WO2016206072A1 - Method for controlling beam stabilization and antenna device - Google Patents

Abstract

Provided are a method for controlling beam stabilization and an antenna device. The method comprises: acquiring actual posture data of an antenna device; calculating and obtaining posture deviation data according to pre-set posture data and the actual posture data; when it is determined that the posture deviation data falls within a pre-set deviation threshold value, determining a target configuration value corresponding to the posture deviation data according to a correlation between the posture deviation data and a configuration value; and adjusting a transmission angle of a beam transmitted by the antenna device according to the target configuration value, so that the adjusted transmission angle is consistent with a target angle. The present invention can solve the problems in the prior art that procedures of calculating a posture angle are complicated and the operation efficiency is relatively low when an antenna beam is stabilized.

Description

Method for controlling beam stabilization and antenna equipment Technical field

The present invention relates to the field of antenna technology, in particular to a method for controlling beam stabilization and an antenna device.

Background technique

Active Antenna System (AAS, Active Antenna System) is an important development direction of current wireless mobile communications. Compared with traditional passive antenna systems, AAS combined with Multiple-Input Multiple-Output (MIMO) technology can reduce base station installation costs, improve wireless mobile communication network capacity and performance, and AAS can quickly adjust antenna patterns , Control the antenna beam pointing. Usually AAS adjusts the beam direction through the beam angle adjustment module in the internal digital device, and controls the pitch angle θ and azimuth angle of the beam by pre-configured angle parameters

To achieve the purpose of controlling the antenna beam pointing.

Since the existing AAS application scenarios are mainly outdoor stations (such as tower stations, rooftop stations, etc.), the station height is generally higher than 20m. Therefore, AAS is susceptible to slow vibration caused by wind resistance and other factors, and slow vibration occurs frequently. It causes the attitude angle of the AAS module to change, which in turn affects the direction of the antenna beam. When the station height is more than 20m, the 1° pointing deviation will cause the AAS beam target pointing deviation to be tens of meters, resulting in unstable beam pointing, uncertain spatial propagation path changes, drastic channel changes, and a sharp decrease in network reliability and performance. At present, the mechanical fixation stability of the AAS is generally improved by increasing the strength of the pole for installing the AAS to reduce the instability of the beam pointing caused by jitter, but the construction cost is high, the improvement effect is limited, the scene adaptability is poor, and the transformation period is long; or, By reducing the volume and weight of the AAS module, the wind resistance and vibration are reduced. In addition, the weight of the AAS is reduced, and the vibration is also reduced correspondingly under the same pole strength. However, limited by the technological level, reducing the volume and weight greatly increases the design and processing costs, and the existing design and manufacturing process levels are limited, and a sufficiently small volume and weight cannot be achieved.

In the field of radar, generally through the strap-down gyroscope sensor and acceleration sensor on the antenna module, the AAS attitude information is sampled in real time, and then the quaternion at the previous moment and the quaternion at the current moment are used to calculate the AAS module's θ and

Calculating the configuration value that needs to be adjusted for the AAS beam, but requires a digital signal processing unit (DSP, Digital Signal Processor) or a central processing unit (CPU, Central Processing Unit) to perform a lot of repeated operations to calculate θ and

And the configuration value is calculated and configured by DSP or CPU. The whole process takes a long time, and during the whole calculation process, the occupancy rate of DSP or CPU is very high, which causes other functions undertaken by DSP or CPU to be affected to a certain extent, and also affects θ and

The calculation and configuration of the DSP eventually lead to unstable beams and low calibration accuracy. Secondly, if the beam stability needs to be ensured, the computing power of the DSP or CPU needs to be improved, and the cost is correspondingly increased.

Summary of the invention

The present invention provides a method and antenna device for controlling beam stabilization, which can solve the problems of complicated procedures for calculating the attitude angle and low calculation efficiency in the prior art when the antenna beam is stabilized.

The first aspect of the present invention provides a method for controlling beam stabilization. The method is applied to an antenna device, and the method includes:

Acquiring actual attitude data of the antenna device;

Calculating the posture deviation data according to the preset posture data and the actual posture data;

When it is determined that the posture deviation data falls within a preset deviation threshold, determine the target configuration value corresponding to the posture deviation data according to the correspondence relationship between the posture deviation data and the configuration value;

The emission angle of the beam emitted by the antenna device is adjusted according to the target configuration value, so that the adjusted emission angle is consistent with the target angle.

With reference to the first aspect, in a first implementation manner of the first aspect of the present invention, the determining the target configuration value corresponding to the attitude deviation data according to the correspondence between the attitude deviation data and the configuration value includes:

Determining the target configuration address corresponding to the attitude deviation data according to the correspondence between the attitude deviation data and the configuration address, where the target configuration address is used to control the angle of the antenna device transmitting beam;

The target configuration value corresponding to the target configuration address is determined according to the correspondence between the configuration address and the configuration value.

With reference to the first implementation manner of the first aspect, in the second implementation manner of the first aspect of the present invention, the period of acquiring attitude data is T, and the acquiring actual attitude data of the antenna device includes:

Acquiring angular velocity ω T _n-1 time of the antenna device of the first quaternion Q _n-1 and T _n of the _n-time;

a _n-1 , b _n-1 , c _n-1 and d _n-1 are all real numbers;

Among them, i rotation represents the positive rotation of the X axis to the positive Y axis in the plane intersecting the X axis and the Y axis, j rotation represents the rotation of the Z axis positive to the X axis positive direction in the plane where the Z axis and the X axis intersect, and k rotation Represents the positive rotation of the Y axis to the positive Z axis in the plane where the Y axis and the Z axis intersect;

At _{time T n} , use the first quaternion Q _n-1 and the angular velocity ω _n to calculate the actual attitude data, where T _n-1 is the start time of the n-1th cycle, The T _n is the start time of the nth cycle, and the n is a positive integer.

In combination with the first to second implementation manners of the first aspect, in a third implementation manner of the first aspect of the present invention, the actual attitude data includes a pitch angle element and an azimuth angle element, and the first four-element The number Q _n-1 and the angular velocity ω _{n are} calculated to obtain the actual attitude data, including:

The quaternion iterative algorithm is used to solve the quaternion differential equation composed of the first quaternion and the angular velocity, and the second quaternion Q _{n of the antenna device at the T n} is calculated. Two quaternion Q _n includes scalar and vector;

a _n, b _n, c _n and d _n are real numbers;

Among them, a _n =a _n-1 +((-b _n-1 *ω _x -c _n-1 *ω _y -d _n-1 *ω _z )>>1);

b _n = b _n-1 +((a _n-1 *ω _x +c _n-1 *ω _z -d _n-1 *ω _y )>>1);

c _n = c _n-1 +((a _n-1 *ω _y -b _n-1 *ω _z +d _n-1 *ω _x )>>1);

d _n =d _n-1 +((a _n-1 *ω _z +b _n-1 *ω _y -c _n-1 *ω _x )>>1);

ω _x , ω _y , ω _z are the components of ω _n on the X-axis, Y-axis and Z-axis respectively;

Using the a _n, the b _n, c _n a d _n and the pitch angle are calculated to obtain the azimuth angle element and said element;

The determining the target configuration address corresponding to the posture deviation data according to the correspondence relationship between the posture deviation data and the configuration address includes:

Determine the deviation range to which the attitude deviation data belongs according to the pitch angle element and the azimuth angle element; To

The target configuration address is obtained according to the correspondence between the elevation angle element, the azimuth angle element and the configuration address, and the deviation range.

In combination with the third implementation manner of the first aspect, in the fourth implementation manner of the first aspect of the present invention, the a _n , the b _n , the c _n and the d _n are respectively calculated to obtain the The pitch angle element and the azimuth angle element include:

Calculating the pitch angle element by using the a _n , the b _n , the c _n , the d _n , and the first expression;

The first expression is used to indicate the value of the pitch angle element, and the first expression is:

Calculating the azimuth angle element by using the a _n , the b _n , the c _n and the d _n , and a second expression;

The second expression is used to represent the value of the azimuth angle element, and the second expression is:

With reference to the first to fourth implementation manners of the first aspect, in a fifth implementation manner of the first aspect of the present invention, the adjusting the emission angle of the beam emitted by the antenna device according to the target configuration value includes :

After the configuration address used to determine the current output of the beam is switched to the target configuration address, the target configuration value is used to perform beamforming on the beam inputting the service data of the antenna device to adjust the transmission angle to the target configuration address. The target angle is described, and the adjusted beam is obtained;

The method also includes:

Switch the emission angle of transmitting the beam to the target angle, and transmit the adjusted beam according to the target angle.

A second aspect of the present invention provides an antenna device, and the antenna device includes:

An attitude acquisition module, which is used to acquire actual attitude data of the antenna device;

A processing module, configured to calculate attitude deviation data according to the preset attitude data and the actual attitude data; To

When it is determined that the posture deviation data falls within a preset deviation threshold, determine the target configuration value corresponding to the posture deviation data according to the correspondence relationship between the posture deviation data and the configuration value;

The attitude adjustment module is configured to adjust the emission angle of the beam emitted by the antenna device according to the target configuration value, so that the adjusted emission angle is consistent with the target angle.

With reference to the second aspect, in the first implementation manner of the second aspect of the present invention, the processing module is specifically configured to:

Determining the target configuration address corresponding to the attitude deviation data according to the correspondence between the attitude deviation data and the configuration address, where the target configuration address is used to control the angle of the antenna device transmitting beam;

The target configuration value corresponding to the target configuration address is determined according to the correspondence between the configuration address and the configuration value.

With reference to the first implementation manner of the second aspect, in the second implementation manner of the second aspect of the present invention, the posture acquisition module is specifically configured to:

Acquiring angular velocity ω T _n-1 time of the antenna device of the first quaternion Q _n-1 and T _n of the _n-time;

a _n-1 , b _n-1 , c _n-1 and d _n-1 are all real numbers;

The processing module is specifically configured to: at the _{time T n} , use the first quaternion Q _n-1 and the angular velocity ω _n to calculate the actual attitude data, and the T _n-1 is the n-th 1 cycle starting time, the starting time T _n is the n-th cycle, the n is a positive integer, the pose data acquisition period is T.

In combination with the first and second implementation manners of the second aspect, in a third implementation manner of the second aspect of the present invention, the actual attitude data includes a pitch angle element and an azimuth angle element, and the processing module includes a programmable device, The programmable device is used for:

The quaternion iterative algorithm is used to solve the quaternion differential equation composed of the first quaternion and the angular velocity, and the second quaternion Q _{n of the antenna device at the T n} is calculated. Two quaternion Q _n includes scalar and vector;

Among them, a _n =a _n-1 +((-b _n-1 *ω _x -c _n-1 *ω _y -d _n-1 *ω _z )>>1);

b _n = b _n-1 +((a _n-1 *ω _x +c _n-1 *ω _z -d _n-1 *ω _y )>>1);

c _n = c _n-1 +((a _n-1 *ω _y -b _n-1 *ω _z +d _n-1 *ω _x )>>1);

d _n =d _n-1 +((a _n-1 *ω _z +b _n-1 *ω _y -c _n-1 *ω _x )>>1);

Using the a _n, the b _n, c _n a d _n and the pitch angle are calculated to obtain the azimuth angle element and said element;

Determine the deviation range to which the attitude deviation data belongs according to the pitch angle element and the azimuth angle element;

The target configuration address is obtained according to the correspondence between the elevation angle element, the azimuth angle element and the configuration address, and the deviation range.

With reference to the third implementation manner of the second aspect, in the fourth implementation manner of the second aspect of the present invention, the programmable device is specifically used for:

Calculating the pitch angle element by using the a _n , the b _n , the c _n , the d _n , and the first expression;

The first expression is used to indicate the value of the pitch angle element, and the first expression is:

Calculating the azimuth angle element by using the a _n , the b _n , the c _n and the d _n , and a second expression;

The second expression is used to represent the value of the azimuth angle element, and the second expression is:

With reference to the first to fourth implementation manners of the second aspect, in the fifth implementation manner of the second aspect of the present invention, the attitude adjustment module is specifically configured to:

After the configuration address used to determine the current output of the beam is switched to the target configuration address, the target configuration value is used to perform beamforming on the beam inputting the service data of the antenna device to adjust the transmission angle to the target configuration address. The target angle is described, and the adjusted beam is obtained;

The antenna device also includes a transmitting module, and the transmitting module is used to:

Switch the emission angle of transmitting the beam to the target angle, and transmit according to the target angle To Shooting the adjusted beam.

In combination with the first to fifth implementation manners of the second aspect, in a sixth implementation manner of the second aspect of the present invention, the attitude acquisition module is integrated in the antenna device or installed on the antenna device through strapdown The attitude acquisition module includes an acceleration sensor and a gyro sensor, the acceleration sensor is used to acquire a pitch angle and an azimuth angle, and the gyro sensor is used to acquire the three-axis angular velocity of the antenna device in real time.

In combination with the sixth implementation manner of the second aspect, in the seventh implementation manner of the second aspect of the present invention, the programmable device is also used to perform three-axis angular velocity input from the gyroscope sensor into the programmable device. Filtering and smoothing.

It can be seen from the above technical solutions that the posture deviation data is calculated according to the preset posture data and the actual posture data obtained, and the target configuration value corresponding to the posture deviation data is determined according to the above-mentioned corresponding relationship, and then according to the target configuration value The emission angle of the beam emitted by the antenna device is adjusted so that the adjusted emission angle is consistent with the target angle. It can effectively improve the calculation efficiency, and effectively improve the stability of the beam angle in the case of module vibration, and offset the influence of the module vibration on the beam direction.

Description of the drawings

FIG. 1 is a schematic flow chart of a method for controlling beam stabilization in an embodiment of the present invention;

Figure 1-1 is a schematic diagram of the structure of filter one for filtering and smoothing three-axis angular velocities in an embodiment of the invention;

2 is a schematic diagram of a structure of an antenna device in an embodiment of the present invention;

FIG. 3 is a schematic diagram of another structure of an antenna device in an embodiment of the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments, based on The embodiments of the present invention and all other embodiments obtained by those skilled in the art without creative work shall fall within the protection scope of the present invention. To

The terms "first" and "second" in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments described herein can be implemented in a sequence other than the content illustrated or described herein. In addition, the terms "including" and "having" and any variations of them are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or modules is not necessarily limited to those clearly listed. Those steps or modules may include other steps or modules that are not clearly listed or are inherent to these processes, methods, products, or equipment. The division of modules presented in this article is only a logical division. In actual applications, there can be other ways of dividing, for example, multiple modules can be combined or integrated in another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling Or the direct coupling or communication connection may be through some interfaces, and the indirect coupling or communication connection between the modules may be electrical or other similar forms, which are not limited herein. In addition, the modules or sub-modules described as separate components may or may not be physically separate, may or may not be physical modules, or may not be divided into multiple circuit modules. You can select some of them or sub-modules according to actual needs. All modules achieve the purpose of the solution of the embodiment of the present invention.

The embodiment of the present invention provides a method and antenna device for controlling beam stabilization, which are used in the field of antenna technology. The antenna device that implements some or all of the steps in the method of the present invention may be an active antenna system or other similar systems. The source antenna system can be connected with the indoor baseband processing unit (BBU, Building Base Band Unit) to form a base station through optical fiber connection to jointly complete the transmission of service data.

The method embodiments and device embodiments described in this article can be applied to base stations of higher-level communication systems such as 2G/3G/4G/5G. The specific application scenarios are as follows:

1. The present invention is applied in a 3G communication system, and the network element base transceiver station (BTS, Base Transceiver Station) implements the method of the present invention. The BTS is a base transceiver station in a 2G communication system, that is, it realizes the communication between the user equipment and the network. Relay equipment for wireless communication.

2. The present invention is applied in a 3G communication system. The mobile base station (Node B, Node Base Station) of the network element implements the method described in the present invention. The Node B communicates with the radio network controller (RNC, Radio Network Controller) through a standard Iub interface. ) Interconnect, communicate with the user equipment through the Uu interface, and mainly complete the processing of the Uu interface physical layer protocol and the Iub interface protocol. Generally, Node B is mainly composed of To Control subsystem, transmission subsystem, radio frequency subsystem, intermediate frequency/baseband subsystem, antenna feeder subsystem and other parts.

3. The present invention is applied in a 4G communication system. Evoled Node Base Station (eNodeB, Evoled Node Base Station) implements the method described in the present invention. Compared with the existing NodeB in 3G, eNodeB, in addition to the existing functions of NodeB, Integrate part of the RNC function, reducing the level of communication protocol.

The quaternion Q=a+ib+jc+kd in this article can be used to represent the rotation and orientation of a three-dimensional object, describing a rotation axis and a rotation angle. That is, any rotation in three-dimensional space is the result of the interaction of some unit quaternions. It is more convenient and easy to find than the cosine vector method and Euler angle method. The geometric meaning of i, j, k can be understood as a kind of rotation, where i rotation represents the positive rotation of the X axis to the positive Y axis in the plane where the X axis and the Y axis intersect, and the j rotation represents the plane where the Z axis and the X axis intersect. In the positive direction of the Z axis to the positive direction of the X axis, k rotation represents the positive direction of the Y axis to the positive direction of the Z axis in the plane where the Y axis and the Z axis intersect.

1, a method for controlling beam stabilization in an embodiment of the present invention will be described in detail. The method is applied to an antenna device, and the method includes:

101. Acquire actual attitude data of the antenna device;

The actual attitude data includes the elevation angle and the azimuth angle, and the actual attitude data is the attitude data of the antenna device at the current moment, which can be obtained through the attitude acquisition device on the antenna device of strapdown, or it can be built in the antenna device As long as the actual posture data can be obtained accurately, the specific obtaining method is not limited.

102. Calculate the attitude deviation data according to the preset attitude data and the actual attitude data;

The preset posture data can be the posture data at the time of initialization, or the posture data at the last moment that has not been initialized. It can be seen that the posture deviation data is only the relative value between the two, XX

103. When it is determined that the attitude deviation data falls within a preset deviation threshold, determine the target configuration value corresponding to the attitude deviation data according to the correspondence between the attitude deviation data and the configuration value;

104. Adjust the emission angle of the beam emitted by the antenna device according to the target configuration value, so that the adjusted emission angle is consistent with the target angle.

In the embodiment of the present invention, the posture deviation data is calculated according to the preset posture data and the acquired actual posture data, and the target configuration value corresponding to the posture deviation data is determined according to the above-mentioned corresponding relationship, and then To Then, the emission angle of the beam emitted by the antenna device is adjusted according to the target configuration value, so that the adjusted emission angle is consistent with the target angle. It can effectively improve the calculation efficiency, and effectively improve the stability of the beam angle in the case of module vibration, and offset the influence of the module vibration on the beam direction.

Optionally, on the basis of the above-mentioned embodiment corresponding to FIG. 1, in a first optional embodiment of the embodiment of the present invention, the attitude deviation is determined according to the correspondence relationship between the attitude deviation data and the configuration value The target configuration values corresponding to the data include:

Determining the target configuration address corresponding to the attitude deviation data according to the correspondence between the attitude deviation data and the configuration address, where the target configuration address is used to control the angle of the antenna device transmitting beam;

The target configuration value corresponding to the target configuration address is determined according to the correspondence between the configuration address and the configuration value.

Optionally, on the basis of the foregoing first optional embodiment, in a second optional embodiment of the embodiment of the present invention, the period of acquiring attitude data is T, and the acquiring actual attitude data of the antenna device ,include:

Acquiring angular velocity ω T _n-1 time of the antenna device of the first quaternion Q _n-1 and T _n of the _n-time;

a _n-1 , b _n-1 , c _n-1 and d _n-1 are all real numbers,

Among them, i rotation represents the positive rotation of the X axis to the positive Y axis in the plane intersecting the X axis and the Y axis, j rotation represents the rotation of the Z axis positive to the X axis positive direction in the plane where the Z axis and the X axis intersect, and k rotation Represents the positive rotation of the Y axis to the positive Z axis in the plane where the Y axis and the Z axis intersect;

At _{time T n} , use the first quaternion Q _n-1 and the angular velocity ω _n to calculate the actual attitude data, where T _n-1 is the start time of the n-1th cycle, The T _n is the start time of the nth cycle, and the n is a positive integer.

In practical applications, the actual attitude data of the antenna device at each moment can be obtained through inertial sensitive elements (such as gyroscope sensors and acceleration sensors). Due to the drift of the zero axis of the gyroscope, the calculation accuracy of the antenna device will be reduced. Set the initialization condition to initialize the quaternion and the attitude angle. The preset initialization condition includes one of the following situations: To

1. After receiving the notification message sent by the BBU, it can be determined that the preset initialization conditions are met;

Wherein, the notification message includes at least one of the number of users currently accessing the network and the number of services; when the BBU determines that at least one of the following items is satisfied, the notification message is sent to the antenna device:

The number of users currently accessing the network is not greater than the first threshold;

The number of services currently connected to the network is not greater than the second threshold.

2. Timing, that is, when the timer reaches the trigger time of the timer, it is determined that the preset initialization condition is satisfied.

After confirming that the above-mentioned antenna device meets the preset initialization conditions, it can initialize the quaternion, elevation angle and azimuth angle at the current moment, which is the quaternion after initialization, while ensuring that the impact on the current network status is minimized. q ₀ ＝[1 0 0 0] ^T , the pitch angle θ and azimuth angle after initialization

Both are 0.

In addition, in this example, the gyro sensor is used to sample the three-axis angular velocity (ω _x , ω _y , ω _z ), the sampling period T remains the same, and the sampling frequency is increased as much as possible to obtain higher accuracy of the calculation results. Usually the sampling frequency It is 500-800Hz.

In addition, since the gyroscope has a certain internal disturbance, in order to obtain a more stable angular velocity value output, filtering and smoothing can be performed before the calculation. Alpha Alpha filter can be used for filtering and smoothing (the specific implementation process is shown in Figure 1-1), or Alpha Beta Alpha-Beta filter can be used for filtering and smoothing. Which smoothing algorithm is used, as long as it can improve better performance Yes, there is no limitation in this article.

Optionally, on the basis of the foregoing first to second optional embodiments, in a third optional embodiment of the embodiment of the present invention, the actual attitude data includes a pitch angle element and an azimuth angle element, and the Using the first quaternion Q _n-1 and the angular velocity ω _n to calculate the actual attitude data includes:

The quaternion iterative algorithm is used to solve the quaternion differential equation composed of the first quaternion and the angular velocity, and the second quaternion Q _{n of the antenna device at the T n} is calculated. Two quaternion Q _n includes scalar and vector;

a _n, b _n, c _n and d _n are real _{number, ω x, ω y, ω} z ω _n are in the order of X axis, Y axis and Z axis component;

Among them, a _n =a _n-1 +((-b _n-1 *ω _x -c _n-1 *ω _y -d _n-1 *ω _z )>>1);

b _n = b _n-1 +((a _n-1 *ω _x +c _n-1 *ω _z -d _n-1 *ω _y )>>1);

c _n = c _n-1 +((a _n-1 *ω _y -b _n-1 *ω _z +d _n-1 *ω _x )>>1);

d _n =d _n-1 +((a _n-1 *ω _z +b _n-1 *ω _y -c _n-1 *ω _x )>>1);

Using the a _n, the b _n, c _n a d _n and the pitch angle are calculated to obtain the azimuth angle element and said element;

The determining the target configuration address corresponding to the posture deviation data according to the correspondence relationship between the posture deviation data and the configuration address includes:

Determine the deviation range to which the attitude deviation data belongs according to the pitch angle element and the azimuth angle element;

The target configuration address is obtained according to the correspondence between the elevation angle element, the azimuth angle element and the configuration address, and the deviation range.

Optionally, on the basis of the foregoing third optional embodiment, in a fourth optional embodiment of the embodiment of the present invention, the use of the a _n , the b _n , the c _n and all The d _{n is} calculated to obtain the elevation angle element Eθ and the azimuth angle element

include:

Calculating the pitch angle element by using the a _n , the b _n , the c _n , the d _n , and the first expression;

The first expression is used to indicate the value of the pitch angle element, and the first expression is:

Calculating the azimuth angle element by using the a _n , the b _n , the c _n and the d _n , and a second expression;

The second expression is used to represent the value of the azimuth angle element, and the second expression is:

After obtaining the elevation angle element and the azimuth angle element according to the first expression and the second expression, they are respectively mapped to the corresponding target configuration address in the memory, so as to extract the corresponding target configuration value according to the target configuration address for controlling the beam The use of angles. To

It should be noted that according to the third and fourth optional embodiments, every time the gyroscope parameter is updated

Among them, >>1 means shift to the right by one bit, that is _{, divide (-b n-1} *ω _x -c _n-1 *ω _y -d _n-1 *ω _z ) by 2 to replace the original division operation, which effectively improves Operation efficiency, reduction of operation resources, of course, other methods can also be used to replace the original division operation, the specifics are not limited.

In the prior art, θ and

Among them, before the coordinate conversion of the second quaternion, in order to reduce the calculation error, the second quaternion is generally normalized, so the subsequent calculations obtain the above θ and

middle

and

It is the parameter after normalization processing.

However, due to the multiplication, division, arc sine, and arc tangent calculations in the algorithm, and the DSP or CPU is usually used to complete the entire calculation, the calculation efficiency is low, and the DSP or CPU occupancy rate is high, which affects the system performance of the antenna device. . In this alternative embodiment, an iterative algorithm is used to first calculate the a _n , b _n , c _n, and d _n required in the fourth alternative embodiment, which effectively reduces the number of operations and the operation time.

Moreover, using the method described in the embodiment of the present invention, it is not necessary to calculate θ and

Just need to count

with

Two variables are sufficient. In order to avoid square root calculation, the algorithm is simplified as follows:

After the above simplification, the calculation process only needs to complete 12 multiplications, 2 divisions, and 8 additions/subtractions. The entire calculation process can be completed by DSP, CPU or Field Programmable Gate Array (FPGA, Field Programmable Gate Array) calculation. Considering the high parallel computing power of FPGA, To This method gives priority to the use of FPGA to complete the entire calculation and configuration process. It does not need to improve the ability of DSP or CPU to achieve efficient calculations and simplified calculations, almost zero cost increase, and the specific selection of processing units is not limited in this article. For example, taking the angular velocity sampling rate of 800 Hz for example, when the operating clock of the calculation and configuration unit is 100Mhz, the time required for the calculation and configuration process can be controlled within 125 working clock cycles.

Optionally, on the basis of the above-mentioned first to fourth optional embodiments, in a fifth optional embodiment of the embodiment of the present invention, the beam transmitted by the antenna device is subjected to the target configuration value. To adjust the launch angle, including:

After the configuration address used to determine the current output of the beam is switched to the target configuration address, the target configuration value is used to perform beamforming on the beam inputting the service data of the antenna device to adjust the transmission angle to the target configuration address. The target angle is described, and the adjusted beam is obtained;

The method also includes:

Switch the emission angle of transmitting the beam to the target angle, and transmit the adjusted beam according to the target angle.

It is understandable that the configuration value of the beam angle in this article can be pre-calculated and stored in the memory, for example, the random access memory (RAM, abbreviation of Random-Access Memory) stored in the FPGA, which can improve the real-time configuration. , Easy to call, no need to calculate the target configuration value every time.

The calculation process of the specific configuration value is as follows:

E.g,

When the unit is degree °, the value range varies according to the actual scene. When dividing by 1°, 81 groups of corresponding beam angle configuration values are obtained, and each configuration value corresponds to the configuration address and configuration. The value corresponding to the configuration address is stored in RAM. The pitch angle element and the azimuth angle element can be mapped to the corresponding configuration address, and then the corresponding configuration value can be read through the configuration address.

A method for controlling beam stabilization according to an embodiment of the present invention is described in detail above. The following describes an antenna device from the side of the antenna device that executes the above method. Referring to FIG. 2, the antenna device 20 includes:

The attitude acquisition module 201 is configured to acquire actual attitude data of the antenna device 20; To

The processing module 202 is configured to calculate the posture deviation data according to the preset posture data and the actual posture data;

When it is determined that the posture deviation data falls within a preset deviation threshold, determine the target configuration value corresponding to the posture deviation data according to the correspondence relationship between the posture deviation data and the configuration value;

The attitude adjustment module 203 is configured to adjust the emission angle of the beam emitted by the antenna device 20 according to the target configuration value, so that the adjusted emission angle is consistent with the target angle.

In the embodiment of the present invention, the processing module 202 calculates the posture deviation data according to the preset posture data and the actual posture data acquired by the posture acquisition module 201, and determines the target configuration value corresponding to the posture deviation data according to the above-mentioned corresponding relationship, and then adjusts the posture. The module 203 adjusts the emission angle of the beam emitted by the antenna device according to the target configuration value, so that the adjusted emission angle is consistent with the target angle. It can effectively improve the calculation efficiency, and effectively improve the stability of the beam angle in the case of module vibration, and offset the influence of the module vibration on the beam direction.

Optionally, based on the embodiment corresponding to FIG. 2 above, in the first optional embodiment of the embodiment of the present invention, the processing module 202 is specifically configured to:

Determining the target configuration address corresponding to the attitude deviation data according to the correspondence between the attitude deviation data and the configuration address, where the target configuration address is used to control the angle of the antenna device transmitting beam;

The target configuration value corresponding to the target configuration address is determined according to the correspondence between the configuration address and the configuration value.

Optionally, on the basis of the foregoing first optional embodiment, in a second optional embodiment of the embodiment of the present invention, the posture acquisition module 201 is specifically configured to:

Get the time T _n-1 of the antenna device 20 of the first quaternion Q _n-1 and the first angular velocity ω _n-1;

a _n-1 , b _n-1 , c _n-1 and d _n-1 are all real numbers;

The processing module 202 is specifically configured to: at _{time T n} , use the first quaternion Q _n-1 and the angular velocity ω _n to calculate the actual attitude data, where T _n-1 is the nth -1 cycle starting time, the starting time T _n is the n-th cycle, the n is a positive integer, the pose data acquisition period is T.

Optionally, on the basis of the foregoing first to second optional embodiments, in a third optional embodiment of the embodiment of the present invention, referring to FIG. 3, the actual attitude data includes a pitch angle element and an azimuth angle. Element, the processing module 202 includes a programmable device 2021, and the programmable device 2021 is used for:

The quaternion iterative algorithm is used to solve the quaternion differential equation composed of the first quaternion and the angular velocity, and the second quaternion Q _{n of the antenna device 20 at the T n} is calculated. The second quaternion Q _n includes a scalar and a vector;

a _n, b _n, c _n and d _n are real _{number, ω x, ω y, ω} z ω _n are in the order of X axis, Y axis and Z axis component;

Among them, a _n =a _n-1 +((-b _n-1 *ω _x -c _n-1 *ω _y -d _n-1 *ω _z )>>1);

b _n = b _n-1 +((a _n-1 *ω _x +c _n-1 *ω _z -d _n-1 *ω _y )>>1);

c _n = c _n-1 +((a _n-1 *ω _y -b _n-1 *ω _z +d _n-1 *ω _x )>>1);

d _n =d _n-1 +((a _n-1 *ω _z +b _n-1 *ω _y -c _n-1 *ω _x )>>1);

Using the a _n, the b _n, c _n a d _n and the pitch angle are calculated to obtain the azimuth angle element and said element;

Determine the deviation range to which the attitude deviation data belongs according to the pitch angle element and the azimuth angle element;

The target configuration address is obtained according to the correspondence between the elevation angle element, the azimuth angle element and the configuration address, and the deviation range.

Optionally, on the basis of the foregoing third embodiment, in a fourth optional embodiment of the embodiment of the present invention, the programmable device 2021 is specifically used for:

Calculating the pitch angle element by using the a _n , the b _n , the c _n , the d _n , and the first expression;

The first expression is used to indicate the value of the pitch angle element, and the first expression is: To

Calculating the azimuth angle element by using the a _n , the b _n , the c _n and the d _n , and a second expression;

The second expression is used to represent the value of the azimuth angle element, and the second expression is:

Optionally, on the basis of the foregoing first to fourth optional embodiments, in a fifth optional embodiment of the embodiment of the present invention, the attitude adjustment module 203 is specifically configured to:

After the configuration address used to determine the current output of the beam is switched to the target configuration address, the target configuration value is used to perform beamforming on the beam inputting the service data of the antenna device 20 to adjust the transmission angle to the target configuration address. The target angle is described, and the adjusted beam is obtained;

The antenna device 20 further includes a transmission module 204, and the transmission module 204 is configured to:

The transmission angle of the beam is switched to the target angle, and the adjusted beam is transmitted according to the target angle. The transmission module 204 is generally an antenna element.

Optionally, on the basis of the first to fifth optional embodiments described above, in a sixth optional embodiment of the embodiment of the present invention, referring to FIG. 3, the attitude acquisition module 201 is integrated in the antenna device Installed on the antenna device 20 within 20 or through strapdown, the attitude acquisition module 201 includes an acceleration sensor 2011 and a gyro sensor 2012. The acceleration sensor 2011 is used to acquire a pitch angle and an azimuth angle. The gyro sensor 2012 is used to obtain the three-axis angular velocity of the antenna device 20 in real time.

Optionally, on the basis of the above-mentioned sixth alternative embodiment, in a seventh alternative embodiment of the embodiment of the present invention, the programmable device 2021 is further configured to input the input from the gyroscope sensor to the The three-axis angular velocity of the programmable device is filtered and smoothed, so as to subsequently use the three-axis angular velocity to calculate the second quaternion, the azimuth angle element, and the pitch angle element. To

The present invention also provides a computer storage medium that stores a program, and when the program is executed, some or all of the steps in the method for controlling beam stabilization are included.

The present invention also provides a computer storage medium that stores a program that includes part or all of the steps in the method for controlling beam stabilization performed by the antenna device when the program is executed.

In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in an embodiment, reference may be made to related descriptions of other embodiments.

Those skilled in the art can clearly understand that, for the convenience and conciseness of the description, the specific working process of the above-described system, device, and unit may refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed system, device, and method can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or It can be integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.

If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present invention essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage To The medium includes a number of instructions to enable a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical disks and other media that can store program codes. .

The method and antenna device for controlling beam stabilization provided by the present invention are described in detail above. Specific examples are used in this article to explain the principle and implementation of the present invention. The description of the above embodiments is only used to help understand the present invention. The method of the invention and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of the invention, there will be changes in the specific implementation and the scope of application. In summary, the content of this specification should not be understood To limit the present invention. To

Claims (14)

1. A method for controlling beam stabilization, characterized in that the method is applied to an antenna device, and the method includes:

   Acquiring actual attitude data of the antenna device;

   Calculating the posture deviation data according to the preset posture data and the actual posture data;

   When it is determined that the posture deviation data falls within a preset deviation threshold, determine the target configuration value corresponding to the posture deviation data according to the correspondence relationship between the posture deviation data and the configuration value;

   The emission angle of the beam emitted by the antenna device is adjusted according to the target configuration value, so that the adjusted emission angle is consistent with the target angle.
2. The method according to claim 1, wherein the determining the target configuration value corresponding to the posture deviation data according to the corresponding relationship between the posture deviation data and the configuration value comprises:

   Determining the target configuration address corresponding to the attitude deviation data according to the correspondence between the attitude deviation data and the configuration address, where the target configuration address is used to control the angle of the antenna device transmitting beam;

   The target configuration value corresponding to the target configuration address is determined according to the correspondence between the configuration address and the configuration value.
3. The method according to claim 2, wherein the period of acquiring attitude data is T, and the acquiring actual attitude data of the antenna device comprises:

   Acquiring angular velocity ω T _n-1 time of the antenna device of the first quaternion Q _n-1 and T _n of the _n-time;

   

   a _n-1 , b _n-1 , c _n-1 and d _n-1 ∈ R,

   Among them, i rotation represents the positive rotation of the X axis to the positive Y axis in the plane intersecting the X axis and the Y axis, j rotation represents the rotation of the Z axis positive to the X axis positive direction in the plane where the Z axis and the X axis intersect, and k rotation Represents the positive rotation of the Y axis to the positive Z axis in the plane where the Y axis and the Z axis intersect;

   At _{time T n} , use the first quaternion Q _n-1 and the angular velocity ω _n to calculate the actual attitude data, where T _n-1 is the start time of the n-1th cycle, The T _n is the start time of the nth cycle, and the n is a positive integer.
4. The method according to claim 2 or 3, wherein the actual attitude data includes a pitch angle element and an azimuth angle element, and the first quaternion Q _n-1 and the angular velocity ω _{n are used} , The actual posture data obtained by calculation includes:

   The quaternion iterative algorithm is used to solve the quaternion differential equation composed of the first quaternion and the angular velocity, and the second quaternion Q _{n of the antenna device at the T n} is calculated. Two quaternion Q _n includes scalar and vector;

   

   a _n, b _n, c _n and d _n are real _{number, ω x, ω y, ω} z ω _n are in the order of X axis, Y axis and Z axis component;

   Among them, a _n =a _n-1 +((-b _n-1 *ω _x -c _n-1 *ω _y -d _n-1 *ω _z )>>1);

   b _n = b _n-1 +((a _n-1 *ω _x +c _n-1 *ω _z -d _n-1 *ω _y )>>1);

   c _n = c _n-1 +((a _n-1 *ω _y -b _n-1 *ω _z +d _n-1 *ω _x )>>1);

   d _n =d _n-1 +((a _n-1 *ω _z +b _n-1 *ω _y -c _n-1 *ω _x )>>1);

   Using the a _n, the b _n, c _n a d _n and the pitch angle are calculated to obtain the azimuth angle element and said element;

   The determining the target configuration address corresponding to the posture deviation data according to the correspondence relationship between the posture deviation data and the configuration address includes:

   Determine the deviation range to which the attitude deviation data belongs according to the pitch angle element and the azimuth angle element;

   The target configuration address is obtained according to the correspondence between the elevation angle element, the azimuth angle element and the configuration address, and the deviation range.
5. The method according to claim 4, wherein said using the a _n, the b _n, c _n a d _n and the pitch angle are calculated to obtain the element and the azimuth angle element, include:

   Calculating the pitch angle element by using the a _n , the b _n , the c _n , the d _n , and the first expression;

   The first expression is used to indicate the value of the pitch angle element, and the first expression is:

   

   Calculating the azimuth angle element by using the a _n , the b _n , the c _n and the d _n , and a second expression;

   The second expression is used to represent the value of the azimuth angle element, and the second expression is:

   
6. The method according to any one of claims 2 to 5, wherein the adjusting the emission angle of the beam emitted by the antenna device according to the target configuration value comprises:

   After the configuration address used to determine the current output of the beam is switched to the target configuration address, the target configuration value is used to perform beamforming on the beam inputting the service data of the antenna device to adjust the transmission angle to the target configuration address. The target angle is described, and the adjusted beam is obtained;

   The method also includes:

   Switch the emission angle of transmitting the beam to the target angle, and transmit the adjusted beam according to the target angle.
7. An antenna device, characterized in that the antenna device includes:

   An attitude acquisition module, which is used to acquire actual attitude data of the antenna device;

   A processing module, configured to calculate attitude deviation data according to the preset attitude data and the actual attitude data;

   When it is determined that the posture deviation data falls within a preset deviation threshold, determine the target configuration value corresponding to the posture deviation data according to the correspondence relationship between the posture deviation data and the configuration value;

   The attitude adjustment module is configured to adjust the emission angle of the beam emitted by the antenna device according to the target configuration value, so that the adjusted emission angle is consistent with the target angle.
8. The antenna device according to claim 7, wherein the processing module is specifically configured to:

   Determining the target configuration address corresponding to the attitude deviation data according to the correspondence between the attitude deviation data and the configuration address, where the target configuration address is used to control the angle of the antenna device transmitting beam;

   The target configuration value corresponding to the target configuration address is determined according to the correspondence between the configuration address and the configuration value.
9. The antenna device according to claim 8, wherein the attitude acquisition module is specifically configured to:

   Acquiring angular velocity ω T _n-1 time of the antenna device of the first quaternion Q _n-1 and T _n of the _n-time;

   

   a _n-1 , b _n-1 , c _n-1 and d _n-1 are all real numbers;

   The processing module is specifically configured to: at the _{time T n} , use the first quaternion Q _n-1 and the angular velocity ω _n to calculate the actual attitude data, and the T _n-1 is the n-th 1 cycle starting time, the starting time T _n is the n-th cycle, the n is a positive integer, the pose data acquisition period is T.
10. The antenna device according to claim 8 or 9, wherein the actual attitude data includes a pitch angle element and an azimuth angle element, and the processing module includes a programmable device, and the programmable device is used for:

    The quaternion iterative algorithm is used to solve the quaternion differential equation composed of the first quaternion and the angular velocity, and the second quaternion Q _{n of the antenna device at the T n} is calculated. Two quaternion Q _n includes scalar and vector;

    

    a _n, b _n, c _n and d _n are real _{number, ω x, ω y, ω} z ω _n are in the order of X axis, Y axis and Z axis component;

    Among them, a _n =a _n-1 +((-b _n-1 *ω _x -c _n-1 *ω _y -d _n-1 *ω _z )>>1);

    b _n = b _n-1 +((a _n-1 *ω _x +c _n-1 *ω _z -d _n-1 *ω _y )>>1);

    c _n = c _n-1 +((a _n-1 *ω _y -b _n-1 *ω _z +d _n-1 *ω _x )>>1);

    d _n =d _n-1 +((a _n-1 *ω _z +b _n-1 *ω _y -c _n-1 *ω _x )>>1);

    Using the a _n, the b _n, c _n a d _n and the pitch angle are calculated to obtain the azimuth angle element and said element;

    Determine the deviation range to which the attitude deviation data belongs according to the pitch angle element and the azimuth angle element;

    The target configuration address is obtained according to the correspondence between the elevation angle element, the azimuth angle element and the configuration address, and the deviation range.
11. The antenna device according to claim 10, wherein the programmable device is specifically used for:

    Calculating the pitch angle element by using the a _n , the b _n , the c _n , the d _n , and the first expression;

    The first expression is used to indicate the value of the pitch angle element, and the first expression is:

    

    Calculating the azimuth angle element by using the a _n , the b _n , the c _n and the d _n , and a second expression;

    The second expression is used to represent the value of the azimuth angle element, and the second expression is:

    
12. The antenna device according to any one of claims 8 to 11, wherein the attitude adjustment module is specifically configured to:

    After the configuration address used to determine the current output of the beam is switched to the target configuration address, the target configuration value is used to perform beamforming on the beam inputting the service data of the antenna device to adjust the transmission angle to the target configuration address. The target angle is described, and the adjusted beam is obtained;

    The antenna device also includes a transmitting module, and the transmitting module is used to:

    Switch the emission angle of transmitting the beam to the target angle, and transmit the adjusted beam according to the target angle.
13. The antenna device according to any one of claims 7 to 12, the attitude acquisition module is integrated in the antenna device or installed on the antenna device through strapdown, the attitude acquisition module includes an acceleration sensor and a gyroscope sensor The acceleration sensor is used to obtain the pitch angle and the azimuth angle, and the gyroscope sensor is used to obtain the three-axis angular velocity of the antenna device in real time.
14. The antenna device according to claim 13, wherein the programmable device is further used for filtering and smoothing the three-axis angular velocity input from the gyroscope sensor to the programmable device. To

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