JPH0779111A - Controller for posture of mobile body mount antenna - Google Patents

Abstract

PURPOSE:To obtain an antenna posture controller by which the posture of an antenna mounted on a mobile body is controlled and a polarization angle is controlled. CONSTITUTION:The controller is provided with computing elements (25,26,27,33) to calculate a coordinate conversion matrix ([CLB] or [CLB]T) representing the relation between a mobile body coordinate and an earth coordinate, a computing element (34) deciding a command posture matrix ([CLD or [CLD]T) whose elements are command azimuth angles, command elevating angles and command polarized angles, a computing element (35) using the coordinate conversion matrix ([CLB] or [CLB]T) to convert the command posture matrix ([CLD] or [CLD]T) into an antenna posture matrix ([CBD] or [CBD]T), and drive means (21,22,23) controlling the posture off the antenna mounted on the mobile body based on elements of the antenna posture matrix ([CBD or [CBD]T).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an antenna attitude control device for controlling the attitude of an antenna mounted on a moving body such as a vehicle, a ship, and a flying body. , An antenna attitude control device for pointing to a ground station.

[0002]

2. Description of the Related Art As a conventional television antenna directing device,
There is one described in JP-A-2-309702. The television antenna device disclosed in this publication is a device for directing a television antenna mounted on a flying object such as a helicopter to a ground station. The antenna azimuth angle and the antenna elevation angle as setting information indicating the directional direction of the antenna. The unit vector represented by is converted into a unit vector indicating the antenna pointing direction on the machine body coordinates to control the pointing of the antenna.

[0003]

However, in such a conventional television antenna directing apparatus, since only the azimuth angle of the antenna and the elevation angle of the antenna can be controlled, the direction vector can be controlled for the satellite or the ground station. However, there is a problem that the rotation angle cannot be controlled around that direction.

When the antenna mounted on a moving body is tracked by a geostationary satellite or a ground station for communication, if a radio wave transmitted from the geostationary satellite or the ground station is circularly polarized, a conventional pointing device is used. However, there is a problem in that when the transmitted radio wave is linearly polarized, it cannot be supported and a good antenna gain cannot be obtained. The present invention has been made in view of the above problems, and an object of the present invention is to provide an antenna attitude control device capable of controlling the polarization angle and controlling the attitude of the antenna.

[0005]

[Means for Solving the Problems] To achieve the above object
In the present invention, the posture of the antenna mounted on the moving body is
An antenna attitude control device for controlling a mobile object
Velocity detecting means for detecting the angular velocity component of the motion of the
By the integral calculation of the angular velocity component detected by the velocity detection means
A coordinate conversion matrix that represents the relationship between the coordinates of the moving body and the coordinates of the earth.
Kusu ([C^L _B] Or [C^L _B]^T) Calculator
Step and the acceleration detection hand that detects the acceleration component of the motion of the moving body
Step and geomagnetic compass or gyro compass
Position detection means, detection of acceleration detection means and azimuth detection means
A coordinate conversion matrix calculated by the calculation means based on the output
Rix ([C^L _B] Or [C^L _B]^T) Drift amount
Drift removal means to remove the
Command azimuth, command depression angle, command angle
Command attitude matrix ([C
^L _D]^TOr [C^L _D] Second calculating means for determining
Coordinate transformation matrix ([C^L _B] Or [C^L _B]^T)
Command posture matrix ([C^L _D]^TOr
[C^L _D)) Is the antenna attitude matrix on the moving body coordinates.
Kusu ([C^B _D]^TOr [C^B _D]) 3rd performance
Computing means and antenna attitude matrix ([C^B _D]^Tor
Is [C^B _D]) Based on the element component of
Driving means for controlling the attitude of the antenna.

[0006]

[Function] The angular velocity component in each axial direction of the moving body is detected by the angular velocity detecting hand.
Step, and integrate this angular velocity with the calculation means
Is a coordinate conversion matrix that represents the relationship between the earth coordinates and the coordinates of the moving body.
Tricks ([C^L _B] Or [C^L _B]^T) Is required.
In order to prevent drift of the angular velocity detection means, the acceleration
The acceleration component in each axial direction of the moving body obtained by the detection means, and
A coordinate conversion matrix based on the azimuth of the moving body obtained by the position detection means.
Kusu ([C^L _B] Or [C^L _B]^T) Drift
Therefore, the drift removal means removes the drift component and changes the coordinate.
Replacement matrix ([C^L _B] Or [C^L _B]^T)
It

On the other hand, the command azimuth angle, the command depression angle, and the command polarization angle to be taken by the antenna are, so to speak, converted to the coordinate system of the antenna of the partner station such as a geostationary satellite or a ground station viewed from the earth coordinates. Therefore, this conversion is represented by the command attitude matrix [C ^L _D ]. If the coordinate conversion matrix from the coordinates of the mobile unit to the antenna coordinates of the partner station is [C ^B _D ], the relationship of [C ^L _D ] = [C ^B _D ] × [C ^L _B ] is established in these matrices. . By transforming this expression, the [C ^B _D] = [C ^L _D] × [C ^L _B] or, [C ^B _D] ^T = [C ^L _B] × [C ^L _D] ^T.

The coordinate transformation matrix ([ ^CL
_B ] or [C ^L _B ] ^T ) and the coordinate transformation matrix ([C ^L _D ] ^T or [C ^L _D ]) obtained by the second calculation means, [C ^B _D ] or [C ^B _D ] ^T Ask for. And
The control angle of each axis required for antenna attitude control is extracted from the element components of [C ^B _D ] or [C ^B _D ] ^T , and the antenna mounted on the moving body is driven by the driving means to perform the attitude control. .

[0009]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing an embodiment of an antenna attitude control apparatus of the present invention. Rate gyros 11, 12, 1
3, accelerometers 14, 15, 16, azimuth sensor 17, antenna attitude calculating means 20, antenna driving means 21,
2 and 23 are provided.

The rate gyros 11, 12 and 13 detect the angular velocity of the moving body about the front-rear axis, the angular velocity of the moving body about the left-right axis, and the angular velocity of the moving body about the up-down axis, respectively, and each detection output is used to calculate the antenna attitude. Send to means 20. The accelerometers 14, 15 and 16 detect the acceleration of the moving body about the front-rear axis, the acceleration of the moving body about the left-right axis, and the acceleration of the moving body about the up-down axis, and the detected outputs are obtained by the antenna attitude calculation means. Send to 20.

The azimuth sensor 17 is composed of a geomagnetic azimuth compass or a gyro compass, detects the azimuth from magnetic north or true north with respect to the longitudinal direction of the moving body, and sends it to the antenna attitude calculating means 20. Antenna attitude calculation means 20
Is composed of a general-purpose processor and has a plurality of arithmetic means. First, the angular velocity matrix [ω] is obtained in the calculator 25 from the angular velocities from the rate gyros 11, 12, 13 and is integrated by the integrator 27 via the multiplier 26 to convert the coordinates of the moving body to the coordinates of the earth. The coordinate transformation matrix [C ^L _B ] ^T representing The coordinate conversion matrix [C ^L _B ] ^T from the integrator 27 is returned to the multiplier 26, and an arithmetic loop is formed in which multiplication with the angular velocity matrix [ω] is performed.

Further, the coordinate transformation matrix [C ^L _B ] ^T _mg is obtained by the calculator 28 from the accelerations from the accelerometers 14, 15, 16 and the azimuth from the azimuth sensor 17.
The subtracter 29 subtracts from the coordinate conversion matrix [C ^L _B ] ^T from the integrator 27 to remove the drift of the coordinate conversion matrix [C ^L _B ] ^T. This subtraction matrix is multiplied by K in the coefficient unit 31 via the switch 30, and then added to the output from the multiplier 26 in the adder 32 to be taken into the operation loop.

The switch 30 is for cutting off the switch when a large acceleration is applied to prevent an error from being input from the accelerometer and the direction sensor. These calculator 2
5, multiplier 26, integrator 27, calculator 28, subtractor 2
9, the coefficient unit 31, and the adder 32 constitute a known strapdown posture calculator.

[0014] from the coordinate transformation matrix [C ^L _B] ^T from the integrator 27, the calculator 33, by performing a matrix element transformation coordinate transformation matrix [C ^L _B] ^T, the coordinate transformation matrix is the transpose matrix [ C
^L _B ] is required. As shown in FIG. 2, when the azimuth angle from the earth coordinates to the moving body coordinates is represented by ψ, the pitch angle is represented by θ, and the roll angle is represented by φ, the coordinate conversion matrix [C ^L _B ]
Is

[0015]

[Equation 1]It is represented by. On the other hand, the command that is the set attitude angle of the antenna
Azimuth angle ψ_d, Command depression angle θ_d, Command polarization angle φ
_dFrom the command posture matrix in the calculator 34
[C ^L _D]^TIs required,

[0016]

[Equation 2]Expressed as Each command posture angle is tracked
If it is a geostationary satellite, it is determined by the position of the mobile unit.
It is recommended that the table be prepared in advance. Also, the ground
When communicating with the upper station, a method of receiving wirelessly from the ground station,
A method to obtain the azimuth angle and depression angle from the position of the moving body
Thus, the command attitude angle is set. In the multiplier 35
Is the command posture matrix [C^L _D]^TThe moving body
Command posture matrix [C^B _D]^T
To convert to [C^B _D]^T= [C^L _B] × [C^L _D]^T The calculation of (3) is performed. That is, from the coordinates of the mobile unit to the antenna of the partner station
The azimuth angle to the coordinate is ψ _b, Depression angle θ_b, The polarization angle is φ
_bExpressed as

[0017]

[Equation 3] Holds. The elements of the obtained [C ^B _D ] ^T

[0018]

[Equation 4] Expressed as

[0019]

[Equation 5] Therefore, the calculation of the calculation unit (6) is performed by the calculation unit 36, and the calculation result is output from the antenna attitude calculation unit 20. (6)
The control attitude angle of 1 is sent to the azimuth angle drive means 21, the depression / elevation angle drive means 22, and the polarization angle drive means 23 via amplifiers 44, 45, and 46, respectively. Drive means 21, 22, 23
Forms a known servo loop to control the rotation of the antenna 1 around the three axes.

In this way, the directional direction of the antenna can be controlled and the rotation angle φ from the directional direction can be controlled so that it can be matched with the polarization angle of the transmitted radio wave.
A good antenna gain can be obtained.

[0021]

As described above, according to the present invention,
Calculation means for calculating the coordinate conversion matrix ([C ^L _B ] or [C ^L _B ] ^T ) representing the relationship between the coordinates of the moving body and the coordinates of the earth, and the command azimuth angle, command angle of elevation and command deviation to be taken by the antenna. Second for determining a command attitude matrix ([C ^L _D ] ^T or [C ^L _D ]) consisting of wave angles
And calculating means, coordinate transformation matrix ([C ^L _B) or (C ^L _B] ^T) by using a command attitude matrix ([C ^L _D] ^T or [C ^L _D]) antenna orientation on mobile coordinates a third arithmetic means for converting the matrix ([C ^B _D] ^T or [C ^B _D]), the moving object based on the element components of the antenna attitude matrix ([C ^B _D] ^T or [C ^B _D]) Since the driving means for controlling the attitude of the mounted antenna is provided, a good antenna gain can be obtained even if the transmitted radio wave is a straight radio wave.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of a mobile body mounted antenna attitude control apparatus according to the present invention.

FIG. 2 is an explanatory diagram between mobile body coordinates and earth coordinates.

[Explanation of symbols]

 11, 12, 13 Rate gyro 14, 15, 16 Accelerometer 17 Direction sensor 20 Antenna attitude calculation means 21, 22, 23 Antenna drive means 29 Drift removal means 25, 26, 27, 33 Calculation means 34 Second calculation means 35th 3 calculation means

Claims (1)

[Claims] 1. An antenna attitude control device for controlling the attitude of an antenna mounted on a moving body, comprising: angular velocity detecting means for detecting an angular velocity component of motion of the moving body; and angular velocity detecting means for detecting the angular velocity component. Calculating means for calculating a coordinate conversion matrix ([C ^L _B ] or [C ^L _B ] ^T ) representing the relationship between the moving body coordinates and the earth coordinates by the integral calculation of the angular velocity component, and detecting the acceleration component of the moving body motion. Acceleration detecting means, azimuth detecting means by geomagnetic compass or gyro compass, coordinate conversion matrix calculated by the calculating means on the basis of detection outputs of the acceleration detecting means and azimuth detecting means ([C
[ ^L _B ] or [C ^L _B ] ^T ) drift removing means for removing the drift component, and a command attitude matrix ([C ^L _D ] ^T or [C ^L _D ]) second computing means and a coordinate transformation matrix ([C ^L _B ] or [C ^L _B ] ^T )
Third operation for converting the command attitude matrix ([C ^L _D ] ^T or [C ^L _D ]) into the antenna attitude matrix ([C ^B _D ] ^T or [C ^B _D ]) on the coordinates of the moving body using means and the antenna, characterized in that it comprises a driving means for controlling the attitude of an antenna mounted on the moving object based on the elements component of the antenna attitude matrix ([C ^B _D] ^T or [C ^B _D]) Attitude control device.