JP3277260B2 - Antenna pointing device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an antenna pointing device for pointing an antenna suitable for use in maritime satellite communication or the like toward a satellite.

[0002]

2. Description of the Related Art FIG. 3 shows an example of a conventional antenna pointing device. This antenna pointing device is basically called an azimuth-elevation system, and includes a base 3, an azimuth gimbal 40 mounted on the base 3, and a mounting bracket mounted on a U-shaped member at the upper end of the azimuth gimbal 40. 41 and the antenna 14 attached to the mounting bracket 41.

[0003] The base 3 may have a bridge portion 3-1.
The bridge portion 3-1 has a cylindrical portion 11 protruding upward.
Are mounted, and a pair of bearings 21-1 and 21-2 are mounted inside the cylindrical portion 11. An azimuth axis 20 is fitted to inner rings of the bearings 21-1 and 21-2, and an azimuth gimbal 40 is mounted on an upper end of the azimuth axis 20 via an arm 13.

[0004] Thus, the azimuth axis 20 is
With support by -2, azimuth gimbal 40 can rotate about an axis through azimuth axis 20. The azimuth gimbal 40 has a lower support shaft portion 40-1 and an upper U-shaped portion 40-2, and the center axis of the support shaft portion 40-1, that is, the azimuth axis ZZ is, as shown in FIG. Are deviated from the axis passing through. The support shaft 40-1 may be configured to be aligned with an axis passing through the azimuth axis 20.

[0005] A smaller U-shaped mounting bracket 41 is disposed on the U-shaped portion 40-2 of the azimuth gimbal 40, and the mounting bracket 41 has two legs 41-.
1 and 41-2 have elevation axes 30-1 and 30-2, respectively. Appropriate bearings are mounted on each of the two legs of the U-shaped portion 40-2 of the azimuth gimbal 40, and the elevation shafts 30-1 and 30-2 are rotatably supported by the bearings.

The central axes of the elevation axes 30-1 and 30-2 constitute an elevation axis YY, and thus the mounting bracket 41 is provided between the two legs of the U-shaped part 40-2 of the azimuth gimbal 40. Are supported rotatably about the elevation axis YY. The elevation axis YY is arranged at right angles to the azimuth axis ZZ.

The azimuth axis ZZ is perpendicular to the mounting surface of the antenna pointing device, for example, the hull plane, so that the elevation axis YY is always arranged parallel to the hull plane.

The leg 41 of the U-shaped mounting bracket 41
An antenna 14 is mounted on each of the antennas 1 and 41-2.
It can rotate around Y. The antenna 14 has a central axis XX, such a central axis being an elevation axis Y-.
Perpendicular to Y.

The mounting bracket 41 includes an elevation gyro 44.
The azimuth gyro 45 is attached, the rotation angle velocity of the antenna 14 rotating around the elevation axis YY is detected by the elevation gyro 44, and both the elevation axis YY and the center axis XX of the antenna 14 are detected by the azimuth gyro 45. The rotational angular velocity of the antenna 14 about an axis orthogonal to the angle is detected. The elevation gyro 44 and the azimuth gyro 45 may be, for example, an integrating gyro such as a mechanical gyro or an optical gyro, or an angular velocity detecting gyro such as a vibration gyro, a rate gyro, or an optical fiber gyro.

The mounting bracket 41 is further provided with a first accelerometer 46, a second accelerometer 47, and a third accelerometer 48. The first accelerometer 46 detects the inclination angle of the center axis XX of the antenna 14 around the elevation axis YY, and the second accelerometer 47 detects the inclination angle x of the elevation axis YY with respect to the horizontal plane. You.

If the second accelerometer 47 is mounted on the mounting bracket 41 so that its input axis is parallel to the elevation axis YY, its output is proportional to sinx. Note that the second accelerometer 47 may be mounted on the azimuth gimbal 40 such that its input axis is parallel to the elevation axis YY.

The third accelerometer 48 is the first accelerometer 46
And the second accelerometer 47 are mounted so as to be orthogonal to both, ie, have an input axis orthogonal to both the input axis of the first accelerometer 46 and the input axis of the second accelerometer 47. It is attached. Thus, the third accelerometer 48 has a central axis XX and an elevation axis Y-
The inclination angle of the axis perpendicular to both Y with respect to the horizontal plane is detected.

An elevation gear 32 is mounted on one leg of the mounting bracket 41 coaxially with the elevation axis YY. A pinion 35 is meshed with the elevation gear 32, and the pinion 35 is mounted on one leg of the U-shaped part 40-2 of the azimuth gimbal 40.
3 is attached to the rotating shaft.

An elevation transmitter 34 is mounted on one leg of the U-shaped part 40-2 of the azimuth gimbal 40. The elevation transmitter 34 allows the elevation axis YY of the antenna 14 to be mounted.
The surrounding rotation angle θ is detected, and a signal indicating the detection is output.

On the other hand, an azimuth gear 2 is provided at the lower end of the azimuth axis 20.
2 is mounted, and an azimuth servomotor 23 and an azimuth transmitter 24 are mounted on the bridge section 3-1 of the base 3.
A pinion (not shown) attached to the rotation axis of the azimuth servomotor 23 and the azimuth transmitter 24 is configured to mesh with the azimuth gear 22.

As shown, an elevation control loop and an azimuth control loop are provided to control the antenna pointing device. The center axis X-X of the antenna 14 is a horizontal plane and contact angle of elevation theta _A of the antenna, the central axis X-X of the antenna 14 is the azimuth angle phi _A of the antenna meridian N and the angle in the horizontal plane.

The elevation control loop is configured to rotate the antenna 14 about the elevation axis Y-Y so that the elevation angle θ _A of the antenna coincides with the satellite altitude angle θ _S. Including. In the first loop, the output of the elevation gyro 44 is fed back to the elevation servomotor 33 via the integrator 54 and the amplifier 55. As a result, the antenna 14 with respect to the inertial space
Angular velocity about the elevation axis Y-Y is always kept at zero.

In the second loop, the first accelerometer 4
6. The output signal of the three-axis orthogonal accelerometer including the second accelerometer 47 and the third accelerometer 48 is supplied to the antenna elevation angle calculator 81. The antenna elevation angle calculation unit 81 receives the output signals of the three accelerometers 46, 47, and 48 and calculates the elevation angle θ _A of the antenna 14, that is, the inclination angle of the central axis XX of the antenna 14 with respect to the horizontal plane. Such calculations include performing an arc tangent calculation from the tangent of the elevation angle θ _A of the antenna 14, thereby obtaining the value of the elevation angle θ _A of the antenna 14 and its quadrant. For details of the function and configuration of the antenna elevation angle calculation unit 81, refer to Japanese Patent Application No. 4-348745 filed by the same applicant as the present applicant.

The signal indicating the elevation angle θ _A of the antenna 14 output from the antenna elevation calculation unit 81 is reduced by, for example, a signal indicating the manually set satellite altitude angle θ _S , and further passed through the attenuator 56. Then, it is input to the integrator 54 and the amplifier 55. This loop has an appropriate time constant for matching the elevation angle θ _A of the antenna 14 to the satellite altitude angle θ _S. Incidentally, the attenuator 56 may be provided with an integral characteristic in order to compensate for drift fluctuation of the elevation gyro 44.

The azimuth gimbal 4 as azimuth control loop azimuth phi _A of the antenna 14 matches the satellite azimuth angle phi _S
It has a function to control the direction of 0. The output signal of the azimuth gyro 45 is fed back to the azimuth servomotor 23 via the integrator 58 and the amplifier 59, so that the antenna 14 is orthogonal to both the center axis XX and the elevation axis YY of the antenna 14. It can be stabilized against the rotational movement of the hull around the axis.

A rotation angle signal indicating the rotation angle (rotation angle of the antenna) φ of the azimuth gimbal 40 is output from the azimuth transmitter 24, and the rotation angle signal is supplied to the adder 61.
In the adder 61, the rotation angle φ, the heading azimuth angle φ _C supplied from, for example, a magnetic compass or a gyro compass, and the inclination correction value Δφ _AE supplied from the inclination correction calculation unit 83 are added, and the sum is used to calculate the satellite. azimuth angle phi _S is subtracted.
The output signal of the adder 61 is further input to the integrator 58 via the attenuator 60. When the sum of the rotation angle phi and the heading angle phi _C and the inclined correction value [Delta] [phi _AE antennas is equal to the satellite azimuth angle phi _S, the orientation of the antenna 14 is stationary.

The tilt correction calculator 83 is provided with the second accelerometer 4
7 is connected to receive a signal indicating an inclination angle x or sinx of the elevation axis YY with respect to the horizontal plane, and a signal indicating the rotation angle θ of the antenna 14 about the elevation axis YY from the elevation transmitter 34. ing.

[0023] In the inclination correction arithmetic unit 83, the inclination correction value [Delta] [phi _AE is calculated based on the formula for a number 1.

[0024]

(Equation 1) θ: the elevation axis YY of the antenna with respect to the azimuth gimbal
Around rotation angle x: inclination angle of elevation axis YY with respect to the horizontal plane θ _S : altitude angle of satellite

[0025] The azimuth control loop, having an appropriate time constant to match the azimuth angle phi _A of the antenna 14 to the satellite azimuth angle phi _S. Incidentally, the attenuator 60 may be provided with an integral characteristic in order to compensate for drift fluctuation of the azimuth gyro 45. That is, the outputs of the attenuators 56 and 60 correspond to the outputs of the integrating gyro torquer.

Thus, the antenna 14 is configured so that the central axis XX is directed toward the satellite by the elevation control loop and the azimuth control loop.

[0027]

However, in such a conventional antenna pointing device, when the route of the denominator becomes negative in the calculation of the equation (1) performed by the tilt correction calculation unit 83, the calculation becomes impossible. was there. For example, the antenna 1 is instantaneously moved due to large swaying of the hull, large disturbance, etc.
In the case where 4 rotates, the inclination angle x of the elevation axis YY with respect to the horizontal plane detected by the second accelerometer 47 increases. Further, the value in the arc sine of the equation (1) may be 1 G or more, which may make calculation impossible.

When the calculation of the equation (1) performed by the tilt correction calculation unit 83 becomes impossible, the loop including the tilt correction calculation unit 83 cannot be used, and the center of the antenna can be quickly and accurately determined. The axis XX could not be pointed at the satellite.

The inclination correction value Δφ_AEIs given by
In this case, the inclination correction value Δφ _AJudge the sign of
I could do that, but I couldn't make a quadrant decision.
That is, the inclination correction value Δφ_AEMay exceed ± 90 °
However, there was a disadvantage that it could not be determined. Follow
And the inclination correction value Δφ_AEIs higher than ± 90 °
The center axis XX of the antenna 14 is pointed to the satellite with high accuracy
I couldn't let it.

In view of the above, the present invention always keeps the antenna 14 satisfactorily with respect to the satellite even when the hull is shaken, vibrated, or the like during navigation, or when the hull is inclined at a fixed inclination angle. It is an object of the present invention to provide an antenna pointing device capable of pointing.

[0031]

According to the present invention, for example, as shown in FIG.
, An azimuth gimbal 40 that rotatably supports the antenna 14 and the support member 41 around an elevation axis YY orthogonal to the central axis XX, and an azimuth gimbal 40 that is positioned on the elevation axis YY. A base 3 rotatably supporting around an orthogonal azimuth axis Z-Z, a first gyro 44 having an input axis parallel to the elevation axis Y-Y and fixed to the support member 41, and a center axis X- A second axis fixed to the support member 41 and having an input axis orthogonal to both the X axis and the elevation axis YY.
A gyro 45, a first accelerometer 46 that outputs a signal indicating an inclination angle of the central axis XX with respect to a horizontal plane,
A second accelerometer 47 for outputting a signal indicating the inclination angle of the elevation axis YY with respect to the horizontal plane, and a third accelerometer 47 having an input axis orthogonal to both the central axis XX and the elevation axis YY of the antenna. An accelerometer 48, an azimuth transmitter 24 for outputting a signal indicating a rotation angle of the azimuth gimbal 40 around the azimuth axis ZZ, and an elevation axis YY to the azimuth gimbal 40
An elevation transmitter 34 for outputting a signal indicating the rotation angle θ of the surrounding antenna 14, and accelerometers 46, 47, 4.
8, a signal obtained by subtracting the value corresponding to the satellite's altitude from the output signal 8 is fed back to the substantial torquer of the first gyro 44, and the output signal of the azimuth transmitter 24 and the signal corresponding to the heading azimuth and satellite azimuth Is calculated by the adder 61 and the output signal is fed back to the substantial torquer of the second gyro 45 to direct the center axis XX of the antenna to the satellite. , The output signal of the second accelerometer 47 and the third accelerometer 4
8 and an output signal of the elevation transmitter 34. The inclination correction operation unit 93 calculates an inclination correction value Δφ _{A according} to the following equation, and indicates the inclination correction value Δφ _A. Is output to the adder 61. Δφ _A = tan ^-1 (sin θ · sinx / sin
θ _P ) θ: The rotation angle of the antenna about the elevation axis YY with respect to the azimuth gimbal 40 x: The inclination angle of the elevation axis YY with respect to the horizontal plane θ _P : Both the central axis XX and the elevation axis YY of the antenna Angle of the axis perpendicular to the plane to the horizontal plane

[0032]

According to the present invention, the inclination correction operation unit 93 calculates
Tilt correction value [Delta] [phi _A by the equation is determined, the inclination correction value [Delta] [phi _A that such is supplied to the adder 61, whereby since the azimuth angle error of the antenna 14 is modified, the antenna 1
4 can accurately determine the azimuth φ _A of the antenna 14.
Can be accurately directed in the satellite direction.

[0033]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 1 and 2, the same reference numerals are given to the corresponding portions in FIG. 3, and the detailed description thereof will be omitted.

FIG. 1 shows an example of an antenna pointing device according to the present invention. The antenna pointing device includes a base 3 and the base 3.
And a mounting bracket 41 mounted on the U-shaped member at the upper end of the azimuth gimbal 40, and the antenna 14 mounted on the mounting bracket 41.

The antenna 14 has a central axis XX, and an assembly comprising the antenna 14 and a mounting bracket 41 mounted on the antenna 14 is an elevation axis YY orthogonal to the central axis XX. It is rotatably supported around. The azimuth gimbal 40 is supported by the base 3 so as to be rotatable around an azimuth axis ZZ orthogonal to the elevation axis YY.
In this manner, a support mechanism rotatable about two axes is formed, and the support mechanism is controlled so that the central axis XX of the antenna 14 is directed to the satellite.

The mounting bracket 41 has an elevation gyro 44
A gyro 45, a first accelerometer 46, a second accelerometer 47, and a third accelerometer 48 are mounted.

The elevation gyro 44 makes the elevation axis YY
The rotational angular velocity of the antenna 14 rotating around is detected,
The azimuth gyro 45 detects the rotational angular velocity of the antenna 14 about an axis orthogonal to both the elevation axis YY and the central axis XX of the antenna 14, and a first accelerometer 46.
The central axis XX of the antenna 14 with respect to the horizontal plane
The second accelerometer 47 detects the inclination angle of the elevation axis YY with respect to the horizontal plane.

The third accelerometer 48 is the first accelerometer 46
And an input axis perpendicular to both the input axis of the second accelerometer 47 and the input axis of the second accelerometer 47. Therefore, the third accelerometer 48 is connected to the central axis X-
An inclination angle of an axis orthogonal to both the X and the elevation axis Y-Y with respect to a horizontal plane is detected.

The elevation gyro 44 and the azimuth gyro 45 may be angular velocity detecting gyros such as a vibration gyro and a rate gyro.

The antenna pointing device of this embodiment has an elevation control loop and an azimuth control loop as in the conventional example shown in FIG. Elevation control loop of this embodiment is the elevation axis of the antenna 14 as the elevation angle theta _A of the antenna is matched to the satellite altitude theta _S Y
It is configured to rotate around −Y and may be the same as a conventional elevation control loop.

The azimuth control loop is the azimuth φ _{A of the} antenna.
There is configured to rotate the antenna 14 to match the azimuth angle phi _S satellites azimuthal axis Z-Z around, as compared with the conventional azimuth control loop, instead of a conventional tilt correction calculation unit 83 In that a new inclination correction calculation unit 93 is provided.

The tilt correction calculation unit 93 outputs a signal indicating the rotation angle θ of the antenna 14 about the elevation axis Y-Y output from the elevation transmitter 34 and the elevation axis Y with respect to the horizontal plane output from the second accelerometer 47. The sine value si of the tilt angle x of −Y
instructing sine value sin [theta _P of the inclination angle theta _P with respect to the horizontal plane of the signal and the axis perpendicular to both the third central axis of the antenna output from the accelerometer 48 X-X and the elevation axis Y-Y which instructs the nx Signal and input the tilt correction value Δ
It calculates the φ _A.

Referring to FIG. 2, inclination correction calculating section 93 of the present embodiment.
The function and operation of will be described. FIG. 2 considers a unit spherical surface having a radius of 1, and the unit spherical surface and the central axis XX of the antenna 14 are considered.
(Line segment OX in FIG. 2), elevation axis YY (line segment OY, OY 'in FIG. 2), azimuth axis ZZ (line segment OZ,
OZ ′) and an axis orthogonal to both the central axis XX and the elevation axis YY of the antenna 14 (the segments OP and O in FIG. 2).
P ′). The azimuth axis ZZ is always perpendicular to the hull plane (the mounting surface of the antenna 14).

The hull plane is at an elevation axis YY with respect to the horizontal plane.
It is assumed that the rotation has been made by the rotation angle ξ around (OY) and further by the rotation angle η around another axis, for example, around the OE line of the hull. The azimuth axis ZZ moves from the line OZ to the line OZ ', and the elevation axis YY moves from the line OY to the line OD.
Note that 尚 XOD = 90 °.

Due to the motion of the hull surface, the antenna 1
The center axis XX of the antenna 14 is also moved by the control loop so that the center axis XX of the antenna 14 is directed to the satellite direction. That is, the central axis XX of the antenna 14
Moves to a position deviated from the line OX and moves again to the line OX.

[0046] By such a control, the elevation axis Y-Y moves 'by the rotation angle [Delta] [phi _A from rotating line OD line OY around' the azimuthal axis OZ. Note that ∠XOY '= 90 °.
Also, the center axis XX and the elevation axis YY of the antenna 14 are shown.
Move to the line OP '. Eventually, the line OY has moved to the line OY 'via the line OD, and ∠POP' = ∠Y'OY and arc PP '= arc Y'
Y.

The line OX, the line OY and the line OP are lines having a length of 1 orthogonal to each other, and the triangle XYP is an equilateral spherical triangle having one side of π / 2. The line OX, the line OY ′, and the line OP ′ are also lines having a length of 1 orthogonal to each other, and the triangle XY′P ′ is an equilateral spherical triangle having one side of π / 2. Points X, P and P 'are connected by straight lines on the unit spherical surface. The arc XP is orthogonal to the horizontal plane at the point A, and is orthogonal to the plane OY'P 'at the point P. The arc XP 'is orthogonal to the hull plane (mounting plane) at the point C, and is orthogonal to the plane OY'P' at the point P '. Let A 'be a leg of a perpendicular line lowered from the point P' to the horizontal plane, and B 'be a leg of a perpendicular line lowered from the point Y' to the horizontal plane.

Here, ∠XOA = θ ₀ = arc XA, ∠PO
A = θ _P0 = arc PA, ΔBOD = η = arc BD, ΔXOC =
θ = arc XC, ∠P'OA '= θ _P = arc P'A', ∠Y '
OB ′ = x = arc Y′B ′.

The first accelerometer 46 is mounted along line OX, the second accelerometer 47 is mounted along line OY,
The third accelerometer 48 is mounted along the line OP.
When the hull plane is the same as the horizontal plane, the elevation angle transmitter 34 outputs the inclination angle ∠XOA = θ ₀ of the central axis XX of the antenna 14 with respect to the hull plane, and the second accelerometer 47 sinｓYOB = sin 0. = 0 is detected and the third
Is detected as sin ＝ POA = sin θ _P0 . The first accelerometer 46 sets sin @
XOA = sin θ ₀ is detected.

The hull plane is at an elevation axis YY with respect to the horizontal plane.
(OY) around the rotation angle ξ, and further around the tail line OE of the hull by the rotation angle η, the elevation transmitter 3
4, the central axis X- of the antenna 14 with respect to the hull surface.
The tilt angle ∠XOC = θ of X is output, and the second accelerometer 4
7, sin @ Y'OB '= sinx is detected,
By the third accelerometer 48, sin @ P'OA '= si
nθ _P is detected.

The altitude angle of the satellite θ _S (= θ _A )
Is independent of the motion of the hull plane, the value sin @ XOA = sin θ ₀ detected by the first accelerometer 46 does not change.

Next, an inclination correction value Δφ _A is obtained. Δφ _A
= Arc EC = arc DY '. By applying the spherical trigonometric theorem, the following equation 2 is obtained.

[0053]

## EQU2 ## sin Δφ _A = tan η · tan θ sinx = sin η · cos θ _S / cos θ sin ² x + sin ² θ _P = cos ² θ _S

From Equations 1 and 2 of Equation 2, Δφ
_{When A} is obtained, the following equation (3) is obtained.

[0055]

(Equation 3)

By transforming the right side of this equation using the third equation of the equation (2), the following equation (4) is obtained.

[0057]

Tan Δφ _A = sin θ · sinx / sin θ _P

The equation (4) is the tilt correction equation of this embodiment.
As described above, the inclination angle θ of the center axis XX of the antenna 14 with respect to the hull surface is obtained from the elevation transmitter 34, and the sine value sinx of the inclination angle x of the elevation axis YY with respect to the horizontal plane is determined by the second accelerometer. The inclination angle θ _P of the axis perpendicular to both the central axis XX and the elevation axis YY of the antenna 14 with respect to the horizontal plane is obtained from the third accelerometer 48.

[0059] Thus, the value of the tangent of the inclination correction value [Delta] [phi _A by the numerical formula 4 is obtained in this example, the inclination correction value [Delta] [phi _A of the rotational angle φ of the antenna 14 by determining the values of the arc tangent of the value can get.

Referring again to FIG. 1, the inclination correction calculating section 9
3 is the tilt correction value Δφ _AIs supplied to the adder 61.
Be paid. When the output of the adder 61 becomes zero, that is,
Antenna rotation angle φ and bow azimuth angle φ_CAnd inclination correction value Δφ
_AIs the satellite azimuth angle φ_SWhen equal to the antenna
The 14 directions are stationary.

The denominator on the right side of the equation (4) is 0 because θ
_{When P} = 0, that is, the central axis X−
This is when X faces the zenith. Therefore, in the present example, the calculation of the tilt correction value Δφ _A in the tilt correction calculation unit 93 does not become impossible except when the center axis XX of the antenna 14 faces the zenith. In such a case, Δφ _A ± 90 ° may be set at the time of the arc tangent calculation of the equation (4).

[0062] Moreover, the terms of number 4 on the right side of the equation takes positive and negative values, therefore, since the left-hand side value of Expression 4 of formula positive and negative values accordingly, the inclination correction value [Delta] [phi _A is ± 90 Even if the angle exceeds °, the quadrant can be determined.

Although the embodiments of the present invention have been described in detail above, it will be apparent to those skilled in the art that the present invention is not limited to the above-described embodiments and can adopt various other configurations without departing from the gist of the present invention. It will be easily understood.

[0064]

According to the present invention, since the inclination correction value [Delta] [phi _A is determined by the equation of the slope correction calculation unit 93 in the number 4, rather than be a impossible calculation of the inclination correction value [Delta] [phi _A,
Thus, hull can seek azimuth angle phi _A of the antenna 14 with high precision rapidly shaken, there is an advantage that can be directed exactly in the direction of the satellite antenna 14.

According to the present invention, since the inclination correction value Δφ _A is obtained by the inclination correction operation section 93 by the equation (4),
The quadrant discrimination of the tilt correction value Δφ _A is possible, so that the azimuth φ _A of the antenna 14 can be obtained with high accuracy even if the hull moves suddenly, and the antenna 14 is accurately pointed toward the satellite. There are advantages that can be.

In the conventional inclination correction calculation unit 83, the equation (1)
The inclination correction value Δφ_AAsked
Calculation becomes impossible when the output of the accelerometer exceeds 1G
According to the present invention, the arc tangent
The inclination correction value Δφ _AIs required, so the operation
There are advantages that do not become impossible.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating an example of an antenna pointing device according to the present invention.

FIG. 2 is an explanatory diagram illustrating a function of a tilt correction calculation unit.

FIG. 3 is a diagram showing an example of a conventional antenna pointing device.

[Explanation of symbols]

 3 Base 3-1 Bridge part 11 Cylindrical part 13 Arm 14 Antenna 20 Azimuth axis 21-1, 21-2 Bearing 22 Azimuth gear 23 Azimuth servomotor 24 Azimuth transmitter 30-1, 30-2 Elevation axis 32 Elevation gear 33 Elevation servomotor 34 Elevation transmitter 35 Pinion 40 Azimuth gimbal 40-1 Support shaft 40-2 U-shaped part 41 Mounting bracket 41-1, 41-2 Leg 44 Elevation gyro 45 Azimuth gyro 46 First accelerometer 47 2 accelerometer 48 third accelerometer 54 integrator 55 amplifier 56 attenuator 57 arc sine calculator 58 integrator 59 amplifier 60 attenuator 61 adder 81 antenna elevation angle calculation unit 83 tilt correction calculation unit 93 tilt correction calculation unit X -X Antenna center axis YY Elevation axis ZZ Z axis

──────────────────────────────────────────────────続 き Continuation of the front page (72) Yoshinori Kamiya 2-16-46 Minami Kamata, Ota-ku, Tokyo Inside Tokimec Co., Ltd. (56) References JP-A-6-204728 (JP, A) JP-A Heihei 5-206713 (JP, A) JP-A-62-14504 (JP, A) JP-A-56-122202 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) H01Q 3/00 -3/46

Claims (1)

(57) [Claims] An antenna having a central axis supported by a support member, an azimuth gimbal rotatably supporting the antenna and the support member about an elevation axis orthogonal to the central axis, and A base rotatably supported around an azimuth axis orthogonal to the elevation axis, a first gyro having an input axis parallel to the elevation axis and fixed to the support member, and both the center axis and the elevation axis A second gyro having an input axis perpendicular to the axis, a first gyro fixed to the support member, a first accelerometer for outputting a signal indicating an inclination angle of the central axis with respect to a horizontal plane, and an inclination of the elevation axis with respect to a horizontal plane A second accelerometer for outputting a signal indicating an angle, a third accelerometer having an input axis orthogonal to both the central axis and the elevation axis of the antenna, and the azimuth axis of the azimuth gimbal An azimuth transmitter that outputs a signal that indicates a rotation angle around a line, and an elevation transmitter that outputs a signal that indicates a rotation angle θ of the antenna about the elevation axis with respect to the azimuth gimbal. A signal obtained by subtracting the value corresponding to the altitude angle of the satellite from the output signal of the meter is fed back to the substantial torquer of the first gyro, and the output signal of the azimuth transmitter and the azimuth angle corresponding to the heading angle and the satellite azimuth angle are obtained. And a signal calculated by an adder, and the output signal is fed back to the substantial torquer of the second gyro to direct the center axis of the antenna to the satellite. And an output signal of the third accelerometer and an output signal of the elevation transmitter are provided. The inclination correction operation unit is provided by the following equation. Antenna pointing apparatus characterized by a calculating the oblique correction value [Delta] [phi _A signal indicating the inclination correction value [Delta] [phi _A is configured to output to the adder. Δφ _A = tan ^-1 (sin θ · sinx / sin
θ _P ) θ: Rotation angle of the antenna with respect to the azimuth gimbal about the elevation axis x: Inclination angle of the elevation axis with respect to the horizontal plane θ _P : Inclination angle of the axis perpendicular to both the central axis and the elevation axis of the antenna with respect to the horizontal plane