CN113791649B - Digital-guidance-based pipeline coverage dynamic tracking and capturing method - Google Patents
Digital-guidance-based pipeline coverage dynamic tracking and capturing method Download PDFInfo
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- CN113791649B CN113791649B CN202111087832.8A CN202111087832A CN113791649B CN 113791649 B CN113791649 B CN 113791649B CN 202111087832 A CN202111087832 A CN 202111087832A CN 113791649 B CN113791649 B CN 113791649B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
- G01S19/235—Calibration of receiver components
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Abstract
The invention discloses a digital-guidance-based pipeline coverage dynamic tracking and capturing method, and belongs to the technical field of antenna servo. Aiming at the rapid unmanned aerial vehicle data chain antenna servo system with high precision requirements, the invention performs the step overlapping of two axial directions of the antenna on the basis of common digital guidance, thereby greatly improving the success rate of the antenna for dynamically capturing the target on the basis of digital guidance.
Description
Technical Field
The invention relates to the technical field of antenna servo, in particular to a digital-guidance-based pipeline coverage dynamic tracking and capturing method.
Background
In the measurement and control of the space flight and the high-altitude high-speed aircraft, the digital guide information calculated by the system has great deviation due to inaccurate target positioning data and other reasons caused by GNSS time delay. Such deviations can result in an antenna pointing off target (lagging target, a narrow beam antenna leading to a second side lobe pointing at the target) in a digitally guided mode of operation, and the inability to track in a single pulse. The down signal fades quickly when the target flies far away, the data of the data have deviation, the antenna can not face the target, the information of the receiving link is interrupted, and the tracking is failed.
Disclosure of Invention
In view of the above, the invention provides a digital-guidance-based pipeline coverage dynamic tracking and capturing method, which is used for implementing the overlapping of two axial steps of an antenna on the basis of common digital guidance aiming at a high-precision-required fast unmanned aerial vehicle data chain antenna servo system, so that the success rate of dynamically capturing a target on the basis of digital guidance of the antenna is greatly improved.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a digital guidance-based pipeline coverage dynamic tracking capture method, wherein:
when the antenna works, the antenna is guided to wait in a designated area according to the system data, and once a target appears in an antenna beam, the antenna is automatically tracked in a turning way, so that the data of a link is ensured to be unblocked;
when the antenna waits, the servo system receives the AGC level calculated from the downlink, judges whether the antenna points to a target, and adds two-dimensional search on the basis of digital guidance due to deviation of guidance, namely, the two axial superposition step search of azimuth and elevation on the basis of digital guidance pointing data, so that the pointing of the antenna is not a linear track but a pipeline coverage based on a guiding value, thereby dynamically expanding the beam width of the antenna; the searching step distance is set according to the actually used antenna caliber and working frequency band, and the searching speed is set according to the maximum value of the movement speed of the antenna rotating shaft.
Further, when the channel coverage is in the range, if the received downlink AGC level is greater than the set threshold and the error voltage is less than the set threshold, the automatic tracking is shifted.
Further, the range of the search step distance S is as follows:
in θ 0.5 The half power beam width of the antenna, lambda is the wavelength of the antenna, and D is the diameter of the antenna;
search speed V s The range of the values is as follows:
V Max maximum speed for the axis of rotation of the antenna.
A digital guidance-based pipeline coverage dynamic tracking capture method, comprising the following steps:
step 1: the antenna servo system waits for the occurrence of a target in a designated area based on digital guidance, if the received downlink AGC level is greater than a set threshold and the error voltage is less than the set threshold, the automatic tracking is shifted to, otherwise, the step 2 is shifted to;
step 2: step search is overlapped in the azimuth axis, if the received downlink AGC level is larger than a set threshold and the error voltage is smaller than the set threshold, automatic tracking is carried out, otherwise, step 3 is carried out;
step 3: step search is overlapped in the pitching axis, if the received downlink AGC level is larger than a set threshold and the error voltage is smaller than the set threshold, automatic tracking is carried out, otherwise, step 2 is carried out;
the range of the search step distance S of the step search is as follows:
in θ 0.5 The half power beam width of the antenna, lambda is the wavelength of the antenna, and D is the diameter of the antenna;
search speed V of step search s The range of the values is as follows:
V Max maximum speed for the axis of rotation of the antenna.
The invention has the beneficial effects that:
1. the invention carries out step superposition of the numerical guide values of the two axial directions of the antenna on the basis of digital guide, so that the motion envelope of the antenna search target is in a pipeline shape, therefore, the method is a pipeline coverage capturing method, which is equivalent to a scene with high precision requirements on tracking the target by dynamically expanding the wave beam width of the antenna.
2. The invention can make the antenna automatically switch into an automatic tracking working mode when meeting the set tracking condition by timely judging the received error voltage and AGC in the antenna movement process.
Drawings
FIG. 1 is a flow chart of a method according to an embodiment of the invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
As shown in fig. 1, a pipeline covering dynamic tracking capturing method based on digital guidance comprises the following principles:
in the working of the antenna, although a given target area exists, the target direction has uncertainty, so the method firstly guides the antenna to wait in a designated area according to the system data, and once the target appears in the antenna beam, the method quickly turns to automatic tracking, ensures the smooth data of a link and ensures the smooth execution of a task.
During the waiting process, the servo system receives the AGC level calculated from the downlink and determines whether the antenna is pointed at the target (the target distance is different when the antenna is pointed at the target, the AGC level calculated from the downlink is different). Because of deviation of guidance, in order to capture a target with higher probability, the method adds two-dimensional search on the basis of digital guidance at a waiting point, namely, step search is overlapped in azimuth and pitching directions on the basis of digital guidance pointing data, so that the pointing of an antenna is not a linear track any more, but a pipeline cover based on a guiding value, which is equivalent to dynamically expanding the beam width of the antenna. The searching step is set according to the actually used antenna caliber and working frequency band, and the searching speed is set according to the maximum value of the movement speed of the antenna rotating shaft.
In the pipe coverage range, when the received downlink AGC level reaches the acquisition threshold (i.e., the AGC level is greater than the set threshold and the error voltage is less than the set threshold), automatic tracking is automatically shifted. The setting of the tracking condition can be based on the far field and near field dynamic sum of the target and the noise background level, and the threshold value is set by the system monitoring operator.
Specifically, the method comprises the following steps:
step 1: the antenna servo system waits for the occurrence of a target in a designated area based on digital guidance, if the received downlink AGC level is greater than a set threshold and the error voltage is less than the set threshold, the automatic tracking is shifted to, otherwise, the step 2 is shifted to;
step 2: step search is overlapped in the azimuth axis, if the received downlink AGC level is larger than a set threshold and the error voltage is smaller than the set threshold, automatic tracking is carried out, otherwise, step 3 is carried out;
step 3: step search is overlapped in the pitching axis, if the received downlink AGC level is larger than a set threshold and the error voltage is smaller than the set threshold, automatic tracking is carried out, otherwise, step 2 is carried out;
the range of the search step distance S of the step search is as follows:
in θ 0.5 The half power beam width of the antenna, lambda is the wavelength of the antenna, and D is the diameter of the antenna;
search speed V of step search s The range of the values is as follows:
V Max maximum speed for the axis of rotation of the antenna.
In a word, the invention aims at the high-precision-requirement fast unmanned aerial vehicle data chain antenna servo system, and performs the step overlapping of two axial directions of the antenna on the basis of common digital guidance, thereby greatly improving the success rate of dynamically capturing the target by the antenna on the basis of digital guidance.
Claims (3)
1. A pipeline covering dynamic tracking capturing method based on digital guidance is characterized in that,
when the antenna works, the antenna is guided to wait in a designated area according to the system data, and once a target appears in an antenna beam, the antenna is automatically tracked in a turning way, so that the data of a link is ensured to be unblocked;
when the antenna waits, the servo system receives the AGC level calculated from the downlink, judges whether the antenna points to a target, and adds two-dimensional search on the basis of digital guidance due to deviation of guidance, namely, the two axial superposition step search of azimuth and elevation on the basis of digital guidance pointing data, so that the pointing of the antenna is not a linear track but a pipeline coverage based on a guiding value, thereby dynamically expanding the beam width of the antenna; the searching step distance is set according to the actually used antenna caliber and working frequency band, and the searching speed is set according to the maximum value of the movement speed of the antenna rotating shaft; the range of the search step distance S is as follows:
in θ 0.5 The half power beam width of the antenna, lambda is the wavelength of the antenna, and D is the diameter of the antenna;
search speed V s The range of the values is as follows:
V Max maximum speed for the axis of rotation of the antenna.
2. The method for dynamically tracking and capturing pipeline coverage based on digital guidance according to claim 1, wherein when the pipeline coverage is in the range, if the received downlink AGC level is greater than a set threshold and the error voltage is less than the set threshold, the automatic tracking is shifted.
3. The pipeline coverage dynamic tracking and capturing method based on digital guidance is characterized by comprising the following steps of:
step 1: the antenna servo system waits for the occurrence of a target in a designated area based on digital guidance, if the received downlink AGC level is greater than a set threshold and the error voltage is less than the set threshold, the automatic tracking is shifted to, otherwise, the step 2 is shifted to;
step 2: step search is overlapped in the azimuth axis, if the received downlink AGC level is larger than a set threshold and the error voltage is smaller than the set threshold, automatic tracking is carried out, otherwise, step 3 is carried out;
step 3: step search is overlapped in the pitching axis, if the received downlink AGC level is larger than a set threshold and the error voltage is smaller than the set threshold, automatic tracking is carried out, otherwise, step 2 is carried out;
the range of the search step distance S of the step search is as follows:
in θ 0.5 The half power beam width of the antenna, lambda is the wavelength of the antenna, and D is the diameter of the antenna;
search speed V of step search s The range of the values is as follows:
V Max maximum speed for the axis of rotation of the antenna.
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