CN115360516B - Satellite searching control method of satellite antenna in inclined state - Google Patents
Satellite searching control method of satellite antenna in inclined state Download PDFInfo
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- CN115360516B CN115360516B CN202211276581.2A CN202211276581A CN115360516B CN 115360516 B CN115360516 B CN 115360516B CN 202211276581 A CN202211276581 A CN 202211276581A CN 115360516 B CN115360516 B CN 115360516B
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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
- H01Q3/02—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 mechanical movement of antenna or antenna system as a whole
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Abstract
The invention discloses a satellite finding control method of a satellite antenna in an inclined state, which comprises the following steps: acquiring longitude and latitude information of local coordinates according to a positioning module, and calculating a theoretical azimuth angle, a theoretical pitch angle and a theoretical polarization angle by combining satellite longitude parameters to be searched; the antenna automatically searches for a star in a shape of a Chinese character 'hui' from a theoretical angle position; when the antenna is at an inclined angle, the pitching motor drives the antenna to enable the antenna to move in the horizontal direction in the azimuth rotation process of the antenna. According to the invention, discretization processing is carried out on the azimuth angle range according to the elevation angle deviation, so that the influence on the elevation angle of the antenna during azimuth motion is effectively reduced, and the elevation angle deviation is corrected in time when the azimuth angle is changed. In the automatic satellite searching scanning, satellite signals are easily searched, the satellite searching efficiency is improved, and the requirement on the satellite searching field is greatly reduced.
Description
Technical Field
The invention belongs to the technical field of satellite communication, and particularly relates to a satellite finding control method of a satellite antenna in an inclined state.
Background
In the automatic satellite finding and scanning process of the satellite antenna equipment, in order to quickly lock a target satellite, the satellite antenna equipment is usually placed in an open area with relatively flat terrain in most cases. However, in a special or emergency situation, automatic satellite finding needs to be performed in an uneven terrain, especially in a situation where the antenna device is uneven left and right after being placed, and if the satellite is automatically found according to a satellite finding method on the flat ground, it is difficult to quickly search for a target satellite signal, and even a satellite signal cannot be searched at all.
The patent number CN104681986B introduces the idea of correcting the attitude of the antenna, that is, after the azimuth motor moves left or right for a fixed step length in different tilt states of the antenna, the tilt angle is corrected by controlling the movement of the tilt motor, so as to realize tilt star finding. This method has problems in that: when the azimuth moves left and right, the terrain inclines left and right, and the pitch angle correspondingly increases or decreases continuously along with the change of the azimuth, namely two variables exist simultaneously, so that satellite signals are difficult to search in automatic satellite searching scanning.
Disclosure of Invention
The present invention is directed to a satellite searching control method for a satellite antenna in an inclined state, so as to solve the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: a satellite searching control method of a satellite antenna in an inclined state comprises the following steps:
1) Acquiring longitude and latitude information of a local coordinate according to a positioning module, and calculating a theoretical azimuth angle, a theoretical pitch angle and a theoretical polarization angle by combining satellite longitude parameters to be searched;
2) The antenna automatically searches for a star in a shape of a Chinese character 'hui' from a theoretical angle position;
3) When the antenna is in an inclined state, the antenna rotates in multiple sections of directions, and the pitching motor drives the antenna after each section of rotation to enable the antenna to keep the same pitching angle with the antenna before the rotation.
Preferably, the theoretical azimuth calculation formula is:
the theoretical pitch angle calculation formula is as follows:
the theoretical polarization angle calculation formula is as follows:
wherein,
is the longitude of the orbit position of the satellite,
is the longitude in the local coordinate of the location,
is the local coordinate latitude.
Preferably, in the step 2), the antenna controls the azimuth motor, the pitch motor and the polarization motor to move in sequence and respectively near the corresponding theoretical angle positions, and starts to perform the automatic star finding scanning in a shape like a Chinese character 'hui'.
Preferably, the square-shaped automatic star finding scanning is to perform range scanning by using a motor with a theoretical azimuth angle as a center azimuth, perform range scanning by using a pitch motor with a theoretical pitch angle as a center, and perform right-up-left-down-right-once periodic scanning around the theoretical azimuth angle and the theoretical pitch angle; in the scanning process, the antenna simultaneously monitors and collects the operating parameters of an internal system, including a real-time azimuth angle, a pitch angle, a real-time collected signal AGC value and the like, and when the collected real-time signal AGC value is larger than a preset threshold value AGCs, cross adjustment fine search is carried out, so that accurate satellite locking is realized.
Preferably, when the antenna detects that the azimuth motor moves to the pitch angle read by the leftmost/right end and the pitch angle when the azimuth motor moves to the rightmost/left end has a certain difference, the tilt star finding process is started.
Preferably, the leftmost end of the range of motion of the azimuth motor is denoted as az f And the rightmost end is designated as az r And the whole azimuth range is denoted as [ az f ,az r ]In the interval [ az f ,az r ]Inserting several division points n-1 (n)>1 and is a positive integer), and let az f <az 1 <az 2 <…<az n-1 <az r Form n cell intervals [ az f ,az 1 ],(az 1 ,az 2 ],...,(az n-1 ,az r ](ii) a Azimuth motor firstly from az f Point movement to az 1 Stopping after the point, driving the pitching motor to move, adjusting the pitching angle and recovering to az f Angle value at the point; again from az 1 Point, moving to az 2 Pointing and adjusting the pitch angle, according toAnd so on; after the azimuth motor moves in each cell, the pitching motor is driven to move to adjust the pitching angle, so that the pitching angle is recovered to the pitching angle at the beginning of the cell, and the whole pitching adjustment process is the same as that of finding the star on the flat ground.
The invention has the technical effects and advantages that: when the antenna is used for finding the satellite under the condition of left and right inclination, discretization processing is carried out on the azimuth angle range according to the pitching angle deviation, the influence on the pitching angle of the antenna during azimuth motion is effectively reduced, and therefore the fact that the pitching angle deviation is corrected in time when the azimuth angle changes is guaranteed. In the automatic satellite searching scanning, satellite signals are easily searched, the satellite searching efficiency is improved, and the requirement on the satellite searching field is greatly reduced.
Drawings
FIG. 1 is a "Hui" font auto-seek star scan flow;
FIG. 2 is a schematic diagram of the movements of the "Hui" shaped auto-star-finding scanning azimuth motor and the pitching motor;
FIG. 3 is a process of pitch adjustment during tilted satellite search scanning;
FIG. 4 is a schematic diagram showing the variation of the pitching angle value without pitching adjustment, the pitching angle value after pitching interval adjustment, and the pitching angle value at flat ground with the movement of the azimuth motor during the tilt satellite-finding scanning;
fig. 5 is a schematic diagram illustrating a situation that a pitch angle value is changed with the movement of the azimuth motor when the azimuth motor is in a flat ground, without pitch adjustment, after pitch interval adjustment, by way of example.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The working principle of the satellite antenna is as follows: the receiving surface of the satellite antenna receives the signal sent by the satellite, and the signal is converted into the intermediate frequency signal after frequency conversionThe signal is sent to a signal acquisition module (beacon/carrier receiver) and a digital signal is output. A controller in the satellite antenna collects the digital signal (AGC value) of the beacon/carrier receiver in real time, and if the AGC value is 0 or less than a threshold value AGC s The target satellite is not considered to be searched, otherwise, the satellite is considered to be locked. Before finding a satellite, acquiring local longitude and latitude information, selecting a target satellite and a polarization mode, setting the frequency of a beacon/carrier receiver and setting a threshold value agc s And the like.
After the antenna receives a satellite finding instruction, the antenna firstly acquires local longitude and latitude information and satellite information according to positioning modules such as a Beidou/GPS and the like, and a theoretical azimuth angle calculation formula is adopted:
theoretical pitch angle calculation formula:
theoretical polarization angle calculation formula:
wherein,
is the longitude of the orbit position of the satellite,
is the longitude of the local coordinates and is,
is the local coordinate latitude;
calculating a theoretical azimuth angle, a theoretical pitch angle and a theoretical polarization angle (if the angle is circular polarization, the angle is zero); then the azimuth motor is controlled to move to a theoretical azimuth angle position, then the pitching motor is controlled to move to a theoretical pitching angle position, finally the polarization motor is controlled to move to a theoretical polarization angle position, and the star finding process in the shape of the Chinese character 'hui' shown in figure 1 is carried out.
During the automatic star finding scanning in the shape of the Chinese character hui, the azimuth motor scans in a range of +/-30 degrees by taking a theoretical azimuth angle as a center, the pitching motor scans in a range of +/-5 degrees by taking a theoretical pitching angle as a center, and the polarization motor is kept still; the specific process is as follows: after the azimuth motor and the pitching motor respectively move to the respective theoretical angle positions, keeping the pitching motor still, and moving the azimuth motor 30 degrees to the right; the pitching motor is lifted upwards by 0.3 degrees, and the direction keeps the motor motionless; keeping the pitching motor still, and moving the azimuth motor 60 degrees to the left; the pitching motor descends 0.6 degrees, and the motor is kept still in the azimuth; the tilt motor is kept stationary and the azimuth motor is moved 60 degrees to the right. Each pitching motor movement step is 0.3 degrees more than the previous pitching motor movement step, the azimuth scanning range is 60 degrees, and the antenna performs right-up-left-down-right-once periodic scanning, as shown in fig. 2 (in the figure, the transverse direction is the azimuth motor movement track schematic, and the longitudinal direction is the pitching motor movement track schematic). Simultaneously, data of a beacon/carrier receiver are collected in real time, and when the AGC value of the collected real-time signal is larger than a preset threshold value AGC s And performing cross adjustment fine search, thereby realizing accurate satellite locking.
Whether the antenna is inclined or not is detected, in the first scanning period, when the antenna detects that the azimuth motor reads a pitch angle at the leftmost/right end (after the pitch is raised by a certain step length), a certain difference delta el (the difference between (1) and (3) in the figure 4) exists between the pitch angle read by the azimuth motor at the leftmost/right end and the pitch angle read by the azimuth motor at the rightmost/left end, the inclination of the antenna is judged, and then the inclination star finding process is started.
As shown in fig. 3, during the tilted star finding scanning, the pitch adjustment process is as follows: when the angular satellite finding is carried out, the movement range of the azimuth motor is divided into n small intervals (as shown in figure 4), and the leftmost end of the movement range of the azimuth motor is marked as az f And the rightmost end is designated as az r And the whole azimuth range is denoted as [ az f ,az r ]In the interval [ az f ,az r ]Inserting several division points n-1 (n)>1 and is a positive integer), and let az f <az 1 <az 2 <…<az n-1 <az r Form n cell intervals [ az f ,az 1 ],(az 1 ,az 2 ],...,(az n-1 ,az r ]And intermittent movement is carried out between each small interval of the azimuth motor, and the pitching angle is adjusted in time, so that the variation of the pitching angle is kept in a small range after the azimuth motor moves in a complete scanning range. As in fig. 5, the antenna is here selected to be tilted to the left (low left and high right) and the azimuth motor is illustrated as scanning to the right as columns. In FIG. 5, as the azimuth motor moves to the right, the azimuth motor moves within the range [ az ] f ,az r ]Is divided into 5 parts which are respectively [ az f ,n1],(n1,n2],(n2,n3],(n3,n4],(n4,az r ](ii) a When the azimuth motor scans from left to right, the azimuth motor moves to the point n1 and then stops, at this time, although the pitching motor does not move, the pitching angle increases along with the right movement of the azimuth (linear change is taken as an example) because the antenna inclines to the left, and therefore according to the pitching angle acquired in real time, the pitching motor is driven to move downwards to reduce the pitching angle to the initial angle (at az) f Angle of point); then the azimuth motor continues to move from the point n1 to the point n2 and then stops, similarly, the pitch angle is reduced to the initial angle, and so on, after the azimuth motor moves for each small interval, the pitch motor is driven to move downwards to drive the pitch angle to the initial angle position according to the real-time collected pitch angle; after the azimuth motor has moved all the cells, it means that the azimuth motor has completed scanning from left to right, and the change is always kept in a small range, as shown in fig. 4-
As shown. Compare FIG. 4-
Figure 4 can be easily seen as the change of azimuth angle when seeking in the inclined condition
The pitch angle in the figure is always kept to be changed within a small range, so that the whole device is completeThe satellite searching process greatly reduces the influence of pitching on azimuth scanning like flat satellite searching, so that satellite signals can be easily searched in automatic satellite searching scanning, the satellite searching efficiency is improved, and the requirement on a satellite searching field is greatly reduced.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (4)
1. A satellite searching control method of a satellite antenna in an inclined state is characterized by comprising the following steps:
1) Acquiring longitude and latitude information of local coordinates according to a positioning module, and calculating a theoretical azimuth angle, a theoretical pitch angle and a theoretical polarization angle by combining satellite longitude parameters to be searched;
2) The antenna automatically searches for a star in a shape of a Chinese character 'hui' from a theoretical angle position;
entering an inclined satellite finding process when the antenna detects that the azimuth motor moves to the leftmost/right end to read the pitch angle and the pitch angle when the azimuth motor moves to the rightmost/left end have a difference value;
3) An inclined star finding process: when the antenna is in an inclined state, the antenna rotates in multiple sections of directions, and the pitching motor drives the antenna after each section of rotation to keep the same pitching angle as before the rotation; the leftmost end of the range of motion of the azimuth motor is recorded as az f And the rightmost end is designated as az r And the whole azimuth range is denoted as [ az f ,az r ]In the interval [ az f ,az r ]Inserting n-1 quantiles, n>1 is a positive integer, and az f <az 1 <az 2 <…<az n-1 <az r Form n cell intervals [ az f ,az 1 ],(az 1 ,az 2 ],...,(az n-1 ,az r ](ii) a Azimuth motor firstly from az f Point movement to az 1 Stopping after the point, driving the pitching motor to move, adjusting the pitching angle and recovering to az f At the time of pointThe angle value of (d); again from az 1 Point, moving to az 2 Pointing, adjusting the pitching angle and the like; after the azimuth motor moves in each cell, the pitching motor is driven to move to adjust the pitching angle, so that the pitching angle is recovered to the pitching angle at the beginning of the cell, and the whole pitching adjustment process is the same as that of finding the star on the flat ground.
2. The method for controlling satellite finding of a satellite antenna in a tilted state according to claim 1, wherein: the theoretical azimuth calculation formula is as follows:
the theoretical pitch angle calculation formula is as follows:
the theoretical polarization angle calculation formula is as follows:
wherein,
is the longitude of the orbit position of the satellite,
is the longitude in the local coordinate of the location,
is the local coordinate latitude.
3. The method for controlling satellite finding of a satellite antenna in a tilted state according to claim 1, wherein: in the step 2), the antenna controls the azimuth motor, the pitching motor and the polarization motor to move to the positions close to the respective corresponding theoretical angle positions in sequence, and then the automatic star finding scanning in the shape of the Chinese character 'hui' is started.
4. The method for controlling satellite finding of a satellite antenna in a tilted state according to claim 1, wherein: the Chinese character hui-shaped automatic star finding scanning uses a theoretical azimuth angle as a central azimuth motor to carry out range scanning, uses a theoretical pitch angle as a central pitch motor to carry out range scanning, and carries out right-up-left-down-right periodic scanning around the theoretical azimuth angle and the theoretical pitch angle; in the scanning process, the antenna simultaneously monitors and collects the operating parameters of an internal system, including a real-time azimuth angle, a pitch angle and a real-time collected signal AGC value, and when the collected real-time signal AGC value is larger than a preset threshold value AGCs, cross adjustment fine search is carried out, so that accurate satellite locking is realized.
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| CN104681986A (en) * | 2015-02-16 | 2015-06-03 | 南京中网卫星通信股份有限公司 | Satellite finding method of satellite antenna in inclined state |
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| CN108052122A (en) * | 2017-11-22 | 2018-05-18 | 南京邮电大学 | A kind of method of the antenna tracking of boat-carrying communication in moving |
| JP2021097403A (en) * | 2019-12-16 | 2021-06-24 | 株式会社東芝 | Satellite acquisition device and satellite acquisition method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112993517B (en) * | 2019-12-16 | 2024-03-29 | 株式会社东芝 | Satellite capturing device and satellite capturing method |
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Patent Citations (6)
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| CN103019259A (en) * | 2012-12-07 | 2013-04-03 | 北京爱科迪信息通讯技术有限公司 | Automatic compensation system and compensation method of gesture of portable satellite antenna |
| CN104681986A (en) * | 2015-02-16 | 2015-06-03 | 南京中网卫星通信股份有限公司 | Satellite finding method of satellite antenna in inclined state |
| CN104932532A (en) * | 2015-05-05 | 2015-09-23 | 南京中网卫星通信股份有限公司 | Backpack type satellite communication portable station control device and application method thereof |
| CN106410410A (en) * | 2016-10-09 | 2017-02-15 | 西安坤蓝电子技术有限公司 | Satellite capturing and tracking method for VSAT (Very Small Aperture Terminal) antenna system with physical level platform |
| CN108052122A (en) * | 2017-11-22 | 2018-05-18 | 南京邮电大学 | A kind of method of the antenna tracking of boat-carrying communication in moving |
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