Automatic calibration method of inertial navigation installation error of SOTM (satcom on the move) antenna

An installation error and automatic calibration technology, applied in the field of navigation, can solve the problems of difficult maintenance and replacement work, installation error, inconvenient installation of communication antennas in motion, etc.

Active Publication Date: 2019-03-08
中国兵器装备集团自动化研究所有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to provide an automatic calibration method for the inertial navigation installation error of the mobile communication antenna, to solve the problems of inconvenient installation and difficult maintenance and replacement of the mobile communication antenna inertial navigation, and to realize the automatic calibration of the inertial navigation installation error

Method used

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  • Automatic calibration method of inertial navigation installation error of SOTM (satcom on the move) antenna
  • Automatic calibration method of inertial navigation installation error of SOTM (satcom on the move) antenna
  • Automatic calibration method of inertial navigation installation error of SOTM (satcom on the move) antenna

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Embodiment 1

[0058] Such as figure 1 As shown, a method for automatic calibration of inertial navigation installation error of communication antenna in motion, the method adopts the following steps:

[0059] (A) Fix the mobile-in-motion antenna to be calibrated on the outdoor swing platform or vehicle. After the antenna tracks the satellite, set the three-axis swing range of the swing platform to 5°, set the swing period to 5 seconds, and start the swing platform. , or drive on a gravel road with a vehicle, the speed is limited to about 10km / h.

[0060] (B), Obtain the measured value of the inertial navigation three-axis angular rate of the current nth servo control cycle Transform the three-axis angular rate into coordinates and project it into the carrier coordinate system (system b). The projection formula is as follows

[0061]

[0062] In formula (15) and is the yaw error angle, roll error angle and pitch error angle of the inertial navigation installation error, is the pr...

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Abstract

The invention discloses an automatic calibration method of an installation error of an inertial navigator of an SOTM (satcom on the move) antenna. The method comprises the following steps: (A) fixingthe SOTM antenna on an outdoor swing table or a load car and starting the swing table or the load car after a satellite is tracked by the SOTM antenna; (B) projecting the angular rate of a gyroscope onto an azimuth axis, a pitch axis and a polaxis of the antenna, stabilizing the speed of the SOTM antenna and tracking the position of the satellite in a conical scanning tracking manner or a monopulse tracking manner; (C) calculating the measurement value and the measurement matrix of a recursive least squares estimator; (D) estimating the installation error of the inertial navigator and the zerobias of the gyroscope and performing feedback correction. According to the method, the installation error of the inertial navigator can be automatically calibrated, so that the requirements on the technological level of an assembly operator are reduced, and the difficulty of field maintenance is lowered.

Description

technical field [0001] The invention belongs to the field of navigation, and in particular relates to an automatic calibration method for inertial navigation installation errors of communication antennas in motion. Background technique [0002] The mobile communication antenna is configured on various mobile carriers. During the movement of the carrier, the mobile communication antenna can automatically search, identify, lock and accurately track the synchronous orbit satellite in real time, maintain a reliable communication link with the satellite, and realize the mobile network in motion. The wideband satellite communication meets the uninterrupted data, voice, video, image, fax and other multimedia data transmission requirements under dynamic conditions, and is widely used in the military, emergency relief, anti-terrorism, government and other departments. [0003] During the movement of the carrier, the mobile communication antenna needs to measure the carrier disturbanc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 李茂陈涛何雨松赖文娟李焱李文才
Owner 中国兵器装备集团自动化研究所有限公司
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