CN114447609B - Large antenna digital guiding device with dynamic compensation and digital guiding method thereof - Google Patents
Large antenna digital guiding device with dynamic compensation and digital guiding method thereof Download PDFInfo
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- CN114447609B CN114447609B CN202210371453.XA CN202210371453A CN114447609B CN 114447609 B CN114447609 B CN 114447609B CN 202210371453 A CN202210371453 A CN 202210371453A CN 114447609 B CN114447609 B CN 114447609B
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- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
- H01Q3/08—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying two co-ordinates of the orientation
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Abstract
The invention provides a large-scale antenna digital guiding device with dynamic compensation and a digital guiding method thereof. The large-scale antenna digital guiding device with dynamic compensation and the digital guiding method thereof have the advantages that the software dynamic compensation algorithm is adopted, extra hardware overhead is not needed, and compared with the traditional complex shelter leveling system, the cost can be saved, and the economy is realized; the invention can finish the calibration of system errors before the large-scale antenna is installed on the ground station shelter car, thus being better convenient for integration, saving time and facilitating the management and control of project nodes; the system error calibration of manual intervention is only needed once when the system leaves a factory, and the error calibration of manual intervention is not needed again after the station moves each time; has strong market value and wide application field.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle line-of-sight microwave communication, and particularly relates to a large-scale antenna digital guiding device with dynamic compensation and a digital guiding method thereof.
Background
In long-distance wireless communication, a large antenna is usually adopted to enhance the signal intensity in the direction of a communication target, and how to accurately control the large antenna to point to and track the communication target in real time is a key technology for guaranteeing the long-distance wireless communication.
At present, the pointing tracking technology of a large antenna mainly comprises three types, namely manual tracking, automatic tracking and digital guiding. The manual tracking is to control the pointing direction and the tracking target of the large antenna manually by visual observation; the automatic tracking is to calculate the deviation angle between the antenna and the target by carrying out specific algorithm processing on the received signal of the large antenna, and control the large antenna to continuously correct the angle to realize pointing and tracking the target; the digital guidance is a pointing tracking method for calculating a large antenna pointing target angle by using three-dimensional coordinates provided by GNSS (Global Navigation Satellite System) receivers of both communication parties, including a GPS receiver and a beidou receiver. The digital guide method has the advantages of accurate direction, simple and convenient operation, low cost and the like, and is widely used.
Along with the communication distance of a communication system is more and more far, the communication bandwidth is more and more wide, the communication frequency point is also more and more high, the gain of the antenna is required to be more and more high, the wave beam is more and more narrow, and the requirement on the tracking precision of the antenna is also continuously improved. The two-dimensional turntable comprises two-dimensional servo motors which respectively control the azimuth rotation and the pitching rotation of the large antenna, and the pointing at any spatial angle can be realized through the combination of two angles. The method of digital guide that the large-scale antenna adopted, the biggest factor that influences pointing tracking accuracy is to guarantee that the rotation plane of direction revolving stage coincides with the horizontal plane, the countermeasure of taking at present is to use the horizontal angle of large-scale antenna support of manual adjustment or large-scale antenna arrangement place shelter car, repeat the adjustment according to the measurement of spirit level to make the horizontal rotation plane of antenna keep unanimous with the horizontal plane as far as possible, the complex operation, easy and time-consuming, in addition require higher to operator's specialty and experience, this kind of operating error is difficult to control within 1. The invention adopts a special software compensation algorithm, thereby improving the pointing accuracy of the antenna and the complexity of equipment operation.
Disclosure of Invention
In view of this, the present invention is directed to provide a large antenna digital guiding apparatus with dynamic compensation, so as to solve the problem that a ground station needs to be equipped with a large antenna to achieve reliable communication at a high rate, and meanwhile, the mission location of an unmanned aerial vehicle needs to be frequently replaced.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
the utility model provides a large-scale antenna digital guiding device with dynamic compensation, includes a tilt angle sensor, No. two tilt angle sensors, target GNSS receiver, ground GNSS receiver, control treater and two dimension revolving stage, a tilt angle sensor installs to two dimension revolving stage below, large-scale antenna of two dimension revolving stage top installation, No. two tilt angle sensors of large-scale antenna top installation, large-scale antenna side are equipped with ground GNSS receiver, and target GNSS receiver installs to communication target top, a tilt angle sensor, No. two tilt angle sensors, target GNSS receiver, the equal signal connection of ground GNSS receiver are to control treater input, and control treater output end signal is connected to the two dimension revolving stage, and control treater is used for controlling two dimension revolving stage area large-scale antenna and accomplishes the position and rotate with every single move.
Further, the control processor comprises an installation error calibration module, a turntable inclination direction calculation module, a turntable inclination angle calculation module, a pitch compensation value calculation module, a true north angle measurement module, a numerical guidance direction analysis module, an error compensation module and a motor rotation direction module, wherein the output end of the installation error calibration module is respectively in signal connection with the input end of the turntable inclination direction calculation module and the input end of the turntable inclination angle calculation module, the output end of the turntable inclination direction calculation module and the output end of the turntable inclination angle calculation module are in signal connection with the input end of the pitch compensation value calculation module, the output end of the true north angle measurement module and the output end of the numerical guidance direction analysis module are in signal connection with the input end of the error compensation module, the output end of the error compensation module is respectively connected to the input end of the pitching compensation value calculation module and the input end of the motor rotation direction module through signals.
Further, the installation error calibration module comprises a preparation unit before calibration, a measurement result recording unit, a horizontal turntable rotating unit, a measurement completion judging unit and an error calculating unit, wherein the input end of the preparation unit before calibration is respectively connected to a first inclination angle sensor, a second inclination angle sensor, a target GNSS receiver and a ground GNSS receiver through signals, the output end of the preparation unit before calibration is sequentially connected to the measurement result recording unit, the horizontal turntable rotating unit and the input end of the measurement completion judging unit through signals, the output end of the measurement completion judging unit is respectively connected to the input end of the measurement result recording unit and the input end of the error calculating unit through signals, and the output end of the error calculating unit is connected to the input end of the turntable inclination direction calculating module and the input end of the turntable inclination angle calculating module through signals.
Furthermore, the number-index direction analysis module comprises a target coordinate conversion unit, an antenna coordinate conversion unit, a relative position calculation unit and a rotation angle calculation unit, wherein the input end of the target coordinate conversion unit is connected to the target GNSS receiver through signals, the input end of the antenna coordinate conversion unit is connected to the ground GNSS receiver through signals, the output end of the target coordinate conversion unit and the output end of the antenna coordinate conversion unit are connected to the input end of the relative position calculation unit through signals, and the output end of the relative position calculation unit is connected to the error compensation module through signals of the rotation angle calculation unit.
Compared with the prior art, the large-scale antenna digital guiding device with dynamic compensation has the following advantages:
(1) the large-scale antenna digital guiding device with dynamic compensation, disclosed by the invention, has the advantages of simple structure and reasonable design, is suitable for the field of line-of-sight microwave communication of the unmanned aerial vehicle, when the unmanned aerial vehicle is in remote communication, a ground station is generally required to be equipped with a large-scale antenna to realize high-speed reliable communication, meanwhile, the mission site of the unmanned aerial vehicle is required to be frequently replaced, particularly under a battlefield environment, a simple, quick and high-precision ground station arrangement and calibration method is a very critical technology, the cost is low, the operation is simple, the manual intervention is less, and the effect is good.
Another object of the present invention is to provide a method for digitally guiding a large antenna with dynamic compensation, so as to improve the pointing accuracy of the antenna and the complexity of the device operation.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a large antenna digital guiding method with dynamic compensation comprises the following steps:
s1, starting the large-scale antenna digital guiding device with dynamic compensation, respectively transmitting signals of a first inclination angle sensor and a second inclination angle sensor to the input end of an installation error calibration module, converting the input signals received by the input end of the installation error calibration module, outputting a first output signal, and transmitting the first output signal to a turntable inclination direction calculation module and a turntable inclination angle calculation module;
s2, processing the first output signal by the turntable inclination direction calculation module to obtain a calculation result signal, and respectively transmitting the calculation result signal to the turntable inclination angle calculation module and the pitching compensation value calculation module;
s3, processing the first output signal and the calculation result signal by the turntable inclination angle calculation module to obtain an output signal A, and transmitting the output signal A to the pitching compensation value calculation module;
s4, pitch compensation value calculating module for calculating result signal, output signal A, and output signal of error compensation module
After processing, obtaining a pitch angle compensation value
And compensating the pitch angle by the compensation value
Transmitting to an error compensation module;
s5, the true north angle measuring module calculates the included angle between the mechanical zero angle and the true north angle of the large antenna based on the signal of the ground GNSS receiver
And the included angle between the mechanical zero angle and the true north angle
Transmitting to an error compensation module;
s6, the number guiding direction analysis module calculates the antenna azimuth rotation angle based on the signals of the target GNSS receiver and the ground GNSS receiver
And pitch rotation angle
And rotating the antenna azimuth by an angle
And pitch rotation angle
Transmitting to an error compensation module;
s7, transmitting the compensation value to the error compensation module to compensate the pitch angle
Angle between mechanical zero angle and true north angle
Angle of rotation of antenna orientation
Angle of rotation of pitch
After processing, obtaining the compensated azimuth rotation angle
And pitch rotation angle
And rotating the antenna azimuth by an angle
And angle of rotation of pitch
Transmitting to the motor rotation direction module;
s8, rotating the pointing module by the motor based on the rotation angle of the antenna
And pitch rotation angle
And controlling an internal motor to complete target pointing operation.
Further, the pitch angle compensation value in step S4
The formula of (1) is:
wherein the content of the first and second substances,
representing a compensation value for a pitch angle, A represents
The included angle between the two parallel lines and the XOY plane,
indicating maximum tilt direction correspondence of two-dimensional turntable
And (4) an angle.
Further, the antenna azimuth rotation angle in step S6
Angle of rotation of pitch
Is of the formula
Wherein the content of the first and second substances,
is a target and a dayThe relative coordinate values of the lines are the output of the relative position calculation unit,
to compensate for the azimuth rotation angle of the front antenna,
to compensate for the front pitch rotation angle.
Further, the antenna azimuth rotation angle in step S7
Angle of rotation of pitch
Is of the formula
Wherein the content of the first and second substances,
to compensate for the azimuth rotation angle of the front antenna,
in order to compensate for the front pitch rotation angle,
is an included angle between a mechanical zero angle and a true north angle,
as a compensation value for the pitch angle,
in order to compensate for the azimuth rotation angle,
to the compensated pitch rotation angle.
Compared with the prior art, the large-scale antenna digital guiding method with dynamic compensation has the following advantages:
(1) the digital guiding method for the large antenna with the dynamic compensation adopts a method of adding the inclination angle measuring device to the large antenna, and does not need extra hardware overhead through a software dynamic compensation algorithm, so that the cost can be saved and the method has economical efficiency compared with the traditional complex shelter leveling system; the calibration of system errors can be completed before the large antenna is installed on a ground station shelter car, and the traditional time-consuming work needs to be carried out after the system is assembled, so that the system can be integrated better and conveniently, the time is saved, and the management and the control of project nodes are facilitated.
(2) The large antenna digital guiding method with dynamic compensation only needs to carry out system error calibration of once manual intervention when leaving a factory, and does not need to carry out error calibration of manual intervention again after a station moves each time; the method has the advantages that the method is used for carrying out sufficient performance tests in delivery projects, and the method has strong market value and wide application fields.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of the overall structure according to the embodiment of the present invention;
FIG. 2 is a functional block diagram of a digital guide apparatus and method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a mounting error calibration module according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating a number index direction parsing module according to an embodiment of the present invention;
fig. 5 is a schematic view of a pointing rotating coordinate system of a large antenna according to an embodiment of the present invention.
Description of the reference numerals:
1. a first tilt angle sensor; 2. a second tilt angle sensor; 3. a target GNSS receiver; 4. a terrestrial GNSS receiver; 5. a control processor; 51. a mounting error calibration module; 511. a pre-calibration preparation unit; 512. a measurement result recording unit; 513. a horizontal turntable rotating unit; 514. a measurement completion judgment unit; 515. an error calculation unit; 52. a turntable inclination direction calculation module; 53. a turntable inclination angle calculation module; 54. a pitching compensation value calculating module; 55. a true north angle measuring module; 56. a number index direction analysis module; 561. a target coordinate conversion unit; 562. an antenna coordinate conversion unit; 563. a relative position calculation unit; 564. a rotation angle calculation unit; 57. an error compensation module; 58. a motor rotation direction module; 6. and (4) a two-dimensional turntable.
Detailed Description
It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings, which are based on the orientations and positional relationships indicated in the drawings, and are used for convenience in describing the present invention and for simplicity in description, but do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate a number of the indicated technical features. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
The noun explains:
mechanical angle: the 360 °/p occupied by each pair of poles of the motor on the inner circle of the stator refers to the actual space geometry.
As shown in fig. 1 to 5, the digital guiding apparatus for a large antenna with dynamic compensation comprises a first tilt sensor 1, a second tilt sensor 2, a target GNSS receiver 3, a ground GNSS receiver 4, a control processor 5 and a two-dimensional turntable 6, wherein the first tilt sensor 1 is installed below the two-dimensional turntable 6, the large antenna is installed above the two-dimensional turntable 6, the second tilt sensor 2 is installed above the large antenna, the ground GNSS receiver 4 is arranged on a lateral surface of the large antenna, the target GNSS receiver 3 is installed above a communication target, the first tilt sensor 1, the second tilt sensor 2, the target GNSS receiver 3 and the ground GNSS receiver 4 are all connected to an input end of the control processor 5 through signals, an output end of the control processor 5 is connected to the two-dimensional turntable 6 through signals, and the control processor 5 is used for controlling the two-dimensional turntable 6 to complete azimuth rotation and pitching rotation of the large antenna, in this embodiment, the target GNSS receiver 3 may be installed on a communication target provided with the digital guidance apparatus, the communication target may be an airplane, an airship, a satellite, or a missile, the first tilt sensor 1 is installed on a fixed platform below the two-dimensional turntable 6, the large antenna is installed on a rotating platform above the two-dimensional turntable 6, a driving source of the rotating platform may be a servo motor, and a driver signal of the servo motor is connected to the control processor 5, the first tilt sensor 1, the second tilt sensor 2, the target GNSS receiver 3, the ground GNSS receiver 4, and the two-dimensional turntable 6 are all of the prior art, and the second tilt sensor 2 is connected with the large antenna and rotates along with the rotation of the large antenna.
The invention is suitable for the field of unmanned aerial vehicle line-of-sight microwave communication, when the unmanned aerial vehicle communicates remotely, the ground station usually needs to be equipped with a large-scale antenna to realize high-speed reliable communication, meanwhile, the mission site of the unmanned aerial vehicle needs to be changed frequently, and especially under the battlefield environment, the simple, fast and high-precision ground station arrangement and calibration method is a very key technology.
The control processor 5 comprises an installation error calibration module 51, a turntable inclination direction calculation module 52, a turntable inclination angle calculation module 53, a pitch compensation value calculation module 54, a true north angle measurement module 55, a numerical guidance direction analysis module 56, an error compensation module 57 and a motor rotation direction module 58, wherein the output end of the installation error calibration module 51 is respectively connected with the input end of the turntable inclination direction calculation module 52 and the input end of the turntable inclination angle calculation module 53 through signals, the output end of the turntable inclination direction calculation module 52 and the output end of the turntable inclination angle calculation module 53 are respectively connected with the input end of the pitch compensation value calculation module 54 through signals, the output end of the pitch compensation value calculation module 54, the output end of the true north angle measurement module 55 and the output end of the numerical guidance direction analysis module 56 are respectively connected with the input end of the error compensation module 57 through signals, the output end of the error compensation module 57 is respectively connected to the input end of the pitch compensation value calculation module 54 and the input end of the motor rotation direction module 58 through signals. The mounting error calibration module 51 is used for calculating mounting errors of a first tilt angle sensor 1 and a second tilt angle sensor 2 to perform error compensation, the turntable tilt direction calculation module 52 is used for calculating an angle corresponding to the maximum tilt direction of the two-dimensional turntable 6, the turntable tilt angle calculation module 53 is used for calculating an included angle between a large antenna and an XOY plane, the pitch compensation value calculation module 54 is used for constructing a pitch compensation function, the true north angle measurement module 55 is used for calculating an included angle between a mechanical zero angle and a true north angle of the large antenna, the number-direction analysis module 56 is used for calculating a target direction angle of the large antenna, the error compensation module 57 is used for outputting a compensated azimuth rotation angle and pitch rotation angle, the motor rotation direction module 58 is used for controlling a motor of the two-dimensional turntable 6 to complete target direction operation, and the mounting error calibration module 51, The turntable inclination direction calculation module 52, the turntable inclination angle calculation module 53, the pitch compensation value calculation module 54, the true north angle measurement module 55, the number guidance direction analysis module 56, the error compensation module 57, and the motor rotation direction module 58 are all control modules in the control processor 5.
The installation error calibration module 51 comprises a pre-calibration preparation unit 511, a measurement result recording unit 512, a horizontal turntable rotation unit 513, a measurement completion judgment unit 514 and an error calculation unit 515, wherein the input end of the pre-calibration preparation unit 511 is respectively connected to the first inclination angle sensor 1, the second inclination angle sensor 2, the target GNSS receiver 3 and the ground GNSS receiver 4 through signals, the output end of the pre-calibration preparation unit 511 is sequentially connected to the measurement result recording unit 512, the horizontal turntable rotation unit 513 and the measurement completion judgment unit 514 through signals, the output end of the measurement completion judgment unit 514 is respectively connected to the input end of the measurement result recording unit 512 and the input end of the error calculation unit 515 through signals, the output end of the error calculation unit 515 is connected to the input end of the turntable inclination direction calculation module 52 and the input end of the turntable inclination angle calculation module 53 through signals, and the pre-calibration preparation unit 511, the second inclination angle sensor 2, the target GNSS receiver and the error calculation unit 515 are connected to the input end of the turntable inclination direction calculation module 53 through signals, The measurement result recording unit 512, the horizontal turn table rotating unit 513, the measurement completion judging unit 514, and the error calculating unit 515 are all control units within the mounting error calibration module 51.
The number-index-direction analyzing module 56 includes a target coordinate converting unit 561, an antenna coordinate converting unit 562, a relative position calculating unit 563, and a rotation angle calculating unit 564, where a signal at an input end of the target coordinate converting unit 561 is connected to the target GNSS receiver 3, a signal at an input end of the antenna coordinate converting unit 562 is connected to the ground GNSS receiver 4, signals at an output end of the target coordinate converting unit 561 and an output end of the antenna coordinate converting unit 562 are both connected to an input end of the relative position calculating unit 563, and an output end of the relative position calculating unit 563 is connected to the error compensating module 57 through the rotation angle calculating unit 564. The target coordinate conversion unit 561, the antenna coordinate conversion unit 562, the relative position calculation unit 563, and the rotation angle calculation unit 564 are all control units in the index direction analysis module 56.
The large antenna digital guiding method with dynamic compensation comprises the following steps:
s1, starting the large-scale antenna digital guiding device with dynamic compensation, respectively transmitting signals of a first inclination angle sensor 1 and a second inclination angle sensor 2 to the input end of a mounting error calibration module 51, converting the input signals received by the input end of the mounting error calibration module 51, outputting a first output signal, and transmitting the first output signal to a turntable inclination direction calculation module 52 and a turntable inclination angle calculation module 53; in this embodiment, the input signals may be signals of the first tilt sensor 1, the second tilt sensor 2, the target GNSS receiver 3, and the ground GNSS receiver 4.
S2, the turntable inclination direction calculation module 52 processes the first output signal to obtain a calculation result signal, and respectively transmits the calculation result signal to the turntable inclination angle calculation module 53 and the pitch compensation value calculation module 54;
s3, the turntable inclination angle calculation module 53 processes the first output signal and the calculation result signal to obtain an output signal A, and transmits the output signal A to the pitching compensation value calculation module 54;
s4, pitch compensation value calculating module 54 compares the calculated result signal, output signal A, and output signal of error compensation module
After processing, obtaining a pitch angle compensation value
And compensating the pitch angle by the compensation value
To the error compensation module 57;
s5, the true north angle measurement module 55 calculates the included angle between the mechanical zero angle and the true north angle of the large antenna based on the signal of the ground GNSS receiver 4
And a machineAngle between zero degree and true north angle
To the error compensation module 57;
s6, the direction-of-orientation analysis module 56 calculates the antenna azimuth rotation angle based on the signals of the target GNSS receiver 3 and the ground GNSS receiver 4
And pitch rotation angle
And rotating the antenna azimuth by an angle
And pitch rotation angle
To the error compensation module 57;
s7, transmitting the compensation value to the error compensation module 57 to compensate the pitch angle
Angle between mechanical zero angle and true north angle
Rotation angle of antenna orientation
And angle of rotation of pitch
After processing, obtaining the compensated azimuth rotation angle
And angle of rotation of pitch
And is combined withRotating the antenna azimuth
And pitch rotation angle
To the motor rotation direction module 58;
s8, the motor rotation direction module 58 rotates the angle based on the antenna orientation
And pitch rotation angle
And controlling an internal motor to complete target pointing operation.
The method for adding the inclination angle measuring device to the large antenna is adopted, and the software dynamic compensation algorithm is adopted, so that extra hardware overhead is not required, the cost can be saved compared with the traditional complex shelter leveling system, and the economy is realized;
according to the invention, the calibration of system errors can be completed before the large antenna is installed on the ground station shelter car, and the traditional time-consuming work needs to be performed after the system is assembled, so that the integration can be better and conveniently realized, the time is saved, and the management and control of project nodes are facilitated;
the invention only needs to carry out the system error calibration of once manual intervention when leaving the factory, and does not need to carry out the error calibration of manual intervention again after the station moves each time;
the method has the advantages of low cost, simple operation, less manual intervention and good effect;
the method has the advantages that the method is used for carrying out sufficient performance tests in delivery projects, and the method has strong market value and wide application fields.
In this embodiment, as shown in fig. 5, a large antenna using digital guide pointing needs to establish a rectangular coordinate system (x, y, z) as a pointing rotation coordinate system, wherein the plane XOY is parallel to the horizontal plane, which is an ideal installation plane of the two-dimensional turntable 6, but due to installation errorsAnd the existence of calibration errors, the actual two-dimensional turntable 6 is installed on the plane that the rectangular coordinate system (x, y, z) and the rectangular coordinate system are realized by accurate installation and repeated calibration in the conventional method
The invention calculates different horizontal rotation angles through a specific compensation calibration algorithm
Different compensation values required
And real-time dynamic pitching compensation is carried out in the pointing process, so that the time-consuming and complex installation and calibration process is avoided, and the accurate pointing in the digital guiding process is realized.
As shown in figure 2, the algorithm firstly measures by installing a first inclination angle sensor 1 and a second inclination angle sensor 2 below a two-dimensional rotary table 6, wherein the first inclination angle sensor 1 and the second inclination angle sensor 2 are inclination angle measuring devices
Plane and
because the large antenna has strong customization degree and poor standardization degree, the inclination angle measuring device usually has certain installation error, and the pointing tracking precision is influenced by the error. The installation error calibration module 51 calculates the installation error of the inclination angle measuring device through a certain procedure to perform error compensation. Thereby reducing the complexity of the system design, production and testing process.
As shown in fig. 3, the pre-calibration preparation unit 511 performs an operation of installing a first tilt angle sensor 1 on the bottom of a two-dimensional turntable 6 (which may also be a horizontal table), and the Y direction of the measuring device is installed along the mechanical zero angle direction of the antenna. A second tilt angle sensor 2 is fixed on the antenna, and the Y direction of the second tilt angle sensor 2 is installed along the antenna beam direction. The pitching angle of the antenna is adjusted to 0 degree, and the azimuth angle is adjusted to 0 degree.
The measurement result recording unit 512 completes the first measurement recording:
wherein
Represents the tilt angle of the x-direction component of the two-dimensional turntable 6 at the 0 degree position first tilt sensor 1,
as a result of its measurement;
representing a tilt sensor 1 of the two-dimensional turret 6 at a position of 0 deg. A
The angle of inclination of the directional component,
as a result of its measurement;
represents the tilt angle of the x-direction component of the tilt sensor 2 of the two-dimensional turntable 6 at the 0 degree position No. two,
as a result of its measurement;
represents the tilt angle of the y-direction component of the two-dimensional turntable 6 at the 0-degree position No. two tilt sensor 2,
is the result of its measurement.
The rotation 11 of the two-dimensional turntable 6 is performed by keeping the pitch angle at 0 degrees and rotating the azimuth angle by 90 degrees clockwise.
The measurement completion judging unit 514 judges whether or not four measurements are completed, and if the four measurements are completed, the algorithm proceeds to the error calculating unit 515, otherwise the algorithm proceeds to the measurement result recording unit 512 until four rotation measurements are completed. Which ensures that the measurement result recording unit 512, the two-dimensional turntable 6 rotation 11, and the measurement completion judging unit 514 are completed four times in total.
The output results of the last three result records 10 are as follows, corresponding to the positions of the two-dimensional turntable 6 at 90 degrees, 180 degrees, and 270 degrees, respectively.
Wherein
Represents the tilt angle of the x-direction component of the tilt sensor 1 of the two-dimensional turntable 6 at 90 degrees position one,
as a result of its measurement;
represents the tilt angle of the y-direction component of the two-dimensional turntable 6 at the 90-degree position first tilt sensor 1,
as a result of its measurement;
represents the tilt angle of the x-direction component of the tilt sensor 2 of the two-dimensional turntable 6 at 90 degrees position,
as a result of its measurement;
the tilt angle of the y-direction component of the tilt sensor No. two 2 at the 90-degree position of the two-dimensional turntable 6 is represented,
is the result of its measurement.
The calculation expression of the error calculation unit 515 is as follows:
wherein
Representing the angle of the X' axis with the XOY plane,
represents the included angle between the Y' axis and the XOY plane;
representing the tilt angle of the real-time measured x-direction component of tilt sensor No. 1,
represents the tilt angle of the real-time measurement y-direction component of the tilt sensor 1;
the tilt angles of the x-direction component of the tilt sensor 1 No. one at the positions of 0 degrees, 90 degrees, 180 degrees, and 270 degrees of the two-dimensional turntable 6 are respectively indicated.
Respectively representing the tilt angles of the y-direction components of the tilt sensor 1 of the two-dimensional turntable 6 at 0 degrees, 90 degrees, 180 degrees and 270 degrees,
the tilt angles of the x-direction components of the tilt sensor 2 of the two-dimensional turntable 6 at 0 degrees, 90 degrees, 180 degrees, and 270 degrees are respectively indicated.
And respectively represent the tilt angles of the y-direction component of the tilt sensor 2 of the two-dimensional turntable 6 at 0 degree, 90 degree, 180 degree and 270 degree positions.
The turntable tilt direction calculation module 52 is used for calculating the maximum tilt direction of the flatbed
And (4) an angle. The input signal of the part is the output of the first output signal of the installation error calibration module 51
And
the process outputs a calculation result signal of
. The mathematical expression of the process is:
wherein the content of the first and second substances,
indicating maximum tilt direction of two-dimensional turret 6
The angle of the corner is such that,
representing the angle of the X' axis with the XOY plane,
representing the angle of the Y' axis with the XOY plane.
The turntable inclination angle calculation module 53 is used for calculating
Angle to the XOY plane. The inputs to this process include the output of the first output signal of the installation error calibration module 51
And output of calculation result signal of the turntable inclination direction calculation module 52
The mathematical expression of the process is:
therein, represent
The included angle between the two parallel lines and the XOY plane,
representing the angle of the X' axis with the XOY plane,
indicating maximum tilt direction of two-dimensional turret 6
And (4) an angle.
The pitch compensation value calculation module 54 constructs a pitch compensation function according to the rotation angle of the two-dimensional turntable 6
And calculating the pitch angle needing to be compensated. Inputs to the process include the output of the turntable tilt direction calculation module 52
And the output of the turntable inclination angle calculation module 53
And the output of the error compensation module 57
. The mathematical expression of the process is:
wherein
Representing a compensation value for a pitch angle, A represents
The included angle with the XOY plane is,
indicating maximum tilt direction of two-dimensional turret 6
And (4) an angle.
The true north angle measurement module 55 calculates an angle between a mechanical zero angle and a true north angle of the antenna through the target GNSS receiver 3 and the ground GNSS receiver 4
。
As shown in fig. 4, the number-index-direction parsing module 56 calculates the target pointing angle of the antenna by using the longitude, latitude, and altitude coordinates of the target and the longitude, latitude, and altitude coordinates of the large antenna. The detailed analysis process of the part is as shown in the following figure, firstly, the coordinate values of the target and the antenna are converted by a coordinate system, then the relative position between the target and the antenna is calculated, and the horizontal rotation angle of the antenna is calculated by a certain conversion method
And pitch rotation angle
。
The input of the target coordinate conversion unit 561 is the coordinates in the target terrestrial coordinate system output by the target GNSS receiver 3
The position of the coordinate in the rectangular coordinate system is output
The mathematical expression of the process is:
wherein the content of the first and second substances,
the diameter of the earth is the diameter of the earth,
for the height value output by the target GNSS receiver 3,
for latitude values output by the target GNSS receiver 3,
for the longitude values output by the target GNSS receiver 3,
and the three-dimensional coordinate values are respectively equivalent to the three-dimensional coordinate values of the target under the rectangular coordinate system.
The input of the antenna coordinate conversion unit 562 is the coordinates of the antenna in the terrestrial coordinate system outputted by the terrestrial GNSS receiver 4
The position of the coordinate in the rectangular coordinate system is output
The mathematical expression of the process is:
wherein, the first and the second end of the pipe are connected with each other,
the diameter of the earth is the diameter of the earth,
for the height values output by the terrestrial GNSS receiver 4,
for latitude values output by the terrestrial GNSS receiver 4,
for the longitude values output by the terrestrial GNSS receiver 4,
and the three-dimensional coordinate values are respectively under an antenna equivalent rectangular coordinate system.
The mathematical expression of the relative position calculation unit 563 process is:
wherein the content of the first and second substances,
is the relative coordinate values of the target and the antenna,
respectively three-dimensional coordinate values under a target equivalent rectangular coordinate system,
respectively three-dimensional coordinate values under an antenna equivalent rectangular coordinate system,
is the target GPS/BD height value,
for the latitude value output by the target GNSS receiver 3,
for the longitude values output by the target GNSS receiver 3,
for the height values output by the terrestrial GNSS receiver 4,
for latitude values output by the terrestrial GNSS receiver 4,
the longitude values output by the terrestrial GNSS receiver 4.
The mathematical expression of the rotation angle calculation unit 564 is:
wherein the content of the first and second substances,
the relative coordinate values of the target and the antenna are the output of the relative position calculation unit 563,
to compensate for the azimuth rotation angle of the front antenna,
in order to compensate for the front pitch rotation angle,
and
is the output of the module.
Inputs to the error compensation module 57 include the pitch angle compensation value output by the pitch compensation value calculation module 54
The included angle between the mechanical zero angle outputted by the true north angle measuring module 55 and the true north angle
And the antenna azimuth rotation angle output by the number-index direction analysis module 56
And pitch rotation angle
. The output of this process is the compensated azimuth rotation angle
And angle of rotation of pitch
The mathematical expression of the process is:
wherein
To compensate for the azimuth rotation angle of the front antenna,
in order to compensate for the front pitch rotation angle,
is an included angle between a mechanical zero angle and a true north angle,
as a compensation value for the pitch angle,
in order to compensate for the azimuth rotation angle,
to the compensated pitch rotation angle.
Motor rotation direction module 58
Value sum
And controlling the motor to complete the target pointing operation. Specifically, the control processor 5 controls the rotation angle of the motor by controlling the horizontal turntable in the two-dimensional turntable 6
And controls the pitching rotary table in the two-dimensional rotary table 6 to control the rotation and pitching rotation angle of the motor
Thereby directing the antenna toward the communication target. The horizontal rotary table control motor and the pitching rotary table control motor are both the existing servo motors, so that high-precision large-torque control can be realized by matching the servo motors with the reduction gearbox, and the azimuth rotation angle can be precisely controlled
And pitch rotation angle
。
The invention adopts a specific software compensation algorithm, and can complete all initialization state information required by the digital guiding and tracking of the antenna by a plurality of simple operations in the process of arranging the ground station, thereby simplifying the operation of installing and arranging the ground station and improving the efficiency. Meanwhile, dynamic calculation compensation is carried out in the working process of the antenna, and the pointing tracking precision of the antenna is improved.
Example 1
As shown in fig. 1, the target GNSS receiver uses an M100GNSS receiver for southwestern satellite navigation to complete the geographic position coordinate resolution of the target, and transmits the coordinate resolution to the control processor through a wireless data link. The ground GNSS receiver also adopts an M100GNSS receiver of southwestern satellite navigation, and the receiver can resolve the true north angle and the geographical position coordinates of the large antenna by using the master antenna and the slave antenna, and simultaneously transmits the true north angle and the geographical position coordinates to the control processor. The first tilt angle sensor 1 installed at the bottom of the antenna is a BW-VG527E sensor of the North micro sensor company, the first tilt angle sensor 1 does not change position along with the rotation of the large antenna and transmits the measured X-direction tilt angle and Y-direction tilt angle to the control processor, the second tilt angle sensor 2 installed in the beam direction of the large antenna is a BW-VG527E sensor of the North micro sensor company and transmits the measured X-direction tilt angle and Y-direction tilt angle to the control processor 5, the second tilt angle sensor 2 changes position along with the rotation of the antenna and transmits the measured X-direction tilt angle and Y-direction tilt angle to the control processor 5, the main processing algorithm of the module is completed by the control processor 5, and the control processor 5 is an STM32F765 model of an ideological semiconductor. The control processor 5 completes a dynamic compensation control algorithm and controls the two-dimensional rotary table to complete azimuth rotation and pitching rotation.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (5)
1. Large antenna digital guiding device with dynamic compensation, which is characterized in that: comprises a first inclination angle sensor (1), a second inclination angle sensor (2), a target GNSS receiver (3), a ground GNSS receiver (4), a control processor (5) and a two-dimensional rotary table (6), the first inclination angle sensor (1) is arranged below the two-dimensional rotary table (6), the large antenna is arranged above the two-dimensional rotary table (6), the second inclination angle sensor (2) is arranged above the large antenna, the ground GNSS receiver (4) is arranged on the side surface of the large antenna, the target GNSS receiver (3) is arranged above the communication target, the first inclination angle sensor (1), the second inclination angle sensor (2), the target GNSS receiver (3) and the ground GNSS receiver (4) are all connected with the input end of the control processor (5) through signals, the output end of the control processor (5) is connected with the two-dimensional turntable (6) through signals, the control processor (5) is used for controlling the two-dimensional turntable (6) to drive the large antenna to complete azimuth rotation and pitching rotation;
the control processor (5) comprises an installation error calibration module (51), a rotary table inclination direction calculation module (52), a rotary table inclination angle calculation module (53), a pitch compensation value calculation module (54), a true north angle measurement module (55), a number guidance direction analysis module (56), an error compensation module (57) and a motor rotation direction module (58), wherein the output end of the installation error calibration module (51) is respectively connected to the input end of the rotary table inclination direction calculation module (52) and the input end of the rotary table inclination angle calculation module (53) through signals, the output end of the rotary table inclination direction calculation module (52) is connected to the input end of the rotary table inclination angle calculation module (53) through signals, and the output ends of the rotary table inclination direction calculation module (52) and the rotary table inclination angle calculation module (53) are respectively connected to the input end of the pitch compensation value calculation module (54) through signals, the output end of the pitch compensation value calculating module (54), the output end of the true north angle measuring module (55) and the output end of the number guidance direction analyzing module (56) are all connected to the input end of the error compensation module (57) in a signal mode, and the output end of the error compensation module (57) is respectively connected to the input end of the pitch compensation value calculating module (54) and the input end of the motor rotation direction module (58) in a signal mode;
the installation error calibration module (51) comprises a preparation unit (511) before calibration, a measurement result recording unit (512), a horizontal turntable rotating unit (513), a measurement completion judgment unit (514) and an error calculation unit (515), wherein the input end of the preparation unit (511) before calibration is respectively connected to a first inclination angle sensor (1), a second inclination angle sensor (2), a target GNSS receiver (3) and a ground GNSS receiver (4) through signals, the output end of the preparation unit (511) before calibration is sequentially connected to the measurement result recording unit (512), the horizontal turntable rotating unit (513) and the input end of the measurement completion judgment unit (514) through signals, the output end of the measurement completion judgment unit (514) is respectively connected to the input end of the measurement result recording unit (512) and the input end of the error calculation unit (515) through signals, and the output end of the error calculation unit (515) is connected to the input end of the turntable inclination direction calculation module (52) through signals, An input end of a turntable inclination angle calculation module (53);
the number-guide direction analysis module (56) comprises a target coordinate conversion unit (561), an antenna coordinate conversion unit (562), a relative position calculation unit (563) and a rotation angle calculation unit (564), signals at the input end of the target coordinate conversion unit (561) are connected to a target GNSS receiver (3), signals at the input end of the antenna coordinate conversion unit (562) are connected to a ground GNSS receiver (4), signals at the output end of the target coordinate conversion unit (561) and the output end of the antenna coordinate conversion unit (562) are connected to the input end of the relative position calculation unit (563), and signals at the output end of the relative position calculation unit (563) are connected to the error compensation module (57) through the rotation angle calculation unit (564).
2. The large antenna digital guiding method with dynamic compensation is applied to the large antenna digital guiding device with dynamic compensation according to claim 1, and is characterized in that: the method comprises the following steps:
s1, starting the large-scale antenna digital guiding device with dynamic compensation, respectively transmitting signals of a first inclination angle sensor (1) and a second inclination angle sensor (2) to the input end of an installation error calibration module (51), converting the input signals received by the input end of the installation error calibration module (51) and outputting a first output signal, and transmitting the first output signal to a turntable inclination direction calculation module (52) and a turntable inclination angle calculation module (53);
s2, the turntable inclination direction calculation module (52) processes the first output signal to obtain a calculation result signal, and respectively transmits the calculation result signal to the turntable inclination angle calculation module (53) and the pitching compensation value calculation module (54);
s3, the turntable inclination angle calculation module (53) processes the first output signal and the calculation result signal to obtain an output signal A, and transmits the output signal A to the pitching compensation value calculation module (54);
s4, pitch compensation value calculating module (54) for the calculated result signal, output signal A, and output signal of error compensation module
After the processing, obtaining a pitch angle compensation value delta theta, and transmitting the pitch angle compensation value delta theta to an error compensation module (57);
s5, the true north angle measuring module (55) calculates the included angle between the mechanical zero angle and the true north angle of the large antenna based on the signal of the ground GNSS receiver (4)
And the included angle between the mechanical zero angle and the true north angle
To the error compensation module (57);
s6, the number guide direction analysis module (56) calculates the azimuth rotation angle of the antenna based on the signals of the target GNSS receiver (3) and the ground GNSS receiver (4)
And angle of pitch rotation theta0And rotating the antenna azimuth by an angle
And angle of pitch rotation theta0To the error compensation module (57);
s7, transmitting the compensation value delta theta of the pitching angle and the included angle between the mechanical zero angle and the true north angle to the error compensation module (57)
Azimuth rotation angle of antenna
Angle of rotation of pitch theta0After processing, obtaining the compensated azimuth rotation angle
And a pitch rotation angle theta, and rotating the antenna azimuth angle theta
And the pitch rotation angle theta is transmitted to a motor rotation direction module (58);
s8, the motor rotation direction module (58) rotates the angle based on the antenna orientation
And angle of rotation of pitchAnd theta controls an internal motor to complete the target pointing operation.
3. The large antenna digital steering method with dynamic compensation according to claim 2, characterized in that: the formula of the pitch angle compensation value Δ θ in step S4 is:
wherein, Delta theta represents a pitch angle compensation value, A represents an included angle between X 'OY' and an XOY plane,
indicating maximum tilt direction of two-dimensional turret (6)
And (4) an angle.
4. The digital steering method for large antenna with dynamic compensation of claim 2, wherein: the antenna orientation rotation angle in step S6
Angle of rotation of pitch theta0Is of the formula
Wherein x isr，yr，zrThe relative coordinate values for the target and the antenna are the output of the relative position calculation unit (563),
to compensate for the azimuth rotation angle of the front antenna, θ0To compensate for the front pitch rotation angle.
5. According to claim2 the digital guiding method of the large antenna with dynamic compensation is characterized in that: the antenna orientation rotation angle in step S7
The formula of the pitch rotation angle theta is
Wherein the content of the first and second substances,
to compensate for the azimuthal rotation angle of the front antenna, θ0In order to compensate for the front pitch rotation angle,
is the included angle between the mechanical zero angle and the true north angle, delta theta is the compensation value of the pitching angle,
and theta is the compensated azimuth rotation angle, and theta is the compensated pitch rotation angle.
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| US8232916B2 (en) * | 2009-05-05 | 2012-07-31 | Trimble Navigation Limited | Tilt compensation for GNSS antenna |
| CN102142853B (en) * | 2010-12-31 | 2013-09-11 | 中国电子科技集团公司第五十四研究所 | Error matrix compensation method of monopulse tracking receiver system |
| NO333567B1 (en) * | 2011-05-16 | 2013-07-08 | Kongsberg Seatex As | Method and system for maritime, high-speed broadband communications network construction |
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| US9476962B2 (en) * | 2013-05-02 | 2016-10-25 | The Boeing Company | Device, system and methods using angle of arrival measurements for ADS-B authentication and navigation |
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| US10545246B1 (en) * | 2016-07-08 | 2020-01-28 | Interstate Electronics Corporation | Global navigation satellite system spoofer identification technique based on carrier to noise ratio signatures |
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