JP3136375B2 - Antenna pointing device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an antenna pointing device for pointing an antenna used for maritime satellite communication or the like toward a satellite.

[0002]

2. Description of the Related Art Conventionally, as shown in FIG. 4, there has been proposed an antenna pointing device for pointing an antenna used for maritime satellite communication or the like toward a satellite.

In FIG. 4, a bridge 3 is mounted on a base 3.
-1, a cylindrical portion 10 'is planted so as to protrude upward, and two azimuthal shaft bearings 9-1 and 9 disposed therein are provided.
-1 'is fitted with the azimuth axis 10, and the arm 40-
An azimuth gimbal 40 is pivotally supported about this azimuth axis 10 via 1. The fork member 40-2 is fixed to the upper end of the azimuth gimbal 40. The fork member 40-2 has two elevation shaft bearings 16, 16 'orthogonal to the azimuth axis 10 and in the horizontal direction.

The elevation shafts 13 and 13 'provided at the corresponding positions of the legs 41-1 and 41-1' of the U-shaped mounting bracket 41 for mounting the antenna 14 are dynamically moved by the elevation shaft bearings 16 and 16 ', respectively. Fits. The mounting bracket 41 is attached to the elevation axis 13,
An elevation gyro 44 for detecting the angular velocity of the antenna 14 around 13 ', an elevation axis 13, 13' and the antenna 14
Antenna 14 about an axis orthogonal to both axes XX of
Gyro 45 for detecting the angular velocity of the
The first accelerometer 46 for detecting the inclination angle of the antenna 14 around the elevation axes 13 and 13 'and the second accelerometer 47 for detecting the inclination angle of the antenna 14 around the antenna axis XX are fixed.

A mounting bracket 41 is provided on one of the elevation axes 13.
And an elevation gear 48 coaxial with the gear. A pinion 50 provided on a rotation shaft of an elevation servomotor 49 fixed to a position corresponding to the fork member 40-2 of the azimuth gimbal 40 meshes with the elevation gear 48. On the other hand, the azimuth gear 11 is attached to the lower end of the azimuth axis 10, and the bridge 3-1 of the base 3 is mounted.
An azimuth servomotor 52 and an azimuth transmitter 53 are mounted thereon, and pinions (not shown) provided on their rotation shafts mesh with the azimuth gear 11 respectively.

FIG. 4 shows a control loop when an angular velocity detecting gyro such as a vibration gyro or a rate gyro is used as the elevation gyro 44 and the azimuth gyro 45. The output signal of the elevation gyro 44 is supplied to an integrator 54 and an amplifier 55
Is fed back to the elevation servomotor 49 via
The angular velocity of the antenna 14 about the elevation axes 13, 13 'with respect to the angular movement of the hull is maintained at zero.

On the other hand, the output signal of the first accelerometer 46 is
After the signal corresponding to the satellite altitude angle θ _S is reduced by manual setting or the like via the arc sine calculator 57, the signal is input to the integrator 54 through the attenuator 56. This loop is
Match elevation theta antenna 14 to the satellite altitude theta _S,
In a loop having a certain time constant, the attenuator 56 may be provided with an integral characteristic in order to compensate for drift fluctuation of the elevation gyro 44.

On the other hand, the output signal of the azimuth gyro 45 is fed back to the azimuth servomotor 52 through an integrator 58 and an amplifier 59, and the antenna 14 is moved to the antenna axis X-
Stabilize against angular motion of the hull around an axis perpendicular to both the X and elevation axes 13, 13 '.

On the other hand, the output signal of the azimuth transmitter 53 corresponding to the azimuth of the antenna is supplied to an adder 85, and this adder 8
5, a signal corresponding to the heading azimuth φ _C from the magnet compass or gyro compass and the satellite azimuth φ _S by manual setting or the like is calculated from the output signal φ of the azimuth transmitter 53. Is input to the integrator 58 through the amplifier 60. This loop antenna azimuth angle phi _A a (= φ _C + φ), to match the satellite azimuth angle phi _S, a loop with a certain time constant, since the amplifier 60 to compensate for drift variations of the azimuth gyro 45, integral Properties can also be provided. That is, in FIG.
The output terminals of the attenuator 56 and the amplifier 60 correspond to an integrating gyro torquer.

In FIG. 4, reference numeral 70 denotes the antenna 1
4 shows a coaxial cable for supplying a transmission signal or obtaining a reception signal from the antenna 14, and the coaxial cable 70 is connected to the azimuth axis 10 and the arm 40-1 of the azimuth gimbal 40 from outside the antenna apparatus. Antenna 14
The coaxial cable 70 is provided with a coil portion 70-1 for making the coaxial cable 70 flexible and passing the azimuth axis 10, and the azimuth axis 10 is slightly rotated to twist the coaxial cable 70. It has been made good.

By the way, it is conceivable that some margin of the coaxial cable 70 is not enough due to turning or yawing of the ship. Therefore, as shown in FIG.
The output signal of the azimuth transmitter 53 is supplied to the rewind controller 71 to determine whether the rotation of the azimuth axis 10, that is, the twist of the coaxial cable 70 has exceeded a predetermined angle, for example, ± 270 °. To judge
When the twist becomes ± 270 ° or more, the amplifier 5
Switching circuit 7 provided between the motor 9 and the azimuth servomotor 52
It is conceivable to reverse the azimuth servomotor 52 in order to make the azimuth gimbal 40 make one rotation in the direction of returning the twist of the coaxial cable 70 by controlling the azimuth servomotor 52.

[0012]

However, when the azimuth servo motor 52 is reversed by the output signal of the switching circuit 72, it takes a relatively long time to make the coaxial cable 70 make one rotation in the direction of reversing the twist. If the ship turns or yaws during this reversal operation, the azimuth gimbal 40
Has caused an extra rotation by the amount of turning and yawing of the ship with respect to the earth's surface, and there has been a disadvantage that the antenna 14 has deviated from the correct satellite direction.

[0013] In view of the above, the present invention provides a method in which the azimuth gimbal is rotated once in a direction for returning the twist of the coaxial cable.
An object of the present invention is to enable the antenna to return to the satellite direction again without error.

[0014]

The antenna pointing device of the present invention comprises, for example, a base 3, a support mechanism, and a coaxial cable 7 for feeding.
In an antenna pointing device comprising an antenna 14 having a zero, the support mechanism pivotally supports about an azimuth axis 10 perpendicular to the base 3 and an elevation angle perpendicular to the azimuth axis 10 at the top. An azimuth gimbal 40 which constitutes a fork-shaped member having shaft bearings 16 and 16 ', and an elevation shaft 13 which is rotatably fitted to the elevation shaft bearings 16 and 16'.
An antenna support member 41 having an antenna axis XX orthogonal to the elevation axes 13 and 13 'is fixedly mounted on the antenna support member 41, and fixed to the antenna support member 41.
A first gyro 44 having an input axis parallel to 13 ';
A second gyro 45 fixed to the antenna support member 41 and having an input axis orthogonal to both the antenna axis XX and the elevation axes 13 and 13 ′, fixed to the antenna support member 41, An accelerometer 46 for generating an output signal corresponding to the inclination of the axis XX with respect to the horizontal plane.
Azimuth axis 10 of azimuth gimbal 40 with respect to base 3
A signal obtained by subtracting a value corresponding to the altitude angle of the satellite from the output signal of the azimuth transmitter 53 transmitting the rotation angle and the accelerometer 46 is fed back to the substantial torquer of the first gyro 44. An amplifier 60 that feeds back a signal obtained by calculating an output signal φ of the bearing transmitter 53, a signal corresponding to the heading bearing angle φ _C and a signal corresponding to the satellite bearing angle φ _S to the substantial torquer of the second gyro 45; Rewind controller 71 having input of transmitter 53 as input
And a gain switching circuit 73 for switching the gain of the amplifier 60 operated by the output of the rewind controller 71. When the coaxial cable 70 is twisted beyond a predetermined angle, the rewind controller 71 The output signal φ of the transmitter 53, the heading azimuth φ _C and the satellite azimuth φ _S
And 2π signal or -2π signal
The signal is added, and the gain switching circuit 73 switches the gain of the amplifier 60 to a large value.

The antenna pointing device of the present invention is, for example, shown in FIG.
And in the above-described antenna pointing device as shown in FIG.
A limiter circuit 74 is provided on the output side of the amplifier 60.

[0016]

According to the present invention, the coaxial cable 70 has a predetermined angle.
Rewind controller 71 starts bearing when twisted beyond
Output signal of transceiver 53, heading azimuth angle φ_CAnd satellite azimuth φ
_S2π signal or −2
The π signal is added and the gain switching circuit 7 is added.
3 greatly switched the gain of the amplifier 60
So the azimuth servo system starts to rotate into the inertial space and the antenna
Stops at just one full turn
Once the torsion has been unwound and gone
It is possible to return to the satellite direction without error after turning.

In this case, since the gain of the amplifier 60 is switched to a large value, the operation of rewinding the antenna 14 becomes faster.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the antenna pointing device according to the present invention will be described below with reference to FIG. In this FIG.
Parts corresponding to those in FIG. 4 are denoted by the same reference numerals, and detailed description thereof will be omitted.

In the example of FIG. 1, a bridge portion 3-1 is provided on the base 3 as in FIG. 4, and a cylindrical portion 10 'is planted so as to protrude upward, and two orientations are arranged inside the cylindrical portion 10'. The azimuth shaft 10 is fitted to the shaft bearings 9-1 and 9-1 ', and the azimuth gimbal 40 is rotatably supported around the axis of the azimuth shaft 10 via an arm 40-1 at the upper end thereof. The fork member 40-2 is fixed to the upper end of the azimuth gimbal 40. The fork-shaped member 40-2 has two elevation shaft bearings 16, 16 'orthogonal to the azimuth axis 10 and in the horizontal direction.

The elevation shafts 13 and 13 'provided at the corresponding positions of the two legs 41-1 and 41-1' of the U-shaped mounting bracket 41 for mounting the antenna 14 are dynamically moved by the elevation shaft bearings 16 and 16 ', respectively. Fits. The mounting bracket 41 is attached to the elevation axis 13,
An elevation gyro 44 for detecting the angular velocity of the antenna 14 around 13 ', an elevation axis 13, 13' and the antenna 14
Antenna 14 about an axis orthogonal to both axes XX of
Gyro 45 for detecting the angular velocity of the
The first accelerometer 46 for detecting the inclination angle of the antenna 14 around the elevation axes 13 and 13 'and the second accelerometer 47 for detecting the inclination angle of the antenna 14 around the antenna axis XX are fixed.

The mounting bracket 41 has an elevation gear 48 coaxial with one of the elevation axes 13. A pinion 50 provided on a rotation shaft of an elevation servomotor 49 fixed to a position corresponding to the fork member 40-2 of the azimuth gimbal 40 meshes with the elevation gear 48.

On the other hand, an azimuth gear 11 is provided at the lower end of the azimuth axis 10.
And a direction servo motor 52 and a direction transmitter 53 are mounted on the bridge section 3-1 of the base 3 and pinions (not shown) provided on their rotating shafts are engaged with the direction gear 11 respectively.

The output signal of the elevation gyro 44 is
4. The feedback to the elevation servomotor 49 via the amplifier 55, and the elevation axes 13, 1 with respect to the angular motion of the hull.
The angular velocity of the antenna 14 around 3 'is kept at zero.

On the other hand, the output signal of the first accelerometer 46 is
After subtracting a signal corresponding to the satellite altitude angle θ _S from the arc sine calculator 57 through manual setting or the like, the signal is input to the integrator 54 through the attenuator 56. This loop to match the elevation angle theta of the antenna 14 to the satellite altitude theta _S, a loop with a certain time constant, the attenuator 56, in order to compensate for drift variations in elevation gyro 44, thereby including the integration characteristic You can also.

On the other hand, the output signal of the azimuth gyro 45 is fed back to the azimuth servomotor 52 through an integrator 58 and an amplifier 59, and the antenna 14 is moved to the antenna axis XX.
And stabilization against angular motion of the hull around an axis perpendicular to both the elevation axes 13, 13 '.

On the other hand, an output signal φ of the azimuth transmitter 53 corresponding to the azimuth of the antenna is supplied to an adder 85, and the adder 85 converts the output signal φ of the azimuth transmitter 53 into
After calculating a signal corresponding to the heading azimuth φ _C from the magnet compass or gyro compass and the satellite azimuth φ _S by manual setting or the like, the output signal of the adder 85 is input to the integrator 58 through the amplifier 60.

[0027] that this loop is to match the antenna azimuth angle phi _A satellite azimuth phi _S, a loop having a predetermined time constant, amplifier 60 will be provided with integration characteristic to compensate for drift variations of the azimuth gyro 45 You can also. In this case, in the present example of FIG. 1, each output terminal of the attenuator 56 and the amplifier 60 corresponds to an integrating gyro torquer.

In this embodiment, a coaxial cable 70 for supplying a transmission signal to the antenna 14 or obtaining a reception signal from the antenna 14 is connected to the arm 40-1 of the azimuth axis 10 and the azimuth gyro 40 from outside the antenna device. The coil portion 70-1 is provided to allow the coaxial cable 70 to have flexibility and to pass the azimuth axis 10, and the azimuth axis 10 is slightly rotated. The coaxial cable 70 is configured to be able to be twisted.

In this embodiment, the output signal of the direction transmitter 53 is supplied to a rewind controller 71. The rewind controller 71 determines whether the rotation of the azimuth axis 10, that is, the torsion of the coaxial cable 70 has exceeded a predetermined angle, for example, ± 270 °, and when the torsion exceeds ± 270 °, 2π signal or -2π signal that makes one rotation of the azimuth gimbal 40 in the direction to return the twist of the azimuth.

The 2π signal or -2π signal obtained at the output side of the rewind controller 71 is supplied to the adder 85. From the output signal φ of the azimuth transmitter 53, the heading azimuth φ from the magnet compass or gimbal compass is obtained. 2π signal or -2 _C and manual setting 1 rotating the azimuth gimbal 40 on the signal obtained by calculating a signal corresponding to the satellite azimuth angle phi _S by such
The π signal is added.

In this embodiment, a 2π signal or a −2π signal obtained at the output side of the rewind controller 71 is supplied to a gain switching circuit 73. The gain switching circuit 73 sets the gain of the amplifier 60 to a large value, for example, several tens to 1000 times when the 2π signal or the −2π signal is supplied.

The gain switching circuit 73 includes an adder 8
5 is determined, and when the output signal of the adder 85 becomes smaller than a predetermined value, for example, becomes substantially zero, the gain of the amplifier 60 is returned to the original gain.

Since the present embodiment is constructed as described above, the azimuth servo system calculates the azimuth angle φ from the magnet compass or the gyro compass from the output signal φ of the azimuth transmitter 53.
Signal obtained by calculating the signal is zero, corresponding to the _C and satellite azimuth angle phi _S, i.e. the azimuth angle phi _A (azimuth gimbal 40 of the antenna 14
Azimuth gimbal 40 on the angle at which the difference becomes zero rotation angle phi and the sum of the heading angle phi _C) and the satellite azimuth angle phi _S of settled down.

[0034] That is, when the twist _{φ + φ C -φ S = 0} ∴ φ = φ S -φ C coaxial cable 70, for example, ± 270 ° or more in this state, the direction opposite to the twist to the output side of the rewinding controller 71 2π signal that makes one rotation of the azimuth gimbal or-
The 2π signal is obtained, and the 2π signal or the −2π signal is supplied to the adder 85.
Is operated so that the output signal of the second signal becomes zero.

Φ + φ _C −φ _S ± 2π = 0 ∴ φ = φ _S −φ _C ± 2π That is, the azimuth gimbal 40 starts rotating simultaneously with the input of the 2π signal or -2π signal, and corresponds to the 2π signal or -2π signal. The angle, ie, just one rotation, stops and the rewind operation is completed.

In this case, in this embodiment, the gain of the azimuth servo system amplifier 60 is set to a large value, for example, several tens to 1,000 times by the gain switching circuit 73. That can be shortened.

As described above, according to the present embodiment, the rewind operation of the azimuth gimbal 40 by one rotation is performed when the coaxial cable 70 is rewinded in a state where the servo loop is connected as the azimuth servo system. The antenna azimuth angle φ _A after one rotation can maintain the directional state stably without causing an excessive phenomenon, and a highly reliable azimuth servo system can be obtained.

According to this embodiment, when the coaxial cable 70 is twisted by, for example, ± 270 ° or more, the rewind controller 71
A 2π signal or -2π in which the azimuth gimbal 40 makes one rotation
The azimuth gimbal 40 supplies the signal to the adder 85,
Since the azimuth gimbal 40 makes one rotation, the antenna 14 can return to the satellite direction again without error after one rotation.

Further, according to this embodiment, the azimuth gimbal 40
Azimuth servo system amplifier 60 when rewinding
Is large, for example, several tens to 1000 times, so that there is a feature that the time required for one rotation of the azimuth gimbal 40 can be shortened accordingly.

According to this embodiment, the 2π signal or the -2π signal is supplied to the adder 85 and the gain of the amplifier 60 is increased for the rewind, so that a correct rewind operation can be achieved with a simple structure. There are features.

FIGS. 2 and 3 show the main parts of another embodiment of the antenna pointing device according to the present invention. Referring to FIG. 2, FIG. 2 shows another example of the azimuth servo system of FIG. 1. In the example of FIG. 2, the azimuth servo motor 52 of FIG. 1 is constituted by a step motor. voltage - by a frequency converter 82 and the 1 / N frequency divider 83 shows this step motor, the voltage - give the pulse rate N phi rotating the step motor to the output side of the frequency converter 82, the 1 / N divider The speed φ of the stepping motor is obtained at the output side of the device 83.

The pulse rate N φ obtained at the output side of the voltage-frequency converter 82 is constituted by a counter.
It is supplied to a 1 / NS divider 84 (where S represents a Laplace operator) so that the output side of the 1 / NS divider 84 obtains the rotation angle φ of the azimuth gimbal. In this case, 1 / NS
The frequency divider 84 constitutes the direction transmitter 53.

On the other hand, a voltage corresponding to the COS component of the azimuth movement of the hull and the angular velocity of the step motor is generated on the output side of the azimuth gyro 45, and the voltage which is the output signal of the azimuth gyro 45 is integrated by the integrator 58 and the amplifier 59 To the step motors 82 and 83 through the
Is stabilized against angular motion of the hull about an axis orthogonal to both the antenna axis XX and the elevation axes 13, 13 '.

A signal corresponding to the output signal φ of the azimuth transmitter obtained at the output side of the frequency divider 84 corresponding to the azimuth of the antenna 14 is supplied to the adder 85. The signal corresponding to the heading azimuth angle φ _C and the satellite azimuth angle φ _S from the magnet compass or gyro compass is calculated from the signal corresponding to φ, and the output signal of the adder 85 is integrated via the amplifier 60 into the integrator 58. To supply.

[0045] The loop match the antenna azimuth angle phi _A satellite azimuth phi _S, a loop having a predetermined time constant.

In the example of FIG. 2, a signal corresponding to the output signal φ of the azimuth transmitter of the antenna obtained at the output side of the frequency divider 84 is supplied to the rewind controller 71. This rewind controller 71 rotates the azimuth axis 10, that is, the coaxial cable 7.
It is determined whether the torsion of 0 has exceeded a predetermined angle, for example, ± 270 °, and when the torsion exceeds ± 270 °, the 2π signal that makes one turn of the azimuth gimbal 40 in the direction in which the torsion of the coaxial cable 70 is returned. Alternatively, it is configured to generate a -2π signal.

The 2π signal or -2π signal obtained at the output side of the rewind controller 71 is supplied to the adder 85, and the signal corresponding to the output signal φ of the azimuth oscillator obtained at the output side of the frequency divider 84 is obtained. A 2π signal or a −2π signal that makes one rotation of the azimuth gimbal 40 is added to a signal obtained by calculating signals corresponding to the heading azimuth angle φ _C and the satellite azimuth angle φ _S.

In this embodiment, a 2π signal or a −2π signal obtained at the output side of the rewind controller 71 is supplied to a gain switching circuit 73. The gain switching circuit 73 increases the gain of the amplifier 60 when the 2π signal or the −2π signal is supplied, for example,
Set it twice as large.

The gain switching circuit 73 includes an adder 8
5 is determined, and when the output signal of the adder 85 becomes smaller than a predetermined value, for example, becomes substantially zero, the gain of the amplifier 60 is returned to the original gain. Other configurations are the same as those in FIG.

Since the present embodiment is configured as described above, the azimuth servo system uses the signal corresponding to the output signal φ of the frequency divider 84 to calculate the heading azimuth φ _C and the satellite azimuth φ from the magnet compass or gyro compass. _The signal obtained by calculating the signal corresponding to _S is zero, that is, the difference between the azimuth angle φ _{A of the} antenna 14 (the sum of the rotation angle φ of the azimuth gimbal 40 and the azimuth angle φ _C ) and the satellite azimuth angle φ _S is zero. The azimuth gimbal 40 is settled at an angle.

[0051] That is, when the twist _{φ + φ C -φ S = 0} ∴ φ = φ S -φ C coaxial cable 70, for example, ± 270 ° or more in this state, the direction opposite to the twist to the output side of the rewinding controller 71 2π signal that makes one rotation of the azimuth gimbal or-
The 2π signal is obtained, and the 2π signal or the −2π signal is supplied to the adder 85.
Is operated so that the output signal of the second signal becomes zero.

Φ + φ _C −φ _S ± 2π = 0 ∴ φ = φ _S −φ _C ± 2π That is, the azimuth gimbal 40 starts rotating simultaneously with the input of the 2π signal or −2π signal, and corresponds to the 2π signal or −2π signal. The angle, ie, just one rotation, stops and the rewind operation is completed.

In this case, in this example, the gain of the azimuth servo system amplifier 60 is set to a large value of, for example, several tens to 1,000 times by the gain switching circuit 73. That can be shortened.

Therefore, when the azimuth servo system shown in FIG. 2 is applied to the azimuth servo system shown in FIG. 1, it is needless to say that the same operation and effect as those of the above-described FIG. 1 can be obtained.

Referring to FIG. 3, FIG. 3 shows another example of the azimuth servo system shown in FIG. 1. In FIG. 3, parts corresponding to those in FIG. Description is omitted. This example of FIG. 3 differs from the example of FIG.
Limiter circuit 7 for limiting the output signal of the circuit to a predetermined voltage or more
4 to the integrator 58. The other configuration is the same as that of FIG.

Therefore, the azimuth servo system of FIG.
When the present invention is applied to the azimuth servo system, it is needless to say that the same operation and effect as those of the above-described example of FIG. 1 can be obtained.

In the example shown in FIG. 2, when the 2π signal or -2π signal is supplied from the rewind controller 71 to the adder 85, the gain of the amplifier 60 is increased, and an extremely large output signal is output from the amplifier 60. The gyro 45 or the step motor 8 is supplied to the integrator 58 and
There is a case where the dynamic range exceeds 2,83. In this case, a kind of saturation phenomenon has occurred in the heading servo loop. Although the disadvantage that the azimuth gimbal 40 is rotated at a constant speed correspondingly occurs, this FIG.
In the example, a limiter circuit 74 is provided to
Is limited by a predetermined value, so that the above-mentioned inconvenience can be improved without exceeding the dynamic range of the azimuth gyro 45 or the step motors 82 and 83.

It should be noted that the present invention is not limited to the above-described embodiment, but may adopt various other configurations without departing from the gist of the present invention.

[0059]

According to the present invention, the rewinding operation of the azimuth gimbal 40 is performed once when the coaxial cable 70 is rewinded with the servo loop connected as the azimuth servo system. reliable azimuth servo system is obtained with the antenna azimuth angle phi _a after can hold stably bound state without transients.

According to the present invention, when the coaxial cable 70 is twisted by, for example, ± 270 ° or more, the rewind controller 7
2π signal that the azimuth gimbal 40 makes one rotation from 1 or -2
The π signal is supplied to the adder 85 so that the azimuth gimbal 40 makes one rotation.
After one rotation, there is an advantage that the antenna 14 can return to the satellite direction again without error.

Further, according to the present invention, this azimuth gimbal 4
Azimuth servo amplifier 6 when rewind operation of 0
Since the gain of 0 is increased to, for example, several tens to 1,000 times, there is an advantage that the time required to make one rotation of the azimuth gimbal 40 can be shortened accordingly.

According to the present invention, the rewinding is achieved by supplying the 2π signal or the −2π signal to the adder 85 and increasing the gain of the amplifier 60. There are benefits that can be achieved with the configuration.

According to the present invention, since the limiter circuit 74 is provided, there is an advantage that the dynamic range of the azimuth gyro 45 or the servomotor is not exceeded.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing an embodiment of an antenna pointing device according to the present invention.

FIG. 2 is a configuration diagram showing a main part of another embodiment of the present invention.

FIG. 3 is a configuration diagram showing a main part of another embodiment of the present invention.

FIG. 4 is a configuration diagram showing an example of a conventional antenna pointing device.

[Explanation of symbols]

 3 Base 10 Azimuth axis 13, 13 'Elevation axis 14 Antenna 40 Azimuth gimbal 40-2 Fork member 41 Mounting bracket 44 Elevation gyro 45 Azimuth gyro 46 Accelerometer 52 Azimuth servo motor 53 Azimuth transmitter 54, 58 Integrator 60 Amplifier Reference Signs List 70 coaxial cable 71 rewind controller 73 gain switching circuit 74 limiter circuit 82 voltage-frequency converter 83, 84 frequency divider 85 adder

Continuation of the front page (72) Inventor Takao Murakoshi 2-16-46 Minami Kamata, Ota-ku, Tokyo Inside Tokimec Co., Ltd. (58) Field surveyed (Int. Cl. ⁷ , DB name) H01Q 3/00-3 /Ten

Claims (2)

(57) [Claims] 1. An antenna pointing device comprising a base, a support mechanism, and an antenna having a coaxial cable for feeding, wherein the support mechanism is rotatably supported around an azimuth axis perpendicular to the base. And an azimuth gimbal having a fork-shaped member having an elevation axis bearing orthogonal to the azimuth axis at the top, and an elevation axis rotatably fitted to the elevation axis bearing are fixedly provided,
An antenna support member having an antenna axis orthogonal to the elevation axis, a first gyro fixed to the antenna support member and having an input axis parallel to the elevation axis, and an antenna axis fixed to the antenna support member; And a second gyro having an input axis orthogonal to both of the elevation axes; an accelerometer fixed to the antenna support member and generating an output signal corresponding to a tilt of the antenna axis with respect to a horizontal plane; An azimuth transmitter for transmitting a rotation angle of the azimuth gimbal about the azimuth axis; and a signal obtained by subtracting a value corresponding to an altitude angle of a satellite from an output signal of the accelerometer to a substantial torquer of the first gyro. The second gyro provides a feedback signal and a signal obtained by calculating an output signal of the azimuth transmitter, a signal corresponding to a heading azimuth and a satellite azimuth. An amplifier that feeds back to a simple torquer, a rewind controller that receives an output signal of the azimuth transmitter, and a gain switching circuit that switches a gain of the amplifier that operates based on an output signal of the rewind controller. Is twisted beyond a predetermined angle, the rewind controller adds a 2π signal or a −2π signal to a signal obtained by calculating an output signal of the azimuth transmitter, a signal corresponding to a heading azimuth and a satellite azimuth. Wherein the gain switching circuit switches the gain of the amplifier to a large value. 2. The antenna pointing device according to claim 1, wherein a limiter circuit is provided on an output side of said amplifier.