CN115632699A - Pointing control system, method, device and storage medium of target antenna - Google Patents
Pointing control system, method, device and storage medium of target antenna Download PDFInfo
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- CN115632699A CN115632699A CN202211328136.6A CN202211328136A CN115632699A CN 115632699 A CN115632699 A CN 115632699A CN 202211328136 A CN202211328136 A CN 202211328136A CN 115632699 A CN115632699 A CN 115632699A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18519—Operations control, administration or maintenance
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
Abstract
The invention discloses a pointing control system, a method, equipment and a storage medium of a target antenna, wherein the system comprises the following components: the system comprises a reference antenna, a pose determination module, a controller and a servo module; the position and posture determining module is used for determining first position and posture information of the reference antenna and second position and posture information of the target antenna and sending the first position and posture information and the second position and posture information to the controller; the controller is used for determining a reference pointing angle of the reference antenna pointing to the reference satellite according to the first position information, determining a target pointing angle of the target antenna pointing to the target satellite according to the reference pointing angle and the second position information, generating a second control instruction for controlling the target antenna to turn to the target pointing angle, and sending the second control instruction to the servo module; wherein the reference satellite is a satellite with a global beam, and the relative positions of the reference satellite and the target satellite are known; and the servo module is used for responding to the second control instruction and controlling the target antenna to rotate to the target pointing angle.
Description
Technical Field
The present invention relates to the field of satellite communications technologies, and in particular, to a system, a method, a device, and a storage medium for controlling a pointing direction of a target antenna.
Background
The existing mature communication-in-motion satellite antenna is mostly used for communicating with a geosynchronous orbit satellite, and is characterized in that the pointing angle of the ground relative to the satellite is fixed and unchanged, when a carrier where the antenna is located moves, the motion of the carrier is only needed to be isolated, the pointing direction of the antenna is kept not to deviate from a target satellite along with the motion of the carrier, and therefore the purpose of real-time communication is achieved. The conventional communication-in-motion antenna is developed on the basis of a traditional global beam satellite, realizes stable tracking on the basis of inertial navigation and servo control, analyzes a beacon of the satellite and performs closed-loop control, and accordingly realizes stable communication with the satellite.
In the traditional satellite, global beams are mostly adopted to cover the whole area, the defects of low received power spectral density, low system capacity and the like exist, the diversified service requirements of people on satellite communication at present cannot be met, and under the condition, a multi-beam broadband satellite communication system is provided. More and more geostationary satellites are now being launched in a multi-beam fashion, which produces a plurality of isolated beams within their coverage area.
Under the condition of communicating with a multi-beam satellite, for a traditional communication-in-motion antenna, when the antenna is in cross-beam communication, feedback signals such as beacons are lost, so that the feedback signals of the traditional communication-in-motion antenna are lost, and the problems of deviation of a pointing angle, communication interruption and the like are caused.
Disclosure of Invention
The invention provides a pointing control system, a pointing control method, pointing control equipment and a pointing control storage medium of a target antenna, which are used for solving the problem of communication interruption when the antenna and a multi-beam satellite are in communication in a beam crossing mode.
According to an aspect of the present invention, there is provided a pointing control system of a target antenna, including:
the system comprises a reference antenna, a pose determination module, a controller and a servo module;
the pose determining module is used for determining first pose information of the reference antenna and second pose information of the target antenna and sending the first pose information and the second pose information to the controller;
the controller is used for determining a reference pointing angle of the reference antenna pointing to a reference satellite according to the first attitude information, determining a target pointing angle of the target antenna pointing to a target satellite according to the reference pointing angle and the second attitude information, generating a second control instruction for controlling the target antenna to turn to the target pointing angle, and sending the second control instruction to the servo module; wherein the reference satellite is a satellite with a global beam and the relative positions of the reference satellite and the target satellite are known;
and the servo module is used for responding to the second control instruction and controlling the target antenna to rotate to the target pointing angle.
Optionally, the controller is specifically configured to:
determining a theoretical position of the reference satellite;
determining the reference pointing angle according to the first attitude information and the theoretical position of the reference satellite, and generating a first control instruction for controlling the reference antenna to steer to the reference pointing angle;
correspondingly, the servo module is further configured to control the reference antenna to steer to the reference pointing angle in response to the first control instruction.
Optionally, the reference antenna is configured to search for a satellite signal of the reference satellite after steering the reference pointing angle, align the reference satellite according to the satellite signal, and feed back the actual pointing angle of the reference antenna to the controller.
Optionally, the reference antenna is specifically configured to:
performing cone scanning on the reference satellite, and determining a pointing angle corresponding to the maximum intensity value of the satellite signal;
and aligning the reference satellite in real time according to the pointing angle corresponding to the maximum intensity value of the satellite signal.
Optionally, the controller is further configured to:
correcting the pose determination module according to the actual pointing angle and the reference pointing angle;
correspondingly, the pose determination module is further configured to determine the corrected first pose information and the corrected second pose information, and send the corrected first pose information and the corrected second pose information to the controller.
Optionally, the controller is specifically configured to:
and determining the target pointing angle according to the corrected first position information and the corrected second position information.
Optionally, the system further includes an initialization module, configured to determine initial poses corresponding to the reference antenna and the target antenna before the pose determination module determines the first pose information of the reference antenna and the second pose information of the target antenna.
According to another aspect of the present invention, there is provided a target antenna pointing control method, which is applied to a target antenna pointing control system according to any one of the embodiments of the present invention, including:
determining first position and attitude information of the reference antenna and second position and attitude information of the target antenna by using the position and attitude determination module, and sending the first position and attitude information and the second position and attitude information to the controller;
determining a reference pointing angle of the reference antenna pointing to a reference satellite according to the first attitude information by using the controller, determining a target pointing angle of the target antenna pointing to a target satellite according to the reference pointing angle and the second attitude information, generating a second control instruction for controlling the target antenna to turn to the target pointing angle, and sending the second control instruction to the servo module; wherein the reference satellite is a satellite having a global beam and the relative positions of the reference satellite and the target satellite are known;
and utilizing the servo module to respond to the second control instruction, and controlling the target antenna to rotate to the target pointing angle.
Further, determining, with the controller, a reference pointing angle at which the reference antenna points to a reference satellite according to the first attitude information includes:
determining, with the controller, a theoretical position of the reference satellite;
determining the reference pointing angle according to the first attitude information and the theoretical position of the reference satellite, and generating a first control instruction for controlling the reference antenna to steer the reference pointing angle;
correspondingly, the method further comprises the following steps:
and utilizing the servo module to respond to the first control instruction, and controlling the reference antenna to rotate to the reference pointing angle.
Further, the method further comprises:
and after the reference antenna turns to the reference pointing angle, searching a satellite signal of the reference satellite by using the reference antenna, aligning the reference satellite according to the satellite signal, and feeding back the actual pointing angle of the reference antenna to the controller.
Further, searching for satellite signals of the reference satellite using the reference antenna, aligning the reference satellite according to the satellite signals, comprising:
performing cone scanning on the reference satellite by using the reference antenna, and determining a pointing angle corresponding to the maximum intensity value of the satellite signal;
and aligning the reference satellite in real time according to the pointing angle corresponding to the maximum intensity value of the satellite signal.
Further, the method further comprises:
correcting the pose determination module according to the actual pointing angle and the reference pointing angle by using the controller;
correspondingly, the method further comprises the following steps:
and determining the corrected first posture information and the corrected second posture information by using the posture determining module, and sending the corrected first posture information and the corrected second posture information to the controller.
Further, the method further comprises:
and determining the target pointing angle by using the controller according to the corrected first position information and the corrected second position information.
Further, the method further comprises:
before the pose determination module determines the first pose information of the reference antenna and the second pose information of the target antenna, an initialization module is used to determine initial poses corresponding to the reference antenna and the target antenna respectively.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform a method of directional control of a target antenna according to any of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement a method for controlling a pointing direction of a target antenna according to any one of the embodiments of the present invention when the computer instructions are executed.
According to the pointing control system of the target antenna disclosed by the embodiment of the invention, the pointing angle of the target antenna is calculated according to the pointing angle of the reference antenna by setting the reference antenna, and when the carrier where the antenna is located moves across beams, because the reference satellite is a global beam, the reference antenna has no condition of the cross beams and is always opposite to the satellite, the attitude of the target satellite calculated on the basis is always accurate, so that the target antenna can be ensured to be always aligned to the target satellite, and the communication of the target antenna is not influenced by the cross beams.
It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present invention, nor are they intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a pointing control system of a target antenna according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a method for calculating a theoretical position of a reference satellite according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an operation process of a pointing control system of a target antenna according to an embodiment of the present invention;
fig. 4 is a flowchart of a method for controlling the pointing direction of a target antenna according to a second embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device implementing a method for controlling the pointing direction of a target antenna according to a third embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Fig. 1 is a schematic structural diagram of a pointing control system of a target antenna according to an embodiment of the present invention, where the embodiment is applicable to a case where a satellite antenna in motion communicates with a multi-beam satellite, and the pointing control system of the target antenna may be implemented in a form of hardware and/or software. As shown in fig. 1, the system includes: a reference antenna 110, a pose determination module 120, a controller 130, and a servo module 140.
Wherein, the reference antenna is another antenna different from the target antenna, and the reference antenna is different from the target antenna by: the target antenna is used for communicating with a target satellite, has a complete communication function and is also a communication carrier of user data; the reference antenna is used to receive the reference satellite signal and does not carry user data communications. Wherein the target satellite is a communication satellite for user data, is a multi-beam satellite, the reference satellite is a satellite having a global beam, and the relative positions of the reference satellite and the target satellite are known.
Alternatively, the antenna may be an antenna feed system that radiates electromagnetic waves to the surrounding space, the target antenna being a primary antenna feed system, and the reference antenna being a secondary antenna feed system. Preferably, the main antenna feed system adopts a horn array antenna, has a complete transceiving communication function and is used for communicating with a multi-beam satellite; the auxiliary antenna feeder system adopts a horn array antenna, is lighter and smaller, only has a receiving function and is used for receiving a beacon signal of a reference satellite.
The pose determination module 120 is configured to determine first pose information of the reference antenna 110 and second pose information of the target antenna, and send the first pose information and the second pose information to the controller 130.
The pose determination module 120 is a module that determines poses of the target antenna and the reference antenna, where the poses of the antennas include positions and pointing angles of the antennas. In the pointing control of the antenna, the current pose of the antenna and the target pointing angle are determined, so that how the antenna is controlled to rotate can be determined, and the pose of the antenna is adjusted to point at the target pointing angle.
In this embodiment, the pose determination module 120 may collect the poses of the target antenna and the reference antenna, respectively, and then send the collected data to the controller 130 for controlling the orientations of the target antenna and the reference antenna.
Optionally, the pose determination module 120 may include an inertial navigation system 121. The inertial navigation system 121 (INS) is a navigation parameter calculation system using a gyroscope and an accelerometer as sensitive devices, and the system establishes a navigation coordinate system according to the output of the gyroscope, calculates the speed and position of the carrier in the navigation coordinate system according to the output of the accelerometer, and can provide data such as the position, speed, course, attitude angle and the like of a carrier where an antenna is located for a pointing control system of a target antenna.
Optionally, the two antenna feed systems respectively corresponding to the target antenna and the reference antenna have an azimuth-elevation-polarization three-axis motion structure, and each axis is driven by a direct current motor. The pose determination module 120 may further include an encoder 122, and the encoder 122 may convert information such as angular displacement or linear displacement into an electrical signal, so as to output three-axis real-time angles to the controller 130.
The controller 130 is configured to determine a reference pointing angle at which the reference antenna 110 points to the reference satellite according to the first attitude information, determine a target pointing angle at which the target antenna points to the target satellite according to the reference pointing angle and the second attitude information, generate a second control instruction for controlling the target antenna to turn to the target pointing angle, and send the second control instruction to the servo module 140.
The servo module 140 is configured to respond to the second control instruction to control the target antenna to turn to the target pointing angle.
In the present embodiment, knowing the position of the reference satellite, the controller 130 can calculate a reference pointing angle at which the reference antenna 110 is pointed at the reference satellite according to the current pose of the reference antenna 110. Further, since the relative positions of the target satellite and the reference satellite are known, after the reference antenna points at the reference satellite, the target pointing angle of the target antenna pointing at the target satellite can be determined according to the reference pointing angle of the reference satellite and the current pose of the target satellite. After determining the target pointing angle, the controller 130 may generate a corresponding control command instructing the servo module 140 to generate a control action to adjust the pose of the target antenna to the target pointing angle.
Optionally, the servo module 140 may include a servo motor. The servo motor (servo motor) is an engine that controls mechanical components in a servo system to operate, and is an auxiliary motor indirect speed change device.
Optionally, the controller 130 is specifically configured to:
determining a theoretical position of a reference satellite; and determining a reference pointing angle according to the first attitude information and the theoretical position of the reference satellite, and generating a first control command for controlling the reference antenna 110 to steer the reference pointing angle. Accordingly, the servo module 140 is further configured to control the reference antenna 110 to rotate to the reference pointing angle in response to the first control command.
Specifically, as shown in fig. 2, it is assumed that a carrier on which a reference antenna is located at a point K on the equator, and a reference satellite is located at a point B outside the earth, and a carrier geographic coordinate system is established with the point K as an origin, where one coordinate axis points to the east and the other coordinate axis points to the sky perpendicular to the ground. Let point a be the center of the earth, point K be longitude L2, point R be the radius of the earth, point H be the altitude of the reference satellite, point L1 be the longitude of the reference satellite, then the distance between the reference satellite and the center of the earth is: AB = R + H; the east projection of the reference satellite in the carrier geographic coordinate system is as follows: BB1= - (R + H) sin (L2-L1); the projection of the reference satellite in the sky direction of the carrier geographic coordinate system is as follows: AB1= (R + H) cos (L2-L1).
And then, moving the north of the carrier to a point P, wherein the latitude value is alpha, the longitude is still L2, a coordinate system is established by taking the point P as an origin, one coordinate axis points to true north, and the other coordinate axis points to the sky perpendicular to the ground. The projection of B1 in the north direction of the coordinate system is: B1B2= AB1 × sin α = - (R + H) cos (L2-L1) × sin α; the projection of B1 in the sky direction of the coordinate system is as follows: AB2= AB1 × cos α = (R + H) cos (L2-L1) cos α.
Therefore, the coordinate values of the satellite in the carrier geographic coordinate system can be obtained as follows:
after the theoretical coordinates of the reference satellite are determined, the reference pointing angle of the reference antenna pointing to the reference satellite can be determined according to the current first attitude information of the reference satellite. The controller 130 may then generate a first control command for controlling the reference antenna 110 to turn to the reference pointing angle, so that the servo module 140 generates a corresponding action to drive the reference antenna 110 to the reference pointing angle.
Optionally, the reference antenna 110 is configured to search for a satellite signal of the reference satellite after steering the reference pointing angle, align the reference satellite according to the satellite signal, and feed back the actual pointing angle of the reference antenna 110 to the controller 130.
In practical application, because inertial navigation has certain errors, especially MENS inertial navigation, factors such as temperature and electromagnetic interference can interfere the inertial navigation, and the errors can be accumulated continuously along with accumulation of working time. The theoretical coordinates of the reference satellites calculated from the pose data provided by the pose determination module 120 may have some error. To overcome the error, after the reference antenna 110 reaches the reference pointing angle, the satellite signal of the reference satellite can be searched for and received, and then fine-tuned at a small angle if the signal is found, so that the reference antenna 110 is aligned with the reference satellite.
Further, after the reference antenna 110 is aligned with the reference satellite, the actual pointing angle can be fed back to the controller 130.
Optionally, the reference antenna 110 is specifically configured to:
performing cone scanning on a reference satellite, and determining a pointing angle corresponding to the maximum intensity value of a satellite signal; and aligning the reference satellite in real time according to the pointing angle corresponding to the maximum intensity value of the satellite signal.
The cone scanning is a sequential scanning mode of a cone with the maximum radiation direction of a beam at the apex angle being about the half-power beam width of the antenna. In this embodiment, the reference antenna 110 may find the maximum value of the satellite signal in a cone scanning manner when the satellite signal of the reference satellite is found, so that the reference antenna 110 is aligned with the direction corresponding to the maximum value of the signal strength.
Preferably, the reference antenna 110 may include a beacon receiving module 111, and the beacon receiving module 111 may receive a beacon signal of the reference satellite, determine a pointing angle corresponding to a maximum strength of the beacon signal, align the reference antenna 110 at the reference satellite at the angle, and feed back the angle to the controller 130.
Optionally, the controller 130 is further configured to:
the pose determination module 120 is corrected according to the actual pointing angle and the reference pointing angle. Correspondingly, the pose determination module 120 is further configured to determine the corrected first pose information and the corrected second pose information, and send the corrected first pose information and the corrected second pose information to the controller 130.
In this embodiment, the controller 130 may correct the pose determination module 120 according to the received actual pointing angle and the calculated reference pointing angle, so that the pose determination module 120 determines the corrected first pose information and the corrected second pose information and sends the first pose information and the corrected second pose information to the controller 130.
Optionally, the controller 130 is specifically configured to:
and determining the target pointing angle according to the corrected first position information and the corrected second position information.
Specifically, in the present system, after the reference antenna 110 finds the reference satellite according to the calculated reference pointing angle, the cone scan may be performed continuously, and then the actual pointing angle aligned with the reference satellite is determined according to the satellite signal of the reference satellite. The controller 130 may reversely derive the position and the attitude of the carrier where the reference antenna is located according to the actual pointing angle, calibrate the pose determination module 120 according to an error between the actual pointing angle and the reference pointing angle, and calculate the theoretical position of the target satellite through the calibrated pose determination module 120, thereby determining the target pointing angle of the target antenna. Preferably, the reference antenna 110 and the target antenna are on the same carrier platform, and the pose determination module 120 has almost no error through continuous calibration, so that the theoretical position and the actual position of the target satellite calculated by the target antenna through the pose data collected by the pose determination module 120 are consistent, thereby realizing real-time alignment of the target antenna and the target satellite.
Optionally, the system further includes an initialization module 150, configured to determine initial poses of the reference antenna 110 and the target antenna respectively before the pose determination module 120 determines the first pose information of the reference antenna 110 and the second pose information of the target antenna.
In this embodiment, after the pointing control system of the target antenna is powered on, the null-seeking operation between the reference antenna 110 and the target antenna may be performed first, so as to determine the initial postures of the reference antenna 110 and the target antenna.
Optionally, the initialization module 150 includes a high-precision null switch, and the initial postures of the reference antenna 110 and the target antenna may be determined through the high-precision null switch.
Fig. 3 is a schematic diagram of a working process of a pointing control system of a target antenna according to an embodiment of the present invention, and as shown in the figure, the servo module 140 may be divided into a main servo module 141 and a sub-servo module 142, which are respectively used for driving the target antenna and the reference antenna 110 to perform steering actions. After the system is powered on, a null-seeking operation is first performed to obtain initial postures of the reference antenna 110 and the target antenna. The controller 130 obtains the current pose information and the three-axis real-time angle of the antenna through the inertial navigation system 121 and the encoder 122, calculates the reference pointing angle of the reference antenna 110 in the geographic coordinate system according to the data, and then controls the sub-servo module 142 through the PID controller to drive the reference antenna 110 to search for the beacon signal of the reference satellite. After the reference antenna 110 finds the reference satellite, the beacon receiving module 111 performs cone scanning to make the antenna always aligned with the reference satellite, and feeds back the actual pointing angle to the controller 130 for calibrating the inertial navigation system 121. According to the attitude of the reference antenna 110 aligned with the reference satellite, the controller 130 may calculate the position of the target satellite and the target pointing angle of the target antenna through coordinate transformation, and then control the main servo module 141 through the PID controller to drive the target antenna to change the attitude, thereby aligning with the target satellite.
According to the pointing control system of the target antenna disclosed by the embodiment of the invention, the pointing angle of the target antenna is calculated according to the pointing angle of the reference antenna by setting the reference antenna, when the carrier where the antenna is located moves across beams, the reference satellite is a global beam, the reference antenna does not have the condition of the cross beams and is always opposite to the satellite, so that the calculated attitude of the target satellite is always accurate on the basis, the target antenna can be ensured to be always aligned to the target satellite, and the communication of the target antenna is not influenced by the cross beams.
Example two
Fig. 4 is a flowchart of a second embodiment of the present invention, which provides a method for controlling the pointing direction of a target antenna, where the method can be executed by a pointing direction control system of a target antenna according to any embodiment of the present invention. As shown in fig. 4, the method includes:
s210, the pose determination module is used for determining first pose information of the reference antenna and second pose information of the target antenna, and the first pose information and the second pose information are sent to the controller.
In this embodiment, the pose determination module may collect the poses of the target antenna and the reference antenna, respectively, and then send the collected data to the controller for controlling the directions of the target antenna and the reference antenna.
Optionally, the pose determination module may include an inertial navigation system. An Inertial Navigation System (INS) is a navigation parameter calculation system taking a gyroscope and an accelerometer as sensitive devices, the system establishes a navigation coordinate system according to the output of the gyroscope, calculates the speed and the position of a carrier in the navigation coordinate system according to the output of the accelerometer, and can provide data such as the position, the speed, the course, the attitude angle and the like of a carrier where an antenna is located for a pointing control system of a target antenna.
Optionally, the two antenna feed systems respectively corresponding to the target antenna and the reference antenna have an azimuth-elevation-polarization three-axis motion structure, and each axis is driven by a direct current motor. The pose determination module can also comprise an encoder, and the encoder can convert information such as angular displacement or linear displacement into an electric signal so as to output three-axis real-time angles to the controller.
S220, determining a reference pointing angle of the reference antenna pointing to the reference satellite according to the first position and posture information by using the controller, determining a target pointing angle of the target antenna pointing to the target satellite according to the reference pointing angle and the second position and posture information, generating a second control instruction for controlling the target antenna to turn to the target pointing angle, and sending the second control instruction to the servo module.
The reference satellite is a satellite with a global beam, and the relative positions of the reference satellite and the target satellite are known.
In this embodiment, knowing the position of the reference satellite, the controller may calculate a reference pointing angle that points the reference antenna to the reference satellite according to the current pose of the reference antenna. Further, since the relative positions of the target satellite and the reference satellite are known, after the reference antenna points to the reference satellite, the target pointing angle of the target antenna pointing to the target satellite can be determined according to the reference pointing angle of the reference satellite and the current pose of the target satellite. After the target pointing angle is determined, the controller can generate a corresponding control instruction to instruct the servo module to generate a control action to adjust the pose of the target antenna to the target pointing angle.
Optionally, the manner of determining the reference pointing angle at which the reference antenna points to the reference satellite according to the first position information by using the controller may be: determining a theoretical position of a reference satellite with a controller; and determining a reference pointing angle according to the first attitude information and the theoretical position of the reference satellite, and generating a first control instruction for controlling the reference antenna to turn to the reference pointing angle.
Correspondingly, the method further comprises the following steps:
and responding to the first control instruction by using the servo module, and controlling the reference antenna to rotate to the reference pointing angle.
Specifically, the controller may calculate the theoretical coordinates of the reference satellite, and the calculation method is as described in the above embodiment. After the theoretical coordinate of the reference satellite is determined, the reference pointing angle of the reference antenna pointing to the reference satellite can be determined according to the current first attitude information of the reference satellite. The controller can then generate a first control instruction for controlling the reference antenna to turn to the reference pointing angle, so that the servo module generates a corresponding action to drive the reference antenna to reach the reference pointing angle.
And S230, responding to the second control instruction by using the servo module, and controlling the target antenna to rotate to the target pointing angle.
Further, the method further comprises:
after the reference antenna turns to the reference pointing angle, the reference antenna is used for searching satellite signals of the reference satellite, the reference satellite is aligned according to the satellite signals, and the actual pointing angle of the reference antenna is fed back to the controller.
In this embodiment, since the pose determination module may have a certain error, the theoretical coordinates of the reference satellite calculated according to the pose data provided by the pose determination module may have a certain error. In order to overcome errors, after the reference antenna reaches the reference pointing angle, satellite signals of the reference satellite can be searched and received, and small-angle fine adjustment is performed under the condition that the signals are found, so that the reference antenna is aligned to the reference satellite.
Optionally, the reference antenna is used to search for the satellite signal of the reference satellite, and the way of aligning the reference satellite according to the satellite signal may be: performing cone scanning on a reference satellite by using a reference antenna, and determining a pointing angle corresponding to the maximum intensity value of a satellite signal; and aligning the reference satellite in real time according to the pointing angle corresponding to the maximum intensity value of the satellite signal.
Specifically, the reference antenna may find the maximum value of the satellite signal in a cone scanning manner under the condition that the satellite signal of the reference satellite is found, so that the reference antenna is aligned to the direction corresponding to the maximum value of the signal strength. Preferably, the reference antenna may include a beacon receiving module that may receive a beacon signal of the reference satellite, determine a pointing angle corresponding to a maximum strength of the beacon signal, align the reference antenna at the reference satellite at the angle, and feed back the angle to the controller.
Further, the method further comprises:
and correcting the pose determination module according to the actual pointing angle and the reference pointing angle by using the controller.
Correspondingly, the method further comprises the following steps:
and determining the corrected first posture information and the corrected second posture information by using a posture determining module, and sending the corrected first posture information and the corrected second posture information to the controller.
In this embodiment, the controller may correct the pose determination module according to the received actual pointing angle and the calculated reference pointing angle, so that the pose determination module determines the corrected first pose information and the corrected second pose information and sends the first pose information and the second pose information to the controller.
Further, the method further comprises:
and determining a target pointing angle by using the controller according to the corrected first position information and the corrected second position information.
In this embodiment, the pose determination module is calibrated continuously, and almost has no error, so the theoretical position of the target satellite calculated by the controller according to the corrected data is consistent with the actual position, and the calculated target straight line angle is accurate, thereby realizing real-time alignment of the target antenna and the target satellite.
Further, the method further comprises:
before the pose determining module determines the first pose information of the reference antenna and the second pose information of the target antenna, the initialization module is used for determining the initial poses corresponding to the reference antenna and the target antenna respectively.
In this embodiment, after the pointing control system of the target antenna is powered on, the null-seeking operation between the reference antenna and the target antenna may be performed first, and the initial postures of the reference antenna and the target antenna may be determined.
The directional control method of the target antenna provided by the embodiment of the invention can be executed by the directional control system of the target antenna provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the directional control system of the target antenna.
EXAMPLE III
FIG. 5 illustrates a schematic diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 may also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
In some embodiments, the target antenna pointing control method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the directional control of the target antenna described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured by any other suitable means (e.g., by means of firmware) to perform the directional control method of the target antenna.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A pointing control system for a target antenna, the system comprising: the system comprises a reference antenna, a pose determination module, a controller and a servo module;
the pose determining module is used for determining first pose information of the reference antenna and second pose information of the target antenna and sending the first pose information and the second pose information to the controller;
the controller is used for determining a reference pointing angle of the reference antenna pointing to a reference satellite according to the first attitude information, determining a target pointing angle of the target antenna pointing to a target satellite according to the reference pointing angle and the second attitude information, generating a second control instruction for controlling the target antenna to turn to the target pointing angle, and sending the second control instruction to the servo module; wherein the reference satellite is a satellite with a global beam and the relative positions of the reference satellite and the target satellite are known;
and the servo module is used for responding to the second control instruction and controlling the target antenna to rotate to the target pointing angle.
2. The system of claim 1, wherein the controller is specifically configured to:
determining a theoretical position of the reference satellite;
determining the reference pointing angle according to the first attitude information and the theoretical position of the reference satellite, and generating a first control instruction for controlling the reference antenna to steer to the reference pointing angle;
correspondingly, the servo module is further configured to control the reference antenna to steer to the reference pointing angle in response to the first control instruction.
3. The system of claim 1, wherein the reference antenna is configured to search for satellite signals of the reference satellite after steering to the reference pointing angle, align the reference satellite according to the satellite signals, and feed back an actual pointing angle of the reference antenna to the controller.
4. The system according to claim 3, characterized in that said reference antenna is in particular configured for:
performing cone scanning on the reference satellite, and determining a pointing angle corresponding to the maximum intensity value of the satellite signal;
and aligning the reference satellite in real time according to the pointing angle corresponding to the maximum intensity value of the satellite signal.
5. The system of claim 3, wherein the controller is further configured to:
correcting the pose determination module according to the actual pointing angle and the reference pointing angle;
correspondingly, the pose determination module is further configured to determine the corrected first pose information and the corrected second pose information, and send the corrected first pose information and the corrected second pose information to the controller.
6. The system of claim 5, wherein the controller is specifically configured to:
and determining the target pointing angle according to the corrected first position information and the corrected second position information.
7. The system of claim 1, further comprising an initialization module to determine initial poses of the reference antenna and the target antenna that correspond to each other before the pose determination module determines the first pose information of the reference antenna and the second pose information of the target antenna.
8. A method for controlling the pointing direction of a target antenna, wherein the method is applied to the system of any one of claims 1-7, and comprises:
determining first position and attitude information of the reference antenna and second position and attitude information of the target antenna by using the position and attitude determination module, and sending the first position and attitude information and the second position and attitude information to the controller;
determining a reference pointing angle of the reference antenna pointing to a reference satellite according to the first attitude information by using the controller, determining a target pointing angle of the target antenna pointing to a target satellite according to the reference pointing angle and the second attitude information, generating a second control instruction for controlling the target antenna to turn to the target pointing angle, and sending the second control instruction to the servo module; wherein the reference satellite is a satellite having a global beam and the relative positions of the reference satellite and the target satellite are known;
and utilizing the servo module to respond to the second control instruction, and controlling the target antenna to rotate to the target pointing angle.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of directional control of a target antenna as claimed in claim 8.
10. A computer-readable storage medium storing computer instructions for causing a processor to implement the method of controlling the pointing direction of a target antenna as claimed in claim 8 when executed.
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|---|---|---|---|
| CN202211328136.6A CN115632699A (en) | 2022-10-27 | 2022-10-27 | Pointing control system, method, device and storage medium of target antenna |
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| CN202211328136.6A CN115632699A (en) | 2022-10-27 | 2022-10-27 | Pointing control system, method, device and storage medium of target antenna |
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