CN117439656A - Automatic correction method for absolute coordinate system of VICTS satellite communication antenna - Google Patents
Automatic correction method for absolute coordinate system of VICTS satellite communication antenna Download PDFInfo
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- CN117439656A CN117439656A CN202311681596.1A CN202311681596A CN117439656A CN 117439656 A CN117439656 A CN 117439656A CN 202311681596 A CN202311681596 A CN 202311681596A CN 117439656 A CN117439656 A CN 117439656A
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- 238000004891 communication Methods 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000012937 correction Methods 0.000 title claims abstract description 12
- 238000012544 monitoring process Methods 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 4
- 238000009825 accumulation Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000002474 experimental method Methods 0.000 claims description 3
- 238000012216 screening Methods 0.000 abstract description 2
- 239000010410 layer Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 239000002346 layers by function Substances 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000010287 polarization Effects 0.000 description 1
- 230000001902 propagating effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
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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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- Aviation & Aerospace Engineering (AREA)
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- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
The invention provides an automatic correction method for an absolute coordinate system of a VICTS satellite communication antenna, and relates to the technical field of antennas. The method detects the large dynamic event and automatically corrects the absolute coordinate system after the large dynamic event is finished; compensating by combining a time tag, reference time calibration and signal intensity data to obtain real signal intensity, screening out a maximum value of the signal intensity, and recording satellite positioning data at the moment; the relative position between the satellite and the antenna can be known by combining the pointing angle of the antenna; the accurate position of the satellite can be obtained through inquiry, and the accurate position of the antenna can be obtained by substituting the accurate position between the satellite and the antenna; at this time, the accurate position of the antenna is compared with the position in the local absolute coordinate system, so that an error value of the local absolute coordinate system can be obtained and corrected.
Description
Technical Field
The invention relates to the technical field of antennas, in particular to an automatic correction method for an absolute coordinate system of a VICTS satellite communication antenna.
Background
The VICTS satellite communication antenna is a novel low-profile antenna, and the antenna realizes the adjustment and matching of the azimuth, pitching two-dimensional scanning and the polarization angle of a wave beam through the one-dimensional plane rotation of each functional layer. The antenna has the characteristics of simple feeding, low longitudinal section of the whole machine, high gain, flexible beam scanning, high maneuverability and the like, and has wide application prospect in the field of satellite mobile communication.
However, the deployment environment of the VICTS satellite communication antenna is complex, and the VICTS satellite communication antenna is often deployed on mobile equipment such as ships, airplanes, automobiles and the like, so that the signal change is large, the working posture is complex, and the electromagnetic environment influence is large; one or more problems such as time deviation, signal deviation, attitude deviation and the like can be caused, and finally, due to superposition of multi-factor influence, the absolute coordinate system of the calculation of the VICTS satellite communication antenna has deviation, and timely correction is needed.
Therefore, it is necessary to provide an automatic calibration method for the absolute coordinate system of the VICTS satellite communication antenna to solve the above technical problems.
Disclosure of Invention
In order to solve the technical problems, the automatic correction method of the absolute coordinate system of the VICTS satellite communication antenna provided by the invention comprises the following steps of:
step 1: continuously monitoring an inertial navigation positioning module, a satellite positioning module, an antenna driving motor, a signal processing module, a satellite communication module and an antenna clock module of the VICTS satellite communication antenna to obtain inertial navigation attitude data, satellite positioning data, antenna angle data, signal intensity data, communication frequency data and time pulse data;
step 2: detecting a large dynamic event, wherein when the large dynamic event does not occur or the large dynamic event is not ended, the waiting for silence is kept; when the large dynamic event is finished, executing the next step;
step 3: performing calibration and resetting of reference time, namely performing calibration and resetting of the reference time of each module by sending an interrupt trigger signal to each module and feeding back a time point received by each module;
step 4: performing zero-position resetting of the antenna angle, and adjusting the angles of all layers of antennas of the VICTS satellite communication antenna to a zero-position angle through an antenna driving motor to finish the zero-position resetting of the antenna angle;
step 5: compensating the signal intensity data, searching the maximum value of the signal intensity and outputting the antenna angle data at the moment to obtain the antenna pointing angle;
step 6: calculating the relative position of a satellite-target and marking a time tag through satellite positioning data and an antenna pointing angle;
step 7: acquiring satellite coordinate positions in a standard absolute coordinate system at corresponding moments through time tags;
step 8: calculating the antenna coordinate position in a standard absolute coordinate system at the corresponding moment through the satellite coordinate position and the satellite-target relative position;
step 9: acquiring an antenna coordinate position in a local absolute coordinate system at a corresponding moment through a time tag;
step 10: and correcting the local absolute coordinate system through the antenna coordinate position in the corresponding time standard absolute coordinate system and the antenna coordinate position in the local absolute coordinate system, so as to complete automatic correction of the absolute coordinate system of the VICTS satellite communication antenna at one time.
As a still further solution, in step 2, the large dynamic event detection includes a time large dynamic event, a signal large dynamic event, a gesture large dynamic event, a frequency large dynamic event, and an angle large dynamic event; wherein,
the time big dynamic event triggering condition is whether the time pulse data accumulation amount obtains a time triggering threshold value or not;
the signal big dynamic event triggering condition is whether the signal strength data change value exceeds a signal change threshold value;
the large dynamic event triggering condition of the gesture is whether the inertial navigation gesture data change value exceeds a gesture change threshold value;
the triggering condition of the frequency large dynamic event is whether the communication frequency data change value exceeds a frequency change threshold value;
the large-angle dynamic event triggering condition is whether the antenna angle data change value exceeds an angle change threshold value.
As a further solution, in step 3, an interrupt trigger signal is sent to each module at a uniform time point, each module records a receiving time point when the interrupt trigger signal is received, and projects the uniform time point and the receiving time point of each module on the time pulse data, calculates a time difference between the two time points and performs difference compensation, so that the reference time of each module is calibrated to the uniform time point.
As a still further solution, in step 5, compensating the signal strength data comprises:
pitch angle loss compensation: continuously monitoring the pitching angle of the mechanical platform to obtain platform pitching angle data; inquiring a pitching angle loss compensation quantity corresponding to the pitching angle data of the platform; acquiring signal intensity data of each angle in the current scanning range, and obtaining a signal intensity maximum value; superposing the pitching angle loss compensation quantity and the signal intensity maximum value to obtain a pitching angle loss compensated signal intensity maximum value; the angle loss compensation amounts are measured through experiments and are pre-stored as a lookup table in one-to-one correspondence with the pitching angle data of the platform.
As a still further solution, in step 5, compensating the signal strength data comprises:
frequency variation gain compensation: continuously monitoring the signal frequency of the antenna body to obtain signal frequency data; calculating signal frequency attenuation amount by signal frequency dataL f The method comprises the steps of carrying out a first treatment on the surface of the Wherein,L f =20logf, f is the signal frequency; acquiring signal intensity data of each angle in the current scanning range, and obtaining a signal intensity maximum value; maximum signal intensity and attenuation of signal frequencyL f And (5) superposing to obtain the maximum signal intensity value after frequency interleaving gain compensation.
Compared with the related art, the automatic correction method for the absolute coordinate system of the VICTS satellite communication antenna has the following beneficial effects:
the method detects the large dynamic event and automatically corrects the absolute coordinate system after the large dynamic event is finished; compensating by combining a time tag, reference time calibration and signal intensity data to obtain real signal intensity, screening out a maximum value of the signal intensity, and recording satellite positioning data at the moment; the relative position between the satellite and the antenna can be known by combining the pointing angle of the antenna; the accurate position of the satellite can be obtained through inquiry, and the accurate position of the antenna can be obtained by substituting the accurate position between the satellite and the antenna; at this time, the accurate position of the antenna is compared with the position in the local absolute coordinate system, so that an error value of the local absolute coordinate system can be obtained and corrected. Has practical and popularization value.
Drawings
Fig. 1 is a schematic flow chart of a method for automatically correcting an absolute coordinate system of a VICTS satellite communication antenna according to the present invention.
Detailed Description
The invention will be further described with reference to the drawings and embodiments.
As shown in fig. 1, the method for automatically correcting the absolute coordinate system of the VICTS satellite communication antenna according to the present embodiment performs automatic correction of the absolute coordinate system of the VICTS satellite communication antenna by:
step 1: continuously monitoring an inertial navigation positioning module, a satellite positioning module, an antenna driving motor, a signal processing module, a satellite communication module and an antenna clock module of the VICTS satellite communication antenna to obtain inertial navigation attitude data, satellite positioning data, antenna angle data, signal intensity data, communication frequency data and time pulse data;
step 2: detecting a large dynamic event, wherein when the large dynamic event does not occur or the large dynamic event is not ended, the waiting for silence is kept; when the large dynamic event is finished, executing the next step;
step 3: performing calibration and resetting of reference time, namely performing calibration and resetting of the reference time of each module by sending an interrupt trigger signal to each module and feeding back a time point received by each module;
step 4: performing zero-position resetting of the antenna angle, and adjusting the angles of all layers of antennas of the VICTS satellite communication antenna to a zero-position angle through an antenna driving motor to finish the zero-position resetting of the antenna angle;
step 5: compensating the signal intensity data, searching the maximum value of the signal intensity and outputting the antenna angle data at the moment to obtain the antenna pointing angle;
step 6: calculating the relative position of a satellite-target and marking a time tag through satellite positioning data and an antenna pointing angle;
step 7: acquiring satellite coordinate positions in a standard absolute coordinate system at corresponding moments through time tags;
step 8: calculating the antenna coordinate position in a standard absolute coordinate system at the corresponding moment through the satellite coordinate position and the satellite-target relative position;
step 9: acquiring an antenna coordinate position in a local absolute coordinate system at a corresponding moment through a time tag;
step 10: and correcting the local absolute coordinate system through the antenna coordinate position in the corresponding time standard absolute coordinate system and the antenna coordinate position in the local absolute coordinate system, so as to complete automatic correction of the absolute coordinate system of the VICTS satellite communication antenna at one time.
It should be noted that: after a large dynamic event occurs in the VICTS satellite communication antenna, positioning errors of an absolute coordinate system are easy to generate, the sources of the errors are different, and the best method for eliminating the errors is to calibrate the absolute coordinate system; therefore, the embodiment detects the large dynamic event and automatically corrects the absolute coordinate system after the large dynamic event is finished; because the time labels are needed in the subsequent steps, reference time calibration is performed first; and then the scanning angle of the antenna needs to be adjusted to obtain signal intensity data in all directions, so that angle error interference is avoided; on the basis, the signal intensity data is required to be compensated to obtain the real signal intensity, the maximum value of the signal intensity is screened out, and the satellite positioning data at the moment is recorded; the satellite positioning data comprise longitude and latitude data of a satellite and longitude and latitude data of an antenna, and the relative position between the satellite and the antenna can be known by combining the pointing angle of the antenna; the accurate position of the satellite can be obtained through inquiry, and the accurate position of the antenna can be obtained by substituting the accurate position between the satellite and the antenna; at this time, the accurate position of the antenna is compared with the position in the local absolute coordinate system, so that an error value of the local absolute coordinate system can be obtained and corrected.
As a still further solution, in step 2, the large dynamic event detection includes a time large dynamic event, a signal large dynamic event, a gesture large dynamic event, a frequency large dynamic event, and an angle large dynamic event; wherein,
the time big dynamic event triggering condition is whether the time pulse data accumulation amount obtains a time triggering threshold value or not;
the signal big dynamic event triggering condition is whether the signal strength data change value exceeds a signal change threshold value;
the large dynamic event triggering condition of the gesture is whether the inertial navigation gesture data change value exceeds a gesture change threshold value;
the triggering condition of the frequency large dynamic event is whether the communication frequency data change value exceeds a frequency change threshold value;
the large-angle dynamic event triggering condition is whether the antenna angle data change value exceeds an angle change threshold value.
As a further solution, in step 3, an interrupt trigger signal is sent to each module at a uniform time point, each module records a receiving time point when the interrupt trigger signal is received, and projects the uniform time point and the receiving time point of each module on the time pulse data, calculates a time difference between the two time points and performs difference compensation, so that the reference time of each module is calibrated to the uniform time point.
It should be noted that: the VICTS satellite communication antenna has 8 antenna driving motors, an inertial navigation positioning module, a satellite positioning module, a signal processing module and a satellite communication module all need time synchronization. (the motion speed is 300 degrees/second, the time reference error is 1ms, the angle error can be 0.3 degree), the time reference is established by adopting interrupt trigger control in the embodiment, the time synchronization of each module is realized, and the time precision is subtle.
As a still further solution, in step 5, compensating the signal strength data comprises:
pitch angle loss compensation: continuously monitoring the pitching angle of the mechanical platform to obtain platform pitching angle data; inquiring a pitching angle loss compensation quantity corresponding to the pitching angle data of the platform; acquiring signal intensity data of each angle in the current scanning range, and obtaining a signal intensity maximum value; superposing the pitching angle loss compensation quantity and the signal intensity maximum value to obtain a pitching angle loss compensated signal intensity maximum value; the angle loss compensation amounts are measured through experiments and are pre-stored as a lookup table in one-to-one correspondence with the pitching angle data of the platform.
It should be noted that: in practical verification, it is found that when the mechanical phased radar adjusts the mechanical platform, the mechanical platform generates some pitch angle changes along with the carrier/the mechanical platform, so that signals of the mechanical platform are lost, the pitch angle compensation quantity is calculated in advance and stored as a lookup table, and when the pitch angle compensation is performed, the corresponding angle value is generally queried, so that the corresponding pitch angle compensation quantity can be obtained.
As a still further solution, in step 5, compensating the signal strength data comprises:
frequency variation gain compensation: continuously monitoring the signal frequency of the antenna body to obtain signal frequency data; calculating signal frequency attenuation amount by signal frequency dataL f The method comprises the steps of carrying out a first treatment on the surface of the Wherein,L f =20logf, f is the signal frequency; acquiring signal intensity data of each angle in the current scanning range, and obtaining a signal intensity maximum value; maximum signal intensity and attenuation of signal frequencyL f And (5) superposing to obtain the maximum signal intensity value after frequency interleaving gain compensation.
It should be noted that: because different signals have different signal frequencies, when the signal strength is considered, the influence of the different signal frequencies on the signal strength is also considered, so that frequency interleaving gain compensation is needed; by analyzing the signal attenuation amount L of the signal propagating in air, l=20log+20logf+32.44 (dB); wherein d is the signal transmission distance; f is the signal frequency, i.e., signal frequency data; 32.44 is the loss factor in air. Since 20logf is found to be the frequency dependent attenuation, the signal frequency attenuation is calculated from the signal frequency data when the frequency interleaving gain compensation is performedL f =20logf, compensating to eliminate the influence of frequency on the signal and findTo the maximum of the true signal strength of the facing positioning satellites.
The foregoing is only illustrative of the present invention and is not to be construed as limiting the scope of the invention, and all equivalent structures or equivalent flow modifications which may be made by the teachings of the present invention and the accompanying drawings or which may be directly or indirectly employed in other related art are within the scope of the invention.
Claims (5)
1. The automatic correction method of the absolute coordinate system of the VICTS satellite communication antenna is characterized by comprising the following steps of:
step 1: continuously monitoring an inertial navigation positioning module, a satellite positioning module, an antenna driving motor, a signal processing module, a satellite communication module and an antenna clock module of the VICTS satellite communication antenna to obtain inertial navigation attitude data, satellite positioning data, antenna angle data, signal intensity data, communication frequency data and time pulse data;
step 2: detecting a large dynamic event, wherein when the large dynamic event does not occur or the large dynamic event is not ended, the waiting for silence is kept; when the large dynamic event is finished, executing the next step;
step 3: performing calibration and resetting of reference time, namely performing calibration and resetting of the reference time of each module by sending an interrupt trigger signal to each module and feeding back a time point received by each module;
step 4: performing zero-position resetting of the antenna angle, and adjusting the angles of all layers of antennas of the VICTS satellite communication antenna to a zero-position angle through an antenna driving motor to finish the zero-position resetting of the antenna angle;
step 5: compensating the signal intensity data, searching the maximum value of the signal intensity and outputting the antenna angle data at the moment to obtain the antenna pointing angle;
step 6: calculating the relative position of a satellite-target and marking a time tag through satellite positioning data and an antenna pointing angle;
step 7: acquiring satellite coordinate positions in a standard absolute coordinate system at corresponding moments through time tags;
step 8: calculating the antenna coordinate position in a standard absolute coordinate system at the corresponding moment through the satellite coordinate position and the satellite-target relative position;
step 9: acquiring an antenna coordinate position in a local absolute coordinate system at a corresponding moment through a time tag;
step 10: and correcting the local absolute coordinate system through the antenna coordinate position in the corresponding time standard absolute coordinate system and the antenna coordinate position in the local absolute coordinate system, so as to complete automatic correction of the absolute coordinate system of the VICTS satellite communication antenna at one time.
2. The method for automatically correcting an absolute coordinate system of a vigs satellite communication antenna according to claim 1, wherein in step 2, the large dynamic event detection includes a time large dynamic event, a signal large dynamic event, a gesture large dynamic event, a frequency large dynamic event, and an angle large dynamic event; wherein,
the time big dynamic event triggering condition is whether the time pulse data accumulation amount obtains a time triggering threshold value or not;
the signal big dynamic event triggering condition is whether the signal strength data change value exceeds a signal change threshold value;
the large dynamic event triggering condition of the gesture is whether the inertial navigation gesture data change value exceeds a gesture change threshold value;
the triggering condition of the frequency large dynamic event is whether the communication frequency data change value exceeds a frequency change threshold value;
the large-angle dynamic event triggering condition is whether the antenna angle data change value exceeds an angle change threshold value.
3. The method according to claim 1, wherein in step 3, an interrupt trigger signal is sent to each module at a uniform time point, each module records a receiving time point when the interrupt trigger signal is received, projects the uniform time point and the receiving time point of each module on time pulse data, calculates a time difference between the two time points, and performs difference compensation so that reference time of each module is calibrated to the uniform time point.
4. The method for automatically correcting an absolute coordinate system of a vigs satellite communication antenna according to claim 1, wherein in step 5, compensating the signal strength data comprises:
pitch angle loss compensation: continuously monitoring the pitching angle of the mechanical platform to obtain platform pitching angle data; inquiring a pitching angle loss compensation quantity corresponding to the pitching angle data of the platform; acquiring signal intensity data of each angle in the current scanning range, and obtaining a signal intensity maximum value; superposing the pitching angle loss compensation quantity and the signal intensity maximum value to obtain a pitching angle loss compensated signal intensity maximum value; the angle loss compensation amounts are measured through experiments and are pre-stored as a lookup table in one-to-one correspondence with the pitching angle data of the platform.
5. The method for automatically correcting an absolute coordinate system of a vigs satellite communication antenna according to claim 1, wherein in step 5, compensating the signal strength data comprises:
frequency variation gain compensation: continuously monitoring the signal frequency of the antenna body to obtain signal frequency data; calculating signal frequency attenuation amount by signal frequency dataL f The method comprises the steps of carrying out a first treatment on the surface of the Wherein,L f =20logf, f is the signal frequency; acquiring signal intensity data of each angle in the current scanning range, and obtaining a signal intensity maximum value; maximum signal intensity and attenuation of signal frequencyL f And (5) superposing to obtain the maximum signal intensity value after frequency interleaving gain compensation.
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