Antenna and communication system based on scattering communication

Abstract

The present invention provides an antenna and a communication system based on scattering communication. The antenna includes: an antenna feed subsystem, a structural subsystem, and a servo control subsystem; the antenna feed subsystem includes an antenna reflector and a feed source; the structural subsystem includes an azimuth waveguide joint, a pitch waveguide joint, and a polarization waveguide joint connected in sequence, and the polarization waveguide joint is connected to the antenna feed subsystem through a circular torque waveguide; the servo control subsystem includes a servo main control module, an azimuth motor, a pitch motor, and a polarization motor; the servo main control module is used to control the azimuth motor, the pitch motor, and the polarization motor to drive the azimuth waveguide joint, the pitch waveguide joint, and the polarization waveguide joint to perform conical scanning in the process of rotating to the target angle after receiving the target angle, so as to determine the angle with the strongest signal, and drive the azimuth waveguide joint, the pitch waveguide joint, and the polarization waveguide joint to drive the antenna feed subsystem to rotate to the angle with the strongest signal. The present invention can realize dynamic tracking of communication in motion.

Description

Technical Field

[0001] The present invention relates to the technical field of scattering communication, and in particular to an antenna and a communication system based on scattering communication. Background Art

[0002] Tropospheric scatter communication is communication that uses tropospheric scatter channels. It has the advantages of stable and reliable channel resources, long-term existence, no payment required, and strong anti-interference, anti-interception, and anti-detection capabilities, and is widely used.

[0003] At present, conventional scattering antennas are based on fixed station alignment, that is, the positions of the two scattering stations are fixed, and the fixed opposite station is aligned and tracked by the antenna on the carrier. The alignment between the two antennas can be achieved by adjusting the azimuth and elevation angles of the antennas.

[0004] With the widespread application of tropospheric scatter communication, since the direction of tropospheric scatter communication is not fixed, the opposite carrier and the local carrier are also moving, such as vehicles, ships, aircraft and other moving carriers. However, conventional antennas can only be rotated and aligned within a limited area, and it is impossible to achieve the follow-up tracking of the tropospheric scatter antenna. Therefore, there is an urgent need for an antenna based on tropospheric scatter communication to facilitate the follow-up tracking. Summary of the invention

[0005] The embodiments of the present invention provide an antenna and a communication system based on scattering communication to solve the problem that the current antenna cannot accurately track the movement.

[0006] In a first aspect, an embodiment of the present invention provides an antenna based on scattering communication, including: an antenna feed subsystem, a structure subsystem, and a servo control subsystem;

[0007] The antenna-feed subsystem includes an antenna reflector and a feed source;

[0008] The structural subsystem includes an azimuth waveguide joint, an elevation waveguide joint and a polarization waveguide joint which are connected in sequence, and the polarization waveguide joint is connected to the antenna feed subsystem through a circular torque waveguide;

[0009] The servo control subsystem includes the servo main control module, azimuth motor, pitch motor and polarization motor;

[0010] The servo main control module is used to control the azimuth motor, pitch motor and polarization motor to respectively drive the azimuth waveguide joint, pitch waveguide joint and polarization waveguide joint to perform conical scanning in the process of rotating to the target angle after receiving the target angle, so as to determine the angle with the strongest signal, and drive the azimuth waveguide joint, pitch waveguide joint and polarization waveguide joint to drive the antenna feed subsystem to rotate to the angle with the strongest signal, so as to achieve alignment with the opposite antenna; wherein the target angle includes: pitch angle, azimuth angle and polarization angle of the feed source.

[0011] In a possible implementation, the servo control subsystem further includes:

[0012] A first sensor module, a second sensor module and a third sensor module;

[0013] The first sensor module is used to send the collected motion state of the azimuth motor to the servo main control module, and the servo main control module is used to control the azimuth motor to drive the azimuth waveguide joint to rotate according to the motion state of the azimuth motor;

[0014] The second sensor module is used to send the collected motion state of the pitch motor to the servo main control module, and the servo main control module is used to control the pitch motor to drive the pitch waveguide joint to rotate according to the motion state of the pitch motor;

[0015] The third sensing module is used to send the collected motion state of the polarization motor to the servo main control module, and the servo main control module is used to control the polarization motor to drive the polarization waveguide joint to rotate according to the motion state of the polarization motor.

[0016] In a possible implementation, the first sensing module includes an azimuth Hall sensor, which is located on the azimuth motor to collect the motion state of the azimuth motor and send it to the servo main control module;

[0017] The second sensing module includes a pitch Hall sensor, which is located on the pitch motor to collect the motion state of the pitch motor and send it to the servo main control module;

[0018] The third sensing module includes a polarization Hall sensor, which is located on the polarization motor to collect the motion state of the polarization motor and send it to the servo main control module.

[0019] In a possible implementation, the servo control subsystem is further used for:

[0020] When the rotation angle of the azimuth waveguide joint, the elevation waveguide joint and the polarization waveguide joint is different from the angle at which the signal is strongest, the azimuth waveguide joint, the elevation waveguide joint and the polarization waveguide joint are controlled to rotate to the angle at which the signal is strongest;

[0021] When the comprehensive movement speed of the azimuth waveguide joint is inconsistent with the preset movement speed of the azimuth waveguide joint, adjusting the current movement speed of the azimuth waveguide joint to achieve alignment with the opposite end antenna;

[0022] The current movement speed of the azimuth waveguide joint is the speed at which the azimuth motor drives the azimuth waveguide joint to move at a preset feedback frequency;

[0023] The comprehensive movement speed of the azimuth waveguide joint is a combination of the current movement speed of the azimuth waveguide joint and the current movement speed of the carrier; wherein the antenna is located on the carrier.

[0024] In a possible implementation, the preset feedback frequency is 900 Hz-1.2 KHz.

[0025] In a possible implementation, the azimuth angle and the elevation angle are calculated by using the position of the opposite end antenna and the position of the antenna;

[0026] The polarization angle of the feed source is calculated by the angle between the indicated tilt angle of the inertial navigation on the carrier and the horizontal plane.

[0027] In a possible implementation, the beam deflection angle of the conical scan is 1 / 10 to 1 / 20 of the beam width.

[0028] In a possible implementation, when the frequency of the antenna feed subsystem is 6.5 GHz, the beam deflection angle of the conical scanning is 0.3°.

[0029] In a possible implementation, the structural subsystem further includes:

[0030] Pitch waveguide and polarization waveguide;

[0031] The azimuth waveguide joint is connected to the pitch waveguide joint through the pitch waveguide tube, and the pitch waveguide joint is connected to the polarization waveguide joint through the polarization waveguide tube.

[0032] In a second aspect, an embodiment of the present invention provides a communication system, comprising any one of the scattering communication-based antennas of the first aspect, and a terminal device connected to the scattering communication-based antenna.

[0033] The embodiment of the present invention provides an antenna and a communication system based on scattering communication. After the servo main control module receives the target angle, the azimuth motor, the pitch motor and the polarization motor are controlled to drive the azimuth waveguide joint, the pitch waveguide joint and the polarization waveguide joint to perform conical scanning, thereby determining the angle with the strongest signal. By adopting a three-axis rotatable joint of the azimuth waveguide joint, the pitch waveguide joint and the polarization waveguide joint, and on the basis of obtaining the target angle, by adopting a conical scanning method, the antenna can be rotated 360 degrees without dead angles to find the angle with the strongest signal, thereby achieving that when the two carriers are moving, the antennas at both ends can be accurately tracked and aligned. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0035] Figure 1is a schematic structural diagram of an antenna based on scattering communication provided by an embodiment of the present invention;

[0036] Figure 2 It is a principle diagram of conical scanning of an antenna based on scattering communication provided by an embodiment of the present invention;

[0037] Figure 3 yes Figure 2 Vertical plan of

[0038] Figure 4 is a structural block diagram of a communication system provided by an embodiment of the present invention;

[0039] Figure 5 This is a product structure diagram of the communication system provided by the embodiment of the present invention

[0040] Figure 6 is a block diagram of a communication system provided by an embodiment of the present invention;

[0041] Figure 7 It is a schematic diagram of the working process of the antenna based on scattering communication provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0042] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0043] In order to make the purpose, technical solutions and advantages of the present invention more clear, specific embodiments will be described below in conjunction with the accompanying drawings.

[0044] As described in the background technology, the existing antenna can only rotate within a limited area and is mainly used to align with a fixed station at a fixed position, such as aligning a ground-moving antenna with a fixed satellite. When using a scattering channel for communication, since the positions of the carriers at both ends are not fixed, the existing antenna cannot achieve follow-up tracking and cannot achieve antenna alignment on the carriers at both ends. Therefore, there is an urgent need for an antenna based on scattering communication to facilitate follow-up tracking.

[0045] In order to solve the problems in the prior art, an embodiment of the present invention provides an antenna based on scattering communication and a communication system. The antenna based on scattering communication provided by an embodiment of the present invention is first introduced below.

[0046] Combination Figure 1An antenna 1 based on scattering communication provided by an embodiment of the present invention includes: an antenna feed subsystem 10, a structural subsystem 20 and a servo control subsystem 30. The antenna feed subsystem 10 includes an antenna reflector and a feed source. The structural subsystem 20 includes an azimuth waveguide joint 21, a pitch waveguide joint 22 and a polarization waveguide joint 23 connected in sequence, and the polarization waveguide joint 23 is connected to the antenna feed subsystem 10 through a circular torque waveguide 24. The servo control subsystem 30 includes a servo main control module 31, an azimuth motor 32, a pitch motor 33 and a polarization motor 34.

[0047] The servo main control module 31 is used to control the azimuth motor 32, the pitch motor 33 and the polarization motor 34 to respectively drive the azimuth waveguide joint 21, the pitch waveguide joint 22 and the polarization waveguide joint 23 to perform conical scanning in the process of rotating to the target angle after receiving the target angle, so as to determine the angle with the strongest signal, and drive the azimuth waveguide joint 21, the pitch waveguide joint 22 and the polarization waveguide joint 23 to drive the antenna feed subsystem 10 to rotate to the angle with the strongest signal to achieve alignment with the opposite antenna.

[0048] Among them, the target angle includes: the pitch angle, the azimuth angle and the polarization angle of the feed. Specifically, the azimuth angle and the pitch angle can be calculated by the position of the opposite antenna and the position of the antenna. The polarization angle of the feed can be calculated by the angle between the indicated tilt angle of the inertial navigation on the carrier and the horizontal plane. It should be noted that the antenna is located on the carrier. The target angle here is the initial angle. Since the carriers at both ends are not fixed, when either of the carriers at the two ends moves, the target angle is no longer the final angle with the strongest signal. Therefore, it is necessary to find the angle with the strongest signal for precise tracking.

[0049] After first obtaining the target angle, the azimuth waveguide joint 21, the pitch waveguide joint 22 and the polarization waveguide joint 23 are controlled to rotate to the target angle. Since the antenna is located on the local carrier, when the local carrier moves or the opposite carrier moves, the target angle may no longer be the angle with the strongest signal. Therefore, a conical scan is required to find the angle with the strongest signal, and the azimuth waveguide joint 21, the pitch waveguide joint 22 and the polarization waveguide joint 23 are controlled to rotate to the angle with the strongest signal. Thus, a signal loop is formed, so that the antenna can point to the angle with the strongest signal, which is convenient for aligning the antennas at both ends. The signal loop is mainly used to correct the inherent error of the antenna during the posture stabilization process. It should be noted that, for the sake of clarity, the antenna in the embodiment of the present invention is located on the local carrier.

[0050] In some embodiments, the servo control subsystem 30 further includes: a first sensor module, a second sensor module and a third sensor module.

[0051] The first sensor module is used to send the collected motion state of the azimuth motor 32 to the servo main control module 31, and the servo main control module 31 is used to control the azimuth motor 32 to drive the azimuth waveguide joint 21 to rotate according to the motion state of the azimuth motor 32. Specifically, the motion state of the azimuth motor 32 may include: whether the azimuth motor is rotating, the feedback frequency of the azimuth motor, the rotation speed of the azimuth motor, etc.

[0052] The second sensor module is used to send the collected motion state of the pitch motor 33 to the servo main control module 31, and the servo main control module 31 is used to control the pitch motor 33 to drive the pitch waveguide joint 22 to rotate according to the motion state of the pitch motor 33. Specifically, the motion state of the pitch motor 33 may include: whether the pitch motor is rotating, the feedback frequency of the pitch motor, the rotation speed of the pitch motor, etc.

[0053] The third sensor module is used to send the collected motion state of the polarization motor 34 to the servo main control module 31, and the servo main control module 31 is used to control the polarization motor 34 to drive the polarization waveguide joint 23 to rotate according to the motion state of the polarization motor 34. Specifically, the motion state of the polarization motor 34 may include: whether the polarization motor is rotating, the feedback frequency of the polarization motor, the rotation speed of the polarization motor, etc.

[0054] Specifically, the first sensing module may include an azimuth Hall sensor, which is located on the azimuth motor 32 to collect the motion state of the azimuth motor 32 and send it to the servo main control module 31 .

[0055] The second sensing module includes a pitch Hall sensor, which is located on the pitch motor 33 to collect the motion state of the pitch motor 33 and send it to the servo main control module 31 .

[0056] The third sensing module includes a polarization Hall sensor, which is located on the polarization motor 34 to collect the motion state of the polarization motor 34 and send it to the servo main control module 31 .

[0057] In some embodiments, in order to more accurately locate the angle with the strongest signal after obtaining the target angle, the servo control subsystem is also used to: when the angle of rotation of the azimuth waveguide joint 21, the elevation waveguide joint 22 and the polarization waveguide joint 23 is different from the angle with the strongest signal, control the azimuth waveguide joint 21, the elevation waveguide joint 22 and the polarization waveguide joint 23 to rotate to the angle with the strongest signal. Thus, a position loop is formed to ensure that the angle of rotation of the azimuth waveguide joint 21, the elevation waveguide joint 22 and the polarization waveguide joint 23 is equal to the angle with the strongest signal.

[0058] On the other hand, since the local carrier and the opposite carrier are not fixed, and since the scattering channel is a fast fading channel, there are certain requirements for the rotation speed of the antenna. If the rotation speed is too fast or too slow, alignment cannot be achieved. Therefore, a speed loop is provided in the embodiment of the present invention to facilitate the adjustment of the rotation speed of the azimuth waveguide joint, the pitch waveguide joint, and the polarization waveguide joint.

[0059] When the comprehensive movement speed of the azimuth waveguide joint 21 is inconsistent with the preset movement speed of the azimuth waveguide joint 21, the current movement speed of the azimuth waveguide joint 21 is adjusted to achieve alignment with the opposite antenna.

[0060] The current movement speed of the azimuth waveguide joint 21 is the speed at which the azimuth motor 32 drives the azimuth waveguide joint 21 to move at a preset feedback frequency. The comprehensive movement speed of the azimuth waveguide joint 21 is the combination of the current movement speed of the azimuth waveguide joint 21 and the current movement speed of the carrier.

[0061] Specifically, the position loop and the speed loop are both used to isolate the posture change of the local carrier, so they need to have a sufficiently large torque and a sufficiently small delay. That is, the feedback frequency of the azimuth motor in the speed loop is higher to have a better effect of isolating the motion of the local carrier. Among them, the azimuth motor 32 can be preset at a feedback frequency of 900Hz-1.2KHz.

[0062] Please refer to Figure 2 and Figure 3 , Figure 2 and Figure 3 The working principle of conical scanning is shown in Figure 1, that is, the beam axis of the antenna is slightly deviated from the reflector axis and rotated around the rotation axis. Figure 1 In the example, the maximum radiation direction O′B of the beam deviates from the equal signal axis (i.e. Figure 1 When the beam rotates around the equal signal axis O'O at a certain angular velocity, the maximum radiation direction O'B of the beam draws a cone in space. Among them, T is the target direction, O is the center of the cone scan, and OT is the signal offset vector.

[0063] If a plane perpendicular to the equal signal axis O′O is taken, the motion trajectory of the beam cross section and the beam center (maximum radiation direction) is equal to Figure 3 As shown. When the target direction is on the antenna axis, because the antenna rotation axis is in the direction of the equal signal axis, the signal amplitude received by the antenna remains unchanged after one rotation of the beam. When the target direction deviates from the antenna axis, the beam rotates one circle, sometimes close to and sometimes away from the maximum radiation direction, which causes the received signal amplitude to form a periodic change, and the output signal strength is modulated by an approximate sine wave. By analyzing the amplitude and phase of the sine wave, the vector direction and vector length of the antenna pointing deviation can be analyzed.

[0064] In some embodiments, there are two parameters that need to be determined for conical scanning: one is the scanning frequency, that is, the speed of the azimuth waveguide joint, the elevation waveguide joint, and the polarization waveguide joint turning in a circle, and the other is the beam deflection angle, that is, the maximum angle at which the antenna deviates from the electrical axis.

[0065] In the embodiment of the present invention, the scanning frequency is 1 Hz, that is, one rotation per second. In this circle of conical scanning, the receiving level signal sent by the receiving terminal is received, and 100 to 200 points of data are sampled. By determining the positional relationship between the maximum signal and the minimum signal values ​​in the sampled data, the offset vector of the antenna pointing can be calculated, and the angle with the strongest signal can be found.

[0066] When the scanning frequency and size are constant, the larger the beam deflection angle, the higher the tracking sensitivity, but it will also cause greater system signal damage. Therefore, the selection of beam deflection angle should take into account both distance sensitivity and angular sensitivity. Specifically, the beam deflection angle of conical scanning is 1 / 10 to 1 / 20 of the beam width.

[0067] When the frequency of the antenna feed system is 6.5 GHz, the beam deflection angle of the conical scanning can be 0.3°.

[0068] In some embodiments, the structural subsystem further includes: an elevation waveguide and a polarization waveguide. The azimuth waveguide joint is connected to the elevation waveguide joint via the elevation waveguide, and the elevation waveguide joint is connected to the polarization waveguide joint via the polarization waveguide.

[0069] The antenna provided by the embodiment of the present invention, after the servo main control module receives the target angle, controls the azimuth motor, the pitch motor and the polarization motor to drive the azimuth waveguide joint, the pitch waveguide joint and the polarization waveguide joint to perform conical scanning respectively, thereby determining the angle with the strongest signal. By adopting a three-axis rotatable joint of the azimuth waveguide joint, the pitch waveguide joint and the polarization waveguide joint, and on the basis of obtaining the target angle, by adopting a conical scanning method, the antenna can be rotated 360 degrees without dead angles to find the angle with the strongest signal, thereby achieving that when the two carriers are moving, the antennas at both ends can be tracked and aligned.

[0070] Based on the antenna based on scattering communication provided in the above embodiment, the present invention also provides a communication system using the antenna based on scattering communication, the communication system comprising the antenna based on scattering communication and a terminal device connected to the antenna. Figure 4 As shown in the structure diagram of the communication system, the terminal device 2 provides 220V AC power to the antenna 1, and the terminal device 2 and the antenna 1 communicate directly through the network port. Figure 5 In the product structure diagram of the communication system shown, the antenna 1 based on scattering communication is installed on the mounting base 3, and the terminal device 2 is also installed on the mounting base 3, forming a complete communication system.

[0071] Below Figure 6 Taking the communication system composition block diagram shown in as an example, the working process of the antenna based on scattering communication is specifically described:

[0072] The antenna 1 based on scattering communication includes: an antenna feed subsystem 10 , a structure subsystem 20 and a servo control subsystem 30 .

[0073] The antenna feed subsystem 10 includes an antenna reflector and a feed source, which are used to provide C-band reception and radiation signals. The structural subsystem 20 includes an azimuth waveguide joint 21, an elevation waveguide joint 22 connected to the azimuth waveguide joint 21 through an elevation waveguide tube 25, a polarization waveguide joint 23 connected to the elevation waveguide joint 22 through a polarization waveguide tube 26, and the polarization waveguide joint 23 is connected to the antenna feed subsystem 10 through a circular torque waveguide 24. The servo control subsystem 30 includes a servo main control module 31, an azimuth motor 32, a elevation motor 33, and a polarization motor 34.

[0074] The antenna is located on the local carrier. After receiving the position information of the antenna on the opposite carrier, the target angle can be determined. The target angle includes the azimuth, pitch angle and polarization angle of the feed source. According to the position information of the antenna on the local carrier and the position information of the opposite antenna on the opposite carrier, the azimuth and pitch angle that the local antenna needs to rotate can be calculated. The polarization angle of the feed source can be calculated by the angle between the indicated tilt angle of the inertial navigation on the local carrier and the horizontal plane. When the servo main control module 31 receives the target angle, it can control the motor to rotate and drive the corresponding joint to rotate. The details are as follows:

[0075] After receiving the target angle, the servo main control module 31 drives the azimuth motor 32, the pitch motor 33 and the polarization motor 34 to rotate respectively through the azimuth motor drive 38, the pitch motor drive 39 and the polarization motor drive 40. At the same time, the azimuth motor 32, the pitch motor 33 and the polarization motor 34 are driven to drive the azimuth waveguide joint 21, the pitch waveguide joint 22 and the polarization waveguide joint 23 to rotate toward the target angle respectively, and a conical scan is performed during the rotation process to determine the angle with the strongest signal. The angle with the strongest signal also includes the azimuth angle, the pitch angle and the polarization angle of the feed source. After rotating to the target angle, the azimuth waveguide joint 21, the pitch waveguide joint 22 and the polarization waveguide joint 23 are driven to drive the antenna feed subsystem 10 to rotate to the angle with the strongest signal by determining the angle with the strongest signal, so as to achieve alignment with the opposite antenna.

[0076] like Figure 7 The schematic diagram of the working process of the antenna 1 shown in the figure shows that the antenna involves three loops during the working process, namely, a signal loop, a position loop and a speed loop. The precise alignment of the antenna is achieved through the three loops.

[0077] In the signal loop, it is the process of finding the angle with the strongest signal. Since neither the local carrier nor the opposite carrier is fixed, when the local carrier moves or the opposite carrier moves, the target angle may no longer be the angle with the strongest signal. Therefore, conical scanning is required to find the angle with the strongest signal. After finding the angle with the strongest signal, the servo main control module 31 can control the azimuth waveguide joint 21, the pitch waveguide joint 22 and the polarization waveguide joint 23 to rotate to the angle with the strongest signal. Thereby, the antenna 1 is finally pointed to the angle with the strongest signal, thereby forming a signal loop, so that the antenna can point to the angle with the strongest signal, which is convenient for the alignment of the antennas at both ends. The signal loop is mainly used to correct the inherent errors of the antenna during the posture stabilization process.

[0078] During the conical scanning process, the scanning frequency of the conical scanning is 1 Hz, the beam width corresponding to the 6.5 GHz frequency point is about 3°, and the selected conical scanning deflection angle is 0.3°.

[0079] In the position loop, the three joints, namely the azimuth waveguide joint 21, the elevation waveguide joint 22 and the polarization waveguide joint 23, are rotated to the target angle and the angle with the strongest signal according to the requirements of the servo main control module 31, thereby driving the antenna feed subsystem to rotate to the angle with the strongest signal. The main working process is as follows:

[0080] Whether the azimuth waveguide joint 21, the pitch waveguide joint 22 and the polarization waveguide joint 23 are rotated to the angle according to the requirements of the servo main control module 31, the reading of the code disk can be used to determine whether the current rotation angle is the same as the required angle, thereby ensuring the position loop. That is, when the azimuth waveguide joint 21, the pitch waveguide joint 22 and the polarization waveguide joint 23 are not rotated to the required angle, the servo main control module 31 collects the motion state of the azimuth motor 32 according to the azimuth Hall sensor 35, the motion state of the pitch motor 33 according to the pitch Hall sensor 36 and the motion state of the polarization motor 34 according to the polarization Hall sensor 37, that is, whether the motor is rotating, the feedback frequency of the motor, the rotation speed of the motor, the angular velocity of the motor, etc., thereby driving the azimuth motor driver 38 to drive the azimuth motor 32 to rotate, the pitch motor driver 39 to drive the pitch motor 33 to rotate, and the polarization motor driver 40 to drive the polarization motor 34 to rotate, thereby driving the azimuth waveguide joint 21, the pitch waveguide joint 22 and the polarization waveguide joint 23 to rotate, and then driving the antenna feed subsystem 10 to reach the specified angle for alignment. When the corresponding specified angle is reached, the servo main control module 31 stops driving the three motors, thereby realizing a position closed loop, so that the antenna can be rotated to the specified angle with the strongest signal.

[0081] In terms of speed closed loop, since the local carrier and the opposite carrier are not fixed, and since the scattering channel is a fast fading channel, there are certain requirements for the rotation speed of the antenna. If the rotation speed is too fast or too slow, alignment cannot be achieved.

[0082] The speed of the carrier at this end is used as the forward feedback, and the comprehensive movement speed of the azimuth waveguide joint 21 is used as the closed-loop speed, which are respectively input into the speed loop. When the comprehensive movement speed of the azimuth waveguide joint 21 is inconsistent with the preset movement speed of the azimuth waveguide joint 21, the current movement speed of the azimuth waveguide joint 21 can be adjusted to achieve alignment with the opposite antenna. Among them, the current movement speed of the azimuth waveguide joint 21 is the speed at which the azimuth motor 32 drives the azimuth waveguide joint 21 to move at the preset feedback frequency. The comprehensive movement speed of the azimuth waveguide joint 21 is the combination of the current movement speed of the azimuth waveguide joint 21 and the current movement speed of the carrier.

[0083] Both the position loop and the speed loop are used to isolate the attitude change of the local carrier, so they need to have a sufficiently large torque and a sufficiently small delay. That is, the feedback frequency of the azimuth motor 32 in the speed loop is high to have a better effect of isolating the motion of the local carrier. Among them, the azimuth motor 32 can be 1KHz at the preset feedback frequency. The signal loop is mainly used to correct the inherent error of the antenna during the attitude stabilization process.

[0084] The antenna provided by the embodiment of the present invention, after the servo main control module receives the target angle, controls the azimuth motor, the pitch motor and the polarization motor to drive the azimuth waveguide joint, the pitch waveguide joint and the polarization waveguide joint to perform conical scanning respectively, thereby determining the angle with the strongest signal. By adopting a three-axis rotatable joint of the azimuth waveguide joint, the pitch waveguide joint and the polarization waveguide joint, and on the basis of obtaining the target angle, by adopting a conical scanning method, the antenna can be rotated 360 degrees without dead angles to find the angle with the strongest signal, thereby achieving that when the two carriers are moving, the antennas at both ends can be accurately tracked and aligned.

[0085] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. An antenna based on scattering communication, characterized in that: include: Antenna subsystem, structure subsystem and servo control subsystem; The antenna feed subsystem includes an antenna reflector and a feed source; The structural subsystem comprises an azimuth waveguide joint, an elevation waveguide joint and a polarization waveguide joint which are connected in sequence, and the polarization waveguide joint is connected to the antenna feed subsystem via a circular torque waveguide; The servo control subsystem includes a servo main control module, an azimuth motor, a pitch motor and a polarization motor; The servo main control module is used to control the azimuth motor, the pitch motor and the polarization motor to respectively drive the azimuth waveguide joint, the pitch waveguide joint and the polarization waveguide joint to perform conical scanning in the process of rotating to the target angle after receiving the target angle, so as to determine the angle with the strongest signal, and drive the azimuth waveguide joint, the pitch waveguide joint and the polarization waveguide joint to drive the antenna feed subsystem to rotate to the angle with the strongest signal, so as to achieve alignment with the opposite antenna; wherein the target angle includes: the pitch angle, the azimuth angle and the polarization angle of the feed source, the azimuth angle and the pitch angle are calculated according to the position of the opposite antenna and the position of the antenna; the polarization angle of the feed source is calculated according to the angle between the indicated tilt angle of the inertial navigation on the carrier and the horizontal plane, and the antenna is located on the carrier; The servo control subsystem is also used for: When the rotation angles of the azimuth waveguide joint, the elevation waveguide joint and the polarization waveguide joint are different from the angle at which the signal is strongest, controlling the azimuth waveguide joint, the elevation waveguide joint and the polarization waveguide joint to rotate to the angle at which the signal is strongest; When the comprehensive movement speed of the azimuth waveguide joint is inconsistent with the preset movement speed of the azimuth waveguide joint, the current movement speed of the azimuth waveguide joint is adjusted to achieve alignment with the opposite antenna; wherein, the current movement speed of the azimuth waveguide joint is the speed at which the azimuth motor drives the azimuth waveguide joint to move at a preset feedback frequency; the comprehensive movement speed of the azimuth waveguide joint is the combination of the current movement speed of the azimuth waveguide joint and the current movement speed of the carrier.

2. The antenna according to claim 1, characterized in that The servo control subsystem also includes: A first sensor module, a second sensor module and a third sensor module; The first sensing module is used to send the acquired motion state of the azimuth motor to the servo main control module, and the servo main control module is used to control the azimuth motor to drive the azimuth waveguide joint to rotate according to the motion state of the azimuth motor; The second sensing module is used to send the acquired motion state of the pitch motor to the servo main control module, and the servo main control module is used to control the pitch motor to drive the pitch waveguide joint to rotate according to the motion state of the pitch motor; The third sensing module is used to send the collected motion state of the polarization motor to the servo main control module, and the servo main control module is used to control the polarization motor to drive the polarization waveguide joint to rotate according to the motion state of the polarization motor.

3. The antenna according to claim 2, characterized in that The first sensing module includes an azimuth Hall sensor, and the azimuth Hall sensor is located on the azimuth motor to collect the motion state of the azimuth motor and send it to the servo main control module; The second sensing module includes a pitch Hall sensor, and the pitch Hall sensor is located on the pitch motor to collect the motion state of the pitch motor and send it to the servo main control module; The third sensing module includes a polarization Hall sensor, and the polarization Hall sensor is located on the polarization motor to collect the motion state of the polarization motor and send it to the servo main control module.

4. The antenna according to claim 1, characterized in that The preset feedback frequency is 900 Hz-1.2 KHz.

5. The antenna according to claim 1, wherein: The beam deflection angle of the conical scanning is 1 / 10 to 1 / 20 of the beam width.

6. The antenna according to claim 5, characterized in that When the frequency of the antenna feed subsystem is 6.5 GHz, the beam deflection angle of the conical scanning is 0.3°.

7. The antenna according to any one of claims 1 to 6, characterized in that: The structural subsystem also includes: Pitch waveguide and polarization waveguide; The azimuth waveguide joint is connected to the elevation waveguide joint through the elevation waveguide tube, and the elevation waveguide joint is connected to the polarization waveguide joint through the polarization waveguide tube.

8. A communication system, comprising the antenna based on scattering communication according to any one of claims 1 to 7, and a terminal device connected to the antenna based on scattering communication.

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