CN202737105U - Boat-carrying antenna stabilized platform beam communication system - Google Patents
Boat-carrying antenna stabilized platform beam communication system Download PDFInfo
- Publication number
- CN202737105U CN202737105U CN201220158030.1U CN201220158030U CN202737105U CN 202737105 U CN202737105 U CN 202737105U CN 201220158030 U CN201220158030 U CN 201220158030U CN 202737105 U CN202737105 U CN 202737105U
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- antenna
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- gps
- stabilized platform
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
- H01Q1/18—Means for stabilising antennas on an unstable platform
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/34—Adaptation for use in or on ships, submarines, buoys or torpedoes
Abstract
The utility model relates to the marine inter-boat beam communication, boat-carrying rate gyro stabilized platform and servo control technical field and specifically relates to a boat-carrying antenna stabilized platform beam communication system. The system comprises a gyro stabilized platform part and a target aiming system part. The gyro stabilized platform part comprises an antenna, an antenna rotary table, an antenna rotary table controller matching the antenna rotary table and a computer. The target aiming system part comprises an LOS system based on the GPS (LOS-GPS system for short) and an HF/UHF radio station. The antenna is assembled on the antenna rotary table. A main body device of the LOS-POS system is assembled on the top of the antenna. The antenna rotary table controller, the computer, the main body device of the LOS-POS system, and the HF/UHF radio station are connected through an LOS interconnecting device matching the LOS system. The boat-carrying antenna stabilized platform beam communication system provided by the utility model solves the targeting and mutually locking problems between boat stations, prevents the space signal self-tracking principle defect and overcomes the deficiency brought by guiding through an open loop, etc.
Description
Technical field
The utility model relates between a kind of ship at sea and the ship and carries out beam communication, and boat-carrying rate gyroscope stabilized platform and servo control technique field, is specially a kind of ship-board antenna stabilized platform beam system.
Background technology
At present, marine boat-carrying antenna stabilized platform narrow beam beam system generally all is that an end moves (wave and navigate by water), and the other end is relatively fixing, and to geostationary satellite, the ship station is to bank station such as the ship station, and the ship station is to low-orbit satellite of track precognition etc.Wherein key is that satellite has the metastable beacon signal of " omnidirectional ", so that autotracking baseline error signal to be provided.And the ship station does not have tracked beacon signal to the ship station, because the equipment of beacon on is also waving, also wish from the other side to metastable tracked beacon signal, like this, the ship station to the autotracking at ship station in theory with practice in, all become the difficult problem that almost can't go beyond.There has not been autotracking, only by the open loop guiding, the accumulated error of plateform system then, the errors of calculation of vectoring information etc. cause antenna direction can't obtain long-term self-stabilization.
The utility model content
The purpose of this utility model just is to provide a kind of ship-board antenna stabilized platform beam system, it solves aiming at and mutual lockout issue between ship station and the ship station, avoid again the principle defective of spacing wave autotracking, overcome the problems such as deficiency of bringing by the open loop guiding.
Of the present utility model
Technical schemeFor:
A kind of ship-board antenna stabilized platform of the utility model beam system comprises gyro-stabilized platform part and Director Aiming Sight/System part; Described gyro-stabilized platform partly comprises antenna, antenna rotating platform, supporting antenna rotating platform controller, the computer of antenna rotating platform; Described Director Aiming Sight/System partly comprises LOS system (Chinese translation is Director Aiming Sight/System, is called for short the LOS-GPS system once) and the HF/UHF radio station based on GPS; Described antenna mount is on antenna rotating platform, the agent set of described LOS system based on GPS is assemblied in the top of antenna, antenna rotating platform controller, computer, connects by the LOS interconnecting device based on the LOS system support of GPS based on the agent set of the LOS system of GPS, HF/UHF radio station.
Above-mentioned ship-board antenna turntable has diaxon or three axles (axle refers to rate gyroscope) structure usually, what the utility model adopted two axle construction is that described antenna rotating platform is azimuth pitch formula mounting, the structure that it is the stable inertia original paper that employing is equipped with two mutually perpendicular rate gyroscopes consists of the homeostasis platform.
The operation principle of the utility model system is: native system forms gyro-stabilized platform mainly by antenna, antenna rotating platform, antenna rotating platform controller, computer etc.; By LOS system, the HF/UHF radio station based on GPS, by the RS232 interface, form Director Aiming Sight/System; Guided the another set of communication antenna of control antenna sensing object ship by antenna controller and industrial control computer, to finish communication task.Form way system by overlapping identical device systems by two between two ships during use.
The operation principle of boat-carrying gyro-stabilized platform is that the diaxon of orientation-pitching type mounting can point to whole day domain space of covering by control antenna.Corresponding each rotation axis has a drive motors rate gyroscope, the ship that responsive this axle of gyro is subject to shakes interference components, wig-wag signal is presented to antenna controller in degenerative mode, carry out PID and regulate processing, through the driver drives motor, the rotary antenna axle overcomes waving of ship, keeps this axle stable in the sensing of inertial space.Above sensing is stable to be the stable of antenna bearingt and pitching, and waving of ship also can cause antenna along the rolling of pointing to axle, for circular polarized antenna, this rolling does not cause the variation of aerial radiation signal, so do not establish the 3rd axle, only come the sensing of stabilized antenna wave beam with orientation, two stable axis of pitching.
In order to overcome the drift of rate gyroscope, keep antenna space to point to the stable of position, system need to provide orientation and horizontal reference.Horizontal reference is provided by the in-built inclination sensor of LOS-GPS, the azimuth reference in relative geographical north, that is course signal is provided by the LOS sighting system based on GPS.The basic principle of LOS-GPS sighting system is double antenna GPS.
Rate gyroscope feedback stability loop has been isolated waving of ship substantially, orientation and horizontal stable loop have kept the sensing of antenna not to be subjected to ship to shake the impact that changes with the course, and the sensing of antenna also must be pointed to communication counterpart by control, guiding, could consist of two-way communication link.
The sensing angle of antenna is to calculate by the locating information of GPS, by the radio station gps data of this ship is passed to the other side between two ships, and by azimuth and the angle of pitch of the locator data calculating book ship antenna direction communication counterpart of two ships, this function is finished by the LOS system.Azimuth and pitch angle data that the sensing target that the LOS-GPS system-computed goes out is required, by wireless VHF/UHF radio station, the position ring of constantly feeding guiding input, (refreshing frequency is not less than 1Hz).The enforcement of this function has in fact just realized goal directed closed-loop control autotracking function.When need rotate a certain sensing with antenna, need only should point to as the target data position ring guiding input of feeding by computer and got final product.
Of the present utility model
Beneficial effectFor:
The technical scheme characteristics of native system are: adopt azimuth pitch formula diaxon mounting (for circular polarized antenna), the diaxon rate gyroscope is stablized loop isolation seel and is disturbed.Use equipment body based on the LOS system of GPS to place and consist of position closed loop on the antenna, be used for overcoming the drift of rate gyroscope and the interference of other factors, realize that antenna space points to stable.Point to opponent vessel station target with wireless VHF/UHF radio station guide antenna, realize that the wave beam aligning of two ship communication antennas communicates.
Native system does not need autotracking, does not then need to be provided the autotracking signal by the stabilized antenna antenna system, and is fully independent with the communication channel of antenna, thus antenna can do very simple, saved track receiver; Adopt the LOS direction-finding equipment, saved selsyn (to sending and receiving of shaft angle) and shaft angle angular encoder; Native system does not also need boat that the course guiding is provided, and has more strengthened the independence of system, has expanded the range of application of system.
The utility model has the advantages that: realized the large capacity horizon communication of ship-to-ship on the sea.Having simplified many equipment makes system simple and reliable.Do not need the course guiding, simplified the dependence of system to the boat navigation system, independence is good.If two cover systems are installed on every ship, aim at respectively two object ships, then can realize the group-net communication between the fleet.This design at home, abroad all belong to first.
Description of drawings
Fig. 1 is that the utility model embodiment system forms and the equipment connection schematic diagram.
Fig. 2 is the utility model embodiment System Working Principle schematic block diagram.
Embodiment
The utility model is described in further detail below in conjunction with drawings and Examples:
The marine beam communication of a kind of ship-to-ship of the utility model embodiment and a kind of ship-board antenna stabilized platform of stabilized antenna platform servo system the utility model beam system comprise gyro-stabilized platform part and Director Aiming Sight/System part shown in accompanying drawing 1,2; Described gyro-stabilized platform partly comprises antenna, antenna rotating platform, supporting antenna rotating platform controller, the computer of antenna rotating platform; Described Director Aiming Sight/System partly comprises LOS system (Chinese translation is Director Aiming Sight/System) and the HF/UHF radio station based on GPS; Described antenna mount is on antenna rotating platform, the main body of described LOS system based on GPS is assemblied in the top of antenna, antenna rotating platform controller, computer, connects by the LOS interconnecting device based on the LOS system support of GPS based on the main body of the LOS system of GPS, HF/UHF radio station; Described antenna rotating platform is azimuth pitch formula mounting, adopts and be equipped with two mutually perpendicular rate gyroscopes the structure that is the stable inertia original paper, consists of the homeostasis platform.
LOS system based on GPS described in the utility model refers to a kind of series of products that carry out the earliest aim target between a kind of ship-to-ship by the exploitation of Dutch a company, general in-built inclination sensor.
The described antenna mount of the utility model embodiment adopts azimuth pitch A-E formula diaxon mounting, two mutually perpendicular angular rate sensors---rate gyroscope is the stable inertia original paper in assembling in the antenna mounting plane, consist of the homeostasis platform, sensitive axes is pitch axis and the azimuth axis of respective antenna sensing respectively.A is contained within the E axle of the antenna back side to gyro, just overlaps with mounting A axle when only at the E axle elevation angle being zero.When the E axle elevation angle was non-vanishing, A had a coordinate system transformational relation (antenna coordinate-deck coordinate) to gyro sensitive axes and mounting A axle, and the axial antenna A of mounting A is 1/cos а to transformational relation.Native system work is defined as the low elevation coverage of ship-to-ship, ignores the impact of coordinate transform coefficient.
Ship-board antenna must be isolated the impact that Attitude changes, so, at antenna two gyros are installed, one is corresponding with pitching, and another is corresponding with the orientation.Waving by gyro institute of hull is responsive, the output signal of gyro sends into control circuit and drive motors makes day alignment ship shake opposite direction rotation, thereby eliminate seel to axial impact, consist of strapdown angular speed stabilizing base body panel, the sensing of assurance antenna is not subjected to the impact of seel.
The zero drift of the stable accumulation of error of angular speed, rate gyroscope, moment interference etc. all can cause turning error, need to consist of the position stability loop by position transducer, the position, sensing angle of stabilized antenna.
Native system scheme orientation and horizon sensor adopt respectively LOS and obliquity sensor, as the Space Angle position transducer, realize the stable of antenna direction Space Angle position.
Rate gyroscope feedback stability loop has been isolated waving of ship substantially, orientation and horizontal stable loop have kept the sensing of antenna not to be subjected to ship to shake the impact that changes with the course, and the sensing of antenna also must be pointed to communication counterpart by control, guiding, could consist of two-way communication link.
The system configuration characteristics of this programme are, all sensing elements of two axles of azimuth pitch comprise two angular-rate sensor-rate gyroscopes, horizon sensor-dipmeter, and true azimuth position transducer-double antenna GPS-LOS, all one is installed on the antenna.That is to say that the antenna direction data that these inertial sensor sensitivities record all are inertial space coordinate system data, do not need Coordinate Conversion between the data.
The sensing angle of antenna is to calculate by the locating information of GPS, by the radio station gps data of this ship is passed to the other side between two ships, and by azimuth and the angle of pitch of the locator data calculating book ship antenna direction communication counterpart of two ships, this function is finished by the LOS system.The LOS-GPS system forms with to be connected work relationship as above shown in Figure 4.The azimuth that the sensing target that calculates is required and the pitch angle data position ring guiding input of constantly feeding, (refreshing frequency is not less than 1Hz).The enforcement of this function has in fact just realized goal directed closed-loop control autotracking function.When need rotate a certain sensing with antenna, need only should point to as the target data position ring guiding input of feeding by computer and got final product.
For the position of orientation loop, in order to suppress the saltus step of GPS output digital quantity, the position ring bandwidth can not be transferred wide, and the arrowband position ring can produce larger dynamic tracking error when tracking target comparatively fast moves, so will consider the feedforward compensation loop.
In use, at first by accompanying drawing 1 LOS, antenna, diaxon mounting turntable are installed and coupled together, install above deck by the round flange plate;
By accompanying drawing 2 equipment such as LOS, antenna rotating platform, antenna rotating platform controller, LOS interconnecting device, computer, VHF/UHF radio station are coupled together by the RS232 serial ports.LOS equipment is installed on the antenna to consist of position closed loop according to its equipment regulation.
Antenna rotating platform is diaxon mounting rate gyroscope stabilized platform, and as shown in Figure 2, each axle gyrocontrol forms a loop with tracking control.In pitch channel, in computer, command signal is compared with the elevation signals of LOS horizon sensor, and difference signal is changed through D/A, after regulating by position ring circuit amplification shaping calculus again, compare with the gyro output signal, with the difference signal gyro loop circuit of feeding, regulate the driver of feeding through amplifying shaping calculus, driver power output signal drive motor, the electric machine rotation elevation axis of antenna changes antenna pitching.Pitching signal after the change feeds back to computer through the output of LOS horizon sensor again, and the and instruction signal is compared again, produces new difference signal, goes round and begins again, and forms the close loop negative feedback loop.The orientation circuit theory is identical with said process.When system debug, adjust first the gyrocontrol loop, the design and implementation of loop belongs to the mature technology of automatic control, and general automatic control professional and technical personnel can both carry out design and implementation.On the normal basis of gyrocontrol loop, adjust again LOS position stability loop, (be included in when working on the boat deck) during adjustment and will guarantee that there is open navigation satellite signal environment of accepting in LOS zenith zone, namely at least will accept simultaneously the satellite navigation signals more than 4 or 4.With object ship when logical, need to be at horizon range, namely 30～40 kilometers.VHF/UHF radio station power is by 50 kilometers selections.
Claims (2)
1. ship-board antenna stabilized platform beam system is characterized in that: it comprises gyro-stabilized platform part and Director Aiming Sight/System part; Described gyro-stabilized platform partly comprises antenna, antenna rotating platform, supporting antenna rotating platform controller, the computer of antenna rotating platform; Described Director Aiming Sight/System partly comprises based on the LOS system of GPS and HF/UHF radio station; Described antenna mount is on antenna rotating platform, the agent set of described LOS system based on GPS is assemblied in the top of antenna, antenna rotating platform controller, computer, connects by the LOS interconnecting device based on the LOS system support of GPS based on the agent set of the LOS system of GPS, HF/UHF radio station.
2. a kind of ship-board antenna stabilized platform beam system according to claim 1, it is characterized in that: described antenna rotating platform is azimuth pitch formula mounting, the structure that it is the stable inertia original paper that employing is equipped with two mutually perpendicular rate gyroscopes consists of the homeostasis platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220158030.1U CN202737105U (en) | 2012-04-16 | 2012-04-16 | Boat-carrying antenna stabilized platform beam communication system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220158030.1U CN202737105U (en) | 2012-04-16 | 2012-04-16 | Boat-carrying antenna stabilized platform beam communication system |
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| CN202737105U true CN202737105U (en) | 2013-02-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201220158030.1U Expired - Fee Related CN202737105U (en) | 2012-04-16 | 2012-04-16 | Boat-carrying antenna stabilized platform beam communication system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104201470A (en) * | 2014-08-26 | 2014-12-10 | 浙江金波电子有限公司 | Digital automatic positioning and tracking antenna system |
| CN105790823A (en) * | 2016-04-27 | 2016-07-20 | 中国人民解放军国防科学技术大学 | Micro nano satellite convenient measurement and control communication system based on civil UHF frequency band |
| CN107275785A (en) * | 2017-07-21 | 2017-10-20 | 深圳市置辰海信科技有限公司 | Twocouese communication antenna servo-drive system and method for point-to-point communication |
| CN107426707A (en) * | 2017-07-21 | 2017-12-01 | 深圳市置辰海信科技有限公司 | Ship based on GIS is adaptively with outer wireless networking method |
| CN109533231A (en) * | 2018-10-26 | 2019-03-29 | 浙江海洋大学 | The autostabiliazer unit of SOS communication equipment in a kind of life raft |
| CN110530400A (en) * | 2019-10-29 | 2019-12-03 | 成都纵横自动化技术股份有限公司 | Gyroscopic drift modification method, device, photoelectric nacelle and aircraft |
| CN113232795A (en) * | 2021-06-01 | 2021-08-10 | 福州海联星信息科技有限公司 | Ship collision avoidance method and terminal |
| NL2033036B1 (en) * | 2022-09-15 | 2023-06-28 | Fishery Machinery And Instrument Res Institute Of Chinese Academy Of Fishery Sciences | Ship autonomous network communication equipment |
-
2012
- 2012-04-16 CN CN201220158030.1U patent/CN202737105U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104201470A (en) * | 2014-08-26 | 2014-12-10 | 浙江金波电子有限公司 | Digital automatic positioning and tracking antenna system |
| CN105790823A (en) * | 2016-04-27 | 2016-07-20 | 中国人民解放军国防科学技术大学 | Micro nano satellite convenient measurement and control communication system based on civil UHF frequency band |
| CN107275785A (en) * | 2017-07-21 | 2017-10-20 | 深圳市置辰海信科技有限公司 | Twocouese communication antenna servo-drive system and method for point-to-point communication |
| CN107426707A (en) * | 2017-07-21 | 2017-12-01 | 深圳市置辰海信科技有限公司 | Ship based on GIS is adaptively with outer wireless networking method |
| CN107426707B (en) * | 2017-07-21 | 2020-11-20 | 深圳市置辰海信科技有限公司 | Ship self-adaptive out-of-band wireless networking method based on GIS |
| CN109533231A (en) * | 2018-10-26 | 2019-03-29 | 浙江海洋大学 | The autostabiliazer unit of SOS communication equipment in a kind of life raft |
| CN110530400A (en) * | 2019-10-29 | 2019-12-03 | 成都纵横自动化技术股份有限公司 | Gyroscopic drift modification method, device, photoelectric nacelle and aircraft |
| CN110530400B (en) * | 2019-10-29 | 2020-03-20 | 成都纵横自动化技术股份有限公司 | Gyroscope drift correction method and device, photoelectric pod and aircraft |
| CN113232795A (en) * | 2021-06-01 | 2021-08-10 | 福州海联星信息科技有限公司 | Ship collision avoidance method and terminal |
| NL2033036B1 (en) * | 2022-09-15 | 2023-06-28 | Fishery Machinery And Instrument Res Institute Of Chinese Academy Of Fishery Sciences | Ship autonomous network communication equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130213 Termination date: 20150416 |
|
| EXPY | Termination of patent right or utility model |