CN114927884B - Dynamic compensation method for improving performance of vehicle phased array antenna - Google Patents
Dynamic compensation method for improving performance of vehicle phased array antenna Download PDFInfo
- Publication number
- CN114927884B CN114927884B CN202210551934.9A CN202210551934A CN114927884B CN 114927884 B CN114927884 B CN 114927884B CN 202210551934 A CN202210551934 A CN 202210551934A CN 114927884 B CN114927884 B CN 114927884B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- angle
- tracking
- antenna
- dynamic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q23/00—Antennas with active circuits or circuit elements integrated within them or attached to them
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/32—Adaptation for use in or on road or rail vehicles
- H01Q1/3208—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used
- H01Q1/3233—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used particular used as part of a sensor or in a security system, e.g. for automotive radar, navigation systems
-
- H—ELECTRICITY
- 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
- H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture
-
- H—ELECTRICITY
- 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
- H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture
- H01Q3/267—Phased-array testing or checking devices
-
- H—ELECTRICITY
- 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
- H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture
- H01Q3/30—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array
- H01Q3/34—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array by electrical means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Landscapes
- Engineering & Computer Science (AREA)
- Computer Security & Cryptography (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
The dynamic compensation method for improving the performance of the vehicle phased array antenna is simple and reliable, consumes less hardware resources and is easy to realize. The invention is realized by the following technical scheme: the vehicle-mounted platform positioning and attitude determination processing system acquires a dynamic characteristic curve of the vehicle-mounted platform, decomposes the dynamic characteristic of the vehicle-mounted platform into three variables of a course angle, a pitch angle and a roll angle, and converts the angle of a geographic coordinate system into a carrier coordinate system in a coordinate conversion mode; the vehicle-mounted platform positioning and attitude determination processing system locks the sum signal after the tracking receiver receives the sum signal and the difference signal on the basis of knowing the deformation of the array surface, and normalizes the amplitude of the difference signal by utilizing the amplitude of the sum signal to obtain an error voltage; and carrying out cyclic iterative compensation on the tracking and pointing of the wave beam according to the real-time feedback platform geodetic coordinate and attitude information data by using the obtained azimuth dimension error voltage and elevation dimension error voltage by using a phase software dynamic compensation algorithm, so as to realize a dynamic compensation function.
Description
Technical Field
The invention relates to dynamic load beam compensation of a phased array antenna of a phase-swept radar vehicle with various systems, in particular to a dynamic compensation method for improving the performance of the vehicle phased array antenna.
Background
The phased array antenna technology is the front-edge hot spot field of the current antenna research, the phased array antenna can process array signals by adopting an advanced digital signal processing technology, excellent beam performance can be obtained, super-resolution and low side lobe performance can be conveniently obtained, and beam scanning, self-calibration, self-adaptive beam forming, beam tracking on a full-airspace dynamic target and the like are realized. Better tracking performance can be provided, but there is a problem in that the beam scanning range is limited. Phased array antennas are typical mechanical-electromagnetic-thermal coupling systems, and the antenna mechanical profile is a critical component to ensure efficient and reliable operation of phased array antenna radars. In actual operation, under the comprehensive actions of environmental temperature change, self high heat flux density and structure dead weight, the antenna unit deviates from an initial design position, so that the shape surface structure is changed, and the electric performance indexes such as gain, radiation direction precision, side lobe level, antenna efficiency, directivity coefficient and the like are greatly influenced. In recent years, a vehicle-mounted tracking control system adopting a phased array antenna is widely applied, and the vehicle-mounted satellite antenna is favored in activities such as news interview, disaster relief and rescue site reporting and the like in large-scale activities, and has the characteristics of small volume, low cost, intellectualization, high reliability, simplicity in maintenance and the like. The vehicle-mounted antenna tracking control system is generally arranged at the top of an automobile and comprises a fixed base, a fixed disc mechanism, a movable turntable mechanism and an antenna supporting and pitching mechanism mechanically, wherein the equipment mainly comprises a phased array antenna and control equipment (such as a PC104 motherboard and an expansion board, a GPS, a magnetic compass, a digital gyroscope, sensors such as a photoelectric sensor, actuating mechanisms such as a stepping motor and a direct current motor, a power module and the like); radio frequency devices (e.g., BUC (up converter), phase shifter, low noise amplifier (LNB), combiner, received Signal Strength Indicator (RSSI), etc.). The antenna stabilization platform can be roughly classified into a mechanical stabilization platform and a digital stabilization platform in terms of operation principle. The mechanical stable platform is a stable platform which is mechanically added and can compensate carrier pitching, rolling and course change, so that the stability of the antenna beam is realized. The mechanical stabilization scheme has high cost, high maintenance cost and relatively poor reliability. The digital stabilization does not need a mechanical stabilization platform, but adopts an inertial sensor to sense carrier disturbance in an antenna control system, and corrects or compensates the influence of carrier posture change by using the existing servo mechanism, thereby realizing the stabilization of antenna beams or aiming lines. Digital stabilized platforms are also known as electrically stabilized platforms. The vehicle-mounted antenna system integrates the functions of measurement and control, operation control, communication and the like, so that simultaneous multi-target remote measurement and control, measurement and information processing can be independently completed at a designated place; the system meets the requirements of modern and fast-paced tasks, can rapidly complete arrangement and supplement under various emergency conditions such as typhoons, earthquakes and the like, and provides support for information distribution of a multifunctional comprehensive system and construction of joint sharing capability. Therefore, the multifunctional comprehensive phased array antenna maneuvering platform can be researched, the problems of inflexibility in networking, low resource utilization rate, poor destruction resistance and the like based on the traditional structure antenna can be solved, the full-airspace measurement and control, data transmission and communication capabilities of the multifunctional comprehensive phased array antenna maneuvering platform are fully utilized, and the multifunctional comprehensive phased array antenna maneuvering platform has wide application prospects in the civil and military fields. In addition to the above advantages, unlike a fixed station, the vehicle-mounted antenna platform must consider the influence of vehicle dynamic characteristics on beam tracking and pointing targets, and the vehicle dynamic characteristics have a significant influence on phased array antenna beam gain, beam pointing, side lobes, and the like, and even cannot normally form a beam in severe cases.
The vehicle phased array antenna mainly comprises an antenna array surface, a transmitting assembly, a power supply module, a feed network equal subsystem, a main frame and the like, wherein the subsystems are mutually connected through cables. A certain interval is reserved between the two antenna array surfaces, so that a space for a component bin and a forced air cooling air duct is formed. The vehicle-mounted phased array antenna relates to a more complex electronic unit, and random errors can be generated on an array surface in the processing and assembling processes of the array surface; when the antenna works, vibration, impact, high heat consumption and the like can cause array surface deformation. The random error of the array surface and the deformation of the array surface can lead in the position error of the array element, so that the electric performance of the antenna is deteriorated, and the random and dynamic service environment can influence the electric performance of the antenna, so that the performance of the antenna is evolved. Because the evolution mechanism of the service environment on the performance of the functional surface is not clear, an effective compensation method is lacked to ensure the reliable service of the functional surface. The structural form and size of the vehicle-mounted phased array antenna are limited by the arrangement mode and spacing of the radiating elements, the installation of internal electronic equipment, a large number of cable wires, shipment limits and other factors. There are considerable technical difficulties in implementing such vehicle station antennas. The method not only meets the strict limit of the carrier on the mechanical dimensions such as the area, the height and the weight of the antenna, but also meets the electrical performance index requirements such as wide frequency band, high gain, low axial ratio, low standing wave ratio, large beam control range and the like, and simultaneously considers the influence of the vehicle body on the electrical performance of the antenna. The phased array antenna installed on the moving carrier is interfered by the angular movement of the carrier and the long-distance linear movement of the carrier, and the two kinds of interference lead the axis of the antenna to deviate from the satellite, so that the space orientation of the antenna is continuously changed, the performances of the antenna such as gain, orientation, side lobes and the like are deteriorated, and stable communication with the satellite is not realized. However, because of the existence of measurement noise and the frequency characteristic of a compensator, the input/output signal of the compensator has serious noise interference, so that the dynamic influence of a vehicle-mounted platform must be considered and compensated in the beam pointing and tracking process, and the dynamic influence of the vehicle-mounted platform is subjected to corresponding engineering design, so that the system meets the design requirement.
Disclosure of Invention
Aiming at the problem that the performance of the vehicle-mounted phased array antenna is affected by the dynamic of the vehicle-mounted platform, the invention provides the dynamic compensation method which is simple and reliable in implementation, less in resource occupation, low in hardware resource consumption, capable of reducing the system design cost and improving the performance of the vehicle-mounted phased array antenna, and can be used for designing engineering design meeting the performance of the vehicle-mounted phased array antenna in engineering practice.
The technical scheme adopted for solving the technical problems is as follows: a dynamic compensation method for improving the performance of a vehicle phased array antenna is characterized by comprising the following steps of: on the basis of establishing a vehicle-mounted stable platform isolating angular velocity disturbance, a vehicle-mounted platform positioning and attitude determination processing system acquires vehicle platform dynamic characteristics, data rate is 100Hz, antenna array surface morphology is monitored, angle change is calculated by taking 10ms as an interval point as difference, the vehicle-mounted platform dynamic characteristics are decomposed into three variables of course angle, pitch angle and roll angle, then the course angle is measured by using a differential GPS, the pitch angle and the roll angle are measured by using a digital gyroscope, the angle of a geographic coordinate system is converted into a carrier coordinate system by adopting a coordinate conversion mode, azimuth angle and pitch angle of an antenna are given, specific quantization indexes are provided for vehicle-mounted phased array system design, and specific factors affecting the quantization indexes are given, so that an iterative calculation and control-compensated vehicle-mounted phased array antenna platform coordinate system is obtained;
the vehicle-mounted platform positioning and attitude determination processing system is characterized in that GPS signals are received through a differential GPS tracking receiver to measure longitude and latitude position information of a carrier, the attitude information of a course angle, a pitch angle and a roll angle of the carrier is directly sensed through a digital gyroscope, the instantaneous azimuth and pitch angle of an antenna platform are obtained through coordinate transformation of a computer, the calculation complexity and the reconstruction precision are calculated, the attitude change of the antenna platform is calculated, the differential GPS and the digital gyroscope report the coordinates, the course angle, the pitch angle and the roll angle of the vehicle-mounted platform in real time on the basis of knowing the deformation of an array surface, the tracking receiver locks and outputs a sum signal and a difference signal after receiving the sum signal and the difference signal, the coherent amplitude of the sum signal and the difference signal is solved, the difference signal amplitude is normalized by utilizing the sum signal amplitude to obtain an error voltage, and the error voltage is filtered by a loop filter to generate beam pointing;
after the initial alignment is finished, a computer software dynamic compensation algorithm converts a coordinate system, performs conversion and configuration of angle to weight coefficient and DBF weighting after filtering processing through a loop filter to form sum and difference beams, a tracking loop of sum signals and difference signals, angle error demodulation of the sum signals and the difference signals, dynamic compensation of a vehicle-mounted platform is performed by using coordinate system conversion of a digital guiding and tracking process, electric performance under disturbance and dynamic deformation of an antenna array surface is compensated in real time, an antenna array factor excitation phase, an excitation current amplitude phase and an antenna gain are adjusted, and the phase software dynamic compensation algorithm performs cyclic iteration compensation on tracking and pointing of the beams according to real-time feedback platform geodetic coordinate and gesture information data, so that a dynamic compensation function is realized.
The beneficial effects of the invention are as follows:
on the basis of establishing a vehicle-mounted stable platform isolating angular velocity disturbance, the invention decomposes the dynamic characteristics of the vehicle-mounted platform into three variables of course angle, pitch angle and roll angle, and adopts a coordinate transformation mode, so that the phased array antenna can always aim at a target in the moving process, flexibly and flexibly transmit service types, has stable and reliable performance, is less limited by geography and natural environment, can well isolate the influence of the movement of a carrier on the attitude of the antenna platform, and ensures that the antenna always aims at the target with high precision under various meteorological environment conditions. The digital gyroscope is introduced into the inclination angle compensation to effectively reduce errors caused by acceleration of motion under the dynamic condition, and the digital gyroscope can automatically track with high precision under the condition of carrier motion, so that the problem that the performance of the vehicle-mounted phased array antenna is easily affected by the dynamic of the vehicle-mounted platform is solved.
The realization is simple, the occupied resources are less, and the design cost of the system is reduced. The invention adopts a coordinate transformation mode to provide specific quantization indexes for the design of the vehicle-mounted phased array system and give specific factors influencing the quantization indexes, so as to obtain an iterative calculation and control-compensated vehicle-mounted phased array antenna platform coordinate system, a complex circuit is not needed, only a differential GPS is needed to measure the course angle, a digital gyroscope is needed to measure the pitch angle and the roll angle, hardware resources are consumed little, the operation is simple and quick, the operation flow is simple, the implementation method is simpler, the resource occupation is less, and the system design cost is reduced. Specific factors influencing the quantization index are given, so that optimization and choice can be conveniently carried out according to specific situations when the vehicle-mounted phased array antenna is designed.
The invention adopts a positioning and attitude-determining system of a vehicle-mounted platform to report coordinates, course angle, pitch angle and roll angle of the vehicle-mounted platform in real time through a differential GPS and a digital gyroscope, locks a sum signal after a tracking receiver receives the sum signal and the difference signal, simultaneously solves the coherent amplitude of the sum signal and the difference signal, normalizes the amplitude of the difference signal by utilizing the sum signal amplitude to obtain an error voltage, and the error voltage is filtered by a loop filter to generate beam pointing; the system can automatically capture and track satellite signals in the vehicle-mounted moving process, obtains stable communication quality, has high automation operation degree, and solves the problems of stability and tracking capability of one antenna in the application of the vehicle-mounted phased array antenna system that the stability and tracking capability of the antenna can well isolate the influence of the movement of the carrier on the attitude of the antenna platform. The motion compensation algorithm improves the mechanical accuracy of motion and positioning, reduces cycle time,and the antenna is always guaranteed to be aligned to the satellite with high precision under various meteorological environment conditions, so that the key problem of operation is realized. The performance analysis and simulation result show that the performance of the dynamic compensation algorithm for suppressing peak-to-average ratio and amplitude limiting noise is better, and the bit error rate is 10 -3 The signal to noise ratio can be improved by about 5dB at most, so that nonlinear distortion can be effectively reduced, and the system performance is improved.
The invention uses coordinate system conversion to convert and configure angle to weight coefficient and DBF weight, forms sum and difference wave beam, and the sum and difference signals are demodulated by angle error, the obtained azimuth dimension error voltage and pitch dimension error voltage are dynamically compensated by coordinate system conversion in the processes of digital guiding and tracking, disturbance is compensated in real time, thereby ensuring that the azimuth angle and pitch angle of the antenna pointing are kept stable in a certain range, realizing dynamic compensation function by software algorithm, compensating the influence of the dynamic of the vehicle platform on the performance of phased array antenna, counteracting the influence of vehicle motion on wave beam tracking and pointing, and improving the performance of the vehicle phased array antenna.
Drawings
The invention is further described below with reference to the drawings and examples of implementation.
Fig. 1 is a functional block diagram of a dynamic compensation design for target pointing and tracking by an in-vehicle phased array antenna.
Fig. 2 is a schematic diagram of the processing of coordinates and gestures of the vehicle-mounted platform.
FIG. 3 is a schematic diagram of changes in heading angle, pitch angle and roll angle of a vehicle platform as the vehicle turns.
FIG. 4 is a schematic diagram of changes in heading angle, pitch angle and roll angle of a vehicle platform when the vehicle is driving on a bumpy road.
Fig. 5 is a schematic diagram of a wave control flow of dynamic compensation of a vehicle phased array antenna.
Detailed Description
Referring to fig. 1, according to the present invention, on the basis of establishing a vehicle-mounted stable platform isolating angular velocity disturbance, a vehicle-mounted platform positioning and attitude determination processing system acquires dynamic characteristics of a vehicle platform, data rate is 100Hz, antenna array surface morphology is monitored, angle change is calculated by taking 10ms as an interval point, the dynamic characteristics of the vehicle-mounted platform are decomposed into three variables of course angle, pitch angle and roll angle, then course angle is measured by using a differential GPS, pitch angle and roll angle are measured by using a digital gyroscope, and an angle of a geographic coordinate system is converted into a carrier coordinate system by adopting a coordinate conversion mode, an azimuth angle and a pitch angle of an antenna are given, specific quantization indexes are provided for vehicle-mounted phased array system design, and specific factors affecting the quantization indexes are given, so that an iterative calculation and control-compensated vehicle-mounted phased array antenna platform coordinate system is obtained;
the vehicle-mounted platform positioning and attitude determination processing system is characterized in that GPS signals are received through a differential GPS tracking receiver to measure longitude and latitude position information of a carrier, the attitude information of a course angle, a pitch angle and a roll angle of the carrier is directly sensed through a digital gyroscope, the instantaneous azimuth and pitch angle of an antenna platform are obtained through coordinate transformation of a computer, the calculation complexity and the reconstruction precision are calculated, the attitude change of the antenna platform is calculated, the differential GPS and the digital gyroscope report the coordinates, the course angle, the pitch angle and the roll angle of the vehicle-mounted platform in real time on the basis of knowing the deformation of an array surface, the tracking receiver locks and outputs a sum signal and a difference signal after receiving the sum signal and the difference signal, the coherent amplitude of the sum signal and the difference signal is solved, the difference signal amplitude is normalized by utilizing the sum signal amplitude to obtain an error voltage, and the error voltage is filtered by a loop filter to generate beam pointing;
after the initial alignment is finished, a computer software dynamic compensation algorithm converts a coordinate system, performs conversion and configuration of angle to weight coefficient and DBF weighting after filtering processing through a loop filter to form sum and difference beams, a tracking loop of sum signals and difference signals, angle error demodulation of the sum signals and the difference signals, dynamic compensation of a vehicle-mounted platform is performed by using coordinate system conversion of a digital guiding and tracking process, electric performance under disturbance and dynamic deformation of an antenna array surface is compensated in real time, an antenna array factor excitation phase, an excitation current amplitude phase and an antenna gain are adjusted, and the phase software dynamic compensation algorithm performs cyclic iteration compensation on tracking and pointing of the beams according to real-time feedback platform geodetic coordinate and gesture information data, so that a dynamic compensation function is realized.
The dynamic compensation algorithm is to set up a coordinate system L1 of a spherical antenna on the assumption that the vehicle-mounted platform is horizontal and the included angle between the x-axis direction and the south is 0 degrees, and calculate or track beam pointing under the coordinate system; according to real-time position information of a vehicle-mounted platform, a coordinate system L2 of a spherical array antenna is established, rotation vectors of the coordinate system L1 and the coordinate system L2, rotation vectors delta 1 of the vehicle-mounted platform at a moment T1 and a ground coordinate system, rotation vectors of the vehicle-mounted platform at the moment T2 and the ground coordinate system are delta 2, a vehicle-mounted platform tracking target at the moment T2, and position information of the target relative to the vehicle-mounted platform coordinate system is theta Azimuth tracking (T2)，θ Pitch tracking And (T2) obtaining the positions of the vehicle-mounted platform at the time T-1 and the time T from the positioning data, and compensating the target position detected at the time T back to the coordinate system at the time T-1 to sequentially compensate and finish the motion compensation of the vehicle-mounted platform.
The vehicle-mounted platform tracks the target at a time T2, and the position information of the target relative to the vehicle-mounted platform coordinate system is theta Azimuth tracking (T2)，θ Pitch tracking (T2); the dynamic compensation algorithm calculates a deviation angle of beam azimuth and pitching caused by vehicle shake according to the rotation vector, and obtains:
the azimuth deflection angle caused by shaking of the vehicle-mounted platform is as follows:
the pitching deflection angle caused by vehicle-mounted platform shake is as follows:
wherein, theta is the azimuth angle,
is the pitch angle.
And converting displacement into a vehicle-mounted platform coordinate system at the time t-1 by combining a vehicle-mounted platform course angle yaw given by positioning, compensating the position of the target vehicle-mounted platform at the time t-1, and directly applying a coordinate system rotation formula of x '=cos (theta) x+sin (theta) y, and y' = -sin (theta) x+cos (theta) y to compensate the speed, elevation and altitude, wherein X, Y is a coordinate after the position compensation.
The dynamic compensation algorithm compensates the azimuth deviation angle and the pitching deviation angle to the beam direction, and the azimuth angle of the vehicle-mounted platform of the compensated target at the moment T2 is as follows: θ Azimuth of (T2)＝θ Azimuth tracking (T2)+Δθ Azimuth of (T2), the pitch angle of the vehicle-mounted platform of the compensated target at the moment T2 is as follows: θ Pitching (T2)＝θ Pitch tracking (T2)+Δθ Pitching (T2)。
Based on a dynamic compensation strategy of a function chain artificial neural network (FLANN) algorithm, calculating the transverse position and the deflection angle of the vehicle-mounted platform by using the compensated pitch angle and height value, performing sample training on a given input vector and a target vector, continuously adjusting weights and thresholds in the training process, and finally achieving a certain mapping relation to correct errors.
Referring to fig. 2, the vehicle-mounted platform positioning and attitude determination processing system reports vehicle-mounted platform coordinates, course angles, pitch angles and roll angles in real time through a differential GPS antenna a, a differential GPS antenna B and a digital gyroscope, wherein: the heading angle, elevation angle precision and roll angle measurement precision of the vehicle-mounted platform are less than or equal to 0.01 degree, and the positioning and attitude-fixing data delay time is determined: less than or equal to 100 microseconds; data refresh frequency: 1000Hz.
Analyzing tracking dynamic hysteresis of dynamic compensation of a vehicle-mounted platform: and obtaining three vehicle-mounted platform tracking dynamic delays including tracking loop delay, digital introduced delay and vehicle-mounted platform dynamic jitter introduced delay.
The tracking loop adopts a second-order tracking loop, if the target angle changes at a constant speed for the second-order loop, the loop can realize non-dynamic hysteresis tracking, the second-order loop dynamic hysteresis is caused by the second-order change of the target angle, and the dynamic hysteresis angle error caused by the second-order loop dynamic hysteresis is
Calculating the derivative of the target angle according to the second-order change of the target angle which causes the second-order loop dynamic hysteresisIs a dynamic hysteresis angle hysteresis of: digital beam pointing is adopted, wherein the beam position updating time interval is 10ms, and the digital hysteresis error of the dynamic hysteresis caused by the digitization is +.>
According to the dynamic compensation design scheme of the vehicle-mounted platform, wherein the dynamic time interval is 1ms, and the vehicle-mounted platform is subjected to a dynamic hysteresis error caused by vehicle-mounted platform shake: />
Wherein R' is the second-order change rate of the angle, and the unit is degree/s 2, B L For bilateral servo loop bandwidth, Δθ 1 Is loop tracking lag error, unit is degree, R 1 For the first order rate of change of angle, R 2 The first order rate of change of angle is in degrees/s. For example: the maximum angular acceleration of the target in the tracking process is 0.0236 DEG/s 2 If the tracking loop bandwidth is 1Hz, the tracking loop is delayed by delta theta 1 =0.0066°, the target maximum angular velocity during tracking is 1.5 degrees/s, the digitization hysteresis is: Δθ 2 =0.015° for example: the most dynamic angular velocity of the vehicle-mounted platform is 13 degrees/s, so that the shaking of the vehicle-mounted platform causes hysteresis delta theta 3 ＝0.013°。
The dynamic hysteresis of the system tracking, analyzed above, is the sum of the loop tracking hysteresis, the dynamic hysteresis of the system tracking, and the digitized tracking hysteresis plus the vehicle platform jitter hysteresis: Δθ=Δθ 1 +Δθ 2 +Δθ 3 。
For example: tracking loop hysteresis is: Δθ 1 =0.0066°; the digital hysteresis is: Δθ 2 =0.015 °; vehicle platform shake causes hysteresis as follows: Δθ 3 =0.013°. The dynamic hysteresis of the system tracking is: Δθ= 0.0346 °
Referring to fig. 3, in the wave control flow of the dynamic compensation of the vehicle phased array antenna, a computer software dynamic compensation algorithm judges whether a signal is locked and an Automatic Gain Control (AGC) is greater than a threshold value, if yes, a self-tracking mode is adopted to determine that memory tracking is effective, and a self-tracking beam controller controls the antenna to point according to information such as locking indication, AGC voltage, angle error voltage and the like so as to realize space target tracking; otherwise, the computer software dynamic compensation algorithm judges whether the memory tracking is effective, if yes, the memory tracking is carried out, the flying track of the target in a period of time is predicted according to the moving track of the target, the phased array antenna is controlled to point to a prediction airspace, the target is captured in an attempt mode, whether overtime is confirmed, if yes, the memory tracking is confirmed to be ineffective, otherwise, whether the digital guiding is effective is judged, if yes, a digital guiding breaking mode is adopted, a beam controller receives azimuth pitch angle information acquired by a network, and the antenna is controlled to point; otherwise, judging whether the program tracking is effective, if so, adopting a program tracking mode, controlling the antenna pointing to the beam controller according to a theoretical trajectory which is put in advance, otherwise, entering a waiting state, and waiting for the phased array antenna pointing to finally and effectively track the airspace.
The wave control flow of the dynamic compensation of the vehicle phased array antenna consists of a waiting state, a program tracking, a digital guiding, a memory tracking, a self-tracking work flow and the like, wherein the waiting state refers to the fact that the phased array antenna points to a last effective tracking airspace; the digital guiding finger beam controller receives azimuth pitch angle information acquired by a network and controls the antenna to point; the program tracking pointing beam controller controls the antenna pointing according to a theoretical trajectory which is put in advance; the memory tracking means predicts the flight track of the target in a period of time according to the running track of the target, controls the phased array antenna to point to a prediction airspace and tries to capture the target; and the self-tracking finger beam controller controls the antenna to point according to the locking instruction, the AGC voltage, the angle error voltage and other information, so that the space target tracking is realized. The priority of the working modes in the workflow is sequentially from high to low: self-tracking, memory tracking, digital boot, program tracking, waiting.
See fig. 4 and 5. Wherein fig. 4 is a vehicle turn, the heading angle is changed from 215 ° to 270 °, about 9 seconds is elapsed, and the maximum rate of change of the heading angle is about 13 °/s. Fig. 5 shows a vehicle traveling on a bumpy road with a maximum change in pitch angle of about 4 ° and a maximum change in roll angle of about 4 °.
The foregoing description of the preferred embodiment of the invention is merely illustrative of the invention and is not intended to be limiting. It will be appreciated by those skilled in the art that many variations, modifications, and even equivalents may be made thereto without departing from the spirit and scope of the invention as defined in the appended claims, but are intended to fall within the true scope of the invention.
Claims (8)
1. A dynamic compensation method for improving the performance of a vehicle phased array antenna is characterized by comprising the following steps of: on the basis of establishing a vehicle-mounted stable platform isolating angular velocity disturbance, a vehicle-mounted platform positioning and attitude determination processing system acquires vehicle-mounted platform dynamic characteristics, the data rate is 100Hz, the antenna array surface morphology is monitored, angle change is calculated by taking 10ms as an interval point as difference, the vehicle-mounted platform dynamic characteristics are decomposed into three variables of course angle, pitch angle and roll angle, then the course angle is measured by using a differential GPS, the pitch angle and the roll angle are measured by using a digital gyroscope, the angle of a geographic coordinate system is converted into a carrier coordinate system by adopting a coordinate conversion mode, the azimuth angle and the pitch angle of an antenna are given, specific quantization indexes are provided for the vehicle-mounted phased array system design, and specific factors affecting the quantization indexes are given, so that an iterative calculation and control-compensated vehicle-mounted phased array antenna platform coordinate system is obtained;
the vehicle-mounted platform positioning and attitude determination processing system is characterized in that GPS signals are received through a differential GPS tracking receiver to measure longitude and latitude position information of a carrier, the attitude information of a course angle, a pitch angle and a roll angle of the carrier is directly sensed through a digital gyroscope, the instantaneous azimuth and pitch angle of an antenna platform are obtained through coordinate transformation of a computer, the calculation complexity and the reconstruction precision are calculated, the attitude change of the antenna platform is calculated, the differential GPS and the digital gyroscope report the coordinates, the course angle, the pitch angle and the roll angle of the vehicle-mounted platform in real time on the basis of knowing the deformation of an array surface, the tracking receiver locks and outputs a sum signal and a difference signal after receiving the sum signal and the difference signal, the coherent amplitude of the sum signal and the difference signal is solved, the difference signal amplitude is normalized by utilizing the sum signal amplitude to obtain an error voltage, and the error voltage is filtered by a loop filter to generate beam pointing;
after the initial alignment is finished, a computer software dynamic compensation algorithm converts a coordinate system, performs conversion and configuration of angle to weight coefficient and DBF weighting after filtering processing through a loop filter to form sum and difference beams, a tracking loop of sum signals and difference signals, angle error demodulation of the sum signals and the difference signals, dynamic compensation of a vehicle-mounted platform is performed by using coordinate system conversion of a digital guiding and tracking process, electric performance under disturbance and dynamic deformation of an antenna array surface is compensated in real time, an antenna array factor excitation phase, an excitation current amplitude phase and an antenna gain are adjusted, and the phase software dynamic compensation algorithm performs cyclic iteration compensation on tracking and pointing of the beams according to real-time feedback platform geodetic coordinate and gesture information data, so that a dynamic compensation function is realized.
2. The method for dynamic compensation for improving performance of a vehicle phased array antenna of claim 1, wherein: the dynamic compensation algorithm is to set up a coordinate system L1 of a spherical antenna on the assumption that the vehicle-mounted platform is horizontal and the included angle between the x-axis direction and the south is 0 degrees, and calculate or track beam pointing under the coordinate system; according to real-time position information of a vehicle-mounted platform, a coordinate system L2 of a spherical array antenna is established, rotation vectors of the coordinate system L1 and the coordinate system L2, rotation vectors delta 1 of the vehicle-mounted platform at a moment T1 and a ground coordinate system, rotation vectors of the vehicle-mounted platform at the moment T2 and the ground coordinate system are delta 2, a vehicle-mounted platform tracking target at the moment T2, and position information of the target relative to the vehicle-mounted platform coordinate system is theta Azimuth tracking (T2),θ Pitch tracking And (T2) obtaining the positions of the vehicle-mounted platform at the time T-1 and the time T from the positioning data, and compensating the target position detected at the time T back to the coordinate system at the time T-1 to sequentially compensate and finish the motion compensation of the vehicle-mounted platform.
3. The method for dynamic compensation for improving performance of a vehicle phased array antenna of claim 2, wherein: the dynamic compensation algorithm calculates a deviation angle of beam azimuth and pitching caused by vehicle shake according to the rotation vector, and obtains:
the azimuth deflection angle caused by shaking of the vehicle-mounted platform is as follows:
the pitching deflection angle caused by vehicle-mounted platform shake is as follows: />
Wherein, theta is the azimuth angle,
is the pitch angle.
4. A method of dynamic compensation for improving performance of a vehicle phased array antenna as claimed in claim 3, wherein: the dynamic compensation algorithm compensates the azimuth deviation angle and the pitching deviation angle to the beam direction, and the azimuth angle of the vehicle-mounted platform of the compensated target at the moment T2 is as follows: θ Azimuth of (T2)＝θ Azimuth tracking (T2)+Δθ Azimuth of (T2), the pitch angle of the vehicle-mounted platform of the compensated target at the moment T2 is as follows: θ Pitching (T2)＝θ Pitch tracking (T2)+Δθ Pitching (T2)。
5. The method for dynamic compensation for improving performance of a vehicle phased array antenna of claim 1, wherein: the vehicle-mounted platform positioning and attitude determination processing system reports vehicle-mounted platform coordinates, course angles, pitch angles and roll angles in real time through a differential GPS antenna A, a differential GPS antenna B and a digital gyroscope, wherein: the heading angle, elevation angle precision and roll angle measurement precision of the vehicle-mounted platform are less than or equal to 0.01 degree, and the positioning and attitude-fixing data delay time is determined: less than or equal to 100 microseconds; data refresh frequency: 1000Hz.
6. The method for dynamic compensation for improving performance of a vehicle phased array antenna of claim 1, wherein: the tracking loop adopts a second-order tracking loop, if the target angle changes at a constant speed, the loop can realize non-dynamic hysteresis tracking, the second-order loop dynamic hysteresis is caused by the second-order change of the target angle, and the dynamic hysteresis angle error caused by the second-order loop dynamic hysteresis is as follows:
according to the induction of second-order loop dynamic hysteresisCalculating the dynamic hysteresis angle hysteresis caused by the second-order change of the target angle: digital beam pointing is adopted, wherein the beam position updating time interval is 10ms, and the digital hysteresis error of the dynamic hysteresis caused by the digitization is as follows: />
According to the dynamic compensation design scheme of the vehicle-mounted platform, wherein the dynamic time interval is 1ms, and the vehicle-mounted platform is subjected to a dynamic hysteresis error caused by vehicle-mounted platform shake: />
Wherein R' is the second-order change rate of the angle, and the unit is degree/s 2 ，B L For bilateral servo loop bandwidth, Δθ 1 Is loop tracking lag error, unit is degree, R 1 For the first-order change rate of the target tracking angle, R 2 The first-order change rate of the angle of the vehicle-mounted platform is expressed in degrees/s.
7. The method for dynamically compensating for improved performance of a vehicle phased array antenna of claim 6 wherein the system tracking dynamic hysteresis is a sum of loop tracking hysteresis, system tracking dynamic hysteresis, and digitized tracking hysteresis plus vehicle platform jitter hysteresis: Δθ=Δθ 1 +Δθ 2 +Δθ 3 。
8. The method for dynamically compensating the antenna performance of the vehicle phased array according to claim 1, wherein a computer software dynamic compensation algorithm judges whether a signal is locked and an Automatic Gain Control (AGC) is greater than a threshold value, if so, a self-tracking mode is adopted to determine that memory tracking is effective, and a self-tracking beam controller controls the antenna pointing according to information such as locking indication, AGC voltage, angle error voltage and the like to realize space target tracking; otherwise, the computer software dynamic compensation algorithm judges whether the memory tracking is effective, if yes, the memory tracking is carried out, the flying track of the target in a period of time is predicted according to the moving track of the target, the phased array antenna is controlled to point to a prediction airspace, the target is captured in an attempt mode, whether overtime is confirmed, if yes, the memory tracking is confirmed to be ineffective, otherwise, whether the digital guiding is effective is judged, if yes, a digital guiding breaking mode is adopted, a beam controller receives azimuth pitch angle information acquired by a network, and the antenna is controlled to point; otherwise, judging whether the program tracking is effective, if so, adopting a program tracking mode, controlling the antenna pointing to the beam controller according to a theoretical trajectory which is put in advance, otherwise, entering a waiting state, and waiting for the phased array antenna pointing to finally and effectively track the airspace.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210551934.9A CN114927884B (en) | 2022-05-18 | 2022-05-18 | Dynamic compensation method for improving performance of vehicle phased array antenna |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210551934.9A CN114927884B (en) | 2022-05-18 | 2022-05-18 | Dynamic compensation method for improving performance of vehicle phased array antenna |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114927884A CN114927884A (en) | 2022-08-19 |
| CN114927884B true CN114927884B (en) | 2023-06-23 |
Family
ID=82810219
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210551934.9A Active CN114927884B (en) | 2022-05-18 | 2022-05-18 | Dynamic compensation method for improving performance of vehicle phased array antenna |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114927884B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115622642B (en) * | 2022-11-22 | 2023-05-02 | 中国电子科技集团公司第十研究所 | Correction method for dynamic target angle tracking calibration of spherical phased array antenna |
| CN115549744B (en) * | 2022-11-29 | 2023-05-02 | 中国电子科技集团公司第十研究所 | Phased array antenna self-tracking system and online switching method of digital self-tracking loop |
| CN116087900B (en) * | 2023-03-10 | 2023-06-06 | 中安锐达(北京)电子科技有限公司 | Inter-travel detection vehicle-mounted platform for one-dimensional phased array radar |
| CN117395691B (en) * | 2023-12-11 | 2024-03-01 | 泉州市三川通讯技术股份有限责任公司 | Vehicle-mounted terminal communication optimization method under weak signal environment |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102981151A (en) * | 2012-11-26 | 2013-03-20 | 北京理工大学 | Phased array radar electronic control wave beam stabilizing method |
| CN203278831U (en) * | 2013-06-18 | 2013-11-06 | 西安博宇信息科技有限公司 | Space-air-ground satellite communication system |
| CN112965041A (en) * | 2021-02-10 | 2021-06-15 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Spherical phased array antenna wave control self-tracking difference array division method |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8339307B2 (en) * | 2007-03-03 | 2012-12-25 | Astrium Limited | Satellite beam-pointing error correction in digital beam-forming architecture |
| KR101547986B1 (en) * | 2014-10-30 | 2015-08-28 | 한화탈레스 주식회사 | Apparatus for automatic phase matching and antenna tracking angle matching of mono-pulse tracking system using self transmitting signal and method thereof |
| US10211508B2 (en) * | 2017-07-06 | 2019-02-19 | Viasat, Inc. | Dynamic antenna platform offset calibration |
| CN108061888A (en) * | 2017-11-22 | 2018-05-22 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Sphere phase array antenna is to the autotracking method of spacecraft dynamic object |
| CN110045361A (en) * | 2019-02-28 | 2019-07-23 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Sphere phase array single-shot digital tracking system |
| CN112255615B (en) * | 2020-09-30 | 2022-08-09 | 四川九洲空管科技有限责任公司 | Radar moving platform electron beam stabilization and compensation system |
| CN113701753B (en) * | 2021-08-30 | 2024-05-07 | 西安大衡天成信息科技有限公司 | Phased array antenna-based positioning and orientation device and method |
| CN114487985A (en) * | 2022-02-08 | 2022-05-13 | 中国人民解放军战略支援部队航天工程大学 | Beam sharpening method and system based on difference-sum signal |
-
2022
- 2022-05-18 CN CN202210551934.9A patent/CN114927884B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102981151A (en) * | 2012-11-26 | 2013-03-20 | 北京理工大学 | Phased array radar electronic control wave beam stabilizing method |
| CN203278831U (en) * | 2013-06-18 | 2013-11-06 | 西安博宇信息科技有限公司 | Space-air-ground satellite communication system |
| CN112965041A (en) * | 2021-02-10 | 2021-06-15 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Spherical phased array antenna wave control self-tracking difference array division method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114927884A (en) | 2022-08-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114927884B (en) | Dynamic compensation method for improving performance of vehicle phased array antenna | |
| CN106712866B (en) | Communication-in-motion terminal station system and tracking method thereof | |
| US7450068B2 (en) | Phased array antenna beam tracking with difference patterns | |
| EP2838155A1 (en) | Adaptive non-mechanical antenna for microwave links | |
| CN108061888A (en) | Sphere phase array antenna is to the autotracking method of spacecraft dynamic object | |
| CN109742543B (en) | Method for aligning antenna of terminal to satellite and corresponding system | |
| CN109375172B (en) | Phased array radar decoupling method | |
| CN114039206A (en) | Ground automatic tracking receiving system for low-orbit satellite constellation | |
| CN113097719B (en) | Communication satellite tracking method for one-dimensional phased array antenna | |
| CN111308470B (en) | Electronic stabilization method and system for unmanned ship-borne radar equipment | |
| CN111142099A (en) | Method for solving blind target capture problem of spherical phased array antenna tracking over top | |
| CN112965041A (en) | Spherical phased array antenna wave control self-tracking difference array division method | |
| US6771608B2 (en) | Link tracking with a phased array antenna in a TDMA network | |
| CN109031226A (en) | Deformation Connectors for Active Phased Array Radar detection performance fast evaluation method based on mechanical-electric coupling | |
| RU2303229C1 (en) | Method for formation of stabilization and homing signal of movable carrier and on-board homing system for its realization | |
| CN113875172A (en) | Method and system for pointing an electromagnetic signal transmitted by a mobile device | |
| CN113690617B (en) | Phased array antenna module control method and system | |
| CN116772838B (en) | Inertial navigation error compensation method for mechanical phased array antenna | |
| CN117978239A (en) | Shipborne satellite network terminal station of high-flux satellite communication system | |
| CN104201458A (en) | Real-time compensation decoupling method and compensation decoupling system for spacecraft platform disturbance by spaceborne radar | |
| CN115792816B (en) | Satellite-borne SAR Doppler guidance method independent of satellite attitude control | |
| CN115639849B (en) | Electromechanical composite target over-top tracking method and device | |
| CN109560856B (en) | Beidou short message weapon data chain system for severe flight dynamic environment | |
| CN116466341A (en) | Moving target tracking method based on intelligent reflecting surface | |
| CN116470950A (en) | Method for measuring and calibrating multi-beam antenna pointing deviation under satellite antenna coordinate system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |