CN115764300A - Antenna control system and antenna control method - Google Patents
Antenna control system and antenna control method Download PDFInfo
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- CN115764300A CN115764300A CN202211392352.7A CN202211392352A CN115764300A CN 115764300 A CN115764300 A CN 115764300A CN 202211392352 A CN202211392352 A CN 202211392352A CN 115764300 A CN115764300 A CN 115764300A
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Abstract
The application discloses an antenna control system and an antenna control method, relates to the technical field of satellite communication, and can reduce the precision requirement on an inertial navigation unit while ensuring the communication quality. The system at least comprises; the inertial navigation system comprises an antenna control unit, a pitching motor, a polarization motor, an azimuth motor, at least one driver, an antenna surface and an inertial navigation unit which consists of a gyroscope and an accelerometer and is used for acquiring inertial navigation data; the antenna control unit is configured to: determining a target polarization angle and a target pitch angle of the satellite time based on inertial navigation data; controlling a pitch motor and a polarization motor through a driver to adjust a current polarization angle to a target polarization angle and adjust a current pitch angle to a target pitch angle; controlling an azimuth motor to perform blind scanning through a driver, and determining a target azimuth angle of satellite time based on real-time signal intensity parameters of an antenna plane and a current satellite in the blind scanning process; and controlling an azimuth motor through a driver to adjust the current azimuth angle to the target azimuth angle.
Description
The present application claims priority from patent application No. 202210896657.5 (the filing date of the prior application is 2022, 7/28, entitled antenna control system and antenna control method).
Technical Field
The present application relates to the field of satellite communications technologies, and in particular, to an antenna control system and an antenna control method.
Background
The existing satellite communication system mainly comprises a static communication system and a communication-in-motion system, wherein the static communication system realizes communication at a fixed position, and the communication-in-motion system realizes communication in motion. The communication-in-motion system needs to realize communication in motion, so that the precision requirement of the communication-in-motion system on the inertial navigation unit is high.
However, the cost of the inertial navigation unit with high precision is high, so how to reduce the precision requirement on the inertial navigation unit while ensuring the communication quality of the communication-in-motion system becomes a technical problem to be solved urgently.
Disclosure of Invention
The application provides an antenna control system and an antenna control method, which can reduce the precision requirement on an inertial navigation unit while ensuring the communication quality.
In order to achieve the purpose, the following technical scheme is adopted in the application:
in a first aspect, the present application provides an antenna control system, the system at least comprising an antenna control unit, a pitch motor, a polarization motor, an azimuth motor, at least one driver, an antenna surface, and an inertial navigation unit; the inertial navigation unit consists of a gyroscope and an accelerometer and is used for acquiring inertial navigation data; wherein the antenna control unit is configured to: determining a target polarization angle and a target pitch angle of an antenna surface and a current satellite in a satellite alignment process based on inertial navigation data; controlling a pitching motor and a polarization motor through a driver, so that the current polarization angle of the antenna surface is adjusted to a target polarization angle, and the current pitch angle of the antenna surface is adjusted to a target pitch angle; controlling an azimuth motor to carry out blind scanning through a driver, and determining a target azimuth angle of an antenna surface and a current satellite when the antenna surface and the current satellite are opposite to each other based on real-time signal intensity parameters of the antenna surface and the current satellite in the blind scanning process; and controlling an azimuth motor through a driver to adjust the current azimuth angle of the antenna surface to the target azimuth angle.
In the technical scheme provided by the application, the inertial navigation unit in the antenna control system can be composed of a gyroscope and an accelerometer. Generally, when an antenna control unit controls an antenna surface to align with a current satellite, three angles including a target polarization angle, a target azimuth angle and a target pitch angle of the satellite according to data acquired by a gyroscope, an accelerometer and a geomagnetic meter, wherein the data acquired by the geomagnetic meter is generally used for acquiring an accurate target azimuth angle. Compare current inertial navigation unit, the inertial navigation unit of this application does not include the earth magnetometer, so this application can't obtain accurate target azimuth through the earth magnetometer. According to the technical scheme, the current polarization angle of the antenna surface can be adjusted to the target polarization angle, the current pitch angle of the antenna surface is adjusted to the target pitch angle, and the target azimuth angle is found through blind scanning after the adjustment. Because the signal of the antenna surface at the target azimuth is strongest, the target azimuth can be determined according to the real-time signal strength parameters of the antenna surface and the current satellite in the blind scanning process. It can be seen that, in the technical scheme provided by the application, satellite alignment can be realized under the condition that the geomagnetic meter is not deployed in the inertial navigation unit, and the requirement on the precision of the inertial navigation unit can be greatly reduced without deploying the geomagnetic meter in the inertial navigation unit. Therefore, the method and the device can reduce the precision requirement on the inertial navigation unit while ensuring the communication quality. In addition, since the geomagnetic meter is not required to be arranged, the phenomenon that the satellite cannot be aimed due to the interference of the strong magnetic environment on the geomagnetic meter can be avoided.
Optionally, in a possible design, the antenna control unit is specifically configured to:
after the current pitch angle of the antenna surface is adjusted to a target pitch angle, a driver controls an azimuth motor to perform blind scanning on an azimuth angle at a preset angle as a sampling interval, and a real-time signal intensity parameter corresponding to the azimuth angle during each sampling is acquired in the blind scanning process;
determining a current maximum signal strength parameter based on a real-time signal strength parameter corresponding to an azimuth angle during each sampling, and determining a first azimuth angle corresponding to the current maximum signal strength parameter;
controlling an azimuth motor through a driver to adjust the current azimuth angle of the antenna surface to a first azimuth angle;
and controlling an azimuth motor to carry out cone scanning through a driver, and determining a target azimuth angle based on real-time signal intensity parameters acquired in the cone scanning process.
Optionally, in another possible design, the antenna control unit is further specifically configured to:
after the first azimuth corresponding to the current maximum signal strength parameter is determined, if the current maximum signal strength parameter is smaller than a first preset value, a second azimuth is determined according to inertial navigation data, and the first azimuth is corrected based on the second azimuth until the current maximum signal strength parameter corresponding to the corrected first azimuth is larger than or equal to the first preset value.
Optionally, in another possible design, the antenna control unit is further configured to:
and correcting the target azimuth angle based on a preset adjustment rule by taking the first preset duration as a periodic interval, and controlling an azimuth motor through a driver based on the corrected target azimuth angle.
Optionally, in another possible design, the antenna control system further includes a narrowband satellite debugging subsystem; the antenna control unit is further configured to:
detecting a configuration instruction through a narrow-band satellite debugging subsystem;
under the condition that a configuration instruction is detected, a configuration request is sent to a remote central control center through a narrow-band satellite debugging subsystem; the configuration instruction is used for representing that a current user selects to switch the tracking satellite; the configuration request is used for instructing the remote center to switch the tracking satellite through remote parameter configuration;
in the case that the feedback information is detected, it is determined that the tracking satellite is successfully switched.
Optionally, in another possible design, the antenna control unit is further configured to:
sending prompt information through a narrow-band satellite debugging subsystem under the condition that the current position is determined to be in a boundary partition of a beam coverage area; the prompt message is used for indicating whether the current user selects to switch the tracking satellite.
Optionally, in another possible design, the antenna control system further includes a narrowband satellite debugging subsystem; the antenna control unit is further configured to:
in the event that it is determined that the antenna signal is lost, determining whether a narrowband satellite signal is lost;
under the condition that the narrowband satellite signal is determined not to be lost, the antenna signal is recaptured, if the antenna signal is not captured within a second preset time period, the azimuth motor is controlled by the driver to carry out blind scanning, and the antenna signal is recaptured in the blind scanning process;
and under the condition that the loss of the narrow-band satellite signal is determined, the narrow-band satellite signal is continuously monitored while the target azimuth angle is corrected, and if the narrow-band satellite signal is monitored, the antenna signal is acquired again.
Optionally, in another possible design, the antenna control system further includes a pitch travel switch and a polarization travel switch; the antenna control unit is further configured to:
before determining a target polarization angle and a target pitch angle when the antenna surface and the current satellite are aligned to the satellite based on inertial navigation data, calibrating zero of a pitch motor and a polarization motor through a driver based on the positions of a pitch travel switch and a polarization travel switch.
In a second aspect, the present application provides an antenna control method applied to the antenna control system as described in the first aspect, the method including:
the antenna control unit determines a target polarization angle and a target pitch angle when the antenna surface and the current satellite are opposite to each other based on inertial navigation data acquired by the inertial navigation unit; the inertial navigation unit consists of a gyroscope and an accelerometer;
the antenna control unit controls the pitching motor and the polarization motor through the driver, so that the current polarization angle of the antenna surface is adjusted to a target polarization angle, and the current pitch angle of the antenna surface is adjusted to a target pitch angle;
the antenna control unit controls the azimuth motor to carry out blind scanning through the driver, and determines a target azimuth angle when the antenna surface and the current satellite are in satellite alignment based on real-time signal intensity parameters of the antenna surface and the current satellite in the blind scanning process;
the antenna control unit controls the azimuth motor through the driver, so that the current azimuth angle of the antenna surface is adjusted to the target azimuth angle.
Optionally, in a possible design, the "controlling an azimuth motor by an antenna control unit through a driver to perform blind scanning, and determining a target azimuth angle when the antenna plane and a current satellite are aligned with each other based on a real-time signal strength parameter of the antenna plane and the current satellite in the blind scanning process" may include:
the antenna control unit controls an azimuth motor to perform blind scanning of an azimuth angle by taking a preset angle as a sampling interval through a driver, and acquires a real-time signal intensity parameter corresponding to the azimuth angle during each sampling in the blind scanning process;
the antenna control unit determines the current maximum signal strength parameter based on the real-time signal strength parameter corresponding to the azimuth angle during each sampling, and determines a first azimuth angle corresponding to the current maximum signal strength parameter;
the antenna control unit controls the azimuth motor through the driver to adjust the current azimuth angle of the antenna surface to a first azimuth angle;
the antenna control unit controls the azimuth motor through the driver to carry out cone scanning, and determines a target azimuth angle based on real-time signal strength parameters acquired in the cone scanning process.
Optionally, in another possible design, before the "the antenna control unit controls the azimuth motor to perform cone scanning through the driver", the method may further include:
if the current maximum signal strength parameter is smaller than the first preset value, the antenna control unit determines a second azimuth angle according to the inertial navigation data, and corrects the first azimuth angle based on the second azimuth angle until the current maximum signal strength parameter corresponding to the corrected first azimuth angle is larger than or equal to the first preset value.
Optionally, in another possible design, the antenna control method provided by the present application may further include:
and the antenna control unit corrects the target azimuth angle based on a preset adjustment rule by taking the first preset duration as a periodic interval, and controls the azimuth motor through the driver based on the corrected target azimuth angle.
Optionally, in another possible design, in a case that the antenna control system further includes a narrowband satellite tuning subsystem, the antenna control method provided in this application may further include:
the antenna control unit detects a configuration instruction through a narrow-band satellite debugging subsystem;
the antenna control unit initiates a configuration request to a remote central control center through a narrow-band satellite debugging subsystem under the condition of detecting a configuration instruction; the configuration instruction is used for representing that a current user selects to switch the tracking satellite; the configuration request is used for indicating the remote center to switch the tracking satellite through remote parameter configuration;
and the antenna control unit determines that the tracking satellite is successfully switched under the condition of detecting the feedback information.
Optionally, in another possible design manner, the antenna control method provided by the present application may further include: the antenna control unit sends prompt information through the narrow-band satellite debugging subsystem under the condition that the current position is determined to be in the boundary partition of the beam coverage area; the prompt message is used for indicating whether the current user selects to switch the tracking satellite or not.
Optionally, in another possible design, in a case that the antenna control system further includes a narrowband satellite tuning subsystem, the antenna control method provided in this application may further include:
the antenna control unit determines whether the narrowband satellite signal is lost under the condition that the antenna signal is determined to be lost;
the antenna control unit recaptures the antenna signal under the condition that the narrowband satellite signal is determined not to be lost, if the antenna signal is not captured within a second preset time period, the azimuth motor is controlled by the driver to carry out blind scanning, and the antenna signal is recaptured in the blind scanning process;
and the antenna control unit continuously monitors the narrow-band satellite signal while correcting the target azimuth angle under the condition of determining that the narrow-band satellite signal is lost, and recaptures the antenna signal if the narrow-band satellite signal is monitored.
Optionally, in another possible design, in a case that the antenna control system further includes a pitch travel switch and a polarization travel switch, before the "determining the target polarization angle and the target pitch angle when the antenna plane is aligned with the current satellite based on the inertial navigation data" may further include:
and based on the positions of the pitching travel switch and the polarization travel switch, zero calibration is carried out on the pitching motor and the polarization motor through the driver.
For the description of the second aspect in the present application, reference may be made to the detailed description of the first aspect; in addition, for the beneficial effects described in the second aspect, reference may be made to the beneficial effect analysis of the first aspect, which is not described herein again.
In the present application, the names of the above-mentioned devices or function modules do not constitute limitations, and in actual implementation, these devices or function modules may appear by other names. Insofar as the functions of the individual devices or functional modules are similar to those of the present application, they are within the scope of the claims and their equivalents.
These and other aspects of the present application will be more readily apparent from the following description.
Drawings
Fig. 1 is a schematic structural diagram of an antenna control system according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of another antenna control system according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of another antenna control system according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of another antenna control system according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of another antenna control system according to an embodiment of the present application;
fig. 6 is a flowchart illustrating an antenna control method according to an embodiment of the present application.
Detailed Description
The following describes an antenna control system and an antenna control method provided in the embodiments of the present application in detail with reference to the accompanying drawings.
The terms "first" and "second" and the like in the specification and drawings of the present application are used for distinguishing different objects or for distinguishing different processes for the same object, and are not used for describing a specific order of the objects.
Furthermore, the terms "including" and "having," and any variations thereof, as referred to in the description of the present application, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.
In the description of the present application, the meaning of "a plurality" means two or more unless otherwise specified.
In addition, the data acquisition, storage, use, processing and the like in the technical scheme of the application all conform to relevant regulations of national laws and regulations.
The existing satellite communication system mainly comprises a static communication system and a moving communication system, wherein the static communication system realizes communication at a fixed position, and the moving communication system realizes communication in motion. The communication-in-motion system needs to realize communication in motion, so that the precision requirement of the communication-in-motion system on the inertial navigation unit is high. However, the cost of the inertial navigation unit with high precision is high, so how to reduce the precision requirement on the inertial navigation unit while ensuring the communication quality of the communication-in-motion system becomes a technical problem to be solved urgently.
In view of the above problems in the prior art, an embodiment of the present application provides an antenna control system, which can implement satellite alignment even when a geomagnetic meter is not deployed in an inertial navigation unit, and can greatly reduce the accuracy requirement on the inertial navigation unit without deploying the geomagnetic meter in the inertial navigation unit. Therefore, the antenna control system provided by the embodiment of the application can reduce the precision requirement on the inertial navigation unit while ensuring the communication quality.
Referring to fig. 1, an embodiment of the present application provides a schematic diagram of a possible structure of an antenna control system. As shown in fig. 1, the antenna control system may include: the navigation system comprises an antenna control unit 01, a pitching motor 02, a polarization motor 03, an azimuth motor 04, at least one driver 05, an antenna surface 06 and an inertial navigation unit 07.
The inertial navigation unit 07 is composed of a gyroscope and an accelerometer, and is used for acquiring inertial navigation data.
The antenna control unit 01 is configured to: determining a target polarization angle and a target pitch angle of the antenna surface 06 and the current satellite in satellite alignment based on inertial navigation data; controlling a pitching motor 02 and a polarization motor 03 through a driver 05 to adjust the current polarization angle of an antenna surface 06 to a target polarization angle and adjust the current pitch angle of the antenna surface 06 to a target pitch angle; controlling an azimuth motor 04 to carry out blind scanning through a driver 05, and determining a target azimuth angle when an antenna surface 06 and a current satellite are opposite to each other based on real-time signal intensity parameters of the antenna surface 06 and the current satellite in the blind scanning process; the azimuth motor 04 is controlled by the driver 05, and the current azimuth angle of the antenna surface 06 is adjusted to the target azimuth angle.
The real-time signal strength parameter may be the network quality of the channel of the antenna face 06. For example, the real-time signal strength parameter in the embodiment of the present application may be an Automatic Gain Control (AGC) value.
It should be noted that fig. 1 illustrates only one driver 05 as an example, and in practical applications, the pitch motor 02, the polarization motor 03, and the azimuth motor 04 may correspond to one driver 05, which is not limited in this embodiment of the present application. For example, as shown in fig. 2, the driver 05 may be composed of a first driver for controlling the pitch motor 02, a second driver for controlling the polarization motor 03, and a third driver for controlling the azimuth motor 04.
Optionally, the antenna control unit 01 is specifically configured to: after the current pitch angle of the antenna surface 06 is adjusted to a target pitch angle, controlling an azimuth motor 04 through a driver 05 to perform blind scanning of an azimuth angle by taking a preset angle as a sampling interval, and acquiring a real-time signal intensity parameter corresponding to the azimuth angle during each sampling in the blind scanning process; determining a current maximum signal strength parameter based on a real-time signal strength parameter corresponding to an azimuth angle during each sampling, and determining a first azimuth angle corresponding to the current maximum signal strength parameter; controlling an azimuth motor 04 through a driver 05 to adjust the current azimuth angle of the antenna surface 06 to a first azimuth angle; the azimuth motor 04 is controlled by the driver 05 to carry out cone scanning, and the target azimuth angle is determined based on the real-time signal intensity parameters acquired in the cone scanning process.
Wherein the preset angle may be a predetermined angle. For example, the preset angle may be 1 °. The blind scan in the embodiment of the present application may be a circumferential scan starting from an azimuth angle of 0 ° to an azimuth angle of 360 °. In order to reduce the monitoring accuracy of the real-time signal strength parameter, the embodiment of the present application may perform blind scanning with a preset angle as a sampling interval, for example, may perform blind scanning with 1 ° as a sampling interval.
In a possible implementation manner, the antenna control unit 01 may perform 360 times of sampling after completing one complete circumferential sampling, that is, scanning from 0 ° to 360 °, determine a maximum of 360 real-time signal strength parameters obtained by the 360 times of sampling as a current maximum signal strength parameter, and determine an azimuth corresponding to the sampling as a first azimuth.
In another possible implementation manner, the antenna control unit 01 may analyze a change rule of the obtained real-time signal strength parameter during the blind scanning, and if it is determined that the real-time signal strength parameter is gradually decreased after increasing from a small value to a certain value, the antenna control unit may stop scanning after determining that the real-time signal strength parameter is gradually decreased for a certain period of time, determine the increased peak value as the current maximum signal strength parameter, and determine the azimuth corresponding to the increased peak value as the first azimuth. In this way, the rate of determining the target azimuth may be increased.
Further, in order to improve the accuracy of the determined target azimuth, the first azimuth may not be directly determined as the target azimuth in the embodiment of the present application, the current azimuth of the antenna surface 06 may be adjusted to the first azimuth first, and then cone scanning is performed, so as to find a more accurate target azimuth through the cone scanning process.
For example, in the cone scanning process, if the real-time signal strength parameter corresponding to a certain scanning position is greater than the current maximum signal strength parameter, it may be determined whether the real-time signal strength parameter corresponding to the scanning position is greater than a second preset value, if so, the cone scanning process may be ended and the azimuth angle corresponding to the scanning position may be determined as the target azimuth angle, and if not, the cone scanning may be continued until the real-time signal strength parameter corresponding to the certain scanning position is found to be greater than the second preset value, and the cone scanning is stopped.
The second preset value may be a predetermined parameter, for example, the second preset value may be 6.4VDC (direct current voltage), that is, the azimuth angle corresponding to the AGC value greater than 6.4VDC may be determined as the target azimuth angle.
Further optionally, in practical applications, an error between the first azimuth angle found in the blind scanning process and the target azimuth angle may be large due to factors such as an error in the pitch angle or polarization angle adjustment process or an error in the blind scanning process, and if the cone scanning is performed based on the first azimuth angle, the target azimuth angle may not be found. Therefore, in the embodiment of the present application, after performing a blind scan, the obtained current maximum signal strength parameter may be compared with a third preset value, if the obtained current maximum signal strength parameter is less than or equal to the third preset value, the blind scan may be performed again, and if the obtained current maximum signal strength parameter is still less than or equal to the third preset value after performing the blind scan again, the pitch angle and the polarization angle may be adjusted again, and then the blind scan may be performed again until the obtained current maximum signal strength parameter is greater than the third preset value.
The third preset value may be a predetermined parameter smaller than the second preset value, and for example, the third preset value may be 4.6VDC.
Optionally, the antenna control unit 01 is further specifically configured to: after the first azimuth corresponding to the current maximum signal strength parameter is determined, if the current maximum signal strength parameter is smaller than a first preset value, a second azimuth is determined according to inertial navigation data, and the first azimuth is corrected based on the second azimuth until the current maximum signal strength parameter corresponding to the corrected first azimuth is larger than or equal to the first preset value.
The first preset value may be a predetermined parameter, and the first preset value is smaller than the second preset value and larger than the third preset value. Illustratively, the first preset value may be 5.2VDC.
In the inertial navigation unit 07 in the embodiment of the present application, an accurate target azimuth cannot be obtained because the geomagnetism meter is not deployed, but an absolute azimuth (i.e., the second azimuth in the embodiment of the present application) can be obtained according to the inertial navigation data, and an angle value of the absolute azimuth is accurate, but a relative angle cannot be known because the geomagnetism meter is not deployed. By the first azimuth obtained by the embodiment of the application, the antenna control unit 01 can already control the antenna surface 06 and the current satellite to realize satellite alignment, and only under the condition of limited sampling precision, the precision of the first azimuth found by blind scanning is limited, and at this time, the signal of the satellite alignment position is not strongest. However, at this time, the relative angle may be obtained according to the first azimuth, and then the absolute azimuth may be corrected according to the relative angle, so that the accuracy of the determined target azimuth may be further improved.
Optionally, the antenna control unit 01 is further configured to: and correcting the target azimuth angle based on a preset adjustment rule by taking the first preset duration as a periodic interval, and controlling the azimuth motor 04 through the driver 05 based on the corrected target azimuth angle.
The first preset time period may be a predetermined time period, such as 1 minute. The preset adjustment rule may be a rule determined in advance. For example, the preset adjustment rule may include a corresponding relationship between a moving distance of the GPS position of the antenna surface 06 and a moving angle of the target azimuth angle, and the antenna control unit 01 may determine the moving angle of the corresponding target azimuth angle according to the moving distance of the GPS position of the antenna surface 06 in the past one minute, and then perform correction compensation on the current target azimuth angle according to the moving angle of the target azimuth angle. Wherein, the GPS positioning device of the antenna surface 06 can be disposed together with the inertial navigation unit 07 in an integrated manner, or disposed separately.
In practical application, the target azimuth angle of the antenna surface 06 may drift, and the drift rules of the target azimuth angle in different scenes are different, so in the embodiment of the present application, a preset adjustment rule may be determined in advance according to an application scene of the antenna control system, and then the target azimuth angle may be dynamically adjusted according to the preset adjustment rule. In this way, the target azimuth can be adjusted without repeated blind scans.
Optionally, referring to fig. 3, the antenna control system may further include a narrowband satellite tuning subsystem 08; the antenna control unit 01 is further configured to: detecting a configuration instruction through a narrow-band satellite debugging subsystem 08; under the condition that a configuration instruction is detected, a configuration request is sent to a remote central control center through a narrow-band satellite debugging subsystem 08; and determining successful switching of the tracking satellite under the condition that the feedback information of the remote center is detected.
The configuration instruction is used for representing that a current user selects to switch the tracking satellite; the configuration request is used for instructing the remote center to switch the tracking satellite through remote parameter configuration.
Optionally, the antenna control unit 01 is further configured to: sending prompt information through a narrow-band satellite debugging subsystem 08 under the condition that the current position is determined to be in a boundary partition of a beam coverage area; the prompt message is used for indicating whether the current user selects to switch the tracking satellite or not.
For example, as shown in fig. 3, the antenna control system may include a narrow band satellite debugging sub-system 08, and the narrow band satellite debugging sub-system 08 may include a display unit, a debugging interface, and an skyward unit. The display unit may be used for a user to perform a selection operation, or may be used for displaying a prompt message. For example, when the antenna control unit 01 determines that the current position is in the boundary partition of the beam coverage area, the display unit may display the prompt information, and the user may perform a selection operation in the display unit according to the prompt information to select whether to switch the tracking satellite. The debugging interface is used for providing a parameter configuration function for the remote center control center, and the skynet unit is used for realizing narrow-band communication.
It will be appreciated that in practical applications, the antenna control system may also issue the notification information in other manners, such as issuing an alarm or the like.
The antenna control system provided by the embodiment of the application can be applied to scenes such as ocean navigation, and in scenes such as ocean navigation, due to the fact that the beam coverage area of a high-orbit satellite is limited, the process of switching and tracking the satellite can be involved, the central frequency points of different satellites are different, the process of switching and tracking the satellite needs to configure a plurality of parameters, and the requirement on the specialty of a user is high. In the embodiment of the application, a narrow-band satellite debugging subsystem 08 is added in an antenna control system, remote parameter configuration can be realized by a remote center through the system, and a local user only needs to perform simple selection operation. Therefore, the embodiment of the application can reduce the professional requirements on the users of the antenna control system in the ocean navigation and other scenes, thereby improving the user experience.
In addition, some faults may also occur in the use process of the antenna control system, which may cause the antenna control system to lose connection with the remote central control center, so optionally, in this embodiment of the application, the use state, the traffic use condition, and the like of the current antenna control system may be periodically reported to the remote central control center through the narrowband satellite debugging subsystem 08.
Optionally, in a case where the antenna control system includes the narrowband satellite tuning sub-system 08, the antenna control unit 01 may be further configured to: in the event that the antenna signal is determined to be lost, determining whether a narrowband satellite signal is lost; under the condition that the narrowband satellite signal is determined not to be lost, the antenna signal is recaptured, if the antenna signal is not captured within a second preset time period, the azimuth motor 04 is controlled by the driver 05 to carry out blind scanning, and the antenna signal is recaptured in the blind scanning process; and under the condition that the loss of the narrow-band satellite signal is determined, the narrow-band satellite signal is continuously monitored while the target azimuth angle is corrected, and if the narrow-band satellite signal is monitored, the antenna signal is acquired again.
Wherein the second preset time period may be a time period determined in advance.
Specifically, when it is determined that the antenna signal is lost and the narrowband satellite signal is lost, it indicates that a large-area shielding occurs, and at this time, the inertial navigation unit 07 may correct and compensate the target azimuth angle based on a preset adjustment rule with a first preset duration as a periodic interval. And in the correction compensation process, the narrow-band satellite signals are captured continuously, and if the narrow-band satellite signals are captured, the antenna signals can be captured again to carry out normal communication, which indicates that the large-area shielding is finished. When the antenna signal is determined to be lost but the narrowband satellite signal is not lost, the antenna signal can be recaptured if partial shielding or lock losing possibly occurs, and the signal can be continuously maintained to be stable if a small part of shielding possibly occurs before the antenna signal is captured; if the antenna signal is not captured within the second preset time period, it indicates that the antenna signal loss is caused by lock loss, and at this time, the antenna signal needs to be captured again through blind scanning, and if the antenna signal is not captured within a certain time period (for example, one hour), the abnormality may be reported to the remote central control center through the narrow-band satellite debugging subsystem 08, and the remote central control center performs signal recovery.
In application scenarios such as ocean navigation, antenna signal loss may occur, which may be caused by unlocking or shielding, and the conventional antenna control system cannot determine which reason is caused, so that it takes a long time to recover the signal after the antenna signal loss. In the embodiment of the present application, the narrowband satellite debugging subsystem 08 is added, and since the signal coverage of the narrowband satellite signal is wider than that of the antenna signal, the embodiment of the present application may further determine the reason for the antenna signal loss according to whether the narrowband satellite signal is lost, so that a corresponding signal recovery strategy may be determined according to the reason for the antenna signal loss, and thus, the antenna signal may be quickly recovered. In addition, by the narrow-band satellite debugging subsystem 08 provided by the embodiment of the application, continuous blind scanning of the antenna control system due to the fact that signals cannot be received when antenna signals are lost due to large-area shielding can be avoided, and therefore useless loss of energy can be reduced. In addition, in the large-area shielding process, the target azimuth can be corrected and compensated based on the preset adjustment rule, so that the phenomenon that a large amount of time is spent for satellite alignment after the target azimuth crosses the shielding can be avoided, and the satellite alignment time is reduced.
It should be noted that, the influence of the process of large-area occlusion on the target pitch angle and the target polarization angle is small, so that the embodiment of the present application may only correct and compensate the target azimuth angle when large-area occlusion occurs.
Optionally, as shown in fig. 4, the antenna control system may further include a pitch travel switch 09 and a polarization travel switch 10; the antenna control unit 01 is further configured to: before determining the target polarization angle and the target pitch angle of the antenna surface 06 when the satellite is aligned with the current satellite based on the inertial navigation data, the tilt motor 02 and the polarization motor 03 are subjected to zero calibration by the driver 05 based on the positions of the tilt travel switch 09 and the polarization travel switch 10.
Wherein, every single move travel switch 09 and polarization travel switch 10 are the spacing part.
Further optionally, in this embodiment of the application, when the antenna control unit 01 is in an initial state, system parameters may be initialized, then a current satellite is determined according to ephemeris data and inertial navigation data, then network access information configuration of the current satellite may be performed through the modem, and after the configuration is completed, based on the positions of the pitch travel switch 09 and the polarization travel switch 10, zero calibration is performed on the pitch motor 02 and the polarization motor 03 through the driver 05.
Optionally, as shown in fig. 5, the antenna control system may further include a routing subsystem and a channel subsystem. The antenna control unit 01 may receive signals of the antenna surface 06 through the receiving channel; the transmission channel mainly includes an Up-conversion power amplifier (BUC) and an attenuator, and the antenna control unit 01 may transmit a signal to the antenna surface 06 through the transmission channel. The routing subsystem may consist of a switch, a modem, and a plurality of communication interfaces (such as Port1 and Port2 of fig. 5) for modem antenna signals and providing a communication interface to the user, as well as providing logging and access control functions.
Further optionally, the antenna control system may further include a power subsystem and a structural subsystem. The power supply subsystem is mainly used for converting an alternating current power supply into a plurality of direct current power supplies and supplying power to the pitching motor 02, the polarization motor 03, the azimuth motor 04, the antenna control unit 01 and the like through the plurality of direct current power supplies. The structural subsystems can include three-axis mechanical rotary tables and the like, and the main function of the structural subsystems is to provide a rotating platform, adjust polarization modes and bear all other subsystems. In addition, the antenna surface 06 can be deployed in an antenna feed subsystem, and the antenna feed subsystem can also include a horn, a feed source and the like besides the antenna surface 06. The antenna surface 06 may include an antenna main surface and an antenna sub-surface.
It is to be understood that, in practical applications, other components may also be included in the antenna control system, and the embodiments of the present application only describe the components related to the present application, and do not limit the antenna control system.
In summary, in the antenna control system provided in the embodiments of the present application, the inertial navigation unit may be composed of a gyroscope and an accelerometer. Generally, when an antenna control unit controls an antenna surface to aim at a satellite with a current satellite, three angles including a target polarization angle, a target azimuth angle and a target pitch angle of the satellite according to data acquired by a gyroscope, an accelerometer and a geomagnetism meter, wherein the data acquired by the geomagnetism meter is generally used for acquiring an accurate target azimuth angle. Compare current inertial navigation unit, the inertial navigation unit of this application does not include the earth magnetometer, so this application can't obtain accurate target azimuth through the earth magnetometer. In the embodiment of the application, the current polarization angle of the antenna surface can be adjusted to the target polarization angle, the current pitch angle of the antenna surface can be adjusted to the target pitch angle, and the target azimuth angle can be found through blind scanning after the adjustment. Because the antenna surface has the strongest signal at the target azimuth, the target azimuth can be determined according to the antenna surface and the real-time signal strength parameters of the current satellite in the blind scanning process. It can be seen that, in the embodiment of the present application, satellite alignment can be achieved even when the geomagnetic meter is not deployed in the inertial navigation unit, and the requirement for the accuracy of the inertial navigation unit can be greatly reduced without deploying the geomagnetic meter in the inertial navigation unit. Therefore, the method and the device can reduce the precision requirement on the inertial navigation unit while ensuring the communication quality. In addition, since the geomagnetic meter is not required to be arranged, the phenomenon that the satellite cannot be aimed due to the interference of the strong magnetic environment on the geomagnetic meter can be avoided.
The antenna control method provided by the embodiment of the application can be suitable for an antenna control system. The following describes an antenna control method provided in an embodiment of the present application in detail.
Referring to fig. 6, the antenna control method provided in the embodiment of the present application includes S601 to S604:
s601, the antenna control unit determines a target polarization angle and a target pitch angle when the antenna surface and the current satellite are in satellite alignment based on inertial navigation data acquired by the inertial navigation unit.
The inertial navigation unit consists of a gyroscope and an accelerometer.
S602, the antenna control unit controls the pitching motor and the polarization motor through the driver, so that the current polarization angle of the antenna surface is adjusted to the target polarization angle, and the current pitch angle of the antenna surface is adjusted to the target pitch angle.
S603, the antenna control unit controls the azimuth motor to carry out blind scanning through the driver, and determines a target azimuth angle when the antenna surface and the current satellite are opposite to each other based on the real-time signal intensity parameters of the antenna surface and the current satellite in the blind scanning process.
S604, the antenna control unit controls the azimuth motor through the driver to adjust the current azimuth angle of the antenna surface to the target azimuth angle.
Optionally, in a possible design, the "controlling an azimuth motor by an antenna control unit through a driver to perform blind scanning, and determining a target azimuth angle when the antenna plane and a current satellite are aligned with each other based on a real-time signal strength parameter of the antenna plane and the current satellite in the blind scanning process" may include:
the antenna control unit controls an azimuth motor to perform blind scanning of an azimuth angle by taking a preset angle as a sampling interval through a driver, and acquires a real-time signal intensity parameter corresponding to the azimuth angle during each sampling in the blind scanning process;
the antenna control unit determines the current maximum signal strength parameter based on the real-time signal strength parameter corresponding to the azimuth angle during each sampling, and determines a first azimuth angle corresponding to the current maximum signal strength parameter;
the antenna control unit controls the azimuth motor through a driver to adjust the current azimuth angle of the antenna surface to a first azimuth angle;
the antenna control unit controls the azimuth motor to carry out cone scanning through the driver, and determines a target azimuth angle based on real-time signal strength parameters acquired in the cone scanning process.
Optionally, in another possible design, before the "antenna control unit controls the azimuth motor to perform cone scanning through the driver", the antenna control method provided in this embodiment of the present application may further include:
if the current maximum signal strength parameter is smaller than the first preset value, the antenna control unit determines a second azimuth angle according to the inertial navigation data, and corrects the first azimuth angle based on the second azimuth angle until the current maximum signal strength parameter corresponding to the corrected first azimuth angle is larger than or equal to the first preset value.
Optionally, in another possible design, the antenna control method provided by the present application may further include:
and the antenna control unit corrects the target azimuth angle based on a preset adjustment rule by taking the first preset duration as a periodic interval, and controls the azimuth motor through the driver based on the corrected target azimuth angle.
Optionally, in another possible design, in a case that the antenna control system further includes a narrowband satellite tuning subsystem, the antenna control method provided in this application may further include:
the antenna control unit detects a configuration instruction through a narrow-band satellite debugging subsystem;
the antenna control unit initiates a configuration request to a remote central control center through a narrow-band satellite debugging subsystem under the condition of detecting a configuration instruction; the configuration instruction is used for representing that a current user selects to switch the tracking satellite; the configuration request is used for instructing the remote center to switch the tracking satellite through remote parameter configuration;
and the antenna control unit determines that the tracking satellite is successfully switched under the condition of detecting the feedback information.
Optionally, in another possible design, the antenna control method provided by the present application may further include: the antenna control unit sends prompt information through the narrow-band satellite debugging subsystem under the condition that the current position is determined to be in the boundary partition of the beam coverage area; the prompt message is used for indicating whether the current user selects to switch the tracking satellite or not.
Optionally, in another possible design manner, in a case that the antenna control system further includes a narrowband satellite debugging subsystem, the antenna control method provided in the embodiment of the present application may further include:
the antenna control unit determines whether the narrowband satellite signal is lost under the condition that the antenna signal is determined to be lost;
the antenna control unit recaptures the antenna signal under the condition that the narrowband satellite signal is determined not to be lost, if the antenna signal is not captured within a second preset time period, the azimuth motor is controlled by the driver to carry out blind scanning, and the antenna signal is recaptured in the blind scanning process;
and the antenna control unit continuously monitors the narrow-band satellite signal while correcting the target azimuth angle under the condition of determining that the narrow-band satellite signal is lost, and recaptures the antenna signal if the narrow-band satellite signal is monitored.
Optionally, in another possible design, in a case that the antenna control system further includes a pitch travel switch and a polarization travel switch, before the "determining the target polarization angle and the target pitch angle when the antenna plane is aligned with the current satellite based on the inertial navigation data" may further include:
and based on the positions of the pitching travel switch and the polarization travel switch, carrying out zero calibration on the pitching motor and the polarization motor through a driver.
For the explanation of the related content in this embodiment, reference may be made to the above-mentioned embodiments related to the antenna control system, and details are not repeated herein.
The above description is only an embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions within the technical scope of the present disclosure should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. An antenna control system is characterized by at least comprising an antenna control unit, a pitching motor, a polarization motor, an azimuth motor, at least one driver, an antenna surface and an inertial navigation unit; the inertial navigation unit consists of a gyroscope and an accelerometer and is used for acquiring inertial navigation data;
the antenna control unit is configured to: determining a target polarization angle and a target pitch angle of the antenna surface when the antenna surface is aligned with the current satellite based on the inertial navigation data;
controlling the pitching motor and the polarization motor through the driver, so that the current polarization angle of the antenna surface is adjusted to the target polarization angle, and the current pitch angle of the antenna surface is adjusted to the target pitch angle;
controlling the azimuth motor to carry out blind scanning through the driver, and determining a target azimuth angle when the antenna surface and the current satellite are opposite to each other based on real-time signal strength parameters of the antenna surface and the current satellite in the blind scanning process;
and controlling the azimuth motor through the driver to adjust the current azimuth angle of the antenna surface to the target azimuth angle.
2. The antenna control system of claim 1, wherein the antenna control unit is specifically configured to:
after the current pitch angle of the antenna surface is adjusted to the target pitch angle, the azimuth motor is controlled by the driver to perform blind scanning of an azimuth angle at a preset angle as a sampling interval, and the real-time signal strength parameter corresponding to the azimuth angle during each sampling is acquired in the blind scanning process;
determining a current maximum signal strength parameter based on the real-time signal strength parameter corresponding to the azimuth angle during each sampling, and determining a first azimuth angle corresponding to the current maximum signal strength parameter;
controlling the azimuth motor through the driver to adjust the current azimuth angle of the antenna surface to the first azimuth angle;
and controlling the azimuth motor to carry out cone scanning through the driver, and determining the target azimuth angle based on the real-time signal intensity parameters acquired in the cone scanning process.
3. The antenna control system of claim 2, wherein the antenna control unit is further specifically configured to:
after the first azimuth corresponding to the current maximum signal strength parameter is determined, if the current maximum signal strength parameter is smaller than a first preset value, a second azimuth is determined according to the inertial navigation data, and the first azimuth is corrected based on the second azimuth until the current maximum signal strength parameter corresponding to the corrected first azimuth is larger than or equal to the first preset value.
4. The antenna control system of claim 1, wherein the antenna control unit is further configured to:
and correcting the target azimuth angle based on a preset adjustment rule by taking the first preset duration as a periodic interval, and controlling the azimuth motor through the driver based on the corrected target azimuth angle.
5. The antenna control system of claim 1, further comprising a narrowband satellite commissioning subsystem; the antenna control unit is further configured to:
detecting a configuration instruction through the narrow-band satellite debugging subsystem;
under the condition that the configuration instruction is detected, a configuration request is sent to a remote central control center through the narrow-band satellite debugging subsystem; the configuration instruction is used for representing that a current user selects to switch the tracking satellite; the configuration request is used for instructing the remote center to switch the tracking satellite through remote parameter configuration;
in the event that feedback information is detected, a successful handoff of the tracking satellite is determined.
6. The antenna control system of claim 5, wherein the antenna control unit is further configured to:
sending prompt information through the narrow-band satellite debugging subsystem under the condition that the current position is determined to be in a boundary partition of a beam coverage area; the prompt information is used for indicating whether the current user selects to switch the tracking satellite or not.
7. The antenna control system of claim 1, further comprising a narrowband satellite commissioning subsystem; the antenna control unit is further configured to:
in the event that it is determined that the antenna signal is lost, determining whether a narrowband satellite signal is lost;
under the condition that the narrowband satellite signal is determined not to be lost, recapturing the antenna signal, if the antenna signal is not captured within a second preset time period, controlling the azimuth motor to carry out blind scanning through the driver, and recapturing the antenna signal in the blind scanning process;
and under the condition that the narrowband satellite signal is determined to be lost, continuously monitoring the narrowband satellite signal while correcting the target azimuth angle, and if the narrowband satellite signal is monitored, re-capturing the antenna signal.
8. The antenna control system of claim 1, further comprising a tilt travel switch and a polarization travel switch; the antenna control unit is further configured to:
and performing zero calibration on the pitching motor and the polarization motor through the driver based on the positions of the pitching travel switch and the polarization travel switch before determining the target polarization angle and the target pitch angle when the antenna surface is aligned with the current satellite based on the inertial navigation data.
9. An antenna control method applied to the antenna control system according to any one of claims 1 to 8, comprising:
the antenna control unit determines a target polarization angle and a target pitch angle when the antenna surface and the current satellite are in satellite alignment based on inertial navigation data acquired by the inertial navigation unit; the inertial navigation unit consists of a gyroscope and an accelerometer;
the antenna control unit controls the pitching motor and the polarization motor through a driver, so that the current polarization angle of the antenna surface is adjusted to the target polarization angle, and the current pitch angle of the antenna surface is adjusted to the target pitch angle;
the antenna control unit controls an azimuth motor to carry out blind scanning through the driver, and determines a target azimuth angle when the antenna surface and the current satellite are opposite to each other based on real-time signal intensity parameters of the antenna surface and the current satellite in the blind scanning process;
and the antenna control unit controls the azimuth motor through the driver to adjust the current azimuth angle of the antenna surface to the target azimuth angle.
10. The antenna control method according to claim 9, wherein after the adjusting the current azimuth angle of the antenna plane to the target azimuth angle, the antenna control method further comprises:
controlling the azimuth motor to carry out blind scanning of an azimuth angle by using a preset angle as a sampling interval through the driver, and acquiring the real-time signal intensity parameter corresponding to the azimuth angle during each sampling in the blind scanning process;
determining a current maximum signal strength parameter based on the real-time signal strength parameter corresponding to the azimuth angle during each sampling, and determining a first azimuth angle corresponding to the current maximum signal strength parameter;
controlling the azimuth motor through the driver to adjust the current azimuth angle of the antenna surface to the first azimuth angle;
and controlling the azimuth motor to carry out cone scanning through the driver, and determining the target azimuth angle based on the real-time signal intensity parameters acquired in the cone scanning process.
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| CN202210896657 | 2022-07-28 | ||
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116366131A (en) * | 2023-03-22 | 2023-06-30 | 中国电信股份有限公司卫星通信分公司 | Mobile terminal and satellite communication adjusting method, device and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116366131A (en) * | 2023-03-22 | 2023-06-30 | 中国电信股份有限公司卫星通信分公司 | Mobile terminal and satellite communication adjusting method, device and system |
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