JPH08327716A - Method for operating direction of antenna orientation and device for controlling direction of antenna orientation - Google Patents

Abstract

PURPOSE: To make it possible to establish the direction of an antenna quickly by receiving the radio wave from a navigation satellite, and detecting the latitudes and the longitudes of two facing antennas based on the radio wave. CONSTITUTION: A computer receives the latitude, the longitude and the height data of own antenna on the earth from a GPS receiver and receives the latitude, the longitude and the height data of an opposite antenna at the same time. Then, the respective data inputted from the own antenna and the opposite antenna are converted into the rectangular coordinates. For example, the position of a relay vehicle is made to be a point A, and the position of a home office is made to be a point B. The polar coordinates of the points A and B are converted into the polar coordinates, respectively, and the distance between the point A and the point B is obtained. Then, the external shape surrounded by the latitude line and the longitude line of the point A and the latitude line and the longitude line of the point B is regarded as the retancle, and the distances (a), (b) and (c) of the sides of the rectangle are computed. An interior angle θ of the rectangle is computed by a cosine theorem. Furthermore, interior angles θA and θB are obtained. An azimuth angle αA when the point B is observed from the point A and an azimuth angle αB when the point A is observed from the point B are operated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an antenna pointing direction calculation method and an antenna pointing direction control device.

[0002]

2. Description of the Related Art For example, an antenna of a field pick-up (hereinafter referred to as "FPU") device used for a broadcasting relay vehicle requires sharp directivity. Conventionally, the current position of the relay vehicle is confirmed on the map, the direction of the antenna at the current position is confirmed from the position on the map, and the antenna is rotated so that the strength of the radio wave, that is, the reception level becomes maximum. ,
The direction of the antenna was set.

[0003]

However, in the conventional antenna pointing control apparatus, it takes time to install the antenna. In particular, if the antenna cannot be established promptly when it is urgent to cover a news program or the like, it will affect the audience rating of the program. On the other hand, there are navigation systems, satellite acquisition systems, microwave antenna control systems, etc. as systems for calculating the azimuth / elevation angle (incident angle or elevation angle) of the antenna. In such a system, the azimuth / elevation angle calculation is performed. Is based on the position of the satellite.

The present invention has been made in view of such conventional problems, and an object thereof is to provide an antenna pointing direction calculation method and an antenna pointing direction control device capable of quickly establishing the direction of the antenna. To do.

[0005]

Therefore, in the antenna pointing direction calculation method of the invention according to claim 1, the latitude of two antennas that receive radio waves from a navigation satellite and direct each other based on the radio waves, Detecting the longitude, based on the detected latitude and longitude of both antennas, and the radius of curvature on the ground surface, calculate the distance between both antennas,
Calculate the distance of each side of the rectangle on the ground surface surrounded by the latitude and longitude lines at the positions of both antennas based on the latitude, longitude, and radius of curvature of both antennas. The inside angle of the rectangle is calculated based on the side and the distance between the two points, and the azimuth angles of both antennas to be directed toward each other are calculated based on the calculated inside angle of the rectangle.

In the antenna pointing direction calculation method according to the second aspect of the present invention, the azimuth angles of the both antennas are expressed by the equations (11) to (11).
Calculated based on (18). In the antenna pointing direction calculation method of the invention according to claim 3, an azimuth coordinate system serving as a reference of the calculated azimuth angle of the antenna, and a moving body coordinate system based on a basic posture of a moving body to which the antenna is attached are defined. Then, the rotation angle of the moving body coordinate system with respect to the azimuth coordinate system is detected, the rotation matrix of the moving body coordinate system with respect to the azimuth coordinate system is calculated based on the rotation angle, and the azimuth coordinate is calculated based on the calculated rotation matrix. The azimuth angle of the antenna in the system is coordinate-transformed into the mobile body coordinate system.

In the antenna pointing direction calculation method of the present invention according to claim 4, based on the radio wave received from the navigation satellite, the altitudes of the two antennas to be pointed to each other from above the ground surface are detected, and the altitude difference between the two antennas is detected. Also, based on the distance between both antennas, the elevation angle when the antenna is directed to the other antenna is calculated with reference to the altitude of one antenna.

In the antenna pointing direction calculation method according to the fifth aspect of the present invention, the elevation angles of the both antennas are calculated based on equation (19) or equation (20). In the antenna pointing direction calculation method of the invention according to claim 6, an azimuth coordinate system serving as a reference of the calculated elevation angle of the antenna and a moving body coordinate system based on a basic posture of a moving body to which the antenna is attached are defined. Then, the rotation angle of the moving body coordinate system with respect to the azimuth coordinate system is detected, the rotation matrix of the moving body coordinate system with respect to the azimuth coordinate system is calculated based on the rotation angle, and the azimuth coordinate is calculated based on the calculated rotation matrix. The elevation angle of the antenna in the system is coordinate-transformed into the moving body coordinate system.

In the antenna pointing control device of the invention according to claim 7, as shown by the solid line in FIG.
In an antenna pointing direction control device that calculates and controls the azimuth angle and elevation angle of both antennas so that the two antennas point toward each other, two antennas that receive radio waves from a navigation satellite and direct each other based on the radio waves Position detection means for detecting the latitude and longitude of the, the latitude and longitude of both antennas detected, based on the radius of curvature on the ground surface, inter-antenna distance calculation means for calculating the distance between both antennas, Rectangular side distance calculation means for calculating the distance of each side of the rectangle on the ground surface surrounded by the latitude line and the longitude line at the positions of both antennas, based on the latitude, longitude, and radius of curvature of both antennas, Interior angle calculating means for calculating the interior angle of the rectangle based on each side of the rectangle and the distance between the two points, and directing each other based on the calculated interior angle of the rectangle. Comprising the azimuth calculation means for calculating the azimuth angle of both antennas, the azimuth control means for controlling the azimuth angle of the antenna based on the azimuth angle, which is the operation of that.

In the antenna directivity control apparatus according to the present invention, the azimuth angle calculating means is configured to calculate the azimuth angles of both antennas based on the equations (11) to (18). . The antenna pointing control apparatus according to the invention of claim 9 is an antenna pointing control apparatus for controlling an azimuth angle of an antenna attached to a moving body, wherein the azimuth angle calculating means is the calculated azimuth of the antenna. A moving body posture detecting means for detecting a rotation angle of the moving body coordinate system based on the basic posture of the moving body to which the antenna is attached, and an azimuth coordinate system based on the rotation angle. Rotation matrix calculation means for calculating a rotation matrix of the mobile body coordinate system with respect to the coordinate system, and coordinate conversion means for coordinate-converting the azimuth angle of the antenna in the azimuth coordinate system into the mobile body coordinate system based on the calculated rotation matrix. It is configured to have.

In the antenna pointing control device according to the tenth aspect of the present invention, as shown by the broken line in FIG. 1, altitude detecting means for detecting the altitude from the ground surface based on the radio waves from the navigation satellite, and both Based on the altitude difference and distance of the antennas, with reference to the altitude of one antenna, an auxiliary elevation angle calculating means for calculating an additional elevation angle when the antenna is directed to the other antenna, and the calculated additional elevation angle. And an elevation angle control means for controlling the elevation angle of the antenna based on the above.

According to an eleventh aspect of the invention, there is provided an antenna pointing control device for controlling an elevation angle of an antenna attached to a moving body, wherein the elevation angle calculating means calculates the elevation angle. With respect to the azimuth coordinate system that serves as the reference of the elevation angle of the antenna, a moving body posture detection unit that detects the rotation angle of the moving body coordinate system that uses the basic posture of the moving body with the antenna as a reference, and based on the rotation angle. Rotation matrix calculation means for calculating a rotation matrix of the mobile body coordinate system with respect to the azimuth coordinate system, and coordinate conversion means for coordinate-converting the elevation angle of the antenna in the azimuth coordinate system into the mobile body coordinate system based on the calculated rotation matrix. And are provided.

[0013]

According to the antenna pointing direction calculation method of the invention according to the above-mentioned claim 1, based on the radio wave from the navigation satellite,
Using the values of geophysics considering the physical characteristics of the earth,
Since the azimuth angle is calculated, the calculation accuracy of the calculated azimuth angle is extremely high, and the calculation processing can be performed in real time.

According to the antenna pointing direction calculation method of the present invention, the azimuth angles of both antennas are calculated by using the formulas (11) to (18). According to the antenna pointing direction calculation method of the invention of claim 3, it is possible to calculate the azimuth angle of the antenna attached to the moving body with high accuracy regardless of the posture of the moving body.

According to the antenna pointing direction calculation method of the invention of claim 4, since the elevation angle of the antenna is calculated using the navigation satellite, the elevation angle of the antenna can be calculated with high accuracy.
Moreover, it becomes possible to perform arithmetic processing in real time.
According to the antenna pointing direction calculation method of the invention of claim 5, the elevation angle of the antenna is calculated by using the calculation formulas (19) to (20).

According to the antenna pointing direction calculation method of the present invention, it is possible to calculate the elevation angle of the antenna attached to the moving body with high accuracy regardless of the posture of the moving body. According to the antenna pointing control device of the invention of claim 7, the latitude and the longitude are detected by the radio waves from the navigation satellite, and the geophysical values are used in consideration of the physical characteristics of the earth to determine the azimuth angle. Since the calculation is performed, the calculation accuracy of the calculated azimuth angle is extremely high, and the azimuth angle of the antenna can be controlled in real time.

According to the antenna directional control device of the invention of claim 8, it becomes possible to control the azimuth angles of both antennas with high accuracy by using the arithmetic expressions (11) to (18). According to the antenna pointing control device of the invention of claim 9, it is possible to control the azimuth angle of the antenna attached to the moving body with high accuracy regardless of the posture of the moving body.

According to the antenna pointing control device of the invention of claim 10, since the elevation angle of the antenna is calculated using the navigation satellite, the elevation angle of the antenna can be calculated with high accuracy.
Moreover, it becomes possible to control in real time. According to the antenna pointing control device of the invention of claim 11, it is possible to control the elevation angle of the antenna attached to the moving body with high accuracy regardless of the posture of the moving body.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. FIG. 2 shows an example of a relay system using an antenna pointing direction calculation device. As shown in FIG. 2, the video of the site is captured by a camera (not shown) attached to the helicopter 1, the camera 2, or the camera 3 connected to the relay vehicle 4 by a cable. The helicopter 1, the portable transmission device 5 for transmitting the video signal from the camera 2, the relay vehicle 4, the relay base station 6, and the head office 7 are provided with antennas for transmitting and receiving the video signal. After being relayed by the relay vehicle 4, the video signal is transmitted to the head office 7 via the relay base station 6 equipped with the transportable receiver.

When transmitting and receiving an antenna, these antennas need to face each other, and the helicopter 1, the relay vehicle 4, the portable transmitter 5, the relay base station 6, and the headquarters 7 are connected to each other.
An antenna pointing direction calculation device is provided. Further, FIG. 3 shows a helicopter 1 as a moving body or a relay vehicle 4.
1 shows an antenna pointing control device mounted on a vehicle. This antenna pointing control device is a GP as position detecting means.
Comprised of an S receiver 11, a computer 12, an optical gyro 13, and a turntable 14, it calculates the azimuth angle (yaw angle) and elevation angle (pitch angle) of the aerial line, and automatically calculates the aerial line of mobile micro equipment. To directly face the other party's antenna.

The helicopter 1 is provided with an inclination sensor (not shown) as a moving body posture detecting means.
The GPS receiver 11 is, for example, a GPS (Global Positioning).
(System) Radio waves from satellites 1 to 3 are received by a GPS antenna (not shown), and latitude, longitude, and altitude data on the earth are calculated.

The optical fiber gyro 13 is a GPS satellite 1
It is for interpolating the azimuth angles of the radio waves of 3 to 3 being blocked. The optical fiber gyro is originally a relative azimuth measuring device that determines the relative angular difference between the antennas, but since it is a method that integrates the angular velocity, the base drift is accumulated over time, and the azimuth angle during radio wave interruption is This is advantageous for absolute azimuth measurement after a short time, such as interpolation of.

The computer 12 inputs the latitude data and the longitude data from the GPS receiver 11 and determines the azimuth angle and the elevation angle of the antenna. This calculation process will be described later. The turntable 14 rotates the antenna 15 based on the calculation result from the computer 12 and controls the pointing direction of the antenna 15. The turntable 14 corresponds to azimuth angle control means and auxiliary elevation angle calculation means.

Further, as shown in FIG. 4, when the radio wave is transmitted from the helicopter 1 to the head office 7 via the base station 8, the position data of the helicopter 1 is transmitted to the head office 7 by a radio device or the like, and is transmitted from the head office 7 remotely. The antenna of the base station 8 is remotely controlled by a control line or the like so as to directly face the antenna of the helicopter 1. FIG. 5 shows a simple antenna pointing direction calculation device mounted on the portable transmission device 5, the relay base station 6, and the like. This apparatus includes a GPS antenna 21, a GPS receiver 22, a keyboard 23, a display 24, a handy computer 26 having a CPU 25, a GPS data inserter 27, and an F
It is equipped with a PU transmitter 28 and an FPU antenna 29, but since it is a simple type, it is not equipped with a turntable, and the azimuth and the like are displayed on the display 24 and the direction of the FPU antenna 29 is adjusted by manual adjustment. Is to do. Incidentally, G
The PS data inserter 27 multiplexes GPS data indicating its own position into a video signal, and the GPS data is transmitted via the FPU transmitter 28 and the FPU antenna 29 to the headquarters 7.
Etc.

Next, the arithmetic processing of the computer 12 will be described with reference to the flowchart of FIG. First, in step (denoted as "S" in the drawing, the same applies hereinafter) 1,
The latitude, longitude, and altitude data on the earth of its own antenna are input from the GPS receiver 11. As described above, the latitude, longitude, and altitude data are detected by the GPS receiver 11 based on the radio waves received from the GPS satellites 1-3.

In step 2, the latitude of the destination antenna,
Enter the longitude and altitude data. In order to directly face its own antenna, it is necessary to previously know the latitude, longitude, and altitude data of the other party. When the destination antenna has a fixed installation position such as the headquarters 7, the position may be registered in advance. However, in the case of a moving body such as the helicopter 1, the GPS data inserter 27 is used. Positional data such as latitude is transmitted from the helicopter 1 to the relay vehicle 4 or the headquarters 7, or wirelessly.

In step 3, the inputted latitude, longitude, and height data of the own antenna and the partner antenna are converted into rectangular coordinates. For example, assuming that the position of the relay vehicle 4 is the point A and the position of the headquarters 7 is the point B, the polar coordinates of the points A and B are respectively,
A (φ _A , λ _A , h _A ), B (φ _B , λ _B , h _B ), the Cartesian coordinates of the points A and B are A (U _A , V
_{A, W A), B (} U B, V B, as W _B), the conversion from polar coordinates to rectangular coordinates, A point, the coordinates of the point B is expressed as follows.

[0028] _{U A = (N A + h} A) cos φ A cos λ A ··········· (1) V A = (N A + h A) cos φ A sin λ A ··· _{········ (2) W A = (} N A (1-e 2) + h A) sin φ A ··········· (3) U B = (N A + h _{B) cos φ B cos λ B} ··········· (4) V B = (N A + h B) cos φ B sin λ B ··········· (5 _{) W B = (N A (} 1-e 2) + h B) sin φ B ··········· (6) where, N _A: Tozai at point A radius of curvature (see FIG. 7) N _B: Tozai curvature at point B the radius (see FIG. 7) e: eccentricity (e ² = 0.006674372230614) latitude and longitude units: degrees altitude unit: at km step 4, a point, the distance between the point B Ask.

The distance L _AB between points A and B is calculated by the following equation (7)
Calculated by _{L AB = ((U A -U} B) 2 + (V A -V B) 2 + (W A -W B) 2) 1/2 ··· (7) N A = R 0 / (1-e ² sin ² φ _A ) ^1/2 N _B = R ₀ / (1-e ² sin ² φ _B ) ^1/2 However, R ₀ : Equatorial radius (R ₀ = 6377.397155km) This step 4 calculates the distance between the antennas. It corresponds to the means.

In step 5, as shown in FIG. 8, the outline surrounded by the latitude line and the longitude line at the point A and the latitude line and the longitude line at the point B is regarded as a rectangle, and the distances a and b between the sides of the rectangle are considered. , C
To calculate. For example, this rectangle becomes a rectangle near the equator, but when it is separated from the equator as in Japan, one side of the pole side can be regarded as a trapezoid shorter than one side of the equator side.

FIG. 7 shows a cross section of the earth at the plane containing the meridian. In this figure, the H point on the ground surface, the distance of a perpendicular line H-H ₁ onto P-P 'axis connecting the north and south poles and M. Further, FIG. 9 is a perspective view of the earth, and FIG. 10 is a P of the earth.
-P 'arrow view is shown. Since it is M = N _A * cosφ, distance a, b, respectively, the following equation (8) is calculated by (9).

_A = N _A cos φ _A * | λ _A −λ _B | * π / 180 rad (8) b = N _B cos φ _B * | λ _A −λ _B | * π / for 180 rad ······ (9) distance c, the distance c of the ground surface as shown in FIGS. 9 and 10, since it is c = ρ * φ, c = (N a + N B) _{/ 2 * | φ a -φ B} | * π / 180 rad N When _{a ≒ N B, c = N} a cos φ a * θ c = N a cos φ a * | λ a -λ B | * π / 180 rad ・ ・ ・ ・ (10).

The distance L _AB between the points A and B calculated in step 4 is the distance of the diagonal line of this rectangle. This step 5 corresponds to the rectangle side distance calculating means. Step 6
Then, as shown in FIG. 11, the internal angle θ of the rectangle is calculated by the cosine theorem, and further the internal angles θ _A and θ _B are calculated.

This step 6 corresponds to the internal angle calculating means. In step 7, the azimuth α _A when the point B is seen from the point _A and the azimuth α _B when the point A is seen from the point _B are calculated. For example, in FIG. 11, the angle (1/2 × π + θ A) of the diagonal line L _AB for longitude lines at point A and the angle theta _B is the azimuth angle alpha _B diagonal L _AB for longitude line at an azimuth angle alpha _A, B point Become. However, the altitude is the same.

Azimuth angles α _A , α at the points A and B
_B is calculated in different cases. (1) When the latitude phi _A> phi _B cutlet longitude lambda _A ≦ lambda _B (see FIG. 11) (1-1) azimuth when from A saw B point ^{_{α A b 2 = c 2 +}} L AB 2 - From 2cL _AB cos (π−α _A ), α _A = π−arc cos ((c ² + L _AB ² −b ² ) / 2cL _AB ) ... (11) (1-2) Point B From the azimuth angle α _B a ² = c ² + L _AB ² −2 cL _AB cos (2π−α _B ) when viewing point A from α _B = 2π−arccos ((c ² + L _AB ² −a ² ) / 2cL _AB ) ・ ・ ・ ・ ・ ・ ・ (12) (2) In case of latitude φ _A ＞ φ _B and longitude λ _A ＞ λ _B (See Fig. 12) (2-1) Azimuth angle when viewing point B from point A α _A α _A = π + arccos ((c ² + L _AB ² −b ² ) / 2cL _AB ) ・ ・ ・ ・ ・ ・ ・ ・ (13) (2-2) Azimuth angle when viewing point A from point _B α _B α _B = arccos ((c ² + L _AB ² −a ² ) / 2cL _AB ) ・ ・ ・ ・ ・ ・ (14) (3) Latitude φ _A ≦ φ _B and longitude λ _A ≦ λ _B (Refer to Fig. 13) (3-1) Azimuth angle α _A when viewing point B from point _A α _A = arccos ((c ² + L _AB ² −b ² ) 2c L _AB ) ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ (15) (3-2) Azimuth angle when viewing point A from point _B α _B α _B = π + arccos ((c ² + L _AB ² −a ² ) / 2cL _AB ) ... (16) (4) Latitude φ _A ≤ φ _B and longitude λ _A <λ _B (Fig. (See 14) (4-1) Azimuth angle when viewing point B from point _A α α _A = 2π−arccos ((c ² + L _AB ² −b ² ) / 2cL _AB ) ・ ・ ・ ・ ・ ・ ・ ( 17) (4-2) Azimuth angle when viewing point A from point _B α _B α _B = π−arccos ((c ² + L _AB ² −a ² ) / 2cL _AB ) ... ( 18) This step 7 corresponds to an azimuth angle calculating means.

In step 8, the elevation angle of the moving body is calculated. Here, let us consider the elevation angle from point A to point B. (1) When h _B > H, the elevation angle is obtained (see Fig. 15). This elevation angle is calculated based on the following equation. _{sinβ A = (h B -H)} / L AB β A ≒ arcsin ((h B -H) / L AB) ≒ sin -1 ((h B -h A) / ((U A -U B) 2 + ^{_{(V a -V B) 2 +}} (W a -W B) 2) 1/2 ·········· (19) (2) when h _B ≦ H becomes Supplementary angle (Fig. 18).

This additional angle is calculated based on the following equation. _{sinβ A = (H-h B} ) / L AB β A ≒ arcsin ((H-h B) / L AB) ≒ sin -1 ((h A -h B) / ((U A -U B) 2 + ^{_{(V a -V B) 2 +}} (W a -W B) 2) 1/2 ·········· (20) step 8 corresponds to the biasing elevation calculating means.

If there is no need to adjust the tilt of the device,
This routine is ended here. If it is necessary to adjust the tilt of the device, proceed to steps 9 → 10. In step 10, the azimuth coordinate system that serves as a reference for the azimuth angle and the elevation angle of the antenna, and the mobile body coordinate system that defines the basic posture of the mobile body with the antenna as a reference are defined. Detect the rotation angle.

For example, in FIG. 17, true north at the moving body position
The coordinate axis (X₀, Y₀,
Z₀) Is defined, the left and right direction of the helicopter 1, the front-back direction,
The vertical coordinate axes are the coordinate axes (X
₁, Y₁, Z₁). For azimuth coordinate system
To detect the rotation angle of the moving body coordinate system, use the above-mentioned tilt sensor.
To use. The basic attitude of the helicopter 1 is the moving body coordinate system.
Coordinate axis (X₁, Y₁, Z ₁) Is the coordinate axis of the azimuth coordinate system
(X₀, Y₀, Z₀).

In step 11, the coordinates of the moving body coordinate system are set to
Compute the rotation matrix represented by the coordinates of the azimuth coordinate system.
With respect to the basic attitude of the helicopter 1, rotation 1 about the Z ₀ axis (see FIG. 18), rotation 2 related to the longitudinal inclination of the helicopter 1 (see FIG. 19), and lateral rotation of the helicopter 1 Rotation 3 (see FIG. 20) is considered separately, and the rotation matrix when the helicopter 1 is rotated in the order of rotations 1, 2, and 3 is calculated. However, the rotation order is not limited. (1) Rotation of moving body coordinates by rotation 1 At first, as shown in FIG. 17, since the azimuth coordinate system and the moving body coordinate system match, the direction cosine of each axis is as follows.

X ₁ axis → (1,0,0) Y ₁ axis → (0,1,0) Z ₁ axis → (0,0,1) As shown in FIG. 18, the angle θ is about the Z ₀ axis. When it is rotated only by, the coordinate r _{1 at} this time is calculated from the coordinate r ₀ before rotation by the following equation (21).

[0042]

[Equation 1] ・ ・ ・ ・ ・ ・ ・ ・ ・ (21) In addition, the coordinate axes after conversion (X ₁ , Y ₁ , Z ₁ )
Is as follows. X ₁ axis → (cos θ, -sin θ, 0) Y ₁ axis → (+ sin θ, cos θ, 0) Z ₁ axis → (0, 0, 1) (2) Rotation of moving body coordinate by rotation 2 This rotation 2 is As shown in FIG. 19, since the helicopter 1 is inclined in the front-rear direction, the converted rotation is about the X ₁ axis.

Here, an arbitrary unit vector is (n ₁ , n
₂ , n ₃ ), the unit vector (n ₁ , n ₂ , n ₃ )
A rotation matrix M _{R that} is rotated by an angle Θ about a straight line that is parallel to and that passes through the origin is represented by the following equation (22).

[0044]

[Equation 2] (22) To calculate the rotation matrix when rotated about the X ₁ axis by the angle φ, this unit vector (n ₁ , n ₂ , n
Substituting the rotation (cos θ, sin θ, 0) of the angle θ around the Z ₁ axis into ₃ ) and substituting the angle φ into the angle Θ, the rotation matrix M _R
Is calculated. Rotation matrix M _R1 calculated as a result
Is as follows.

[0045]

(Equation 3) (23) Therefore, the coordinate r ₂ when rotated about the X ₁ axis by the angle φ is calculated from the coordinate r ₁ before rotation by the following equation (24). To be done. r ₂ = M _R1 r ₁ (24) Further, the coordinate axes (X ₂ , Y ₂ , Z ₂ ) after conversion are as follows.

X ₂ → (+ cosθ, -sinθ, 0) Y ₂ → (+ sinθ * sinθ, cosθ * cosφ, sinφ) Z ₂ → (-sinθ * sinφ, -cosθ * sinφ, cosφ) (3) Rotation Rotation of moving body coordinates by 3 As shown in FIG. 20, this rotation 3 is the rotation of the helicopter 1 in the left-right direction, and therefore the rotation is about the converted Y ₂ axis.

To calculate the rotation matrix when rotated about the Y ₂ axis by the angle ψ, the unit vector (n ₁ , n ₂ , n ₃ ) is rotated about the Y ₂ axis by the angle φ. The value (+ sin θ * cosφ, cos θ * cosφ, sinφ) at that time is substituted, and the angle ψ is substituted for the angle Θ of the rotation matrix M _R represented by the equation (22) to calculate the rotation matrix M _R. The rotation matrix M _R2 calculated as a result is as follows.

[0048]

[Equation 4] (25) Therefore, the coordinate r ₃ when rotated about the Y ₂ axis by the angle ψ is calculated from the coordinate r ₂ before the rotation by the following formula (25). To be done. r ₃ = M _R2 r ₂ (26) Further, the coordinate axes (X ₃ , Y ₃ , Z ₃ ) after conversion are as follows.

[0049]

(Equation 5) This step 11 corresponds to the rotation matrix calculation means.
In step 12, the azimuth vector in the azimuth coordinate system,
The elevation vector is coordinate-transformed into the moving body coordinate system. For example,
Consider conversion of a unit vector in _one Cartesian coordinate system Ox ₀ y ₀ z _{0 into} a unit vector in another Cartesian coordinate system Ox ₁ y ₁ z ₁ with the same origin.

Cartesian coordinate system O-x₀y₀z₀Each coordinate axis x₀,
y₀， Z₀The above unit vector is e₁, E ₂, E₃And direct
Cross coordinate system O-x₁y₁z₁Each coordinate axis x₁， Y₁， Z₁Unit above
Kutoru e₁₁, E₁₂, E₁₃And the unit vector e_1iO-
x₀y₀z₀The direction cosine with respect to (l _i, M_i, N_i) And
And the unit vector e₁₁, E₁₂, E₁₃Is given by
Is done.

[0051]

(Equation 6) Generally, an orthogonal coordinate system Ox ₁ y ₁ z ₁ on coordinates _{(x 1, y 1, z} 1), converting the rectangular coordinate system Ox ₀ y ₀ z ₀ the coordinates _{(x 0, y 0, z} 0) The matrix is expressed by the following equation (27).

[0052]

(Equation 7) (27) Further, the matrix M _R3 for converting the azimuth angle vector and the elevation angle vector in the azimuth coordinate system into the azimuth angle vector and the elevation angle vector in the moving body coordinate system is the following formula. Represented by (28).

[0053]

[Equation 8] (28) As shown in Fig. 21, the azimuth coordinate system is the above-mentioned coordinate system O-x.₀y₀z₀
As the composite vector P (x₀, y₀, z₀), Azimuth
α₀, Elevation β₀When expressed by, the composite vector P (x₀, y₀, z ₀) Is
From equation (28), it is expressed as follows.

[0054] _{P (x 0, y 0,} z 0) = (sinα 0 * cosβ 0, cosα 0 * cosβ 0, sinβ 0) Also, as shown in FIG. 22, the coordinate system of the aforementioned mobile coordinate system
As Ox ₁ y ₁ z ₁ , the composite vector P (x ₁ , y ₁ , z ₁ ) of the moving body coordinate system converted by the above matrix is as follows. (1) Azimuth α ₁ (1-1) x ₁ ≧ 0 and y ₁ ≧ 0 1st quadrant α ₁ = 1/2 * π−arctan (x ₁ / y ₁ ) ・ ・ ・ ・ ・ ・ ・・ ・ ・ ・ (29) (1-2) When x ₁ ≧ 0 and y ₁ <0, the second quadrant α ₁ = 1/2 * π + arctan (x ₁ / y ₁ ) ・ ・ ・ ・ ・ ・ ・・ ・ (30) (1-3) When x ₁ ≧ 0 and y ₁ ≧ 0, the third quadrant α ₁ = 3/2 * π−arctan (x ₁ / y ₁ ) ・ ・ ・ ・ ・ ・ ・・ ・ (31) (1-4) x ₁ <0 and y ₁ <0, 4th quadrant α ₁ = 3/2 * π + arctan (x ₁ / y ₁ ) ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ ・(32) (2) Elevation angle β ₁ β ₁ = arcsin (z ₁ ) ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ (33)

This step 12 corresponds to the coordinate conversion means. According to this configuration, the latitude, longitude, and height of the two antennas are detected based on the radio waves received from the GPS satellites, and the two sides of the rectangle on the surface of the earth surrounded by these latitude and longitude lines are detected. And the distance of the diagonal line, the trapezoid inside angle based on the cosine theorem, the azimuth angle is calculated, and the accurate pointing direction of the antenna is calculated by calculating the elevation angle or the incident angle based on the detected height data. A quick decision can be made and the pointing direction of the antenna can be established.

Further, since the attitude of the moving body is detected and the azimuth coordinate system is converted into the moving body coordinate system or the moving body coordinate system is converted into the azimuth coordinate system, the azimuth angle and the elevation angle of the antenna are determined. , The pointing direction of the antenna can be accurately determined regardless of the posture of the moving body.

[0057]

As described above, according to the antenna pointing direction calculation method of the present invention, the calculation accuracy of the calculated azimuth angle is extremely high, and the calculation processing can be performed in real time. According to the antenna pointing direction calculation method of the invention of claim 2, calculation formulas (11) to (18)
By using, the azimuth angles of both antennas can be calculated with high accuracy.

According to the antenna pointing direction calculation method of the invention of claim 3, the azimuth angle of the antenna attached to the moving body can be calculated with high accuracy regardless of the posture of the moving body. According to the antenna pointing direction calculation method of the invention of claim 4, since the elevation angle of the antenna is calculated using the navigation satellite, the elevation angle of the antenna can be calculated with high accuracy.
Moreover, it is possible to perform arithmetic processing in real time.

According to the antenna pointing direction calculation method of the invention of claim 5, the elevation angle of the antenna can be calculated with high accuracy by using the calculation expressions (19) to (20). According to the antenna pointing direction calculation method of the invention according to claim 6, the elevation angle of the antenna attached to the moving body can be calculated with high accuracy regardless of the posture of the moving body.

According to the antenna pointing control device of the invention of claim 7, the azimuth angle of the antenna can be controlled with extremely high precision and in real time.
According to the antenna pointing control apparatus of the invention of claim 8, the azimuth angle of the antenna is controlled with high accuracy by using the arithmetic expressions (11) to (18). According to the antenna pointing control device of the invention of claim 9, the azimuth angle of the antenna attached to the moving body can be controlled with high accuracy regardless of the posture of the moving body.

According to the antenna pointing control device of the invention of claim 10, since the elevation angle of the antenna is calculated using the navigation satellite, the elevation angle of the antenna can be calculated with high accuracy.
Moreover, it can be controlled in real time. Claim 11
According to the antenna pointing direction control device of the present invention, the elevation angle of the antenna attached to the moving body can be controlled with high accuracy regardless of the posture of the moving body.

[Brief description of drawings]

FIG. 1 is a claim correspondence diagram showing a configuration of the present invention.

FIG. 2 is a diagram showing an example of a relay system.

FIG. 3 is a block diagram showing an embodiment of the present invention.

FIG. 4 is an explanatory diagram showing an example of transmitting radio waves from the helicopter of FIG.

FIG. 5 is a block diagram showing the configuration of a simple device used for the portable transmission device of FIG.

FIG. 6 is a flowchart showing a calculation process of the computer of FIGS. 2 and 5.

7 is an explanatory diagram of the arithmetic processing of FIG.

FIG. 8 is an explanatory diagram of the same as above.

FIG. 9 is an explanatory diagram of the same as above.

FIG. 10 is an explanatory diagram of the same as above.

FIG. 11 is an explanatory diagram of the same as above.

FIG. 12 is an explanatory diagram of the same as above.

FIG. 13 is an explanatory diagram of the same as above.

FIG. 14 is an explanatory diagram of the same as above.

FIG. 15 is an explanatory diagram of the same as above.

FIG. 16 is an explanatory diagram of the same as above.

FIG. 17 is an explanatory diagram of the same as above.

FIG. 18 is an explanatory diagram of the same as above.

FIG. 19 is an explanatory diagram of the same as above.

FIG. 20 is an explanatory diagram of the same as above.

FIG. 21 is an explanatory diagram of the same as above.

FIG. 22 is an explanatory diagram of the same as above.

[Explanation of symbols]

 1 helicopter 2, 3 camera 4 relay vehicle 5 portable transmitter 6 relay base station 7 headquarters

Claims (11)

[Claims] 1. A radio wave from a navigation satellite is received, and based on the radio wave, the latitude and longitude of two antennas pointing to each other are detected, and the detected latitude and longitude of both antennas and the ground surface thereof. The distance between both antennas is calculated based on the radius of curvature at, and the distance of each side of the rectangle on the ground surface surrounded by the latitude and longitude lines at the positions of both antennas is the latitude and longitude of both antennas. , And the radius of curvature, calculate the inside angle of the rectangle based on each side of the calculated rectangle and the distance between the two points, and based on the calculated inside angle of the rectangle, the azimuths of both antennas to be pointed to each other An antenna pointing direction calculation method characterized by calculating an angle. 2. The azimuth angles of the both antennas are expressed by equations (11) to (1).
8. The antenna pointing direction calculation method according to claim 1, wherein the calculation is performed based on 8). (1) When φ _A > φ _B and λ _A ≦ λ _B , α _A = π−arccos ((c ² + L _AB ² −b ² ) / 2cL _AB ) ・ ・ ・ ・ ・ ・ (11) α _B ＝ 2π−arccos ((c ² + L _AB ² −a ² ) / 2cL _AB ) (12) (2) When φ _A > φ _B and λ _A > λ _B , α _A = π + arc cos (( c ² + L _AB ² −b ² ) / 2cL _AB ) ・ ・ ・ ・ ・ ・ (13) α _B = arccos ((c ² + L _AB ² −a ² ) / 2cL _AB ) ・ ・ ・ ・ ・ ・ (14) (3) When φ _A ≤φ _B and λ _A ≤λ _B , α _A = arccos ((c ² + L _AB ² −a ² ) / 2cL _AB ) ・ ・ ・ ・ ・ ・ (15) α _B = π + arccos ( (c ² + L _AB ² −a ² ) / 2cL _AB ) ・ ・ ・ ・ ・ ・ (16) (4) When φ _A ≦ φ _B and λ _A > λ _B , α _A = 2π−arccos ((c ² + L _AB ² −a ² ) / 2cL _AB ) ・ ・ ・ ・ ・ ・ (17) α _B = π−arccos ((c ² + L _AB ² −a ² ) / 2cL _AB ) ・ ・ ・ ・ ・ ・ (18) Where α _{A is} the azimuth angle of one antenna φ _{A is} the latitude of one antenna λ _{A is} the longitude of one antenna α _{B is} the azimuth angle of the other antenna φ _B : Latitude of the other antenna λ _B : Longitude of the other antenna a, b: Distance on the ground surface in the direction of the rectangular latitude line (a ≦ b) c: Distance of the rectangular longitude line L _AB : Both Distance between antennas 3. An azimuth coordinate system that serves as a reference for the calculated azimuth angle of the antenna, and a mobile body coordinate system that defines the basic posture of a mobile body with the antenna as a reference, and the mobile body with respect to the azimuth coordinate system. The rotation angle of the coordinate system is detected, the rotation matrix of the moving body coordinate system with respect to the azimuth coordinate system is calculated based on the rotation angle, and the azimuth angle of the antenna in the azimuth coordinate system is calculated based on the calculated rotation matrix. The antenna pointing direction calculation method according to claim 1 or 2, wherein the coordinates are converted into a coordinate system. 4. The altitudes of the two antennas pointing toward each other above the ground surface are detected based on the radio waves received from the navigation satellite, and one of the antennas is detected based on the altitude difference between the two antennas and the distance between the two antennas. The elevation angle when the antenna is directed to the other antenna is calculated with the altitude of the antenna as a reference, and the elevation angle is calculated.
Calculation method of antenna pointing direction. 5. The elevation angles of both antennas are calculated based on equation (19) or equation (20).
The antenna pointing direction calculation method described in. (1) When h _B > H β = arcsin ((h _B −H) / L _AB ) ・ ・ ・ ・ ・ (19) (2) When h _B ≦ H β = arcsin (( H−h _B ) / L _AB ) (20) where β: elevation angle of one antenna H: altitude of one antenna above the ground surface h _B : other Height of antenna above ground level 6. A moving body relative to the azimuth coordinate system is defined by defining an azimuth coordinate system serving as a reference of the elevation angle of the calculated antenna and a moving body coordinate system based on a basic posture of a moving body to which the antenna is attached. The rotation angle of the coordinate system is detected, the rotation matrix of the moving body coordinate system with respect to the azimuth coordinate system is calculated based on the rotation angle, and the elevation angle of the antenna in the azimuth coordinate system is calculated based on the calculated rotation matrix. The antenna pointing direction calculation method according to claim 4 or 5, wherein the coordinates are converted into a coordinate system. 7. An antenna pointing direction control device for calculating and controlling an azimuth angle and an elevation angle of both antennas so that two antennas for transmission and reception are directed to each other, receives an electric wave from a navigation satellite, and outputs the electric wave. Based on the position detection means for detecting the latitude and longitude of the two antennas to be pointed to each other, and the distance between the two antennas based on the detected latitude and longitude of both antennas and the radius of curvature on the ground surface. Based on the latitude, longitude, and radius of curvature of both antennas, calculate the distance between each antenna and the distance between each side of the rectangle on the ground surface surrounded by the latitude and longitude lines at the positions of both antennas. A rectangle side distance calculating means for calculating; an inside angle calculating means for calculating an inside angle of the rectangle based on each side of the calculated rectangle and a distance between two points; And an azimuth angle control means for controlling the azimuth angle of the antennas based on the calculated azimuth angle. Antenna pointing direction control device. 8. The antenna directional control according to claim 7, wherein the azimuth angle calculation means is configured to calculate the azimuth angles of both antennas based on equations (11) to (18). apparatus. (1) When φ _A > φ _B and λ _A ≦ λ _B , α _A = π−arccos ((c ² + L _AB ² −b ² ) / 2cL _AB ) ・ ・ ・ ・ ・ ・ (11) α _B ＝ 2π−arccos ((c ² + L _AB ² −a ² ) / 2cL _AB ) (12) (2) When φ _A > φ _B and λ _A > λ _B , α _A = π + arc cos (( c ² + L _AB ² −b ² ) / 2cL _AB ) ・ ・ ・ ・ ・ ・ (13) α _B = arccos ((c ² + L _AB ² −a ² ) / 2cL _AB ) ・ ・ ・ ・ ・ ・ (14) (3) When φ _A ≤φ _B and λ _A ≤λ _B , α _A = arccos ((c ² + L _AB ² −a ² ) / 2cL _AB ) ・ ・ ・ ・ ・ ・ (15) α _B = π + arccos ( (c ² + L _AB ² −a ² ) / 2cL _AB ) ・ ・ ・ ・ ・ ・ (16) (4) When φ _A ≦ φ _B and λ _A > λ _B , α _A = 2π−arccos ((c ² + L _AB ² −a ² ) / 2cL _AB ) ・ ・ ・ ・ ・ ・ (17) α _B = π−arccos ((c ² + L _AB ² −a ² ) / 2cL _AB ) ・ ・ ・ ・ ・ ・ (18) Where α _{A is} the azimuth angle of one antenna φ _{A is} the latitude of one antenna λ _{A is} the longitude of one antenna α _{B is} the azimuth angle of the other antenna φ _B : Latitude of the other antenna λ _B : Longitude of the other antenna a, b: Distance on the ground surface in the direction of the rectangular latitude line (a ≦ b) c: Distance of the rectangular longitude line L _AB : Both Distance between antennas 9. An antenna pointing control device for controlling an azimuth angle of an antenna attached to a moving body, wherein the azimuth angle calculation means uses an azimuth coordinate system as a reference of the calculated azimuth angle of the antenna. On the other hand, a moving body posture detecting means for detecting the rotation angle of the moving body coordinate system with reference to the basic posture of the moving body to which the antenna is attached, and a rotation matrix of the moving body coordinate system with respect to the azimuth coordinate system based on the rotation angle. 7. A rotation matrix calculating means for calculating, and coordinate conversion means for converting the azimuth angle of the antenna in the azimuth coordinate system into the moving body coordinate system based on the calculated rotation matrix. The antenna pointing direction control device according to claim 7 or 8. 10. An altitude detecting means for detecting an altitude from the ground surface based on a radio wave from the navigation satellite, and an altitude difference of one antenna and a distance based on the altitude of one antenna as a reference. And elevation angle control means for controlling the elevation angle of the antenna based on the calculated elevation angle, and an elevation angle control means for controlling the elevation angle of the antenna based on the calculated elevation angle. The antenna pointing control device according to any one of claims 7 to 9. 11. An antenna pointing direction control device for controlling an elevation angle of an antenna attached to a moving body, wherein said elevation angle calculation means is in an azimuth coordinate system serving as a reference of the calculated elevation angle of the antenna. On the other hand, a moving body posture detecting means for detecting the rotation angle of the moving body coordinate system with reference to the basic posture of the moving body to which the antenna is attached, and a rotation matrix of the moving body coordinate system with respect to the azimuth coordinate system based on the rotation angle. 7. A rotation matrix calculating means for calculating, and coordinate conversion means for converting the elevation angle of the antenna in the azimuth coordinate system into a moving body coordinate system based on the calculated rotation matrix. 10. The antenna pointing control device according to 10.