CN117146802B - Base posture measurement method and device and satellite communication terminal - Google Patents
Base posture measurement method and device and satellite communication terminal Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04B7/00—Radio transmission systems, i.e. using radiation field
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Abstract
The invention relates to the field of attitude measurement, and provides a base attitude measurement method and device and a satellite communication terminal, wherein the method comprises the following steps: acquiring azimuth angles and pitch angles respectively corresponding to the antennas in a plurality of pose states; based on the azimuth angle and the pitch angle, calculating to obtain a corresponding pointing vector of the antenna in each pose state; vector operation is carried out on each pointing vector to obtain the pointing angle of the rotating shaft of the antenna; correcting the measurement coordinate system of the base according to the pointing angle of the rotating shaft, and measuring under the corrected measurement coordinate system to obtain the posture of the base. According to the scheme provided by the invention, as the rotation axis pointing angle of the antenna is introduced in the attitude measurement link, the measurement coordinate system of the base is corrected through the rotation axis pointing angle, so that the accurate measurement coordinate system is used as a reference in the base attitude measurement process, the accuracy and reliability of the base attitude measurement are improved, and the problem that the traditional base attitude measurement scheme is inaccurate and reliable is solved.
Description
Technical Field
The present invention relates to the field of attitude measurement technologies, and in particular, to a method and an apparatus for measuring a base attitude, and a satellite communication terminal.
Background
With the development of satellite technology, a large number of low-orbit satellites are launched and put into use, and satellite load data of the low-orbit satellites can be acquired through a portable satellite communication terminal. The portable satellite communication terminal has the characteristics of convenience in carrying, rapidness in deployment and simplicity and convenience in operation, and a user can receive and process satellite load data in a short time to generate various information resources by using the portable satellite communication terminal. In the application scene of convenient and flexible satellite communication requirements, the portable satellite communication terminal is widely used.
In the related art, a high-precision accelerometer or a dual GPS direction-finding device is generally used to measure the posture of the base of the portable satellite communication terminal, but since the setting position of the portable satellite communication terminal is not fixed, the posture data obtained by direct measurement is difficult to truly reflect the posture of the base of the portable satellite communication terminal, thereby affecting the tracking precision of the antenna.
Therefore, the conventional base posture measurement scheme has a problem of being not accurate and reliable enough.
Disclosure of Invention
The invention provides a base posture measurement method and device and a satellite communication terminal, which are used for solving the defect that the traditional base posture measurement scheme is inaccurate and reliable.
In a first aspect, the present invention provides a base attitude measurement method applied to a satellite communication terminal mounted with a base and an antenna, the method comprising:
acquiring azimuth angles and pitch angles respectively corresponding to the antennas in a plurality of pose states; wherein the plurality of pose states include a space-pointing state and at least two tilt states;
based on the azimuth angle and the pitch angle, calculating to obtain a corresponding pointing vector of the antenna in each pose state;
vector operation is carried out on each pointing vector to obtain the pointing angle of the rotating shaft of the antenna;
correcting the measurement coordinate system of the base according to the rotation axis pointing angle, and measuring under the corrected measurement coordinate system to obtain the posture of the base.
According to the base attitude measurement method provided by the invention, the corresponding pointing vector of the antenna in each attitude state is calculated based on the azimuth angle and the pitch angle, and the method comprises the following steps:
determining a reference coordinate system corresponding to the antenna, and acquiring a reference vector corresponding to the reference coordinate system;
determining an angle function value under each pose state; the angle function value comprises a cosine value and a sine value of an azimuth angle and a cosine value and a sine value of a pitch angle;
and calculating to obtain a corresponding pointing vector of the antenna in each pose state based on the reference vector and the angle function value in each pose state.
According to the base posture measurement method provided by the invention, the reference vectors comprise a first reference vector, a second reference vector and a third reference vector;
the calculating, based on the reference vector and the angle function value in each pose state, a corresponding pointing vector of the antenna in each pose state includes:
multiplying the cosine value of the azimuth angle, the cosine value of the pitch angle and the first reference vector under each pose state to obtain a first vector value;
multiplying the sine value of the azimuth angle, the cosine value of the pitch angle and the second reference vector to obtain a second vector value;
multiplying the sine value of the pitch angle with the third reference vector to obtain a third vector value;
the first vector value and the second vector value are subjected to difference to obtain a vector difference value;
and summing the vector difference value and the third vector value to obtain the pointing vector.
According to the base posture measuring method provided by the invention, the pointing vectors comprise a first pointing vector corresponding to a first inclined state, a second pointing vector corresponding to a first inclined state and a third pointing vector corresponding to a second inclined state;
the vector operation is carried out on each pointing vector to obtain the pointing angle of the rotating shaft of the antenna, and the method comprises the following steps:
the first pointing vector and the second pointing vector are subjected to difference to obtain a first intermediate quantity;
the third pointing vector and the first pointing vector are subjected to difference to obtain a second intermediate quantity;
multiplying the second intermediate quantity by the first intermediate quantity to obtain a space directional vector of a rotating shaft of the antenna;
and determining the rotation axis pointing angle of the antenna according to the rotation axis space pointing vector.
According to the method for measuring the posture of the base provided by the invention, the method for obtaining the azimuth angles and the pitch angles of the antenna corresponding to the antenna in a plurality of posture states comprises the following steps:
the antenna is controlled to rotate to a space-time indicating state, and an azimuth angle and a pitch angle corresponding to the antenna in the space-time indicating state are obtained;
the antenna is controlled to rotate anticlockwise by a first preset angle, and an azimuth angle and a pitch angle corresponding to the antenna in a first inclination state are obtained;
the antenna is controlled to rotate clockwise by a second preset angle, and the azimuth angle and the pitch angle corresponding to the antenna in a second inclined state are obtained;
and respectively corresponding azimuth angles and pitch angles of the antenna in the state of the antenna, the first inclination state and the second inclination state are used as the respective corresponding azimuth angles and pitch angles in the state of a plurality of postures.
According to the base posture measurement method provided by the invention, the value range of the first preset angle is-60 degrees to +60 degrees, and the value range of the second preset angle is-120 degrees to +120 degrees.
According to the method for measuring the posture of the base, the method for correcting the measuring coordinate system of the base according to the pointing angle of the rotating shaft comprises the following steps:
determining a correction angle corresponding to each coordinate axis in a measurement coordinate system of the base according to the rotation axis pointing angle;
and correcting each coordinate axis in the measurement coordinate system according to the correction angle to obtain a corrected measurement coordinate system.
According to the method for measuring the posture of the base, the posture of the base is measured under the corrected measurement coordinate system, and the method comprises the following steps:
obtaining an actual measurement Euler angle of the base;
converting the actual measured Euler angle into the corrected measurement coordinate system to obtain a corrected Euler angle;
and determining the posture of the base according to the corrected Euler angle.
In a second aspect, the present invention also provides a base attitude measurement apparatus applied to a satellite communication terminal mounted with a base and an antenna, the apparatus comprising:
the positioning assembly is used for collecting the azimuth angle and the pitch angle of the antenna; and
a processor for implementing the base posture measurement method as described in any one of the above when executing a program.
In a third aspect, the present invention also provides a satellite communication terminal, including: a base, an antenna mounted on the base, and a base attitude measurement apparatus as described above.
According to the base attitude measurement method, the base attitude measurement device and the satellite communication terminal, the azimuth angles and the pitch angles of the antenna corresponding to the attitude states are obtained, the corresponding pointing vectors of the antenna in each attitude state are obtained through calculation based on the azimuth angles and the pitch angles, vector operation is carried out on the pointing vectors to obtain the rotation axis pointing angle of the antenna, the measurement coordinate system of the base is corrected according to the rotation axis pointing angle, and the attitude of the base is measured in the corrected measurement coordinate system. Because the attitude measurement link introduces the rotation axis pointing angle of the antenna, the measurement coordinate system of the base is corrected through the rotation axis pointing angle, the accurate measurement coordinate system is taken as a reference in the base attitude measurement process, and the accuracy and reliability of the base attitude measurement are improved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for measuring a base posture according to an embodiment of the present invention;
fig. 2 is a schematic view showing a structure of a satellite communication terminal having a base and an antenna mounted therein in an antenna state;
fig. 3 is a schematic view of a structure of a satellite communication terminal mounted with a base and an antenna in a first inclined state;
fig. 4 is a schematic structural view of a satellite communication terminal mounted with a base and an antenna in a second inclined state;
FIG. 5 is a schematic diagram of the principle of determining the rotational axis spatial pointing vector;
fig. 6 is a schematic structural diagram of a base posture measurement device according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While embodiments of the present invention are illustrated in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the invention. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The embodiment relates to the field of attitude measurement, and particularly can be applied to a scene of measuring the attitude of a base of a portable satellite communication terminal. The satellite communication terminal mentioned in this embodiment is mainly directed to a portable communication terminal that communicates with a low-orbit satellite.
In the related art, since the portable satellite communication terminal is different from the large satellite receiving station, the conventional large satellite receiving station belongs to a fixed station, the antenna is fixed, the parameters of the base are constant, and the antenna servo system can be corrected by various external measurement means such as astronomy, so as to improve the tracking accuracy. The deployment and the unfolding of the portable satellite communication terminal are random, the posture of the base can be determined after the whole terminal is unfolded, assembled and installed, and the posture of the base is obtained through real-time measurement.
The measurement accuracy of the base plays a decisive role in the tracking accuracy of the portable satellite communication terminal. The target values of satellites in the geographical system are converted into the plant system by the base model. The base model established based on the base posture is generally composed of two factors, namely the completeness of the model and the precision of each link of the model. Parameters related to the attitude of the base are generally measured by various special equipment, and common equipment comprises a high-precision accelerometer, a double GPS measuring device and the like. With these devices, the Euler angle of the base can be measured initially. However, a certain deviation exists between the directly measured euler angle and the rotation axis pointing angle of the antenna, and the tracking accuracy of the antenna is reduced due to the existence of the rotation axis pointing angle deviation.
Therefore, how to accurately measure the posture of the base of the portable satellite communication terminal is a technical problem that needs to be solved in the industry.
In view of the foregoing problems, the following describes details of a method and apparatus for measuring a base posture and a satellite communication terminal according to embodiments of the present invention with reference to fig. 1 to 6.
The method for measuring the posture of the base provided by the embodiment of the invention can be applied to a satellite communication terminal provided with a base and an antenna, and referring to fig. 1, the method specifically comprises the following steps:
step 110: acquiring azimuth angles and pitch angles respectively corresponding to the antennas in a plurality of pose states; wherein the plurality of pose states includes a space-pointing state and at least two tilt states.
It will be appreciated that the azimuth angle is the horizontal angle between the clockwise direction from the north-pointing direction line at a point to the target direction line and can be used to determine the azimuth. The pitch angle is the angle between the x-axis of the geographic coordinate system and the horizontal plane.
In this embodiment, the azimuth and pitch angles of the antenna may be measured using a dual GPS direction-finding device mounted on the antenna. Fig. 2 illustrates a dual GPS direction-finding device mounted on an antenna 210, the dual GPS direction-finding device including a first locator 230 and a second locator 240, the antenna 210 being specifically mounted on a base 220.
In practical application, the pose state is mainly used for representing the position pointing state of the antenna after rotation, and in this embodiment, at least azimuth angles and pitch angles in three pose states need to be obtained so as to ensure that the pointing angle of the rotation axis can be obtained later.
Step 120: based on the azimuth angle and the pitch angle, the corresponding pointing vector of the antenna in each pose state is calculated.
It can be understood that a certain conversion relation exists between the azimuth angle and the pitch angle and the pointing vector of the antenna, and under the condition that the azimuth angle and the pitch angle are known, the corresponding pointing vector can be calculated according to the conversion relation.
Step 130: and carrying out vector operation on each pointing vector to obtain the pointing angle of the rotating shaft of the antenna.
In this embodiment, a certain vector relationship exists between the calculated multiple directional vectors and the directional vector corresponding to the rotation axis of the antenna, and the directional vector corresponding to the rotation axis of the antenna can be obtained by a vector operation mode, so that the rotation axis directional angle can be obtained.
Step 140: correcting the measurement coordinate system of the base according to the pointing angle of the rotating shaft, and measuring under the corrected measurement coordinate system to obtain the posture of the base.
According to the embodiment, after the rotation axis pointing angle is obtained, the measurement coordinate system of the base can be corrected by utilizing the rotation axis pointing angle, so that the measurement coordinate system which is closer to the real state is obtained, accurate posture information of the base can be measured under the corrected measurement coordinate system, and the measurement accuracy of the posture of the base is improved.
In an embodiment, acquiring azimuth angles and pitch angles of the antenna corresponding to the plurality of pose states specifically includes:
and firstly, controlling the antenna to rotate to a space-time indicating state, and acquiring the corresponding azimuth angle and pitch angle of the antenna in the space-time indicating state.
Fig. 2 shows a case where the antenna 210 is rotated to a space-pointing state, in which the center of the antenna 210 is pointed in the direction of the sky, and corresponding azimuth and pitch angles in the space-pointing state can be obtained by the first and second positioners 230 and 240.
And secondly, controlling the antenna to rotate anticlockwise by a first preset angle, and acquiring the corresponding azimuth angle and pitch angle of the antenna in the first inclination state.
Fig. 3 shows a state in which the antenna 210 is rotated counterclockwise by a first preset angle, in which case the center of the antenna 210 is directed to one side.
And thirdly, controlling the antenna to rotate clockwise by a second preset angle to obtain the corresponding azimuth angle and pitch angle of the antenna in a second inclined state.
Fig. 4 shows a state in which the antenna 210 is rotated clockwise by a second preset angle, in which case the center of the antenna 210 is directed to the opposite side to the direction shown in fig. 3.
And fourthly, respectively corresponding azimuth angles and pitch angles of the antenna in the space-pointing state, the first inclination state and the second inclination state are used as the respectively corresponding azimuth angles and pitch angles in the multiple pose states.
In this embodiment, the azimuth angle and the pitch angle in three states are obtained through the rotation of the antenna, so that a reliable data basis is provided for the subsequent determination of the pointing angle of the rotation axis.
In an embodiment, the range of the first preset angle may be-60 degrees to +60 degrees, and the range of the second preset angle may be-120 degrees to +120 degrees.
In some embodiments, in the process of rotating the antenna to obtain the azimuth angle and the pitch angle in different pose states, a certain delay time can be set after the antenna rotates to the target pose state, and the azimuth angle and the pitch angle in the pose state are collected after the delay time is over. For example, when the antenna rotates to a space-time indicating state, the azimuth angle and the pitch angle in the pose state are acquired after the time delay is 5 seconds, so that the problem that the measurement accuracy of the double GPS direction-finding equipment is affected by shaking in a short time after rotation can be avoided, and the measurement accuracy of the azimuth angle and the pitch angle is improved.
In an embodiment, based on the azimuth angle and the pitch angle, a pointing vector corresponding to the antenna in each pose state is calculated, which specifically includes:
first, determining a reference coordinate system corresponding to an antenna, and obtaining a reference vector corresponding to the reference coordinate system.
In some embodiments, the reference coordinate system may be determined using north-west days as a reference, where the reference vector corresponding to the reference coordinate system corresponds to each coordinate axis within the coordinate system, i.e., each coordinate axis corresponds to a reference vector.
Step two, determining an angle function value under each pose state; the angle function value comprises a cosine value and a sine value of an azimuth angle and a cosine value and a sine value of a pitch angle.
In this embodiment, trigonometric function values of the azimuth angle and the pitch angle may be determined respectively, and specifically, a cosine value and a sine value of the azimuth angle and a cosine value and a sine value of the pitch angle need to be determined, so as to provide a data basis for subsequent calculation of the pointing vector.
And thirdly, calculating and obtaining a corresponding pointing vector of the antenna in each pose state based on the reference vector and the angle function value in each pose state.
It can be understood that the relevant function value in the reference vector and the angle function value is calculated, so that the corresponding pointing vector of the antenna in each pose state can be obtained, and the accurate calculation of the pointing vector is realized.
In an embodiment, the reference vectors may specifically include a first reference vector, a second reference vector, and a third reference vector.
Wherein the first reference vectorCorresponding to the x-axis in the reference coordinate system, second reference vector +.>Corresponding to the y-axis in the reference coordinate system, a third reference vector +.>Corresponding to the z-axis in the reference coordinate system.
In this embodiment, based on the reference vector and the angle function value in each pose state, the pointing vector corresponding to the antenna in each pose state is calculated, which specifically includes:
in the first step, under each pose state, multiplying the cosine value of the azimuth angle, the cosine value of the pitch angle and the first reference vector to obtain a first vector value.
And step two, multiplying the sine value of the azimuth angle, the cosine value of the pitch angle and the second reference vector to obtain a second vector value.
And thirdly, multiplying the sine value of the pitch angle by a third reference vector to obtain a third vector value.
And fourth, the first vector value and the second vector value are subjected to difference to obtain a vector difference value.
And fifthly, summing the vector difference value and a third vector value to obtain a pointing vector.
The following describes in detail the calculation process of the pointing vector in the state of the sky, in the first tilt state, and in the second tilt state.
In the state of the sky, the azimuth angle measured by the double GPS direction-finding equipment is A 0 The pitch angle measured was E 0 Through the conversion relation between the azimuth angle and the pitch angle and the pointing vector, the corresponding first pointing vector in the state of the fingering can be obtained as follows:
（1）
wherein,is the corresponding first pointing vector in the state of the finger sky, < >>For the first reference vector, +.>For the second reference vector, +.>For the third reference vector, A 0 Is azimuth angle in the state of the finger and the sky, E 0 The pitch angle is the pitch angle in the state of the sky. FIG. 2 shows the corresponding first pointing vector in the state of the digital antenna +.>。
In a first inclination state after the antenna rotates anticlockwise by a first preset angle, the azimuth angle measured by the double GPS direction-finding equipment is A 1 The pitch angle measured was E 1 Through the conversion relation between the azimuth angle and the pitch angle and the pointing vector, the corresponding second pointing vector in the first inclined state can be obtained as follows:
（2）
wherein,for the corresponding second direction vector in the first tilt state +.>For the first reference vector, +.>For the second reference vector, +.>For the third reference vector, A 1 Is the azimuth angle in the first inclination state, E 1 Is in a first inclined statePitch angle below. FIG. 3 shows the corresponding second orientation vector +.>。
In a second inclined state after the antenna rotates clockwise by a second preset angle, the azimuth angle measured by the double GPS direction-finding equipment is A 2 The pitch angle measured was E 2 Through the conversion relation between the azimuth angle and the pitch angle and the pointing vector, a third pointing vector corresponding to the second inclined state can be obtained as follows:
（3）
wherein,for the corresponding third pointing vector in the second tilt state +.>For the first reference vector, +.>For the second reference vector, +.>For the third reference vector, A 2 Is the azimuth angle in the second inclined state, E 2 Is the pitch angle in the second tilt state. Fig. 4 shows the corresponding third pointing vector +.>。
In an embodiment, the pointing vectors may specifically include a first pointing vector corresponding to the first tilt state, a second pointing vector corresponding to the first tilt state, and a third pointing vector corresponding to the second tilt state.
In this embodiment, vector operation is performed on each pointing vector to obtain a rotation axis pointing angle of the antenna, which specifically includes:
and the first step is to make a difference between the first pointing vector and the second pointing vector to obtain a first intermediate quantity.
And secondly, performing difference between the third pointing vector and the first pointing vector to obtain a second intermediate quantity.
And thirdly, multiplying the second intermediate quantity by the first intermediate quantity to obtain the space directional vector of the rotation axis of the antenna.
And fourthly, determining the rotation axis pointing angle of the antenna according to the rotation axis space pointing vector.
The principle of determining the rotational axis spatial pointing vector is described in detail below with reference to fig. 5.
Referring to fig. 5, PO is a rotation axis fixedly pointing in a geographic coordinate system, which may represent the rotation axis of the antenna, PA is a line segment having a fixed angle with the axis PO, and when PA rotates around the axis PO for one revolution, the movement track of PA is a conical surface. The vertex of the conical surface is the intersection point P of the line segment PA and the axis PO, and the normal line of the bottom surface coincides with the axis PO. Therefore, the spatial orientation of the normal to the bottom surface is obtained, and the spatial orientation of the axis PO can be obtained.
Specifically, three points A, B, C can be taken on the bottom surface of the cone, and the directional line segments from P to A, B, C are respectively made to obtain vectors、/>、/>Can represent the corresponding second direction vector in the first tilt state +.>Corresponding first pointing vector in the state of the finger>And a corresponding third pointing vector +_in the second tilt state>。
After the three vectors are obtained, the following vector operations may be performed:
first, the first pointing vector and the second pointing vector are subjected to difference to obtain a first intermediate quantity, which is specifically as follows:
=/>-/>（4）
wherein,for a first intermediate quantity, +.>For the first pointing vector, +.>Is the second vector of directions.
Then, the third pointing vector is differenced with the first pointing vector to obtain a second intermediate quantity, which is specifically as follows:
=/>-/>（5）
wherein,for a second intermediate amount, ++>For the first pointing vector, +.>Is the third pointing vector.
Finally, due to the second intermediate quantityAnd a first intermediate amount->The direction and vector of the product of the cross multiplication>Accordingly, the second intermediate quantity is multiplied by the first intermediate quantity to obtain a rotation axis space pointing vector of the antenna, which is specifically as follows:
（6）
where k is a scalar quantity,for the spatial orientation vector of the axis of rotation of the antenna, +.>For a second intermediate amount, ++>Is a first intermediate amount.
In one embodiment, the correction of the measurement coordinate system of the base according to the pointing angle of the rotation axis specifically includes:
determining a correction angle corresponding to each coordinate axis in a measurement coordinate system of the base according to the pointing angle of the rotating shaft;
and correcting each coordinate axis in the measurement coordinate system according to the correction angle to obtain a corrected measurement coordinate system.
It will be appreciated that, before correction, the measurement coordinate system according to which the base posture is measured is established in the state that the base is horizontal, but in practical applications, the base may be installed on the ground with a certain gradient, or some inclination exists for other reasons, and if the base posture is still measured according to the measurement coordinate system established in the state that the base is horizontal, the measurement result of the obtained base posture is not true and accurate enough.
According to the embodiment, by calculating the rotation axis pointing angle of the antenna, the offset condition of each coordinate axis in the measurement coordinate system can be detected according to the rotation axis pointing angle, the correction angle of each coordinate axis is obtained, and the corrected measurement coordinate system can be obtained after correction of each coordinate axis according to the correction angle.
In one embodiment, the posture of the base is measured under the corrected measurement coordinate system, which specifically includes:
and step one, obtaining the actual measured Euler angle of the base.
In some embodiments, the attitude of the base may be represented by the euler angle of the base, which may be measured by a high-precision accelerometer or a dual GPS direction-finding device in practical applications.
And secondly, converting the actually measured Euler angle into a corrected measurement coordinate system to obtain a corrected Euler angle.
In practical application, the euler angle obtained by direct measurement is obtained under a measurement coordinate system before correction, and the base installation position has a certain deviation due to the inclination angle, and the posture of the base cannot be truly reflected, so that the euler angle can be corrected by a coordinate system conversion mode.
And thirdly, determining the posture of the base according to the corrected Euler angle.
In this embodiment, the corrected euler angle can be obtained by converting the measured euler angle from the measurement coordinate system before correction to the measurement coordinate system after correction, thereby obtaining a more accurate base posture.
In practical application, the corrected attitude data of the base, such as the corrected Euler angle parameters, can be stored in a centralized manner as the system parameters of the antenna servo system, and the corrected attitude parameters of the base can be directly called under emergency conditions, so that the satellite communication terminal obtains better tracking precision.
Based on the same general inventive concept, the invention also protects a base posture measuring device and a satellite communication terminal, wherein the base posture measuring device and the satellite communication terminal provided by the invention are described below, and part of technical characteristics in the base posture measuring device and the satellite communication terminal described below and the base posture measuring method described above can be correspondingly referred to each other.
Fig. 6 is a schematic structural diagram of a base posture measurement device according to an embodiment of the present invention.
Referring to fig. 6, the base posture measurement device provided by the embodiment of the present invention may be applied to a satellite communication terminal with a base and an antenna, and the device specifically includes:
the positioning component 300 is used for collecting the azimuth angle and the pitch angle of the antenna; and
a processor 310, connected to the positioning assembly 300, is configured to implement the method for measuring a posture of a base provided in the above-mentioned embodiment when executing a program.
As shown in fig. 6, the base posture measurement apparatus may further include: a communication interface (Communications Interface) 320, a memory (memory) 330 and a communication bus 340, wherein the positioning component 300, the processor 310, the communication interface 320 and the memory 330 communicate with each other via the communication bus 340. The processor 310 may invoke logic instructions in the memory 330 to perform the base pose measurement method provided by the above embodiments, the method comprising: acquiring azimuth angles and pitch angles respectively corresponding to the antennas in a plurality of pose states; wherein the plurality of pose states include a space-pointing state and at least two tilt states; based on the azimuth angle and the pitch angle, calculating to obtain a corresponding pointing vector of the antenna in each pose state; vector operation is carried out on each pointing vector to obtain the pointing angle of the rotating shaft of the antenna; correcting the measurement coordinate system of the base according to the pointing angle of the rotating shaft, and measuring under the corrected measurement coordinate system to obtain the posture of the base.
Further, the logic instructions in the memory 330 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In addition, the embodiment of the invention also provides a satellite communication terminal, which specifically comprises: base, antenna installed on base and base posture measuring device provided by the above embodiment. The structure of the satellite communication terminal may be seen in fig. 2, 3 and 4, and the installation positions of the antenna and the base are exemplarily shown in fig. 2 to 4. In practical application, the positioning component in the base attitude measurement device can be installed on an antenna, such as the dual-GPS direction-finding equipment shown in fig. 2, and the processor in the base attitude measurement device can be packaged in the base, or installed on the base, or deployed in a monitoring station near the site, and can be set reasonably according to the actual application scene requirement.
According to the embodiment, the posture of the base can be accurately measured through the base posture measuring device, and then the satellite communication terminal can accurately and reliably operate.
In another aspect, the present invention also provides a computer program product, the computer program product including a computer program, the computer program being storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, being capable of executing the base posture measurement method provided in the above embodiments, the method including: acquiring azimuth angles and pitch angles respectively corresponding to the antennas in a plurality of pose states; wherein the plurality of pose states include a space-pointing state and at least two tilt states; based on the azimuth angle and the pitch angle, calculating to obtain a corresponding pointing vector of the antenna in each pose state; vector operation is carried out on each pointing vector to obtain the pointing angle of the rotating shaft of the antenna; correcting the measurement coordinate system of the base according to the pointing angle of the rotating shaft, and measuring under the corrected measurement coordinate system to obtain the posture of the base.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the base posture measurement method provided by the above embodiments, the method comprising: acquiring azimuth angles and pitch angles respectively corresponding to the antennas in a plurality of pose states; wherein the plurality of pose states include a space-pointing state and at least two tilt states; based on the azimuth angle and the pitch angle, calculating to obtain a corresponding pointing vector of the antenna in each pose state; vector operation is carried out on each pointing vector to obtain the pointing angle of the rotating shaft of the antenna; correcting the measurement coordinate system of the base according to the pointing angle of the rotating shaft, and measuring under the corrected measurement coordinate system to obtain the posture of the base.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A base attitude measurement method, applied to a satellite communication terminal mounted with a base and an antenna, comprising:
acquiring azimuth angles and pitch angles respectively corresponding to the antennas in a plurality of pose states; wherein the plurality of pose states include a space-pointing state and at least two tilt states;
based on the azimuth angle and the pitch angle, calculating to obtain a corresponding pointing vector of the antenna in each pose state;
vector operation is carried out on each pointing vector to obtain the pointing angle of the rotating shaft of the antenna;
determining a correction angle corresponding to each coordinate axis in a measurement coordinate system of the base according to the rotation axis pointing angle; correcting each coordinate axis in the measurement coordinate system according to the correction angle to obtain a corrected measurement coordinate system, and measuring the corrected measurement coordinate system to obtain the posture of the base;
the pointing vectors comprise a first pointing vector corresponding to a space pointing state, a second pointing vector corresponding to a first inclined state and a third pointing vector corresponding to a second inclined state;
the vector operation is carried out on each pointing vector to obtain the pointing angle of the rotating shaft of the antenna, and the method comprises the following steps:
the first pointing vector and the second pointing vector are subjected to difference to obtain a first intermediate quantity;
the third pointing vector and the first pointing vector are subjected to difference to obtain a second intermediate quantity;
multiplying the second intermediate quantity by the first intermediate quantity to obtain a space directional vector of a rotating shaft of the antenna;
and determining the rotation axis pointing angle of the antenna according to the rotation axis space pointing vector.
2. The method for measuring a posture of a base according to claim 1, wherein the calculating, based on the azimuth angle and the pitch angle, a corresponding pointing vector of the antenna in each posture state includes:
determining a reference coordinate system corresponding to the antenna, and acquiring a reference vector corresponding to the reference coordinate system;
determining an angle function value under each pose state; the angle function value comprises a cosine value and a sine value of an azimuth angle and a cosine value and a sine value of a pitch angle;
and calculating to obtain a corresponding pointing vector of the antenna in each pose state based on the reference vector and the angle function value in each pose state.
3. The base posture measurement method according to claim 2, characterized in that the reference vectors include a first reference vector, a second reference vector, and a third reference vector;
the calculating, based on the reference vector and the angle function value in each pose state, a corresponding pointing vector of the antenna in each pose state includes:
multiplying the cosine value of the azimuth angle, the cosine value of the pitch angle and the first reference vector under each pose state to obtain a first vector value;
multiplying the sine value of the azimuth angle, the cosine value of the pitch angle and the second reference vector to obtain a second vector value;
multiplying the sine value of the pitch angle with the third reference vector to obtain a third vector value;
the first vector value and the second vector value are subjected to difference to obtain a vector difference value;
and summing the vector difference value and the third vector value to obtain a pointing vector.
4. The method for measuring a posture of a base according to claim 1, wherein the acquiring azimuth angles and pitch angles of the antenna corresponding to each of the plurality of posture states includes:
the antenna is controlled to rotate to a space-time indicating state, and an azimuth angle and a pitch angle corresponding to the antenna in the space-time indicating state are obtained;
the antenna is controlled to rotate anticlockwise by a first preset angle, and an azimuth angle and a pitch angle corresponding to the antenna in a first inclination state are obtained;
the antenna is controlled to rotate clockwise by a second preset angle, and the azimuth angle and the pitch angle corresponding to the antenna in a second inclined state are obtained;
and respectively corresponding azimuth angles and pitch angles of the antenna in the state of the antenna, the first inclination state and the second inclination state are used as the respective corresponding azimuth angles and pitch angles in the state of a plurality of postures.
5. The method of claim 4, wherein the first predetermined angle is in a range of-60 degrees to +60 degrees, and the second predetermined angle is in a range of-120 degrees to +120 degrees.
6. The base posture measurement method according to claim 1, characterized in that the posture of the base is measured under a corrected measurement coordinate system, comprising:
obtaining an actual measurement Euler angle of the base;
converting the actual measured Euler angle into the corrected measurement coordinate system to obtain a corrected Euler angle;
and determining the posture of the base according to the corrected Euler angle.
7. A base attitude measurement apparatus, applied to a satellite communication terminal mounted with a base and an antenna, comprising:
the positioning assembly is used for collecting the azimuth angle and the pitch angle of the antenna; and
a processor for implementing the base posture measurement method according to any one of claims 1 to 6 when executing a program.
8. A satellite communication terminal, comprising: a base, an antenna mounted on the base, and the base attitude measurement apparatus according to claim 7.
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