JPH03101502A - Controller for attitude of antenna on travelling object - Google Patents

Abstract

PURPOSE:To avoid substantially useless automatic tracking motion automatically by correcting the deviation in the directivity of an antenna corresponding to a change in the detection value of an attitude detection means, executing the antenna scanning when a reception level is at the extreme value of a 1st setting value and inhibiting the execution of the antenna scanning when a stop detection means detects a stop. CONSTITUTION:While a reception level of antennas 31, 32 is a 1st setting value TH1 or over, no antenna scanning is executed, and a 1st control means 1 sets the antenna to the attitude correcting the deviation of the directivity of the antennas corresponding to a change in a detection value of attitude detection means GYrp, GYya. When the reception level decreases from a proper value, a 2nd control means 1 scans the antennas 31, 32 to set the attitude of the antennas in a direction to obtain higher reception level. When a vehicle or the like comes to a stop, the scanning timing control means 1 inhibits the antenna scanning in a prescribed timing after stop detection means 9a, 1 detects the stop state. Thus, useless antenna scanning is reduced, the power consumption is reduced and the wear in the scanning mechanism is reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to attitude control of an antenna on a moving body, and particularly to attitude control of a directional antenna that tracks a radio wave source on a moving body.

[Conventional technology]

For example, mobile objects such as vehicles, ships, and aircraft (hereinafter referred to as vehicles) are connected to fixed stations, artificial satellite stations, etc. for mobile communication, television broadcast reception, radio broadcast reception, self-location recognition, etc. It is equipped with an antenna used for communication.

In order to always direct this directional antenna toward a predetermined radio wave source or radio wave reflector, the following antenna attitude control method has conventionally been used.

1) The position and attitude of the moving body are grasped using a gyro sensor or the like, and the antenna attitude is controlled so as to cancel out the deviation in the pointing direction of the antenna due to changes in the position and attitude of the moving body.

2) Using a conical scan method or the like, the antenna is scan-driven while actually receiving radio waves, and the source of the radio waves is searched and tracked based on the reception level.

3) A combination of 1) and 2) above, i.e., in areas where there are no obstacles, the movement of the vehicle etc. is detected and the attitude of the antenna is corrected, and the error generated at that time is corrected by 2) above.
Correct with.

[Problem to be solved by the invention]

However, in the case of 1) above, it is extremely difficult to accurately detect the movement of a vehicle, etc. with the attitude detection means that detects the attitude of the moving body, and the attitude detection error and its accumulation may cause tracking errors and tracking errors. Easy to occur. If the detection accuracy of the attitude detection means is to be increased, it becomes complicated and expensive, which poses a problem in terms of practical use. In addition, in the case of 2) above, when reception is interrupted due to obstacles such as mountains, tunnels, buildings, etc., which is a problem unique to vehicles, or when the antenna posture (direction of directivity) is significantly deviated from the radio wave source, The disadvantage is that it cannot be adapted.

Therefore, as in 3) above, by combining 1) and 2), the tracking error or tracking loss due to 1) can be reduced to 2).

and 2), an environment where tracking is not possible (tunnel).

Obstacles, etc.), it is preferable to interpolate the tracking using 1) and b)
.

However, when the vehicle, etc. is temporarily stopped or parked, in 1), there is no change in the attitude of the vehicle, so the detection value of the gyro sensor does not change and the antenna is not driven to track the antenna. Low reception levels result in repeated antenna scanning, which consumes power and increases operational wear on the mechanism. Normally, automatic tracking/cancellation is input using a key switch, so by manually inputting the key to cancel automatic tracking, unnecessary drive of the antenna is stopped. However, if we consider a vehicle, etc. 1, for example, a road vehicle, it does not always move during tracking, but makes many stops, such as stopping at intersections, stopping to get on and off, or parking for a rest. There is a scene. In such a case,
It is cumbersome to operate a key switch or the like to cancel automatic tracking every time the vehicle stops, and may not be noticed.

An object of the present invention is to automatically avoid substantially wasteful automatic tracking operations.

[Structure of the invention]

(Means for Solving the Problems) An attitude control device for an antenna on a moving object according to the present invention provides an attitude control device for an antenna on a moving object (
Antenna (31, 32) supported on the CAR); Drive mechanism (46, 57) for changing the attitude of this antenna (31, 32); Reception level of the antenna (31, 32) reception level detection means (s a r s b r sc ); and control means (1
); In an attitude control device for an antenna on a mobile body.

Stop detection means (
9a, 1); Attitude detection means (GYrp, GYya) that detects the attitude of the moving object (CAR); Attitude detection means (GY
a first control means (31, 32) for setting the antenna (31, 32) in a posture that corrects a deviation in the pointing direction of the antenna (31°32) in response to a change in the detected value of rp, GYya);
1); When the reception level is less than the first set value (Tlll), a second antenna scan is performed in which the antenna (31, 32) is scanned and the attitude of the antenna (31, 32) is set in the direction where the reception level is high. Control means (1); and, at a predetermined timing after the stop detection means (9a, 1) detects a stoppage of movement, prohibits the second control means (1) from performing the antenna scanning, and stops the stop detection means (9a, 1). , 1) does not detect movement stoppage, the scanning timing control means (1) cancels the prohibition.
); In addition, the symbols in parentheses are.

6 Indicating corresponding elements or place markings of the embodiments described later with reference to the drawings (Function) (1) While the reception level of the antennas (31, 32) is equal to or higher than the first setting value (THI), the following Antenna scanning is not performed, and the first control means (1) controls the attitude detection means (GY
The antennas (31, 32) are set in a posture that corrects the shift in the pointing direction of the antennas (31, 32) in response to changes in the detected values of (rp, GYya).

So when the reception is going well.

The antenna is not scanned, and only the minimum antenna drive is performed to correct deviations in the pointing direction due to changes in the attitude of the vehicle or the like.

When the vehicle etc. is stopped, the attitude detection means (GYr
Since the detected value of p, GYya) does not change, automatically
The antenna is not driven by the first control means (1).

(■) For example, if the reception level becomes less than the first setting value (Tl (1)) due to the detection error of the attitude detection means (GYrp, Yya), the antenna attitude setting error, or the accumulation of response delays, that is, the reception level becomes the appropriate value. When descending further downward, the second control means (1) scans the antennas (31, 32) and moves the antennas (31, 3) in a direction where the reception level becomes higher.
2) Set the posture. As a result, if the reception level becomes equal to or higher than the first setting value (TH1), the above (1) will occur, and if it is less than the first setting value (TH1), this (n) will occur again.
is repeated.

(III) When the vehicle etc. stops, the stop detection means (9a,
At a predetermined timing after detecting the stoppage in step 1), the scan timing control means (1) prohibits the second control means (1) from performing the antenna scanning (II), so that after the predetermined timing, the above (II) is performed. When the vehicle or the like starts moving, the scan timing control means (1) releases the prohibition, and the above (II) is executed.

As described above, while the vehicle etc. is moving, the attitude control described in (ri) and (■) is performed, and the attitude detection means (G"/
rp, G'/ya), antenna attitude control error, or response delay accumulates (the reception level becomes less than the first set value T), the above attitude control (II) is automatically executed. The accumulated detection error or attitude control error is automatically cleared (the reception level becomes equal to or higher than the first set value T). Therefore, the means for detecting the attitude of the vehicle (G
Yrp, GYya) may have a relatively simple structure and a relatively large detection error, without causing any practical problems. In addition, practically sufficient automatic tracking can be achieved without making the antenna attitude control system particularly responsive. Furthermore, even when the vehicle is moving, the reception level remains at the first set value (T
When the condition is good with HI) or above, the antenna scanning of (II) above is not performed, and furthermore, when the vehicle is stopped, execution of (II) above is automatically prohibited, reducing unnecessary antenna scanning. , power consumption is reduced as well as wear on the scanning mechanism.

Other objects and features of the present invention will become apparent from the following description of embodiments with reference to the drawings.

〔Example〕

FIG. 1 shows the appearance of an embodiment of the present invention. In FIG. 1, CAR is a vehicle (mobile object), and on its roof Rf is a satellite broadcast receiving antenna (hereinafter simply referred to as antenna). 30 are installed. In this embodiment, a commercially available parabolic antenna for satellite broadcast reception is used as the antenna 3o.

The antenna 30 will be described with reference to FIGS. 3a and 3b.

First, referring to FIG. 3a, 31 is a parabolic reflector;
2 is a primary radiator integrated with the BS converter. The parabolic reflector 31 and the primary radiator 32 form a radiation lobe (main lobe 2 or less) with a half-value angle of 2 degrees at the frequency used.

A primary radiator 32 integrated with the BS converter (hereinafter referred to as BS converter) is fixed to a parabolic reflector 31 by support arms 33 and 34, and the parabolic reflector 31 is pivotally attached to a support box 35.

The support box 35 is fixed to a rotary base 38 of the antenna 30 by frames 36 and 37. The rotary base 38 is rotatably supported by a fixed base 40 via a bearing 39. The fixed base 40 is fixed to a circular recess in the roof Rf of the vehicle CAR, and a weather strip 41 is attached to the abutment portion between the roof Rf and the fixed base 38.

The rotary table 38 has ring-shaped internal teeth 42 carved therein.
A gear 43 meshes with the internal teeth 42. This gear 4
The shaft 44 to which No. 3 is fixed is engaged with the rotating shaft of an azimuth drive motor 46 via a gear box 45. A rotary encoder 4 is attached to the rotating shaft of the azimuth drive motor 46.
7 are combined.

Since the azimuth drive motor 46 is fixed to the fixed base 40, when it is urged to rotate in the normal direction, the rotary base 38 rotates to the right when viewed from directly above (Fig. 3b) and clockwise in the azimuth direction. ), when reversely energized, the rotating table 38 rotates to the left (rotates left in the azimuth direction) when viewed from directly above (Fig. 3b) 6 In other words, the azimuth drive motor 46 is energized to rotate in the normal direction. When the rotary encoder 47 is turned on, the radiation lobe of the antenna 30 points to the right, and when reversely energized, the radiation lobe of the antenna 30 points to the left.
outputs one pulse every time the attitude of the antenna 30 in the azimuth direction changes by 0.5°.

Reference numeral 49 denotes a photointerrupter (hereinafter referred to as Az sensor) for detecting the home position of the antenna 30 in the azimuth direction, and a light-shielding filler provided on the lower surface of the rotary table 38 enters at the home position.

The cable 48 connected to the electrical element in the support box 35 of the antenna 30 is connected to a fixed cable (not shown) via a disc-shaped slip ring unit 50.

An electric cable connected to the output end of the BS converter 32 is connected to a fixed side cable 52 via a cylindrical rotary joint 51.

FIG. 3b is a plan view seen from directly above FIG. 3a, and the inside of the support box 35 will be explained with reference to this diagram.

A sector gear 54 is fixed to a rotating shaft 53 fixed to the parabolic reflector 31 of the antenna 30 . A gear 55 fixed to the output shaft of a gear box 56 meshes with this gear. A rotation shaft of an elevation drive motor 57 is engaged with an input shaft of the gear box 56 . A rotary encoder 58 is coupled to the rotation shaft of the elevation drive motor 57.

The elevation drive motor 57 is fixed to the support box 35, so when it is energized to rotate in the normal direction, it rotates the parabolic reflector 31, the BS converter 32, etc. upward together. When this is reversely biased, the parabolic reflector 3I, BS converter 32, etc. are rotated downward as a unit (rotated counterclockwise in Figure 3a: moved upward in the elevation direction). . In other words.

The antenna 3 is energized by the forward rotation of the elevation drive motor 57.
The antenna 30 is reversely biased with the radiation lobe of 0 facing upwards.
The radiant lobes of point downward. The rotary encoder 58 is
An l pulse is output every time the attitude of the antenna 30 in the elevation direction changes by 0.5'. Although they overlap in FIG. 3b, 59U on the back side is a limit switch that detects the limit of the elevation angle of the antenna 30, and 590 on the near side is a limit switch that detects the limit of the angle of depression of the antenna 30. Further, 60 is a photointerrupter (hereinafter referred to as antenna EQ sensor) for detecting the home position of the antenna 30 in the elevation direction, and a light shielding filler provided on the rotation shaft 53 enters at the home position.

In this embodiment, when the Az sensor 49 and the EQ sensor 60 are detecting the home position.

The main lobe of the antenna 30 coincides with the front direction of the vehicle CAR (the traveling direction of the CAR when traveling straight ahead is the same as below) and becomes parallel to the roof Rf.

FIG. 2a shows the configuration of an electrical control system that controls the attitude of the antenna 30.

This control system uses a microcomputer (hereinafter referred to as M
It is composed mainly of PU)1.

The MPUI pass line includes read-only memory (hereinafter referred to as ROM)2. Read/write memory (RAM) 3, timer 4. In addition, input/output ports (hereinafter referred to as l10) 5, 6,
7, 8 and 9b are connected.

A reception level detection unit of the antenna 30 is connected to 1105 . The received level detection unit includes a BS converter 329 of the antenna 30, a distributor 5a, an amplifier 1, a frequency converter, a wave detector, etc., and a BSS level detector 5.
b and an A/D converter 5c. The distributor 5a distributes the output of the BS converter 32 of the antenna 3° to the BS level detector 5b and the BS tuner 5d. The BS level detector 5b detects the level of the received signal and provides it to the A/D converter 5c. A/D converter 5c is MPUI
In response to the instruction, the received signal level from the BS level detector 5b is digitally converted and transferred to the MPUI.

Further, a television receiver TV and a radio receiver RD for receiving satellite broadcasting are connected to the BS tuner 5d.

A vehicle attitude detection unit is connected to l106. The vehicle attitude detection unit includes a pitching/rolling angle detection free gyro GYrp, a yawing angle detection gyro GYya, a pitch angle detector 5a, a roll angle detector 6b, a yaw angle detector 6d, and a gyro driver 6c.
, 6e.

The gyro GYrp has degrees of freedom around the pitch axis and around the roll axis, the pitch angle detector 6a detects rotation angle data (digital value) around the pitch axis, and the roll angle detector 6b detects rotation angle data (digital value) around the roll axis. Detect angle data (digital value).

The gyro GYya has a degree of freedom around the yaw axis, and the yaw angle detector 6d detects rotation angle data (digital value) around the yaw axis.

Gyro drivers 6c and 6d rotationally urge the rotor of the corresponding gyro GYrp or GYya.

The operation board 22 is connected to l107.

The operation board 22 is installed on a console board inside the vehicle CAR, and its appearance is shown in FIG. 4.

Referring to FIG. 4, this operation board 22 has a small size board for displaying azimuth data (hereinafter referred to as azimuth data), elevation (depression) angle data (hereinafter referred to as elevation data), reception level, and various messages of the antenna 30. CRT display 23. A START key 24 for instructing automatic attitude control of the antenna 30. A stop (STOP) key 25 for instructing to stop the automatic attitude control of the antenna 30. Up key (U key) for manual attitude control 26. Down key (D key) 27. A right key (R key) 28 and a left key (L key) 29 are provided.

The operation board 22 includes a key encoder for reading operations of these keys in response to instructions from the MPUI, and a CRT driver for displaying various messages on the CRT display 23.

Referring again to FIG. 2a, the vehicle speed data processing circuit 9a is connected to l109b. The vehicle speed data processing circuit 9a is supplied with a vehicle speed synchronization pulse of one pulse per predetermined small angle rotation of the output shaft of the transmission from a vehicle speed sensor (not shown). The vehicle speed data processing circuit 9a is
A timer that performs a timed operation for a predetermined time, a counter that counts vehicle speed synchronization pulses, an output latch that latches the count data, and when the timer times out, the current count data is updated to the latch, the counter is cleared, and the count starts from 0 again. It has a timing circuit that powers up and restarts the timer.

While the power is on, vehicle speed data indicating vehicle speed Vs (count value of vehicle speed synchronization pulses during a predetermined period of time) is constantly outputted from the latch to l109b. Vehicle speed data is M
PU1 reads it at the required time via l109b.

A motor control unit 10 including an azimuth drive motor 46, an elevation drive motor 57, etc. is connected to l108. The configuration of the motor control unit 10 is shown in FIG. 2b.

Referring to Figure 2b, motor control unit 1
0 is a microprocessor (hereinafter referred to as CPU) 10a, an azimuth unit A z U v elevation unit E
It consists of QU, input buffer 18, etc.

The azimuth unit AzU includes a D/A converter 11a,
Power amplifier 12a, pace drivers 13a, 14a,
Waveform shaping circuit 15a, up/down counter 16a, parallel out/serial in shift register (hereinafter referred to as P)
S register) 17a, azimuth drive motor 46.
Rotary encoder 47. Power transistor Trla
, Tr2a.

It is composed of Tr3a, Tr4a, etc.

The elevation unit EI2U includes a D/A converter 11b, a power amplifier 12b, a pace driver 13b,
14b, waveform shaping circuit 15b, up/down counter 1
6b, PS register 17b.

Elevation drive motor 57. rotary encoder 5
8. Power transistors Trlb and Tr2b.

It is composed of Tr3b, Tr4b, etc.

The input buffer 18 includes the aforementioned Az sensor 49 and EQ.
Sensor 60. Limit switches 59U and 59D are connected.

In response to an instruction from the MPUI, the CPU 10a
The motors 46 and 57 are energized in forward and reverse directions at specified speeds,
Azimuth attitude data (angle), elevation attitude data (angle), and the states of limit switches 59U and 59d are read and transferred to MPU1.

Since the azimuth unit A z U and the elm-page unit EQU have the same configuration although there are slight differences in the specifications of the constituent elements, the azimuth unit AzU will be explained here.

The D/A converter 11a of the azimuth unit AzU is given voltage data corresponding to the energizing speed of the motor 46 instructed by the MPUI from the output port P1 of the CPU 10a. The D/A converter lla outputs a voltage corresponding to this voltage data and applies it to the power amplifier 12a. The power amplifier 12a is a D/A converter l.
Converting the output voltage of la to the driving voltage of the motor 46,
It is applied to the collectors of power transistors T rla and T r3a. The emitter of the power transistor Trla is connected to the collector of the power transistor Tr4a, and the emitter of the power transistor Tr3a is connected to the collector of the power transistor Tr2a.
Further, the emitters of the power transistor Tr4a and the power transistor Tr2a are grounded. The bases of power transistors Trla and Tr2a are connected to the output terminal of base driver 13a, and power transistor T
The base of r3a and T r4a is pace driver 14
are respectively connected to the output terminals of a. The input terminal of the pace driver 13a is the output port P2 of the CPU 10a.
Input terminals of the pace driver 14a are respectively connected to output ports P3 of the CPU 10a, and
0a outputs an H level (high level) from the output port P2 when energizing the motor 46 for forward rotation, and connects the power transistors Trla and Tr2 to the pace driver 13a.
A is instructed to turn on, and the L level (
When outputting a signal (low level) to instruct the pace driver 14a to turn off the power transistors Tr3a and Tr4a and energizing the motor 46 in reverse, the output port P
2 outputs an L level to instruct the pace driver 13a to turn off the power transistors Trla and Tr2a, and outputs an H level from the output port P3 to instruct the pace driver 14a to turn on the power transistors Tr3a and Tr4a. However, when deenergizing the motor 46.

L level is output from output ports P2 and P3 to instruct pace drivers 13a and 14a to turn off power transistors Trla, Tr2a, Tr3a and Tr4a.

The motor 46 is powered by power transistors Trla and Tr4.
a and the power transistors Tr2a and Tr
Since the power transistors Trla and Tr2a are on and the power transistors Tr3a and Tr4a are off, the power amplifier 12a outputs.

Power transistor Trlat motor 46. A normal rotation energizing circuit consisting of the power transistor Tr2a and the ground is configured, and is energized in the normal rotation by the voltage set by the D/A converter 11a, and the power transistors Trla and Tr
2a is off, power transistors T r3a and T
When r4a is turned on, a reverse energizing circuit consisting of the output of the power amplifier 12a, the power transistor Tr3a, the motor 46, the power transistor Tr4a, and the ground is configured, and the reverse energizing circuit is energized by the voltage set by the D/A converter lla. .

The output of the rotary encoder 47 is the waveform shaping circuit 15a.
The signal is waveform-shaped and applied to the input port R1 of the CPU 10a and the input terminal In of the up/down counter 16a. When the U terminal is given an H level and the D terminal is given an L level, the up/down counter 16a counts up at the rising edge of the pulse given to the input terminal In. When a level is applied, the countdown is performed at the rising edge of the pulse applied to the input terminal In. This counter 16a is a 720-decimal counter (10 bits), and when the value is 719 and counts up, the value becomes O, and when the value is 0 and counts down, the value becomes 719.

Reset input terminal Rst of up/down counter 16a
is connected to the output port P4 of the CPU 10a, and the 10-bit parallel output terminal is connected to the PS register 1.
It is connected to the parallel input terminal of 7a. The shift load input terminal SL of the PS register 17a is connected to the CPU 10a.
A shift load pulse is given from output port P5 of
Clock input terminal CI has CPU 10.
A clock input signal is applied from the output port P6 of CPULOa, and a clock pulse is applied from the output port P7 of CPULOa to the clock input terminal GK.

The PS register 17a presets the data applied to the parallel input terminal into each bit at the rising edge of the shift load pulse, and when the clock input signal turns to H level, the preset data is output from the output terminal OUT in synchronization with the clock pulse. Serial output is performed toward the serial input port R2 of the CPU 10a.

Referring again to FIG. 2a, the power source of this system is the on-board battery BAT, and constant voltages Vc and Vs are supplied to each part from the constant voltage circuit Re (via the Ace switch (accessory mode switch). The constant voltage Vc mainly serves as a power source for various parts of the electrical control system, and the constant voltage Vs mainly serves as a power source for driving the motor and gyro.

Next, antenna attitude control of the embodiment device brought about by the above configuration and the control operations of the MPUI and CPU 10a will be explained.

The flowchart shown in FIGS. 5a and 5b is based on M
The main routine of the PU1 is shown, and the flowchart shown in FIG. 10 shows the main routine of the CPU 10a. In the following explanation, "S--" indicates the number assigned to each step in the flowchart (in the flowchart, "S--" indicates the number assigned to each step in the flowchart.
(Omit Sn).

Referring to FIG. 5a, when the Acc switch is turned on and a predetermined voltage is supplied to each part, the MPUI controls each input/output port, internal register, and flag using Sl.

Reset and initialize RAM3, etc., and set the CP in S2.
A loop is configured to wait for a Ready signal from U10a.

Referring to FIG. 10, at this time, the CPU 10a resets and initializes input/output ports, internal registers, etc., and then executes initial settings.

In the initial setting, the antenna 30 is set at the home position in the azimuth direction and the elevation direction. In other words, the motor 46 is urged to rotate normally and the Az sensor 49 is
After that, the motor 57 is energized for forward rotation to search for the orientation in the elevation direction where the EQ sensor 60 is turned on, but during the search, the elevation direction of the antenna 30 is When the attitude of the motor 5 reaches the elevation limit and the limit switch 59U is turned on, the motor 5
7 is reversely energized, and a posture in the elevation direction in which the EQ sensor 60 is turned on is searched for. When the CPU 10a completes setting the attitude of the antenna 30 to the home position in the azimuth direction and the elevation direction, the CPU 10a starts the counter 16.
Reset a and 16b and Re to MPUI.
Outputs ady signal. After this, according to the instruction mode from MPU1, 15 step right shift processing, 1 step ρ
Left shift processing.

15teP upper shift processing, 1st, EP lower shift processing,
Executes right shift processing, left shift processing, up shift processing, down shift processing, or stop processing. These processes will be described later.

When the MPUI receives the Ready signal from the CPU 10a, the MPUI executes S4 until the 5TART key 24 is turned on.
Configure a loop that executes manual operation processing.

The manual operation process will be explained with reference to the flowchart shown in FIG. When the U key 26 is operated, the MPU
I proceeds from S30 to S31, where the state of the limit switch 59U is checked. If the switch 59U is on, the attitude of the antenna 30 in the elevation direction is at the limit of the elevation angle, and further upward movement is impossible.
If not, the CPU 10a is instructed to execute a 15 step upward shift process in S32. Further, when the D key 27 is operated, the process advances from S33 to 534, where the state of the limit switch 59D is checked. If the switch 59D is on, the attitude of the antenna 30 in the elevation direction is at the limit of the depression angle, and no further downward movement is possible; otherwise, in S35, the CPU 10a
Instructs execution of 15 step downward shift processing.

When the R key 28 is operated, the MPUI returns to 53.
Proceed from 6 to 837, and here to CPU10a, 1ste
If the execution of p right shift processing is instructed and the L key 29 is operated, the process proceeds from 838 to 839, where the CPU
10a to execute a 1-step left shift process.

In response to such MPUI 15step drive instructions,
The 15 step right shift process executed by CPUl0a is shown in FIG. 11a, the 15 step left shift process is shown in FIG. 11b,
The 15-step upward shift process is shown in FIG. 11c, and the 15-step downward shift process is shown in FIG. 1id, respectively.

To explain the 15 step right shift process with reference to FIG. 11a, the CPU 10a moves the motor 46 from the output port P1.
The voltage data corresponding to the maximum speed of is outputted and given to the D/A converter lla, and the H level is output from the output port P2.
Pace driver 1 outputs L level from P3 respectively.
3a to turn on the power transistors Trla and Tr2a, the pace driver 14a to turn off the power transistors Tr3a and Tr4a, and instruct the up/down counter 16a to count up. After this, the motor 46 rotates normally and the rotary encoder 4 is connected to the input port R1 via the waveform shaping circuit 15a.
When the output pulse No. 7 is detected, an L level is output from P2 and the power transistor T r is outputted to the pace driver 13a.
The motor 46 is deenergized by instructing to turn off the la and Tr2a. In other words.

In the 15 step right shift process, the attitude of the antenna 30 in the azimuth direction is shifted by one step, that is, 0.5° to the right.

Similarly, in the 1st, eρ left shift process shown in FIG. 11b, the CPU 10a shifts the attitude of the antenna 30 in the azimuth direction by 0.5° (one step) to the left, In the l5tep upward shift process shown in FIG.
In the 15 step downward shift process shown in FIG. d, the attitude of the antenna 30 in the elevation direction is shifted downward by 0.5' (one step).

The CPU 10a performs a 15-step right shift process (FIG. 11a) and a 15-step left shift process (FIG. 11b).
When the p up shift process (Figure 11c) or the 15 step down shift process (11th cl) is completed, a signal indicating the end of the shift, as well as attitude data in the azimuth direction (Az data) and attitude data in the elevation direction (EI2 data) are sent. Transfer to MPUI.

Referring again to FIG. 6, the MPUI performs a 15 step right shift process by the CPU 10a in S40.

Wait for 15 step left shift processing, 1 step upward shift processing, or 15 step downward shift processing, and then
The Az data and EQ data transferred in step 41 are read. Further, in S42, the received level is read and stored in the register L1, and in S43, the Az data, EQ data, and the received level of the register L1 are read and stored in the CRT.
Displayed on 23.

The MPUI is set to 5 in S4 and S5 (Figure 5a).
When the TART key 24 is turned on.

In S5, the initial search process shown in FIG. 7 is executed.

The contents of the initial search process S5 will be explained with reference to FIG. 7, but first the concept of the initial search process S5 will be explained with reference to FIG. In this case, the attitude of the antenna 30 in the elevation direction is changed from the lower limit position (depression angle limit) to the upper limit while monitoring the reception level! ! The antenna 30 is shifted up by one step until the upper limit (elevation angle limit) is reached, and when the upper limit position is reached, the attitude of the antenna 30 in the azimuth direction is shifted one step to the right.
This time, repeat the downward shift in steps from the upper limit position to the lower limit position, and when the lower limit position is reached, shift the attitude of the antenna 30 in the azimuth direction one step to the right, and repeat the above steps until the reception level reaches a level sufficient for reception. Repeat around the circumference (actually, one step of movement is 0.5 @, so it will be much thinner than in Figure 12).

To explain more specifically with reference to FIG. 7, in S50, the Az data at that time is stored in registers A1 and A2.
When the EQ data is stored in the registers E1 and E2, the flag F1 is reset (0) in S51. Flag F1 indicates the direction of shift in the elevation direction (up/down).
below) is a flag to set.

After that, in S52, the reception level is read and the value is stored in the register L1, that is, the reception level is
When the value of register L1 is higher than the predetermined level THI,
The MPUI immediately returns to the main routine from S53, but if it is less than the predetermined level THI, it proceeds to S54 and below to change the attitude of the antenna 30. In this attitude change, the flag F1 is first reset (0). Sometimes the limit switch 59U is not on.

The process proceeds from S54 to S55 to S56, where the CPU 10a is instructed to execute the above-mentioned 15 step upward shift process, and the process proceeds to S57.
The value of register E2 is incremented by 1. CPU1
Upon receiving the shift end signal from 0a, the MPUI returns to S52 and repeats the above while monitoring the reception level. If the switch 59U is turned on before the reception level reaches the predetermined value THI, the flag F1 is set (1) in S58, and the above-mentioned 15 step process is performed in the CPU 10a in S59.
The execution of right shift processing is instructed, and the value of register A2 is incremented by 1 in S60 (however, when the value of register A2 becomes 720, it is set to 0).

After setting flag F1 (1), S54→S61→
S63. Then, the above-mentioned 15te is sent to the CPU 10a.
Instructs to execute p-down shift processing, and registers E2 in S64.
Decrement the value by 1. This process is repeated until the switch 59D reaches the predetermined value THI or higher.
When turned on, flag F1 is reset (0) in S62.
Then, in S59, the CPU 10a is instructed to execute the above-mentioned 15 top right shift process, and in S60, the value of register A2 is incremented by 1 (however, when the value of register A2 becomes 720, it is set to 0).

While repeating the above process, the reception level reaches the predetermined value THI.
When the reception level exceeds the predetermined value THI, the attitude of the antenna 30 is changed to the state when the initial search process was started, that is, the value of register A2 is changed to the value of register AI. When the value of E2 becomes equal to the value of register E1, S6
The process advances from 6 to 867, displays "unreceivable" on the CRT 23, and returns to the main routine 83.

In the initial search process S5, when the attitude of the antenna 30 at which the reception level is higher than the predetermined value THI is searched, 8 in FIG.
Set the gyro data in step 6. In this process, in S6a, yaw angle data from the yaw angle detector 6d is stored in the register RY, roll angle data from the roll angle detector 6b is stored in the register Rr, and pitch angle data from the pitch angle detector 6a is stored in the register. After storing in Rp, S6
In step b, the conversion matrix (A) is used to convert into data in the azimuth direction and data in the elevation direction of the antenna 30 (in S6b of the flowchart, description of higher-order terms is omitted). This conversion operation is executed with reference to a conversion table stored in the ROM2. The converted gyro data in the azimuth direction is stored in register Ral, and the gyro data in the elevation direction is stored in register Ra.
Each is stored in t.

When the gyro data is set in S6, the T1 timer (internal timer) is cleared and started in S7.

Next, referring to FIG. 5b, in the motor energization parameter setting process of S9, the MPUI first saves the azimuth direction gyro data stored in the register Ral in 89a to the register Ra2, and stores it in the register Rel. The gyro data for the current elevation direction is saved in register Re2. After this, in S9b, gyro data set processing equivalent to the processing in step 86 described above is performed, and the azimuth and Obtain gyro data in the elevation direction and store them in registers Ral and Rel, respectively.S9c
Then, the difference between registers Ra2 and Ral is expressed as register Ra3.
Then, the difference between registers Re2 and Re1 is stored in register Re3. That is, registers Ra3 and R
The value of e3 indicates the amount of change in the gyro data since the previous gyro data set process. In addition, since the T1 timer measures the time while performing this gyro data set processing, the register Ra3
The value obtained by dividing the value of the T1 timer by the value of the T1 timer indicates the displacement speed in the azimuth direction (the sign is the direction), and the value of the register Re3 is divided by the value of the T1 timer.
The value divided by the value of one timer indicates the displacement speed in the elevation direction (the sign is the direction). Therefore, in S9d, the biasing speed and biasing direction of the motors 46 and 57 are calculated from these values, and the biasing speed and right/left shift or upward/downward shift are instructed to the CPU 10a. This operation is RO
This is done by referring to the table stored in M2.

When the MPU 1 instructs a right shift, the CPU 10a outputs voltage data corresponding to the instructed speed from the output port P1, and outputs an H level from the output port P2 to power the pace driver 13a, as shown in FIG. 1ie. Instructs to turn on transistors Trla and Tr2a, outputs L level from output port P3, and outputs power transistors Tr3a and Tr4 to pace driver 14a.
When a left shift is instructed, the output port P1 outputs voltage data corresponding to the instructed speed, and the output port P2 outputs an L level to shift the pace. Instructs the driver 13a to turn off the power transistors Trla and Tr2a,
Outputs H level from output port P3 to power transistors Tr3a and Tr4a to pace driver 14a.
When the on-drive is instructed and the up shift is instructed,
As shown in FIG. 11g, voltage data corresponding to the command speed is output from the output port P8, and H
The level is outputted to instruct the pace driver 13b to turn on the power transistors Trib and Tr2b, and the L level is outputted from the output port PLO to instruct the pace driver 14b to turn on the power transistors Trib and Tr2b.
4b, and when a downward shift is instructed, voltage data corresponding to the instructed speed is output from output port P8, and L level is output from output port P9, as shown in Fig. 11h. to instruct the pace driver 13b to turn off the power transistors T r I b and Tr2b, output an H level from the output port PLO, and instruct the pace driver 14b to turn off the power transistor Tr3b.
and instructs to turn on Tr4b.

In the next S9e, the MPU 1 clears and starts the T1 timer.

MPU1 reads the reception level in the next SIO and
After reading the Az data and EQ data indicating the attitude of the antenna 30, these data are converted to C in S12.
Display on RT23.

(I) In S13, the reception level at this time, that is,
The value of the register Ll is compared with the predetermined level THI, and if the value of the register L1 is equal to or higher than the predetermined level THI, the process proceeds to step S14.
reads the vehicle speed data Vs from the circuit 9a and compares it with the comparison value Vsp, which can be considered as substantially stopping the vehicle, and as long as the reception level is THI or higher and the vehicle speed Vs exceeds Vsp (the vehicle is running), S8→S9→SIO→Sll→
A loop of S12→S13→S14→S17→S8→... is repeated to execute the attitude control process (I) of the antenna 30 based on the gyro data.

In other words, when the reception level is equal to or higher than the first set value THI, the vehicle speed Vs
If there is a change in the gyro data while the value exceeds Vsp, the attitude of the antenna 30 is corrected accordingly.

When the reception level is THI or higher and the vehicle speed Vs is less than Vsp (vehicle is substantially stopped), KRI, K
After proceeding to R2 and checking whether switches 24 and 25 are on, if none of them are on, S10→Sll
→S12→S13→514→KRI→KR2→S10・
... is repeated, and the attitude control process (1) of the antenna 30 based on the gyro data is not executed.

Note that when the vehicle is completely stopped, the gyro data does not change, so S14. S17 is omitted and S1
If the reception level is equal to or higher than THI at 3, the process may return to 88.

Incidentally, when the 5TOP key 25 is turned on, it is read by S8 or KRI and the process proceeds to step 83 of the flow shown in FIG. 5a.
(Return to standby state).

In the above-mentioned loop (88 to 513) in which the reception level is high and the control is executed to change the attitude of the antenna 30 in conjunction with the change based on the gyro data, the reception level, that is, the value of the register L1 is set to a predetermined value. Level THI
MPUI detects this at 813 and sends S
13 to 818 shown in FIG. 5c, and register L
The value of 1 is compared with the reception lower limit level TH2. 818
When the value of the register L1 is equal to or higher than the reception lower limit level TH2 and the vehicle speed Vs exceeds Vsp (vehicle running), the MPU 1 proceeds to S15 and executes reception tracking processing.

(ni) The reception tracking process S15 will be explained with reference to FIG. 8, but the concept will first be explained with reference to FIG. FIG. 13 is a conceptual diagram showing the scanning position when the antenna is conically scanned over a minute range. This conical scanning of a minute range.

Rotate the main beam of the antenna 30 (l → 2 → 3 → 4 → 5 →
6 → 7 → 8 → 1 → ...), and if the target radio wave source is at the center of rotation of the antenna beam, the reception level will be virtually constant during scanning, but if the target radio wave source is shifted from the center of rotation of the beam This method takes advantage of the phenomenon in which the reception level fluctuates during scanning and a maximum value appears. In Fig. 13, the first cell is in the elevation direction (U/D) and the azimuth direction (R
/L), each point 1, 2° 3.4, 5, 6.7 and 8 are the projection points of the main beam (center) of the antenna 30. Point 0 is the antenna beam. center of rotation,
The arrow indicates the direction in which the attitude of the antenna 30 is shifted. Also,
Assume that there is an isotropic antenna (isotropic pyroelectric wave source) at point a. Hereinafter, the reception and tracking processing from the state where the antenna 30 is directed to point 0 will be explained with reference to FIGS. 8 and 13.

1) Drive the antenna 30 from the starting point 0 to the point 1 570
~573), the reception level was memorized at point 1 (S8
4) Then, shift 2 steps to the azimuth direction.

Shift one step downward in the elevation direction and direct to point 2 574) Store the reception level at point 2 (S84)
.

2) First, shift one step to the azimuth direction thread.

Shift 2 steps downward in the elevation direction and direct to point 3 575) Store the reception level at point 3 (S84)
.

3) First, shift one step to the azimuth direction thread.

Shift 2 steps downward in the elevation direction to point toward point 4 (576) Store the reception level at point 4 (S84)
.

4) Next, shift 2 steps to the azimuth direction thread.

Shift one step downward in the elevation direction to point toward point 5.577) Store the reception level at point 5 (S84)
.

5) First, shift 2 steps to the azimuth direction thread.

Shift one step in the elevation direction and direct to point 6 (578) Store the reception level at point 6 (584)
.

6) Next, shift one step to the azimuth direction thread.

Shift 2 steps in the elevation direction to point to point 7 (579) Store the reception level at point 7 (S84)
.

7) Next, shift one step to the azimuth direction thread.

Shift 2 steps in the elevation direction to point 8 (580) Store the reception level at point 8 (S84)
.

With this, one conical scan is completed, and the reception levels of all points (eight points) are written in the registers FOR1 to FOR8.

8) Next, the reception levels from point 1 to point 8 are compared to find the highest reception level (387-91).

9), and the attitude of the antenna 30 is determined so that the center of rotation of the antenna beam is aligned with the obtained maximum point (S92).
).

When point a shown in Fig. 13 is the position of the radio wave source, the magnitude of the reception level is as follows: point 1> point 2> point 8> point 3> point 7> point 4> point 6> point 5 Therefore, the highest point of reception level is point 1. Therefore, the attitude of the antenna 30 is set so that the directional center of the antenna beam is aligned with point 1.

As described above, in the reception tracking process S15.

Centered on the central axis of the original antenna beam (point O).

One cycle of conical scanning of a minute range is performed to detect the highest reception point, and the attitude of the antenna 30 is set so that the central axis of the antenna beam is placed there.

Therefore, when the radio wave source moves relative to the antenna 30, attitude control is performed in such a manner that the locus of the central axis (point 0) of the antenna beam moves together with the radio wave source, and the antenna 30 moves the radio wave source. Tracking is performed.

In addition, the above-mentioned one conical scan and attitude setting (U-1)
When the reception level is finished, the reception level is not necessarily equal to or higher than THI.If the reception level becomes equal to or higher than THI during conical scanning and attitude setting (II-1), the above-mentioned attitude control (
I) is executed, but conical scanning and attitude setting (II-
If the reception level does not exceed THI even in step 1), the MPU 1 executes the subroutine of motor energization parameter set (S9) in FIG.
13, and from S13, reception and tracking (S15; Fig. 8), that is, one more conical scan and attitude setting (I
Execute I-1). Since 89 motor parameter sets are executed between the leading conical scan and the trailing conical scan, when the conical scan is repeated, its center position (0 in Figure 13) changes depending on the change in vehicle attitude. Shift accordingly. In other words, even while repeating conical scanning,
What is the antenna posture?

Automatically shifts in response to changes in vehicle posture.

(II-2) Refer to FIG. 5c again. At 818, when the reception level is less than the second set value TH2, which is the reception lower limit level, and the vehicle is running (Vs exceeds Vsp), the process advances to S16 and a tracking search process is executed.

FIG. 9 shows a flowchart of the tracking search process S16, and FIG. 14 shows a schematic diagram explaining the concept of the tracking search process. The content of the tracking search process in S16 will be explained with reference to these drawings. 5100 is the initial setting and the first
The state in which the antenna 30 is directed to the point shown in Figure 4 is T.
Assume that SC=0.

1) Check whether the TSC value is 4 or less at 5IOI. As long as the TSC value is 4 or less, proceed to S102 5
The state of the switch 59U is checked in 102, and if it is not on, the CPU 10a is instructed to execute a one-step upward shift process in 5103. This is the scanning from five points O to 5 in FIG. When the TSC value is 5 or more in S101,
Proceed to 5104.

2) Check whether the TSC value is 54 or less at 5104. As long as the value of TSC is 54 or less, the process advances to S105 and instructs the CPU 10a to execute a 1-step right shift process. This is the scan from points 5 to 55 in FIG. 5104 and the TSC value is 55 or more, 81
Proceed to 06.

3) Check whether the TSC value is 64 or less at 5106. As long as the value of TSC is smaller than 65, the process advances to step 5107, and the state of the switch 59D is checked in step 5107. If it is not on, the CPU 10a is instructed to execute a one-step downward shift process in step 5108. This is the scan from points 55 to 65 in FIG. If the TSC value is 65 or more in 8106, the process advances to 5109.

4) Check whether the TSC value is 164 or less at 5109. As long as the value of TSC is 164 or less, the process advances to 5110 and instructs the CPU 10a to execute a 1-step left shift process. This is the scan from points 65 to 165 in FIG. 5109 and the TSC value is 165 or more, S
Proceed to 111.

5) Check whether the TSC value is 174 or less using 5ill. As long as the value of TSC is 174 or less, the process advances to step 5112, and the state of the switch 59U is checked in step 5112. If it is not on, the CPU 10a is instructed to execute a one-step upward shift process in step 5113. This is the point 165-1 in Figure 14.
75. 5111 and TSC value is 175
In the above cases, the process advances to 5114.

6) Check whether the TSC value is 224 or less at 5114. S 115 as long as the TSC value is less than or equal to 224
The process proceeds to CP'U 10a and instructs CP'U 10a to execute a 1-stop right shift process. This is points 175-225 in Figure 14.
This is the scan of (previous point 5). 5114 and TSC value is 2
If it is 25 or more, proceed to 8116.

7) As long as the value of TSC is 229 or less in 5116, the process advances to 5117 and the state of the switch 59D is checked in 5117. If it is not on, in 5118 the CPU 10a is instructed to execute a 15 step downward shift process. This is the first
Scanning is performed from point 225 (previous point 5) to point 230 (previous point 0) in FIG.

8) When the TSC value is 230 or more in 5116, and when the shift process is completed by instructing execution of the shift process as described above, execute 5120 to read the reception level, and in 5121, execute the shift process. It is checked whether it is TH2 or more, and if it is TH2 or more, the process returns to the main routine (FIG. 5b). When less than TH2, 512
Execute the motor energization parameter set No. 2 (the contents are the same as the contents of No. 89 in Fig. 5b), read the reception level again at 5123, and check whether it is greater than or equal to the second set value TH2 at 5124. , TH2 or more, the process returns to the main routine, but if it is less than TH2, the TSC value is updated to a value 1 greater than TH2 in 5125, and the process proceeds to 5101.

Through the above processing of 5lot-8125, as shown in FIG. 14, until the reception level becomes equal to or higher than the second set value TH2, starting from point b(0), points 1, 2, 3, etc., as shown in FIG.
...230(0) in this order, and it is checked whether the reception level has become TH2 or higher at each point. Point 230 (b
= Q ), the main routine (
Return to 38) in Figure 5b.

During such a search scan, each time a point is reached,
The motor energization parameter set is executed at 5122;
Since the attitude change corresponding to the change in the detected value of the gyro is executed, the position of the base point (b = o) will not change while there is no change in the attitude of the vehicle, but if there is a change in the attitude of the vehicle, the position of the base point (b = o) will change accordingly. Although the base point is automatically shifted, the search scanning range (FIG. 14) with respect to the base point remains unchanged.

While the radio waves are blocked by an obstacle and the vehicle is running, the above-described search scan is repeated, and if the attitude of the vehicle changes during that time, the base point of the search scan is shifted accordingly. Therefore, when the radio wave is interrupted, the search scan of the locus shown in Fig. 14 is repeated with the position of the beam center axis of the antenna just before that as the base point (b = o: Fig. 14) until the radio wave is received. If there is a change in the vehicle's attitude during that time, the reference point will shift in conjunction with the change in attitude of the vehicle.

Even when the antenna is unable to track (I) and (n-i) in time due to a relatively sudden change in the attitude of the vehicle, and the reception level drops below TH2, the above-mentioned search scan (II-2) is performed. is executed.

Due to the tracking control explained above, the vehicle is running (
Vs) Vsp) When the reception level of the antenna is above a certain value (THI), the direction of the antenna should be controlled so that the movement of the moving body is canceled out only by the signal from the gyro sensor. is less than THI and greater than the reception lower limit level value (TH2), the gyro sensor signal controls the antenna direction so as to cancel out the movement of the moving object, and at the same time performs a conical scan operation to reach the maximum reception level. Receiving and tracking processing is performed to control the pointing direction of the antenna in the obtained direction (■ and ■-1), and the error component included in the gyro sensor is corrected. In addition, if the reception level of the antenna falls below TH2, the gyro sensor signal controls the direction of the antenna to cancel the movement of the moving object, and at the same time,
Since the tracking search process (n-2) is performed by scanning the direction of the antenna in a range larger than the range scanned by the conical scan operation, temporary errors may occur due to errors in the gyro sensor, control delay time, obstacles, etc. Even if reception becomes impossible, by searching a sufficiently wide area, radio waves can be automatically captured again, and the radio waves will not be completely lost.

Furthermore, practical reception is possible even when a small, low-output driving device is used, and it is possible to realize a small and lightweight device required for use in a mobile object.

(m) Next, when the vehicle is stopped (Vs≦VsP), the MP
The control operation of the UI will be explained with reference to FIG. 5b and FIG. 5C.

(a) When the reception level is good and is equal to or higher than THI, the vehicle will stop (Vs≦Vsp).5IO-8ll-312-813-S14-K
RI-KR2-8IO-... continues to read the reception level and check whether it is higher than THI (S14), and does not change the antenna attitude corresponding to the gyro data (S9). .

(b) When the reception level is 7 while the vehicle is stopped (V s≦Vgp)
If it is less than 81 or more than 782, or the reception level is 7
If a vehicle that was traveling at a speed of less than 81 or more than 782 stops,
MPtJl is from 813 in Figure 5b to 518 in Figure 5c.
and then 519A, and then 521A and 522A to indicate that the reception tracking control has proceeded while the vehicle is stopped.
writes 1 to flag register SF1 (SFI is cleared to 0 in S17°52OA or 520B while the vehicle is running), and sets the number of reception tracking executions J while the vehicle is stopped to O.
Then, at 523A, J is updated to a number larger by 1, since one reception and tracking will be executed below. and 52
At step 4A, it is checked whether J is 32 or more (311 times executed), and if not, reception tracking 515 (contents shown in FIG. 8) is executed. Then, the process returns to S8. If the reception level is equal to or higher than THI in this reception tracking, the process proceeds to (a) above. As before, if it is less than THI and more than TR2, S
After 13-814-318-8 l 9A, here 5F1=1, so proceed to 523A, increase J by 1, and check at 524A whether it becomes 32 or more. If not, receive again. Tracking S15 is executed. In this way, when the vehicle is stopped and the reception level is less than THI,
If two conditions (2 or more) are satisfied and continue, reception tracking S15 is executed 31 times. When the 31st cycle is completed, the next time you proceed to 324A, J = 32, so
Proceed to KRI shown in FIG. 5b, and hereafter KRI-KR2-
310-811-512-513-818-819A-
32LA-823A-824A-KRl-..., and the reception tracking S15 is not executed. When the vehicle starts running, SFI and SF2 are cleared at 520A, the above (II-1) is executed while the vehicle is running, and when the vehicle stops, reception and tracking S15 is executed 31 times again.

Execute reception tracking S15 31 times and then perform reception tracking S15.
If the 5TART key switch 24 is turned on while the 5TART key switch 24 is not activated, KR2 detects this and SFI and SF2 are cleared in S17, so the conditions of vehicle stop and reception level being less than THI and more than TR2 are met as before. If so, reception tracking S15 is executed again up to 31 times.

(C) The reception level is 78 while the vehicle is stopped (Vs≦Vsp)
When the reception level becomes less than 2, or when the vehicle that was running stops when the reception level is less than 782, the MPUI performs tracking search control while the vehicle is stopped, from 313 in Figure 5b to 318 in Figure 5c, and again through 819B. To indicate that the progress has been made, the flag register SF2 is set at 822B via 821B.
Write 1 to (SF2 is cleared to 0 in S17, 520A or 52OB while the vehicle is running), and initialize the tracking search execution count K to 0 while the vehicle is stopped, and
At 23B, one tracking search will be executed below, so update K to a larger number by 1.6And at 824B, check whether K is 4 or more (it has been executed 3 times), and if not, the tracking search 816 ( The contents are shown in Fig. 9). And S8
Return to If the reception level is 782 or higher in this tracking search, the process proceeds to (b) above. 782 changes from before
If less than 513-814-318-819B
Since 5F2=1 here, proceed to 823B, increase K by 1, and check at 324B whether it is 4 or more. If not, start tracking search S16 again.
Execute. In this way, when the two conditions of the vehicle stopping and the reception level being less than 782 are satisfied and continue, the tracking search 51-6 is executed three times. When the third cycle is completed, the next time we proceed to 824B, it is =4.

Proceed to KRI shown in FIG. 5b, and hereafter KRI-KR2-
310-311-512-S 13-318-S 19
B-821B-823B-824B-KRl-... and the tracking search 816 is not executed. When the vehicle starts running, SFI and SF2 are cleared at 520B, the above (II-2) is executed while the vehicle is running, and when the vehicle stops, three tracking searches S16 are executed again.

As shown in (a) and (b) above, reception tracking S15 is executed up to 31 times after the vehicle stops, and tracking search S1 is executed up to 3 times.
6 is carried out because there is a possibility that there are no obstacles that weaken the radio field (e.g. freight cars, crane trucks) while the vehicle is stopped, and the antenna is affected by vibrations of the vehicle when the vehicle is stopped. There is a possibility that the direction deviation of the vehicle is stabilized by stopping the vehicle, and the reference value Vsρ for determining whether the vehicle has stopped is
If is set to a low value, the reliability of the vehicle speed data Vs will be low near extremely low speeds (for example, when the count value of vehicle speed synchronization pulses per second is used as vehicle speed data, if the period of the vehicle speed synchronization pulses becomes t seconds or more, , sometimes one pulse is counted within a second, and sometimes it is not, and the vehicle speed data is 0.
Therefore, Vsp is set not to 0 but to a very low speed value (for example, 4+*/h), so even when it is determined that the vehicle is stopped, the vehicle will gradually move forward. This is because it is possible that it is moving.

Even if the vehicle has completely stopped, if the reception level is less than TH1 and more than TR2, it will no longer be performed after 31 times of reception tracking S15; Tracking search S1
After the execution of 6, it will no longer be done, so
Substantially wasteful automatic antenna scanning is reduced. In addition, after automatic antenna scanning is no longer performed in this way, the driver of the vehicle, based on the judgment that there are no radio wave obstructions,
When you want to perform automatic antenna scanning, use 5TART.
The key switch 24 may be turned on temporarily. In this way, MPU 1 recognizes this turn-on using KR2 in Figure 5b and clears SFI and SF2 in S17, so if the vehicle is stopped and the reception status does not change,
Receive and track 31 times S15 or track and search 31 times 3 times again
6 is executed. When the reception condition is good, a good antenna attitude is detected by these antenna scans and is set.

From the above description of the embodiments, it can be easily understood that the present invention can be applied to moving objects other than road vehicles, such as ships and aircraft.

〔Effect of the invention〕

As described above, when a vehicle or the like is temporarily stopped or parked, antenna scanning is automatically interrupted, reducing power consumption and operational wear of the mechanism.

Pause at an intersection 7 In many situations where the vehicle stops, such as when stopping to get on or off the vehicle or parking for a break, there is no need for manual effort to cancel automatic tracking, so there is no need to worry. In this manner, the present invention automatically avoids substantially wasteful automatic tracking operations.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing the appearance of an embodiment of the present invention. FIG. 2a is a block diagram showing the electrical configuration of an antenna attitude control system according to an embodiment of the present invention, and FIG. 2b is a block diagram showing details of the motor control unit 10 shown in FIG. 2a. 3a and 3b show the antenna 30 shown in FIG.
FIG. FIG. 4 is a plan view showing the appearance of the operation board 22 shown in FIG. 2. FIG. Figures 5a, 5b, 5c, 6, 7, 8
9 and 9 are flowcharts showing the operation of the microcomputer 1 shown in FIG. 2a. Figure 10, Figure 11a, Figure 11b, Figure 11c, Figure 1
id, 1ie, 11f, 11g, and 11h are the microprocessor 10a shown in FIG. 2b.
3 is a flowchart showing the operation of FIG. FIG. 12 is a schematic diagram illustrating the concept of the initial search process executed by the microcomputer 1 shown in FIG. 2a. FIG. 13 is a schematic diagram illustrating the concept of the reception tracking process executed by the microcomputer 1 shown in FIG. 2a. FIG. 14 is a schematic diagram illustrating the concept of the tracking search process executed by the microcomputer 1 shown in FIG. 2a. Microcomputer (1st and 2nd control means, scanning timing control means) 3: Read/write memory 5.6, 7, 8: Input/output port 5b: BS level detector 5d: BS tuner (5a"5c: Reception level detection Means) 6a: pitch angle detector 6b two roll angle detectors 6c, 6e: gyro driver 6d: yaw angle detector 9a: vehicle speed data processing circuit (1, 9b: stop detection means) 10: motor control unit 10a: microprocessor lla, llb: D
/A converter 12a, 12b: power amplifier 13
a, 13b, 14a, 14b: pace driver 15a
, 15b: Waveform shaping circuit 16a, 16b near-down counter 2: Read-only memory 4: Timer 5a: Distributor 5c: A/D converter 17a, 17b: Parallel-in/serial-out/shift register 18: Input buffer 22: Operation Board 23: CRT display 24, 25, 26,
27, 28, 29: Operation keys 30: Satellite broadcast receiving antenna 31: Parabolic reflector 32: Primary radiator integrated with BS converter (31, 32: antenna) 33.34
:Support arm 35;Support box 36.37 :Frame 3a 2-turn table 39:Bearing
40: Fixed base 41: Weather strip 42:
Internal teeth 43.55: Gear 44: Shaft 45.
56: Gear box 46: Azimuth drive motor 4
7.58: Rotary encoder 48 two cables (46
, 57: Drive mechanism) 49. 60: Photo interrupter 5
0nislip spring unit 51: Rotary joint 52: Fixed side cable 53: Rotating shaft
54: Sector gear 57: Elevation drive motor 590.59D: Limit switch CAR: Vehicle (mobile object) Rf: Roof Tv: Television receiver RD Niradio GYrp, GYy
a: To gyro (attitude detection means) cc: Accessory mode switch Reg: Constant voltage circuit AzU: Azimuth unit BAT: Vehicle battery EIU: Elevation unit Diagram

Claims (1)

[Scope of Claims] An antenna supported on a moving body so that its attitude can be changed; a drive mechanism for changing the attitude of this antenna; a reception level detection means for detecting the reception level of the antenna; and the reception level. An attitude control device for an antenna on a moving body, comprising: a control means for setting, via the drive mechanism, an antenna attitude at which the attitude of the antenna becomes equal to or greater than a set value; Attitude detection means for detecting the attitude of the moving object; first control means for correcting the antenna attitude to an attitude that corrects a deviation in the pointing direction of the antenna in response to a change in the detection value of the attitude detection means; the reception level; is less than the first set value, a second control means for scanning the antenna and setting the attitude of the antenna in a direction with a high reception level; and, after the stop detection means detects a movement stop, a predetermined Scan timing control means for prohibiting execution of the antenna scanning by the second control means at a certain timing, and canceling the prohibition when the stop detection means does not detect movement stop; Control device.