Biquaternion communication-in-motion antenna control method and system based on MEMS inertial navigation

Abstract

The invention provides a biquaternion communication-in-motion antenna control method based on MEMS inertial navigation. An antenna control quaternion is introduced on the basis of a navigation posture quaternion. In each interrupt cycle of a navigation computer, a rotation vector of a carrier relative to an ideal platform coordinate system is measured through a gyroscope to update the two quaternions. In each filtering cycle, errors of the navigation posture quaternion are modified through Kalman filtering. According to the relation between postures determined through the two posture quaternions, an antenna control instruction angular speed is determined. Finally, a servo system is controlled to rotate through an antenna servo control angle obtained through conversion by means of antenna control quaternion postures. According to a biquaternion communication-in-motion antenna control system based on MEMS inertial navigation, the control method serves as a control flow, and precise control of communication-in-motion antenna orientation can be achieved. By means of the method and the system, impact caused by unstable of the navigation posture quaternion to a communication-in-motion antenna servo system can be effectively avoided in the Kalman filtering transient process, and alignment time of a communication-in-motion system is effectively shortened.

Description

technical field [0001] The invention relates to a method for controlling an antenna in motion. Background technique [0002] The mobile communication application system of the geostationary satellite is commonly known as "Mobile Communication", and it is an application with strong demand and rapid development in the field of satellite communication. In addition to the advantages of wide satellite communication coverage, no terrain and geographical restrictions, and stable and reliable transmission lines, "Mobile Communication" has truly realized the purpose of broadband and mobile communication. [0003] At present, there is no relatively mature solution for the mobile communication system based on MEMS inertial navigation (referred to as MEMS inertial navigation) in China. With the development of MEMS inertial technology, the accuracy of MEMS inertial navigation has been steadily improved. At present, the mobile communication system is more and more widely used in China, ...

AI Technical Summary

Problems solved by technology

[0004] The usual practice is to use the navigation attitude quaternion calculated by the strapdown inertial navigation system to directly control the antenna. , it will drive the servo system to rotate a larger angle instantly by inputting a very large current to the servo system (the angle size is the error estimate obtained by the Kalman filter estimation), which will inevitably cause a large electrical damage to the antenna servo system. and mechanical shock

In order to avoid this impact, we can only spend a lot of time waiting for the Kalman filter to stabilize until the servo system can withstand the impact of the error correction estimated by the Kalman filter before starting the servo system. Obviously this is Contrary to the market's rapid demand for satellites in China Mobile

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