CN105356060A - Scanning control method of antenna azimuth axis in SOTM satellite finding - Google Patents
Scanning control method of antenna azimuth axis in SOTM satellite finding Download PDFInfo
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- CN105356060A CN105356060A CN201510763375.8A CN201510763375A CN105356060A CN 105356060 A CN105356060 A CN 105356060A CN 201510763375 A CN201510763375 A CN 201510763375A CN 105356060 A CN105356060 A CN 105356060A
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
- H01Q3/04—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying one co-ordinate of the orientation
- H01Q3/06—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying one co-ordinate of the orientation over a restricted angle
Abstract
The invention provides a scanning control method of an antenna azimuth axis in SOTM (Satcom On The Move) satellite finding. According to the method, on the basis of tracking carrier motion by an antenna, the antenna azimuth axis is driven to carry out whole ring scanning through an accelerating process, and a satellite signal is recorded. Then the secondary method fuzzy retrieval mechanism of the satellite signal is utilized, the effective range of the satellite signal is determined, and an antenna decelerating process is started to carry out deceleration. Finally after the antenna is decelerated to a preset rate, an antenna inverted rotation process is set, the antenna is controlled to reversely rotate to a satellite signal strongest point, and the scanning driving control in antenna azimuth axis satellite finding is completed. According to the method, the system instability problem caused by antenna sudden stop and start moments is solved, and through implementing an effective satellite largest signal determining mechanism, the scanning control in antenna azimuth axis satellite finding is realized.
Description
Technical field
The invention provides the scan control method of azimuth axis of antenna when a kind of communication in moving seeks star, when being applicable to require communication in moving to seek star, azimuth axis of antenna quick and stable scans the occasion of satellite-signal maximum, belongs to satellite communication technology field.
Background technology
When antenna for satellite communication in motion system based on inertial navigation scheme seeks star, inertial navigation system utilizes Initial Alignment Method to calculate carrier current angle of pitch P, roll angle R and course angle Y information, then points to target satellite by Coordinate Conversion guide antenna.Due to the reason such as Algorithm Error, the error of calculation, also there is error in the initial alignment of inertial navigation system under carrier Larger Dynamic, causes the precision being pointed to satellite by inertial navigation system guide antenna to decrease.Especially, under Larger Dynamic, inertial navigation system initial orientation angle error can be comparatively large, and this causes the antenna system azimuth axis guided by it to depart from the true bearing pointing to satellite, causes and initially seek the reduction of star precision.Therefore, under Larger Dynamic, simple inertial navigation system self precision that relies on guarantees that high-precision star of initially seeking has larger difficulty.
At present, more method is when initially seeking star, first points to satellite according to inertial navigation system attitude transformation result driven antenna, and then azimuth axis of antenna is carried out to the scanning of satellite-signal maximum separately.Conventional method first presets a satellite-signal threshold voltage, and when detecting current voltage in scanning process and being greater than threshold voltage, effective satellite-signal namely detected, azimuth axis of antenna stops operating immediately, and what complete azimuth axis initially seeks star process.
But just there is the risk of scanning by mistake in method, namely exist around antenna stronger signal reflex or signal secondary lobe voltage stronger time, can exist and search secondary lobe but not namely the strongest main lobe signal stops situation about scanning, result in the situation of initially seeking star and departing from.In addition, in order to shorten the time of initially seeking star as far as possible, generally the driving angular speed of azimuth axis of antenna is set to the maximum output angle speed of motor.If but inertial moment of antenna is comparatively large, the action that the moment of antenna starts and stops instantaneously impacting the stability of a system, and long-play can reduce the reliability of antenna system, thus causes antenna initially to seek the reduction of star precision.
Therefore, how in carrier Larger Dynamic situation, avoid antenna anxious get impatient stop the instability problem that action causes antenna system, solving the mistake scanning problem of antenna system azimuth axis, is that communication in moving realizes antenna accurately to a difficult point of satelloid when seeking star.
Summary of the invention
Technology of the present invention is dealt with problems: overcome the deficiencies in the prior art, provide the scan control method of azimuth axis of antenna when a kind of communication in moving seeks star, avoid antenna suddenly to get impatient and stop the instability problem that action causes antenna system, solve the mistake scanning problem of antenna system azimuth axis, achieve the rapid scanning of the maximum satellite-signal of antenna for satellite communication in motion azimuth axis.
Technical solution of the present invention:
A scan control method for azimuth axis of antenna when communication in moving seeks star, step is as follows:
(1) arrange the azimuth axis angle fYaw of antenna for satellite communication in motion, drive angular speed fStep and control cycle T, initial value is zero; The state of a control arranging antenna is acceleration search state;
(2) control cycle T starts timing, when arriving the default control cycle, enters step (3);
(3) judge the current control state of antenna, if acceleration mode, then perform step (4), if deceleration regime then performs step (6), if inverted status then performs step (7);
(4) control to drive angular speed fStep to accelerate, drive the higher limit of angular speed fStep with limit; Send and drive angular speed fStep to rotate to antenna control system driven antenna azimuth axis; Read satellite-signal value, enter step (5) afterwards;
(5) control cycle T is made to reset; According to the satellite-signal value that step (4) reads, judge whether antenna completes the scanning of satellite-signal maximum, if complete the scanning of satellite-signal maximum, then the state of a control of antenna is set to deceleration regime, deceleration counter icnt is reset simultaneously, return step (2) afterwards; If do not complete the scanning of satellite-signal maximum, then directly return step (2);
(6) make control cycle T reset, deceleration counter icnt adds 1; Control to drive angular speed fStep to slow down, and transmission drives angular speed fStep to rotate to antenna control system driven antenna azimuth axis; Judge whether antenna decelerates to zero-speed, if decelerate to zero-speed, then the state of a control of antenna is set to inverted status, return step (2) afterwards, if do not decelerate to zero-speed, then directly return step (2);
(7) control cycle T is made to reset; Control to drive angular speed fStep reversion, send and drive angular speed fStep to rotate backward to antenna control system driven antenna azimuth axis, and judge whether to be inverted to described satellite-signal maximum place, if satisfy condition, enter step (8), otherwise, return step (2);
(8) order drives angular speed fStep to reset, and stops azimuth axis of antenna rotating, completes the drived control of azimuth axis of antenna when seeking star.
The middle angular speed fStep that drives of step (4) accelerates, and restriction drives the higher limit of angular speed to be specially: make the driving angular speed fStep of antenna accelerate, and namely arranges driving angular speed fStep to be:
FStep=fStep+FSLOPE, wherein, FSLOPE is antenna acceleration and deceleration increment sizes; Judge whether fStep >=FVMAX sets up, if set up, then arranging driving angular speed fStep is: fStep=FVMAX, and wherein, FVMAX is that antenna drives maximum angular speed.
Judge that the scanning whether antenna completes satellite-signal maximum is specially in step (5):
(3.1) azimuth axis of antenna angle fYaw=fYaw+fStep, judge whether current antenna azimuth axis angle fYaw is more than or equal to one week, and namely whether fYaw >=360 ° set up, if set up, then enter step (3.2), otherwise do not complete the scanning of satellite-signal maximum;
(3.2) read current period satellite-signal fSatV, judge fSatV>=K
0whether fSatV_Max sets up, and wherein fSatV_Max is satellite-signal maximum, K
0for control coefrficient, if set up, then satellite-signal maximum again detected, thus complete the scanning of satellite-signal maximum, otherwise do not complete the scanning of satellite-signal maximum.
Control coefrficient K
0span be 0.85≤K
0≤ 1.0.
The method driving angular speed fStep to slow down in step (6) is:
fStep＝fStep-FSLOPE。
Control in step (7) to drive angular speed fStep reversion to be specially:
Order drives angular speed fStep=-FVSLOW,
Wherein, FVSLOW is default antenna low speed angular speed, the span of FVSLOW is 3 °/and s ~ 6 °/s.
Judge whether in step (7) that the method being inverted to peak signal place is: deceleration counter icnt subtracts 1, judge
Whether icnt≤0 sets up,
If set up, then reverse turn peak signal place, otherwise, be not inverted to peak signal place.
The state of a control of described antenna comprises acceleration mode, deceleration regime and inverted status, and acceleration mode refers to that antenna reaches the accelerator of maximum angular speed from zero-speed; Deceleration regime refers to that antenna decelerates to the process of zero-speed state gradually from maximum angular speed, and inverted status refers to that antenna is from decelerating to zero-speed state, and reversion accelerates to the process of predetermined angle speed.
The present invention's advantage is compared with prior art as follows:
(1) the present invention changes prior art and is driven by antenna angular speed to be preset as the straightforward procedure of a fixing constant value, have employed the antenna type of drive of acceleration and deceleration, solves the anxious Larger Dynamic operation stopped of getting impatient of antenna; Devise the scanning judgment mechanism of the maximum satellite-signal of azimuth axis of antenna, namely on whole circle continuous sweep basis, utilize twice method determination satellite peak signal, make azimuth axis of antenna accurately can obtain satellite position; Devise again antenna inversion driving method, adopt accurate counting method driven antenna to turn to satellite-signal maximum, ensure that antenna quickly and accurately to satelloid.The present invention adopts the level and smooth drived control method of acceleration and deceleration antenna, ensure that antenna drives angular speed level and smooth to be increased to maximum angular speed and to be reduced to zero-speed, and the urgency avoiding antenna is got impatient and stopped.Utilize accurate low speed and reverse method to achieve antenna simultaneously and get back to satellite-signal maximum accurately, ensure that satellite pointing accuracy.
(2) control coefrficient K is utilized
0, realize twice method fuzzy search mechanism of satellite peak signal.The method adopts fuzzy detection method, satellite useful signal is defined as certain signal spacing scope, and the single constant threshold value arranged compared to existing technology, can greatly improve retrieval success rate; This testing mechanism can also according to user's index request flexible configuration control coefrficient K in addition
0, work as K
0close to 1.0 time, search condition is more harsh, is applicable to require very harsh occasion to signal strength signal intensity.Work as K
0time less, search condition is comparatively loose, is applicable to require lower occasion to signal strength signal intensity.More flexible compared to existing technology, can be used for the application of various different index.
(3) setting of the multiple constant value speed in the present invention, as low speed angular speed FVSLOW, antenna drive maximum angular speed FVMAX and antenna acceleration and deceleration increment size FSLOPE etc., can arrange according to the parameter of different antennae servo system, method is flexible, practical.
Accompanying drawing explanation
Fig. 1 is method flow diagram of the present invention;
Fig. 2 is drived control figure of the present invention.
Fig. 3 is the comparison diagram that drived control of the present invention and general control method start in the 1s time.
Embodiment
Communication in moving (SOTM, SatcomOnTheMove) be the abbreviation of " the ground satellite station communication system in mobile ", it utilizes Geo-synchronous fixed statellite as the transfer platform of signal of communication, realizes the point-to-point in its overlay area, point-to-multipoint, how point-to-multipoint real time communication.Main feature is: satellite coverage area is large, and do not limit by the factor such as region, distance, dedicated transmission channel, transport tape is roomy, and transmission rate is high; Long-distance video image, sound accompaniment, phone and transfer of data can be realized.Described communication in moving comprises antenna, antenna control system, inertial navigation system.
The invention provides the scan control method of azimuth axis of antenna when a kind of communication in moving seeks star, the method, first on the basis of antenna tracking carrier movement, is carried out the scanning of whole circle by accelerator driven antenna azimuth axis, and is recorded satellite-signal point of maximum intensity; Then, when again scanning satellite-signal point of maximum intensity, starting antenna moderating process and slowing down; Finally after antenna decelerates to set rate, arrange antenna counter rotation, control antenna rotates backward satellite-signal point of maximum intensity, and the turntable driving completed when azimuth axis of antenna seeks star controls.This method solving the anxious system instability problem stopping causing instantaneously of getting impatient of antenna, and by implementing the judgment mechanism of satellite peak signal effectively, achieving scan control when azimuth axis of antenna seeks star.
As shown in Figure 1, the inventive method step is as follows:
(1) arrange azimuth axis of antenna angle fYaw, drive angular speed fStep and control cycle T, initial value is zero; Arranging state of a control is acceleration search state;
The state of a control of antenna comprises acceleration mode, deceleration regime and inverted status, and acceleration mode refers to that antenna reaches the accelerator of maximum angular speed from zero-speed; Deceleration regime refers to that antenna decelerates to the process of zero-speed state gradually from maximum angular speed, and inverted status refers to that antenna is from decelerating to zero-speed state, and reversion accelerates to the process of predetermined angle speed.
(2) control cycle T starts timing, when arriving the default control cycle, enters step (3);
(3) judge state of a control, if acceleration mode, then perform step (4), if deceleration regime then performs step (6), if inverted status then performs step (7);
(4) drive angular speed fStep to accelerate, and restriction drives the higher limit of angular speed, send and drive angular speed fStep to rotate to antenna control system driven antenna azimuth axis; Read satellite-signal value, enter step (5) afterwards;
Drive angular speed fStep to accelerate, and restriction drives the higher limit of angular speed to be specially: to make the driving angular speed fStep of antenna accelerate, namely arranging driving angular speed fStep is: fStep=fStep+FSLOPE, and wherein, FSLOPE is antenna acceleration and deceleration increment sizes; Judge whether fStep >=FVMAX sets up, if set up, then arranging driving angular speed fStep is: fStep=FVMAX, and wherein, FVMAX is that antenna drives maximum angular speed.FVMAX is constant value.
(5) control cycle T is made to reset; Judge whether to complete the scanning of satellite-signal maximum, concrete grammar is:
A () first judges whether azimuth axis of antenna angle fYaw is more than or equal to one week, namely azimuth axis of antenna angle fYaw=fYaw+fStep, judges fYaw >=360 °, if satisfy condition, then azimuth axis of antenna rotational angle is greater than one week, otherwise rotational angle is not greater than one week;
B () then judges whether that method satellite-signal maximum again being detected is: read current period satellite-signal fSatV, judge fSatV>=K
0fSatV_Max, wherein fSatV_Max is satellite-signal maximum, K
0for control coefrficient (0.85≤K
0≤ 1.0); If satisfy condition, then satellite-signal maximum again detected, otherwise satellite-signal maximum again do not detected;
C () finally judges whether the testing conditions simultaneously meeting (a) and (b), if satisfy condition, then completed the scanning of satellite-signal maximum, otherwise do not completed the scanning of satellite-signal maximum.
If complete scanning, then arranging state of a control is deceleration regime, and deceleration counter icnt resets, and returns step (2) afterwards; Otherwise, directly return step (2);
(6) make control cycle T reset, deceleration counter icnt adds 1; Drive angular speed fStep to slow down, concrete grammar is:
fStep＝fStep-FSLOPE；
And send driving angular speed fStep to the rotation of antenna control system driven antenna azimuth axis, return step (2) afterwards; Judge whether antenna decelerates to zero-speed, concrete grammar is:
Judge fStep≤FVMIN, wherein, FVMIN is predetermined zero-speed; If satisfy condition, then decelerate to zero-speed, otherwise, do not decelerate to zero-speed.
If decelerate to zero-speed, then arranging state of a control is inverted status, returns step (2) afterwards, otherwise directly returns step (2);
(7) control cycle T is made to reset; Arrange and drive angular speed fStep low speed and reverse, concrete grammar is:
fStep＝-FVSLOW，
Wherein, FVSLOW is default antenna low speed angular speed (FVSLOW is constant value, the span of FVSLOW is 3 °/s ~ 6 °/s).
Send and drive angular speed fStep to rotate backward to antenna control system driven antenna azimuth axis, and judge whether to be inverted to peak signal place, concrete grammar is:
Deceleration counter icnt subtracts 1, judges
icnt≤0，
If satisfy condition, then enter step (8), otherwise, return step (2);
(8) order drives angular speed fStep to reset, and stops azimuth axis of antenna rotating, completes the drived control of azimuth axis of antenna when seeking star.
Embodiment:
Preset acceleration and deceleration increment FSLOPE=0.0005 °, low speed angular speed FVSLOW=6 °/s, maximum angular speed FVMAX=40 °/s, control cycle T=0.005s, then the drived control figure that realizes of the present invention is for shown in Fig. 2.In Fig. 2,1 section is acceleration mode section, 2 sections for accelerating to the rotational segment after maximum angular speed, 3 sections for finding the deceleration regime section after signal maximum point, 4 sections is last inverted status section.As can be seen from Figure 2, whole antenna system azimuth axis scanning process is very level and smooth, there is not the anxious high motion situations of stopping of getting impatient.And when satellite-signal maximum being detected, antenna system is also in smooth deceleration.When rotational angular velocity decelerates to zero-speed, the scope arranged due to angle of twist speed is suitable, can not cause the not steady phenomenon of antenna system.And due to reverse angle less, reversing time only has several seconds, and the antenna system that merely add a few second initially seeks the star time, generally negligible.
Can guarantee that antenna system is steady for further illustrating drived control method of the present invention, Fig. 3 gives drived control method of the present invention and general control method starts the comparison diagram in the 1s time in antenna system.As can be seen from the figure, angular speed is directly set to 40 °/s by general control method, antenna system azimuth axis is caused just to forward 40 ° to from 0 ° within the 1s time, and drived control method of the present invention, initial angle speed just accelerates to 20 °/s to 1s from zero-speed, and angle only completes the rotation of 10.5 °, achieve well when azimuth axis of antenna initially seeks star and steadily control.
Claims (8)
1. a scan control method for azimuth axis of antenna when communication in moving seeks star, is characterized in that step is as follows:
(1) arrange the azimuth axis angle fYaw of antenna for satellite communication in motion, drive angular speed fStep and control cycle T, initial value is zero; The state of a control arranging antenna is acceleration mode;
(2) control cycle T starts timing, when arriving the default control cycle, enters step (3);
(3) judge the current control state of antenna, if acceleration mode, then perform step (4), if deceleration regime then performs step (6), if inverted status then performs step (7);
(4) control to drive angular speed fStep to accelerate, drive the higher limit of angular speed fStep with limit; Send and drive angular speed fStep to rotate to antenna control system driven antenna azimuth axis; Read satellite-signal value, enter step (5) afterwards;
(5) control cycle T is made to reset; According to the satellite-signal value that step (4) reads, judge whether antenna completes the scanning of satellite-signal maximum, if complete the scanning of satellite-signal maximum, then the state of a control of antenna is set to deceleration regime, deceleration counter icnt is reset simultaneously, return step (2) afterwards; If do not complete the scanning of satellite-signal maximum, then directly return step (2);
(6) make control cycle T reset, deceleration counter icnt adds 1; Control to drive angular speed fStep to slow down, and transmission drives angular speed fStep to rotate to antenna control system driven antenna azimuth axis; Judge whether antenna decelerates to zero-speed, if decelerate to zero-speed, then the state of a control of antenna is set to inverted status, return step (2) afterwards, if do not decelerate to zero-speed, then directly return step (2);
(7) control cycle T is made to reset; Control to drive angular speed fStep reversion, send and drive angular speed fStep to rotate backward to antenna control system driven antenna azimuth axis, and judge whether to be inverted to described satellite-signal maximum place, if satisfy condition, enter step (8), otherwise, return step (2);
(8) order drives angular speed fStep to reset, and stops azimuth axis of antenna rotating, completes the drived control of azimuth axis of antenna when seeking star.
2. the scan control method of azimuth axis of antenna when a kind of communication in moving according to claim 1 seeks star, it is characterized in that: in step (4), drive angular speed fStep to accelerate, and restriction drives the higher limit of angular speed to be specially: make the driving angular speed fStep of antenna accelerate, namely arranging driving angular speed fStep is: fStep=fStep+FSLOPE, wherein, FSLOPE is antenna acceleration and deceleration increment sizes; Judge whether fStep >=FVMAX sets up, if set up, then arranging driving angular speed fStep is: fStep=FVMAX, and wherein, FVMAX is that antenna drives maximum angular speed.
3. the scan control method of azimuth axis of antenna when a kind of communication in moving according to claim 1 seeks star, is characterized in that: judge in step (5) that the scanning whether antenna completes satellite-signal maximum is specially:
(3.1) azimuth axis of antenna angle fYaw=fYaw+fStep, judge whether current antenna azimuth axis angle fYaw is more than or equal to one week, and namely whether fYaw >=360 ° set up, if set up, then enter step (3.2), otherwise do not complete the scanning of satellite-signal maximum;
(3.2) read current period satellite-signal fSatV, judge fSatV>=K
0whether fSatV_Max sets up, and wherein fSatV_Max is satellite-signal maximum, K
0for control coefrficient, if set up, then satellite-signal maximum again detected, thus complete the scanning of satellite-signal maximum, otherwise do not complete the scanning of satellite-signal maximum.
4. when a kind of communication in moving according to claim 3 seeks star, the scan control method of azimuth axis of antenna, is characterized in that: control coefrficient K
0span be 0.85≤K
0≤ 1.0.
5. the scan control method of azimuth axis of antenna when a kind of communication in moving according to claim 1 seeks star, is characterized in that: the method driving angular speed fStep to slow down in step (6) is:
fStep＝fStep-FSLOPE。
6. the scan control method of azimuth axis of antenna when a kind of communication in moving according to claim 1 seeks star, is characterized in that: control in step (7) to drive angular speed fStep reversion to be specially:
Order drives angular speed fStep=-FVSLOW,
Wherein, FVSLOW is default antenna low speed angular speed, the span of FVSLOW is 3 °/and s ~ 6 °/s.
7. when a kind of communication in moving according to claim 1 seeks star, the scan control method of azimuth axis of antenna, is characterized in that: judge whether in step (7) that the method being inverted to peak signal place is: deceleration counter icnt subtracts 1, judges
Whether icnt≤0 sets up,
If set up, then reverse turn peak signal place, otherwise, be not inverted to peak signal place.
8. the scan control method of azimuth axis of antenna when a kind of communication in moving according to claim 1 seeks star, it is characterized in that: the state of a control of described antenna comprises acceleration mode, deceleration regime and inverted status, acceleration mode refers to that antenna reaches the accelerator of maximum angular speed from zero-speed; Deceleration regime refers to that antenna decelerates to the process of zero-speed state gradually from maximum angular speed, and inverted status refers to that antenna is from decelerating to zero-speed state, and reversion accelerates to the process of predetermined angle speed.
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| CN105356060B (en) | 2017-11-28 |
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