CN102662188A - Initializing method of mobile satellite communication antenna - Google Patents
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Abstract
The invention relates to an initializing method of a mobile satellite communication antenna. According to the method, the mobile satellite communication antenna provided with a low-cost inertia navigation system can fast align a satellite and accurately estimate an initial course angle of the low-cost inertia navigation system. The method comprises the steps of: firstly calculating a satellite searching instruction by utilizing the initial course and gesture information of the low-cost inertia navigation system, then controlling a pitch axis and a polarization axis of the antenna to rotate according to calculated pitch instruction angle and polarization instruction angle; controlling an azimuth axis to scan between 0 and 360 degrees at a constant speed, and finding out an accurate course instruction angle through a satellite beacon recognition technology; accurately estimating the initial course angle error of the low-cost inertia navigation system by utilizing three-coordinate calculation and an iterative algorithm; finally calculating the satellite searching instruction of the antenna again according to the estimated inertia navigation course and gesture information, and controlling the antenna to rotate according to the instruction angle and accurately align the satellite. After finishing initialization of the antenna by using the method, the antenna can track the satellite in real time with high precision.
Description
Technical Field
The application relates to an initialization method of a mobile satellite communication antenna, and relates to the fields of automatic control, inertial navigation and mobile satellite communication. The method can be widely applied to various mobile satellite communication devices, such as vehicle-mounted, ship-mounted and airborne mobile satellite communication antennas.
Background
The mobile satellite communication equipment can enable the satellite antenna to be always aligned to the geostationary satellite on a mobile carrier, realizes high-bandwidth real-time image and data transmission, and has very wide application prospect in departments of national defense, frontier defense, counter terrorism, emergency disaster relief, government and the like.
The mobile satellite communication antenna consists of an antenna feed system and a servo control system. The antenna feed system comprises an antenna surface, a duplexer, a filter, a down converter, an up converter, a waveguide and other components, and forms basic elements of the satellite communication system; the servo control system needs to drive the antenna surface to complete the functions of scanning, finding the satellite, stably tracking and the like, and the antenna surface is ensured to accurately point to the satellite in the moving process of the carrier.
The initialization process of the mobile satellite communication antenna is a process of completing initial satellite finding and determining the initial course of a carrier after the antenna is powered on, is a premise of ensuring that the antenna can track a satellite in real time and high precision under a dynamic state, and is also one of main core technologies of the mobile satellite communication antenna. Currently, the process of antenna initialization mainly refers to calculating the satellite-finding command angle (pitch angle, polarization angle, azimuth angle) of the antenna by means of position and attitude angle information given by a high-precision vehicle-mounted inertial navigation system, and controlling the antenna to align to a satellite. The scheme has high requirement on the inertial navigation system, in order to ensure that the antenna can lock the maximum satellite signal, the autonomous north-seeking precision of the inertial navigation system must reach more than 0.1 degrees, and the cost of the high-precision inertial navigation system far exceeds the cost of the mobile satellite communication antenna, which cannot be borne by most development units and users. In order to effectively reduce the cost, a low-precision vehicle-mounted inertial navigation system is required to be selected, and the low-precision inertial navigation system cannot automatically find north and output a correct course, so that an antenna cannot obtain an accurate satellite-aiming instruction angle. In order to solve the problem of initialization of a mobile satellite communication antenna based on low-precision inertial navigation, most of the current research units adopt the technology of 0-360-degree scanning of an antenna azimuth axis and satellite beacon signal peak recognition to realize antenna satellite finding, but the problem of calculating the initial course of an inertial navigation system by using satellite finding auxiliary information cannot be solved well, and particularly under the condition that a carrier provided with an antenna has a large pitch angle or a large roll angle, the course error of inertial navigation estimated by the existing method is large, so that the tracking performance of the mobile satellite communication antenna is greatly reduced.
Disclosure of Invention
Aiming at the technical problem, the method for initializing the mobile satellite communication antenna utilizes the antenna to scan by 0-360 degrees to search the satellite, and then estimates the initial course angle of the low-precision vehicle-mounted inertial navigation system through an algorithm of complete coordinate conversion and iterative progression. The method has good environmental adaptability, is suitable for the initial satellite finding process of the carrier under any attitude angle, and after the initialization is finished, the initial course precision of the inertial navigation system calculated by satellite finding auxiliary information can reach more than 0.1 degree. Compared with the existing initialization algorithm based on plane coordinate calculation, the method provided by the application can accurately estimate the initial course of the vehicle-mounted inertial navigation system in any attitude environment, so that the antenna can be ensured to accurately track the satellite after initialization is finished.
The antenna initialization method provided by the application has the design idea that: firstly, calculating a satellite searching command of an antenna by utilizing initial course and attitude information (course information contains larger errors) of a low-cost inertial navigation system, controlling a pitching axis and a polarization axis of the antenna to rotate according to a calculated pitching command angle and a calculated polarization command angle, then controlling an azimuth axis to scan between 0 and 360 degrees at a constant speed, and finding out an accurate course command angle by a satellite beacon identification technology; then accurately estimating the initial course angle error of the low-cost inertial navigation system by utilizing a three-coordinate calculation and iterative approximation algorithm; and finally, recalculating the satellite finding instruction of the antenna according to the correct inertial navigation course and attitude information, controlling the antenna to rotate according to the instruction angle and accurately aligning the antenna to the satellite. After the antenna initialization is completed by the method, the antenna can be ensured to track the satellite in real time with high precision.
The method comprises the following concrete implementation steps:
firstly, selecting a satellite to be tracked, and calculating a geographic coordinate system O-X of the satellite to be tracked at the location of an antenna according to formula 1tYtZtCoordinate value of (X)ta，Yta，Zta)T：
In the formula 1, R is the radius of the earth, and H is the height of a satellite to be tracked; λ ═ λa-λsIs the difference between the longitude of the location of the antenna and the longitude of the location of the satellite, whereaIs the longitude, λ, of the location of the antennasLongitude of the location of the satellite; l isaRepresenting the latitude value at the location of the antenna.
Secondly, after the antenna is electrified and reset, the beam center of the antenna is supposed to point to the geographic coordinate system OY of the antennatIf the axes are consistent, the pitch angle, azimuth angle, and polarization angle of the antenna beam required to point to the satellite can be expressed as:
In formula 2, θt，γtRespectively representing the pitching, the azimuth and the polarization tracking command angle of the antenna under the geographic coordinate system.
Thirdly, calculating the coordinate system O-X of the antennaaYaZaPitching command angle theta of lower antenna pointing to satellitepAzimuth command angle
Polarization command angle gammapThe calculation steps are as follows:
(1) calculating a rotation matrix of the antenna coordinate system (a system) when the geographic coordinate system (t system) is aligned with the satellite
Formula 3
(2) Calculating a rotation matrix from an antenna carrier coordinate system (system b, consistent with an antenna base coordinate system) to a geographic coordinate system
In formula 4, θb，γb，
And the pitch angle, the roll angle and the azimuth angle of the antenna carrier are respectively measured by the inertial navigation system. Because the inertial navigation system has lower precision and can not independently find the north
With a large error from the true azimuth angle, θb，γbThe initial precision of the antenna mainly depends on the accelerometer, generally, the output precision of the antenna is high, the error is small compared with the real attitude angle, and the requirements of the satellite finding and tracking indexes of the antenna can be met.
(3) Solving a rotation matrix between an antenna carrier coordinate system (b system, consistent with an antenna base coordinate system) and an antenna coordinate system when the antenna is aligned with a satellite
(4) After the antenna is electrified and reset, the antenna coordinate system is superposed with the carrier coordinate system, and at the moment, the calculation instruction angle of the antenna aiming at the satellite to be tracked is as follows:
formula 6
In formula 6, θp，γp，
The antenna pitching, polarization and azimuth star finding command angles are calculated according to the low-precision inertial navigation output. After the inertial navigation system is initially powered on, thetab，γbThe precision is high through the initial alignment;
by self-north-seeking, because the inertia device has lower precision,
with large errors. Thus, the antenna satellite finding command angle θp，γp，
There are large errors, and the antenna still cannot be aligned with the satellite after the antenna executes the above instructions.
Fourthly, controlling the pitching of the antenna and the polarization motor according to the command angle thetapAnd gammapThe antenna azimuth control system controls the antenna to slowly rotate for a circle around the azimuth axis at a certain angular speed, monitors the amplitude of a satellite beacon signal received by the antenna all the time in the rotating process, and records the azimuth angle of the antenna relative to the antenna coordinate system zero position at the maximum moment of the satellite signal
Fifthly, according to
And calculating the initial course angle of the inertial navigation system by using the following calculation formula:
Wherein,
In formula 9, θp，γpThe satellite finding command angle calculated for equation 6,
recording the azimuth angle of the antenna at the maximum time of the obtained satellite signal for the fourth step;
matrix calculated for equation 3
The transposed matrix of (a), namely:
sixthly, calculating the course angle of the inertial navigation obtained in the step five
Substituting into step three, use
Alternative procedure in formula 4
Repeating the third step to the fifth step, and calculating to obtain the inertial navigation course angle
Then the course angle
Substituting into step three to replace that in step three formula 4
Repeating the third step to the fifth step, and calculating to obtain the inertial navigation courseCornerBy such iteration and recursion, the initial course angle of inertial navigation can be calculated to beWherein n is more than or equal to 5.
Seven, handleSubstituting into the step three, calculating to obtain the final satellite finding command angle
The antenna is controlled to rotate according to the command angle, so that the antenna can be accurately aligned with the satellite.
Drawings
Fig. 1 is a schematic diagram of a command angle required by an antenna to align with a satellite in a geographic coordinate system according to the present application.
Fig. 2 is a relationship between a geographical coordinate system and a carrier coordinate system to which the present application relates.
Fig. 3 is a flow chart of initialization of a mobile satellite communication antenna according to the present invention.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
Suppose the satellite to be tracked is a satellite 5 of the middle star with a longitude of 110.5 degrees, and the longitude lambda of the place where the mobile satellite communication antenna is locatedaIs 116 degrees at latitude LaThe angle is 40 degrees, the radius R of the earth is 6378.17km, and the height H of the satellite is 36000 km; the pitch angle, roll angle and course angle of the antenna in the satellite-finding carrier coordinate system (the antenna carrier coordinate system is consistent with the antenna base coordinate system) are respectively assumed as follows: 0 °, 6 °, 0 °; because the low-cost inertial navigation system cannot accurately give a course angle, a pitch angle and a pitch angle can be accurately givenAnd if the roll angle is the following, the pitch angle, roll angle and course angle of the carrier measured by the inertial navigation system are respectively assumed to be: 0 degrees, 6 degrees and 10 degrees, and the course angle error of inertial navigation output is 10 degrees.
According to the formula 1, the coordinate values of the satellite in the geographic coordinate system can be calculated as follows:
the instruction calculated according to equation 2 is:
the satellite finding command angle calculated according to formula 6 is:
the rotation angle of the antenna corresponding to the time when the satellite signal is maximum when the antenna scans for 0-360 degrees can be calculated according to the real positions of the satellite and the antenna
Has a value of 194.68 degrees.
The calculation according to equation 7 of step five can be obtained:
after iteration, it can be calculated that:
from the above calculation results, after 3 iterations, the error between the azimuth angle of the inertial navigation system and the true azimuth angle is better than 0.005 °, so that the estimated inertial navigation azimuth angle can be ensured to be consistent with the true azimuth angle under the condition that the iteration number n is greater than or equal to 5.
Claims (2)
1. A method for initializing a mobile satellite communication antenna is characterized in that: the method comprises the following implementation steps:
the first step is as follows: selecting a satellite to be tracked, and calculating the coordinate value of the satellite to be tracked in the antenna geographic coordinate system;
the second step is that: calculating a pitch angle, an azimuth angle and a polarization tracking instruction angle of the geographic coordinate system pointing to the satellite to be rotated;
the third step: calculating a pitching instruction angle, an azimuth instruction angle and a polarization instruction angle of the antenna beam pointing to the satellite to be rotated;
the fourth step: calculating to obtain an initial course angle of an inertial navigation system installed on the antenna by combining an antenna 0-360-degree scanning technology and an iterative recursion algorithm according to the pitching instruction angle, the azimuth instruction angle and the polarization instruction angle obtained in the third step;
the fifth step: recalculating an antenna satellite finding instruction angle according to the initial course angle of the inertial navigation system obtained in the fourth step;
and a sixth step: and controlling the antenna to align the satellite according to the satellite searching command angle obtained in the fifth step.
2. A method for initializing a mobile satellite communication antenna is characterized in that the method comprises the following implementation steps:
the first step is as follows: selecting a satellite to be tracked, and calculating a geographic coordinate system O-X of the satellite to be tracked at the location of the antenna according to the formula 1tYtZtCoordinate value of (X)ta，Yta，Zta)T：
In the formula 1, R is the radius of the earth, and H is the height of a satellite to be tracked; λ ═ λa-λsIs the difference between the longitude of the location of the antenna and the longitude of the location of the satellite, whereaIs the longitude, λ, of the location of the antennasLongitude of the location of the satellite; l isaRepresenting the latitude value at the location of the antenna.
The second step is that: after the antenna is powered on and reset, the beam center of the antenna is supposed to point to the geographic coordinate system OY of the antennatIf the axes are consistent, the pitch angle, azimuth angle, and polarization angle of the antenna beam required to point to the satellite can be expressed as:
In formula 2, θt，
γtRespectively representing the pitching, the azimuth and the polarization tracking command angle of the antenna under the geographic coordinate system. The third step: calculating the antenna coordinate system O-XaYaZaPitching command angle theta of lower antenna pointing to satellitepAzimuth command angle
Polarization command angle gammapThe calculation steps are as follows:
(1) calculating a rotation matrix of the antenna coordinate system (a system) when the geographic coordinate system (t system) is aligned with the satellite
(2) Calculating a rotation matrix from an antenna carrier coordinate system (system b, consistent with an antenna base coordinate system) to a geographic coordinate system
In formula 4, θb，γb，
And the pitch angle, the roll angle and the azimuth angle of the antenna carrier are respectively measured by the inertial navigation system. Because the inertial navigation system has lower precision and can not independently find the north
With a large error from the true azimuth angle, θb，γbThe initial precision of the antenna mainly depends on the accelerometer, generally, the output precision of the antenna is high, the error is small compared with the real attitude angle, and the requirements of the satellite finding and tracking indexes of the antenna can be met.
(3) Solving antenna carrier seatRotation matrix between the system of coordinates (b, corresponding to the antenna base coordinate system) to the antenna coordinate system when the antenna is aligned with the satellite
(4) After the antenna is electrified and reset, the antenna coordinate system is superposed with the carrier coordinate system, and at the moment, the calculation instruction angle of the antenna aiming at the satellite to be tracked is as follows:
formula 6
In formula 6, θp，γp，The antenna pitching, polarization and azimuth star finding command angles are calculated according to the low-precision inertial navigation output. After the inertial navigation system is initially powered on, thetab，γbThe precision is high through the initial alignment;
by self-north-seeking, because the inertia device has lower precision,
with large errors. Thus, the antenna satellite finding command angle θp，γp，
There are large errors, and the antenna still cannot be aligned with the satellite after the antenna executes the above instructions.
The fourth step: controlling the pitching and polarizing motors of the antenna according to the command angle thetapAnd gammapThe antenna azimuth control system controls the antenna to slowly rotate for a circle around the azimuth axis at a certain angular speed, monitors the amplitude of a satellite beacon signal received by the antenna all the time in the rotating process, and records the azimuth angle of the antenna relative to the antenna coordinate system zero position at the maximum moment of the satellite signal
The fifth step: according to
And calculating the initial course angle of the inertial navigation system by using the following calculation formula:
formula 7
Wherein,
In formula 9, θp，γpThe satellite finding command angle calculated for equation 6,
recording the azimuth angle of the antenna at the maximum time of the obtained satellite signal for the fourth step;
matrix calculated for equation 3The transposed matrix of (a), namely:
and a sixth step: calculating the course angle of the inertial navigation obtained in the step fiveSubstituting into step three, useAlternative procedure in formula 4Repeating the third step to the fifth step, and calculating to obtain the inertial navigation course angle
Then the course angle
Substituting into step three to replace that in step three formula 4
Repeating the third step to the fifth step, and calculating to obtain the inertial navigation course angle
By such iteration and recursion, the initial course angle of inertial navigation can be calculated to be
Wherein n is more than or equal to 5.
The seventh step: handle
Substituting into the step three, calculating to obtain the final satellite finding command angle
The antenna is controlled to rotate according to the command angle, so that the antenna can be accurately aligned with the satellite.
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