CN115435783B - Carrier platform rapid stabilization method for correcting inertial error according to directional diagram - Google Patents
Carrier platform rapid stabilization method for correcting inertial error according to directional diagram Download PDFInfo
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- CN115435783B CN115435783B CN202211052676.6A CN202211052676A CN115435783B CN 115435783 B CN115435783 B CN 115435783B CN 202211052676 A CN202211052676 A CN 202211052676A CN 115435783 B CN115435783 B CN 115435783B
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- 230000006641 stabilisation Effects 0.000 title claims abstract description 17
- 238000011105 stabilization Methods 0.000 title claims abstract description 17
- 238000010586 diagram Methods 0.000 title claims abstract description 6
- 238000012360 testing method Methods 0.000 claims abstract description 21
- 238000012937 correction Methods 0.000 claims abstract description 16
- 238000003860 storage Methods 0.000 claims abstract description 7
- 238000004422 calculation algorithm Methods 0.000 claims description 26
- 230000000087 stabilizing effect Effects 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 4
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- 206010034719 Personality change Diseases 0.000 description 2
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
- G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/08—Measuring electromagnetic field characteristics
- G01R29/10—Radiation diagrams of antennas
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
- Radio Relay Systems (AREA)
Abstract
The invention discloses a carrier platform rapid stabilization method for correcting inertial errors according to a directional diagram, a carrier platform and a computer readable storage medium, wherein the method comprises the following steps: firstly, initial alignment of satellite signals is completed, the maximum value of the satellite signals is updated after alignment, and a continuous tracking satellite state is entered; if the current intensity of the satellite signal exceeds the maximum intensity of the satellite signal, updating the maximum intensity of the satellite signal by using the current intensity, otherwise, calculating the difference value of the current intensity and the maximum intensity; if the difference exceeds the threshold value, returning to perform initial alignment of satellite signals, otherwise, entering a phase of searching a table to calculate the deviation scalar value of the wave beam; firstly, calculating the maximum vector direction of beam deviation according to the data of a satellite navigation module and an inertial module, converting the maximum vector direction into the proportion of a pitch angle and a roll angle, inquiring an antenna pattern test data table according to the proportion, and estimating the scalar value of the beam deviation angle; and feeding back the scalar value to the carrier platform in real time, and carrying out real-time error correction by combining the data of the satellite navigation module and the inertial module to realize the carrier platform rapid stabilization method with the real-time feedback function.
Description
Technical Field
The invention belongs to the field of satellite communication, and relates to a communication-in-motion antenna in ground terminal equipment of a satellite communication system. And in particular to a carrier platform rapid stabilization method, a carrier platform and a computer readable storage medium for inertial error correction according to a pattern.
Background
At present, the satellite communication field is in a high-speed development period, and is characterized in that a constellation is formed by a plurality of satellites, and ground equipment aims at one satellite in the constellation for real-time communication. Because the various satellite constellations of multiple countries are spread throughout earth orbit, the angle between satellites is often less than 1 °. Thus, in order to avoid interference with neighboring satellites, ground terminal equipment typically employs high gain, narrow beam antennas. When the narrow beam antenna is arranged on a moving carrier such as an airplane, a ship, a train, an automobile and the like, the antenna beam deviates from a target satellite along with the posture change of the carrier, and the posture change of the carrier platform is isolated by a carrier platform stabilizing algorithm, so that the direction of the beam to the satellite is always kept by continuously adjusting the pitch angle and the roll angle of the beam. Such an antenna that maintains satellite communications in motion is referred to as a communication-in-motion antenna.
At present, a communication-in-motion antenna generally adopts a dual-antenna satellite navigation module and an inertial module to form a combined navigation module which is used as a sensor to measure the attitude change of a carrier. Due to cost factors, inertial modules have a large error accumulation and can be generally corrected by dual antenna satellite navigation modules. However, residual errors still exist after correction, and measurement errors exist in the dual-antenna satellite navigation module. After the carrier motion track is adopted to carry out Kalman filtering, the course angle is used as a roll angle to correct the inertial module error, but long-time hysteresis exists. The most commonly used correction method is to correct the error of the inertial module after the star finding scanning algorithm finds the maximum value of the satellite signal. The common satellite finding scanning algorithm usually needs multiple iterations to find the maximum value of the satellite signal, so that the error of the inertial module can be corrected once only after a long time, the characteristic of low correction frequency exists, and real-time correction cannot be achieved. And frequent adoption of the satellite finding scanning algorithm can lead to unstable satellite signal strength and even interruption of satellite communication.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, realize the real-time feedback correction of the errors of the communication-in-motion antenna, and can be used in the application environment with severe attitude change and strong noise of a carrier platform, thereby improving the robustness of feedback control.
In order to achieve the above object, the present invention provides a method for rapidly stabilizing a carrier platform for inertial error correction according to a directional diagram, which is characterized by comprising the steps of:
Step 1, according to the measurement information of the dual-antenna satellite navigation module and the inertial module, adopting a conventional algorithm to finish initial alignment of satellite signals, updating the maximum value of the satellite signals after alignment, and enabling an in-motion antenna to enter a continuous tracking satellite state;
Step 2, if the current intensity of the satellite signal exceeds the maximum intensity of the satellite signal, updating the maximum intensity of the satellite signal by using the current intensity of the satellite signal, otherwise, calculating the difference between the current intensity and the maximum intensity of the satellite signal;
step 3, setting a threshold value as an antenna pattern attenuation value corresponding to the antenna beam main lobe width, if the difference value exceeds the threshold value, judging that the beam deviation exceeds the antenna main lobe beam width, returning to the step 1 for initial alignment of satellite signals, otherwise, entering a phase of table look-up calculation of the beam deviation scalar value;
and 4, entering a phase of checking a table to calculate a beam deviation scalar value, calculating the maximum vector direction of the beam deviation according to the data of the satellite navigation module and the inertial module, converting the maximum vector direction into the ratio of the pitch angle to the roll angle, inquiring an antenna pattern test data table according to the ratio, and estimating the scalar value of the beam deviation angle.
Step 5, feeding back scalar values of the beam deviation angles to the carrier platform in real time, and carrying out real-time error correction by combining data of the satellite navigation module and the inertial module;
and 6, circulating the steps 1 to 5 to realize the carrier platform rapid stabilization method with the real-time feedback function.
Further, in the step 4, an antenna pattern test data table is further manufactured, the microwave dark room is used for performing pattern test on the in-motion antenna, the steps of the nodding plane and the horizontal plane of the test interval are the minimum beam leaping degree of the antenna, and the test data are stored as a two-dimensional data table according to pitch/roll.
Furthermore, the beam width of the main lobe depression surface and the horizontal plane of the moving communication antenna is theta, and the minimum beam jump degree is theta/10.
Further, the conversion in the step 4 is the ratio of pitch angle to roll angle, and the rounding is accurate to 0.1 theta.
Further, in the step 5, the motion vector of the carrier platform is a, the total error vector of the satellite navigation module and the inertial module is E, the direction of the lookup vector is a+e, the value of the lookup vector is T, and the motion vector= (a+e) ×t/a+e of the carrier platform is calculated in a combined manner.
The invention also provides an electronic equipment platform, which comprises at least one processor and a memory in communication connection with the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the carrier platform rapid stabilization method described above.
The invention also provides a computer readable storage medium storing a computer program which when executed by a processor implements the carrier platform rapid stabilization method described above.
The invention utilizes the antenna pattern to estimate the scalar value of the beam deviation angle in the scanning star finding algorithm, and feeds back the scalar value to the carrier platform in real time for error correction, and utilizes the advantages of higher vector precision of the navigation module/inertia module and higher scalar precision of the beam deviation value calculated by table lookup. Compared with the traditional star finding scanning algorithm, the invention does not need to find the maximum value for multiple iterations and then carry out feedback correction, does not need to control the deflection of the antenna beam to find the star, has the advantages of stable tracking satellite signal intensity and high-frequency real-time feedback, improves the robustness of feedback control, can keep the satellite signal intensity stable in the correction process, and is suitable for a motion carrier platform with rapid change of the gesture.
Drawings
FIG. 1 is a flow chart of a carrier platform fast stabilization algorithm for inertial error correction based on a directional diagram
Detailed Description
The following describes specific embodiments of the present invention in detail with reference to the drawings.
The satellite tracking algorithm is used for controlling an antenna beam to always point to a satellite direction on a moving carrier platform with a changed gesture, and mainly comprises a coordinate system conversion algorithm, a carrier platform stabilizing algorithm and a scanning satellite tracking algorithm, wherein the coordinate system conversion algorithm and the scanning satellite tracking algorithm are realized by adopting common algorithms, and the invention aims at improving the carrier platform stabilizing algorithm in the satellite tracking algorithm: the traditional algorithm needs to iterate for multiple times to find the maximum value and then carry out feedback correction. The method provided by the invention does not need to control the antenna beam to deflect further for satellite finding, and has the advantage of stable signal intensity of tracking satellites. The specific implementation mode of the invention is as follows:
1. Manufacturing an antenna pattern test data table: the beam width of the main lobe depression face and the horizontal plane of the moving antenna are both theta, the minimum beam leap degree is theta/10, so that the moving antenna is firstly subjected to pattern testing by using a microwave dark room, the steps of the test interval depression face and the horizontal plane are both theta/10, and the test data are stored as a two-dimensional data table according to the pitching/rolling, as shown in table 1:
Table 1: the transverse rolling/pitching angle test value of the main lobe of the communication-in-motion antenna is stored as a two-dimensional data table
For a reflector antenna, the antenna pattern is fixed and only one test is required. For phased array antennas, the antenna pattern changes slightly with the change of pitch and roll angles, so that multiple tests are needed to determine the pattern coefficient of the array antenna, and an antenna pattern test data table is manufactured by multiplying the normal pattern by the pattern coefficient of the array antenna according to the pitch angle and roll angle of the current beam pointing.
2. The method comprises the steps that a communication-in-motion antenna enters a power-on state to finish initialization, a dual-antenna satellite navigation module outputs time, position, angle and other information, an inertia module outputs attitude angle information, a carrier platform stabilizing algorithm combines with a satellite position to calculate the angle of a current wave beam pointing to a satellite for the first time, the wave beam pointing to the satellite direction is controlled, a scanning satellite finding algorithm is started, the wave beam is aimed at the satellite, the maximum intensity of satellite signals is recorded to finish initial alignment of satellite signals, and the communication-in-motion antenna enters a continuous tracking satellite state. The communication-in-motion antenna is implemented by a common algorithm from power-up to completion of initial alignment.
3. And the communication-in-motion antenna enters a continuous tracking state, if the current intensity of the satellite signal exceeds the maximum intensity of the satellite signal, the maximum intensity of the satellite signal is updated by the current intensity of the satellite signal, otherwise, the difference value between the current intensity and the maximum value of the satellite signal is calculated.
4. Setting the threshold value as an antenna pattern attenuation value corresponding to the main lobe width of the antenna beam, and according to the test data in table 1, when the pitch angle is 90 degrees and the roll angle is 0, the antenna gain is the maximum value, and the decision threshold value is the maximum value minus the minimum value in table 1. If the difference value in the step 3 exceeds the threshold value, it can be determined that the beam deviation exceeds half of the width of the main lobe of the antenna beam, so that the initial alignment stage of the satellite signal needs to be entered, otherwise, the step 5 of table look-up calculation of the beam deviation scalar value is entered.
5. In the phase of calculating the beam deviation scalar value according to the difference value table in the step 3, the maximum vector direction of the beam deviation is calculated according to the data of the satellite navigation module and the inertial module, and is converted into the ratio of the pitch angle to the roll angle (rounded to be accurate to 0.1 theta), and the antenna pattern test data table is queried according to the ratio to estimate the scalar value of the beam deviation angle.
6. And feeding back scalar values of the beam deviation angles to a carrier platform stabilizing algorithm in real time, and carrying out real-time error correction on data of the satellite navigation module and the inertial module. The vector precision of the navigation module/inertial module is higher, and the scalar precision of the beam deviation value calculated by table look-up is higher. The vector of the motion of the carrier platform is A, the total error vector of the navigation module/the inertia module is E, the direction of the lookup vector is A+E, the value of the lookup vector is T, and the vector motion vector= (A+E) ×T/A+E is calculated in a combined way.
7. And (3) circulating through the steps 2 to 6 to realize a carrier platform rapid stabilization method with a real-time feedback function.
The traditional star finding scanning algorithms such as conical scanning, sinusoidal scanning, four-quadrant method, climbing method and steepest descent method can lead the wave beam to deviate from the satellite direction when scanning, and belong to the active star finding algorithm, so that the satellite signal intensity is greatly fluctuated and even the situation of communication interruption occurs. Compared with the traditional satellite finding scanning algorithm, the method does not need to control the antenna beam to deflect further for finding the satellite, and has the advantages of stable signal intensity of the tracking satellite and no need of iteration for real-time feedback.
As will be appreciated by one skilled in the art in the light of the foregoing description, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects.
A second embodiment of the invention provides an electronic device platform comprising at least one processor, and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the carrier platform rapid stabilization method described above.
A third embodiment of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the carrier platform rapid stabilization method described above.
It will be appreciated by those skilled in the art that the steps of a method of the above embodiments may be performed by hardware associated with a program stored in a storage medium, including instructions for causing a device (which may be a single-chip microcomputer, a chip or the like) or processor (processor) to perform all or part of the steps of the method of the various embodiments of the application. The storage medium includes, but is not limited to, a usb disk, a removable hard disk, a magnetic memory, an optical memory, and other various media capable of storing program codes.
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention, but any modifications, equivalents, improvements, etc. within the principle of the idea of the present invention should be included in the scope of protection of the present invention.
Claims (5)
1. The carrier platform rapid stabilization method for correcting inertial errors according to a directional diagram is characterized by comprising the following steps of:
Step 1, according to the measurement information of the dual-antenna satellite navigation module and the inertial module, adopting a conventional algorithm to finish initial alignment of satellite signals, updating the maximum value of the satellite signals after alignment, and enabling an in-motion antenna to enter a continuous tracking satellite state;
Step 2, if the current intensity of the satellite signal exceeds the maximum intensity of the satellite signal, updating the maximum intensity of the satellite signal by using the current intensity of the satellite signal, otherwise, calculating the difference between the current intensity and the maximum intensity of the satellite signal;
step 3, setting a threshold value as an antenna pattern attenuation value corresponding to the main lobe width of the antenna beam, if the difference exceeds the threshold value, returning to the step 1 to perform initial alignment of satellite signals, otherwise, entering a phase of table look-up calculation of the deviation scalar value of the beam;
step 4, an antenna pattern test data table is manufactured, a microwave dark room is used for conducting pattern test on the moving antenna, steps of a test interval depression face and a horizontal plane are minimum beam leaps of the antenna, and test data are stored into a two-dimensional data table according to pitching/rolling; calculating the maximum vector direction of beam deviation according to the data of the satellite navigation module and the inertial module, converting the maximum vector direction into the ratio of pitch angle to roll angle, inquiring the antenna pattern test data table according to the ratio, and estimating the scalar value of the beam deviation angle;
Step 5, feeding back scalar values of beam deviation angles to the carrier platform in real time, and carrying out real-time error correction by combining data of the satellite navigation module and the inertial module, wherein the carrier platform motion vector is A, the total error vector of the satellite navigation module and the inertial module is E, the direction of a table lookup vector is A+E, the table lookup scalar value is T, and the carrier platform motion vector = is calculated in a combined mode ；
And 6, circulating the steps 1 to 5 to realize the carrier platform rapid stabilization method with the real-time feedback function.
2. The method for rapidly stabilizing a carrier platform according to claim 1, wherein the beam width of the depression face and the horizontal face of the main lobe of the antenna in motion is θ, and the minimum beam jump is θ/10.
3. The rapid stabilization method of carrier platform according to claim 2, wherein the conversion in step 4 is a ratio of pitch angle to roll angle, rounded to 0.1 θ.
4. An electronic device platform comprising at least one processor, and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the carrier platform rapid stabilization method of any one of claims 1 to 3.
5. A computer readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the carrier platform rapid stabilization method of any one of claims 1 to 3.
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