CN113849003A - Control method for motion isolation of communication-in-motion antenna - Google Patents

Control method for motion isolation of communication-in-motion antenna Download PDF

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Publication number
CN113849003A
CN113849003A CN202111193228.3A CN202111193228A CN113849003A CN 113849003 A CN113849003 A CN 113849003A CN 202111193228 A CN202111193228 A CN 202111193228A CN 113849003 A CN113849003 A CN 113849003A
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angle
polarization
error
course
pitch
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CN113849003B (en
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王锦瑜
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Fuyuanxin Shanghai Technology Co ltd
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Xi'an Yinnashu Intelligent Technology Co ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G05D3/20—Control of position or direction using feedback using a digital comparing device

Abstract

The invention discloses a control method for motion isolation of a communication-in-motion antenna, which does not need to install expensive main inertial navigation system equipment on a carrier, and does not need the antenna to perform two-dimensional/three-dimensional conical scanning motion; only the course axis of the antenna is controlled to perform single-dimensional sine swing, and the pitching axis and the polarization axis of the antenna do not have left-right scanning motion and directly and accurately point to the respective power maximum point. The invention enhances the intensity of the antenna receiving signal, enhances the anti-interference capability, increases the bandwidth and saves more energy.

Description

Control method for motion isolation of communication-in-motion antenna
Technical Field
The invention belongs to the field of antennas, and particularly relates to a control method for motion isolation of a communication-in-motion antenna.
Background
When a moving carrier (such as an airplane or a ship) communicates with a geostationary satellite, no matter how the carrier moves, a satellite communication antenna (such as a parabolic antenna) on the carrier needs to be isolated from the motion of the carrier, and the axial direction of the control antenna points to the direction of the sky geostationary satellite in real time, which is the main purpose of controlling the communication-in-motion antenna. In order to achieve the purpose, the prior art adopts two technical schemes to control the communication-in-motion antenna, and the first scheme is as follows: when the carrier is provided with a main inertial navigation system, acquiring motion real-time information of the carrier from the main inertial navigation system of the carrier as a reference information source; the second scheme is as follows: when the main inertial navigation system is not in the carrier, a (combined) inertial navigation system is carried as a motion information reference source.
However, the main inertial navigation system in the first scheme is expensive, and the inertial navigation system in the second scheme is low in precision, and requires the antenna to continuously perform two-dimensional (or three-dimensional) conical scanning motion around the central axis thereof, so that the antenna axis always points to the multi-latitude space direction with the strongest communication signal power. The "strongest power" of the communication signal is not a true power maximum in a region where the average value of the signal power is actually the largest.
Disclosure of Invention
Aiming at the defects in the prior art, the control method for motion isolation of the communication-in-motion antenna provided by the invention solves the problems in the prior art.
In order to achieve the purpose of the invention, the invention adopts the technical scheme that: a control method for motion isolation of a communication-in-motion antenna is characterized in that a carrier provided with an antenna is provided with a GNSS receiver and an MEMS inertial navigation system, and comprises the following steps:
A. communicating with a satellite through a GNSS receiver to obtain the positions of the GNSS receiver and the satellite;
B. connecting the position of the GNSS receiver with the position of the satellite, and respectively taking the spatial included angles between the connecting line and the equator and the zero longitude line as a first pitch angle SPAnd a first course angle SHSetting a first polarization angle SRIs 0;
C. measuring a second pitch angle theta and a second course angle through the MEMS inertial navigation system
Figure BDA0003302069830000021
And a second polarization angle gamma, and solving a second pitch angle error, a second course angle error and a second polarization angle error;
D. according to the second pitch angle error, the second course angle error and the second polarization angle error, aligning the second pitch angle theta and the second course angle
Figure BDA0003302069830000022
And updating the second polarization angle gamma to obtain a second updated pitch angle theta and a second updated course angle
Figure BDA0003302069830000023
And a second angle of polarization gamma;
E. according to a first pitch angle SPFirst navigationTo angle SHFirst angle of polarization SRThe updated second pitch angle theta and the second course angle
Figure BDA0003302069830000024
And a second polarization angle gamma, obtaining an angle error;
F. and controlling the antenna to rotate by a corresponding angle according to the angle error to finish the control of the motion isolation of the antenna.
Further, the obtaining a second pitch angle error, a second heading angle error and a second polarization angle error includes:
the vector function for constructing the inertial navigation error is as follows:
Figure BDA0003302069830000025
Figure BDA0003302069830000026
where δ represents the prefix sign of the error amount, δ VnRepresenting the three-dimensional velocity error on the geographical coordinate system n where the antenna is located,
Figure BDA0003302069830000027
δVE、δVNand δ VURespectively representing three-dimensional velocity errors deltaVnComponents in the east, north, and sky directions; E. n and U represent east, north and sky directions, respectively; the direction of the sky represents a direction perpendicular to a horizontal plane where the antenna is located and away from the ground;
Figure BDA0003302069830000028
is represented by δ VnA differential of (f)nRepresenting a three-dimensional vector of specific forces measured by an accelerometer in a MEMS inertial navigation system on a geographical navigation coordinate system,
Figure BDA0003302069830000031
fE、fNand fURespectively represent threeDimension vector fnThe components in the east, north and sky directions,
Figure BDA0003302069830000032
a three-dimensional vector representing the rotation speed of the earth with respect to the inertial space i on a geographical coordinate system n,
Figure BDA0003302069830000033
a three-dimensional vector representing the geographical position at which the antenna is located relative to the rotational speed of the earth's sphere,
Figure BDA0003302069830000034
a three-dimensional vector representing the rotation speed of the geographical position where the antenna is located with respect to the inertial space i,
Figure BDA0003302069830000035
three-dimensional vector, epsilon, representing accelerometer null error in geographic coordinate system nnRepresents a three-dimensional vector of zero errors of a gyroscope in the MEMS inertial navigation system on a geographic coordinate system n,
Figure BDA0003302069830000036
respectively represent
Figure BDA0003302069830000037
Error vector of (phi)nA three-dimensional vector of three angular errors representing the heading attitude of the carrier on a geographical coordinate system n,
Figure BDA0003302069830000038
φE、φNand phiURespectively representing three-dimensional vectors phinThe components in the east, north and sky directions,
Figure BDA0003302069830000039
is indicative of phinDifferentiation of (1);
taking three-dimensional speed of GNSS receiver as observed quantity
Figure BDA00033020698300000310
Combined pipeThe over-observed quantity acquisition observation function is:
Figure BDA00033020698300000311
wherein the content of the first and second substances,
Figure BDA00033020698300000312
representing a three-dimensional velocity vector on a navigation coordinate system n, which is calculated and output by the MEMS inertial navigation system, wherein ins represents the MEMS inertial navigation system;
and acquiring a second pitch angle error, a second course angle error and a second polarization angle error by adopting a KALMAN filtering algorithm according to the vector function and the observation function of the inertial navigation error.
Further, according to the second pitch angle error, the second course angle error and the second polarization angle error, the second pitch angle theta and the second course angle theta are corrected
Figure BDA00033020698300000313
And a second polarization angle γ update, comprising:
according to the second pitch angle theta and the second course angle
Figure BDA00033020698300000314
And a second polarization angle gamma to obtain a first direction cosine matrix
Figure BDA00033020698300000315
Comprises the following steps:
Figure BDA0003302069830000041
obtaining a second direction cosine matrix according to the second pitch angle error, the second course angle error and the second polarization angle error
Figure BDA0003302069830000042
Comprises the following steps:
Figure BDA0003302069830000043
wherein the content of the first and second substances,
Figure BDA0003302069830000044
a second heading angle error is indicated that is,
Figure BDA0003302069830000045
a second pitch angle error is indicated and,
Figure BDA0003302069830000046
representing a second polarization angle error;
according to the second direction cosine matrix
Figure BDA0003302069830000047
For the cosine matrix of the first direction
Figure BDA0003302069830000048
Updating, specifically:
Figure BDA0003302069830000049
wherein the content of the first and second substances,
Figure BDA00033020698300000410
representing the updated first direction cosine matrix
Figure BDA00033020698300000411
Cosine the first direction
Figure BDA00033020698300000412
Is replaced by
Figure BDA00033020698300000413
From a first direction cosine matrix
Figure BDA00033020698300000414
To a second pitch angle theta and a second course angle
Figure BDA00033020698300000415
And the second polarization angle gamma is reversely calculated to obtain the updated second pitch angle theta and the updated second course angle
Figure BDA00033020698300000416
And a second polarization angle gamma.
Further, according to a first pitch angle SPA first course angle SHFirst angle of polarization SRThe updated second pitch angle theta and the second course angle
Figure BDA00033020698300000417
And a second polarization angle γ, obtaining an angle error, comprising:
according to a first pitch angle SPA first course angle SHAnd a first polarization angle SRObtaining a third directional cosine matrix
Figure BDA00033020698300000418
Comprises the following steps:
Figure BDA00033020698300000419
acquiring the longitude and latitude information of the geographic position where the carrier is located in the antenna through a GNSS receiver as lambda, L]And according to the longitude and latitude information [ lambda, L ] of the geographic position]Obtaining the cosine matrix of the fourth direction
Figure BDA0003302069830000051
Comprises the following steps:
Figure BDA0003302069830000052
wherein λ represents longitude and L represents latitude;
according to the updated second pitch angle theta and the second course angle
Figure BDA0003302069830000053
And a second polarization angle gamma to obtain a first direction cosine matrix
Figure BDA0003302069830000054
According to the first direction cosine matrix
Figure BDA0003302069830000055
Third direction cosine matrix
Figure BDA0003302069830000056
And a fourth direction cosine matrix
Figure BDA0003302069830000057
Obtaining a fifth directional cosine matrix
Figure BDA0003302069830000058
The fifth direction cosine matrix
Figure BDA0003302069830000059
And a first direction cosine matrix
Figure BDA00033020698300000510
The expansion forms are the same and are calculated by three spatial angle values;
from the fifth direction cosine matrix
Figure BDA00033020698300000511
The space angle value is reversely calculated to obtain the theoretical pitch angle P under the carrier coordinate system b of the MEMS inertial navigation systembTheoretical polarization angle RbAnd theoretical course angle Hb；
According to theoretical pitch angle PbTheoretical polarization angle RbAnd theoretical course angle HbAnd obtaining the angle error.
Furthermore, the antenna comprises a pitching shaft, a polarization shaft and a course shaft, wherein the pitching shaft, the polarization shaft and the course shaft are respectively provided with a motor, a power driver and an encoder;
the motor of the pitch shaft is used for rotating the pitch shaft so as to change the pitch angle; the power driver of the pitch axis is used for controlling the motor of the pitch axis to rotate; the encoder of the pitch shaft is used for measuring the angle of the pitch shaft to obtain the true pitch angle ax；
The motor of the polarization shaft is used for rotating the polarization shaft to change the polarization angle; the power driver of the polarization shaft is used for controlling the motor of the polarization shaft to rotate; the encoder of the polarization shaft is used for measuring the angle of the polarization shaft to obtain a real polarization angle ay；
The motor of the course shaft is used for rotating the course shaft so as to change a course angle; the power driver of the course shaft is used for controlling the motor of the course shaft to rotate; the encoder of the course shaft is used for measuring the angle of the course shaft to obtain a real course angle az。
Further, the angle errors comprise pitch angle errors, polarization angle errors and course angle errors;
according to the theoretical pitch angle PbTheoretical polarization angle RbAnd theoretical course angle HbObtaining an angle error, comprising:
according to theoretical pitch angle PbAnd true pitch angle axAcquiring a pitch angle error;
according to the theoretical angle of polarization RbAnd true polarization angle ayObtaining a polarization angle error;
according to the theoretical course angle HbAnd true heading angle azAnd acquiring course angle error.
Further, the pitch angle error δ θfsComprises the following steps:
δθfs＝ax-Pb
the polarization angle error δ γfsComprises the following steps:
δγfs＝ay-Rb
the course angle error
Figure BDA0003302069830000061
Comprises the following steps:
Figure BDA0003302069830000062
further, the controlling the antenna to rotate by a corresponding angle according to the angle error includes:
controlling the rotation of the pitch axis by a corresponding angle according to the pitch angle error;
controlling the rotation corresponding angle of the polarization axis according to the polarization angle error;
and controlling the corresponding rotation angle of the course shaft according to the course angle error.
The invention has the beneficial effects that:
(1) the invention provides a control method for motion isolation of a communication-in-motion antenna, which does not need to install expensive main inertial navigation system equipment on a carrier, nor does the antenna need to perform two-dimensional (three-dimensional) conical scanning motion; only the course axis of the antenna is controlled to perform single-dimensional sine swing, and the pitching axis and the polarization axis of the antenna do not have left-right scanning motion and directly and accurately point to the respective power maximum point.
(2) The invention enhances the intensity of the antenna receiving signal, enhances the anti-interference capability, increases the bandwidth and saves more energy.
(3) The invention has low implementation cost and can be widely applied to the communication between the antenna and the satellite in motion.
Drawings
Fig. 1 is a flowchart of a control method for motion isolation of a mobile communication antenna according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of an antenna control system according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, a control method for motion isolation of a mobile communication antenna, in which a GNSS (Global Navigation Satellite System) receiver and an MEMS (Micro-Electro-Mechanical System) inertial Navigation System are disposed on a carrier on which the antenna is mounted, includes:
A. and communicating with the satellite through the GNSS receiver to acquire the positions of the GNSS receiver and the satellite.
B. Connecting the position of the GNSS receiver with the position of the satellite, and respectively taking the spatial included angles between the connecting line and the equator and the zero longitude line as a first pitch angle SPAnd a first course angle SHSetting a first polarization angle SR＝0。
The polarization angle on a paraboloid antenna frame in the communication field is equivalent to the roll angle concept in the inertial navigation field.
The GNSS receiver is included in the self-contained integrated navigation system, so that the accurate position information of the antenna can be known (the error is generally only tens of meters); in addition, when a synchronous satellite which needs to be used for communication is specified, the accurate position of the synchronous satellite is known according to the satellite information, and thus the space included angle between the connecting line of the antenna and the satellite and the equator and the zero longitude line is calculated.
C. Measuring a second pitch angle theta and a second course angle through the MEMS inertial navigation system
Figure BDA0003302069830000081
And a second polarization angle gamma, and solving a second pitch angle error, a second course angle error and a second polarization angle error.
D. According to the second pitch angle error, the second course angle error and the second polarization angle error, aligning the second pitch angle theta and the second course angle
Figure BDA0003302069830000082
And a second angle of polarization gammaObtaining a second pitch angle theta and a second course angle after updating
Figure BDA0003302069830000083
And a second polarization angle gamma.
E. According to a first pitch angle SPA first course angle SHFirst angle of polarization SRThe updated second pitch angle theta and the second course angle
Figure BDA0003302069830000084
And a second polarization angle gamma, obtaining the angle error.
F. And controlling the antenna to rotate by a corresponding angle according to the angle error to finish the control of the motion isolation of the antenna.
Optionally, a geographic coordinate system (east-north-sky or E-N-U) where the carrier is located is a common coordinate system (and is denoted as N) of the GNSS receiver and the MEMS inertial navigation system, a carrier system (right-front-up) where the inertial navigation system is installed is denoted as b, an inertial space coordinate system is denoted as i, an earth coordinate system (X-Y-Z) is denoted as E, and a synchronous satellite position is denoted as s. The initial position and velocity of the inertial navigation system may be provided by the GNSS, the initial pitch and polarization angles may be substantially zero after the frame is zeroed and centered, and the initial heading may be provided by a built-in calibrated magnetic heading sensor.
In a possible embodiment, the determining the second pitch angle error, the second heading angle error and the second polarization angle error includes:
the vector function for constructing the inertial navigation error is as follows:
Figure BDA0003302069830000085
Figure BDA0003302069830000086
where δ represents the prefix sign of the error amount, δ VnRepresenting the three-dimensional velocity error on the geographical coordinate system n where the antenna is located,
Figure BDA0003302069830000091
δVE、δVNand δ VURespectively representing three-dimensional velocity errors deltaVnComponents in the east, north, and sky directions; E. n and U represent east, north and sky directions, respectively; the direction of the sky represents a direction perpendicular to a horizontal plane where the antenna is located and away from the ground;
Figure BDA0003302069830000092
is represented by δ VnA differential of (f)nRepresenting a three-dimensional vector of specific forces measured by an accelerometer in a MEMS inertial navigation system on a geographical navigation coordinate system,
Figure BDA0003302069830000093
fE、fNand fURespectively representing three-dimensional vectors fnThe components in the east, north and sky directions,
Figure BDA0003302069830000094
a three-dimensional vector representing the rotation speed of the earth with respect to the inertial space i on a geographical coordinate system n,
Figure BDA0003302069830000095
a three-dimensional vector representing the geographical position at which the antenna is located relative to the rotational speed of the earth's sphere,
Figure BDA0003302069830000096
a three-dimensional vector representing the rotation speed of the geographical position where the antenna is located with respect to the inertial space i,
Figure BDA0003302069830000097
three-dimensional vector, epsilon, representing accelerometer null error in geographic coordinate system nnRepresents a three-dimensional vector of zero errors of a gyroscope in the MEMS inertial navigation system on a geographic coordinate system n,
Figure BDA0003302069830000098
respectively represent
Figure BDA0003302069830000099
Error vector of (phi)nA three-dimensional vector of three angular errors representing the heading attitude of the carrier on a geographical coordinate system n,
Figure BDA00033020698300000910
φE、φNand phiURespectively representing three-dimensional vectors phinThe components in the east, north and sky directions,
Figure BDA00033020698300000911
is indicative of phinDifferentiation of (2).
The difference or differential is obtained by dividing the parameter difference between the two successive calculation instants or by the interval time.
Figure BDA00033020698300000912
And εnThree-dimensional vectors of accelerometer zero-position error and gyroscope zero-position error on a geographical navigation coordinate system respectively (generally, a device grade with accuracy meeting index requirements is selected, meanwhile, the calculation real-time performance is considered in the implementation, and only the filtering calculation phi is considerednError angle, neglecting
Figure BDA00033020698300000913
And εnThe constant parameter of these two errors is zero, leaving only random noise errors).
Taking three-dimensional speed of GNSS receiver as observed quantity
Figure BDA0003302069830000101
And obtaining an observation function by the observed quantity as follows:
Figure BDA0003302069830000102
wherein the content of the first and second substances,
Figure BDA0003302069830000103
in-navigation coordinates representing the computational output of a MEMS inertial navigation systemIs a three-dimensional velocity vector on n, ins represents the MEMS inertial navigation system.
And acquiring a second pitch angle error, a second course angle error and a second polarization angle error by adopting a KALMAN filtering algorithm according to the vector function and the observation function of the inertial navigation error.
In the present embodiment, it is preferred that,
Figure BDA0003302069830000104
the method specifically comprises the following steps:
Figure BDA0003302069830000105
Figure BDA0003302069830000106
Figure BDA0003302069830000107
wherein, ω isieRepresenting the rotational speed values of the earth relative to the inertial space, VEAnd VNIs the component of the vector velocity vector in east and north direction of the navigation system, L represents the vector latitude, h represents the vector height, R represents the vector velocity vectorMRepresenting the local value of the radius of curvature, R, along the earth's meridianNAnd (3) representing the local curvature radius value along the earth prime circle.
δVnAnd phinAll three-dimensional vectors, which can be combined and taken as:
Figure BDA0003302069830000111
thus, two formulas in the vector function of the inertial navigation error can be combined by taking x (t) as a state variable, and the following functions are obtained after the two formulas are arranged:
Figure BDA0003302069830000112
wherein: w (t) zero-mean systematic random noise, referred to as 6 x 1 dimensions, i.e. process noise of 6 components in the state variable x (t). In the actual calculation: w (t) mean E { W (t) } ═ 0, W (t) variance E { W (t) } WT(t) } ═ q (t) · σ (t- τ); q (t) is a 6 x 6 dimensional diagonal matrix whose diagonal upper values are the respective random noise coefficients in the three acceleration plus three gyro product specifications in the inertial navigation system, respectively, and σ (t- τ) is the unit pulse function; the superscript T is the matrix transpose symbol.
F (t) is a 6 x 6 dimensional system matrix, expanded into:
Figure BDA0003302069830000113
wherein, each element in F (t) is specifically:
Figure BDA0003302069830000114
Figure BDA0003302069830000115
Figure BDA0003302069830000121
F15＝-fU
F16＝fN
Figure BDA0003302069830000122
Figure BDA0003302069830000123
Figure BDA0003302069830000124
F24＝fU
F26＝-fE
Figure BDA0003302069830000125
Figure BDA0003302069830000126
F34＝-fN
F35＝fE
Figure BDA0003302069830000127
Figure BDA0003302069830000128
Figure BDA0003302069830000129
Figure BDA00033020698300001210
Figure BDA00033020698300001211
Figure BDA0003302069830000131
Figure BDA0003302069830000132
Figure BDA0003302069830000133
Figure BDA0003302069830000134
the right parameter values in the above formula are all known parameters in the calculation of the inertial navigation system, wherein omegaieRepresenting the rotational speed values of the earth relative to the inertial space, VE、VNAnd VUIs the component of the vector velocity in the east, north and sky directions, L represents the latitude of the vector, h represents the height of the vector, and R represents the height of the vectorMRepresenting the local value of the radius of curvature, R, along the earth's meridianNRepresenting the local curvature radius value f along the global prime circleE、fNAnd fUAre respectively fnThree components in the geographical navigation coordinate system, and the values of other elements in the F (t) matrix, which are not illustrated here, are 0.
As described above, the observation function z (t) ═ δ V is takenn+ v (t), v (t) is the measured random noise with mean 0, taken in the actual calculation: v (t) mean E { V (t) } ═ 0, V (t) variance E { V (t) × VT(t) } ═ r (t) · σ (t- τ); r (t) is a 3 × 3 dimensional diagonal matrix, whose diagonal values are the three velocity random noise strength values of the GNSS receiver.
The observation function was unfolded and arranged into the form shown below:
Figure BDA0003302069830000135
h (t) is a 3 x 6 dimensional observation matrix, which is expanded to:
Figure BDA0003302069830000136
also, in the same manner as above,
Figure BDA0003302069830000141
the KALMAN filtering algorithm is calculated according to a vector equation in a general form as shown below, and filters and estimates a state variable x (t), specifically:
Figure BDA0003302069830000142
Z(t)＝H(t)*x(t)+V(t)
where x (t) is any state vector of n dimensions, Z (t) is any measurement vector of m dimensions, F (t) is the system matrix, and H (t) is the observation matrix.
W (t) and v (t) are incoherent zero-mean white noise processes, i.e. the noise statistics are:
E{W(t)}＝0；
E{W(t)*WT(t)}＝Q(t)*σ(t-τ)；
E{V(t)}＝0；
E{V(t)*VT(t)}＝R(t)*σ(t-τ)；
E{W(t)*VT(t)}＝0；
wherein, the superscript T represents the transposition sign of the vector, E { W (T) } and E { V (T) } are the mean operation functions of the random noise process, E { W (T) × WT(t) and E { V (t) } VT(t) is a function of variance operation of the random noise process, E { W (t) } VT(t) is a covariance operation function of two random noise processes, Q (t) and R (t) are respectively a variance intensity array of system noise and a variance intensity array of measurement noise, wherein Q (t) is a non-negative array and R (t) is a positive array, sigma (t-tau) is a unit pulse function, tau represents delay time, and t represents time.
The error three-dimensional vector equations of the GNSS combined inertial navigation all meet the requirements of the KALMAN filtering algorithm, so that the parameters and variables in the upper vector function and the observation function are converted into corresponding forms of the KALMAN filtering algorithm, namely:
Figure BDA0003302069830000151
Figure BDA0003302069830000152
wherein:
Figure BDA0003302069830000153
is the amount of location that can be estimated using the KALMAN filtering algorithm,
Figure BDA0003302069830000154
Figure BDA0003302069830000155
three components of the three-dimensional speed calculated and output by the MEMS inertial navigation system on a navigation coordinate system n and three components of the three-dimensional speed calculated and output by the GNSS receiver on the navigation coordinate system n are respectively represented. In addition, the value of R (t) is consistent with the noise intensity of GNSS, and the value of Q (t) is consistent with the noise intensity of the sensor in the inertial navigation system.
Can substitute x (t) and Z (t) into KALMAN filtering algorithm, and obtain the estimated value of x (t) after one-step calculation of KALMAN filtering
Figure BDA0003302069830000156
Estimating parameters
Figure BDA0003302069830000161
Last three estimated parameters of
Figure BDA0003302069830000162
I.e. representing a second heading angle error, a second pitch angle error and a second polarization angle error.
Figure BDA0003302069830000163
To represent
Figure BDA0003302069830000164
An estimate of (d).
In a possible embodiment, said second angle error is a function of a second pitch angle error, a second heading angle error and a second polarizationAngular error to second pitch angle theta, second course angle
Figure BDA0003302069830000165
And a second polarization angle γ update, comprising:
according to the second pitch angle theta and the second course angle
Figure BDA0003302069830000166
And a second polarization angle gamma to obtain a first direction cosine matrix
Figure BDA0003302069830000167
Comprises the following steps:
Figure BDA0003302069830000168
obtaining a second direction cosine matrix according to the second pitch angle error, the second course angle error and the second polarization angle error
Figure BDA0003302069830000169
Comprises the following steps:
Figure BDA00033020698300001610
wherein the content of the first and second substances,
Figure BDA00033020698300001611
a second heading angle error is indicated that is,
Figure BDA00033020698300001612
a second pitch angle error is indicated and,
Figure BDA00033020698300001613
representing a second polarization angle error.
According to the second direction cosine matrix
Figure BDA00033020698300001614
For the cosine matrix of the first direction
Figure BDA00033020698300001615
Updating, specifically:
Figure BDA00033020698300001616
wherein the content of the first and second substances,
Figure BDA00033020698300001617
representing the updated first direction cosine matrix
Figure BDA00033020698300001618
Cosine the first direction
Figure BDA00033020698300001619
Is replaced by
Figure BDA00033020698300001620
From a first direction cosine matrix
Figure BDA00033020698300001621
To a second pitch angle theta and a second course angle
Figure BDA0003302069830000171
And the second polarization angle gamma is reversely calculated to obtain the updated second pitch angle theta and the updated second course angle
Figure BDA0003302069830000172
And a second polarization angle gamma.
In this embodiment, the reverse calculation process specifically includes:
Figure BDA0003302069830000173
after updating the directional cosine matrix
Figure BDA0003302069830000174
Same toolThe following relations are provided:
Figure BDA0003302069830000175
from the expression of the elements in the matrix, the following relation can be directly obtained:
θ＝arcsin(C23)
Figure BDA0003302069830000176
Figure BDA0003302069830000177
since the angle is periodic in the trigonometric function calculation, γ hereMaster and slaveAnd
Figure BDA0003302069830000178
the value of the main value domain in the inverse trigonometric function calculation is obtained, and when the true value of the full value domain is obtained, the conversion is carried out according to the coincidence, as shown in table 1 and table 2:
table 1 true value conversion table for polarization angle γ:
γmaster and slavePositive and negative sign of C33Positive and negative sign of Truth value of gamma
+ + γMaster and slave
- + γMaster and slave
+ - γMaster and slave-180°
- - γMaster and slave+180°
TABLE 2 course Angle
Figure BDA0003302069830000179
True value conversion table of (1):
Figure BDA0003302069830000181
thus, the updated second pitch angle theta and second course angle can be obtained
Figure BDA0003302069830000182
And a second polarization angle gamma.
In a possible embodiment, said first pitch angle SPA first course angle SHFirst angle of polarization SRThe updated second pitch angle theta and the second course angle
Figure BDA0003302069830000183
And a second polarization angle γ, obtaining an angle error, comprising:
according to a first pitch angle SPA first course angle SHAnd a first polarization angle SRObtaining a third directional cosine matrix
Figure BDA0003302069830000184
Comprises the following steps:
Figure BDA0003302069830000185
acquiring the longitude and latitude information of the geographic position where the carrier is located in the antenna through a GNSS receiver as lambda, L]And according to the longitude and latitude information [ lambda, L ] of the geographic position]Obtaining the cosine matrix of the fourth direction
Figure BDA0003302069830000186
Comprises the following steps:
Figure BDA0003302069830000187
where λ represents longitude and L represents latitude.
According to the updated second pitch angle theta and the second course angle
Figure BDA0003302069830000188
And a second polarization angle gamma to obtain a first direction cosine matrix
Figure BDA0003302069830000189
According to the first direction cosine matrix
Figure BDA00033020698300001810
Third direction cosine matrix
Figure BDA00033020698300001811
And a fourth direction cosine matrix
Figure BDA00033020698300001812
Obtaining a fifth directional cosine matrix
Figure BDA0003302069830000191
The fifth direction cosine matrix
Figure BDA0003302069830000192
And a first direction cosine matrix
Figure BDA0003302069830000193
The expansion forms are the same and are calculated by three spatial angle values.
From the fifth direction cosine matrix
Figure BDA0003302069830000194
The space angle value is reversely calculated to obtain the theoretical pitch angle P under the carrier coordinate system b of the MEMS inertial navigation systembTheoretical polarization angle RbAnd theoretical course angle Hb。
According to theoretical pitch angle PbTheoretical polarization angle RbAnd theoretical course angle HbAnd obtaining the angle error.
The reverse calculation process is the same as the principle of the reverse calculation, and is not described herein again.
In one possible implementation mode, the antenna comprises a pitching shaft, a polarization shaft and a heading shaft, and a motor, a power driver and an encoder are arranged on the pitching shaft, the polarization shaft and the heading shaft.
The motor of the pitch shaft is used for rotating the pitch shaft so as to change the pitch angle; the power driver of the pitch axis is used for controlling the motor of the pitch axis to rotate; the encoder of the pitch shaft is used for measuring the angle of the pitch shaft to obtain the true pitch angle ax。
The motor of the polarization shaft is used for rotating the polarization shaft to change the polarization angle; the power driver of the polarization shaft is used for controlling the motor of the polarization shaft to rotate; the encoder of the polarization shaft is used for measuring the angle of the polarization shaft to obtain a real polarization angle ay。
The motor of the course shaft is used for rotating the course shaft so as to change a course angle; the power driver of the course shaft is used for controlling the motor of the course shaft to rotate; the encoder of the course shaft is used for measuring the angle of the course shaft to obtain a real course angle az。
In one possible embodiment, the angular error includes a pitch angle error, a polarization angle error, and a heading angle error.
According to the theoretical pitch angle PbTheoretical polarization angle RbAnd theoretical course angle HbObtaining an angle error, comprising:
according to theoretical pitch angle PbAnd true pitch angle axAcquiring a pitch angle error;
according to the theoretical angle of polarization RbAnd true polarization angle ayObtaining a polarization angle error;
according to the theoretical course angle HbAnd true heading angle azAnd acquiring course angle error.
In a possible embodiment, the pitch angle error δ θfsComprises the following steps:
δθfs＝ax-Pb
the polarization angle error δ γfsComprises the following steps:
δγfs＝ay-Rb
the course angle error
Figure BDA0003302069830000201
Comprises the following steps:
Figure BDA0003302069830000202
in a possible embodiment, the controlling the antenna to rotate by a corresponding angle according to the angle error includes:
controlling the rotation of the pitch axis by a corresponding angle according to the pitch angle error;
controlling the rotation corresponding angle of the polarization axis according to the polarization angle error;
and controlling the corresponding rotation angle of the course shaft according to the course angle error.
The invention provides a control method for motion isolation of a communication-in-motion antenna, which does not need to install expensive main inertial navigation system equipment on a carrier, nor does the antenna need to perform two-dimensional (three-dimensional) conical scanning motion; only the course axis of the antenna is controlled to perform single-dimensional sine swing, and the pitching axis and the polarization axis of the antenna do not have left-right scanning motion and directly and accurately point to the respective power maximum point. The invention enhances the intensity of the antenna receiving signal, enhances the anti-interference capability, increases the bandwidth and saves more energy. The invention has low implementation cost and can be widely applied to the communication between the antenna and the satellite in motion.
As shown in fig. 2, an antenna control system provided in the embodiment of the present application includes a microcontroller, a pitch axis power driver, a polarization axis power driver, a heading axis power driver, a pitch axis motor, a polarization axis motor, a heading axis motor, a beacon, and a combined inertial navigation system, where the combined inertial navigation system includes a GNSS receiver and a MEMS inertial navigation system.
The micro-control is electrically connected with the pitching shaft power driver, the polarization shaft power driver, the course shaft power driver, the beacon machine and the combined inertial navigation system through RS232 buses respectively, and the pitching shaft power driver, the polarization shaft power driver and the course shaft power driver are electrically connected with the pitching shaft motor, the polarization shaft motor and the course shaft motor respectively. The pitching shaft motor, the polarization shaft motor and the course shaft motor are all provided with coaxial encoders and are respectively connected to the pitching shaft power driver, the polarization shaft power driver and the course shaft power driver through one encoder.
And calculating an angle error through a microcontroller, and respectively controlling the pitching axis motor, the polarization axis motor and the course axis motor to rotate by corresponding angles according to the angle error to complete antenna control. In the control process, the microcontroller sends rotation signals to the pitch axis power driver, the polarization axis power driver and the course axis power driver through the RS232 bus respectively, and then sends PWM driving signals to the pitch axis motor, the polarization axis motor and the course axis motor through the pitch axis power driver, the polarization axis power driver and the course axis power driver respectively, so that the pitch axis motor, the polarization axis motor and the course axis motor are controlled to rotate by corresponding angles. The angles of the pitch axis motor, the polarization axis motor and the course axis motor can be respectively measured through the three encoders, so that a real pitch angle, a real polarization angle and a real course angle can be obtained. The real pitch angle, the real polarization angle and the real heading angle can be fed back to the microcontroller through the pitch axis power driver, the polarization axis power driver and the heading axis power driver respectively.
The method provided by the application is applied to a small-sized communication-in-motion antenna control system with 420mm caliber on a certain vehicle, a beacon machine is used for actual measurement in an external field test, and the output voltage value of the signal detection power of the antenna beacon machine is at least 0.5V higher than that of the signal detection power of the antenna beacon machine under the same configuration by using a similar product in the prior art.

Claims (8)

1. A control method for motion isolation of a communication-in-motion antenna is characterized in that a carrier for assembling the antenna is provided with a GNSS receiver and an MEMS inertial navigation system, and the control method comprises the following steps:
A. communicating with a satellite through a GNSS receiver to obtain the positions of the GNSS receiver and the satellite;
B. connecting the position of the GNSS receiver with the position of the satellite, and respectively taking the spatial included angles between the connecting line and the equator and the zero longitude line as a first pitch angle SPAnd a first course angle SHSetting a first polarization angle SRIs 0;
C. measuring a second pitch angle theta and a second course angle through the MEMS inertial navigation system
Figure FDA0003302069820000014
And a second polarization angle gamma, and solving a second pitch angle error, a second course angle error and a second polarization angle error;
D. according to the second pitch angle error, the second course angle error and the second polarization angle error, aligning the second pitch angle theta and the second course angle
Figure FDA0003302069820000015
And updating the second polarization angle gamma to obtain a second updated pitch angle theta and a second updated course angle
Figure FDA0003302069820000016
And a second angle of polarization gamma;
E. according to a first pitch angle SPA first course angle SHFirst angle of polarization SRThe updated second pitch angle theta and the second course angle
Figure FDA0003302069820000017
And a second polarization angle gamma, obtaining an angle error;
F. and controlling the antenna to rotate by a corresponding angle according to the angle error to finish the control of the motion isolation of the antenna.
2. The method for controlling motion isolation of a mobile communication antenna according to claim 1, wherein the determining a second pitch angle error, a second course angle error and a second polarization angle error comprises:
the vector function for constructing the inertial navigation error is as follows:
Figure FDA0003302069820000011
Figure FDA0003302069820000012
where δ represents the prefix sign of the error amount, δ VnRepresenting the three-dimensional velocity error on the geographical coordinate system n where the antenna is located,
Figure FDA0003302069820000013
δVE、δVNand δ VURespectively representing three-dimensional velocity errors deltaVnComponents in the east, north, and sky directions; E. n and U represent east, north and sky directions, respectively; the direction of the sky represents a direction perpendicular to a horizontal plane where the antenna is located and away from the ground;
Figure FDA0003302069820000021
is represented by δ VnA differential of (f)nRepresenting a three-dimensional vector of specific forces measured by an accelerometer in a MEMS inertial navigation system on a geographical navigation coordinate system,
Figure FDA0003302069820000022
fE、fNand fURespectively representing three-dimensional vectors fnThe components in the east, north and sky directions,
Figure FDA0003302069820000023
a three-dimensional vector representing the rotation speed of the earth with respect to the inertial space i on a geographical coordinate system n,
Figure FDA0003302069820000024
a three-dimensional vector representing the geographical position at which the antenna is located relative to the rotational speed of the earth's sphere,
Figure FDA0003302069820000025
a three-dimensional vector representing the rotation speed of the geographical position where the antenna is located with respect to the inertial space i,
Figure FDA0003302069820000026
three-dimensional vector, epsilon, representing accelerometer null error in geographic coordinate system nnRepresents a three-dimensional vector of zero errors of a gyroscope in the MEMS inertial navigation system on a geographic coordinate system n,
Figure FDA0003302069820000027
respectively represent
Figure FDA0003302069820000028
Error vector of (phi)nA three-dimensional vector of three angular errors representing the heading attitude of the carrier on a geographical coordinate system n,
Figure FDA0003302069820000029
φE、φNand phiURespectively representing three-dimensional vectors phinThe components in the east, north and sky directions,
Figure FDA00033020698200000210
is indicative of phinDifferentiation of (1);
taking three-dimensional speed of GNSS receiver as observed quantity
Figure FDA00033020698200000211
And obtaining an observation function by the observed quantity as follows:
Figure FDA00033020698200000212
wherein the content of the first and second substances,
Figure FDA00033020698200000213
representing a three-dimensional velocity vector on a navigation coordinate system n, which is calculated and output by the MEMS inertial navigation system, wherein ins represents the MEMS inertial navigation system;
and acquiring a second pitch angle error, a second course angle error and a second polarization angle error by adopting a KALMAN filtering algorithm according to the vector function and the observation function of the inertial navigation error.
3. The method as claimed in claim 2, wherein the step of adjusting the tilt angle θ and the second heading angle θ is performed according to the second tilt angle error, the second heading angle error and the second polarization angle error
Figure FDA0003302069820000031
And a second polarization angle γ update, comprising:
according to the second pitch angle theta and the second course angle
Figure FDA0003302069820000032
And a second angle of polarization gamma, toTaking a first direction cosine matrix
Figure FDA0003302069820000033
Comprises the following steps:
Figure FDA0003302069820000034
obtaining a second direction cosine matrix according to the second pitch angle error, the second course angle error and the second polarization angle error
Figure FDA0003302069820000035
Comprises the following steps:
Figure FDA0003302069820000036
wherein the content of the first and second substances,
Figure FDA0003302069820000037
a second heading angle error is indicated that is,
Figure FDA0003302069820000038
a second pitch angle error is indicated and,
Figure FDA0003302069820000039
representing a second polarization angle error;
according to the second direction cosine matrix
Figure FDA00033020698200000310
For the cosine matrix of the first direction
Figure FDA00033020698200000311
Updating, specifically:
Figure FDA00033020698200000312
wherein the content of the first and second substances,
Figure FDA00033020698200000313
representing the updated first direction cosine matrix
Figure FDA00033020698200000314
Cosine the first direction
Figure FDA00033020698200000315
Is replaced by
Figure FDA00033020698200000316
From a first direction cosine matrix
Figure FDA00033020698200000317
To a second pitch angle theta and a second course angle
Figure FDA00033020698200000318
And the second polarization angle gamma is reversely calculated to obtain the updated second pitch angle theta and the updated second course angle
Figure FDA00033020698200000319
And a second polarization angle gamma.
4. Method for controlling motion isolation of a mobile communication antenna according to claim 3, wherein said first pitch angle S is defined as the first pitch anglePA first course angle SHFirst angle of polarization SRThe updated second pitch angle theta and the second course angle
Figure FDA00033020698200000320
And a second polarization angle γ, obtaining an angle error, comprising:
according to a first pitch angle SPA first course angle SHAnd a first polarization angle SRObtaining a third directional cosine matrix
Figure FDA0003302069820000041
Comprises the following steps:
Figure FDA0003302069820000042
acquiring the longitude and latitude information of the geographic position where the carrier is located in the antenna through a GNSS receiver as lambda, L]And according to the longitude and latitude information [ lambda, L ] of the geographic position]Obtaining the cosine matrix of the fourth direction
Figure FDA0003302069820000043
Comprises the following steps:
Figure FDA0003302069820000044
wherein λ represents longitude and L represents latitude;
according to the updated second pitch angle theta and the second course angle
Figure FDA0003302069820000045
And a second polarization angle gamma to obtain a first direction cosine matrix
Figure FDA0003302069820000046
According to the first direction cosine matrix
Figure FDA0003302069820000047
Third direction cosine matrix
Figure FDA0003302069820000048
And a fourth direction cosine matrix
Figure FDA0003302069820000049
Obtaining a fifth directional cosine matrix
Figure FDA00033020698200000410
The fifth direction cosine matrix
Figure FDA00033020698200000411
And a first direction cosine matrix
Figure FDA00033020698200000412
The expansion forms are the same and are calculated by three spatial angle values;
from the fifth direction cosine matrix
Figure FDA00033020698200000413
The space angle value is reversely calculated to obtain the theoretical pitch angle P under the carrier coordinate system b of the MEMS inertial navigation systembTheoretical polarization angle RbAnd theoretical course angle Hb；
According to theoretical pitch angle PbTheoretical polarization angle RbAnd theoretical course angle HbAnd obtaining the angle error.
5. The method for controlling motion isolation of a mobile communication antenna according to claim 4, wherein the antenna comprises a pitch axis, a polarization axis and a heading axis, and the pitch axis, the polarization axis and the heading axis are respectively provided with a motor, a power driver and an encoder;
the motor of the pitch shaft is used for rotating the pitch shaft so as to change the pitch angle; the power driver of the pitch axis is used for controlling the motor of the pitch axis to rotate; the encoder of the pitch shaft is used for measuring the angle of the pitch shaft to obtain the true pitch angle ax；
The motor of the polarization shaft is used for rotating the polarization shaft to change the polarization angle; the power driver of the polarization shaft is used for controlling the motor of the polarization shaft to rotate; the encoder of the polarization shaft is used for measuring the angle of the polarization shaft to obtain a real polarization angle ay；
The motor of the course shaft is used for rotating the course shaft to change the course angle(ii) a The power driver of the course shaft is used for controlling the motor of the course shaft to rotate; the encoder of the course shaft is used for measuring the angle of the course shaft to obtain a real course angle az。
6. The method for controlling motion isolation of a mobile communication antenna according to claim 5, wherein the angle error includes a pitch angle error, a polarization angle error and a heading angle error;
according to the theoretical pitch angle PbTheoretical polarization angle RbAnd theoretical course angle HbObtaining an angle error, comprising:
according to theoretical pitch angle PbAnd true pitch angle axAcquiring a pitch angle error;
according to the theoretical angle of polarization RbAnd true polarization angle ayObtaining a polarization angle error;
according to the theoretical course angle HbAnd true heading angle azAnd acquiring course angle error.
7. The method for controlling motion isolation of a mobile communication antenna according to claim 6, wherein the pitch angle error δ θfsComprises the following steps:
δθfs＝ax-Pb
the polarization angle error δ γfsComprises the following steps:
δγfs＝ay-Rb
the course angle error
Figure FDA0003302069820000051
Comprises the following steps:
Figure FDA0003302069820000052
8. the method for controlling motion isolation of a mobile communication antenna according to claim 6, wherein the controlling the antenna to rotate by a corresponding angle according to the angle error comprises:
controlling the rotation of the pitch axis by a corresponding angle according to the pitch angle error;
controlling the rotation corresponding angle of the polarization axis according to the polarization angle error;
and controlling the corresponding rotation angle of the course shaft according to the course angle error.
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