JPH1114730A - Pursuit type antenna device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the correcter azimuth of a moving body. SOLUTION: Output of a triaxial angular velocity detector fixed to a moving body is converted from rectangular coordinates expression to Euler's angle expression by an Euler's angle angular velocity converter 56, components showing the azimuth axis angular velocity of the moving body in three components obtained from the result are converted to an azimuth angle increase portion by a multiplier 58, and they are accumulated (integrated) on a moving body azimuth resistor 54. When a target is searched for, the target is searched for by a virtual moving body azimuth method changing data on the moving body azimuth resistor 54, namely, moving body azimuth data. After beginning pursuit, step track is performed by the moving body azimuth data on the moving body azimuth resistor 54. When the loaded moving body advances rectilinearly, the data on the moving body azimuth resistor 54 is reset utilizing the moving body azimuth from a GPS receiver 38. As for Z-axis angular velocity data, based on a superintendence result for a fixed time, an offset correction control and section data memory circuit 66 corrects the offset. By superintending moving body azimuth data, judgement of blocking/offbeam is performed, and in the case of offbeam, it is shifted to preset of the moving body azimuth data or the target search.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tracking type for continuously capturing and receiving a signal wirelessly transmitted from a target such as an artificial satellite or an aircraft by a directional antenna mounted on a moving body such as a vehicle. The present invention relates to an antenna device.

[0002]

2. Description of the Related Art In order to continuously receive a signal transmitted wirelessly from a target such as an artificial satellite by a directional antenna mounted on a moving body such as a vehicle, the mobile station moves with respect to the target. A device for sequentially changing the beam direction of a directional antenna, that is, a tracking antenna device has been developed so as to always keep pointing at a target against relative movement of the body and inclination of the moving body, that is, to track the target. . One of the methods for realizing a tracking antenna is to support the directional antenna on a moving object by a mount having an azimuth (AZ) axis and an elevation angle (EL) axis, and to direct the directional antenna according to the movement or inclination of the moving object. There is a method of rotating the beam of the directional antenna about a mechanical or electronic azimuth axis and an elevation axis. This type of mount is called an AZ-EL mount,
It has features such as a simple structure. This AZ-E
In the L mount, two axes, an azimuth axis and an elevation axis, are controlled. Therefore, in the control, it is necessary to determine a control angle for each of the azimuth axis and the elevation axis.

Further, as a method for tracking a target with higher accuracy, a step track has conventionally been used. From the state where the directional antenna is capturing the satellite, the step track changes the beam direction of the directional antenna by a small angle by trial and error, and compares the signal reception state before and after the change, for example, the reception level, to obtain the directivity. In this method, it is determined which direction the beam direction of the directional antenna should be changed to obtain a better signal reception state, and the beam direction of the directional antenna is changed according to the result. As described above, in the tracking antenna apparatus having the AZ-EL mount, both the azimuth axis control angle and the elevation axis control angle must be determined. Therefore, conventionally, the step track is also executed individually for both the azimuth and the elevation angle. Was. That is, the beam direction of the directional antenna is changed by a small angle around the azimuth axis by trial and error, and the beam direction of the directional antenna is changed to one of the azimuth axes based on the comparison result of the signal reception state before and after the change. The azimuth step track and the beam direction of the directional antenna are changed around the elevation axis based on the result of comparison of the signal reception state before and after the small change of the beam direction of the directional antenna by trial and error about the elevation axis. They were doing an elevation step track to change the crab.

[0004]

SUMMARY OF THE INVENTION One of the objects of the present invention is to replace the conventionally used azimuth step track and elevation step track with trial and error values of the azimuth data of a moving object by relying on the reception state of a radio signal. By introducing a new idea of correcting (hereinafter, referred to as a moving body direction step track), a tracking antenna device with higher accuracy and higher reliability than the conventional one is realized. One of the objects of the present invention is a target search by the virtual moving object direction method proposed by the present applicant in Japanese Patent Application No. 7-192772 (Japanese Patent Application Laid-Open No. 9-46122), and a movement newly proposed in the present application. The target search and the step track can be executed by the mobile body direction together with the body direction step track, so that the efficiency of the target search and the step track can be improved, and the configuration of the apparatus (in particular, the number of registers,
Simplification). One of the objects of the present invention is to detect the angular velocity of the moving body, the roll angle and the pitch angle of the moving body around each of the three axes constituting the rectangular coordinate system fixed to the moving body, and to calculate the angular velocity detection result. By converting the detection result of the roll angle and the pitch angle into the Euler angle expression, the data on the traveling azimuth of the moving object is made more accurate, and as a result, a tracking type antenna device with higher accuracy and reliability than the conventional one is provided. Is to make it happen. One of the objects of the present invention is to combine the roll angular velocity and the pitch angular velocity obtained by the conversion into the Euler angle representation with the detected values of the roll angle and the pitch angle of the moving body to obtain more data on the tilt angle of the moving body. An object of the present invention is to realize a tracking type antenna device which is accurate and which has higher accuracy and reliability than conventional ones. An object of the present invention is to provide a tracking system having at least an azimuth axis and an elevation axis such as an AZ-EL mount or an AZ-XEL (X) -EL (Y) mount, which is suitable for mounting on a land vehicle. It is an object of the present invention to realize a tracking type antenna device which can perform tracking with higher reliability even in a state where there are many radio obstacles such as buildings and trees (in the following description, it is a typical mount). An application example of the present invention to an AZ-EL mount will be described, but the mount to which the present invention is applied is not limited to this.

One of the objects of the present invention is to provide mobile azimuth data necessary for executing a target search and a mobile azimuth step track by the virtual mobile azimuth method.
By performing correction under appropriate conditions, it is possible to use a detection result of the angular velocity and the inclination angle of the moving body for generating the moving body azimuth data, and yet have a more accurate and less expensive tracking type antenna apparatus than before. Is to make it happen. One of the objects of the present invention is to obtain azimuth data obtained from other resources such as a GPS receiver, and data obtained by combining this azimuth data with mobile body azimuth data obtained from detection results of angular velocity and tilt angle. A more accurate and reliable tracking antenna apparatus can be realized by utilizing the correction of the moving body direction data while the moving body is moving and the initial setting of the moving body direction data at the start of the target search. It is in.

One of the objects of the present invention is that a moving body moves straight based on a result of monitoring azimuth data obtained from detection results of angular velocity and tilt angle and azimuth data obtained from a GPS receiver for a predetermined time. It is determined whether or not the vehicle is moving straight ahead (or stopped), and the correction of the moving body direction data and the blocking / off-beam determination are executed only when it is determined that the vehicle is traveling straight (or stopped). It is to improve the accuracy of off-beam determination. One of the objects of the present invention is to perform a blocking / off-beam determination using azimuth data obtained from another resource such as a GPS receiver, and perform a target search (or a mobile azimuth prior to this) when it is determined to be an off-beam. By correcting the data, it is possible to appropriately cope with the deterioration of the radio signal reception state. An object of the present invention is to realize a more accurate tracking antenna apparatus by executing an elevation step track in addition to a moving body direction step track.

In order to achieve the above object, a tracking antenna apparatus according to the present invention comprises a directional antenna, an azimuth axis elevation angle axis control means, a control angle determination means, a moving body data generation means, a virtual moving body azimuth method target. Search means and moving body direction step track means are provided. The directional antenna according to the present invention is mounted on a moving body such as a vehicle to receive a radio signal transmitted from a target such as an artificial satellite or the like, and the beam direction thereof can be controlled around an azimuth axis and an elevation axis. It is. The azimuth axis elevation angle control means is means for controlling the beam direction of the directional antenna around the azimuth axis and the elevation axis in accordance with the azimuth axis control angle and the elevation axis control angle. For example, a motor for controlling each axis (In the case of a mechanical axis) or a variable phase shifter (in the case of an electronic axis) and its driving circuit.

The control angle determining means includes target position data indicating a position of a target to be tracked, moving object position data indicating a position of a moving object to be mounted, moving object inclination angle data indicating an inclination angle of the moving object, and The azimuth axis control angle and the elevation axis control angle are determined based on the moving body direction data indicating the traveling direction of the moving body. The “moving direction of the moving object” here is φ _v in FIG. 1 in the horizontal true north coordinate system X ₀ Y ₀ Z ₀ . “Target location”
Is the latitude, longitude and altitude constituting the orbit information when the target is an artificial satellite (only the longitude in the case of a geostationary satellite). The “position of the moving object” is data that can be expressed by the latitude, longitude, and the like of the current position of the moving object, and is given from, for example, a GPS receiver or set by a user. The “tilt angle of the moving object” is a roll angle r and a pitch angle p in FIG.
It is represented by

[0009] Knowing of these "position of the target" and "position of the moving body," horizontal true north coordinate system X ₀ Y ₀ Z ₀ goal direction T as viewed from the position O of the moving body in, or target orientation φ _{t h} and elevation ε _th (or depression angle θ _th) is found. Although the derivation process is omitted here, the target direction φ _th , elevation angle ε _th, and depression angle θ _th in the horizontal true north coordinate system X ₀ Y ₀ Z ₀ are approximately

[ _Equation 1] φ _th = arcsin {sin θ _t · sin (φ _vq -φ _tq ) / (1-cos ² θ _x ) ^1/2 } ε _th = arctan {| cos θ _x -R / (R + H) | _{^{/ (1-cos 2 θ x}} ) 1/2} θ th = π / 2-ε th _{However, cosθ x = cosθ t · cosθ} v + sinθ v · sinθ t · cos (φ
_vq -φ _tq ) θ _t = π / 2 [rad] _-target latitude θ _v = π / 2 [rad] _-mobile latitude φ _tq = target longitude φ _vq = mobile longitude R = earth radius H = target body altitude.

Further, as described in Japanese Patent Application No. 7-192772, the unit vector [XYZ] ^{T in} the target direction represented by the moving object coordinate system XYZ in FIG. 1 is a horizontal true north coordinate system X ₀ Y _0. Z
The unit vector in the target direction _{[X 0 Y 0 Z 0]} T , expressed in _0, the following values resulting conversion by heading phi _v of the moving body, the conversion and conversion by the roll angle r by the pitch angle p subjected sequentially

(Equation 2) It is. The vector [X ₀ Y ₀ Z ₀ ] ^T indicating the target direction is

(Equation 3) Can be represented by the target azimuth φ _th and the depression angle θ _th , and similarly, the target azimuth and the depression angle in the moving body coordinate system XYZ are

## EQU4 ## Since φ = arctan (Y / X) θ = arccos (Z), the azimuth axis control angle and the elevation axis control angle can be obtained by knowing the “moving azimuth of the moving object” and the “tilt angle of the moving object”. You can decide.

Further, in the present invention, the moving body data generating means generates moving body direction data and moving body inclination angle data. In order to generate these data, the moving body data generating means includes a detection value of the angular velocity of the moving body around each of the three axes constituting the rectangular coordinate system fixed to the moving body, and a roll angle of the moving body. And the detected value of the pitch angle. Specifically, first, the detected values [ω _x , ω _y , ω _z ] ^T of the moving object angular velocity around the three orthogonal axes are calculated based on the detected values r and p of the roll angle and the pitch angle of the moving object. The following expression

(Equation 5) From the rectangular coordinate expression to the Euler angle expression, that is, the expression using three components of roll, pitch and yaw. next,
Angular velocity obtained by the conversion _{[ω r, ω p, ωφ} ] among ^T, then
Moving body azimuth data is obtained by integrating a component ωφ indicating an angular velocity (yaw angular velocity) about the azimuth axis. Also,
By combining the component ω _r indicating the roll angular velocity and the component ω _p indicating the pitch angular velocity with the corresponding one of the detected values of the inclination angles r and p, for example, using a complementary synthesis filter or a Schuler loop, The tilt angle data is obtained.

The processing according to the greatest feature of the present invention is realized by the virtual moving body direction method target search means and the moving body direction step track means. First, when it can be considered that the target is not being captured by the directional antenna, the virtual mobile azimuth direction target search means executes a target search based on the mobile azimuth data. That is, by simultaneously controlling the control angle determining means while gradually changing the moving body azimuth data from its initial value, the beam direction in which the radio signal reception state becomes favorable is monitored by monitoring the radio signal reception state from the target. Search. Executing the target search at one type of angle, that is, the azimuth of the moving body, allows the target to be searched more quickly than when performing the target search at two types of angles, azimuth and elevation.

[0013] After the successful search,
Using the moving body direction obtained by the target search as an initial value, the moving body direction step tracking means executes step tracking based on the moving body direction. That is, the moving body azimuth step track means operates the control angle determining means while changing the moving body azimuth data by a small angle by trial and error, and compares the radio signal reception states before and after this trial and error change. The process of changing the azimuth data of the moving object so that the radio signal reception state becomes better on the basis of the above is repeatedly executed.

As described above, the step track is performed in the azimuth (and the elevation angle) of the moving body instead of the azimuth and the elevation angle, so that a step track with higher accuracy than in the related art can be performed. That is, in the case of performing the azimuth and elevation step tracking as in the related art, even if an error occurs in the moving body azimuth data used when obtaining the control angle, the error is regarded as an error of the target relative azimuth viewed from the moving body. Has been treated and therefore
When the inclination of the moving body is large, it is difficult to accurately compensate for the error in the azimuth data of the moving body. On the other hand, if the moving body direction step track is performed as in the present invention, the error of the moving body direction data can be accurately compensated, so that a step track with higher accuracy and reliability than before can be realized. . In addition, this effect appears particularly when the positions of the target and the moving object are sufficiently accurately known. In such a situation, the target, for example, the longitude or the orbit of the artificial satellite is stored as data in advance or is sequentially input, and the data on the position of the moving object is sequentially input using a GPS receiver or the like. This can be achieved. Further, since the target search based on the virtual moving object direction method and the moving object direction step track are used in combination, both the target search and the step track can be executed based on the moving object direction, so that their efficiency can be improved. In addition, since all of these can be realized by manipulating the data on the moving body direction register, the device configuration required for realization is simple.

In addition, since the detected value of the angular velocity of the moving object in the three orthogonal axes is converted into the Euler angle expression using the detected values of the roll angle and the pitch angle, the moving object azimuth data is generated. The accuracy of the moving body direction data used for the angle determination can be improved. Further, the roll angular velocity and the pitch angular velocity obtained by the Euler angle conversion are respectively combined with the corresponding ones of the detected values of the roll angle and the pitch angle, whereby the roll angle data and the pitch angle data used for determining the control angle are obtained. Since it is generated, the reliability of the roll angle data and the pitch angle data used for determining the control angle can be improved.

In the present invention, the detected value of the angular velocity of the moving body around the Z axis which is oriented vertically when the moving body is not tilted among the three axes constituting the rectangular coordinate system fixed to the moving body. Does not vary greatly and when the moving body comes to a halt, the movement around the Z-axis is corrected by the correction value determined using the detected value of the angular velocity of the moving body around the Z-axis during this period. Offset correction is performed on the detected value of the angular velocity of the body, and the value subjected to the offset correction is used for conversion to the Euler angle expression in the moving body data generation means. That is,
Variation of the detected value of the angular velocity of the moving body around the Z axis during the period when the moving body is stopped, for example, | maximum value−minimum value |
When the variance is equal to or less than a predetermined level, the detected value of the angular velocity of the moving body around the Z axis during the period or a value generated based on the detected value is used to eliminate or reduce the offset included in the detected value. The detected value of the angular velocity of the moving body around the Z axis is corrected so that As a result, the moving body direction data used for generating the control angle has more accurate values, and the roll angular velocity data and the pitch angular velocity data combined or combined with the roll angle data and the pitch angle data also have more accurate values. .

In the present invention, furthermore, the mobile azimuth data necessary for executing the target search and the mobile azimuth step track by the virtual mobile azimuth method is corrected under appropriate conditions. For example, azimuth data is also input from the GPS receiver, and when the mobile is traveling straight, the azimuth data input from the GPS receiver is used to preset the mobile azimuth data. More specifically, the azimuth data input from the GPS receiver or the azimuth data obtained by processing / correcting the azimuth data is written into the moving body azimuth register, and thereafter, the angular velocity of the moving body and the roll angle and the pitch angle are written. The increment value of the moving body direction data generated based on the detected value is added to the data on the moving body direction register. The control angle determining means uses the data on the moving body direction register to determine the control angle. By doing so, it is possible to effectively utilize the direction data from a plurality of resources, so to speak, and to achieve higher accuracy than before.

In the present invention, when the mobile unit is stopped or traveling straight ahead and it can be considered that the reception state of the radio signal from the target has deteriorated to a predetermined degree or less due to the off-beam, the mobile unit azimuth data (mobile The virtual mobile azimuth method target search means is operated using the azimuth data input from the GPS receiver or the azimuth data input from the GPS receiver or the azimuth data generated by combining them as initial values of the mobile azimuth data. In this way, by effectively utilizing the azimuth data from a plurality of resources and setting the initial value of the target search executed immediately after the off-beam determination, a more accurate and reliable tracking antenna apparatus can be realized. Further, prior to operating the virtual mobile azimuth method target search means in accordance with the off-beam determination, mobile azimuth data (data on the mobile azimuth register) is preset using azimuth data input from the GPS receiver. It may be. In this case, if the radio signal reception state still does not recover sufficiently, the azimuth data at that time (data on the azimuth register), the azimuth data input from the GPS receiver, or the azimuth data generated by combining these data Is used as the initial value of the moving body direction data, and the virtual moving body direction method target search means is operated. As described above, once the mobile body direction data is preset, the frequency of shifting to the target search becomes low.

In the present invention, when the radio signal reception condition has deteriorated to a predetermined level or less, the above-described blocking / off-beam determination is performed based on the target direction and the direction data input from the GPS receiver. The direction of the target used here can be the one obtained by the control angle determining means. In the present invention, a plurality of resources are effectively used even in such a form. Further, in the present invention, when the azimuth data of the mobile object or the azimuth data from the GPS receiver exhibits a variation of less than a predetermined degree within a predetermined monitoring period, it is determined that the mobile object is moving straight. As aforementioned,
When it is determined that the vehicle is traveling straight, correction of the moving body direction data and blocking / off-beam determination are performed. Therefore, the accuracy of the correction of the moving body azimuth data and the accuracy of the blocking / off-beam determination can be enhanced by the straight-line / change-of-vehicle determination using the plurality of resources effectively.

In the present invention, the step track is executed not only for the azimuth of the moving body but also for the elevation angle. That is, the azimuth axis elevation angle control means is operated while the bias applied to the elevation axis control angle is slightly changed by trial and error, and the radio signal reception state before and after the trial and error change is compared. The process of changing the bias so as to improve the reception state is repeatedly executed. By doing so, tracking errors due to distortion of the mechanical axis and other factors can also be reduced.

Hereinafter, a preferred embodiment of the present invention will be described. In the present application, the present invention is described as an invention relating to a “tracking type antenna device”. However, those skilled in the art with reference to the disclosure of the present application may describe the present invention as, for example, a “step track method”, a “moving body direction”. It can be grasped as "data processing method". In the following description, a block diagram will be used, which is intended to make the functional configuration of the present invention clearer, and indicates that the present invention can be implemented only in hardware. Not something. In practicing the present invention, modifications can be made without departing from the essence. For example, the bit error rate BER can be used instead of the synchronization signal Sync.

[0022]

BEST MODE FOR CARRYING OUT THE INVENTION

(1) Overall Configuration FIG. 2 shows the overall configuration of a tracking antenna device according to a preferred embodiment of the present invention. In the device shown in FIG.
The mount supports the directional antenna 10 on a moving body such as a vehicle. The signal received by the directional antenna 10 is amplified by the receiver and the frequency converter 12, converted to an intermediate frequency, further amplified by the intermediate frequency amplifier 14, and supplied to the demodulator 16. When the directional antenna 10 is appropriately tracking a tracking target such as an artificial satellite or an aircraft, the demodulator 16 can demodulate data or a signal from the received signal. The demodulator 16 further outputs a synchronization signal Sync indicating that the signal is synchronized with the reception signal, and sequentially outputs a reception level signal RLev indicating the level of the reception signal. The synchronization signal Sync and the reception level signal RLev are used for a target search, a step track, and the like, which will be described later.

On the other hand, to control the beam direction about the azimuth axis and the beam direction about the elevation axis of the directional antenna 10, A
The azimuth axis structure 18 and the elevation axis structure 20 of the Z-EL mount have an azimuth axis motor 22 and an elevation axis motor 2 respectively.
4 are further provided, and corresponding drive circuits 26 and 28 and potentiometers 30 and 32 are provided. The drive circuits 26 and 28 drive the corresponding motors 22 or 24 according to the azimuth axis control angle and the elevation axis control angle given from the AZ-EL control operation storage circuit 34. Potentiometers 30 and 32 are connected to corresponding structures 18 or 20 or corresponding motors 22 or 2
4 is detected, and the results are fed back to the AZ-EL control operation storage circuit 34 as azimuth axis angle data or elevation axis angle data, respectively. As described above, in the present embodiment, a servo loop is formed for the beam direction about the azimuth axis and about the elevation axis of the directional antenna 10. In practicing the present invention, an electronic axis such as a phased array may be used instead of a mechanical axis (especially, an elevation axis).

The AZ-EL control arithmetic storage circuit 34 determines the azimuth axis control angle and the elevation axis control angle from the output of the potentiometers 30 and 32 as well as from various devices mounted on the moving body. Various measurement data are input via the data input unit 44. The devices that supply the measurement data include an angular velocity detector 35, an inclination detector 36, and a G
There are a PS receiver 38, a magnetic compass 40, a moving body speed sensor 42, and the like.

Of these devices, the angular velocity detector 35 is
Angular velocities of the moving body around three axes constituting a rectangular coordinate system fixed to the moving body, for example, the moving body coordinate system XYZ in FIG. 1, are detected, and the results are respectively converted into X-axis angular velocity data ω _x , Y
And outputs as an axis angular velocity data omega _y and Z-axis angular velocity data omega _z. The inclination detector 36 detects the roll r and the pitch p in FIG. 1, and outputs the former as roll angle data r and the latter as pitch angle data p. The GPS receiver 38 detects the position, traveling direction, speed, and the like of the moving object based on the signal received from a GPS satellite in orbit around the earth, and outputs the result as moving object position data _PvGPS / moving object direction. Data φ
_vGPS / moving object speed data V _Output as _vGPS . The magnetic compass 40 detects the azimuth of the geomagnetism and outputs the result as moving body azimuth data _φvMAG . Moving object speed sensor 4
2 detects the speed of the moving object from, for example, the number of rotations of the wheels, and outputs the result as moving object speed data _VvREV .

The apparatus shown in FIG. 2 further has an operation display unit 48 used for manual input of the initial value of the moving body position data and the like and display of various data. AZ-
The EL control operation storage circuit 34 receives an initial value or the like of the moving body position data via the data input unit 44 (the data input unit 44 is not interposed in the figure, but is actually interposed).
The moving object data and target data storage circuit 46 stores various kinds of information such as moving object position data, moving object direction data, target position data, and search range. Of the data stored in the storage circuit 46, the target position data is data indicating a target position to be tracked by the directional antenna 10, and is trajectory data obtained by combining the target latitude, longitude and altitude at each time point. is there. However, when the target is a geostationary satellite, since the latitude, longitude and altitude are always constant and the latitude and altitude are the same for all geostationary satellites, only the longitude which is different for each geostationary satellite is stored. It is good.
The target position data is stored in the storage circuit 46 in advance, and is sequentially updated if possible. The search range refers to an azimuth angle range to be searched in a target search based on a moving body azimuth described later.

(2) AZ-EL control operation storage circuit and its peripheral circuit configuration Characteristic processing in the apparatus shown in FIG. FIG. 3 shows AZ-
An example of a functional configuration of the EL control operation storage circuit 34 and peripheral circuits is shown. In the present embodiment, the central function of the AZ-EL control calculation storage circuit 34, that is, the function of calculating and determining the azimuth axis control angle and the elevation axis control angle, is performed by the AZ-EL control calculation circuit 50. AZ-EL control arithmetic circuit 50
Among the data supplied to the AZ-EL control operation storage circuit 34 via the data input unit 44,
Mobile velocity data V _VREV from 2, mobile location data P _Vset from the operation display unit 48, as well as mobile location data P _{vG PS} from the GPS receiver 38, mobile bearing data phi _Vgps
And moving body speed data _VvGPS as appropriate. A
The Z-EL control operation circuit 50 further includes a synchronization signal Syn.
c and the reception level signal RLev. Furthermore,
In the present embodiment, a section data storage circuit 52 for storing data for straight-line / change-of-turn determination and blocking / off-beam determination is provided.

The X-axis angular velocity data ω _x , the Y-axis angular velocity data ω _y, and the Z-axis angular velocity data ω _z among the data supplied to the AZ-EL control operation storage circuit 34 via the data input unit 44 are represented by rectangular coordinate expressions. Through conversion into Euler angle expression (Euler angle conversion) and integration (integration) on the moving body direction register 54, the data is converted into moving body direction data φ _vIMU indicating the traveling direction of the moving body, and the moving body direction data φ _vIMU is supplied to the AZ-EL control operation circuit 50. The remaining data, ie, the roll angle data r and the pitch angle data p, of the data supplied to the AZ-EL control operation storage circuit 34 via the data input unit 44 are the X-axis angular velocity data ω _x ,
It is complementarily combined with Y axis roll angular velocity data obtained by the Euler angle conversion of the angular velocity data omega _y and Z-axis angular velocity data omega _z omega _r and the pitch angular velocity data omega _p, the corrected roll angle data r and the pitch angle data p As AZ-E
It is supplied to the L control operation circuit 50.

The Euler angular velocity converter 56 performs Euler angle conversion on the X axis angular velocity data ω _x , the Y axis angular velocity data ω _y, and the Z axis angular velocity data ω _z . The Euler angular velocity converter 56 uses the roll angle data r and the pitch angle data p to calculate [ω _x ω _y ω _z ] ^{T according} to the above-described equation.
[ω _r ω _p ωφ] Convert to ^T. Of the angular velocity data obtained by this conversion, the moving body azimuth angular velocity data ωφ indicating the angular velocity of the moving body around the azimuth axis is multiplied by a predetermined sample interval T by the multiplier 58, and the azimuth angle increment Δφ thus obtained is multiplied. _{The vIMU} is added to the data on the moving body direction register 54 by the adder 60. Moving body direction register 5
_Assuming that the initial value φ _vIMU0 of the moving body direction data is set in advance in 4, it is understood that the moving body direction data φ _vIMU can be obtained by this integration (integration) processing. Further, since the Euler angle conversion is performed, the moving body direction data φ _vIMU becomes accurate.

In the present embodiment, the moving body azimuth bias register 62 and the delay register / difference calculation circuit 64 are used for searching. That is, the search angle φ _vIMUbias given from the AZ-EL control arithmetic circuit 50 is stored in the mobile azimuth bias register 62, and the delay register and the difference arithmetic circuit 34 are stored in the mobile azimuth bias register 62.
A search angle phi _VIMUbias above delayed by a predetermined time increment [Delta] [phi _VIMUbias search angle _φ vIMUbi _as the before and after determined, the moving object in a mobile body azimuth register 54 giving the resulting increments [Delta] [phi _VIMUbias to adder 60 The direction data φ _vIMU is changed. Further, in this embodiment, a circuit relating to a step track is configured by giving a step angle to the adder 60 from the AZ-EL control arithmetic circuit 50.

Furthermore, in this embodiment, it is subjected to offset correction in the Z-axis angular velocity data omega _z. That is, the offset correction control and section data storage circuit 66, the mobile velocity data V _VREV given from the Z-axis angular velocity data omega _z and mobile speed sensor 42 is supplied from the angular velocity detector 35 via the data input unit 44 predetermined It monitored over a monitoring period, as a result, variations in the Z-axis angular velocity data omega _z of mobile velocity data V _VREV is in which and the monitoring period indicates a 0 none of the monitoring period (| maximum - minimum value | , if the variance, etc.) is found to be less than a predetermined degree, adding the average value of the Z-axis angular velocity data omega _z within the monitoring period (or a value or values obtained by performing a correction to the equivalent) Z in the container 68
By a technique such as reducing the axial angular velocity data omega _z, subjected to the offset correction in the Z-axis angular velocity data omega _z. The offset-corrected Z-axis angular velocity data ω _z is supplied to the Euler angular velocity converter 56. Such correction is performed particularly in the Z-axis angular velocity data ω from the angular velocity detector 35.
_This is effective in improving accuracy when _z contains a relatively large amount of offset / drift. Also, a signal can be given from the AZ-EL control arithmetic circuit 50 to the offset correction control and section data storage circuit 66 to enable / disable this correction as appropriate. Further, when detecting a variation in the Z-axis angular velocity data omega _z is the Z-axis angular velocity data omega _z subjected to signal processing to filtering for noise reduction, it is desirable to the subject.

The roll angle data r and the pitch angle data p provided via the data input unit 44 are obtained from the roll angular velocity data ω obtained by the Euler angular velocity converter 56.
_r and the corresponding components of the pitch angular velocity data ω _p are combined by the roll angle / pitch angle synthesizer 70, whereby the corrected roll angle data r and pitch angle data p
Is generated and supplied to the AZ-EL control operation circuit 50.
That is, the moving object speed data V from the moving object speed sensor 42
with reference to _vREV like, the roll angle and the data r and the pitch angle data p and the roll angular velocity data omega _r and the pitch angular velocity data omega _p, as mutually compensate the disadvantages to each other ie the one sensitivity to the other in less accurate area Are obtained so that the roll angle data r and the pitch angle data p are more reliable.

(3) Operation of Apparatus: Target Search Immediately After Power-on Next, the operation of this embodiment will be described along the flow of actual use of the apparatus. The basic flow is that a target search is performed immediately after the power is turned on, and when the target is acquired, the process moves to step tracking by the target track, and when there is a possibility that tracking has been lost (off beam), there is a condition. Then, the process shifts to the target search. In this flow, the target search employs a moving body direction method proposed by the present applicant in Japanese Patent Application No. 7-192772, that is, a method of searching for a target by changing the moving body direction data φ _vIMU. doing. As for the step track, a moving body direction step track that gives a stepwise change to the moving body direction data _φvIMU is performed.

Prior to the search for the target, the AZ-EL control arithmetic circuit 50 firstly inputs the moving object position data _PvGPS from the GPS receiver 38 and the latest target position data _PtSET from the storage circuit 46. , X ₀ based on both
Y ₀ Z ₀ obtains a target azimuth phi _{t h} and elevation epsilon _th (or depression angle theta _th) in. If for blocking or other reasons G
If the mobile object position data _PvGPS cannot be obtained from the PS receiver 38, the mobile object position data P set by operating the operation display unit 48 or stored in the storage circuit 46
_The azimuth φ _th and the elevation angle ε _th (or depression angle θ _th ) are obtained based on _vSET and the target position data P _tSET . Moving object position data _PvGPS or _PvSET and target position data _PtSET
The expressions for obtaining the azimuth φ _th and the elevation angle ε _th (or the depression angle θ _th ) based on the above are as described above. Further, in the present embodiment, the AZ-EL control operation circuit 50 simultaneously or before or after _obtaining the azimuth φ _th and the elevation angle ε _th (or the depression angle θ _th ), _sets the initial value φ _{vIMU0 of the} moving body azimuth data φ _vIMU0. Is preset in the moving body direction register 54. Initial value φ _vIMU0
As, for example, those in the past mobile orientation data phi _VIMU stored on the memory circuit 46 of the recent mobile orientation data phi _VMAG from the magnetic compass 40, is set by the operation display unit 48 Moving body direction data φ _vSET can be used.

Thereafter, the AZ-EL control operation circuit 50
The azimuth axis control angle and the elevation axis control angle are calculated and determined, and the driving circuit 2
The operations given to 6 and 28 are started. That is, AZ-EL
The control arithmetic circuit 50 includes a moving body direction data φ _vIMU on a moving body direction register 54, a roll angle and a pitch angle synthesizer 70.
Roll angle data r and pitch angle data p, and the azimuth φ _th and elevation angle ε _th (or depression angle θ _th ) previously obtained.
, The azimuth axis control angle and the elevation axis control angle are determined.

Immediately after the power is turned on, even if the azimuth axis and the elevation axis are controlled based on the azimuth axis control angle and the elevation axis control angle determined in this manner, generally, the directional antenna 10 immediately captures the target. I can't. Therefore, the AZ-EL control operation circuit 50 outputs the synchronization signal Syn.
It is determined whether or not c has occurred (and / or whether or not the reception level has exceeded a predetermined level). If the determination has not been established, the directional antenna 10 must be used to capture the target. Assume not. When it is deemed not to be capturing, the AZ-EL control arithmetic circuit 50
The given to the mobile orientation bias register ₆₂ vIMUbias, changing the mobile orientation data phi _{vI MU} on mobile azimuth register 54. Thereafter, the determination of the azimuth axis control angle and the elevation axis control angle until the determination as to whether or not the synchronization signal Sync has occurred (and / or the determination as to whether or not the reception level has exceeded a predetermined level) is satisfied. Output, signal reception status judgment,
The operation of the moving body direction data φ _vIMU is repeated. However, this repetition is performed from the storage circuit 46 or the operation display unit 4.
8 is set as the limit of the change of the moving body direction, and if the above determination is not made within this search range, the AZ-EL control arithmetic circuit 50 displays the search operation unit indicating that the search is unsuccessful. A timer is set to notify the user via 48 and to automatically start the next search. When the timer finishes counting, the procedure related to the target search is executed again.

(4) Device operation: Step track and moving body direction data φ _vIMU update A determination is made that a synchronization signal Sync is generated as a result of the search (and / or a determination that the reception level exceeds a predetermined level). When this _happens , the AZ-EL control arithmetic circuit 50 starts a step track based on the moving body direction data _φvIMU . That is, by giving the adder 60 a step angle having either a positive or negative sign, the moving body azimuth data φ _vIMU is slightly changed. As a result, if the reception level increases, the step angle of the same sign is added. The directivity error of the directional antenna 10 is reduced by a procedure in which the directivity is given to the adder 60, and if it has dropped, a step angle of a different sign is given to the adder 60. In order to cope with the distortion of the mechanical axis, it is preferable to perform the step track on the elevation axis. At this time, by slightly changing the bias angle or the elevation angle ε _th of the elevation axis control angle by adding a step angle having either a positive or negative sign,
As a result, the AZ-EL control arithmetic circuit 50 executes a procedure of adding a step angle of the same sign if the reception level has risen, and adding a step angle of a different sign if the reception level has fallen.

Further, in the present embodiment, the appropriate mobile bearing data phi mobile orientation data phi _VIMU on mobile azimuth register 54 by using the _vGPS when performing the step track by the mobile bearing data phi _VIMU By updating, the error is further reduced. That is, it is determined whether or not the moving body direction data φ _vIMU on the moving body direction register 54 shows a temporal variation. If not, the initial value calculated based on the moving body direction data φ _vGPS is determined. The procedure of setting _φvIMU0 in the moving body direction register 54 is executed. Here, even if the moving body direction data φ _vIMU itself includes an error due to integration, its time change itself is relatively reliable. Therefore, by performing the determination regarding the temporal variation of the moving body direction data _φvIMU on the moving body direction register 54, it is possible to relatively accurately know whether or not the moving body is moving straight. If the moving body is traveling straight, the value of the moving body direction data _φvGPS should be relatively stable and constant. Therefore, in the present embodiment, the AZ-EL control arithmetic circuit 50 calculates the initial value φ _vIMU0 based on the moving body direction data φ _vGPS at that time, and stores the obtained initial value φ _vIMU0 in the moving body direction register 54. By setting, the moving body direction data φ
_The error included in _vIMU is reset.

The temporal variation of the moving body direction data φ _vIMU on the moving body direction register 54 may be, for example, the moving body direction data φ _vIMU on the moving body direction register 54 over a monitoring period of a predetermined length (for example, 5 to 10 seconds). orientation data phi _VIMU of | maximum - minimum value |, is detected by monitoring the dispersion and the like. In order not to determine that the vehicle is going straight ahead when the moving body is suddenly changing the needle at the beginning or end of the monitoring period, it is better to use | maximum value−minimum value | In addition, the monitoring period may be a moving period in which the vehicle moves over time,
It may be a fixed period fixed from a certain point to a certain point. The aforementioned section data storage circuit 5
2 stores the moving body direction data φ _vIMU and the moving body direction data φ _vGPS collected during the monitoring period. AZ-E
The L control arithmetic circuit 50 performs the above-described straight traveling / change of course determination as a post-determination based on the information in the storage circuit 52, that is, after the end of the corresponding monitoring period. When it is determined that the vehicle is going straight, the initial value φ _vIMU0 is used as the latest value of the φ _vGPS collected during the monitoring period or the average value of the moving object direction data φ _vGPS collected during the monitoring period. There may be,
It is preferable that a value obtained by adding the amount of change in the moving body direction data φ _vIMU immediately before setting the initial value φ _vIMU0 in the moving body direction register 54 after the end of the monitoring period to this type of value is further added. Further, at the same time, the temporal variation is also monitored and detected with respect to the moving body direction data φ _vGPS , and when the temporal fluctuation is large, the presetting of the initial value φ _vIMU0 by the moving body direction data φ _vGPS or data generated based _thereon is stopped. Is more preferable.

(5) Device operation: Blocking / off-beam determination and transition to target search In a state where step tracking is performed by the moving body direction data _φvIMU , the synchronization signal Sync disappears (or the reception level becomes remarkable). Dropped). Such a situation occurs when a radio signal from a target is shielded by a shielding object such as a building (at the time of blocking) or when the beam direction of the directional antenna 10 has deviated from the target due to some phenomenon. (At the time of off-beam).
In the case of blocking, even if the current beam direction of the directional antenna 10 is maintained as it is, a target can be reacquired eventually by the movement of the moving object, whereas in the case of off beam, this is not generally the case. Therefore, in the present embodiment, the following procedure is executed.

That is, the AZ-EL control arithmetic circuit 50 first determines that the synchronization signal Sync has disappeared (or that the reception level has dropped below a predetermined level), for a predetermined time (for example, 5 minutes). ) Wait for it to elapse. Since the increase of the integration error in the moving body direction data φ _vIMU is moderate, it can be ignored during this time. If the state in which the synchronization signal Sync has disappeared (or the reception level has dropped below the predetermined level) has been resolved within the predetermined time, the AZ-EL control arithmetic circuit 50 executes the step track as described above. to continue. Conversely, if such a state continues even after the elapse of the predetermined time, the AZ-EL control arithmetic circuit 50
Assumes that might off-beam occurs, the mobile velocity data V _VREV whether the moving body is stopped
Is determined based on If the moving object is stopped,
The AZ-EL control arithmetic circuit 50 searches for a target around the current moving body direction data φ _vIMU . The procedure is the same as described above. Even if the moving object starts moving while performing the target search under the judgment that the moving object is stopped, the moving object direction data φ _vIMU changes according to this movement. Therefore, the search for the target can be continued.

When it is determined that the moving body is not stopped, the AZ-EL control arithmetic circuit 50 determines whether the moving body is moving straight or changing the course. For example, the moving body direction data φ on the moving body direction register 54
_Whether or not the _vIMU shows a temporal change is determined _ex-postly based on the monitoring result of the | maximum value−minimum value |
In this procedure, straight-ahead / change of course is determined. This monitoring can be performed in the same manner as the monitoring procedure when correcting or presetting the moving body direction data _φvIMU on the moving body direction register 54.

As a result, when it is determined that the vehicle is going straight, AZ
The EL control arithmetic circuit 50 calculates the moving body direction data φ
The variation of _vGPS (or φ _vMAG ) is detected from its | maximum value−minimum value | variance and the variance, etc., and when the detected variation is equal to or less than a predetermined level, the target direction _φth and the moving object direction data φ
It is determined whether or not the difference of _vGPS (or _φvMAG ) is _smaller than a predetermined value. The AZ-EL control operation circuit 50 maintains the current control state because it can be regarded as blocking if the degree is equal to or less than the predetermined degree. Conversely, if the difference between the target azimuth φ _th and the moving body azimuth data φ _vGPS (or φ _vMAG ) is not less than a predetermined level, it can be regarded as an off beam.

When it is determined that the beam is off beam, A
The Z-EL control arithmetic circuit 50 sets the initial value φ _vIMU0 calculated based on the current moving body direction data φ _vGPS in the moving body direction register 54. That is, the moving body direction data φ _vIMU on the moving body direction register 54 is preset to a value that will be more accurate, as in the case where it is determined that the _vehicle is traveling straight during the step track. Also for this correction, for use as an initial value phi _VIMU0 the latest value and in the mobile orientation data phi _Vgps collected during the monitoring period, the average mobile orientation data phi _Vgps collected during the monitoring period May be a value, but after the monitoring period ends, the moving body direction data φ
_{It is preferable} to set a value obtained by adding the change amount of the moving body direction data _φvIMU until immediately before setting _vIMU0 in the moving body direction register 54. Even with this correction, the synchronization signal Sync
(Or the reception level signal RLev) does not recover, the moving body direction data φ _vIMU and φ _{vGPS at the} current time point
Or φ _vMAG or a value combining these (average value, etc.)
, The target search procedure described above is executed. Third
In the case of the embodiment, when it is determined that the beam is off-beam, the step of setting the initial value φ _vIMU0 in the moving body direction register 60 is omitted, and the above-described target search procedure is executed with the current moving body direction data φ _vIMU as a starting point. .

On the other hand, when it is determined that a change in the AZ, the AZ-
The EL control arithmetic circuit 50 waits for the determination of straight traveling to be established within a predetermined time. If it is not determined that the vehicle is going straight ahead even after the predetermined time has elapsed, AZ
-The EL control operation circuit 50 executes the above-described target search procedure as in the case where it is determined that the beam is off-beam. When the moving body direction data φ _vGPS cannot be obtained, AZ-E
The L control arithmetic circuit 50 performs straight ahead / change of course and blocking / off beam determination based on the moving body direction data φ _vMAG and the moving body direction data φ _vIMU .

[Brief description of the drawings]

FIG. 1 is a diagram showing a relationship between coordinate systems.

FIG. 2 is a block diagram showing an overall configuration of a preferred embodiment of the present invention.

FIG. 3 is a block diagram showing a configuration of a main part of the embodiment.

[Explanation of symbols]

X ₀ Y ₀ Z ₀ reference coordinate system (horizontal true north coordinate system), XYZ
Moving body coordinate system, r roll, p pitch, φ _v moving body direction, φ _th , ε _th , θ _th target direction, elevation angle, depression angle, S
sync synchronization signal, RLev reception level signal, 10
Directional antenna, 34 AZ-EL control arithmetic storage circuit,
38 GPS receiver, 44 data input unit, 46 mobile data and target data storage circuit, 48 operation display unit,
50 AZ-EL control arithmetic circuit, 52 section data storage circuit, 54 moving body direction register, 56 Euler angular velocity converter, 58 multiplier, 60, 68 adder, 66
Offset correction control and section data storage circuit, 70 Roll angle and pitch angle synthesizer.

Claims (8)

[Claims] 1. A directional antenna mounted on a moving body such as a vehicle to receive a radio signal transmitted from a target such as an artificial satellite and capable of controlling a beam direction about an azimuth axis and an elevation axis. Azimuth axis elevation angle control means for controlling the beam direction of the directional antenna around the azimuth axis and around the elevation axis in accordance with the axis control angle and the elevation axis control angle; target position data indicating the position of the target; Control angle for determining an azimuth axis control angle and an elevation axis control angle based on moving object position data indicating the moving object inclination data indicating the inclination angle of the moving object and moving object direction data indicating the traveling azimuth of the moving object. Determining means, using a detected value of an angular velocity of the moving body around each of three axes constituting a rectangular coordinate system fixed to the moving body, using detected values of a roll angle and a pitch angle of the moving body. And rectangular coordinates From the representation to Euler angle representation, the moving body azimuth data is obtained by integrating the component indicating the angular velocity around the azimuth axis in the converted angular velocity, and the component and the pitch indicating the roll angular velocity in the converted angular velocity. A moving body data generating means for generating the moving body inclination angle data by combining a component indicating the angular velocity with a corresponding one of the detected values of the roll angle and the pitch angle; and the directional antenna captures the target When it can be considered that the wireless signal has not been transmitted, the control unit determines the control angle determining means while gradually changing the azimuth data of the moving object from its initial value, and at the same time monitors the reception status of the radio signal from the target, thereby obtaining the radio signal. A virtual moving body direction method target searching means for searching for a beam direction in which the reception state becomes good; The control angle determining means is operated while changing the degree, and the moving body direction data is changed so that the wireless signal receiving state becomes better based on the result of comparing the wireless signal receiving state before and after the trial and error change. Moving body azimuth step track means for starting the repetition of the process of causing the virtual moving body azimuth method target search means to succeed with the moving body azimuth data at that time as an initial value. A tracking antenna device, wherein the target search and the step track are executed by data. 2. The tracking antenna device according to claim 1, wherein, of the three axes constituting the rectangular coordinate system fixed to the moving body, the three axes constituting a rectangular coordinate system around a vertical Z-axis when the moving body is not tilted. When a variation in the detected value of the angular velocity of the moving body is equal to or less than a predetermined level and a period in which the moving body is stopped occurs, the detected value of the angular velocity of the moving body around the Z axis in that period or Using the value generated based on this,
The detected value of the angular velocity of the moving body around the Z axis is corrected so that the offset amount is eliminated or reduced, and the corrected value obtained as a result is converted to the Euler angle expression in the moving body data generating means. A tracking antenna device comprising an offset correcting means for conversion. 3. The tracking antenna device according to claim 1, wherein when the mobile body is traveling straight, the mobile body orientation data is preset using the azimuth data input from a GPS receiver. A tracking type antenna device comprising a body direction correcting means. 4. The tracking antenna device according to claim 1, wherein the mobile object is stopped or straight ahead, and the state of receiving a radio signal from the target can be considered to have deteriorated to a predetermined level or less due to an off-beam. The virtual moving object direction method target search means is operated using the moving object direction data at that time, the direction data input from the GPS receiver, or the direction data generated by combining them as the initial value of the moving object direction data. A tracking-type antenna device comprising an off-beam target search shift unit. 5. The tracking antenna apparatus according to claim 4, wherein the off-beam target search shift means is configured such that the moving body is traveling straight and the state of receiving a radio signal from the target is degraded to a predetermined level or less by the off beam. When it can be considered, first, the mobile object direction data is reset using the direction data input from the GPS receiver, and thereafter, when the radio signal reception state does not sufficiently recover, the mobile object direction data or GPS at that time is reset. A tracking antenna apparatus, wherein the virtual mobile azimuth method target search means is operated by using azimuth data input from a receiver or azimuth data generated by combining them as an initial value of the mobile azimuth data. 6. The tracking antenna device according to claim 4, wherein when the radio signal reception condition is deteriorated to a predetermined level or less, whether the deterioration is due to blocking or off beam is determined by the target. A tracking antenna apparatus comprising: a blocking / off-beam determining unit that determines based on an azimuth and azimuth data input from a GPS receiver. 7. The tracking antenna device according to claim 2, wherein when the moving body direction data or the direction data from the GPS receiver exhibits a variation less than a predetermined degree within a predetermined monitoring period, A tracking-type antenna device, comprising: straight-moving / change-of-turn determining means for determining that a moving body is moving straight. 8. The tracking type antenna apparatus according to claim 1, wherein the azimuth axis elevation angle control means is operated while the bias applied to the elevation axis control angle is changed by a small angle by trial and error. The elevation step tracking means for repeatedly executing the process of changing the bias so that the radio signal reception state becomes better based on the result of comparing the radio signal reception states before and after the actual change. Tracking antenna device.