Vehicle-mounted high-resolution two-degree-of-freedom microwave communication system

Abstract

The invention discloses a vehicle-mounted high-resolution two-degree-of-freedom microwave communication system, comprising an azimuth axis system and a pitch axis system, a control system, a magnetic compass, a Beidou positioning system, and a communication component; the control system obtains the true north direction, longitude signal, latitude signal, altitude signal, inclination signal, and automatically calculates the rotation speed, azimuth angle, and pitch angle through the magnetic compass and the Beidou positioning system, and automatically completes the communication alignment work with a fixed-point base station or similar surrounding equipment within 2-3 minutes.

Description

Technical Field

[0001] The invention relates to the technical field of microwave communications, and in particular to a vehicle-mounted high-resolution two-degree-of-freedom microwave communication system. Background Art

[0002] Microwave communication has been widely used in many industries such as telecommunications, aerospace, and military industry. For medium-distance (5-10KM) conditions, a high-resolution two-degree-of-freedom turntable carrying microwave equipment is often used to complete the automatic alignment between two points. The turntable's electronic control system drives the azimuth and pitch motors, and uses the position signal between the two points, the turntable's own inclination signal, and the current angle signal of the pitch and azimuth axes to complete the automatic alignment and good communication functions.

[0003] The high-resolution, stable and efficient two-degree-of-freedom microwave communication system has a very broad market prospect and can be widely used in disaster relief, border defense, ships and other related equipment.

[0004] In the existing technology, microwave communication systems are mainly used in the transmission of various telecommunication services, such as telephone and fax, and they also have flood and disaster prevention functions. Due to its linear propagation characteristics, a receiving device must be available every 10-50 km. The initial alignment currently relies entirely on manual repeated calibration, which is time-consuming and laborious. In the face of flood and disaster prevention problems, accurate and fast alignment is particularly important. Summary of the invention

[0005] The present invention designs a vehicle-mounted high-resolution two-degree-of-freedom microwave communication system, which solves the problem in the prior art that the initial alignment of the microwave communication system completely relies on manual repeated calibration, which is time-consuming and laborious.

[0006] In order to solve the above problems, the technology of the present invention is as follows:

[0007] A vehicle-mounted high-resolution two-degree-of-freedom microwave communication system, which is composed of two or more units (A and B) to form a point-to-point microwave communication system, each unit includes a rectangular frame, on which an azimuth axis system, a pitch axis system, a control system, a true north positioning module, a Beidou positioning module and a microwave communication component are arranged;

[0008] The microwave communication system first completes the initial alignment, that is, the azimuth and pitch mechanisms of A and B intermittently operate within the working range according to an approximate spiral trajectory, and send the current Beidou positioning information, altitude information, pitch and azimuth angle information in the form of encrypted data; when any microwave communication system receives a signal, it enters the automatic alignment state, that is, using the received and its own positioning information as the reference vector, repeatedly scans in a Z-shaped curve within the azimuth range of ±90 degrees and the pitch range of ±60 degrees, and memorizes the optimal position with the strongest communication signal.

[0009] To complete the above functions, the control system uses STM32F103RCT6 as the control core, including Beidou positioning module, true north positioning module, network communication module, drive module, memory module, two-axis inclination module, height module, power module, and the control system is set in the internal space of the rack.

[0010] In order to complete the function described in 2, the mechanical system includes an azimuth axis system arranged in a frame, including bearings, azimuth axes, azimuth bearing seats, bearing end covers, sealing rings, azimuth absolute encoders, azimuth worm gears and azimuth stepper motors. The bearings are concentrically placed in the inner cavity of the azimuth bearing seat, the bearings are pressed by the bearing end covers, and sealed by sealing rings. The azimuth axis is concentrically connected to the bearings. The azimuth axis is arranged vertically, the upper side is connected to an azimuth turntable, a Beidou positioning module is installed inside, and the lower side is connected to an azimuth worm gear. The output end of the worm gear is connected to an azimuth absolute encoder, and the input end of the worm gear is connected to an azimuth stepper motor. The rotation of the stepper motor realizes the rotational motion of the azimuth axis system along the vertical axis of the ground. The true north direction module is concentric with the azimuth axis and connected to the azimuth bearing seat.

[0011] The pitch axis system is arranged above the azimuth axis system, and includes a pitch axis, double bearings and bearing seats, sealing rings, a pitch absolute encoder, a pitch worm gear, and a pitch stepping motor; the pitch axis system adopts a two-side support method, the left and right bearing seats are connected to the azimuth turntable, the bearings are concentrically placed in the inner cavity of the bearing seats, the bearings are pressed by the bearing end covers, and the sealing rings are sealed, the pitch axis is concentrically connected inside the bearings, the pitch axis is arranged horizontally, one side is connected to the pitch absolute encoder, and the other side is connected to the pitch worm gear, the pitch worm gear is connected to the pitch stepping motor, and the pitch stepping motor rotates to realize the rotational movement of the pitch axis system along the horizontal axis of the ground;

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] The present invention adopts a vehicle-mounted mode, and can quickly follow the vehicle to reach the designated area to complete the communication. The high-precision positioning system and the perfect measurement module can complete the automatic alignment work in a short time without human intervention. The aligned microwave communication is not affected by natural disasters and has excellent communication effect.

[0014] The microwave communication component of the present invention has good communication quality and long distance; the two free turntables have high resolution, good vibration and impact resistance, and are suitable for vehicle-mounted environments; it is equipped with a variety of measurement modules such as Beidou communication module, true north positioning module, and inclination measurement module; the main control unit makes effective and reliable decisions, the alignment time is short, and the efficiency is high.

[0015] After completing the automatic alignment, A or B has the function of mobility, and continuously sends position data during the movement process, and both parties adjust the optimal communication position; after completing the automatic alignment, the system has scalability, that is, by adding a third microwave communication component, either A or B can complete the initial alignment and automatic alignment with C, and the system forms a cable link to extend the communication distance. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is the overall structure diagram of the present invention;

[0017] Figure 2 It is a structural diagram of the control system of the present invention.

[0018] In the figure, 1-microwave communication component; 2-azimuth bearing support; 3-pitch absolute encoder; 4-azimuth turntable and Beidou positioning module; 5-azimuth axis; 6-true north positioning module; 7-azimuth worm gear; 8-azimuth absolute encoder; 9-azimuth stepping motor; 10-frame; 11-pitch axis; 12-pitch worm gear; 13-pitch stepping motor; 14 pitch bearing support. DETAILED DESCRIPTION

[0019] The present invention is further described in detail below in conjunction with the accompanying drawings by specific embodiments. Wherein similar elements in different embodiments have adopted associated similar element numbers. In the following embodiments, many details are described in order to make the application better understood. However, those skilled in the art can recognize without difficulty that some features can be omitted in different situations, or can be replaced by other elements, materials, methods.

[0020] The present invention designs a two-degree-of-freedom microwave communication system that can withstand vehicle-borne vibrations, can be transported with the vehicle and work at a fixed point; designs a closed-loop positioning system that integrates a stepper and absolute encoder to achieve high resolution of microwave positioning; a complete two-axis inclination module, Beidou positioning module, true north positioning module, and a complete alignment algorithm realize the rapidity and efficiency of the alignment system.

[0021] The present invention will be further described below by means of the accompanying drawings and embodiments:

[0022] See also Figure 1 and Figure 2 The vehicle-mounted high-resolution two-degree-of-freedom microwave communication system comprises a rectangular frame 10, characterized in that: an azimuth axis system, a pitch axis system, a control system, a true north positioning module 6, a Beidou positioning module 4 and a microwave communication component 1 are arranged on the frame 10;

[0023] The azimuth axis system is arranged in a frame 10, including a bearing, an azimuth axis 5, an azimuth bearing seat 2, a bearing end cover, a sealing ring, an azimuth absolute value encoder 8, an azimuth worm gear 7 and an azimuth stepping motor 9. The bearing is concentrically placed in the inner cavity of the azimuth bearing seat 2, the bearing is pressed by the bearing end cover, and is sealed by a sealing ring. The azimuth axis is concentrically connected to the bearing, and the azimuth axis is arranged vertically. The upper side is connected to an azimuth turntable 4 with a Beidou positioning module installed therein, and the lower side is connected to an azimuth worm gear 7. The output end of the worm gear is connected to the azimuth absolute value encoder 8, and the input end of the worm gear is connected to the azimuth stepping motor 9. The stepping motor 9 rotates to realize the rotational movement of the azimuth axis system along the vertical axis of the ground. The true north direction module is concentric with the azimuth axis and is connected to the azimuth bearing seat 2;

[0024] The pitch axis system is arranged above the azimuth axis system, including the pitch axis 11, double bearings and bearing seats 14, sealing rings, pitch absolute encoder 3, pitch worm gear 12, and pitch stepping motor 13; the pitch axis system adopts a two-side support method, the left and right bearing seats 14 are connected to the azimuth turntable 4, the bearings are concentrically placed in the inner cavity of the bearing seat, the bearings are pressed by the bearing end cover, the sealing ring is sealed, the pitch axis 11 is concentrically connected in the bearing, the pitch axis is arranged horizontally, one side is connected to the pitch absolute encoder 3, the other side is connected to the pitch worm gear 12, the pitch worm gear 12 is connected to the pitch stepping motor 13, and the pitch stepping motor 13 rotates to realize the rotational movement of the pitch axis system along the horizontal axis of the ground. ;

[0025] The microwave communication component 1 is arranged in the middle of the pitch axis 11; the pitch axis system and the azimuth axis system drive the microwave communication component 1 to complete the pitch and azimuth two-axis motion to realize automatic alignment.

[0026] The control system is arranged in the internal space of the frame 10. The control system adopts STM32F103RCT6 as the control core, including Beidou positioning module 4, true north positioning module 6, network communication module, drive module, memory module, two-axis inclination module, and power supply module.

[0027] Input part: Beidou positioning module 4 and true north positioning module 6 are directly connected to the control core to input longitude and latitude information and true north position; the two-axis inclination module measures the current position inclination state of the system and directly inputs it into the control core to assist in calculating the motion trajectory; the microwave communication component receives and sends relevant information; the network communication module is directly connected to the control core to receive upper-level control instructions and feedback the alignment status; the data of the pitch absolute encoder 3 and the azimuth absolute encoder 8 directly enter the control core to realize the position closed-loop control of the control system.

[0028] Output part: The control core controls the drive module, and the drive module controls the stepper motor to realize the rotation function. The power module is responsible for supplying power to all chips. The memory module records the position and other related information after power failure.

[0029] The general use process of the device of the present invention is described below:

[0030] The vehicle-mounted high-resolution two-degree-of-freedom microwave communication system is usually installed on the top of the vehicle or in an unobstructed position in the car compartment, including two axis systems of azimuth and pitch, UT type combination, azimuth axis is at the bottom, and pitch axis is at the top. The control core reads the true north direction, the turntable's own tilt, height information, longitude and latitude information, and independently determines the rotation speed and azimuth and pitch angles to find another communication site to complete the communication link. In an ideal state, the best communication effect is achieved when the two microwave communication components complete the alignment line (axis) coincidence.

[0031] Known information alignment: The altitude information, longitude and latitude information of two vehicle-mounted high-resolution two-degree-of-freedom microwave communication systems are known and input into the vehicle-mounted high-resolution two-degree-of-freedom microwave communication systems. The control system uses a Z-shaped curve to scan in the corresponding direction to obtain the other party's microwave communication information as a sign of successful scanning, and stays at the position with the maximum communication strength and data speed.

[0032] Free alignment: The altitude information and longitude and latitude information of the two vehicle-mounted high-resolution two-degree-of-freedom microwave communication systems are sent regularly through microwave communication equipment. The two axes of the two vehicle-mounted high-resolution two-degree-of-freedom microwave communication systems rotate freely at the same time and switch speeds repeatedly. They first obtain the other party's microwave communication information within 2-3 minutes, and then enter the known information alignment after knowing the other party's data to complete the final alignment work.

[0033] For those skilled in the art, several improvements and modifications may be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as within the scope of protection of the present invention.

Claims

1. A vehicle-mounted high-resolution two-degree-of-freedom microwave communication system, comprising a rectangular frame (10), characterized in that: An azimuth axis system, a pitch axis system, a control system, a true north positioning module (6), a Beidou positioning module (4) and a microwave communication component (1) are arranged on the frame (10); The azimuth axis system is arranged in a frame (10), and comprises a bearing, an azimuth axis (5), an azimuth bearing seat (2), a bearing end cover, a sealing ring, an azimuth absolute value encoder (8), an azimuth worm gear (7) and an azimuth stepping motor (9); the bearing is concentrically placed in the inner cavity of the azimuth bearing seat (2); the bearing is pressed by the bearing end cover and sealed by the sealing ring; the azimuth axis is concentrically connected to the bearing; the azimuth axis is arranged vertically, the upper side is connected to the azimuth turntable (4), the Beidou positioning module is installed inside, and the lower side is connected to the azimuth worm gear (7); the output end of the worm gear is connected to the azimuth absolute value encoder (8), and the input end of the worm gear is connected to the azimuth stepping motor (9); the stepping motor (9) rotates to realize the rotational movement of the azimuth axis system along the vertical axis of the ground; the true north direction module is concentric with the azimuth axis and connected to the azimuth bearing seat (2); The pitch axis system is arranged above the azimuth axis system, and comprises a pitch axis (11), a double bearing and a bearing seat (14), a sealing ring, a pitch absolute encoder (3), a pitch worm gear (12), and a pitch stepping motor (13); the pitch axis system adopts a two-side support method, the left and right bearing seats (14) are connected to the azimuth turntable (4), the bearings are concentrically placed in the inner cavity of the bearing seat, the bearings are pressed by the bearing end cover, the sealing ring is sealed, the pitch axis (11) is concentrically connected inside the bearing, the pitch axis is arranged horizontally, one side is connected to the pitch absolute encoder (3), and the other side is connected to the pitch worm gear (12), the pitch worm gear (12) is connected to the pitch stepping motor (13), and the pitch stepping motor (13) rotates to realize the rotational movement of the pitch axis system along the horizontal axis of the ground; The microwave communication component (1) is arranged in the middle of the pitch axis (11); the pitch axis system and the azimuth axis system drive the microwave communication component (1) to complete the pitch and azimuth two-axis movement to achieve automatic alignment; The control system is arranged in the internal space of the frame (10), and the control system adopts STM32F103RCT6 as a control core, and includes a Beidou positioning module (4), a true north positioning module (6), a network communication module, a drive module, a memory module, a two-axis tilt module, and a power supply module; Usage process: The control core reads the true north direction, the turntable's own tilt, altitude information, longitude and latitude information, and autonomously determines the rotation speed, azimuth and pitch angles, and finds another communication site to complete the communication link; Known information alignment: The altitude information, longitude and latitude information of two vehicle-mounted high-resolution two-degree-of-freedom microwave communication systems are known, and are input into the vehicle-mounted high-resolution two-degree-of-freedom microwave communication systems. The control system uses a Z-curve to scan in the corresponding direction to obtain the other party's microwave communication information as a sign of successful scanning, and stays at the position with the maximum communication strength and data speed; Free alignment: The altitude information and longitude and latitude information of the two vehicle-mounted high-resolution two-degree-of-freedom microwave communication systems are sent regularly through microwave communication equipment. The two axes of the two vehicle-mounted high-resolution two-degree-of-freedom microwave communication systems rotate freely at the same time and switch speeds repeatedly. They first obtain the other party's microwave communication information within 2-3 minutes, and then enter the known information alignment after knowing the other party's data to complete the final alignment work.

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