JP2941390B2 - Antenna drive - Google Patents

Description

Description: Object of the Invention (Industrial application field) The present invention relates to an antenna driving device used for controlling the pointing of a mounted antenna of a spacecraft including an artificial satellite in a target direction. .

(Prior Art) Generally, as shown in FIG. 2, this type of antenna driving device detects a pointing error of a target of an antenna 1 mounted on a satellite, for example, by a tracking error detecting unit 2 such as an RF sensor. The angle of the antenna 1 with respect to the target is detected by the angle detector 4 based on the drive angle of the drive mechanism 3.
The output terminal of the tracking error detection unit 2 is connected to the fixed contact a of the mode setting changeover switch 5, and the output terminal of the other angle detection unit 4 is connected to one input terminal of the subtracter 6. The subtractor 6 is connected to an output end of a tracking target angle generator 7 for calculating a tracking target angle based on a trajectory element at the other input end, and calculates an error angle from a difference between the input antenna angle and the tracking target angle. Then, the error angle signal is output from the output terminal to the fixed contact b of the changeover switch 5. The changeover switch 5 selectively controls the switching of the movable contact c according to a control signal (not shown), and the difference between the tracking error signal from the tracking error detection unit 2 and the tracking target angle from the tracking target angle generation unit 7 and the antenna angle. Is output to the drive signal generator 8. The drive signal generator 8 generates first and second drive signals corresponding to the tracking error signal and the error angle signal to drive and control the drive mechanism 3, and controls the antenna 1 in the tracking control mode and the angle control mode. I do. The tracking control mode and the angle control mode are usually angle control modes. First, the antenna 1 is directed in the target direction, and then switched to the tracking control mode to constantly track the target.

In this tracking control mode, for example, when the target passes through a non-trackable area near the extension direction of the drive axis of the drive mechanism 3 (near a singular point), the first drive signal from the drive signal generator 8 is output. Becomes very large, the response of the drive mechanism 3 becomes difficult, and the tracking error detection unit 2
The target cannot be captured in the field of view, and tracking becomes difficult. Therefore, when passing through such a non-trackable area, the changeover switch 5 is switched to drive the drive mechanism 3 in the angle control mode, and after passing through the non-trackable area, the mode is switched again to the tracking control mode.

However, in the above antenna driving device, the subtractor 6
A large error occurs between the target and the antenna directional direction after passing through the non-trackable area due to the target angle error calculated in step (1) or the mounting error of the antenna 1 including the drive mechanism 3. There is a problem that it is difficult to capture the moving object and it is difficult to quickly recover the tracking operation.

(Problems to be Solved by the Invention) As described above, the conventional antenna driving device has a problem that it is difficult to quickly recover from tracking after passing through the target tracking impossible area.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to provide an antenna driving apparatus which has a simple configuration and can realize a quick tracking recovery operation after passing through a target tracking impossible area. .

[Constitution of the Invention] (Means for Solving the Problems) The present invention relates to a driving unit for controlling the pointing of an antenna mounted on a spacecraft in a target direction, and a tracking error detecting unit for detecting a pointing error of the antenna with respect to a target. And first signal processing means for obtaining a first drive signal based on the pointing error detected by the tracking error detection means; angle detection means for detecting an antenna angle of the antenna with respect to a target;
Angle estimating means for estimating a theoretical antenna angle of the antenna based on orbital elements, and an error for obtaining an angle correction amount based on a difference between the antenna angle detected by the angle detecting means and the estimated angle of the angle estimating means. An estimating means, a tracking target angle generating means for obtaining a tracking target angle based on the angle correction amount obtained by the error estimating means and the estimated angle of the angle estimating means, and a tracking target angle obtained by the tracking target angle generating section. Tracking error angle calculation means for obtaining an error angle from the antenna angle detected by the angle detection unit; and second signal processing means for generating a second drive signal corresponding to the error angle obtained by the tracking error angle calculation means A mode setting for selecting one of the first and second drive signals and outputting the selected signal to the drive means, and switching the pointing control of the antenna to a tracking control and an angle control mode. It is obtained by constituting the antenna driving device and a stage.

(Operation) According to the above configuration, the target angle is obtained by calculating an angle correction amount based on the antenna angle detected by the angle detection unit and the theoretical estimated angle of the antenna when the antenna is pointing in the target direction. The tracking target angle can be obtained from the correction amount and the theoretical estimated angle of the antenna. As a result, the error between the theoretically obtained target angle and the actual target angle disappears,
Also in the angle control mode, it is possible to point the target with high accuracy. Accordingly, in the tracking control mode, even when the target is switched to the angle control mode, and the target has passed through the non-trackable area and then switched to the tracking control mode again, the tracking error detection unit can capture the target, and the target can be quickly captured. The transition to the tracking control mode is realized.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows an antenna driving apparatus according to an embodiment of the present invention. An antenna 10 has a tracking control mode in which a pointing error detected by a tracking error detecting unit 11 composed of an RF sensor or the like is "0". In addition, the pointing control is performed in the target direction in an angle control mode in which the antenna angle is controlled based on the target angle obtained by detecting the drive angle of the drive mechanism 12 by the angle detection unit 13.

That is, the tracking error detector 11 detects the pointing error of the antenna 10 and outputs the same to the first signal processor 14. The first signal processing unit 14 obtains a first drive signal from the input pointing error, and outputs the first drive signal to a fixed node a of the changeover switch 15 from an output terminal.

The angle detector 13 detects the drive angle of the drive mechanism 12 and outputs it to one input terminal of the subtracter 16. Also, the angle detector
One output terminal of the error estimating unit 17 is connected to the output terminal of 13. The error estimating unit 17 is connected to one input terminal of the other input terminal of the angle estimating unit 18 that theoretically calculates the driving angle of the driving mechanism 12 when pointing the target of the antenna 10 based on the orbital element. The angle correction amount between the input antenna angle (direction vector with respect to the actual target) and the theoretical drive angle of the drive mechanism 12 (theoretical direction vector with respect to the target obtained theoretically) is obtained, and the output is obtained. It outputs to one input terminal of the tracking target angle generation unit 19 connected to the terminal. The tracking target angle generation unit 19 has an output terminal of the angle estimation unit 18 connected to the other input terminal, and corrects a directional vector with respect to the target theoretically obtained using the input angle correction amount. Is calculated. An output terminal of the tracking target angle generation unit 19 is connected to the other input terminal of the subtractor 16, and outputs the calculated tracking target angle to the subtractor 16. The subtracter 16 calculates an error angle between the input antenna angle and the tracking target angle, and outputs the calculated error angle to the second signal processing unit 20. The second signal processing unit 20
The output terminal is connected to the fixed contact b of the changeover switch 15, generates a second drive signal corresponding to the input error angle, and outputs it to the fixed contact b. The movable node c of the changeover switch 15 is connected to the drive mechanism 12 and selectively switched and controlled in accordance with a control signal (not shown) to generate first and second signals generated by the first and second signal processors 14 and 20. One of the two drive signals is output to the drive mechanism 12 to perform drive control, and the pointing of the antenna 10 is controlled in the tracking control mode and the angle control mode.

In the above configuration, in the tracking control mode, the movable contact c of the changeover switch 15 is switched to the fixed contact b, and the first signal processing unit 14 calculated based on the pointing error from the tracking error detection unit 11. One drive signal is input to the drive mechanism 12, and the drive mechanism 12 is driven to perform pointing control so that the pointing error of the antenna 10 becomes "0". In this tracking control mode, when the tracking impossible area arrives, the changeover switch 15 is reversed, the movable contact c is switched to the fixed contact b, and the mode is switched to the angle control mode. Then, the second signal processing unit 20 obtains the angle correction amount from the antenna angle and the theoretical estimated angle of the antenna as described above, and calculates the tracking target angle from the angle correction amount and the theoretical estimated angle of the antenna. Then, a second drive signal is calculated based on the error angle calculated from the tracking target angle and the antenna angle, and is output to the drive mechanism. Here, the drive of the drive mechanism 12 is controlled based on the input second drive signal, and controls the antenna angle of the antenna 10 to point in the target direction. In this angular control mode, when the target passes through the tracking impossible region again, the changeover switch 15 is reversed, the movable contact c is switched to the fixed contact a, and the tracking control mode is switched, and the pointing control of the antenna 10 is performed. . At this time, the driving mechanism 12
The target angle is corrected to the theoretical antenna angle by the angle correction amount, and there is almost no error from the actual antenna angle. Therefore, the quick switching from the angle control mode to the tracking control mode is performed. .

As described above, the antenna driving device obtains the angle correction amount based on the actual antenna angle detected by the angle detecting unit 13 and the theoretical estimated angle of the antenna 10 for establishing the target angle error for constructing the angle control mode. The tracking target angle is obtained from the correction amount and the theoretical estimated angle of the antenna 10, and further, the tracking target angle is obtained from the tracking target angle and the antenna angle. According to this, in the tracking control mode, when the target passes through the non-trackable region, the pointing control of the antenna 10 is switched to the angle control mode, and after the passage, the tracking control mode is switched again to perform the pointing control. Also, since the error between the theoretically obtained target angle and the actual target angle almost disappears, the tracking error detection unit 11 can capture the target, and the transition to the tracking control mode is quickly performed. You.

In the above embodiment, the case where the angle error is estimated from the direction vector of the drive shaft of the drive mechanism has been described. However, the present invention is not limited to this, and is configured to calculate the angle error in the angle dimension. It is also possible. Further, after the correction by the angle correction amount, the tracking target angle is calculated without performing the angle correction without calculating the tracking target angle, and the tracking target angle is corrected by the angle correction amount. Is also possible.

Therefore, it is needless to say that the present invention is not limited to the above-described embodiment, and that various modifications can be made without departing from the scope of the present invention.

[Effects of the Invention] As described in detail above, according to the present invention, there is provided an antenna driving apparatus which can realize a quick tracking recovery operation after passing through a target non-trackable area with a simple configuration. Can be.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an antenna driving device according to an embodiment of the present invention, and FIG. 2 is a block diagram showing a conventional antenna driving device. Reference numeral 10: Antenna, 11: Tracking error detection unit, 12: Driving mechanism, 13: Angle detection unit, 14: First signal processing unit, 15:
... Changeover switch, 16 ... Subtractor, 17 ... Error estimator, 18
…… Angle estimating unit, 19 …… Tracking target angle generating unit, 20 …… Second
Signal processing unit.

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) G01S 3/00-3/74 H04B 7/185

Claims (1)

(57) [Claims] 1. A driving means for controlling the pointing of an antenna mounted on a spacecraft in a target direction, a tracking error detecting means for detecting a pointing error of the antenna with respect to a target, and a pointing detected by the tracking error detecting means. First signal processing means for obtaining a first drive signal based on an error; angle detection means for detecting an antenna angle of the antenna with respect to a target; and estimating a theoretical antenna angle of the antenna based on a trajectory element Angle estimating means; error estimating means for obtaining an angle correction amount based on a difference between the antenna angle detected by the angle detecting means and the estimated angle of the angle estimating means; Tracking target angle generating means for obtaining a tracking target angle based on the estimated angle of the angle estimating means; and a tracking target angle obtained by the tracking target angle generating unit and the angle detection. Tracking error angle calculating means for calculating an error angle with respect to the antenna angle detected by the section;
A second signal processing means for generating a drive signal of the type described above; and selecting one of the first and second drive signals and outputting the selected signal to the drive means. And a mode setting means for switching and setting.