CN115435783A - Carrier platform rapid stabilization method for correcting inertial error according to directional diagram - Google Patents
Carrier platform rapid stabilization method for correcting inertial error according to directional diagram Download PDFInfo
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- 238000004422 calculation algorithm Methods 0.000 claims description 26
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
- G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/08—Measuring electromagnetic field characteristics
- G01R29/10—Radiation diagrams of antennas
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Abstract
The invention discloses a carrier platform rapid stabilizing method, a platform and a computer readable storage medium for correcting inertial error according to a directional diagram, wherein the method comprises the following steps: firstly, completing initial alignment of satellite signals, updating the maximum value of the satellite signals after the initial alignment, and entering a continuous satellite tracking state; if the current strength of the satellite signal exceeds the maximum strength of the satellite signal, updating the maximum strength of the satellite signal by using the current strength, and otherwise, calculating the difference value of the current strength and the maximum strength of the satellite signal; if the difference value exceeds the threshold value, returning to perform satellite signal initial alignment, otherwise entering a stage of calculating the beam deviation scalar value by table lookup; firstly, calculating the maximum vector direction of beam deviation according to the data of the satellite navigation module and the inertia module, converting the maximum vector direction into the proportion of a pitch angle and a roll angle, inquiring an antenna directional diagram test data table according to the proportion, and estimating the scalar value of the beam deviation angle; and feeding the scalar value back to the carrier platform in real time, and performing real-time error correction by combining data of the satellite navigation module and the inertia module to realize the method for quickly stabilizing the carrier platform with the real-time feedback function.
Description
Technical Field
The invention belongs to the field of satellite communication, and relates to a communication-in-motion antenna in ground terminal equipment of a satellite communication system. And in particular to a method, platform and computer readable storage medium for fast stabilization of a carrier platform for inertial error correction according to a directional pattern.
Background
At present, the satellite communication field is in a high-speed development period, and is characterized in that a constellation is formed by a plurality of satellites, and a ground device aims an antenna at one satellite in the constellation to carry out real-time communication. Due to the fact that the various satellite constellations of multiple countries are spread over the earth orbit, the angle between the satellites is often less than 1 °. Therefore, in order to avoid interference with adjacent satellites, ground terminal devices typically employ high gain, narrow beam antennas. When narrow beam antennas are installed on moving carriers such as airplanes, steamships, trains, automobiles and the like, antenna beams can deviate from a target satellite along with the change of the attitude of the carrier, the attitude change of a carrier platform needs to be isolated by a carrier platform stabilization algorithm, and the beams are always kept pointing to the direction of the satellite by continuously adjusting the pitch angle and the roll angle of the beams. Such antennas that maintain satellite communications during movement are known as mobile communications antennas.
At present, a satellite navigation module with double antennas and an inertia module are generally adopted by a communication-in-motion antenna to form a combined navigation module which is used as a sensor to measure the attitude change of a carrier. The inertial module has large error accumulation due to cost factors, and can be corrected through a double-antenna satellite navigation module generally. However, residual errors still exist after correction, and the dual-antenna satellite navigation module also has measurement errors. And after the carrier motion track is adopted for Kalman filtering, the heading angle is taken as the roll angle to correct the error of the inertia module, but the long-time hysteresis exists. The most common correction method is to correct the error of the inertial module after the maximum value of the satellite signal is found by the satellite searching and scanning algorithm. The common satellite finding scanning algorithm usually needs multiple iterations to find the maximum value of the satellite signal, so that the error of the inertial module can be corrected once in a long time, the characteristic of low correction frequency exists, and real-time correction cannot be realized. And frequent adoption of the satellite-finding scanning algorithm can cause the satellite signal strength to be unstable and even cause the satellite communication to be interrupted.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, realize the real-time feedback correction of the error of the communication-in-motion antenna, and can be used in the application environment with violent change of the attitude of the carrier platform and stronger noise, thereby improving the robustness of the feedback control.
In order to achieve the above object, the present invention provides a method for rapidly stabilizing a carrier platform for correcting an inertial error according to a directional diagram, comprising the steps of:
step 1, according to the measurement information of a double-antenna satellite navigation module and an inertia module, a conventional algorithm is adopted to complete the initial alignment of satellite signals, the maximum value of the satellite signals is updated after the alignment, and a satellite-in-motion communication antenna enters a continuous tracking satellite state;
step 2, if the current strength of the satellite signal exceeds the maximum strength of the satellite signal, updating the maximum strength of the satellite signal by using the current strength of the satellite signal, otherwise, calculating the difference between the current strength and the maximum strength of the satellite signal;
step 3, setting a threshold value as an antenna directional diagram attenuation value corresponding to the antenna beam main lobe width, if the difference value exceeds the threshold value, judging that the beam deviation exceeds the antenna main lobe beam width, returning to the step 1 to carry out satellite signal initial alignment, otherwise, entering a stage of calculating the beam deviation scalar value by table lookup;
and 4, entering a stage of calculating the beam deviation scalar value by table lookup, firstly calculating the maximum vector direction of the beam deviation according to the data of the satellite navigation module and the inertia module, converting the maximum vector direction into the proportion of the pitch angle and the roll angle, inquiring an antenna directional diagram test data table according to the proportion, and estimating the scalar value of the beam deviation angle.
Step 5, feeding back the scalar value of the beam deviation angle to the carrier platform in real time, and performing real-time error correction by combining data of the satellite navigation module and the inertia module;
and 6, circulating the steps 1 to 5 to realize the rapid carrier platform stabilizing method with the real-time feedback function.
Further, the step 4 includes making an antenna directional pattern test data table, performing directional pattern test on the communication-in-motion antenna by using a microwave darkroom, wherein the test interval pitch plane and the horizontal plane are both the minimum beam jump of the antenna, and storing the test data as a two-dimensional data table according to pitch/roll.
Furthermore, the wave beam widths of the pitch plane and the horizontal plane of the main lobe of the communication-in-motion antenna are both theta, and the minimum wave beam jump degree is theta/10.
Further, the ratio of the pitch angle and the roll angle is converted in step 4, and is rounded to the precision of 0.1 theta.
Further, in step 5, if the motion vector of the carrier platform is a, the total error vector of the satellite navigation module and the inertia module is E, the direction of the lookup vector is a + E, the lookup scalar value is T, and the carrier platform motion vector = (a + E) × T/a + E is jointly calculated.
The invention also provides an electronic equipment platform, which comprises at least one processor and a memory which is in communication connection with the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the above-described carrier platform fast settling method.
The invention also provides a computer readable storage medium storing a computer program, which when executed by a processor implements the above-mentioned method for fast stabilization of a carrier platform.
The invention estimates the scalar value of the beam deviation angle by using the antenna directional diagram in the scanning star finding algorithm, feeds the scalar value back to the carrier platform in real time for error correction, and has the advantages of higher vector precision of the navigation module/inertia module and higher scalar precision of the beam deviation value calculated by table lookup. Compared with the traditional star finding scanning algorithm, the method does not need to carry out feedback correction after the maximum value is found through multiple iterations, does not need to control the deflection of the antenna beam to find the star, has the advantages of stable satellite signal intensity tracking and high-frequency real-time feedback, improves the robustness of feedback control, can keep the satellite signal intensity stable in the correction process, and is suitable for a motion carrier platform with rapidly-changing posture.
Drawings
FIG. 1 is a flow chart of a carrier platform fast stabilization algorithm for inertial error correction according to directional diagrams
Detailed Description
The following describes in detail embodiments of the present invention with reference to the drawings.
The satellite tracking algorithm is used for controlling an antenna beam to always point to the satellite direction on a moving carrier platform with changed posture, mainly comprises a coordinate system conversion algorithm, a carrier platform stabilizing algorithm and a scanning satellite finding algorithm, wherein the coordinate system conversion algorithm and the scanning satellite tracking algorithm are realized by adopting common algorithms, and the invention improves the carrier platform stabilizing algorithm: the traditional algorithm needs to iterate for many times to find the maximum value and then carries out feedback correction, and the method provided by the invention has the characteristic of real-time feedback and improves the robustness of feedback control. The method provided by the invention does not need to control the antenna beam to further deflect and search the satellite, and has the advantage of stable satellite signal tracking strength. The specific implementation mode of the invention is as follows:
1. making an antenna directional diagram test data table: the wave beam widths of the pitch surface and the horizontal plane of the main lobe of the communication-in-motion antenna are both theta, and the minimum wave beam jumping degree is theta/10, so that a microwave darkroom is used for carrying out directional diagram test on the communication-in-motion antenna, the steps of the pitch surface and the horizontal plane at test intervals are both theta/10, and test data are stored into a two-dimensional data table according to pitch/roll, as shown in table 1:
table 1: the test value of the rolling/pitching angle of the main lobe of the communication-in-moving antenna is stored as a two-dimensional data table
For a reflector antenna, the antenna pattern is fixed and only one test is needed. For a phased array antenna, an antenna directional pattern is slightly changed along with the change of a pitching angle and a rolling angle, so that the directional pattern coefficient of the array antenna needs to be tested and determined for many times, and an antenna directional pattern test data table is manufactured in a mode of multiplying a normal directional pattern by the directional pattern coefficient of the array antenna according to the pitching angle and the rolling angle pointed by a current wave beam.
2. The satellite signal tracking method includes the steps that a communication-in-motion antenna enters a power-on state to complete initialization, a double-antenna satellite navigation module outputs information such as time, position and angle, an inertia module outputs attitude angle information, a carrier platform stabilization algorithm is combined with a satellite position to calculate the angle of a current wave beam pointing to a satellite for the first time, the wave beam is controlled to point to the satellite direction, a scanning satellite finding algorithm is started, the wave beam is aligned to the satellite, the maximum intensity of satellite signals is recorded, initial alignment of satellite signals is completed, and the communication-in-motion antenna enters a continuous satellite tracking state. The communication-in-motion antenna is realized by adopting a common algorithm from power-on to completion of initial alignment.
3. And the communication-in-motion antenna enters a continuous tracking state, if the current strength of the satellite signal exceeds the maximum strength of the satellite signal, the maximum strength of the satellite signal is updated by using the current strength of the satellite signal, otherwise, the difference between the current strength of the satellite signal and the maximum value is calculated.
4. Setting a threshold value as an antenna directional diagram attenuation value corresponding to the antenna beam main lobe width, according to the test data in the table 1, when the pitch angle is 90 degrees and the roll angle is 0, the antenna gain is the maximum value, and judging the threshold value as the minimum value obtained by subtracting the maximum value from the table 1. If the difference in step 3 exceeds the threshold, it can be determined that the beam deviation exceeds half of the main lobe width of the antenna beam, and therefore the initial alignment stage of the satellite signal needs to be entered, otherwise, the table lookup and calculation stage of the beam deviation scalar value in step 5 is entered.
5. In the stage of calculating the beam deviation scalar value according to the difference lookup table in the step 3, the maximum vector direction of the beam deviation is calculated according to the data of the satellite navigation module and the inertia module, the maximum vector direction is converted into the proportion of the pitch angle and the roll angle (rounded to be accurate to 0.1 theta), and the scalar value of the beam deviation angle is estimated by inquiring an antenna directional diagram test data table according to the proportion.
6. And feeding back the scalar value of the beam deviation angle to a carrier platform stabilization algorithm in real time, and performing real-time error correction on data of the satellite navigation module and the inertia module. The advantages of high vector precision of the navigation module/inertia module and high scalar precision of the beam deviation value calculated by table lookup are integrated through a carrier platform stabilization algorithm. And (3) the vector of the motion of the carrier platform is A, the total error vector of the navigation module/inertia module is E, the vector direction of the table lookup is A + E, the scalar value of the table lookup is T, and the carrier motion vector = (A + E) × T/A + E is calculated in a combined mode.
7. And (5) realizing the rapid stabilization method of the carrier platform with the real-time feedback function through the circulation from the step 2 to the step 6.
In the conventional star finding scanning algorithms such as conical scanning, sinusoidal scanning, a four-quadrant method, a climbing method and a steepest descent method, when scanning is performed, a wave beam further deviates from a satellite direction, and the method belongs to an active star finding algorithm, so that the satellite signal intensity is greatly fluctuated, and even communication interruption occurs. Compared with the traditional star finding scanning algorithm, the method does not need to control antenna beams to further deflect and find the star, and has the advantages of stable satellite signal intensity tracking and no iteration for real-time feedback.
As will be appreciated by one skilled in the art in the light of the foregoing description, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects.
The second embodiment of the invention provides an electronic device platform, which comprises at least one processor and a memory, wherein the memory is in communication connection with the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the above-described carrier platform fast settling method.
A third embodiment of the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the method for quickly stabilizing a carrier platform.
As will be understood by those skilled in the art from the foregoing description, all or part of the steps in the method according to the above embodiments may be implemented by a program, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. The storage medium includes, but is not limited to, various media that can store program codes, such as a usb disk, a removable hard disk, a magnetic storage, an optical storage, and the like.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalents, improvements, etc. made within the principle of the present invention are included in the scope of the present invention.
Claims (7)
1. A carrier platform rapid stabilization method for correcting inertial errors according to directional diagrams is characterized by comprising the following steps:
step 1, according to the measurement information of a double-antenna satellite navigation module and an inertia module, a conventional algorithm is adopted to complete the initial alignment of satellite signals, the maximum value of the satellite signals is updated after the alignment, and a communication-in-motion antenna enters a continuous satellite tracking state;
step 2, if the current intensity of the satellite signal exceeds the maximum intensity of the satellite signal, updating the maximum intensity of the satellite signal by using the current intensity of the satellite signal, otherwise, calculating the difference between the current intensity of the satellite signal and the maximum intensity;
step 3, setting a threshold value as an antenna directional diagram attenuation value corresponding to the antenna beam main lobe width, if the difference value exceeds the threshold value, returning to the step 1 to perform satellite signal initial alignment, otherwise, entering a stage of calculating a beam deviation scalar value by table lookup;
step 4, in the stage of calculating the beam deviation scalar value by looking up the table, firstly calculating the maximum vector direction of the beam deviation according to the data of the satellite navigation module and the inertia module, converting the maximum vector direction into the proportion of the pitch angle and the roll angle, inquiring an antenna directional diagram test data table according to the proportion, and estimating the scalar value of the beam deviation angle;
step 5, feeding back the scalar value of the beam deviation angle to the carrier platform in real time, and performing real-time error correction by combining data of the satellite navigation module and the inertia module;
and 6, circulating the steps 1 to 5 to realize the method for quickly stabilizing the carrier platform with the real-time feedback function.
2. The method for fast stabilizing a carrier platform according to claim 1, wherein the step 4 further comprises the steps of making an antenna pattern test data table, using a microwave darkroom to carry out pattern test on the communication-in-motion antenna, wherein the test interval steps of the pitching surface and the horizontal surface are the minimum beam jump of the antenna, and storing the test data as a two-dimensional data table according to pitching/rolling.
3. The method for rapidly stabilizing the carrier platform according to claim 2, wherein the beam widths of the pitch plane and the horizontal plane of the main lobe of the communication-in-motion antenna are both theta, and the minimum beam jump is theta/10.
4. The method of claim 3, wherein the transformation in step 4 is to a ratio of pitch angle and roll angle, rounded to the nearest 0.1 θ.
5. The method for rapidly stabilizing a carrier platform according to claim 1, wherein in the step 5, the motion vector of the carrier platform is a, the total error vector of the satellite navigation module and the inertia module is E, the direction of the lookup vector is a + E, the lookup scalar value is T, and the motion vector of the carrier platform = (a + E) × | T |/| a + E |.
6. An electronic device platform comprising at least one processor, and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the carrier platform fast settling method of any of claims 1 to 4.
7. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the carrier platform stabilization method of any one of claims 1 to 4.
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