Moving satellite orientation method for fast recovery type satellite communication system uninterrupted in moving

A technology of moving through and moving base alignment, applied in the direction of using feedback control, electrical components, antennas, etc., can solve the problem of long process of finding satellites for the control system, unable to find satellites, etc., to improve the rapidity and accuracy, overcome the delay of dynamic response, and improve the effect of fast response ability

Inactive Publication Date: 2009-08-12

CHONGQING AEROSPACE NEW CENTURY SATELLITE APPL TECH

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Problems solved by technology

During the movement of the carrier, if the star is lost due to long-term occlusion or interference signals, the control system adopts the traditional way of finding stars to align the star during the movement, the movement of...

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Method used

In order to solve the time delay problem of the system, further improve the dynamic response characteristics of the system, adopt the overshoot control technology in the tracking control link, that is, when the speed of change of the carrier angle reaches a certain value, the control antenna is always more responsive than the command value An angle value that enables the antenna to reach the target angle before the command, thereby improving the dynamic response characteristics of the system.

The present invention has increased moving base alignment technology on the basis of original static alignment dynamic tracking because inertial navigation system, in inertial navigation system moving base alignment technology, introduces high-precision GPS system and carries out fusion solution, using The dead reckoning algorithm uses the Kalman filter technology to realize the fast moving base alignment technology, which can shorten the alignment time of the simple inertial navigation moving base from more than 15 minutes to 1~3 minutes, and the heading accuracy after alignment The attitude accuracy is less than 2 degrees, and the attitude accuracy is less than 0.5 degrees, which can meet the star-finding requirements of the mobile communication system. The control system adopts the DSP high-speed digital control method in the original star alignment technology, and adopts fast closed-loop extreme value scanning and other technologies during the movement. After the initial alignment of the inertial navigation system is completed, the control system only needs 10 to 30 seconds to be able to Align the star precisely and enter the tracking state. The new technology adopted by the control system cooperates with the rapid alignment technology of the inertial navigation base to realize dynamic star-finding, and it can realize fast dynamic star-finding when the inertial navigation is not restarted. In the present invention, LINS/GPS combined navigation mode is adopted, and a ring laser gyro is used.

[0027] Ri...

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Abstract

The invention relates to a mobile satellite alignment method for fast recovery type mobile communication, Through the introduction of high-precision GPS information, the method uses information of a GPS speed position and the like as reference quantity of an inertial navigation system and carries out information fusion and resolution with the inertial navigation system; on the basis of the prior static alignment dynamic tracking, the method is added with dynamic pedestal alignment technology, namely under the moving state of a carrying vehicle, the method resolves out the azimuth angle of the carrying vehicle relative to the positive northern direction and the attitude angle relative to the horizontal surface through the comprehensive calculation of a peg-top, an accelerometer and other sensors; and the method adopts closed loop extremum scanning technology and realizes the capturing and locking of a satellite under a dynamic environment to keep an antenna stable in the dynamic environment. The method adopts rapid dynamic pedestal alignment technology through laser inertial navigation and can automatically complete the dynamic pedestal alignment function of the inertial navigation system; and the method adopts the closed loop extremum scanning technology and realizes the capturing and locking of the satellite under the dynamic environment to keep the antenna stable under the dynamic environment. Moreover, the mobile satellite alignment method greatly improves the rapid responding capacity of the mobile communication system.

Application Domain

Control using feedbackAntennas

Technology Topic

SatelliteInertial navigation system +10

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[0019] The fast-recovery type-in-motion-in-motion aligning method related to the invention solves the problems of the fast-moving base alignment of the inertial navigation system and the fast response and closed-loop scanning of the control system in a dynamic environment.

[0020] like figure 1 As shown in the figure, the fast-recovery type on-the-fly satellite alignment method involved in the present invention, by introducing high-precision GPS information, uses GPS position, speed and other information as the reference quantity of the inertial navigation system, and performs information fusion with the inertial navigation system Solution: On the basis of the original static alignment and dynamic tracking, the dynamic base alignment technology is added, that is, when the vehicle is in motion, the azimuth angle of the vehicle relative to the true north direction can be calculated through the comprehensive calculation of sensors such as gyroscope and accelerometer. and attitude angle relative to the horizontal plane; and calculate the antenna azimuth angle, antenna elevation angle, and antenna polarization angle, and transmit them to the control system.

[0021] see figure 2 , the fast-recovery-type moving-in-motion method for star alignment of the present invention, the specific steps include:

[0022] First, power on the moving-in-motion system in motion; the inertial navigation obtains the raw data of the gyro and the table, and calculates the angular rate and acceleration; then, the inertial navigation combines and solves the acquired high-precision GPS information to complete the motion. The base is aligned; after the moving base is aligned, it enters the navigation state, and the control system is notified to start searching for stars; finally, the control system starts to perform a fast closed-loop extreme scan, locks the satellites and accurately corrects them, completes the moving star search, and enters the tracking. state.

[0023] In the present invention, not only the innovative design is adopted in the design of the inertial navigation system and the control system, but also has the following characteristics:

[0024] 1. Laser inertial navigation quick-moving base alignment

[0025] The initial attitude angle of the inertial navigation system is generally obtained by measuring the rotation of the earth and the local gravitational acceleration of the earth, that is, the static initial alignment of the inertial navigation system. After the initial alignment of the inertial navigation system is completed, it can be provided in real time under dynamic conditions. The attitude information is given to the control system to control the antenna to track the satellite. Since the initial alignment of inertial navigation requires accurate determination of the angular rate of the earth's rotation and the acceleration of gravity of the earth, the method of static base alignment is generally used for fast self-alignment of inertial navigation.

[0026] The alignment of the moving base of the inertial navigation system (LINS) generally uses the real-time output of the gyro and the meter for navigation and calculation. Generally, the vehicle is required to have a uniform speed or a short parking time during the movement process. Use the uniform motion state of the vehicle or The zero-speed correction and other functions when parking can calculate the attitude information of the loaded vehicle. Due to the large dispersion of the output data of the gyro plus meter in the motion state, the amount of data required to participate in the filtering operation is large. Under the circumstance, it still takes more than 15 minutes to calculate the attitude information of the vehicle, which cannot meet the fast response requirements of the moving-in-motion system. Based on the principle of alignment of the moving base of the inertial navigation system, the invention introduces high-precision GPS information, uses the GPS speed and position and other information as the reference quantity of the inertial navigation system, and performs information fusion and calculation with the inertial navigation system. The calculation algorithm and Kalman filter technology can complete the alignment of the moving base in a very short time, and there is no special requirement for the motion state of the vehicle.

[0027] Ring Laser Gyro (RLG) has become a new generation of ideal strap-down inertial sensitive components due to its outstanding advantages such as good stability, long life, shock and vibration resistance, direct digital output, and suitability for mass production. The Laser Gyro Inertial Navigation System (LINS) composed of it has the advantages of fast start-up, no need to warm up, not affected by the speed and acceleration of the carrier, wide measurement range, and high scale factor linearity and stability. The advantage of the global positioning system GPS is that it covers the whole world, is effective 24 hours a day, and has high positioning accuracy, but it cannot obtain real-time carrier attitude information. Therefore, the LINS/GPS combined navigation method can combine the advantages of the two, making them complementary, and can complete the function of laser inertial navigation fast-moving base alignment. For the attitude positioning principle of its inertial navigation system, see figure 1.

[0028] 2. High-speed digital control, closed-loop extreme value scanning technology

[0029] In order to find satellites in motion in a dynamic environment, a follow-up control method in the tracking process must be established, and at the same time, problems such as system dynamic response delay and closed-loop signal interference must be overcome, so as to achieve fast and accurate tracking in a dynamic environment. The satellite is captured and locked by the extreme value scanning technology.

[0030] The control system adopts DSP high-speed digital processor in hardware. The high-speed digital signal processor DSP is mainly used as the control core. Compared with the original single-chip processor, the DSP processor has the characteristics of high operating frequency and large data throughput. The input inertial navigation data, beacon signals and output driver control interface signals are all digitally processed, and the DSP processor can directly interface with these signals, which greatly shortens the time for collecting and processing these signals, and the entire control system runs and processes. The speed is significantly changed from the original control system.

[0031] see image 3 and Figure 4, In order to realize the dynamic capture and locking of the satellite, the dynamic extremum scanning technology must be superimposed on the basis of the stable tracking control of the antenna in the dynamic environment. In order to capture satellites quickly and effectively, an optimal algorithm is used in control to scan and search for satellites with a reasonable spatial angle trajectory. Whether a satellite is captured or not is identified by collecting satellite beacon signals, so while scanning and searching for satellites, it is also necessary to collect and process satellite beacon signals in real time. The satellite beacon signal is generally superimposed with strong noise interference in the actual use environment of the mobile communication. In order to avoid the noise interference causing the control system to misjudge and lock, the beacon signal must also be filtered, so that the system can effectively capture and lock. satellite.

[0032] The dynamic closed-loop extreme value scanning technology means that the control system superimposes the closed-loop extreme value scanning on the basis of realizing the original tracking function during the movement of the carrier. The control system mainly realizes the dynamic star finding through this technology. The original control system did not add the tracking function in the process of star finding, and realized the static closed-loop extreme value scanning, so it could only realize the static star finding.

[0033] 3. Double-loop control algorithm is adopted in the control algorithm

[0034] Double-loop control means that the inner loop adopts angular velocity control and adjustment, the outer loop adopts angular position closed-loop control and adjustment technology, and the antenna high-speed tracking control is realized through the inner loop angular velocity control adjustment to solve the system stability, stability margin, and transition process time. As well as the maximum tracking angular velocity and other issues to meet the technical specifications of the system. Therefore, it is necessary to study the mathematical model of the system closed-loop tracking control. The angular velocity is stably designed as a first-order error-free system, and the error of the first-order error-free system tends to zero when t→∞ (t→∞ means the end of the transition process). Through the high-speed speed closed-loop control of the inner loop, the influence of the disturbance of the carrier at various spatial angles on the antenna can be shielded, so that the antenna can remain stable in a dynamic environment.

[0035] Then, through the closed-loop and adjustment algorithm of the angular position of the outer loop, the angle error generated in the inner loop control is solved to ensure the accuracy of the antenna tracking. The technical principle diagram is as follows: Figure 5 shown.

[0036] In order to solve the time delay problem of the system and further improve the dynamic response characteristics of the system, the overshoot control technology is used in the tracking control link, that is, when the angle change speed of the carrier reaches a certain value, the control antenna always responds an angle value more than the command value. , so that the antenna reaches the target angle before the command, thereby improving the dynamic response characteristics of the system.

[0037] In the present invention, since the inertial navigation system adds the moving base alignment technology on the basis of the original static alignment and dynamic tracking, the high-precision GPS system is introduced into the inertial navigation system moving base alignment technology for fusion calculation, and dead reckoning is used. Algorithm, using Kalman filter technology to achieve fast moving base alignment technology, which can shorten the simple inertial navigation base alignment time from more than 15 minutes to 1~3 minutes, and the heading accuracy after alignment is less than 2 degrees , the attitude accuracy is less than 0.5 degrees, which can meet the star finding requirements of the moving-in-motion system. The control system adopts DSP high-speed digital control method in the original star alignment technology, and adopts fast closed-loop extreme value scanning and other technologies in the movement. After the initial alignment of the inertial navigation system is completed, the control system only needs 10~30 seconds. Accurately align the star and enter the tracking state. The new technology used in the control system, together with the rapid alignment technology of the inertial navigation base, realizes dynamic star finding, and can achieve fast dynamic star finding when the inertial navigation is not restarted. In the present invention, a LINS/GPS combined navigation mode is adopted, and a ring laser gyro is used.

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Moving satellite orientation method for fast recovery type satellite communication system uninterrupted in moving

AI-Extracted Technical Summary

Problems solved by technology

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Abstract

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Examples

Example Embodiment

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Description & Claims & Application Information

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