CN117040608B - Vehicle-mounted satellite relay - Google Patents
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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
- H04B7/18513—Transmission in a satellite or space-based system
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
- H04B1/3822—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving specially adapted for use in vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
- H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
- H04B7/06—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station
- H04B7/0613—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station using simultaneous transmission
- H04B7/0615—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station using simultaneous transmission of weighted versions of same signal
- H04B7/0617—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station using simultaneous transmission of weighted versions of same signal for beam forming
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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
- H04B7/18517—Transmission equipment in earth stations
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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
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/08—Protocols for interworking; Protocol conversion
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention discloses a vehicle-mounted satellite relay which comprises a gesture sensing and self-adaptive antenna satellite-to-ground communication module, wherein the self-adaptive antenna satellite-to-ground communication module comprises a gesture sensor, an antenna module and a control module; the attitude sensing and self-adaptive antenna satellite-ground communication module can timely and practically master and predict the motion state of the vehicle, adjust the beam direction according to the attitude of the vehicle, ensure the beam moment to aim at the satellite, and realize the maximization of the antenna gain. Compared with the traditional vehicle-mounted satellite network terminal, the invention has higher antenna pointing precision and more stable connection quality, and can provide better communication service in complex environments.
Description
Technical Field
The invention relates to the technical field of satellite networks, in particular to a vehicle-mounted satellite relay.
Background
The vehicle-mounted satellite relay is mainly used for assisting a common mobile network terminal around a vehicle to access a satellite network for high-speed data transmission, and the mobile terminal is firstly accessed into the vehicle-mounted satellite relay and is connected with the satellite network through the vehicle-mounted satellite relay. The vehicle-mounted satellite relay has important significance for real-time communication between a vehicle team entering an unmanned area and the outside. The existing similar technology products mainly comprise satellite network terminals (such as a star link system terminal and the like), vehicle-mounted satellite trunk telephones and satellite 'communication-in-motion' terminals. The satellite network terminal is large in size, lacks assistance of a motion sensing sensor, cannot be used in a motion scene, and is not suitable for vehicles such as vehicles; the vehicle-mounted satellite relay telephone only can support the common voice telephone service of specific satellite telephone equipment, can not support the access of a common mobile terminal, and can not support the multimedia high-speed service flow; satellite "mobile communication" terminals, although deployed on vehicles for communication using satellite networks, do not support efficient relay links and therefore cannot provide efficient satellite network services for common mobile terminals (e.g., smartphones and notebook computers).
The invention aims to design a vehicle-mounted satellite relay which provides satellite network high-speed data transmission service for common mobile terminals of on-board personnel. The main technical problems existing in vehicle-mounted satellite relay currently include:
1. relay link coverage design and implementation.
2. Attitude sensing and satellite-ground link antenna correction techniques.
3. Flexible form design and portability.
4. The communication protocol is compatible with the conversion implementation.
Disclosure of Invention
The invention aims to provide a vehicle-mounted satellite relay so as to improve the pointing precision of an antenna and the link connection quality.
Therefore, the invention provides a vehicle-mounted satellite relay, which adopts the following technical scheme:
the vehicle-mounted satellite relay comprises a gesture sensing and self-adaptive antenna satellite-to-ground communication module, wherein the self-adaptive antenna satellite-to-ground communication module comprises a gesture sensor, an antenna module and a control module;
the attitude sensor is connected with the control module and is configured to acquire the vehicle attitude change amount and feed the vehicle attitude change amount to the control module;
the antenna module is connected with the control module and is configured to receive signals and feed the signals to the control module;
the control module is configured to:
presetting a threshold value, and based on the vehicle posture change amount, enabling the antenna module to expand the beam width under the condition that the vehicle posture change amount is larger than the threshold value, and enabling the antenna module to improve the signal gain under the condition that the vehicle posture change amount is smaller than the threshold value;
acquiring received signal vectorss(n) Using the formulaCalculating covariance matrix estimate, whereinNRepresenting the total number of all reference signals received,s H (n) Represent the firstnThe transposed conjugate of the matrix of the way reference signals,na reference numeral representing a received signal; eigenvalue decomposition is performed on covariance matrix estimation values>WhereinUIs composed of eigenvectors obtained after eigenvalue decomposition of matrix Q,U H represents the transposed conjugate of U, ">Representing a diagonal matrix composed of decomposed eigenvalues; sorting the eigenvalues, separating out a signal subspace and a noise subspace, establishing a spectral function according to the separated signal subspace and the noise subspace, and performing traversal search to obtain the expected directions of all beams>；
Based on the vehicle attitude change amount, the vehicle attitude change amount includes acceleration and angular acceleration, calculates an angular offset amount and displacement of each azimuth according to a geometric relationship, converts into a compensation amount in the opposite direction, and compensates the corresponding weight according to the compensation amount calculation；
According to all beam desired directionsCalculating optimal weight of optimization target by using self-adaptive tracking method>；
Determining final weightsAnd outputting the final weight to a phase shifter, and controlling the antenna module to aim at the satellite through the phase shifter.
Further, the method is based on all beam expected directionsCalculating optimal weight of optimization target by using self-use tracking method>Comprising:
taking the minimum array output power as an optimization function, taking the product of the conjugate transpose of the target direction weight and the expected direction guide vector as a constant as a constraint condition, and solving by using Lagrangian functional to obtain an optimal target weight。
Further, the antenna module comprises a first antenna carrier, a first antenna array, a first shielding panel, a second antenna carrier, a second antenna array, a second shielding panel, a satellite-to-ground link antenna carrier and a satellite-to-ground link antenna array;
the first antenna array is arranged on the first antenna carrier, the second antenna array is arranged on the second antenna carrier, and the satellite-ground link antenna array is arranged on the satellite-ground link antenna carrier;
one end of the second antenna carrier is connected with the first antenna carrier through a first shielding panel, and the other end of the second antenna carrier is connected with the satellite-ground link antenna carrier through a second shielding panel.
Further, the system also comprises a relay link ground communication module, wherein the relay link ground communication module is configured to:
under the condition that the vehicle is in a running state, entering an in-vehicle small-range coverage mode, wherein in the in-vehicle small-range coverage mode, the antenna module covers an in-vehicle terminal;
and under the condition that the vehicle is not in a running state, determining a relay running mode according to an input instruction, wherein the relay running mode comprises a closing mode and a remote directional antenna WiFi mode, the adaptive antenna satellite-ground communication module stops working under the closing mode, and the antenna module covers the inside and the outside of the vehicle under the remote directional antenna WiFi mode.
Further, in the in-vehicle small-range coverage mode, the in-vehicle terminal accesses the relay link freely, and in the remote directional antenna WiFi mode, the out-vehicle terminal accesses the relay link in a paid mode.
Further, the system further comprises a communication protocol compatibility and conversion module, wherein the communication protocol compatibility and conversion module is configured to convert a data format of a satellite communication protocol and a data format of a ground communication protocol so as to enable the satellite communication system and the ground communication system to be compatible with each other.
Further, the communication protocol compatible and translating module includes:
the data storage and processing module is configured to finish the storage of data and the processing of signals, judge the data format of the satellite communication protocol, and send a control signal to the gesture sensing and self-adaptive antenna module under the condition that the data format of the satellite communication protocol is consistent with the data format of the ground communication protocol;
the protocol conversion and data forwarding module is configured to perform layering processing, reading, checking and unpacking operations on the received data according to a layering architecture model corresponding to the protocol according to the judgment of the data storage and processing module when the data format of the satellite communication protocol is inconsistent with the data format of the ground communication protocol, so as to obtain original data, ensure the accuracy of data receiving through an error checking method of a data link layer protocol, and send a retransmission signal to the data storage and processing module to request retransmission of the data packet if the error is checked; if the test is correct, the original data is cached, the original data is modulated and packaged layer by layer according to a hierarchical architecture model corresponding to the data format of the ground communication protocol, and the packaged data is sent to the data storage and processing module.
Further, the protocol conversion and data forwarding module is further configured to perform modulation and layer-by-layer encapsulation on the original data, then perform inspection on the encapsulated data, and clear the cache data after the inspection is qualified;
the data storage and processing module is further configured to store the received data after receiving the data of the protocol conversion and data forwarding module.
Further, the protection device comprises a shell, a support and a connecting component, wherein the control module is arranged in the shell, the shell is fixed on the support through the connecting component, and a heat dissipation hole is formed in the shell and a shock pad is arranged at the bottom of the shell.
Further, the connecting assembly is a U-shaped lock, two brackets are arranged, the two brackets are arranged at the top of the vehicle, and the shell is fixed on the two brackets through the U-shaped lock.
The beneficial effects of the invention are as follows:
1. the vehicle-mounted satellite relay designed by the invention can provide more efficient, more stable, more flexible and more convenient communication service. The vehicle communication system can solve the communication problem that the vehicle runs in the area with weak or unstable communication signals, improves the communication quality and reliability, and reduces the communication cost and the maintenance difficulty.
2. The relay link design method and the coverage implementation scheme of the vehicle-mounted satellite relay can solve the problem of insufficient coverage of the relay link, can cover a wider communication range, and ensure that a vehicle can obtain stable communication signals when running in different areas. The method can realize the rapid establishment of the relay link and improve the real-time performance and reliability of communication. Different types of communication equipment can be compatible, and the flexibility and usability of communication are improved.
3. The method for designing the gesture sensing and self-adaptive antenna of the vehicle-mounted satellite relay can timely master and predict the motion state of the vehicle, adjust the beam direction according to the gesture of the vehicle, ensure the beam moment to aim at the satellite, and realize the maximization of the antenna gain. Compared with the traditional vehicle-mounted satellite network terminal, the invention has higher antenna pointing precision and more stable connection quality, and can provide better communication service in complex environments.
4. The portable foldable detachable appearance design method of the vehicle-mounted satellite relay can solve the problems of difficult installation and adjustment and different vehicle forms and adaptation, has flexible appearance design and portable scheme, performs installation and adjustment according to specific conditions of the vehicle, and improves the installation convenience and operability. The method can have various installation modes and various installation angles, ensure to adapt to different vehicle forms and installation requirements, and improve the flexibility and usability of communication. Can meet the requirements of different users.
5. The communication protocol compatibility and conversion method of the vehicle-mounted satellite relay can solve the compatibility problem between different communication protocols and devices, can support various communication protocols and devices, including satellite communication, wireless communication and the like, and improves the flexibility and usability of communication. The conversion and protocol adaptation between the communication protocols can be realized, and the communication between different devices can be ensured to be smoothly carried out. The method can realize rapid protocol switching and equipment switching, and ensure the stability and durability of a communication link.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.
Fig. 1 shows a block diagram of an in-vehicle satellite relay according to an embodiment of the present invention.
Fig. 2 shows a flow chart of implementing adaptive tracking for an in-vehicle satellite relay according to an embodiment of the invention.
Fig. 3 shows a schematic diagram of an operation mode of an in-vehicle satellite relay according to an embodiment of the present invention.
Fig. 4 shows a block diagram of an antenna module for an in-vehicle satellite relay according to an embodiment of the present invention.
Fig. 5 shows a block diagram of an in-vehicle satellite relay when a relay link ground communication module is provided according to an embodiment of the present invention.
Fig. 6 shows a flowchart of an implementation of an overlay scheme for an on-board satellite relay when a relay link terrestrial communication module is provided according to an embodiment of the present invention.
Fig. 7 shows a block diagram of an in-vehicle satellite relay when three modules are provided according to an embodiment of the present invention.
Fig. 8 is a block diagram illustrating a communication protocol compatible and translating module of an in-vehicle satellite relay according to an embodiment of the present invention.
Fig. 9 is a flowchart of a protocol conversion implemented by a communication protocol compatible and conversion module of an on-board satellite relay according to an embodiment of the present invention.
Fig. 10 shows a network protocol hierarchical architecture model structure diagram according to an embodiment of the present invention, in which (a) represents a terrestrial network protocol and (b) represents a satellite network protocol.
Fig. 11 shows a block diagram of a protection device for an in-vehicle satellite relay according to an embodiment of the present invention, in which (a) represents a front view, (b) represents a left view, (c) represents a top view, and (d) represents a perspective view.
In the figure: 100. the attitude sensing and self-adaptive antenna satellite-ground communication module; 101. an attitude sensor; 102. an antenna module; 1021. a first antenna carrier; 1022. a first antenna array; 1023. a first shielding panel; 1024. a second antenna carrier; 1025. a second antenna array; 1026. a second shielding panel; 1027. satellite-ground link antenna carrier; 1028. a satellite-to-ground link antenna array; 103. a control module; 200. a relay link ground communication module; 300. a communication protocol compatibility and conversion module; 301. protocol conversion and data forwarding module; 302. a data storage and processing module; 400. a bracket; 500. a housing; 600. u-shaped lock.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples.
The embodiment of the invention provides a vehicle-mounted satellite relay, which comprises a gesture sensing and self-adaptive antenna satellite-to-ground communication module 100 as shown in fig. 1, wherein the gesture sensing and self-adaptive antenna satellite-to-ground communication module 100 comprises a gesture sensor 101, an antenna module 102 and a control module 103; the attitude sensor is connected with the control module and is configured to acquire the vehicle attitude change amount and feed the vehicle attitude change amount to the control module; the antenna module is connected to the control module and configured to receive signals and feed the signals to the control module.
It should be noted that the attitude sensor may be implemented as a combination of a plurality of sensors, and may include a gyroscope and an accelerometer, for example.
The control module is configured to implement an adaptive tracking procedure, as shown in fig. 2, which includes:
presetting a threshold value, and based on the vehicle posture change amount, enabling the antenna module to expand the beam width under the condition that the vehicle posture change amount is larger than the threshold value, and enabling the antenna module to improve the signal gain under the condition that the vehicle posture change amount is smaller than the threshold value;
acquiring received signal vectorss(n) Using the formulaCalculating covariance matrix estimate, wherein N represents the total number of all received reference signals,s H (n) Representing the transposed conjugate of the nth reference signal matrix,nrepresenting n paths of reference signals; eigenvalue decomposition is performed on covariance matrix estimation values>WhereinUIs composed of eigenvectors obtained after eigenvalue decomposition of matrix Q,U H represents the transpose conjugate of U; sorting the eigenvalues, separating out a signal subspace and a noise subspace, establishing a spectral function according to the separated signal subspace and the noise subspace, and performing traversal search to obtain the expected directions of all beams>；
Based on the vehicle attitude change amount, the vehicle attitude change amount includes acceleration and angular acceleration, calculates an angular offset amount and displacement of each azimuth according to a geometric relationship, converts into a compensation amount in the opposite direction, and compensates the corresponding weight according to the compensation amount calculationThe method comprises the steps of carrying out a first treatment on the surface of the According to all beam desired directions->，
Calculating optimal weight of optimization target by using self-use tracking methodThe method comprises the steps of carrying out a first treatment on the surface of the Determining final weight->Will beAnd outputting the final weight to a phase shifter, and controlling the antenna module to aim at the satellite through the phase shifter.
The in-vehicle satellite relay is illustratively mounted on a vehicle, as shown in fig. 3, and communicates with the satellite through the in-vehicle satellite relay. And a gyroscope and an accelerometer are built in the attitude sensing and self-adaptive antenna satellite-ground communication module, so that the directional change of the antenna is mastered and predicted in real time, the antenna is ensured to be aligned with a satellite at any time, the maximization of the antenna gain is realized, and the self-adaptive tracking of the wave beam is realized through the attitude sensing and self-adaptive antenna satellite-ground communication module. After the direction of arrival and the vehicle attitude change quantity are obtained, the phase shift value and the attitude compensation value of the antenna array are calculated, and the final weight is combined and output to realize self-adaptive tracking of terminal equipment such as satellites. Firstly, analyzing the variation of a sensor part to determine the running road condition of a vehicle, setting a threshold value for the running road condition, determining the magnitude of the threshold value according to the average value of the variation of the sensor when the vehicle runs on different road conditions, judging that the road condition is poor if the average value of the variation of each value of the sensor in unit time is larger than the threshold value, and otherwise, judging that the road condition is good. If the judging result is poor road conditions, the beam width is enlarged, and the influence of vehicle shake on beam tracking is reduced; if the road condition is judged to be excellent, a narrower wave beam is used, and the signal gain is improved.
Estimation of direction of arrival using subspace-like algorithms based on covariance matrix eigen-decomposition theory, a received signal vector is obtained by analyzing a received reference signalCalculating covariance matrix of signalPerforming eigenvalue decomposition, sorting eigenvalues according to the size, forming larger general eigenvalues into signal submatrices, using smaller eigenvalue parts as noise submatrices, and decomposing covariance matrix intoTraversing all directions through spectral function analysis containing direction parameters, and determining the direction of the maximum value as the expected direction of arrival;
the received signal of each antenna is firstly mixed, filtered, ADC and down-converted to obtain digital signals, meanwhile, the expected direction value of the wave direction estimation technology is obtained, and the self-adaptive algorithm is used for calculating the merging weight of each signal. The self-adaptive tracking algorithm can be determined by adopting self-adaptive algorithms such as SMI, the minimum array output power is used as an optimization function, the product of the conjugate transpose of the target direction weight and the expected direction guide vector is used as a constraint condition, and the optimal phase shifter weight is solved by using Lagrange functional.
The attitude sensor acquires the direction acceleration and the angular acceleration of the vehicle, calculates the horizontal displacement and the angular displacement of the vehicle by combining the running speed of the vehicle and a physical formula, calculates the displacement of the target direction according to the geometric relationship, takes the displacement as the compensation quantity of the expected direction, sets the calculation period as u, and finally combines and calculates the compensated expected direction.
Realizing high-precision real-time tracking function. Predicting through the sensor data, judging the driving environment of the vehicle, if the judging result is poor road conditions, expanding the beam width, improving the coverage area of the directional beam, and reducing the interference of the vehicle posture change on the beam direction change; if the road condition is judged to be excellent, a narrower wave beam is used, so that interference is suppressed, the signal to noise ratio is improved, and a satellite receiving end obtains larger signal gain.
As shown in fig. 4, the antenna module 102 includes a first antenna carrier 1021, a first antenna array 1022, a first shield panel 1023, a second antenna carrier 1024, a second antenna array 1025, a second shield panel 1026, a satellite link antenna carrier 1027, and a satellite link antenna array 1028; wherein the first antenna array 1022 is disposed on the first antenna carrier 1021, the second antenna array 1025 is disposed on the second antenna carrier 1024, and the satellite-to-ground link antenna array 1028 is disposed on the satellite-to-ground link antenna carrier 1027; one end of the second antenna carrier 1024 is connected to the first antenna carrier 1021 through a first shield panel 1023, and the other end of the second antenna carrier 1024 is connected to the satellite-to-ground link antenna carrier 1027 through a second shield panel 1026.
The satellite-ground link antenna array 1028 is a pair satellite antenna array, the first antenna array 1022 and the second antenna array 1025 are pair user antenna arrays, the first antenna array 1022 is disposed in the vehicle for a pair in-vehicle terminal, and the second antenna array 1025 is disposed outside the vehicle for a pair out-of-vehicle terminal in combination with fig. 3. The first antenna array 1022 and the satellite link antenna array 1028 employ planar circular arrays, and the second antenna array 1025 employs cylindrical antenna arrays. The antenna array antenna surface of the satellite-ground link antenna array 1028 faces upwards and is positioned at the upper part of the antenna module; the first antenna array 1022 is located at the bottom of the satellite-to-ground link antenna array 1028 with the antenna facing downward; the second antenna array 1025 adopts a cylindrical structure and three-dimensional arrangement, so that the user terminals in a certain range around the vehicle can all adopt a beam forming function, the strength of the received signals of the user is improved, and the purpose of energy conservation is achieved. A metal plate (i.e., first shield panel 1023 and second shield panel 1026) is added between the three antenna arrays to isolate interference between the array signals.
As shown in fig. 5, the vehicle satellite relay further includes a relay link terrestrial communication module 200, where the relay link terrestrial communication module 200 provides for selection of multiple access modes for small-range wireless coverage and can set coverage as desired, as shown in fig. 6. The first mode is a coverage mode of a small range in a vehicle, and the terminal in the vehicle can access the relay link freely. The mode is suitable for the communication requirement of a small range in the vehicle, and the coverage power of the relay link is small so as to achieve the purpose of saving energy. The second mode is a wide coverage mode, the coverage range can reach hundreds of meters, and the terminal can pay to access the relay link. Meanwhile, the terminal which is recorded in advance is provided with free access service so as to meet wider communication requirements. The relay station has a memory function, when the terminal accesses the relay link in a small-range energy-saving coverage mode, the terminal can access the relay link freely in a large-range coverage mode, more convenient and efficient service is provided, and meanwhile, energy consumption is saved. In addition, the coverage mode of the relay link can be automatically selected according to a sensor design algorithm, for example, when the sensor detects that the vehicle is in a driving state, a small-range coverage mode is selected, and only the antenna array downwards covers the terminal in the vehicle, so that energy is saved. When the sensor detects that the vehicle is in a flameout stop state, a user is prompted to select a relay operation mode, wherein the relay operation mode comprises a closing mode, a remote directional antenna WiFi mode and a portable mode, different coverage areas can be freely selected according to requirements, and various different communication requirements are met.
As shown in fig. 7, the on-board satellite relay further includes a communication protocol compatibility and conversion module 300, where the communication protocol compatibility and conversion module 300 is configured to implement communication protocol compatibility and conversion, and solve the problem of communication protocol incompatibility between different communication systems, so as to implement data intercommunication. The method can convert the data format of one communication protocol into the data format of another communication protocol, so that the satellite and ground communication systems can be compatible with each other.
As shown in fig. 8, the communication protocol compatible and conversion module 300 includes a protocol conversion and data forwarding module 301 and a data storage and processing module 302. Wherein the data storage and processing module 302 is configured to perform data storage and signal processing. And through judging the current state, a control signal is sent to the gesture sensing and self-adaptive antenna module so as to ensure the stability of communication transmission among devices. The protocol conversion and data forwarding module 301 is configured to implement conversion and forwarding between different communication protocols.
As shown in fig. 9, the communication protocol compatible and conversion module 300 establishes a protocol database, and after the receiving side completes the data protocol judgment, performs layering processing, reading, checking and unpacking operations on the received data according to the layering architecture model corresponding to different protocols, so as to obtain the original data. The accuracy of data reception is ensured by an error checking method of the data link layer protocol. If the test is in error, a retransmission signal is sent to request retransmission of the data packet; if the test is correct, the original data is cached, so that when the test is wrong after the layer-by-layer packaging, the data can be quickly read from the storage module and the modulation and packaging can be carried out again. Then, the data are modulated and packaged layer by layer according to a hierarchical architecture model corresponding to the data protocol of the transmitting side. If the verification is correct, a signal is sent to the storage module, the cache data is erased, and the packaged data is sent to the terminal.
For example, when the received data is a terrestrial network protocol and the received data is determined to be the terrestrial network protocol by the protocol, the original data is obtained according to the hierarchical read, verify and depacketize operation from bottom to top as shown in fig. 10 (a). If the test is correct, the original data is buffered as shown in fig. 7, and then modulated from top to bottom and packaged layer by layer as shown in fig. 10 (b). If the verification is correct, a signal is sent to the storage module, the cache data is erased, and the packaged data is sent to the terminal.
As shown in fig. 11, a protection device for installing a core module is designed, which has a shape of a vehicle-mounted repeater having a characteristic of being detachable and being placed on a roof, is firm and has a small wind resistance, can resist heavy wind and rain, and can be carried indoors. The material is light, is applicable to different motorcycle types. The bottom is formed of two roof-mounted brackets 400, each of which is no more than 5cm in size and approximately 180cm in length. The brackets 400 each have a clip at each end that moves through a bottom slide to accommodate different vehicle widths. In order to improve the wave transmittance, the housing 500 of the in-vehicle repeater is made of a polymer composite material (for example, PPA, PPO, PC). The height of the vehicle-mounted repeater housing is about 20cm. The overall height of the roof support combined with the vehicle-mounted relay is not more than 30cm. Among other things, PPA materials have the advantage of high dielectric constant (> 6) and low loss medium, and such materials are capable of effectively propagating electromagnetic waves so that they can pass through the housing with low loss for communication with satellites. The housing 500 is secured to the bracket 400 by a U-lock 600 and is streamlined to reduce wind resistance. The housing 500 effectively protects the repeater from dust, moisture, foreign matter and other external factors entering the inside of the apparatus, and ensures that the internal components are not affected by damage, corrosion or short circuit problems, etc., thereby improving the stability and reliability of the apparatus. The side face of the vehicle-mounted repeater is provided with a heat dissipation hole, and the bottom end of the vehicle-mounted repeater is provided with a shock pad. The repeater can produce heat when the operation, and the heat dissipation structure of side helps providing good heat dissipation and ventilation, prevents equipment from overheated, ensures that the operating temperature of equipment is in the appropriate range, avoids overheated influence to performance and life-span. In addition, the impact of mechanical vibration on equipment can be reduced by adopting damping materials, damping structures or damping pads and the like, and the stability and the shock resistance of the equipment are improved.
The vehicle-mounted repeater is characterized by comprising a core processing module for protecting vehicle-mounted satellite repeating, wherein the core processing module comprises a control module, a repeating link ground communication module and a communication protocol compatibility and conversion module.
The above embodiments are only for illustrating the present invention, not for limiting the present invention, and various changes and modifications may be made by one of ordinary skill in the relevant art without departing from the spirit and scope of the present invention, and therefore, all equivalent technical solutions are also within the scope of the present invention, and the scope of the present invention is defined by the claims.
Claims (10)
1. The vehicle-mounted satellite relay is characterized by comprising a gesture sensing and self-adaptive antenna satellite-to-ground communication module, wherein the self-adaptive antenna satellite-to-ground communication module comprises a gesture sensor, an antenna module and a control module;
the attitude sensor is connected with the control module and is configured to acquire the vehicle attitude change amount and feed the vehicle attitude change amount to the control module;
the antenna module is connected with the control module and is configured to receive signals and feed the signals to the control module;
the control module is configured to:
presetting a threshold value, and based on the vehicle posture change amount, enabling the antenna module to expand the beam width under the condition that the vehicle posture change amount is larger than the threshold value, and enabling the antenna module to improve the signal gain under the condition that the vehicle posture change amount is smaller than the threshold value;
acquiring received signal vectorss(n) Using the formulaCalculating covariance matrix estimate, whereinNRepresenting the total number of all reference signals received,s H (n) Watch (watch)Show the firstnThe transposed conjugate of the matrix of the way reference signals,na reference numeral representing a received signal; eigenvalue decomposition is performed on covariance matrix estimation values>WhereinUIs composed of eigenvectors obtained after eigenvalue decomposition of matrix Q,U H represents the transposed conjugate of U, ">Representing a diagonal matrix composed of decomposed eigenvalues; sorting the eigenvalues, separating out a signal subspace and a noise subspace, establishing a spectral function according to the separated signal subspace and the noise subspace, and performing traversal search to obtain the expected directions of all beams>；
Based on the vehicle attitude change amount, the vehicle attitude change amount includes acceleration and angular acceleration, calculates an angular offset amount and displacement of each azimuth according to a geometric relationship, converts into a compensation amount in the opposite direction, and compensates the corresponding weight according to the compensation amount calculation；
According to all beam desired directionsCalculating optimal weight of optimization target by using self-adaptive tracking method>；
Determining final weightsAnd outputting the final weight to a phase shifter, and controlling the antenna module to aim at the satellite through the phase shifter.
2. The in-vehicle satellite relay of claim 1, wherein the desired direction is based on all beamsCalculating optimal weight of optimization target by using self-use tracking method>Comprising:
taking the minimum array output power as an optimization function, taking the product of the conjugate transpose of the target direction weight and the expected direction guide vector as a constant as a constraint condition, and solving by using Lagrangian functional to obtain an optimal target weight。
3. The in-vehicle satellite relay of claim 1, wherein the antenna module comprises a first antenna carrier, a first antenna array, a first shield panel, a second antenna carrier, a second antenna array, a second shield panel, a satellite-to-ground link antenna carrier, and a satellite-to-ground link antenna array;
the first antenna array is arranged on the first antenna carrier, the second antenna array is arranged on the second antenna carrier, and the satellite-ground link antenna array is arranged on the satellite-ground link antenna carrier;
one end of the second antenna carrier is connected with the first antenna carrier through a first shielding panel, and the other end of the second antenna carrier is connected with the satellite-ground link antenna carrier through a second shielding panel.
4. The in-vehicle satellite relay of claim 1, further comprising a relay link terrestrial communication module configured to:
under the condition that the vehicle is in a running state, entering an in-vehicle small-range coverage mode, wherein in the in-vehicle small-range coverage mode, the antenna module covers an in-vehicle terminal;
and under the condition that the vehicle is not in a running state, determining a relay running mode according to an input instruction, wherein the relay running mode comprises a closing mode and a remote directional antenna WiFi mode, the adaptive antenna satellite-ground communication module stops working under the closing mode, and the antenna module covers the inside and the outside of the vehicle under the remote directional antenna WiFi mode.
5. The vehicle satellite relay of claim 4, wherein in the in-vehicle small-range coverage mode, the in-vehicle terminals access the relay link for free, and in the remote directional antenna WiFi mode, the off-vehicle terminals access the relay link for a fee.
6. The in-vehicle satellite relay of claim 1, further comprising a communication protocol compatibility and translation module configured to translate a data format of a satellite communication protocol and a data format of a terrestrial communication protocol to make the satellite and terrestrial communication systems compatible with each other.
7. The in-vehicle satellite relay of claim 6, wherein the communication protocol compatibility and translation module comprises:
the data storage and processing module is configured to finish the storage of data and the processing of signals, judge the data format of the satellite communication protocol, and send a control signal to the gesture sensing and self-adaptive antenna module under the condition that the data format of the satellite communication protocol is consistent with the data format of the ground communication protocol;
the protocol conversion and data forwarding module is configured to perform layering processing, reading, checking and unpacking operations on the received data according to a layering architecture model corresponding to the protocol according to the judgment of the data storage and processing module when the data format of the satellite communication protocol is inconsistent with the data format of the ground communication protocol, so as to obtain original data, ensure the accuracy of data receiving through an error checking method of a data link layer protocol, and send a retransmission signal to the data storage and processing module to request retransmission of the data packet if the error is checked; if the test is correct, the original data is cached, the original data is modulated and packaged layer by layer according to a hierarchical architecture model corresponding to the data format of the ground communication protocol, and the packaged data is sent to the data storage and processing module.
8. The in-vehicle satellite relay of claim 7, wherein the protocol conversion and data forwarding module is further configured to, after modulating and layer-by-layer packaging the raw data, inspect the packaged data, and after the inspection is passed, clear the buffered data;
the data storage and processing module is further configured to store the received data after receiving the data of the protocol conversion and data forwarding module.
9. The vehicle-mounted satellite relay according to any one of claims 1 to 8, further comprising a protection device, wherein the protection device comprises a housing, a bracket and a connecting assembly, the control module is arranged in the housing, the housing is fixed on the bracket through the connecting assembly, and a heat dissipation hole is arranged on the housing and a shock pad is arranged at the bottom.
10. The vehicle satellite relay according to claim 9, wherein the connection assembly is a U-lock, the two brackets are provided on the top of the vehicle, and the housing is secured to the two brackets by the U-lock.
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