JPH04174384A - Attitude controller of antenna on moving object - Google Patents

Abstract

PURPOSE:To reduce the number of sensors, reduce an attitude controller mounting space and simplify the attitude correcting calculation by providing attitude change detecting means for detecting a change in the attitude of a moving body in a yaw angle direction, a receiver connected to an antenna and search instruction means. CONSTITUTION:When search is instructed by search instruction means 1 and an antenna Ant is set to take an attitude which is directed toward a radio source, for instance, a geostationary satellite, an attitude correction which interlocks with a change in the direction of movement of a moving body is effected. Thereafter, when the levels of received signals do not reach a proper value level, the antenna Ant is driven within a predetermined range of movement and, when a position where the signals of proper levels are received is found, driving the antenna Ant is stopped in the position. A moving object behavior detecting sensor for such attitude correction as described above is only attitude change detecting means 30 for detecting the change in attitude. Thus, the number of sensors is reduced, attitude correcting calculation and therefore an attitude controller are simplified and the cost can be reduced.

Description

[Detailed Description of the Invention] [Objective of the Invention] (Industrial Application Field) The present invention detects the movement state of a moving body such as a vehicle, adjusts the attitude of an antenna mounted on the vehicle, etc. The present invention relates to an attitude control device for an antenna on a mobile body, which receives radio waves from a mobile device.

(Prior art) Japanese Patent Application Laid-Open No. 2-122309 discloses that the attitude of a moving body is detected by four detectors: a yaw angle detector, a roll angle detector, a pinch angle detector, and a vertical position detector. It has been proposed to control the antenna attitude so that the antenna on the mobile body points toward the satellite based on changes in .

(Problem to be solved by the invention) There are a large number of sensors such as angular velocity detectors, and the calculation of the antenna attitude correction amount corresponding to the attitude change of the moving object based on the detected values becomes complicated, and the installation space of the attitude control device becomes large. This requires a large number of man-hours to incorporate into the mobile body, and is also expensive.

The present invention reduces the number of sensors and the installation space of the device,
The purpose is to simplify attitude correction calculations, reduce the number of man-hours required for installation on a moving body, and reduce equipment costs.

[Structure of the Invention] (Means for Solving the Problems) The attitude control device of the present invention provides an antenna (Ant) on a moving body.
) support mechanism (110 to 160) rotatably supporting the antenna (A) in the azimuth direction and the elevation direction;
Azimuth drive means (141) for rotationally driving the antenna (Ant) in the azimuth direction; Elevation drive means (151) for rotationally driving the antenna (Ant) in the elevation direction; Attitude change detection means (30) for detecting attitude changes; receiver (BSR) connected to an antenna (Ant); search instruction means (1);
In response to the search instruction from the search instruction means (1), the azimuth drive means (141) and the elevation drive means (
Search control means (4) for rotationally driving the antenna (Ant) via the antenna (151), and setting the antenna (Ant) in a posture at which the received signal level of the receiver (BSR) is at an appropriate level by referring to the received signal level; In response to the attitude change detected by the attitude change detection means (30), the antenna (Ant) is moved via the azimuth drive means (141) in a direction that corrects the attitude deviation in the azimuth direction of the antenna (Ant) with respect to the radio wave source due to the attitude change detected by the attitude change detection means (30). Yaw angle change follow-up control means (4) for rotationally driving the yaw angle change follow-up control means (4) that refers to the received signal level of the receiver (BSR), and when it becomes less than an appropriate level, the elevation drive means (151) and the azimuth drive means (141
), the antenna (Ant) is rotated within a predetermined range in the elevation direction and the azimuth direction, respectively.
Yaw angle change follow-up correction means (4) that stops rotational drive in the elevation direction and azimuth direction when the received signal level of the receiver (BSR) reaches an appropriate level during drive rotation; Speed detection means (
7): When the received signal level of the receiver (BSR) becomes less than the appropriate level, the speed detecting means (
7) When the detected speed reaches the predetermined value (OK m/h
) or below, control means for stopping the rotational drive of the elevation drive means (151) and the azimuth drive means (141) is provided.

(Operation) When the search instruction means (1) instructs a search, the search control means (4) activates the antenna (A) via the azimuth drive means (141) and the elevation drive means (151).
The antenna (Ant) is set at a position where the received signal level of the receiver (BSR) is set at an appropriate level by referring to the received signal level of the receiver (BSR).

The yaw angle change follow-up control means (4) rotates the antenna (Ant) via the azimuth drive means (141) in response to the attitude change detected by the attitude change detection means (30), so that the moving body changes direction. When the antenna is turned, the antenna (Ant) rotates in the azimuth direction in conjunction with the change, and the attitude shift of the antenna (Ant) with respect to the radio wave source due to the change in direction of the moving body is automatically corrected.

Further, the yaw angle change tracking correction means (4)
When the received signal level of the antenna (An R) becomes lower than the appropriate level, the antenna (An
t) is rotated within a predetermined range in the elevation direction and azimuth direction, respectively, and during the driving rotation, the receiver (B S
When the received signal level of R) reaches an appropriate level, rotational drive in the elevation direction and azimuth direction is stopped. That is, when the reception level of the receiver (BSR) is below a predetermined value, the antenna is rotated within a predetermined range via the elevation drive means (151) and the azimuth drive means (141), and when the reception level is lowered during driving. When the appropriate value level is reached, the position of the antenna (Ant) is corrected by stopping the driving of the antenna at that position. Furthermore, if the speed of the moving object falls below a predetermined value (Okm/s) when a signal at an appropriate level cannot be received, the driving of the antenna is stopped.

Therefore, first, when a search is instructed by the search instruction means (1) and the antenna (Ant) is set in an attitude pointing toward a radio wave source, for example, a geostationary satellite, attitude correction is performed in conjunction with the direction change of the moving object. After this, if the reception (N signal t level) has not reached the appropriate level, drive the anti → - (Ant) within the predetermined movement range, and if there is a position where the appropriate level can be received, Antenna at position (Ant)
Stops driving.

Attitude change detection means (30) for such attitude correction, in which a sensor for detecting moving object behavior detects an attitude change.
The number of sensors is small, posture correction calculations are simple, and a simple and low-cost device system can be realized.

Attitude parameters of moving objects such as ships, trains, automobiles, and aircraft include pitch angle (angle of rotation around a straight line perpendicular to the direction of travel), roll angle (angle of rotation around a straight line parallel to the direction of travel) , yaw angle (rotation angle around the vertical axis of the moving object), and vertical position (height); however, pitch angle, roll angle, and vertical position have limits for each moving object, so comparisons are difficult. The range of change is narrow. For example, in the case of receiving stationary satellite broadcasting, when the pinch angle, roll angle, or vertical position changes drastically, the attitude control device of the present invention performs post-correction for this, but does not follow the change, so reception may be disrupted. As expected, when the vibrations of the moving object are intense like this, the occupants of the moving object are not in a state in which they can comfortably view geostationary satellite broadcasting, so there is no particular disadvantage. When the change is gradual, for example, in a vehicle, the suspension acts to maintain the vehicle body posture at a predetermined posture, so the probability of reception failure is low. In the case of a vehicle equipped with a suspension that performs body attitude control, the attitude control device of the present invention virtually eliminates reception loss under vehicle driving conditions that ensure an atmosphere in which you can enjoy stationary satellite broadcasting. .

In addition, if the moving object stops when it is no longer able to receive the appropriate level, the antenna drive will be stopped, so if the moving object stops with the radio wave source hidden by an obstacle, unnecessary antenna drive will occur. You don't have to do it.

(Example) FIG. 1 shows an example of the present invention. This example is the second e
It is mounted on the vehicle shown in the figure, and controls the attitude of the BS antenna Ant for receiving geostationary satellite broadcasting.

The automobile is equipped with a yaw angular velocity detector 30 that is a vibration type gyro, which detects the yaw angular velocity (rotational angular velocity in the direction of course change) of the automobile and sends an analog signal (yaw angular velocity signal) representing this to the interface 3. give.

Interface 3 removes noise from the yaw angular velocity signal,
After performing electrical processing such as amplification, the microcomputer 4
give to The microcomputer 4 includes CPU,
(RAM, ROM, system) 7 A computer system including electronic circuit elements such as a troller, which converts the yaw angular velocity signal into digital and reads it.

Interfaces 3 and 5 are connected to the microcomputer 4, and these interfaces 3.
5, search instruction switch 1. Tracking instruction switch 2, 2
A display board 6 including a liquid crystal display (LCD), an indicator light (light emitting diode), and a speed detector 7
．． A BS receiver BSR, an azimuth motor driver AZD, and an elevation motor driver ELD are connected.

The radio wave reception signal of the BS antenna Ant reaches the BS receiver, where it is demodulated into a satellite broadcast signal and given to the display BSD, which displays a geostationary satellite television broadcast image. The satellite broadcasting signal is also applied to an interface 5, which converts the radio wave reception signal into an analog signal BSs representing the signal level and provides it to the microcomputer 4. Microcomputer 4.

The analog signal BSs is digitally converted and read.

Both the azimuth motor driver AZD and the elevation motor driver ELD consist of an electric circuit (motor driver) for selectively flowing forward rotation energizing current and reverse rotation energizing current to the motor, and a computer circuit (controller) mainly composed of a CPU. In response to a motor rotation instruction signal (direction and ten rotation angles) from the microcomputer 4, the motors of each mechanism are urged to rotate in the specified direction by the specified angle, and the azimuth mechanism The electric pulses generated by the rotary encoder 148 of the antenna Ant and the rotary encoder 157 of the elevation mechanism are counted, and the azimuth attitude (rotational position) data and elevation attitude (rotational position) data of the antenna Ant are updated by the change in attitude due to the antenna drive. Data indicating the antenna attitude at that time is always held in the azimuth position register AZPR and the elevation position register ELPH.

FIG. 2a shows a mechanism for supporting the BS antenna Ant and determining its attitude. This mechanism connects the BS antenna Ant to
Rotationally driven in the azimuth direction (centered on the first axis Y),
It is a two-axis rotational drive mechanism that rotates in the elevation direction (centered on the second axis X).

The antenna Ant is a flat circular beam antenna with a relatively wide reception range, and is attached to the antenna bracket 110.
is fixed to.

FIG. 8 shows the directivity characteristics of the BS antenna Ant. The vertical axis is the reception level, and the horizontal axis is the angle between a perpendicular line passing through the center of the light-receiving surface (circular) of the antenna and a straight line connecting the center and the radio wave source (geostationary satellite).

When this angle is about 8 degrees or less, the reception level shows 50% or more of the maximum reception level (15 dB).

Referring again to FIG. 2a, the antenna bracket 110
A horizontal shaft 113b (the center of which is the second axis X) is fixed to the angle 113a. The horizontal shaft 113b extends in a direction perpendicular to the drawing, and one end thereof is rotatably supported by a support arm 121a via a bearing (not shown). The support arm 121a is fixed to the rotating table 120. The other end of the horizontal shaft 113b is rotatably supported by another not-illustrated support arm similar to the support arm 121a via a bearing. The other support arm (not shown) is also fixed to the rotary table 120 at a position symmetrical to the support arm 121a with respect to the cylindrical shaft 116, which will be described later.

The rotary table 120 is roughly a disk-shaped spur gear, and has a guide hole 120h in its center and a gear 120 on its side circumferential surface.
a, and to the fixed base 130 via the bearing 122,
The gear 120a is rotatably mounted around the rotation center axis (first axis) Y of the gear 120a.

A gear 144 is engaged with the gear 120a of the rotary table 120, and this gear 144 is connected to the gear shaft 145 and the reducer 14.
0 and is rotationally driven by an azimuth drive motor 141. The speed reducer 140 and the motor 141 are fixed to a support base 146 that is fixed to the fixed base 130. A rotary encoder 148 is coupled to the gear shaft 145 and generates one electric pulse for each rotation of the gear shaft 145 through a predetermined small angle. This electric pulse is applied to an azimuth motor driver AZD.

A switch 147 for detecting the azimuth home position is installed opposite to the bottom surface of the rotary table 120.
A tapered hole (-point) into which the operator of the switch 147 falls is cut on the lower surface of the switch 147 at a position facing the operator. The switch 147 is open (off) when the operator is pressed on the bottom surface of the rotary table 120, and when the taper hole faces the operator, the operator enters the hole, and the switch 147 is closed (on). , home position detection). During one rotation of the rotary table 120, the operator of the switch 147 enters the taper hole and turns on (home position detection). The open/close signal of the switch 147 is given to the azimuth motor driver AZD and also to the microcomputer 4 via the interface 5.

Referring to FIG. 2b showing an enlarged cross section taken along the JIB-nB line in FIG. 2a, inside the reducer 140, the gear shaft 145
A worm wheel 143 is fixed to the worm wheel 143, and a worm 142 that meshes with the worm wheel 143 is connected to the rotating shaft of a motor 141 (FIG. 2a).

When the motor 141 rotates forward, the gear 144 rotates in one direction, and the rotary table 120 rotates in one direction about the first axis Y. That is, the antenna Ant rotates about the first axis Y in the positive direction. When the motor 141 rotates in the opposite direction, the antenna Ant rotates in the opposite direction.

The guide hole 120h of the rotary table 120 is connected to the cylindrical shaft 116.
passes through the rotary table 120, and is movable in the direction in which the first axis Y extends with respect to the rotary table 120. Although not shown, a groove parallel to the first axis Y is carved on the side peripheral surface of the cylindrical shaft 116, and a groove parallel to the first axis Y is formed in the guide hole 120h of the rotary table 120. There is a rail-like protrusion, and this protrusion allows the cylindrical shaft 116 to move in the direction in which the first axis Y extends with respect to the rotary table 120, but cannot rotate around the first axis Y. be. Therefore, the turntable 12
0 rotates around the first axis Y, the cylindrical shaft 1
16 also rotates around the first axis Y.

A pin 117 is fixed to the upper end of the cylindrical shaft 116, and the link arm 11 is rotatably attached to this pin 117.
The lower ends of 5 are joined. The upper end of the link arm 115 is rotatably coupled to a pin 112 fixed to the angle 111 of the bracket 110.

The bracket 110 is attached to the horizontal axis 11 from the angle 113a.
3b in the horizontal direction perpendicular to the extending direction (perpendicular to the plane of the paper in FIG. 2a), so when the cylindrical shaft 116 moves upward in FIG. 2a, the antenna Ant
rotates counterclockwise (rotates upward) about the horizontal axis 113b, and when the cylindrical shaft 116 moves downward, the antenna Ant rotates clockwise (rotates downward).

On the outer peripheral surface of the lower half of the cylindrical shaft 116, a gear 116a, which is not spiral-shaped but ring-shaped, is carved. Each of the crests and troughs of the ring-shaped gear 116a is parallel to the direction perpendicular to the first axis Y. A gear 154 meshes with this ring-shaped gear 116a.

Referring also to FIG. 2c, which shows an enlarged cross section taken along the line nc-nc in FIG. 2a, the gear shaft 155 of the gear 154 includes a
0 worm wheel 153 is fixed. A worm 152 meshing with a worm wheel 153 is connected to a rotating shaft of an elevation drive motor 151 (FIG. 2a). The speed reducer 150 and the motor 151 are fixed to a support base 146 that is fixed to the fixed base 130.

When the elevation drive motor 151 rotates forward, gear 1
54 rotates clockwise in FIG. 2a to form the cylindrical shaft 11.
6 moves upward, and the antenna Ant rotates clockwise (rotates upward). When the motor 151 rotates in the opposite direction, the antenna A
nt rotates counterclockwise (rotates downward).

The link arm 11 is moved upward and downward by the cylindrical shaft 116.
5 is applied with a rotational force about the pin 117, and the link arm 115 rotates about the pin 117. During this rotation, so that the rotation of the link arm 115 is not hindered,
A groove 118 is cut into the upper end of the cylindrical shaft 116, as shown in FIG. 2d.

As described above, the gear 154 meshes with the gear 116a of the cylindrical shaft 116, and each of the peaks and valleys of the gear 116a forms a ring that goes around the side circumferential surface of the cylindrical shaft 116. Since it is parallel to the first axis Y, the cylindrical shaft 116 is not restricted in rotation by the gear 154 and rotates about the first axis Y both when the gear 154 is stationary and when it is rotating. It can rotate, and this rotation itself causes the cylindrical shaft 116 to turn into gear 15.
It does not go up or down with respect to 4.

Referring to FIG. 2c, a cam plate 156 is fixed to the gear shaft 155 of the gear 154. As shown in FIG. This cam plate has a step on its outer peripheral edge.

An upper limit switch 158 is provided on the outer peripheral surface of this cam plate 156.
and the lower limit switch 159 are facing each other, and when the elevation rotation angle of the antenna Ant is within a predetermined range, the operators of the switches 158 and 159 are opposite to the cam plate 1.
Since it faces the small radius outer peripheral surface of switch 15
Both 8 and 159 are open (off). When the antenna Ant rotates clockwise and reaches the clockwise rotation limit position (upward limit), the tapered surface of the cam plate 156 that switches from the small radius outer circumferential surface to the large radius outer circumferential surface presses the operator of the switch 158, and thereby Switch 158 is turned closed (on). When the antenna Ant rotates in the direction of the half-hour hand and reaches the mint position (downward limit), the tapered surface of the cam plate 156 that switches from the small radius outer circumferential surface to the large radius outer circumferential surface pushes the operator of the switch 159. This turns switch 159 closed (on). switch 15
The opening/closing signals of 8 and 159 are from the elevation driver E.
The signal is applied to the LD and also to the microcomputer 4 via the interface 5.

A rotary encoder 157 is connected to the worm 152, and the rotary encoder 157 is connected to a rotary encoder 157.
Generates pulsed electrical pulses.

This electric pulse is generated by the elevation motor driver ELD.
given to.

As described above, the reducer 140 and the motor 141 are used to rotate the antenna Ant around the first axis Y, and the horizontal axis 113b (second axis X) is perpendicular to the first axis Y. Since the speed reducer 150 and the motor 151 for rotationally driving the motor 150 are both fixed to the fixed base 130, no sliding connection means is required for electrical connection to the motors 141 and 151.

Referring to FIG. 2a, the converter Conv is attached to the antenna bracket 110 and converts the 12 GHz band satellite broadcast radio waves received by the antenna Ant into I GHz band B.
Convert to S-IP. The converted signal is transferred to the cable 16
1 to the rotary joint 160 and to the BS receiver BSR (FIG. 1).

However, the converter Co fixed to the bracket 110
Since nv rotates around the first axis Y and the horizontal axis 113b together with the antenna Ant, the signal line and power receiving line of the converter Conv and the BS receiver BSH in the fixed part
It is necessary to connect the signal line and the power supply line through a sliding connection means.

In this embodiment, since the elevation rotation range of the antenna Ant about the horizontal axis 113b only needs to be 360 degrees or less, the electric cable 161 consisting of the signal line and the power receiving line of the converter Conv is relatively flexible. As something of high quality.

Furthermore, it is possible to rotate by more than 360 degrees by providing a sufficient length, and the wire is connected to the rotary joint 160 by passing through the inner diameter of the cylindrical shaft 116. An electrical cable 162 from the BS receiver BSR is connected to the rotary joint 160, and this rotary joint 160 allows the leads of the cables 161 and 162 to be electrically connected to each other to be centered around the first axis Y. Despite their relative rotation, they are electrically connected to each other.

With respect to the rotation of the antenna Ant about the horizontal axis 113b, the cable 161 swings roughly about the pin 117.

Thus, in this embodiment, only one set of sliding connection means (rotary joint 160) is used.

The elevation drive motor 151 of the elevation mechanism (150, 151) rotationally drives the drive gear 154, but since the cylindrical shaft 116 reciprocally driven by the drive gear 154 slides with respect to the rotary table 120, the rotary table 120 and an azimuth mechanism (144
, 140° 141) is not driven by the elevation mechanism (150° 151), but is driven by the elevation mechanism (150° 151).
150, 151). The object supported by the elevation mechanism (150, 151) is substantially BS
The antenna Ant, the BS converter Conv, the link arm 115, and the cylindrical shaft 116 have a small load, so the inertial force is small, and the B center is centered on the second axis (X).
Azimuth driving and elevation driving of the S antenna Ant can be performed at relatively high speed, and positioning can be performed with relatively high precision.

FIG. 3 shows an outline of the control operation of the microcomputer 4. A power supply circuit (not shown) is connected to the vehicle battery when the vehicle ignition key is in the engine operating position (ignition key switch on).
A predetermined voltage is applied to each part of the electric circuit shown in FIG.

Note that a battery voltage is also applied to the motor drivers AZD and ELD for energizing the motor.

When the predetermined voltage is applied to itself, the microcomputer 4 executes [Initialization J (100), sets internal registers, timers, counters, etc. to the contents determined in the standby state, and outputs the output port. A signal designating deactivation (deactivation) is set for (subroutine 100: hereinafter, the words "step" and "subroutine" will be omitted in parentheses, and only the numbers assigned to them will be written).

Next, the microcomputer 4 executes "initialization of the antenna posture J (200). In this step, the antenna Ant is set to the home position (switch 147 on) in the azimuth direction, and rotated in the direction of the half-hour hand in the elevation direction ( Set the limit position (downward rotation) to the limit position (downward limit position (switch 159 on), that is, set the antenna attitude origin, and set the attitude register (azimuth position:
Register AZPR/elevation position register E
Clear LPR. The details will be described later with reference to FIG.

The microcomputer 4 then selects "mode selection" (30
0) is executed to read the instructions of the search instruction switch 1 and the tracking instruction switch 2, and to set the operation mode information according to the instructions. The details will be described later with reference to FIG.

The microcomputer 4 then performs a “status reading” (40
0) to adjust the received signal level BSs of the antenna, the yaw angular velocity signal Yas, and the switches 147 and 15 of each part of the mechanism.
Reading of 8,159 open/close signals and cumulative time dT
Read. The details will be described later with reference to FIG.

The microcomputer 4 then executes ``Execution of the selected mode J'' (500), the details of which will be described later with reference to FIGS. 7a and 7b.

While the power is on, the subroutine "
Mode selection J (300), r status read” (400
) and "Execute selected mode" (500) repeatedly in this order.

By repeating this process, the microcomputer 4 sends each of these three devices approximately a predetermined period (20 msec
) Please note that the entry is made with In the following description of these subroutines, control operations realized by repeated entry will be described.

"Initialize antenna posture" (200) with reference to FIG.
Explain the contents. In this case, the microcomputer 4 displays r on the two-dimensional display of the display board 6.
Display EL 5ETJ (201), and refer to the opening/closing signal of the lower elevation limit switch 159 (201).
2) When it is off, the elevation motor driver ELD is driven downward one step at a predetermined period (T1) (
(counterclockwise rotation) (203, 204). In this embodiment, one step is set to 10. When the switch 159 is turned on, the downward drive instruction is stopped and the elevation position register ELPR is cleared (205). Then display rEL SET ENDJ (206) and line up rAZ 5ETJ with this display.
is displayed (207).

Next, referring to the open/close signal of the azimuth home position switch 147 (208), if it is off, instructs the azimuth motor driver AZD to perform one step reverse drive at a predetermined period (T1) (209, 210), switch 14
When 7 turns on, the reverse drive instruction is stopped, and 1 (forward rotation designation) is written to the drive direction designation register ADF (2
11) Clear the azimuth position register AZPR (
212). and rEL SET ENDJ and rA
Display Z S E T E NDJ (213
).

As a result of the above, the attitude of the antenna Ant is in the downward limit position (lower limit switch 15
9 on), the home position switch 147 is set to the on position in the azimuth direction, and the attitude register EL is set to the on position.
The contents of PR (elevation position) and AZPR (azimuth position) are each O indicating the origin.

The contents of "mode selection J (300)" will be explained with reference to FIG. Set the mode to be executed from now on.

(1) When the search instruction switch 1 is turned on after the power is turned on, set the search mode (MD=3°5F=O) (301-302-304-305-306-
307). MD is a mode register, and its contents are
3" is information specifying the search mode. SF is a shift information register that indicates whether to automatically proceed to tracking mode after the search mode ends, and its contents "1" instructs to automatically proceed to tracking mode, and "0" indicates not to proceed automatically. It is an instruction. DF in steps 301 and 307 is a mode start flag register, and its content "1" roughly indicates that the specified mode is being executed and does not accept mode specification input, and "0" is a standby flag register. This is an instruction to accept mode specification input while in the current state.

(2) When the tracking instruction switch 2 is turned on first after the power is turned on, the reception level BSs is equal to the reception threshold Ls.
(8 dB in Figure 8) or more, tracking mode (M
D=4,5F=O) (301-302-30
3-308-309-310-307). When it is less than Ls, set a shift mode (MD=3, 5F=1) that automatically executes search and tracking after search (301
-7).

(3) Search mode ended (MD=3゜DF
= O, 5F = 0), or when there is a search instruction (switch 1 on), the reception level BSg is referred to, and if it is greater than or equal to Ls, the reception level of the antenna is appropriate (the antenna is connected to the radio wave source). ), so the current status is maintained without changing the mode (MD=3) (30
1-302-304-313-Return), when it is less than Ls, it is assumed that a re-search is instructed due to poor reception, and information for resuming search mode (MD=3.DF=1) is set (301-302-304- 313-314-315)
In this case, "search" (502 to 526), which will be described later, is executed.

(4) Tracking mode (MD=4.DF=1.SF-〇)
When there is a search instruction (switch 1 on) while executing BSs, if the reception level BSs is less than Ls, it is assumed that the reception is poor and a re-search instruction is issued. SOID (MD=3.D
F=1,5F=1) (301-316-31
7-318-319-320). If it is more than Ls,
Although the reception is good, it is assumed that the tracking operation is not necessary due to driving on a straight path or stopping, and the mode data is designated to search (MD = 3.D).
Update to F=O, 5F=O) (301-316-31
7-318 to 321-322). In this case, since the reception is good, no search drive is actually performed even if the search mode is entered.

The contents of [Status Read J (400)] will be explained with reference to FIG. Here, the reception level signal BSs of the BS receiver BSR is digitally converted and read (401), the yaw angular velocity signal Yas of the yaw angular velocity detector 30 is digitally converted and read (402), and the upper and lower elevation limit switches 158 and The open/close signal of the limit switch 159 is read (403, 404). When the lower limit switch 159 is on (the antenna Ant is at the elevation origin), the elevation position register ELPR
Clear (405.406). Next, read the open/close signal of the azimuth home position switch 147 (40
7) When it is on (antenna Ant azimuth home position = azimuth origin), clears azimuth position register AZPR (408, 409). Next, the contents of the time register are written to the integral time register dT (410), the time register is cleared, and time measurement starts again from 0 (411).

Note that the microcomputer 4 performs "initialization" (100
), a predetermined value d for a predetermined short time (less than 20 msec)
t) to the internal timer register to enable the internal timer interrupt. After that, the contents of the internal timer register are decremented (counted down) by 1 each time an internal clock pulse occurs, and each time the remaining food reaches 0. Executes internal timer interrupt processing.

In this internal timer interrupt processing, dt is written into the internal timer register again, the time register dT is incremented (counted up) by 1, and the internal clock pulse continues to count down. As a result of this internal timer interrupt processing, the contents of the clock register indicate the elapsed time since it was cleared. [Status reading J (400) reads this elapsed time dT and stores it in the integral time register dT.
and clears the clock register (restarts clocking), so the read clock value (contents dT of integral time register dT) will be the same from the previous execution of "status reading" (400) to the current execution. is the elapsed time. This time value dT is determined by "execution J of the selected mode" which will be described later.
In the "tracking" process (527-540) in (500), the integration time (dT) when calculating the amount of yaw angle change by integrating the yaw angular velocity Yas (JYas-dT)
used as.

7a, 7b, 7c, 7d, and 7e, the contents of "Execute selected mode" (500) will be explained. In this case, the previous "mode selection J
The mode specification set in (300) and the “Status reading J”
Based on the state information read in (400), the attitude of the antenna Ant is set as follows.

(1) In the above-mentioned mode selection J (30o), when the search instruction switch 1 is turned on after the power is turned on and the search mode (MD=3, 5F=0) is set, the two-dimensional display on the display board 6 rFULL on display
5CANJ is displayed (501-503) and the next operation is performed.

(A) The azimuth driver 14 is rotated so that the antenna Ant is rotated one step at a time in the normal azimuth rotation direction.
1 is energized for normal rotation, and the reception level BSs is increased for each step of rotation.
Checks whether the azimuth has exceeded the threshold Ls or is one step before the azimuth home position (one rotation of the azimuth) (501-502-503-
504-505-506-507-527-514 repeats).

When the reception level BSs becomes equal to or higher than Ls, the step drive is stopped and the register DF is cleared.
1) Finish "Search".

(B) When the reception level BSs remains below Ls and reaches one step before the azimuth home position, clear the rotation direction register ADF (same as writing "0".
'' specifies azimuth reversal) (505, 508), and then energizes the azimuth drive motor 141 in reverse so as to rotate the antenna Ant one step in the azimuth reverse direction. The elevation drive element 151 is urged to rotate in the normal direction so as to rotate by one step (512, 513).

(C) Next, the azimuth drive motor 141 is reversely energized so as to rotate the antenna Ant in the azimuth reversal direction one step at a time, and after every l step of rotation, the reception level BSs becomes equal to or higher than the threshold value Ls. Alternatively, check whether the azimuth home position (switch 147 is on) is reached (501-502-503-504-
515-516-517-527-514 repeats).

When the reception level BSs becomes equal to or higher than Ls, the step drive is stopped and the register DF is cleared.502.52
1) Finish "Search".

(D) When the azimuth home position is reached while the reception level BSs remains below Ls, "1" (forward rotation instruction) is written in the rotation direction register ADF (518). Then, the azimuth drive motor 141 is energized in the forward rotation direction so as to rotate the antenna Ant one step in the forward rotation direction of the azimuth (519,520), and then the motor 141 is rotated one step in the upward direction of the elevation.
The elevation drive motor 151 is urged to rotate normally so as to drive the step rotation (512, 513>).

Below, the reception level BSs becomes equal to or higher than Ls, or the upper elevation limit switch 158 is turned on (closed).
Repeat steps (A) to (D) above in the second order until When the reception level BSs becomes equal to or higher than Ls, the antenna Ant faces the radio wave source. So [Search J
Finish (MD=3°5F=O).

When the switch 158 is turned on (closed) while the reception level BSs is less than Ls, this means that good reception is achieved over the entire range of antenna postures (azimuth-rotation for each elevation position, from the lower elevation limit to the upper limit). This means that the r
Display ERRORJ (525), clear the registers DF and MD (cancel mode designation) (526), and proceed to initialize the antenna attitude (200) (return the antenna attitude to the origin).

(2-1) In the above-mentioned mode selection J (300), the tracking instruction switch 2 is turned on after the power is turned on, and the reception level BSs becomes the reception threshold Ls (8 dB in Fig. 8).
This is the tracking mode (MD = 4).

5F=0), (E) rTRAcKING to display board 6.
501-527-528), yaw angle change (integral value of yaw angular velocity Yas during dT) dYa 5=
Calculate Ya 5XdT529), and use this as antenna A.
nt azimuth rotation change amount dZPH (530)
, the azimuth rotation change amount dZPR is added to the contents of the azimuth change amount register DZPR, and the obtained sum is updated and written in the register DZPR (531). Next, the sign (plus, minus) and absolute value of the contents DZPR of the register DZPR are checked (532, 533), and if DZPR is positive and 1 or more, the antenna Ant is
The azimuth drive motor 141 is reversely energized so that the azimuth drive motor 141 is step-driven in the azimuth reverse direction.
Subtract this integer from R and store the remaining fraction in register DZP.
Write update to R (536), update AZPR (5
37) Proceed to step 541. When DZPR is negative and its absolute value is 1 or more, the antenna Ant
The azimuth drive motor 141 is urged to rotate in the normal direction so as to step drive the DZPH in the normal azimuth rotation direction.
This integer (positive value) is added and the remaining fraction (negative value) is updated and written to the register DZPR (5a9), AZPR is updated (540), and the process proceeds to step 541. That is,
The amount of change in azimuth of the antenna attitude relative to the radio wave source (D Z P R
) is stepped in the direction of canceling the step, and the number of step drives is subtracted from the register DZPR, leaving a fraction less than one step in the register DZPR. Note that if the absolute value of DZPR is smaller than 1, the process directly proceeds to step 541.

(F) When the process advances to step 541, the BSg is read (542). If this read value has reached a predetermined level, step 556 is performed after waiting for the elapse of T1 time.
Proceed to. On the other hand, if the read value does not reach the predetermined level, the antenna Ant is driven upward by one step to move it in the elevation direction, and the value of ELPR is set to 1.
Increment (543, 544).

Thereafter, the BSs are read again (545), and if the read value has reached a predetermined level, the process returns after waiting for T1 time (555). on the other hand.

If the read value has not reached a predetermined level, and the ELPR value is 2 or more, the antenna Ant is driven downward in two steps in order to move in the elevation direction.
Decrement the value of ELPR by 2 (547 to 549)
. When the value of ELPR is less than 2, the antenna Ant is driven downward by one step in order to move in the elevation direction, the value of ELPR is decremented by 1, and after waiting for T1 time, the process proceeds to step 556 (547, 55
4,555).

If the two-step downward drive is performed, then the BS
s is read (550), and if the read value has reached a predetermined level, the process advances to step 556 after waiting for T1 time. On the other hand, if the read value has not reached the predetermined level, the drive is performed upward by one step in the elevation direction, and the value of ELPH is incremented by one.
The antenna position is returned to the state of step 541, and after waiting for T1, the process proceeds to step 556.

That is, in the processing of steps 541 to 555,
The antenna Ant is moved by a small angle in the elevation direction (1 degree each up and down), and when radio waves at a predetermined level can be received at this moving position, it returns and continues receiving and tracking.If radio waves at a predetermined level cannot be received, , returns the antenna Ant to its original position (the position when step 541 was executed) and proceeds to the next step 556. In addition, EL
If a two-step downward drive is performed when the value of PR is less than 2, the lower limit in the elevation direction will be exceeded, so one-step drive is performed to return to the original position.

(G) The processing in steps 556 to 612 (the processing shown in FIGS. 7d and 7e) is a process of driving the antenna Ant over a wider range to correct the position when the reception level becomes less than a predetermined value. It is. The operation at this time will be explained below.

(G)) Proceeding to step 556, first, the value of a counter N for counting the movement angle is cleared. This N
While the value of is less than 3, the output of the limit switch 158 and the value of BSs are read, and if the switch 158 is closed or the value of BSs has not reached a predetermined level, the antenna Ant is moved in the elevation direction. 1 step upward drive is performed, the value of ELPR is incremented by 1, and the process returns to step 557 again. That is, here, the limit switch 158 and the reception level of the BSs are checked every degree until the antenna is driven downward three degrees in the elevation direction. If the reception level reaches a predetermined level, the process returns and continues reception tracking; if the reception level does not reach the predetermined level, the process proceeds to step 565. Note that the limit switch 158 is also checked every step of driving so as not to issue a driving instruction that exceeds the upper limit of driving in the elevation direction.

(G2) Proceeding to step 565, first, the value of the counter N for counting the movement angle is cleared. This N
While the value of AZPR is less than 30, BSs is read. If the read value does not reach a predetermined level, one step forward rotation drive is performed to move the antenna Ant in the azimuth direction, and the value of AZPR is set to 1. The value is incremented and the process returns to step 566 again. That is, here, the BSS reception level is checked every other time until the antenna is rotated 30 degrees in the azimuth direction. If the reception level reaches the predetermined level, the process returns and continues reception tracking; if the reception level does not reach the predetermined level, the process proceeds to step 572.

(G3) Proceeding to step 572, first, the value of the counter N for counting the movement angle is cleared. This N
While the value of is less than 6, the output of the limit switch 159 and the value of BSs are read, and if the switch 159 is closed or the value of BSs has not reached a predetermined level, the antenna Ant is moved in the elevation direction. 1 step downward drive is performed, the value of ELPH is decremented by 1, and the process returns to step 573 again. That is, here, the limit switch 159 and the reception level of the BSs are checked every degree until the antenna is driven downward by 6 degrees in the elevation direction. If the reception level reaches a predetermined level, the process returns and continues reception tracking; if the reception level does not reach the predetermined level, the process proceeds to step 581. The limit switch 159 is also checked every step of driving so as not to issue a driving instruction exceeding the lower limit of driving in the elevation direction.

(G4) Proceeding to step 581, first, the value of the counter N for counting the movement angle is cleared. Second N
While the value of is less than 60, BSs is read, and if the read value does not reach the predetermined level, one step reverse drive is performed to move the antenna Ant in the azimuth direction, and the value of AZPR is decremented by one. and repeat step 5
Return to 82. That is, here, the reception level of the BSs is checked every other time until the antenna is reversely driven by 60 degrees in the azimuth direction. If the reception level reaches the predetermined level, the process returns and continues reception tracking; if the reception level does not reach the predetermined level, the process proceeds to step 588.

(G5) Proceeding to step 588, first, the value of the counter N for counting the movement angle is cleared. This N
While the value of is less than 6, the output of the limit switch 158 and the value of BSs are read, and if the switch 158 is closed or the value of BSs has not reached a predetermined level, the antenna Ant is moved in the elevation direction. 1 step upward drive is performed, the value of ELPR is incremented by 1, and the process returns to step 589 again. That is, here, the limit switch 158 and the reception level of the BSs are checked every degree until the antenna is driven upward by 6 degrees in the elevation direction. If the reception level reaches the predetermined level, the process returns and continues reception tracking; if the reception level does not reach the predetermined level, the process proceeds to step 597. Note that the limit switch 158 is also checked every step drive so as not to issue a drive instruction exceeding the drive upper limit in the elevation direction.

(G6) Proceeding to step 597, first, the value of the counter N for counting the movement angle is cleared. 20N
While the value of AZPH is less than 30, BSs is read, and if the read value does not reach a predetermined level, one step forward drive is performed to move the antenna Ant in the azimuth direction, and the value of AZPH is set to 1. The value is incremented and the process returns to step 598 again. That is, here, the reception level of the BSs is checked every other time until the antenna is driven in normal rotation by 30 degrees in the azimuth direction. If the reception level reaches the predetermined level, the process returns and continues reception tracking; if the reception level does not reach the predetermined level, the process proceeds to step 604.

(G7) Proceeding to step 604, first, the value of the counter N for counting the movement angle is cleared. This N
While the value of is less than 3, the output of the limit switch 159 and the value of BSs are read, and if the switch 159 is closed or the value of BSs has not reached a predetermined level, the antenna Ant is moved in the elevation direction. 1 step downward drive is performed, the value of ELPR is decremented by 1, and the process returns to step 605 again. That is, here, the limit switch 159 and the reception level of the BSs are checked every degree until the antenna is driven downward three degrees in the elevation direction. If the reception level reaches a predetermined level, the process returns and continues reception tracking; if the reception level does not reach the predetermined level, the process proceeds to step 613. The limit switch 159 is also checked every step of driving so as not to issue a driving instruction exceeding the lower limit of driving in the elevation direction.

(G8) In step 613, the speed detected by the speed detector 7 is read. If this speed is OK m/h (the car is stopped), the process returns to step 613 and the speed is OK m/h.
Repeat this until it becomes larger. Speed is OK m/h
Returns when it becomes larger.

Through the above processing (Gl-G8), the antenna Ant is driven to draw a rectangular trajectory and then returned to its original position (
The drive is controlled so as to return to the position at which step 556 was executed, and the reception level of the BSs is checked every time one step of drive is performed. When the reception level reaches a predetermined level, the process returns and continues reception tracking. If the reception level does not reach the predetermined level, wait until the speed becomes greater than OK m/h, return when it becomes greater than OK m/h, and then set MD to 3 in step 308 of mode selection (300). is set, reception tracking is performed after searching again. In addition, G1 to G7
If the limit switch 158 or 159 is closed in the process of step 556, the antenna will not return to the position it was in when step 556 was executed.

(2-2> In the above-mentioned mode selection J (300), the tracking instruction switch 2 was turned on after the power was turned on, and since the reception level BSs was less than the reception threshold Ls, the search and automatic after search When the shift mode (MD = 3, 5F = 1) is set to perform tracking automatically, first execute the above-mentioned "Search J (repeat A to D), and when the reception level BSs becomes Ls or higher, ""Search" ends (502-521). Since the contents of register SF are "1", next write "4" meaning "tracking mode" to mode register MD (523), and write to register DF. Write "1" (523), and from then on (E-
G).

(3-4) In the above-mentioned mode selection J (300), the search mode is finished (MD=3.DF=0.
5F=0), search again (switch 1 on)
, and the reception level BSs is higher than LS, so if the mode (MD=3) is not changed, step 501-502-521-522-527-514
, and virtually no control operation is performed.

(3-2) In the above-mentioned "mode selection J (300), the search mode is ended (MD=3.DF=0.
When 5F=O), search again (switch 1 on)
, and since the reception level BSs is less than Ls, the search mode restart information (MD=3.DF=1,5
When setting F=O), this [mode selection J (
300) to − degrees [antenna attitude initialization J (20
0) and "Execute selection mode J (500
), the antenna attitude is at the origin (switch 147 on, switch 159 on). Therefore, in this case, the above-mentioned [Search J (repetition of A to D) is executed, and when the reception level BSs becomes equal to or higher than Ls, the "search" is terminated (502-5 (4-1)).
In the above-mentioned "mode selection" (300), select the tracking mode (M
D=4), when the search instruction (switch 1
On), the reception level BSs is less than Ls, so if you set the shift mode (MD = 3, 5F = 1>) that automatically executes search and tracking after search,
From this mode selection J (300>), the process proceeds to the initialization of the antenna attitude (200), and when the selection mode execution J (500) is entered, the antenna attitude is set to the origin (switch 147 is turned on, switch 159
on). Therefore, in this case, execute the above-mentioned "Search J (repeat steps A to D) and find the reception level B.
When Ss becomes Ls or more, "End search J" (
502-521), the content of register SF is "1" in Uni
Therefore, next, set "tracking mode" to the mode register MD.
Writes r4J specifying (523), writes "1" to register DF (523), and thereafter executes the above-mentioned (E-G).

(4, -2) The above-mentioned "mode selection J (300)
In this case, when a search instruction (switch 1 on) is received while the tracking mode (MD=4.DF=1,5F=O) is being executed, the reception level BSs is greater than or equal to Ls, so the mode data is When updating to specify search (MD=3), step 501-502-521-522
-527-514, and virtually no control operation is performed. That is, neither "Search J (A-D)" nor "Tracking J (E-G)" is executed.

Since the microcomputer 4 performs the above-mentioned ``antenna attitude initialization J (200), r search j (A-D), and ``tracking J (E-G), the following antenna attitude setting is realized.

(a) When the occupant of the automobile (Fig. 2e) turns on the ignition key switch to start the engine, the attitude of the antenna Ant becomes the origin. That is, the elevation origin (switch 159 is on) and the azimuth home position (switch 147 is on).

(b) When the occupant of a car (Fig. 2e) starts the engine of the car and turns on the ignition key switch, first closes (turns on) the search instruction switch 1, and then the antenna Ant searches for the radio wave source. (a geostationary satellite that transmits television radio waves).

(c) When the occupant of the automobile (Fig. 2e) first closes (turns on) the tracking instruction switch 2 instead of the search instruction switch 1 while starting the automobile engine and turning on the ignition key switch. , antenna An
t is the radio wave source (geostationary satellite that transmits television radio waves)
Take a position facing the. Next, the antenna Ant is automatically driven in the azimuth direction in conjunction with the change in the traveling direction of the vehicle so as to correct the deviation of the antenna Ant in the azimuth direction with respect to the radio wave source due to this change. Note that after this, if the reception level of the BSs is less than the appropriate level, the antenna is driven within a predetermined range, and the BSs
When the reception level of the antenna becomes equal to or higher than the appropriate level, correction control is performed to stop the antenna at that position. At this time BS
If there is no position where the reception level of s is equal to or higher than the appropriate level, the speed of the moving body is detected and the mobile station waits without doing anything until the speed becomes greater than OK m/h.

(d) After the above (b), when the occupant of the car turns on the tracking instruction switch 2, the antenna A for the radio wave source changes in conjunction with the change in the direction of travel of the car.
Antenna Ant is driven in the azimuth direction so as to correct the deviation of nt in the azimuth direction. Furthermore, after this, B
When the reception level of Ss is less than the appropriate level, the antenna is driven within a predetermined range, and when the reception level of BSs is equal to or higher than the appropriate level, correction control is performed to stop the antenna at that position. At this time, if there is no position where the reception level of the BSs is equal to or higher than the appropriate level, the speed of the moving object is detected, and the
Wait and do nothing.

(e) In the state of (b) above, when the occupant of the car turns on the search instruction switch 1, the reception level BSs becomes L.
If it is greater than or equal to s, there is no change in the antenna attitude, but if it is less than Ls, the antenna attitude returns to the origin, and the antenna Ant becomes in an attitude facing the radio wave source (a geostationary satellite that transmits television radio waves). .

(f) In the state of (c) or (d) above, when the occupant of the car closes the search instruction switch 1, the reception level B
When Ss is greater than or equal to Ls, the antenna Ant remains stationary (relative to the vehicle) while facing the radio wave source. When the reception level is less than Ls, the antenna attitude returns to the origin, and then the antenna Ant faces the radio wave source, and this change is automatically linked to the change in the direction of travel of the vehicle.

The antenna Ant is driven in the azimuth direction so as to correct the deviation in the azimuth direction of the antenna Ant with respect to the radio wave source, and then, when the reception level of the BSs is less than the appropriate level, the antenna is driven within a predetermined range, B.S.
When the reception level of s becomes equal to or higher than the appropriate level, correction control is performed to stop the antenna at that position. At this time B
If there is no position where the reception level of Ss is equal to or higher than the appropriate level, the speed of the moving body is detected and the system waits without doing anything until the speed becomes greater than OK m/h.

In the above embodiment, the yaw angular velocity is integrated over dT, and the antenna A
nt is driven in reverse rotation in the azimuth direction, but the integration may be omitted and the antenna Ant may be driven in reverse rotation in the azimuth direction at the same speed as the detected yaw angular velocity.

〔Effect of the invention〕

As described above, in the attitude control device of the present invention, when the search instruction means (1) instructs a search, the search control means (4)
rotates the antenna (Ant) via the azimuth drive means (141) and the elevation drive means (151), refers to the received signal level of the receiver (BSR), and adjusts the antenna to a position where it is at an appropriate level. (Ant) is defined.

The yaw angle change follow-up control means (4) rotates the antenna (Ant) via the azimuth drive means (141) in response to the attitude change detected by the attitude change detection means (30), so that the moving body changes direction. When the antenna is turned, the antenna (Ant) rotates in the azimuth direction in conjunction with the change, and the attitude shift of the antenna (Ant) with respect to the radio wave source due to the change in direction of the moving object is automatically corrected.

Further, the yaw angle change follow-up correction means (4) is connected to the receiver (B
Referring to the received signal level of the antenna (A), when the received signal level of the antenna (A
The receiver (BS
When the received signal level of R) reaches an appropriate level, the rotational drive in the elevation direction and azimuth direction is stopped. That is, when the reception level of the receiver (BSR) is below a predetermined value, the antenna is moved to the elevation driving means (15).
1) and the azimuth driving means (141), and if the reception level reaches an appropriate level during driving, the antenna (Ant) is rotated by stopping driving at that position. Correct the position. Furthermore, if the speed of the moving body falls below a predetermined value (Okm/h) when a signal at an appropriate level cannot be received, the antenna drive is stopped.

Therefore, first, when a search is instructed by the search instruction means (1) and the antenna (Ant) is set in an attitude pointing toward a radio wave source, for example, a geostationary satellite, attitude correction is performed in conjunction with the direction change of the moving object. After this, if the received signal level has not reached the appropriate level, the antenna (Ant) is driven within a predetermined movement range, and if there is a position where it can receive the appropriate level, the antenna (Ant) is driven at that position. ) to stop driving.

Attitude change detection means (30) for such attitude correction, in which a sensor for detecting moving object behavior detects an attitude change.
The number of sensors is small, posture correction calculations are simple, and a simple and low-cost device system can be realized.

Attitude parameters of moving objects such as ships, trains, automobiles, and aircraft include pitch angle (angle of rotation around a straight line perpendicular to the direction of travel), roll angle (angle of rotation around a straight line parallel to the direction of travel) , yaw angle (rotation angle around the vertical axis of the moving object), and vertical position (height); however, pitch angle, roll angle, and vertical position have limits for each moving object, so comparisons are difficult. The range of change is narrow. For example, in the case of receiving geostationary satellite broadcasting, when there are large changes in pitch angle, roll angle, or vertical position, the attitude control device of the present invention performs post-correction for this, but does not follow the change, so reception may be disturbed. As expected, when the vibrations of the moving object are intense like this, the occupants of the moving object are not in a state in which they can comfortably view geostationary satellite broadcasting, so there is no particular disadvantage. When the change is gradual, for example, in a vehicle, the suspension acts to maintain the vehicle body posture at a predetermined posture, so the probability of reception failure is low. In the case of a vehicle equipped with a suspension that performs body attitude control, the attitude control device of the present invention virtually eliminates reception loss under vehicle driving conditions that ensure an atmosphere in which you can enjoy stationary satellite broadcasting. .

In addition, if the moving object stops when it is no longer able to receive the appropriate level, the antenna drive will be stopped, so if the moving object stops with the radio wave source hidden by an obstacle, unnecessary antenna drive will occur. You don't have to do it.

[Brief explanation of the drawing]

FIG. 1 is a block diagram mainly showing the configuration of an electric circuit section according to an embodiment of the present invention. FIG. 2a is a longitudinal sectional view of the antenna support mechanism of this embodiment. FIG. 2b is an enlarged sectional view taken along line IIB-IIB in FIG. 2a. FIG. 2c is an enlarged sectional view taken along the line mc-mc of FIG. 2a. FIG. 2d is an enlarged perspective view showing the top surface of the turntable 120 shown in FIG. 2a. FIG. 2e is a perspective view showing the antenna Ant shown in FIG. 2a mounted on an automobile. FIG. 3 is a flowchart showing an overview (main routine) of the control operation of the microcomputer 4 shown in FIG. FIG. 4 shows "initialization of antenna posture" 20 shown in FIG. 3.
2 is a flowchart showing the contents of 0. FIG. 5 is a flowchart showing the contents of "mode selection J300" shown in FIG. 3. FIG. 6 is a flowchart showing the contents of "status reading" 400 shown in FIG. Figures 7a, 7b, 7c, 7d and 7e
The figure shows "Execution of selected mode" 500 shown in FIG.
FIG. FIG. 8 is a graph showing the radio wave reception characteristics of the antenna Ant shown in FIG. 2a. 1: Search instruction switch (search instruction means) 2: Tracking instruction switch 3: Interface 4 Microcomputer (search control means, yaw angle change follow-up control means. Yaw angle change follow-up correction means, control means) 5: Interface 6: Display Board 7, speed detector (speed detection means) Ant: Antenna (antenna) Conv: BS converter BSR: BS receiver (receiver) BSD: CRT AZD: Azimuth motor driver ELD: Elevation motor driver 10: Azimuth rotation drive Mechanism 20: Elevation rotation drive mechanism 30: Yaw angular velocity detector (posture change detection means) 110:
Antenna bracket 111.113a, 114a: Angle 112: Bin 113b: Second axis (X) Y: First axis 1
15: Link arm 116: Cylindrical shaft 116a: Ring gear 120h guide hole 117: Bin 118° split groove 120: Turntable 120a: Gear 121a: Support arm 122:
Bearing 130. Fixed base 140: Reducer 141: Azimuth drive motor (azimuth drive means) 14
2: Worm 143: Worm wheel 144: Gear 145: Gear shaft 146: Support stand 147: Azimuth home position switch 14th: Rotary encoder 150: Reducer 151: Elevation drive motor (elevation drive means) 152: Worm 153: Worm wheel 154
: Gear 155: Gear shaft 157: Rotary encoder t5s: Z upper limit switch 159: Elevation lower limit switch 160° rotary joint 161.162: Cable Patent applicant Aisin Seiki Co., Ltd. and 1 other person - 1 agent Patent attorney Nobuoki Sugi. Figure 2b Figure 2C Figure 1NI Figure 2d Figure 2e Figure 3 Figure 4 Figure 6 Figure 7b [

Claims (1)

[Scope of Claims] A support mechanism that rotatably supports the antenna in the azimuth direction and the elevation direction on a moving body; Azimuth drive means that rotationally drives the antenna in the azimuth direction; Rotatably drives the antenna in the elevation direction Attitude change detection means that is on the moving object and detects an attitude change in the yaw angle direction of the moving object; A receiver connected to the antenna; Search instruction means; Search instruction for the search instruction means. search control means for rotationally driving the antenna via the azimuth driving means and the elevation driving means, and determining the antenna in a posture at which the reception signal level of the receiver is at an appropriate level by referring to the reception signal level of the receiver; yaw angle change follow-up control for rotationally driving the antenna via the azimuth drive means in a direction that corrects the attitude shift in the azimuth direction of the antenna with respect to the radio wave source in response to the attitude change detected by the attitude change detection means; means; refers to the reception signal level of the receiver, and when it becomes less than an appropriate level, rotates the antenna within a predetermined range in the elevation direction and the azimuth direction through the elevation drive means and the azimuth drive means, respectively; Yaw angle tracking correction means that stops the rotational drive in the elevation direction and azimuth direction when the received signal level of the receiver reaches an appropriate level during driving rotation; Speed detection means that detects the moving speed of the moving object; and control means for stopping the rotational drive of the elevation drive means and the azimuth drive means when the speed detected by the speed detection means becomes less than a predetermined value when the received signal level of the receiver becomes less than an appropriate level; Attitude control device for antennas on mobile objects.