CN115224486B - Satellite tracking method and system based on phased array antenna - Google Patents
Satellite tracking method and system based on phased array antenna Download PDFInfo
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/005—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using remotely controlled antenna positioning or scanning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture
- H01Q3/30—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array
- H01Q3/34—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array by electrical means
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Abstract
The application discloses a satellite tracking method and a satellite tracking system based on a phased array antenna, wherein the method comprises the steps of receiving position and posture data sent by an airborne inertial reference system in real time; the method comprises the steps of predicting position posture data after a total delay time difference based on the position posture data of a current moment and a previous historical moment, wherein the total delay time difference is the interval duration of starting adjustment action when data are sent from an airborne inertial reference system to a phased array antenna each time, and generating a wave control code for regulating and controlling the phase of the antenna based on the position posture data after the total delay time difference generated by prediction so as to control the phased array antenna to conduct wave beam pointing and star tracking. The application further updates and predicts the position and posture data after the total delay time difference of the system based on the currently acquired position and posture data, can determine the most suitable satellite link according to the real-time navigation posture, and effectively improves the accuracy and dynamic application range of satellite tracking.
Description
Technical Field
The application relates to the technical field of satellite communication, in particular to a satellite tracking method and system based on a phased array antenna.
Background
In on-board satellite communications, the design of multimode architecture supports the use of multiple satellite systems, but the tracking accuracy requirements of different satellite systems are different. At present, the position and posture data for regulating and controlling the airborne phased array antenna to conduct beam pointing is generally obtained from an airborne inertial reference system, the real-time accuracy is poor, and the accuracy of open-loop tracking are limited. In view of this, it has been a great need for a person skilled in the art to provide a solution to the above-mentioned technical problems.
Disclosure of Invention
The application aims to provide a satellite tracking method and a satellite tracking system based on a phased array antenna so as to effectively improve the real-time accuracy of satellite tracking.
In order to solve the technical problems, on the one hand, the application discloses a satellite tracking method based on a phased array antenna, which comprises the following steps:
receiving position and posture data sent by an airborne inertial reference system in real time;
Predicting position posture data after a total delay time difference based on position posture data of a current moment and a previous historical moment, wherein the total delay time difference is the interval duration of each time of sending data from the airborne inertial reference system to the phased array antenna to start an adjustment action;
and generating a wave control code for regulating and controlling the antenna phase based on the position and posture data after the total delay time difference generated by prediction so as to control the phased array antenna to carry out beam pointing and star tracking.
Optionally, the method further comprises:
determining a target baseband board card currently used;
judging whether the target baseband board card adopts a high orbit satellite system or not;
If yes, starting a prediction function for the position and posture data after the total delay time difference so as to generate a wave control code based on the position and posture data after the total delay time difference generated in a prediction mode;
If not, closing the prediction function of the position and posture data after the total delay time difference so as to generate a wave control code based on the position and posture data at the current moment.
Optionally, the position pose data includes latitude and longitude data and three-dimensional pose data.
Optionally, the total delay time difference is determined based on the following calculation formula:
td=tIRS+ts+tb+tc;
Wherein t d is the total delay time difference, t IRS is the data transmission delay time of the airborne inertial reference system, t s is the prediction time of position and posture data, t b is the generation time of a wave control code, and t c is the wave control time.
Optionally, the predicting the position posture data after the total delay time difference based on the position posture data of the current time and the previous historical time includes:
calculating position posture data after the total delay time difference according to the position posture data of the current moment and the previous moment based on the following prediction formula:
;
Wherein, Position and posture data at the current moment; position and posture data of the previous moment; Position and posture data after the total delay time difference, t k is the current time, t k-1 is the previous time, and t d is the total delay time difference.
In yet another aspect, the present application also discloses a phased array antenna-based satellite tracking system, including:
the data acquisition module is used for receiving the position and posture data sent by the airborne inertial reference system in real time;
The position posture prediction module is used for predicting position posture data after a total delay time difference based on the position posture data of the current moment and the previous historical moment, wherein the total delay time difference is the interval duration of each time of sending data from the airborne inertial reference system to the phased array antenna for starting adjustment action;
and the wave control code calculation module is used for generating wave control codes for regulating and controlling the antenna phase based on the position and posture data after the total delay time difference generated by prediction so as to control the phased array antenna to carry out beam pointing and star tracking.
Optionally, the method further comprises:
the system comprises a plurality of baseband board cards and a transfer module, wherein the baseband board cards and the transfer module are arranged in a modulation-demodulation and management unit of the phased array antenna, and the transfer module is used for clamping a selected target baseband board into a transmitting unit of the phased array antenna;
the wave control code calculation module is connected with the switching module and is specifically used for determining the target baseband board card connected with the switching module currently and judging whether the target baseband board card adopts a high orbit satellite system or not, if so, starting a prediction function of the position and posture prediction module so as to generate a wave control code based on position and posture data after the total delay time difference generated by prediction, and if not, closing the prediction function of the position and posture prediction module so as to generate the wave control code based on the position and posture data at the current moment.
Optionally, the baseband board card includes a first baseband board card and a second baseband board card, where the first baseband board card uses a high-orbit satellite system and the second baseband board card uses a low-orbit satellite system.
Optionally, the method further comprises:
and the management module is arranged in the modulation-demodulation and management unit of the phased array antenna and is used for controlling the switching module to clamp the selected target baseband board into the transmitting unit of the phased array antenna according to the input board clamping instruction.
Optionally, the method further comprises:
and the wave control circuit is connected with the wave control code calculation module and is used for controlling the phased array antenna to carry out beam pointing and star tracking according to the wave control code.
The satellite tracking method and the satellite tracking system based on the phased array antenna have the advantages that on the basis of the currently acquired position and posture data, the position and posture data after the total delay time difference of the system are further updated and predicted, so that control errors generated by data change in the interval time from the transmission of data from the airborne inertial reference system to the start of adjustment action of the phased array antenna are reduced, the most suitable satellite link can be determined according to the real-time navigation posture, and the accuracy and the dynamic application range of satellite tracking are effectively improved.
Drawings
In order to more clearly illustrate the technical solutions in the prior art and the embodiments of the present application, the following will briefly describe the drawings that need to be used in the description of the prior art and the embodiments of the present application. Of course, the following drawings related to embodiments of the present application are only a part of embodiments of the present application, and it will be obvious to those skilled in the art that other drawings can be obtained from the provided drawings without any inventive effort, and the obtained other drawings also fall within the scope of the present application.
Fig. 1 is a flowchart of a method for tracking satellites based on a phased array antenna according to an embodiment of the present application;
fig. 2 is a block diagram of a star tracking system based on a phased array antenna according to an embodiment of the present application.
Detailed Description
The core of the application is to provide a star tracking method and a system based on a phased array antenna so as to effectively improve the real-time accuracy of the star tracking.
In order to more clearly and completely describe the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In general, an aircraft using a satellite communication system (satellite communication system) such as an airplane, a helicopter, or the like is generally equipped with an on-board inertial reference system (INERTIAL REFERENCE SYSTEM, IRS). The inertial reference system is a system which is composed of inertial devices and can provide true heading and attitude angle references of a carrier and navigation data. However, in practical applications, the applicant has found that the accuracy of star tracking is limited by the time delay problem of the on-board inertial reference system. In view of the above, the present application provides a star tracking scheme, which can effectively solve the above problems.
Referring to fig. 1, the embodiment of the application discloses a satellite tracking method based on a phased array antenna, which is applied to an airborne satellite communication system and mainly comprises the following steps:
S101, receiving position and posture data sent by an onboard inertial reference system in real time.
It is readily understood that the position pose data may include latitude and longitude data and three-dimensional pose data, in particular.
S102, predicting the position posture data after the total delay time difference based on the position posture data of the current moment and the previous historical moment, wherein the total delay time difference is the interval duration of each time of transmitting data from the airborne inertial reference system to the phased array antenna to start the adjustment action.
And S103, generating a wave control code for regulating and controlling the antenna phase based on the position and posture data after the total delay time difference generated by prediction so as to control the phased array antenna to conduct beam pointing and star tracking.
In particular, it should be noted that, because of the problems of time delay, data transmission intervals and the like of the airborne inertial reference system, the position and posture data of the aircraft have actually changed in the process from the regulation and control of the phased array antenna by the satellite system according to the position and posture data acquired from the airborne inertial reference system to the start and adjustment of the phased array antenna. Therefore, the direct beam pointing regulation and control according to the position and posture data acquired from the airborne inertial reference system can cause a certain control error, and the accuracy of star tracking is affected.
In this regard, the present application provides a scheme for accurately predicting the position and orientation data, and the target time to be predicted is specifically the time after the current time passes the total delay time difference. The current time corresponds to the time of sending the position and posture data acquired last time, the previous history time corresponds to the time of sending the position and posture data acquired last time, for example, the previous time corresponds to the time of sending the position and posture data acquired last time, and the total delay time difference refers to the interval time from the airborne inertial reference system to the phased array antenna for starting the adjustment action each time.
When the position and orientation data is predicted, at least two time data are required to be obtained as prediction basis. And of course, the closer to the current time the more predictive value the data. Thus, as a specific embodiment, the present application may specifically use the position and orientation data of the current time and the previous time to make predictions. Based on this, the person skilled in the art can also add some data as prediction basis to further improve the accuracy of the prediction result.
Therefore, the satellite tracking method based on the phased array antenna, provided by the application, further updates and predicts the position and posture data after the total delay time difference of the system on the basis of the currently acquired position and posture data, reduces the control error generated by data change in the interval time from the transmission of data from the airborne inertial reference system to the start and adjustment action of the phased array antenna, can determine the most suitable satellite link according to the real-time navigation posture, and effectively improves the accuracy and dynamic application range of satellite tracking.
As a specific embodiment, the star tracking method based on the phased array antenna provided by the embodiment of the application determines the currently used target baseband board card based on the above content;
judging whether the target baseband board card is a high orbit satellite system or not;
If yes, starting a prediction function for position and posture data after the total delay time difference so as to generate a wave control code based on the position and posture data after the total delay time difference generated by prediction;
If not, the prediction function for the position and posture data after the total delay time difference is closed so as to generate the wave control code based on the position and posture data at the current moment.
Specifically, in the multimode architecture, a plurality of baseband board cards and a switching module are arranged in a modem and management unit of the phased array antenna, and the switching module is used for clamping a selected target baseband board into a transmitting unit of the phased array antenna.
Different baseband boards can adopt different satellite systems, and the different satellite systems have different tracking precision requirements, namely a high Orbit satellite system is also called a geostationary Orbit satellite system (Geostationary Earth Orbits, GEO), which has higher requirements on satellite precision, and a Low Orbit satellite system (LEO) has lower requirements on satellite precision.
In particular, high orbit satellite systems use geosynchronous satellites located 35800km above the equator. At this level, a satellite can cover almost the entire hemisphere, forming a regional communication system that serves any place within its satellite coverage. The low orbit satellite system has lower satellite orbit height, is a large satellite system which is generally composed of a plurality of satellites and is used for processing real-time information, is mainly used for military target detection, obtains high-resolution images of targets, and is also used for mobile phone communication.
Therefore, the application can determine the baseband board card connected with the transfer module at present as the target baseband board card and judge whether the target baseband board card adopts a high orbit satellite system or not. If yes, the prediction function of the position and posture data is started so as to generate the wave control code based on the position and posture data after the total delay time difference generated by prediction, and if not, the prediction function of the position and posture data is closed so as to generate the wave control code based on the position and posture data at the current moment.
As a specific embodiment, the star tracking method based on the phased array antenna provided by the embodiment of the present application is based on the above description, and the total delay time difference is determined based on the following calculation formula:
td=tIRS+ts+tb+tc;
Wherein t d is the total delay time difference, t IRS is the data transmission delay time of the airborne inertial reference system, t s is the prediction time of the position and posture data, t b is the generation time of the wave control code, and t c is the wave control time.
Specifically, t IRS is generally determined and stored in the antenna when the aircraft is first installed, t s is specifically determined by the calculation amount of the adopted position and posture data prediction algorithm and can be stored in the antenna in advance, t b is specifically determined by the calculation amount of the adopted wave control code generation algorithm and can be stored in the antenna in advance, and t c is determined by the circuit structure design of the antenna and can be stored in the antenna in advance.
As a specific embodiment, the method for tracking satellites based on a phased array antenna provided by the embodiment of the present application predicts position and posture data after a total delay time difference based on position and posture data at a current time and a previous historical time based on the above content, and includes:
calculating position posture data after the total delay time difference according to the position posture data of the current moment and the previous moment based on the following prediction formula:
;
Wherein, Position and posture data at the current moment; position and posture data of the previous moment; Position and posture data after the total delay time difference, t k is the current time, t k-1 is the previous time, and t d is the total delay time difference.
Specifically, in this embodiment, linear prediction is performed according to the data of the current time and the previous time. Wherein, t k is the current time, t k-1 is the previous time, t d is the total delay time difference, and t w=tk+td is the future time when the corresponding position and orientation data needs to be obtained through prediction. Based on linear prediction, it can be assumed that:
;
Solving the linear parameters a and b and substituting the linear parameters into the linear parameters
;
The above-mentioned predictive formula can be obtained.
Referring to fig. 2, the embodiment of the application discloses a satellite tracking system based on a phased array antenna, which mainly comprises:
the data acquisition module 201 is used for receiving the position and posture data sent by the airborne inertial reference system in real time;
The position and posture prediction module 202 is configured to predict position and posture data after a total delay time difference based on position and posture data at a current time and a previous historical time, where the total delay time difference is an interval duration for starting an adjustment action when data is sent from the airborne inertial reference system to the phased array antenna each time;
The wave control code calculation module 203 is configured to generate a wave control code for adjusting and controlling the phase of the antenna based on the position and posture data after the total delay time difference generated by prediction, so as to control the phased array antenna to perform beam pointing and star tracking.
As a specific embodiment, the phased array antenna-based satellite tracking system disclosed in the embodiment of the present application further includes:
A plurality of baseband board cards 204 and a switching module 205 which are arranged in a modulation-demodulation and management unit of the phased array antenna, wherein the switching module 205 is used for clamping a selected target baseband board into a transmitting unit of the phased array antenna;
The wave control code calculation module 203 is connected to the switching module 205, and is specifically configured to determine a target baseband board card currently connected to the switching module 205, determine whether the target baseband board card is a high orbit satellite system, if yes, turn on a prediction function of the position and posture prediction module 202 so as to generate a wave control code based on position and posture data after a total delay time difference generated by prediction, and if no, turn off the prediction function of the position and posture prediction module 202 so as to generate the wave control code based on the position and posture data at the current moment.
As a specific embodiment, in the satellite tracking system based on the phased array antenna disclosed in the embodiment of the present application, based on the above description, the baseband board 204 includes a first baseband board card and a second baseband board card, where the first baseband board card uses a high-orbit satellite system, and the second baseband board card uses a low-orbit satellite system.
As a specific embodiment, the phased array antenna-based satellite tracking system disclosed in the embodiment of the present application further includes:
The management module 206, disposed in the modem and management unit of the phased array antenna, is configured to control the switching module 205 to connect the selected target baseband board to the transmitting unit of the phased array antenna according to the input board connection instruction.
As a specific embodiment, the phased array antenna-based satellite tracking system disclosed in the embodiment of the present application further includes:
the wave control circuit 207 is connected with the wave control code calculation module 203 and is used for controlling the phased array antenna to conduct beam pointing and star tracking according to the wave control code.
Therefore, the satellite tracking system based on the phased array antenna disclosed by the embodiment of the application further updates and predicts the position and posture data after the total delay time difference of the system on the basis of the currently acquired position and posture data, reduces the control error generated by data change in the interval time from the transmission of data from the airborne inertial reference system to the start of the adjustment action of the phased array antenna, can determine the most suitable satellite link according to the real-time navigation posture, and effectively improves the accuracy and dynamic adaptation range of satellite tracking.
For the specific content of the above-mentioned star tracking system based on the phased array antenna, reference may be made to the foregoing detailed description of the star tracking method based on the phased array antenna, which will not be repeated here.
In the application, each embodiment is described in a progressive manner, and each embodiment is mainly used for illustrating the difference from other embodiments, and the same similar parts among the embodiments are mutually referred. For the apparatus disclosed in the examples, since it corresponds to the method disclosed in the examples, the description is relatively simple, and the relevant points are referred to in the description of the method section.
It should also be noted that in this document, relational terms such as "first" and "second" are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The technical scheme provided by the application is described in detail. The principles and embodiments of the present application have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present application and its core ideas. It should be noted that it will be apparent to those skilled in the art that the present application may be modified and practiced without departing from the spirit of the present application.
Claims (8)
1. A method for tracking satellites based on a phased array antenna, comprising:
Receiving position and posture data sent by an airborne inertial reference system in real time, wherein the position and posture data comprises longitude and latitude data and three-dimensional posture data;
Predicting position posture data after a total delay time difference based on position posture data of a current moment and a previous historical moment, wherein the total delay time difference is the interval duration of each time of transmitting data from the airborne inertial reference system to the phased array antenna to start an adjustment action;
Generating a wave control code for regulating and controlling the antenna phase based on the position and posture data after the total delay time difference generated by prediction so as to control the phased array antenna to carry out beam pointing and star tracking;
Wherein the total delay time difference is determined based on the following calculation formula:
td=tIRS+ts+tb+tc;
Wherein td is the total delay time difference, tIRS is the data transmission delay time of the airborne inertial reference system, which is determined and stored in the phased array antenna when the aircraft is first installed, ts is the predicted time of the position and posture data, which is pre-stored in the phased array antenna, tb is the generation time of the wave control code, which is pre-stored in the phased array antenna, and tc is the wave control time, which is pre-stored in the phased array antenna.
2. The method of star tracking as defined in claim 1, further comprising:
determining a target baseband board card currently used;
judging whether the target baseband board card adopts a high orbit satellite system or not;
If yes, starting a prediction function for the position and posture data after the total delay time difference so as to generate a wave control code based on the position and posture data after the total delay time difference generated in a prediction mode;
If not, closing the prediction function of the position and posture data after the total delay time difference so as to generate a wave control code based on the position and posture data at the current moment.
3. The star tracking method according to claim 1 or 2, wherein predicting the position posture data after the total delay time difference based on the position posture data at the present time and the previous history time comprises:
calculating position posture data after the total delay time difference according to the position posture data of the current moment and the previous moment based on the following prediction formula:
;
Wherein, Position and posture data of the previous moment; Position and posture data after the total delay time difference, t k is the current time, t k-1 is the previous time, and t d is the total delay time difference.
4. A phased array antenna based satellite tracking system comprising:
The system comprises a data acquisition module, a data processing module and a data processing module, wherein the data acquisition module is used for receiving position posture data sent by an airborne inertial reference system in real time, and the position posture data comprises longitude and latitude data and three-dimensional posture data;
The position posture prediction module is used for predicting position posture data after a total delay time difference based on the position posture data of the current moment and the previous historical moment, wherein the total delay time difference is the interval duration of each time of transmitting data from the airborne inertial reference system to the phased array antenna to start an adjustment action;
The wave control code calculation module is used for generating a wave control code for regulating and controlling the antenna phase based on the position and posture data after the total delay time difference generated by prediction so as to control the phased array antenna to carry out beam pointing and star tracking;
Wherein the total delay time difference in the position and orientation prediction module is determined based on the following calculation formula:
td=tIRS+ts+tb+tc;
Wherein td is the total delay time difference, tIRS is the data transmission delay time of the airborne inertial reference system, which is determined and stored in the phased array antenna when the aircraft is first installed, ts is the predicted time of the position and posture data, which is pre-stored in the phased array antenna, tb is the generation time of the wave control code, which is pre-stored in the phased array antenna, and tc is the wave control time, which is pre-stored in the phased array antenna.
5. The pair star tracking system of claim 4, further comprising:
the system comprises a plurality of baseband board cards and a transfer module, wherein the baseband board cards and the transfer module are arranged in a modulation-demodulation and management unit of the phased array antenna, and the transfer module is used for clamping a selected target baseband board into a transmitting unit of the phased array antenna;
the wave control code calculation module is connected with the switching module and is specifically used for determining the target baseband board card connected with the switching module currently and judging whether the target baseband board card adopts a high orbit satellite system or not, if so, starting a prediction function of the position and posture prediction module so as to generate a wave control code based on position and posture data after the total delay time difference generated by prediction, and if not, closing the prediction function of the position and posture prediction module so as to generate the wave control code based on the position and posture data at the current moment.
6. The satellite tracking system of claim 5, wherein the baseband card comprises a first baseband card and a second baseband card, wherein the first baseband card employs a high orbit satellite system and the second baseband card employs a low orbit satellite system.
7. The pair star tracking system of claim 6, further comprising:
and the management module is arranged in the modulation-demodulation and management unit of the phased array antenna and is used for controlling the switching module to clamp the selected target baseband board into the transmitting unit of the phased array antenna according to the input board clamping instruction.
8. The pair star tracking system of any of claims 4 to 7, further comprising:
and the wave control circuit is connected with the wave control code calculation module and is used for controlling the phased array antenna to carry out beam pointing and star tracking according to the wave control code.
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