, or to transmit signals to, satellites; the antenna control module 628 is configured to receive the azimuth angle to be adjusted and the pitch angle to be adjusted of the antenna 622 sent by the data processing device, and adjust the antenna 622 according to the azimuth angle to be adjusted and the pitch angle to be adjusted. The terminal may further include an intermediate frequency unit and a baseband unit for receiving satellite signals, parsing out the latest ephemeris information, and storing in a storage unit, etc. In addition to the functions defined in the present disclosure, the terminal may also integrate other functions in the prior art, which are not described herein.
It will be appreciated by those skilled in the art that embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flowchart and/or block of the flowchart illustrations and/or block diagrams, and combinations of flowcharts and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing description of the preferred embodiments of the present disclosure is not intended to limit the disclosure, but rather to cover any and all modifications, equivalents, improvements or alternatives falling within the spirit and principles of the present disclosure.
Claims (10)
1. A data processing method, comprising:
according to the first error corresponding to the calculated satellite position information, the second error of the positioning system of the terminal and the tracking precision of the antenna, a third error range of azimuth data measured by the inertial navigation system of the terminal is determined, and the method comprises the following steps: determining a first azimuth error of the terminal relative to the satellite based on the first error; determining a second azimuth error of the terminal relative to the satellite based on the second error; determining an azimuth angle error range of the terminal relative to the satellite, which is caused by measurement of the inertial navigation system, according to the first azimuth angle error, the second azimuth angle error and the azimuth angle error range corresponding to the antenna tracking precision; determining a third error range of the azimuth angle of the terminal measured by the inertial navigation system according to the azimuth angle error range of the terminal relative to the satellite caused by the measurement of the inertial navigation system, wherein the terminal is a communication-in-motion terminal;
determining a calibration time range of the azimuth data of the inertial navigation system according to the third error range;
calibrating the inertial navigation system within the calibration time range;
and determining the azimuth angle to be adjusted and the pitch angle to be adjusted of the antenna pointing to the satellite of the terminal according to the azimuth data measured by the inertial navigation system.
2. The data processing method according to claim 1, wherein,
the first error is zero in the case where the satellite is a high orbit stationary orbit satellite, or in the case where the satellite is a medium or low orbit satellite and the terminal receives ephemeris information of the satellite in real time;
under the condition that the satellite is a middle-orbit or low-orbit satellite and the terminal is a ship-borne communication-in-motion terminal, the position information of the satellite is calculated by using an ephemeris extrapolation algorithm according to the history ephemeris information of the satellite, and the first error is determined according to a model error corresponding to the ephemeris extrapolation algorithm.
3. The data processing method according to claim 1, wherein,
and under the condition that the antenna tracking precision is the product of a preset proportion and a half-power beam width, the half-power beam width is determined according to the antenna working frequency and the caliber of the terminal.
4. The data processing method according to claim 1, wherein,
the determining the calibration time range of the azimuth data of the inertial navigation system according to the third error range comprises:
and determining a time range formed by the moment reaching the maximum value of the third error range and the previous calibration moment according to the relation between the azimuth error accumulation and the time of the inertial navigation system, and taking the time range as the calibration time range of the azimuth data of the inertial navigation system.
5. The data processing method according to claim 1, wherein,
the determining the azimuth angle to be adjusted and the pitch angle to be adjusted of the antenna pointing to the satellite according to the azimuth data measured by the inertial navigation system comprises:
determining the position information of the satellite at the moment according to the position information of the estimated satellite at the moment and the first error at the moment when the inertial navigation system measures the azimuth data;
determining the position information of the terminal at the moment according to the positioning data measured by the positioning system at the moment and the second error;
according to azimuth data measured by the inertial navigation system at the moment, determining the azimuth angle of the terminal at the moment;
according to the position information of the satellite at the moment, the position information of the terminal at the moment, the azimuth angle of the terminal at the moment and the pitch angle of the terminal measured by the inertial navigation system at the moment, the azimuth angle to be adjusted and the pitch angle to be adjusted of the antenna of the terminal pointing to the satellite are determined.
6. The data processing method according to claim 5, wherein,
the azimuth angle to be adjusted of the antenna pointing to the satellite of the terminal is determined by adopting the following formula:
determining a pitch angle to be adjusted of an antenna of the terminal pointing to the satellite by adopting the following formula:
wherein,representing the azimuth angle to be adjusted, +.>Represents the pitch angle to be adjusted, +.>Representing the longitude difference between the terminal and the satellite, delta representing the latitude difference between the terminal and the satellite, +.>Represents the azimuth of the terminal, < >>Representing the pitch angle, R, of the terminal E Is the radius of the earth, h E Is the orbital altitude of the satellite.
7. A data processing apparatus comprising:
the error determining module is configured to determine a third error range of azimuth data measured by an inertial navigation system of a terminal according to a first error corresponding to the estimated satellite position information, a second error of a positioning system of the terminal, and antenna tracking accuracy, and includes: determining a first azimuth error of the terminal relative to the satellite based on the first error; determining a second azimuth error of the terminal relative to the satellite based on the second error; determining an azimuth angle error range of the terminal relative to the satellite, which is caused by measurement of the inertial navigation system, according to the first azimuth angle error, the second azimuth angle error and the azimuth angle error range corresponding to the antenna tracking precision; determining a third error range of the azimuth angle of the terminal measured by the inertial navigation system according to the azimuth angle error range of the terminal relative to the satellite caused by the measurement of the inertial navigation system, wherein the terminal is a communication-in-motion terminal;
the time determining module is used for determining a calibration time range of the azimuth data of the inertial navigation system according to the third error range;
the calibration module is used for calibrating the inertial navigation system in the calibration time range;
and the satellite aligning module is used for determining the azimuth angle to be adjusted and the pitch angle to be adjusted of the antenna pointing to the satellite of the terminal according to the azimuth data measured by the inertial navigation system.
8. A data processing apparatus comprising:
a processor; and
a memory coupled to the processor for storing instructions that, when executed by the processor, cause the processor to perform the data processing method of any of claims 1-6.
9. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the program when executed by a processor implements the steps of the data processing method of any of claims 1-6.
10. A communication-in-motion terminal comprising: the data processing apparatus of claim 7 or 8; the antenna control module is used for controlling the antenna to be positioned at the same time as the positioning system;
the positioning system is used for measuring positioning data of the terminal;
the inertial navigation system is used for measuring inertial navigation data of the terminal, and the inertial navigation data comprises: azimuth data;
the antenna is used for receiving signals of satellites or transmitting signals to the satellites;
the antenna control module is used for receiving the azimuth angle to be adjusted and the pitch angle to be adjusted, which are sent by the data processing device, of the antenna pointing to the satellite, and adjusting the antenna according to the azimuth angle to be adjusted and the pitch angle to be adjusted.
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| CN114691523B (en) * | 2022-04-25 | 2022-08-23 | 景网技术有限公司 | GPS system debugging method and device |
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