Dual quaternion mobile communication antenna control method and system based on mems inertial navigation

Abstract

Based on the MEMS inertial navigation dual quaternion antenna control method, the antenna control quaternion is introduced on the basis of the navigation attitude quaternion. In each interrupt cycle of the navigation computer, the rotation vector of the carrier body relative to the ideal platform coordinate system measured by the gyroscope is used to update the two quaternions. Kalman filter is used to correct the error of navigation attitude quaternion in each filter cycle. According to the relationship between the attitudes determined by the two attitude quaternions, the antenna control command angular velocity is determined. Finally, the antenna servo control angle converted from the attitude of the antenna control quaternion drives the rotation of the servo system. The dual quaternion antenna control system based on MEMS inertial navigation, using the control method as the control process, can realize precise control of the antenna pointing in motion. The invention can effectively avoid the impact of the quaternion instability of the navigation attitude in the Kalman filter transient process on the servo system of the antenna in motion, and effectively shorten the satellite-to-satellite time of the communication system in motion.

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, ...

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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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