KR100974534B1 - Antenna Tracking Gimbal System Featuring Continuously Rotating Line of Sight using Pitch-Roll Coupling - Google Patents

Abstract

The present invention relates to a pitch-roll based antenna tracking gimbal system capable of continuously rotating a gaze vector. More particularly, the present invention tracks the position of an object by receiving data such as position information from an object such as an aircraft that continuously moves. However, by using the mechanical coupling (coupling) of the two rotation shafts, that is, there is a structure that is linked to the pitch axis of the gimbal, the structure is a vertical roll axis parallel to the pitch axis, and the roll shaft is connected to the antenna Accordingly, the present invention relates to a pitch-roll based antenna tracking gimbal system capable of continuous rotation of a gaze vector without line twist.

The present invention is an antenna gimbal unit for receiving data from a moving object to track the object, and processing the data received from the antenna gimbal unit to determine the orientation direction of the antenna gimbal unit to calculate the rotation angle of the antenna gimbal unit and determine the state And a control unit for receiving a control signal according to the rotation angle calculated by the data processing and status display computer and a driving unit for transmitting the driving signal to the antenna gimbal unit.

Therefore, according to the pitch-roll based antenna tracking gimbal system according to the present invention, since the gimbal system has a structure without line twisting, the rotary motion device part and its control method of the gimbal are cost-effective, simplified and reliable It has the outstanding effect of improving stability.

Gimbal system, line twisting, antenna, tracking, pitch, roll

Description

Antenna Tracking Gimbal System Featuring Continuously Rotating Line of Sight using Pitch-Roll Coupling}

The present invention relates to a pitch-roll based antenna tracking gimbal system capable of continuously rotating a gaze vector. More particularly, the present invention tracks the position of an object by receiving data such as position information from an object such as an aircraft that continuously moves. However, by using the mechanical coupling (coupling) of the two rotation shafts, that is, there is a structure that is linked to the pitch axis of the gimbal, the structure is a vertical roll axis parallel to the pitch axis, and the roll shaft is connected to the antenna Accordingly, the present invention relates to a pitch-roll based antenna tracking gimbal system capable of continuous rotation of a gaze vector without line twist.

In a typical wireless system, the antenna is largely divided into a receiving antenna and a transmitting antenna. Here, in order to increase the communication distance of the transmitting antenna, the receiving antenna is used as a directional antenna and a tracking system is always used to face an object. Such a tracking system requires a gimbal structure.

와 고도각

과 방위각

의 관계를 나타내고 있다. 북쪽을 x축, 동쪽을 y축으로 하고, 아래방향을 z축으로 하는 NED(North, East, Down) 좌표계에 대해서 시선벡터

는 각 성분 별로 다음과 같이 나타낼 수 있다.1 is a line of sight vector to which the antenna is directed to the tracking object for antenna tracking.

And elevation angle

And azimuth

The relationship between Line of sight vector for NED (North, East, Down) coordinate system with north as x axis and east as y axis

Can be expressed as follows for each component.

,

,

Figure 2 shows the structure of the conventional antenna tracking gimbal system Pan (Pan), Tilt (Tilt) method. In this method, the panning shaft is positioned perpendicular to the plane of the center of the rotating plate, the support of the tilting shaft is installed on the rotating plate of the panning shaft, and the antenna is installed on the tilting rotating plate. At this time, the panning axis is 360 degrees, the tilting axis has a rotation range of 90 degrees.

)과 직접적으로 연관되어 개념적으로 쉬운 구조를 가진다. 예를 들어, 국부 좌표계(Local coordinate system)의 x,y축이 북쪽과 동쪽을 가리킬 경우 방위각 과 패닝각, 고도각과 틸팅각은 동일하게 된다. 또한, x,y축이 북쪽과 동쪽을 가리키는 것이 아니라 편차를 가지고 회전되어 있는 경우에도, 패닝각(

)은 방위각(λ)에 편차가 더해진 값이 되고, 틸팅각(β)은 여전히 고도각(α)과 동일하게 된다.In this gimbal system, an altitude angle α calculated according to the altitude of the tracking object is directly related to the tilt angle β of the gimbal, and an azimuth angle lambda calculated according to the position is a panning angle of the gimbal.

Is directly related to) and has a conceptually easy structure. For example, if the x and y axes of the local coordinate system point north and east, the azimuth and panning angles and the altitude and tilting angles will be the same. Also, even if the x and y axes are rotated with deviations rather than pointing north and east, the panning angle (

) Becomes a value obtained by adding a deviation to the azimuth angle λ, and the tilting angle β is still equal to the elevation angle α.

), 틸팅각(β)에 대해서 시선벡터

는 국부 좌표계의 각 축에 대해서 다음과 같이 표현된다.Panning Angle

), Eye vector for tilt angle

Is expressed as follows for each axis of the local coordinate system.

,

,

)은 분모항인 x축과 분자항인 y축 성분 값의 부호에 따라 ±180도 범위 내로 결정된다.As shown in the above formula, the tilting angle β is determined to be in the range of 0 to 90 degrees because the z-axis component value has only a negative value.

) Is determined in the range of ± 180 degrees depending on the sign of the x-axis, which is the denominator term, and the y-axis component, which is the molecular term.

When the tracking object moves continuously on the gimbal system, as shown in FIG. 3, the tracking object continues to rotate while the azimuth is increased in one direction with respect to the panning axis. As a result, all the lines connected to the panning plate are twisted by continuous rotation, which in turn makes the rotation impossible.

Therefore, due to this limitation, in the conventional gimbal system, it is necessary to limit the range of rotation of the panning shaft or to release the line to solve the twist of the line while rotating. This additional operation makes it impossible to track the continuous object. It has a problem that it is not.

In addition, to solve the above problems, a slip ring is used to continuously rotate without twisting the wire, which uses a single rotating plate and a non-rotating fixing plate facing the wire to play a role of the wire in surface contact. Instead, it eliminates electrical transmission.

However, the slip ring is difficult to implement and has a high resistance value in the wire itself, and may be vulnerable to an external noise environment and require maintenance due to wear. In addition, in the case of a practical system for overcoming these problems, there is a problem that the device is very complicated and expensive.

On the other hand, Korean Laid-Open Patent Publication No. 2000-0067631 discloses a ship satellite communication antenna system, the main configuration of the satellite communication antenna 10, which is used for communication with the satellite communication, as shown in FIG. Gyro platform assembly 20 for supporting the satellite communication antenna 10, gimbal mechanism 30 for supporting the gyro platform assembly 20, platform support shaft drive motors (31, 41), gimbal support shaft drive motor It is characterized by consisting of a gimbal drive device consisting of (32,42) and a drive motor control unit.

The ship satellite communication antenna system composed of the above configurations allows the satellite communication antenna to always aim at the communication satellite despite disturbance factors such as fluctuations such as rolling or pitching of ships and earth rotation, but the gimbal structure Since it can only play a role of correcting the error, there is a problem in that the continuous rotation of the system or the rotation of a large angle cannot be performed.

In addition, since the gimbal structure is configured independently of the change of the direction of the satellite communication antenna, there is a problem that the drive device of the satellite communication antenna and the drive device of the gimbal mechanism must be provided separately.

The present invention has been made to solve the above problems, the object of the present invention is to change the structure of the gimbal to use a pitch-roll method instead of the conventional pan-tilt method, both pitching and rolling rotation ± 90 degrees The invention provides a pitch-roll based antenna tracking gimbal system that allows continuous rotation of the eye vector without twisting the line during operation.

In addition, another object of the present invention is to provide a pitch-roll based antenna tracking gimbal system capable of continuous rotation of a gaze vector, which is cost-effective, and has improved reliability and stability, since a separate slip ring is not required.

Pitch-roll based antenna tracking gimbal system capable of continuous rotation of the gaze vector according to the present invention for achieving the above objects is an antenna gimbal for tracking data by receiving data from a moving object, and from the antenna gimbal A data processing and status display computer for processing the received data to determine the orientation direction of the antenna gimbals to calculate the rotation angle of the antenna gimbals and displaying the status, and the rotation angle calculated by the data processing and status display computer. It is characterized in that the control unit receives a control signal and transmits a drive signal to the antenna gimbal. do.

In this case, the antenna gimbal portion, characterized in that the antenna for receiving data from a moving object, an antenna driver for driving the antenna, and a support for supporting the antenna and the antenna driver.

The antenna driver may include a roll driver for rolling the antenna and a pitch driver for pitching the antenna.

Here, the pitch drive unit is a pair of fixed plates connected to the support portion, the pitch axis is provided between the fixed plate, the pitching plate is connected to the pitch axis and the pitching plate is connected to the pitching plate And a first servo motor connected to one end of the pitching plate on an outer side of the fixed plate.

The roll driving unit may include a roll shaft installed between the pitching driving plate, an antenna support connected between the roll shaft and the antenna, and a second servo motor connected to one end of the roll shaft outside of the pitching driving plate. Characterized in that configured.

In addition, the first and second bearings are provided on the outer pitch shafts and the roll shafts of the fixed plate and the pitching driving plate opposite to the first servo motor and the second servo motor.

At this time, the first servo motor and the second servo motor is characterized in that it is driven within the range ± 90 degrees.

On the other hand, the support unit is characterized in that the receiving module for receiving a signal from the antenna, and a power distribution device for supplying power to the receiving module and the antenna driver.

In this case, the receiving module comprises a low noise amplifier (LNA) for removing and amplifying noise from the signal transmitted from the antenna, and a receiver for receiving the signal passing through the low noise amplifier and transmitting it to a data processing and status display computer. It is done.

And, one side of the support portion is characterized in that the interface connector for transmitting the signal received through the antenna to the data processing and status display computer is installed.

According to the antenna tracking gimbal system according to the present invention configured as described above, the twisting of the gimbal during operation by changing the structure of the gimbal so that both pitching and rolling rotation to move within ± 90 degrees range to use the pitch-roll method Since there is no motion constraint, the rotation of the gaze vector can be performed continuously.

In addition, according to the present invention, since it is not necessary to provide a separate slip ring, it is possible to reduce consumption due to the increase in the purchase, maintenance and maintenance costs due to the use of the slip ring, and to simplify the configuration thereof, as well as to the gimbal system. It further has the effect of improving the reliability and stability of the.

In addition, according to the present invention, when a small error angle of less than 1 degree is allowed in tracking an object, the servo motor can be controlled without a separate angle sensor, thereby further simplifying the structure.

Hereinafter, a preferred embodiment of a pitch-roll based antenna tracking gimbal system capable of continuous rotation of a gaze vector according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 5 is a block diagram showing a schematic configuration of a pitch-roll based antenna tracking gimbal system capable of continuously rotating a gaze vector according to the present invention. FIG. 6 is a perspective view showing an antenna gimbal part of the present invention shown in FIG. FIG. 7 is a view illustrating an internal view of a receiving module among the antenna gimbals shown in FIG. 6, and FIGS. 8 a) to d) schematically show driving states of the antenna gimbals shown in FIG. 6. A), b) is a comparison between a conventional antenna tracking gimbal system and a pitch-roll based antenna tracking gimbal system capable of continuous rotation of a gaze vector according to the present invention when tracking a continuously rotating object at an altitude of 45 degrees. One drawing.

The present invention receives the data such as position information from the object such as the aircraft 50 in a continuous motion to track the position of the object, using the mechanical coupling (coupling) of the two axes of rotation, that is, the pitch of the gimbal There is a structure that is linked to the axis 144, the structure is a roll axis 154 perpendicular to the pitch axis 144 is erected, the line axis 154, as the antenna 110 is connected to the line of sight without twisting The present invention relates to a pitch-roll based antenna tracking gimbal system capable of continuous rotation of a vector. The configuration of the antenna tracking gimbal system is largely shown in FIG. 300).

The antenna gimbal 100 receives the data such as position information from a moving object (hereinafter, referred to as an 'aircraft') to be tracked such as an aircraft 50 to track the object. The data processing and status display computer 200 serves to process data received through the antenna gimbal unit 100. In detail, the data processing and status display computer 200 processes the data received through the antenna gimbal unit 100. The orientation direction of the antenna 110 is determined in consideration of the processed position information of the aircraft 50 and the relative position of the antenna 110 to be described later, and after calculating the rotation angle of the antenna 110 accordingly, the calculated rotation is calculated. It transmits a control signal according to the angle to the control unit 300 serves to display the control state.

In addition, the control unit 300 converts the control signal transmitted from the data processing and status display computer 200 into a drive signal for driving the antenna gimbal 100, and transmits it to the antenna gimbal 100, the antenna It serves to drive the first and second servomotors 148 and 158 which are installed to drive 110 and also to supply power to the antenna gimbal unit 100.

Meanwhile, as shown in FIG. 6, the antenna gimbal 100 includes an antenna 110, an antenna driver 120, and a support 130, and the antenna 100 is an aircraft 50. Serves to receive data including position information transmitted from the antenna driver, and the antenna driver 120 receives the signal transmitted from the control unit 300 so that the antenna 100 can track the aircraft 50. The driving unit 130 serves to support the antenna 110 and the antenna driver 120.

In this case, the antenna driver 120 includes a roll driver 150 for rolling the antenna 110 and a pitch driver 140 for pitching the antenna. Is connected to the support unit 130 from the antenna 110 even when performing a continuous rotational movement is configured so that the antenna connecting line 160 for transmitting data including position information transmitted from the aircraft 50 is not twisted. .

의 연속적인 회전이 가능하도록 구성되어 있다.That is, in the case of using the pan-tilt method for driving the antenna 110 as in the related art, the two axes of rotation are positioned in the horizontal and vertical directions with respect to the ground so that the target to be tracked is centered on the antenna 110. If it continues turning, twisting of the antenna connection line 160 will occur, but as mentioned above, the roll drive unit 150 is interlocked with the pitch shaft 144 of the pitch drive unit 140, and the roll shaft 154 of the roll drive unit 150 is formed. As the antenna 110 is interlocked, it has a mechanical coupling, so that the gaze vector without twisting the antenna connection line 160 is obtained.

It is configured to enable continuous rotation of.

In more detail, the pitch driving unit 140 is installed on a pair of fixing plates 142 connected to the front and rear surfaces of the support unit 130 and on one side of the upper side of the fixing plate 142. A first servo motor 148 generating a rotational force, a pitch shaft 144 installed and connected to the first servo motor 148 between the fixing plate 142, and a connection to the pitch shaft 144; A pitching drive plate 145 is provided and performs a pitching drive, and a pitching drive plate 146 is connected to both ends of the pitching plate 145.

In addition, the roll driving unit 150 is installed between the roll shaft 154 and the rotation between the pitching driving plate 146 and the roll shaft 154 and the antenna 110 is installed and rolled driving at the same time the antenna An antenna support 156 for supporting the 110 and a second servo motor 158 installed at an outer side of the pitching driving plate 146 and connected to one end of the roll shaft 154 to generate rotational force on the roll shaft 154. It consists of).

That is, when the first servo motor 148 is operated, the pitch shaft 144 connected to the first servo motor 148 rotates to operate the pitching plate 145 and the pitching driving plate 146 to operate the antenna 110. When the second servo motor 158 is operated, the roll shaft 154 connected to the second servo motor 158 rotates, and the antenna support 156 is operated to operate the antenna (156). When the first servo motor 148 and the second servo motor 158 are operated at the same time, the 110 may perform the rolling driving, and the antenna 110 may simultaneously perform the pitching and the rolling driving.

Accordingly, assuming that the antenna 110 is positioned to face upward, 0 degrees, even if the first servo motor 148 and the second servo motor 158 rotate within a range of ± 90 degrees, the antenna 110 may be rotated. Because it can cover the full range, even when tracking a continuously rotating object it is possible to continuously rotate the antenna 110 without twisting the antenna connecting line 160.

In addition, the first bearing 149 is installed at one end of the fixing plate 142, that is, the outer side of the fixing plate 142 opposite to the portion where the first servo motor 148 is coupled, and an end of the pitch shaft 144. The pitch shaft 144 is configured to support the pitch shaft 144 and to rotate smoothly. Similarly, a second bearing 159 is installed at one end of the pitching drive plate 146, that is, an outer side of the pitching drive plate 146 opposite to the portion where the second servo motor 158 is coupled, and an end of the roll shaft 154. The roll shaft 154 is configured to support the roll shaft 154 and to rotate smoothly.

On the other hand, the inside of the support 130 for supporting the antenna 110 and the antenna driver 120 receives a signal including the position information of the aircraft 50 from the antenna 110 to receive data processing and status display computer ( A receiving module 132 for transmitting to the 200 and a power distribution device 134 for receiving the signal from the control unit 300 and distributing the power supplied to the receiving module 132 and the antenna driver 120 is installed. .

In more detail, the receiving module 132 removes noise of a signal transmitted from the antenna 110 and a low noise amplifier 132a (LNA; Low Noise Amplifier) for amplifying the signal, and the low noise amplifier 132a. It is composed of a receiver 132b for converting the signal passing through the analog signal to the data processing and status display computer 200 to more accurately detect the signal transmitted from a long distance, the power distribution device 134 ) Receives a signal from the control unit 300 and supplies different power to the receiving module 132 and the first and second servomotors 148 and 158, respectively, preferably as shown in FIG. The 12-volt DC power is supplied from the control unit 300 to supply the first-servomotor 148 and the second-servomotor 158 with 6-volt DC power, respectively, and the low noise amplifier 132a and the number The new device 132b is supplied with DC power of 8 volts and 12 volts, respectively.

In addition, an interface connector 136 is installed at one side of the support 130, and a signal received through the antenna 110 and passing through the receiving module 132 may be transmitted to the data processing and status display computer 200. It is configured to.

Next, with reference to the accompanying drawings will be described in more detail the principle of operation of the pitch-roll-based antenna tracking gimbal system capable of continuous rotation of the gaze vector according to the present invention.

As shown in FIG. 5, the present invention receives an antenna gimbal unit 100 for tracking an object by receiving data including position information from a moving object such as an aircraft 50, and received by the antenna gimbal unit 100. Receives and processes the data to determine the direction of the antenna gimbal 100, calculates the rotation angle of the antenna gimbal 100 to generate a control signal, data processing and status display computer 200 to display the control state And a first servo motor 148 and a second servo motor 158 installed in the antenna gimbal unit 100 by receiving a control signal according to a rotation angle calculated by the data processing and status display computer 200. The control unit 300 transmits a driving signal to and supplies power to the antenna gimbal unit 100.

In this case, the antenna gimbal portion 100 is driven in a pitch-roll manner, not a conventional pan-tilt method, which has two rotation axes of the pitch axis 144 and the roll axis 154, the roll axis on the pitch axis 144 The support of 154, that is, the pitching driving plate 146 is interlocked, and the antenna 110 is interlocked with the roll shaft 154 to have a coupling with each other.

More specifically, first, as shown in a) of FIG. 8, when there are local coordinate axes x, y, and z, the pitch axis 144 is provided in the y axis direction of the local coordinate axis, and the pitch axis 144 is provided. A pitching drive plate 146 supporting the roll shaft 154 in a position perpendicular to the pitch shaft 144 is installed on the pitching plate 145 which is connected to the roll shaft 154 so that the roll shaft 154 is perpendicular to the pitch shaft 144. Is installed. In addition, an antenna 110 is mounted to the antenna support 156 that is connected to the roll shaft 154.

Thus, all axes of rotation, that is, the pitch axis 144 and the roll axis 154 rotate in a range of ± 90 degrees, and the antenna 110 continuously operates in any direction with respect to the hemisphere region above the xy plane in the local coordinate axis with the rotation of both axes. You can turn and head.

In the case of the conventional pan-tilt gimbal system, as shown in FIG. 3, line twist may occur due to the 360 degree rotation of the panning shaft, but the pitch-roll gimbal system according to the present invention is characterized in that As the rotation range is limited to ± 90 degrees, the twisting of the antenna connection line 160 does not occur.

)과 롤링각(

)이 모두 0인 상태를 도 8의 a)에 나타낸 바와 같이 시선벡터

가 하늘을 향하고 있는 상태로 정하고, 회전이 생기면 피치축(144)과 롤축(154)의 좌표변환에 따라 다음과 같이 정의된다.Rotation angle of the pitch shaft 144 and the roll shaft 154, that is, the pitching angle (

) And rolling angle (

8 is a state in which the gaze vector as shown in a) of FIG.

Is set to face the sky, and the rotation is defined according to the coordinate transformation of the pitch axis 144 and the roll axis 154 as follows.

,

(이때,

: 롤링각,

: 피칭각)

,

(At this time,

: Rolling angle,

: Pitching angle)

)은 y축 성분값이 양음을 모두 가지므로 ±90도의 범위로 결정되며, 피칭각(

)은 분자인 x축 성분값이 양음을 모두 가지지만, 분모의 z축 성분값이 음의 값만을 가지므로 ±90도 범위 내로 결정된다.As shown in the equation, the rolling angle (

) Is determined in the range of ± 90 degrees since the y-axis component values are both positive and negative.

The x-axis component of the numerator has both positive and negative values, but since the z-axis component value of the denominator has only negative values, it is determined to be within ± 90 degrees.

)과 고도각(

)을 계산할 수 있으므로, 방위각(

), 고도각(

)에 대한 피칭각(

), 롤링각(

)의 관계는 다음과 같다.The azimuth angle (

) And elevation angle (

) Can be calculated, so the azimuth (

), Elevation angle (

Pitching angle for)

), Rolling angle (

) Is as follows.

In the case of the pan-tilt method, the antenna connection line is twisted as the number of rotations continues with the panning axis for the object moving continuously around the antenna tracking gimbal system, but the pitch-roll method is ± 90 for the same motion. It moves within a degree, thereby preventing the antenna connection line 160 from being twisted.

That is, as shown in b) of FIG. 8, the second servo motor 158 may be operated to allow only the rolling drive of the antenna 110, or the first servo motor 148 as shown in c) of FIG. 8. It is also possible to operate the antenna 110 to only the pitching drive, as shown in d) of FIG. 8 by operating the first servo motor 148 and the second servo motor 158 at the same time is the rolling drive and pitching drive It can be done at the same time.

On the other hand, Figure 9 a), b) is a conventional pan-tilt antenna tracking gimbal system of tracking the object to rotate continuously at an altitude angle of 45 degrees and the pitch capable of continuous rotation of the gaze vector according to the present invention- Compared to the roll-based antenna tracking gimbal system, in the case of the pan-tilt method shown in FIG. 9 a), the azimuth angle is constant while the azimuth angle is continuously increased, while in FIG. 9 b) In the case of the pitch-roll method shown, the movement is performed within a certain angle and the tracking function is implemented.

Therefore, referring to the operation of the pitch-roll based antenna tracking gimbal system capable of continuously rotating the gaze vector according to the present invention, first, a signal including position information from an object to be tracked, such as the aircraft 50, is antenna 110. ), The signal is transmitted to the receiving module 132 installed in the support 130 through the antenna connection line 160.

The signal transmitted to the receiving module 132 as described above is passed through the low noise amplifier 132a, the noise is removed and amplified and transmitted to the receiver 132b, and the receiver 132b converts the transmitted signal into an analog form. do.

) 및 롤링각(

)을 계산함으로써 제1서보모터(148) 및 제2서보모터(158)의 회전각도를 계산하고, 외부에서 볼 수 있도록 표시한다.The signal converted into the analog form is transmitted to the data processing and status display computer 200 through an interface connector 136 formed on one side of the support 130, the data processing and status display computer 200 is transmitted to the aircraft ( The orientation direction of the antenna 110 is determined in consideration of the positional information of 50 and the relative position of the antenna 110, and the pitching angle (

) And rolling angle (

The rotation angles of the first servo motor 148 and the second servo motor 158 are calculated by calculating (), and are displayed to be viewed from the outside.

The control signal according to the calculated rotation angle is transmitted to the control unit 300, and the control unit 300 transmits a driving signal to the first servo motor 148 and the second servo motor 158 to drive the motor. By doing so, the antenna 110 to track the position of the aircraft 50.

Such a series of processes are continuously repeated, and thus the pitch-roll based antenna tracking gimbal system capable of continuously rotating the gaze vector according to the present invention detects an object to be traced without twisting the antenna connecting line 160 through pitching and rolling driving. It can be tracked continuously and accurately.

Although the above-described embodiments have been described with respect to the most preferred embodiment of the present invention, the present invention is not limited to the above embodiments, and may be utilized not only for antennas but also for cameras or surveillance cameras requiring mounting tracking, and the like. It will be apparent to those skilled in the art that various modifications are possible without departing from the scope of the invention.

The present invention relates to a pitch-roll based antenna tracking gimbal system capable of continuously rotating a gaze vector. More particularly, the present invention tracks the position of an object by receiving data such as position information from an object such as an aircraft that continuously moves. However, by using the mechanical coupling (coupling) of the two rotation shafts, that is, there is a structure that is linked to the pitch axis of the gimbal, the structure is a vertical roll axis parallel to the pitch axis, and the roll shaft is connected to the antenna Accordingly, the present invention relates to a pitch-roll based antenna tracking gimbal system capable of continuous rotation of a gaze vector without line twist.

1 is a diagram illustrating a relationship between a gaze vector, an elevation angle, and an azimuth angle of an antenna directed to a tracking object for tracking an antenna;

Figure 2 shows a conventional pan-tilt antenna tracking gimbal system.

FIG. 3 is a view showing a state in which the antenna tracking gimbal system shown in FIG. 2 tracks a continuously rotating object. FIG.

Figure 4 is a perspective view showing a conventional marine satellite communication antenna system.

5 is a block diagram showing a schematic configuration of a pitch-roll based antenna tracking gimbal system capable of continuous rotation of the gaze vector according to the present invention.

Figure 6 is a perspective view of the antenna gimbal portion of the present invention shown in FIG.

7 is a view showing the inside of the receiving module of the antenna gimbal shown in FIG.

8 a) to d) schematically show a driving state of the antenna gimbal shown in FIG.

9 a) and b) shows a conventional antenna tracking gimbal system and a pitch-roll based antenna tracking gimbal system capable of continuously rotating a gaze vector according to the present invention when tracking a continuously rotating object at an altitude of 45 degrees. Compared to the drawing.

Explanation of symbols on the main parts of the drawings

50: aircraft 100: antenna gimbal

110 antenna 120 antenna driver

130: support 132: receiving module

132a: low noise amplifier 132b: receiver

134: power distribution unit 136: interface connector

140: pitch driving unit 142: fixed plate

144: pitch axis 145: pitching plate

146: pitching drive plate 148: the first servo motor

149: first bearing 150: roll drive part

154: roll shaft 156: antenna support

158: second servo motor 159: second bearing

160: antenna connection line 200: data processing and status display computer

300: control unit

Claims (10)

An antenna gimbal for receiving data from a moving object and tracking the object; A data processing and status display computer for processing the data received from the antenna gimbals to determine the orientation direction of the antenna gimbals, calculating the rotation angle of the antenna gimbals, and displaying the status; Consists of a control unit for receiving a control signal according to the rotation angle calculated by the data processing and status display computer to transmit a drive signal to the antenna gimbal portion, The antenna gimbals include an antenna for receiving data from a moving object, a roll driver for rolling the antenna within a range of ± 90 degrees, and a pitch driver for pitching driving the antenna within a range of ± 90 degrees. Comprising a drive unit, and a support for supporting the antenna and the antenna drive unit, A receiving module for receiving a signal from the antenna and a power distribution device for supplying power to the receiving module and the antenna driver are installed in the support. On one side of the support is a pitch-roll based antenna tracking gimbal system capable of continuous rotation of the eye gaze vector, characterized in that the interface connector for transmitting the signal received through the antenna to the data processing and status display computer is installed. delete delete The method of claim 1, The pitch drive unit is a pair of fixed plates connected to the support portion, the pitch axis is provided between the fixed plate, the pitching plate is connected to the pitch axis, the pitching drive plate is connected to the pitching plate And a first servo motor connected to one end of the pitching plate on an outer side of the fixed plate, wherein the antenna tracking gimbal system is capable of continuously rotating the gaze vector. The method of claim 4, wherein The roll driving unit includes a roll shaft installed between the pitching driving plate, an antenna support connected between the roll shaft and the antenna, and a second servo motor connected to one end of the roll shaft outside the pitching driving plate. A pitch-roll based antenna tracking gimbal system capable of continuous rotation of a gaze vector. The method according to claim 4 or 5, Pitch-roll base for continuous rotation of the eye vector, characterized in that the first bearing and the second bearing are installed on the outer pitch axis and the roll axis of the fixed plate and the pitching driving plate opposite to the first servo motor and the second servo motor, respectively. Antenna tracking gimbal system. delete delete The method of claim 1, The receiving module comprises a low noise amplifier (LNA) for removing and amplifying noise from a signal transmitted from the antenna, and a receiver for receiving a signal passing through the low noise amplifier and transmitting the received signal to a data processing and status display computer. Pitch-roll based antenna tracking gimbal system that allows continuous rotation of the gaze vector. delete

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