CN114035152A - Direction positioning method of satellite measurement and control mobile base station and satellite measurement and control mobile base station - Google Patents
Direction positioning method of satellite measurement and control mobile base station and satellite measurement and control mobile base station Download PDFInfo
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- CN114035152A CN114035152A CN202210019154.XA CN202210019154A CN114035152A CN 114035152 A CN114035152 A CN 114035152A CN 202210019154 A CN202210019154 A CN 202210019154A CN 114035152 A CN114035152 A CN 114035152A
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- 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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
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Abstract
The invention relates to the technical field of satellite measurement and control, and provides a direction positioning method of a satellite measurement and control mobile base station and the satellite measurement and control mobile base station, wherein the method comprises the following steps: the satellite measurement and control mobile base station comprises an antenna positioned at the upper part and a rotary table positioned below the antenna; a first positioning mark and a second positioning mark are symmetrically arranged on two sides of the rotary table; establishing a turntable coordinate system, wherein the turntable coordinate system comprises the north direction of the turntable; establishing a real geographical coordinate system, wherein the real geographical coordinate system comprises an actual north direction; acquiring actual north data, and finding an included angle between the north of the rotary table and the actual north; acquiring a real target azimuth angle and a pitch angle of the satellite, and calculating the rotation angle of the rotary table according to the real target azimuth angle of the satellite, the pitch angle and an included angle between the north direction of the rotary table and the actual north direction; the rotation of the rotary table drives the antenna to position the direction of the target satellite. The invention dynamically calculates the angle of the antenna to be rotated according to the position of the antenna, thereby realizing the accurate positioning of the mobile base station.
Description
Technical Field
The invention relates to the technical field of satellite measurement and control, in particular to a direction positioning method of a satellite measurement and control mobile base station and the satellite measurement and control mobile base station.
Background
The task of the measurement and control station is to directly perform tracking measurement, remote control, communication and the like on the spacecraft, transmit the received measurement and remote measurement information to the space control center, communicate with the spacecraft according to the instruction of the space control center, and complete the control of the spacecraft by matching with the control center.
The existing measurement and control stations are all established in fixed places, the positions of base stations in the measurement and control stations are fixed, the base stations are located on a north reference line of real geography during construction, and accurate pointing of an antenna can be known by directly acquiring azimuth angles and pitch angles in the process of executing measurement and control tasks.
Most of the existing measurement and control stations cannot move, so that the signal transmission range of the existing measurement and control stations and a satellite is limited, and measurement and control of the satellite cannot be realized in an unmanned field.
The movable measurement and control station is not strictly positioned on a north reference line of real geography, so that the accurate pointing direction of the antenna is difficult to know, and the data transmission of satellite signals is influenced.
Patent CN109768390B discloses a dynamic fast acquisition method for satellite communication-in-motion, which is directed at a communication-in-motion system, and the communication-in-motion is a short for "mobile satellite ground station communication system". Through the communication-in-motion system, mobile carriers such as vehicles, ships, airplanes and the like can track platforms such as satellites and the like in real time in the motion process, and multimedia information such as voice, data, images and the like can be uninterruptedly transmitted, so that the requirements of various military and civil emergency communication and multimedia communication under mobile conditions can be met. The system solves the problem that the moving carriers such as various vehicles, ships and the like can continuously transmit multimedia information such as voice, data, high-definition dynamic video images, faxes and the like in real time through a geostationary satellite during movement. The application aims at the movable measurement and control station, the measurement and control station is in a static state in the measurement and control process, and the movable position can be moved when measurement and control are not carried out. The satellite to be measured and controlled by the measuring and controlling station is a near-earth satellite, the orbit of the near-earth satellite is near the surface of the earth, the orbit radius can be approximately taken as the earth radius during calculation, and the angular speed of the orbit radius is far greater than the rotation speed of the earth. The angular speed of the near-earth satellite is very fast, the operation period is about 90 minutes generally, and the transit time is several minutes generally. However, the satellites to which the mobile communication system is connected are geostationary satellites, which are artificial satellites that travel from west to east on a geostationary orbit and are located approximately 3.6 km from the ground. The orbit period of the satellite is the same as the rotation period of the earth, and is 23 hours, 56 minutes and 4 seconds, and the orbiting speed of the satellite on the orbit is about 3.07 kilometers per second and is equal to the angular speed of the rotation of the earth. Therefore, the communication-in-motion system needs to find geostationary satellites which are static relative to the earth when moving, the technical problem to be solved by the application is that a measurement and control station does not move to find the geostationary satellites which move relative to the earth, the calculation and processing modes of satellite positioning with angular velocities which differ by several orders of magnitude are completely different, and the communication-in-motion system is not suitable for the technical problem of accurate positioning of the movable measurement and control station to be solved by the application.
Therefore, it is urgently needed to develop a direction positioning method for a satellite measurement and control mobile base station and the satellite measurement and control mobile base station, which can realize the accurate positioning direction of a mobile measurement and control station.
Disclosure of Invention
The invention aims to provide a direction positioning method of a satellite measurement and control mobile base station and the satellite measurement and control mobile base station, which can realize the accurate positioning direction of a mobile measurement and control station.
In order to solve the above technical problem, an aspect of the present invention provides a method for positioning a satellite measurement and control mobile base station, including the following steps:
the satellite measurement and control mobile base station comprises an antenna positioned at the upper part and a rotary table positioned below the antenna;
a first positioning mark and a second positioning mark are symmetrically arranged on two sides of the rotary table;
establishing a turntable coordinate system, wherein the turntable coordinate system comprises a turntable north direction, and the turntable north direction is perpendicular to a connecting line of the first positioning mark and the second positioning mark;
establishing a real geographical coordinate system, wherein the real geographical coordinate system comprises an actual north direction;
acquiring actual north data, and finding an included angle between the north of the rotary table and the actual north;
acquiring a real target azimuth angle and a pitch angle of the satellite, and calculating the rotation angle of the rotary table according to the real target azimuth angle of the satellite, the pitch angle and an included angle between the north direction of the rotary table and the actual north direction;
the rotation of the rotary table drives the antenna to position the direction of the target satellite.
As an exemplary embodiment of the present invention, the method for acquiring data of actual north direction includes: and acquiring a plurality of actual north data within a preset time, and taking the average value of the actual north data as the actual north data.
As an exemplary embodiment of the present invention, the method for finding the included angle between the north direction of the turntable and the actual north direction includes: and obtaining an included angle between a connecting line of the first positioning mark and the second positioning mark and the actual north direction, and obtaining an included angle between the north direction of the rotary table and the actual north direction through the included angle between the connecting line of the first positioning mark and the second positioning mark and the actual north direction and the included angle between the north direction of the rotary table and the connecting line of the first positioning mark and the second positioning mark.
As an exemplary embodiment of the present invention, the method for calculating the rotation angle of the turntable according to the true target azimuth of the satellite, the pitch angle, and the included angle between the north direction of the turntable and the actual north direction of the turntable includes:
the rotary table comprises an X-axis motor and a Y-axis motor, the X-axis motor comprises a first rotating wheel, and the first rotating wheel rotates by taking an X axis as an axis; the Y-axis motor comprises a second rotating wheel which rotates by taking the Y axis as an axis; the second rotating wheel is fixedly connected with the first rotating wheel, the X axis is parallel to the horizontal plane, the Y axis is parallel to the horizontal plane, and the X axis is vertical to the Y axis;
calculating a motor rotation azimuth according to a real target azimuth of the satellite and an included angle between the north direction of the rotary table and the actual north direction;
and then converting the rotating azimuth angle and the pitch angle of the motor into rotating angles of an X-axis motor and a Y-axis motor.
As an exemplary embodiment of the present invention, the method of converting the motor rotation azimuth angle and the pitch angle into rotation angles of an X-axis motor and a Y-axis motor includes:
calculating a unit vector of the target satellite in a turntable coordinate system according to the motor rotation azimuth angle and the pitch angle;
and then calculating the rotation angle of the X-axis motor and the rotation angle of the Y-axis motor.
As an exemplary embodiment of the present invention, the unit vector of the target satellite in the coordinate system of the turntable calculated according to the motor rotation azimuth angle and the pitch angle adopts the following formula one:
wherein Vec represents a unit vector; e represents the pitch angle in degrees; a. the
Representing the motor rotation azimuth angle in degrees.
As an exemplary embodiment of the present invention, the method for calculating the rotation angle of the X-axis motor adopts the following formula two:
the calculation method of the rotation angle of the Y-axis motor adopts the following formula III:
wherein AngX represents the rotation angle of the X axis and the unit is degree; AngY represents the rotation angle of the Y axis in degrees; a. the
Representing the rotation azimuth angle of the motor in degrees; e denotes the pitch angle in degrees.
As a second aspect of the present invention, there is provided a satellite measurement and control mobile base station, including: the device comprises an antenna positioned at the upper part, a rotary table positioned below the antenna, a first positioning mark, a second positioning mark and a control system;
the first positioning mark and the second positioning mark are symmetrically arranged on two sides of the rotary table;
the control system is used for establishing a rotary table coordinate system, the rotary table coordinate system comprises a rotary table north direction, and the rotary table north direction is perpendicular to a connecting line of the first positioning mark and the second positioning mark; establishing a real geographical coordinate system, wherein the real geographical coordinate system comprises an actual north direction; the device is also used for acquiring actual north data and finding an included angle between the north direction of the rotary table and the actual north direction; acquiring a real target azimuth angle and a pitch angle of the satellite, and calculating the rotation angle of the rotary table according to the real target azimuth angle of the satellite, the pitch angle and an included angle between the north direction of the rotary table and the actual north direction; and the rotating platform is also used for controlling the rotation of the rotating platform so as to drive the antenna to position the direction of the target satellite.
As an exemplary embodiment of the present invention, the antenna includes a parabolic reflector and a feed source, the feed source being located at a focal point of the parabolic reflector; the first positioning mark and the second positioning mark are fixed on the parabolic reflector.
As an exemplary embodiment of the present invention, the turn table includes an X-axis motor and a Y-axis motor, the X-axis motor including a first rotation wheel that rotates about an X-axis; the Y-axis motor comprises a second rotating wheel which rotates by taking the Y axis as an axis; the second swiveling wheel is fixedly connected with the first swiveling wheel, the X axis is parallel to the horizontal plane, the Y axis is parallel to the horizontal plane, and the X axis is vertical to the Y axis.
As an exemplary embodiment of the present invention, the turntable further includes a connecting portion, a lower portion of the connecting portion is fixedly connected to the second rotating wheel, and an upper portion of the connecting portion is fixedly connected to the antenna.
As an example embodiment of the present invention, the control system includes a north-seeking GNSS device for acquiring data of actual north.
The invention has the beneficial effects that:
according to the invention, the actual north direction of the real geography is dynamically obtained through the north finding GNSS device of the control system, the orientation of the antenna can be randomly placed, the angle of the antenna which should rotate is dynamically calculated according to the placed position, and the accurate positioning of the mobile base station is realized. Meanwhile, actual northbound data is dynamically acquired, and the average number of the data is taken, so that the positioning accuracy is improved.
Drawings
Fig. 1 schematically shows a block diagram of a satellite measurement and control mobile base station;
fig. 2 schematically shows a structure of the turntable.
Fig. 3 schematically shows a step diagram of a method for directional positioning of a satellite measurement and control mobile base station.
Fig. 4 schematically shows a relation diagram of a turntable coordinate system and a real geographical coordinate system.
The system comprises a base, a first positioning mark, a second positioning mark, an antenna, a parabolic reflector, a feed source, a turntable, a rotating table, a motor with an X axis, a motor with a Y axis, a connecting part 43, a control system 5, a base 6, a turntable north direction D, a connecting line of the first positioning mark and the second positioning mark, an angle between the north direction alpha and the north direction C, and an angle between the north direction beta and the north direction beta.
Detailed Description
The following detailed description of embodiments of the invention, but the invention can be practiced in many different ways, as defined and covered by the claims.
As a first embodiment of the present invention, there is provided a satellite measurement and control mobile base station, as shown in fig. 1, including: the device comprises a first positioning mark 1, a second positioning mark 2, an antenna 3, a rotary table 4, a control system 5 and a base 6.
The antenna 3 is located at the upper part of the mobile base station and comprises a parabolic reflector 31 and a feed 32, wherein the feed 32 is located at the focus of the parabolic reflector 31. The parabolic reflector 31 receives or transmits satellite measurement and control signals, and converges the satellite measurement and control signals to the feed source 32.
The rotary table 4 is positioned below the antenna 3 and is fixedly connected with the antenna 3. As shown in fig. 2, the turntable 4 includes an X-axis motor 41, a Y-axis motor 42, and a connection portion 43. The X-axis motor 41 includes a first rotation wheel which is provided at an outer ring of the X-axis motor 41 and rotates about the X-axis. The Y-axis motor 42 includes a second rotation wheel which is provided at an outer circumference of the Y-axis motor 42 and rotates about the Y-axis. The second rotating wheel is fixedly connected with the first rotating wheel. The X axis is parallel to the horizontal plane, the Y axis is parallel to the horizontal plane, and the X axis and the Y axis are not on the same horizontal plane but are mutually vertical when viewed from top to bottom. The lower part of the connecting part 43 is fixedly connected to the second rotating wheel, and the upper part is fixedly connected to the antenna 3. When the first rotation wheel of the X-axis motor 41 rotates, the Y-axis motor 42 rotates along with the first rotation wheel; when the second rotating wheel of the Y-axis motor 42 rotates, the connecting portion 43 rotates along with the second rotating wheel, thereby driving the antenna 3 to rotate, and adjusting the angle and direction of the antenna 3.
The first and second position indicators 1 and 2 are symmetrically arranged on both sides of the turntable 4, and are preferably fixed on the parabolic reflector 31, so as to reduce the volume of the mobile base station.
The control system 5 is communicatively connected to the feed source 32 and the turntable 4, and in fig. 1, the connection is made by a connection line, and a wireless connection may be selected in order to reduce the size of the mobile base station. The control system 5 is used for controlling the mobile base station to search and aim at a target satellite, and specifically, a turntable coordinate system is established, wherein the turntable coordinate system comprises a turntable north direction D, and the turntable north direction is perpendicular to a connecting line B of the first positioning mark 1 and the second positioning mark 1; establishing a real geographical coordinate system, wherein the real geographical coordinate system comprises an actual north direction C; the system is also used for acquiring data of an actual north direction C and finding an included angle between a north direction D of the rotary table and the actual north direction C; acquiring a real target azimuth angle A and a real pitch angle E of the satellite, and calculating the rotating angle of the rotary table according to the real rotating azimuth angle A and the pitch angle E of the satellite and the included angle alpha between the north direction D of the rotary table and the actual north direction C; and is also used for controlling the rotation of the rotary table 4 so as to drive the antenna 3 to position the target satellite direction. The control system 5 includes a north-seeking GNSS device for obtaining data of actual north. The control system 5 is connected with each component through the TCP, and data can be automatically acquired as long as the TCP connection is maintained. TCP: the Transmission Control Protocol (TCP) is a connection-oriented, reliable transport layer communication Protocol based on a byte stream. TCP is intended to accommodate layered protocol hierarchies that support multiple network applications. Reliable communication services are provided by means of TCP between pairs of processes in host computers connected to different but interconnected computer communication networks. TCP assumes that it can obtain simple, possibly unreliable, datagram service from lower level protocols. In principle, TCP should be able to operate over a variety of communication systems connected from hard wire to packet switched or circuit switched networks.
And the base 6 is positioned below the rotary table 4 and used for supporting the whole satellite measurement and control mobile base station.
As a second embodiment of the present invention, a method for positioning a satellite measurement and control mobile base station is provided, where the method for positioning a satellite measurement and control mobile base station according to the first embodiment is adopted, as shown in fig. 3, and includes the following steps:
step S1: the first positioning mark 1 and the second positioning mark 2 are symmetrically arranged on two sides of the rotary table 4. The projection of the turntable 4 is located on the connecting line B of the first and second position indicators 1 and 2 and is located at the midpoint between the first and second position indicators 1 and 2, as viewed from top to bottom. The two positioning scales are arranged, so that the relation between the turntable coordinate system and the real geographic coordinate system is easier to calculate.
Step S2: and establishing a turntable coordinate system, wherein the turntable coordinate system comprises a turntable north direction D as shown in fig. 4, and the turntable north direction D is perpendicular to a connecting line B of the first positioning mark 1 and the second positioning mark 2. The arrow direction of the north direction D of the turntable points to the north of the turntable coordinate system, and the arrow direction of the connecting line B of the first positioning mark 1 and the second positioning mark 2 points to the second positioning mark 2 from the first positioning mark 1. Since the mobile base station moves frequently and the direction of each placement is unknown, the north directions of the turntable coordinate system and the real geographical coordinate system tend to be different directions as shown in fig. 4. No matter where the satellite measurement and control mobile base station moves, the mobile base station has a turntable coordinate system, and the relation between the direction of the target satellite and the turntable can be accurately obtained by finding the relation between the turntable coordinate system and the real geographic coordinate system, so that the satellite measurement and control base station can move.
Step S3: a real geographical coordinate system is established, which includes the actual north direction C.
Step S4: and acquiring data of the actual north direction C, and finding an included angle between the north direction D of the turntable and the actual north direction C.
The method for acquiring the data of the actual north direction C comprises the following steps: data of a plurality of actual north directions C are acquired within a predetermined time, and an average value of the data of the plurality of actual north directions C is taken as the data of the actual north directions C. For example, the data of 500-. The data of the actual north direction C acquired every time is not accurate, the error can be smaller by averaging within 1 minute, but the relative position of the mobile base station and the actual north direction C moves along with the change of the environment (the rotation of the antenna 3, the windy weather and the like), so that the data of the actual north direction C needs to be updated every 1 minute, the actual north direction C data is acquired dynamically in real time, the rotation angle of the turntable 4 is continuously corrected, and the error is smaller and smaller.
The method for finding the included angle alpha between the north direction D of the rotary table and the actual north direction C comprises the following steps: an included angle beta between a connecting line B of the first positioning mark 1 and the second positioning mark 2 and the actual north direction C is obtained, and an included angle alpha between the turntable north direction D and the actual north direction C is obtained through the included angle beta between the connecting line B of the first positioning mark 1 and the second positioning mark 2 and the actual north direction C and the included angle (right angle) between the turntable north direction D and the connecting line B of the first positioning mark 1 and the second positioning mark 2.
Step S5: and acquiring a real target azimuth angle A and a pitch angle E of the satellite, and calculating the rotating angle of the turntable 4 according to the real target azimuth angle A and the pitch angle E of the satellite and the included angle alpha between the turntable north direction D and the actual north direction C.
The method for calculating the rotating angle of the rotary table 4 according to the real target azimuth angle A and the pitch angle of the satellite and the included angle alpha between the north direction D of the rotary table and the actual north direction C comprises the following steps:
calculating a motor rotation azimuth angle A according to the real target azimuth angle of the satellite and the included angle alpha between the north direction D of the rotary table and the actual north direction C
；
The motor rotation azimuth and pitch angles are then converted into rotation angles of the X-axis motor 41 and the Y-axis motor 42.
Calculating a motor rotation azimuth angle A according to a real target azimuth angle A of the satellite and an included angle alpha between a rotary table north direction D and an actual north direction C
The method comprises the following steps:
if the included angle alpha of the real target azimuth A minus the north direction D of the rotary table and the actual north direction C is less than 360 degrees, the rotating azimuth angle A of the motor is
The included angle alpha between the north direction D of the rotary table and the actual north direction C is subtracted from the true target azimuth angle A;
if the included angle alpha of the real target azimuth A minus the north direction D of the rotary table and the actual north direction C is more than or equal to 360 degrees, the motor rotation azimuth angle A
Equal to the real target azimuth angle A minus the included angle alpha between the north direction D of the rotating platform and the actual north direction C minus 360 degrees.
For example:
the true target azimuth angle A =35 degrees, the included angle alpha =0 degree between the north direction D of the rotary table and the actual north direction C, and the rotation azimuth angle A of the motor
=35°-0°=35°。
For another example:
the true target azimuth angle A =35 degrees, the included angle alpha =50 degrees between the north direction D of the rotary table and the actual north direction C, and the rotation azimuth angle A of the motor
=35°-50°=-15°。
For another example:
the true target azimuth angle A =350 degrees, the included angle alpha of the north direction D of the rotary table and the actual north direction C = -50 degrees, and the motor rotation azimuth angle A
=350°-（-45°）-360°=35°。
Rotating the motor at an azimuth A
The method of converting the pitch angle E into the rotation angles of the X-axis motor 41 and the Y-axis motor 42 includes:
according to the motor rotation azimuth angle A
Calculating a unit vector of the target satellite in a turntable coordinate system according to the pitch angle E;
and then calculating the rotation angle of the X-axis motor and the rotation angle of the Y-axis motor.
According to the motor rotation azimuth angle A
And calculating a unit vector of the target satellite in a turntable coordinate system by the pitch angle E by adopting the following formula I:
wherein Vec represents a unit vector; e represents the pitch angle in degrees; a. the
Representing the motor rotation azimuth angle in degrees.
The method for calculating the rotation angle of the X-axis motor and the rotation angle of the Y-axis motor according to the formula I comprises the following steps:
the calculation method of the rotation angle of the X-axis motor 41 adopts the following formula two:
the calculation method of the rotation angle of the Y-axis motor adopts the following formula III:
wherein AngX represents the rotation angle of the X-axis motor 41 in degrees; AngY represents the rotation angle of the Y-axis motor 42 in degrees; a. the
Representing the rotation azimuth angle of the motor in degrees; e denotes the pitch angle in degrees.
For example:
obtaining the motor rotation azimuth angle A
=35 °, pitch angle E =65 °. The calculation results are as follows:
AngX=14.9740106468；
AngY=20.2543700078。
for another example:
obtaining the motor rotation azimuth angle A
= 15 °, pitch E =65 °. The calculation results are as follows:
AngX=-6.8817；
AngY=24.0929。
for example:
obtaining the motor rotation azimuth angle A
=20 °, pitch angle E =65 °. The calculation results are as follows:
AngX=9.061593887938022；
AngY=23.398961858513484。
for another example:
obtaining the motor rotation azimuth angle A
= 30 °, pitch angle E =65 °. The calculation results are as follows:
AngX=-13.124268099674333；
AngY=21.469023519601443。
step S6: the rotation of the rotary table 4 drives the antenna 3 to position the direction of the target satellite. Specifically, after the control system 5 calculates the rotation angle of the X-axis motor 41 and the rotation angle of the Y-axis motor 42, the rotation angles are converted into hexadecimal messages, the messages are sent to the control turntable 4, and the X-axis motor 41 and the Y-axis motor 42 of the control turntable 4 rotate to drive the connecting portion 43 to rotate, so that the antenna 3 is turned to the direction of the target satellite.
For example:
and AngX =14.9740106468 and AngY =20.2543700078, and the messages of '2F, 55,00, 00' and '39, 73,00, 00' are obtained through message calculation.
For another example:
the messages of D9, D8,01,00 and 0F,89,02,00 are obtained by the message calculation of AngX = -6.8817 and AngY = 24.0929.
For another example:
the messages of 8C,33,00,00 and 1D,85,00 and 00 are obtained through message calculation by AngX = -6.8817 and AngY = 24.0929.
For another example:
the messages of '00, 00, 00' and '22, 7A,00, 00' are obtained through message calculation by using AngX = -6.8817 and AngY = 24.0929.
According to the scheme, the method that the turntable coordinate system is matched with the real geographic coordinate system enables the mobile base station to find the correct real geographic position no matter which direction the mobile base station faces, and therefore the target satellite can be accurately positioned.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A direction positioning method of a satellite measurement and control mobile base station is characterized by comprising the following steps:
the satellite measurement and control mobile base station comprises an antenna positioned at the upper part and a rotary table positioned below the antenna;
a first positioning mark and a second positioning mark are symmetrically arranged on two sides of the rotary table;
establishing a turntable coordinate system, wherein the turntable coordinate system comprises a turntable north direction, and the turntable north direction is perpendicular to a connecting line of the first positioning mark and the second positioning mark;
establishing a real geographical coordinate system, wherein the real geographical coordinate system comprises an actual north direction;
acquiring actual north data, and finding an included angle between the north of the rotary table and the actual north;
acquiring a real target azimuth angle and a pitch angle of the satellite, and calculating the rotation angle of the rotary table according to the real target azimuth angle of the satellite, the pitch angle and an included angle between the north direction of the rotary table and the actual north direction;
the rotation of the rotary table drives the antenna to position the direction of the target satellite.
2. The method of claim 1, wherein the method of obtaining actual north data comprises: and acquiring a plurality of actual north data within a preset time, and taking the average value of the actual north data as the actual north data.
3. The method according to claim 1, wherein the method for finding the included angle between the north direction of the turntable and the actual north direction comprises: and obtaining an included angle between a connecting line of the first positioning mark and the second positioning mark and the actual north direction, and obtaining an included angle between the north direction of the rotary table and the actual north direction through the included angle between the connecting line of the first positioning mark and the second positioning mark and the actual north direction and the included angle between the north direction of the rotary table and the connecting line of the first positioning mark and the second positioning mark.
4. The method for directionally positioning a satellite measurement and control mobile base station according to claim 1, wherein the method for calculating the rotation angle of the turntable according to the true target azimuth angle of the satellite, the pitch angle and the included angle between the north direction of the turntable and the actual north direction comprises:
the rotary table comprises an X-axis motor and a Y-axis motor, the X-axis motor comprises a first rotating wheel, and the first rotating wheel rotates by taking an X axis as an axis; the Y-axis motor comprises a second rotating wheel which rotates by taking the Y axis as an axis; the second rotating wheel is fixedly connected with the first rotating wheel, the X axis is parallel to the horizontal plane, the Y axis is parallel to the horizontal plane, and the X axis is vertical to the Y axis;
calculating a motor rotation azimuth according to a real target azimuth of the satellite and an included angle between the north direction of the rotary table and the actual north direction;
and then converting the rotating azimuth angle and the pitch angle of the motor into rotating angles of an X-axis motor and a Y-axis motor.
5. The method for directionally positioning a satellite measurement and control mobile base station according to claim 4, wherein the method for converting the motor rotation azimuth angle and the pitch angle into the rotation angles of an X-axis motor and a Y-axis motor comprises:
calculating a unit vector of the target satellite in a turntable coordinate system according to the motor rotation azimuth angle and the pitch angle;
and then calculating the rotation angle of the X-axis motor and the rotation angle of the Y-axis motor.
6. The method according to claim 5, wherein the unit vector of the target satellite in the turntable coordinate system is calculated according to the motor rotation azimuth angle and the pitch angle by using a formula one as follows:
wherein Vec represents a unit vector; e represents the pitch angle in degrees; a' represents the motor rotation azimuth angle in degrees.
7. The method for directionally positioning a satellite measurement and control mobile base station according to claim 5, wherein the calculation method of the rotation angle of the X-axis motor adopts the following formula two:
the calculation method of the rotation angle of the Y-axis motor adopts the following formula III:
wherein AngX represents the rotation angle of the X-axis motor and the unit is degree; AngY represents the rotation angle of the Y-axis motor and has the unit of degree; a' represents the rotation azimuth angle of the motor and the unit is degree; e denotes the pitch angle in degrees.
8. A satellite measurement and control mobile base station, comprising: the device comprises an antenna positioned at the upper part, a rotary table positioned below the antenna, a first positioning mark, a second positioning mark and a control system;
the first positioning mark and the second positioning mark are symmetrically arranged on two sides of the rotary table;
the control system is used for establishing a rotary table coordinate system, the rotary table coordinate system comprises a rotary table north direction, and the rotary table north direction is perpendicular to a connecting line of the first positioning mark and the second positioning mark; establishing a real geographical coordinate system, wherein the real geographical coordinate system comprises an actual north direction; the device is also used for acquiring actual north data and finding an included angle between the north direction of the rotary table and the actual north direction; acquiring a real target azimuth angle and a pitch angle of the satellite, and calculating the rotation angle of the rotary table according to the real target azimuth angle of the satellite, the pitch angle and an included angle between the north direction of the rotary table and the actual north direction; and the rotating platform is also used for controlling the rotation of the rotating platform so as to drive the antenna to position the direction of the target satellite.
9. The satellite measurement and control mobile base station according to claim 8, wherein the antenna comprises a parabolic reflector and a feed located at a focal point of the parabolic reflector; the first positioning mark and the second positioning mark are fixed on the parabolic reflector.
10. The satellite measurement and control mobile base station according to claim 8, wherein the turntable comprises an X-axis motor and a Y-axis motor, the X-axis motor comprises a first rotating wheel, and the first rotating wheel rotates around the X-axis; the Y-axis motor comprises a second rotating wheel which rotates by taking the Y axis as an axis; the second swiveling wheel is fixedly connected with the first swiveling wheel, the X axis is parallel to the horizontal plane, the Y axis is parallel to the horizontal plane, and the X axis is vertical to the Y axis.
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| US5347286A (en) * | 1992-02-13 | 1994-09-13 | Trimble Navigation Limited | Automatic antenna pointing system based on global positioning system (GPS) attitude information |
| US5583514A (en) * | 1994-03-07 | 1996-12-10 | Loral Aerospace Corp. | Rapid satellite acquisition device |
| US6538612B1 (en) * | 1997-03-11 | 2003-03-25 | Lael D. King | Satellite locator system |
| CN111121769A (en) * | 2019-12-30 | 2020-05-08 | 中国人民解放军93209部队 | Mechanical scanning portable cooperative target air monitoring equipment and autonomous north correcting method |
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2022
- 2022-01-10 CN CN202210019154.XA patent/CN114035152B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5347286A (en) * | 1992-02-13 | 1994-09-13 | Trimble Navigation Limited | Automatic antenna pointing system based on global positioning system (GPS) attitude information |
| US5583514A (en) * | 1994-03-07 | 1996-12-10 | Loral Aerospace Corp. | Rapid satellite acquisition device |
| US6538612B1 (en) * | 1997-03-11 | 2003-03-25 | Lael D. King | Satellite locator system |
| CN111121769A (en) * | 2019-12-30 | 2020-05-08 | 中国人民解放军93209部队 | Mechanical scanning portable cooperative target air monitoring equipment and autonomous north correcting method |
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