Antenna attitude control method, device, equipment and computer readable storage medium

Abstract

The application relates to the technical field of satellite communication, and particularly discloses an antenna attitude control method, device and equipment and a computer readable storage medium. The corresponding relationship between an attitude parameter of a target moving satellite communication antenna and a resonance frequency of the target moving satellite communication antenna, a harmful frequency range causing damage to the target moving satellite communication antenna and a harmful energy range causing damage to the target moving satellite communication antenna are determined in advance. In actual operation of the target moving satellite communication antenna, the vibration energy spectrum of the target moving satellite communication antenna is acquired, and it is determined whether the vibration energy spectrum contains a harmful frequency point in the harmful frequency range. If the harmful frequency point is contained, the attitude of the target moving satellite communication antenna is adjusted to an attitude corresponding to a frequency point outside the harmful energy range. In this way, the mechanical resonance point of the antenna is avoided by adjusting the antenna attitude, the damage of the mechanical resonance to the moving satellite communication antenna can be more effectively solved, and the service life of the moving satellite communication antenna is prolonged.

Description

Technical Field

[0001] This application relates to the field of satellite communication technology, and in particular to an antenna attitude control method, apparatus, device, and computer-readable storage medium. Background Technology

[0002] A mobile satellite communication antenna utilizes a geostationary satellite as a relay station, enabling real-time and precise alignment with a satellite from a mobile platform (such as a moving vehicle, ship, or aircraft), thus achieving highly reliable and high-bandwidth communication. Currently, mobile satellite communication antennas have become an indispensable key product in mobile satellite communication terminals.

[0003] In actual operation, mobile antennas face complex environmental interference. For example, marine mobile antennas are subject to vibrations caused by the operation of ship engines, especially vibrations with frequencies close to the resonance point, which can have a significant impact on antenna operation and may lead to loss of control of actuators and damage to mechanical structures.

[0004] To reduce the impact of resonance, the industry commonly uses mechanical damping structures. However, mechanical damping structures have drawbacks such as high cost, fixed damping frequency band, and complex design and installation. Moreover, after installing mechanical damping structures, the antenna's resonant frequency changes. When the vibration frequency reaches the new resonant point, there will still be a large resonance amplitude, causing some chronic wear and tear on the mechanical structure.

[0005] Improving the vibration damping effect of mobile center-channel antennas, reducing the damage caused by mechanical resonance, and extending the service life of mobile center-channel antennas are technical problems that need to be solved by those skilled in the art. Summary of the Invention

[0006] The purpose of this application is to provide an antenna attitude control method, device, equipment, and computer-readable storage medium that can avoid mechanical resonance points by adjusting the antenna attitude, reduce the damage of mechanical resonance to the on-the-go antenna, and extend the service life of the on-the-go antenna.

[0007] To address the aforementioned technical problems, this application provides an antenna attitude control method, comprising:

[0008] The correspondence between the attitude parameters of the target mobile antenna and the resonant frequency of the target mobile antenna, the hazardous frequency range that will cause damage to the target mobile antenna, and the hazardous energy range that will cause damage to the target mobile antenna are determined in advance.

[0009] Obtain the vibration energy spectrum of the target mobile antenna;

[0010] If the vibration energy spectrum contains a hazardous frequency point within the hazardous frequency range, and there is a corresponding frequency point whose vibration energy falls within the hazardous energy range, then according to the correspondence, the attitude of the target mobile antenna is adjusted to the attitude corresponding to the frequency point outside the hazardous energy range.

[0011] Optionally, obtaining the vibration energy spectrum of the target mobile antenna specifically includes:

[0012] The acceleration time-domain sequence corresponding to each coordinate axis of the target's moving antenna is acquired using an accelerometer;

[0013] The acceleration time-domain sequences corresponding to each coordinate axis are vector-synthesized to obtain the total acceleration time-domain sequence.

[0014] The vibration energy spectrum is obtained by performing a frequency domain transformation on the sampling points in the time domain sequence of the total acceleration within a preset time period using a fast Fourier transform.

[0015] Optionally, if the vibration energy spectrum contains a hazardous frequency point within the hazardous frequency range, and there exists a corresponding frequency point whose vibration energy falls within the hazardous energy range, then according to the correspondence, the attitude of the target mobile antenna is adjusted to the attitude corresponding to a frequency point outside the hazardous energy range, specifically including:

[0016] If the vibration energy spectrum contains a hazardous frequency point within the hazardous frequency range, then the maximum vibration energy value is determined in the vibration energy corresponding to each hazardous frequency point.

[0017] If the maximum vibration energy falls within the hazardous energy range, then according to the correspondence, the attitude of the target mobile antenna is adjusted to the attitude corresponding to a frequency point outside the hazardous energy range.

[0018] Optionally, adjusting the attitude of the target mobile antenna to an attitude corresponding to a frequency point outside the hazard energy range specifically includes:

[0019] If the frequency corresponding to the maximum vibration energy is closer to the minimum resonance frequency between the maximum and minimum resonance frequencies of the target moving antenna, then the attitude parameters of the target moving antenna are adjusted to the attitude parameters corresponding to the maximum resonance frequency.

[0020] If the frequency corresponding to the maximum vibration energy is closer to the maximum resonance frequency than the minimum resonance frequency, then the attitude parameters of the target moving-through antenna are adjusted to the attitude parameters corresponding to the minimum resonance frequency.

[0021] Optionally, adjusting the attitude of the target mobile antenna to an attitude corresponding to a frequency point outside the hazard energy range specifically involves:

[0022] The attitude of the target mobile antenna is adjusted to the attitude of the frequency point outside the hazard energy range that is closest to the working attitude of the target mobile antenna.

[0023] Optionally, after adjusting the attitude of the target mobile antenna to the attitude corresponding to a frequency point outside the hazard energy range, the method further includes:

[0024] Obtain the vibration energy spectrum of the target mobile antenna during the next sampling period;

[0025] If the vibration energy spectrum of the next sampling period contains the hazardous frequency point, and there is a corresponding frequency point whose vibration energy falls within the hazardous energy range, then according to the correspondence, the attitude of the target mobile antenna is adjusted to the attitude corresponding to the frequency point outside the hazardous energy range, and then the step of obtaining the vibration energy spectrum of the target mobile antenna in the next sampling period is returned.

[0026] If the vibration energy spectrum of the next sampling period does not contain the hazardous frequency point, or if the vibration energy spectrum of the next sampling period contains the hazardous frequency point but there is no corresponding vibration energy frequency point that does not fall within the hazardous energy range, then after restoring the attitude of the target mobile antenna to its working attitude, the process returns to the step of obtaining the vibration energy spectrum of the target mobile antenna.

[0027] Optionally, when the target mobile antenna is in the working attitude, there are frequency points among the hazardous frequency points where the vibration energy falls into the hazardous energy range, specifically: there are frequency points among the hazardous frequency points where the vibration energy is greater than the hazardous energy inlet threshold.

[0028] When the attitude of the target moving antenna is adjusted to the attitude corresponding to a frequency point outside the hazardous energy range, there are frequency points in the hazardous frequency points where the vibration energy falls into the hazardous energy range, specifically: there are frequency points in the hazardous frequency points where the vibration energy is greater than the hazardous energy exit threshold.

[0029] Wherein, the hazardous energy inlet threshold is greater than the hazardous energy outlet threshold.

[0030] To address the aforementioned technical problems, this application also provides an antenna attitude control device, comprising:

[0031] The determination unit is used to pre-determine the correspondence between the attitude parameters of the target mobile antenna and the resonant frequency of the target mobile antenna, the hazardous frequency range that will cause damage to the target mobile antenna, and the hazardous energy range that will cause damage to the target mobile antenna;

[0032] The first acquisition unit is used to acquire the vibration energy spectrum of the target moving antenna;

[0033] The first adjustment unit is used to adjust the attitude of the target mobile antenna to the attitude corresponding to the frequency point outside the harmful energy range if there is a harmful frequency point in the vibration energy spectrum and there is a corresponding vibration energy point in the harmful energy range.

[0034] To address the aforementioned technical problems, this application also provides an antenna attitude control device, comprising:

[0035] Memory, used to store computer programs;

[0036] A processor for executing the computer program, which, when executed by the processor, implements the steps of the antenna attitude control method as described in any of the preceding descriptions.

[0037] To address the aforementioned technical problems, this application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the antenna attitude control method as described in any of the preceding claims.

[0038] The antenna attitude control method provided in this application pre-determines the correspondence between the attitude parameters of the target mobile antenna and its resonant frequency, the hazardous frequency range that causes damage to the target mobile antenna, and the hazardous energy range that causes damage to the target mobile antenna. During the actual operation of the target mobile antenna, the vibration energy spectrum of the target mobile antenna is acquired to determine whether it contains hazardous frequency points within the hazardous frequency range. If it does, the attitude of the target mobile antenna is adjusted to the attitude corresponding to the frequency point outside the hazardous energy range. By adjusting the antenna attitude, the mechanical resonance point of the antenna is avoided, which can more effectively solve the problem of mechanical resonance damaging the mobile antenna and extend the service life of the mobile antenna.

[0039] This application also provides an antenna attitude control device, apparatus, and computer-readable storage medium, which have the above-mentioned beneficial effects, and will not be elaborated further here. Attached Figure Description

[0040] To more clearly illustrate the technical solutions of the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 A flowchart of an antenna attitude control method provided in an embodiment of this application;

[0042] Figure 2 A flowchart of another antenna attitude control method provided in the embodiments of this application;

[0043] Figure 3 This is a schematic diagram of the structure of an antenna attitude control device provided in an embodiment of this application;

[0044] Figure 4 This is a schematic diagram of the structure of an antenna attitude control device provided in an embodiment of this application. Detailed Implementation

[0045] The core of this application is to provide an antenna attitude control method, device, equipment, and computer-readable storage medium, which can avoid mechanical resonance points by adjusting the antenna attitude, reduce the damage of mechanical resonance to the on-the-go antenna, and extend the service life of the on-the-go antenna.

[0046] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0047] Example 1

[0048] Figure 1 This is a flowchart of an antenna attitude control method provided in an embodiment of this application.

[0049] like Figure 1 As shown, the antenna attitude control method provided in this application includes:

[0050] S101: Pre-determine the correspondence between the attitude parameters of the target's mobile antenna and its resonant frequency, the hazardous frequency range that will cause damage to the target's mobile antenna, and the hazardous energy range that will cause damage to the target's mobile antenna.

[0051] S102: Obtain the vibration energy spectrum of the target moving antenna.

[0052] S103: If there are hazardous frequency points within the hazardous frequency range in the vibration energy spectrum, and there are corresponding vibration energy points within the hazardous frequency range, then adjust the attitude of the target mobile antenna to the attitude corresponding to the frequency point outside the hazardous energy range according to the correspondence between the attitude parameters of the target mobile antenna and the resonant frequency of the target mobile antenna.

[0053] In practice, for S101, the required parameters can be measured in the laboratory in advance for the target mobile antenna.

[0054] The natural frequency P of the antenna system n for In an n-degree-of-freedom antenna system, there are n natural frequencies; K n Let m be the stiffness of the antenna in the nth degree of freedom; m is the mass of the antenna system.

[0055] Since the mass of the antenna is fixed, the stiffness of the antenna system changes with the antenna system's attitude, and this attitude change is continuous. Therefore, the antenna's natural frequency can be adjusted to [P]. min ,P max Any value in ].

[0056] Because the damping force in the antenna system comes only from air resistance and bearing friction, the resonant frequency of the antenna system is approximately equal to its natural frequency. Therefore, the resonant frequency of the antenna system can be changed by adjusting its attitude, thus avoiding mechanical resonance.

[0057] Mobile satellite communication (MSC) antenna systems typically include accelerometers, which can be used to measure and calculate the real-time acceleration time-domain sequence of the MSC antenna. Taking a triaxial accelerometer as an example, it can measure the time-domain sequences Accel_x(k), Accel_y(k), and Accel_z(k) of the target MSC antenna along the x, y, and z axes, respectively. The total acceleration time-domain sequence is obtained by vector synthesis of the accelerations along the three axes.

[0058] By performing a frequency domain transformation on the last N points [kN-1,k] of the Accel_xyz(k) sequence using the Fast Fourier Transform (FFT), the vibration energy spectrum X(k) corresponding to time k can be obtained.

[0059] f sample Let f be the sampling frequency of the accelerometer, and let X(k) be the frequency range of the vibration energy spectrum (0, f). sample / 2), the spectral resolution is f sample / N, containing a total of N2 frequency energy points. Therefore, the vibration energy spectrum X(k) can be represented as a sequence of energy point frequencies: Where fi is the i-th frequency point in the vibration energy spectrum X(k), f i =i·f sample / N, Let be the vibrational energy corresponding to the frequency point fi.

[0060] Based on the above principles, in order to avoid mechanical resonance by adjusting the antenna system's attitude to change its resonant frequency, the correspondence between the target mobile antenna's attitude and its natural frequency can be determined in advance, i.e., the correspondence between the target mobile antenna's attitude and its resonant frequency can be obtained. Based on the motion parameters of the target mobile antenna during actual operation, its vibration energy spectrum can be calculated. The vibration energy spectrum can then be used to check whether the current frequencies of the target mobile antenna contain frequencies that would harm it. Furthermore, it can be determined whether the energy corresponding to these harmful frequencies is also harmful to the target mobile antenna. Therefore, these frequencies can be avoided by specifically adjusting the target mobile antenna's attitude.

[0061] Therefore, in S101, it is necessary to pre-determine the correspondence between the attitude parameters of the target mobile antenna and its resonant frequency, the hazardous frequency range that will cause damage to the target mobile antenna, and the hazardous energy range that will cause damage to the target mobile antenna. The determination process can be completed in the laboratory. Specifically, the hazardous frequency range can be defined by observing the vibration energy data measured by the (laboratory) vibration table; and the hazardous energy range can be defined by the (laboratory) vibration table test data.

[0062] Taking a target moving-mode antenna as a three-axis moving-mode antenna as an example, its attitude parameters include elevation angle and roll angle. Therefore, the elevation angle range of the target moving-mode antenna [θ] can be used. EL_min ,θ EL_max [P angles {θ} are selected at uniform intervals within the inner region] EL_1 ,θ EL_2 ,…θ EL_a ,…θ EL_p}, within the roll angle range of the target's moving antenna [θ] RL_min ,θ RL_max ] Uniformly select q angles {θ} within the [internal area] RL_1 ,θ RL_2 ,…θ RL_b ,…θ RL_q The attitude parameters (θ) of the target's moving-mode antenna can be measured using a vibration table experiment. EL_a ,θ RL_b The resonant frequency f of the target's moving antennaab The correspondence is shown in Table 1:

[0063] Table 1. Correspondence between attitude parameters and resonant frequency of a triaxial moving center-pass antenna.

[0064] <![CDATA[θ EL_1 ]]> <![CDATA[θ EL_2 ]]> …… <![CDATA[θ EL_p ]]> <![CDATA[θ RL_1 ]]> <![CDATA[f 11 ]]> <![CDATA[f 21 ]]> …… <![CDATA[f p1 ]]> <![CDATA[θ RL_2 ]]> <![CDATA[f 12 ]]> <![CDATA[f 22 ]]> …… <![CDATA[f p2 ]]> …… …… …… …… …… <![CDATA[θ RL_q ]]> <![CDATA[f 1q ]]> <![CDATA[f 2q ]]> …… <![CDATA[f pq ]]>

[0065] In Table 1, there exists a minimum frequency f. min and maximum frequency f max Furthermore, by observing the vibration energy data measured on a (laboratory) vibration table, the hazardous frequency range that could damage the target's moving-mode antenna can be identified. low ,f up [and the energy range that could damage the target's mobile antenna.]

[0066] If the target moving center-pass antenna is a two-axis moving center-pass antenna, the attitude parameters that can usually be adjusted by a two-axis moving center-pass antenna are only the elevation angle. Then, similar to a three-axis moving center-pass antenna, the correspondence between the elevation angle of the target moving center-pass antenna and the resonant frequency of the target moving center-pass antenna should be determined in advance, as well as the harmful frequency range that will cause damage to the target moving center-pass antenna and the harmful energy range that will cause damage to the target moving center-pass antenna.

[0067] Based on the above principle, S102: Obtain the vibration energy spectrum of the target mobile antenna, which may specifically include:

[0068] Accelerometers were used to collect the time-domain acceleration sequences corresponding to each coordinate axis of the target's moving antenna.

[0069] The total acceleration time-domain sequence is obtained by vector synthesis of the acceleration time-domain sequences corresponding to each coordinate axis.

[0070] The vibration energy spectrum is obtained by performing a frequency domain transformation on the sampling points in the time domain sequence of total acceleration within a preset time period using a fast Fourier transform.

[0071] In S102, a fast Fourier transform can be performed on the historical acceleration values ​​of the target moving antenna over the past 10 seconds (with N sampling points) to obtain the real-time vibration energy spectrum X(k).

[0072] For S103, the search determines whether the vibration energy spectrum X(k) contains a hazardous frequency range [f]. low ,f up The hazardous frequencies within the range and the corresponding vibrational energies {A1, A2, ... A} are as follows: s According to the pre-determined hazardous energy range in S101, if the vibration energy {A1, A2, ... A} sIf there is vibration energy within the hazardous energy range, it confirms that the target's mobile antenna is at risk of mechanical resonance damage at the current moment.

[0073] To avoid damage from mechanical resonance, the attitude of the target's moving antenna is adjusted to a frequency point outside the hazardous energy range, based on the correspondence between the measured attitude parameters of the target's moving antenna and the resonance frequency of the target's moving antenna.

[0074] The antenna attitude control method provided in this application pre-determines the correspondence between the attitude parameters of the target mobile antenna and its resonant frequency, the hazardous frequency range that causes damage to the target mobile antenna, and the hazardous energy range that causes damage to the target mobile antenna. During the actual operation of the target mobile antenna, the vibration energy spectrum of the target mobile antenna is acquired to determine whether it contains hazardous frequency points within the hazardous frequency range. If it does, the attitude of the target mobile antenna is adjusted to the attitude corresponding to the frequency point outside the hazardous energy range. By adjusting the antenna attitude, the mechanical resonance point of the antenna is avoided, which can more effectively solve the problem of mechanical resonance damaging the mobile antenna and extend the service life of the mobile antenna.

[0075] Example 2

[0076] Based on the above embodiments, to simplify judgment and calculation and facilitate the automated execution of antenna attitude control, in the antenna attitude control method provided in this application embodiment, S103: if the vibration energy spectrum has a hazardous frequency point within the hazardous frequency range, and there is a corresponding vibration energy point within the hazardous frequency point that falls within the hazardous energy range, then according to the correspondence between the attitude parameters of the target mobile antenna and the resonant frequency of the target mobile antenna, the attitude of the target mobile antenna is adjusted to the attitude corresponding to the frequency point outside the hazardous energy range. Specifically, this may include:

[0077] If the vibration energy spectrum contains hazardous frequency points within the hazardous frequency range, then the maximum vibration energy value is determined in the vibration energy corresponding to each hazardous frequency point.

[0078] If the maximum vibration energy falls within the hazardous energy range, the attitude of the target mobile antenna is adjusted to the attitude corresponding to a frequency point outside the hazardous energy range, based on the correspondence between the attitude parameters of the target mobile antenna and the resonant frequency of the target mobile antenna.

[0079] In this embodiment of the application, the presence of a hazardous frequency range [f] in the vibration energy spectrum X(k) is first checked. low ,f up If any hazardous frequency points exist within the specified range, then determine the maximum vibration energy A from the vibration energy corresponding to each hazardous frequency point. max By examining the maximum vibration energy Amax Whether it falls within the hazardous energy range is used to determine whether the target's mobile antenna is at risk of being damaged by mechanical resonance at the current moment.

[0080] Example 3

[0081] Based on the above embodiments, to facilitate control and ensure that the target mobile antenna is not damaged by mechanical resonance, in the antenna attitude control method provided in this application embodiment, step S103, adjusting the attitude of the target mobile antenna to the attitude corresponding to a frequency point outside the hazardous energy range, may specifically include:

[0082] If the frequency corresponding to the maximum vibration energy is closer to the minimum resonance frequency between the maximum and minimum resonance frequencies of the target moving antenna, then the attitude parameters of the target moving antenna should be adjusted to the attitude parameters corresponding to the maximum resonance frequency.

[0083] If, between the maximum and minimum resonant frequencies, the frequency corresponding to the maximum vibration energy is closer to the maximum resonant frequency, then the attitude parameters of the target moving antenna should be adjusted to the attitude parameters corresponding to the minimum resonant frequency.

[0084] In practical implementation, the harmful frequency range [f] in the vibration energy spectrum X(k) is determined through retrieval. low ,f up The hazardous frequency points within the range, and the maximum vibration energy A in the vibration energy corresponding to the hazardous frequency points. max When the energy level falls within the hazardous range, the maximum vibration energy value A can be further checked. max Corresponding hazard frequency points The location of the target within the frequency range of the moving antenna.

[0085] When (f max -fA max )≥(fA max -f min When this happens, the attitude parameters of the target's moving-mode antenna are adjusted to the maximum resonant frequency f of the target's moving-mode antenna. max The corresponding attitude parameters (elevation angle θ corresponding to the three-axis moving center-pass antenna) EL_fmax and roll angle θ RL_fmax ).

[0086] when When this happens, the attitude parameters of the target's moving-mode antenna are adjusted to the minimum resonant frequency f of the target's moving-mode antenna. min Corresponding attitude parameters (elevation angle of the three-axis moving center-pass antenna) and roll angle ).

[0087] In the automated execution of antenna attitude control, the design aims to adjust the attitude parameters of the target moving-through antenna to be far away from the maximum vibration energy A. max Corresponding hazard frequency points One end facilitates system judgment and execution.

[0088] Example 4

[0089] In Embodiment 3 of this application, the attitude parameters of the target moving-through antenna are designed to be adjusted to be far away from the maximum vibration energy A. max Corresponding hazard frequency points One end is designed to facilitate automatic system execution and ensure the safety of the target mobile antenna. After adjustment, the target mobile antenna will be unable to perform satellite tracking tasks. To balance the safety of the target mobile antenna with the effectiveness of not interrupting satellite tracking, S103 adjusts the attitude of the target mobile antenna to the attitude corresponding to a frequency point outside the hazard energy range. Specifically, this can also be done as follows:

[0090] Adjust the attitude of the target's mobile antenna to the attitude that is closest to the working attitude of the target's mobile antenna among the attitudes corresponding to frequency points outside the hazard energy range.

[0091] In practical implementation, the working attitude of the target mobile antenna mentioned above can be the working state of the target mobile antenna at the most recent historical moment (time k). When the target mobile antenna is in normal working state, if the vibration energy spectrum X(k) is detected to contain a hazardous frequency point and the vibration energy corresponding to the hazardous frequency point falls within the hazardous energy range, the attitude of the target mobile antenna is adjusted to the attitude of the frequency point outside the hazardous energy range that is closest to the working attitude of the target mobile antenna, based on the original working state.

[0092] The operating attitude of the target mobile antenna mentioned above can also refer to the attitude parameters calculated by the antenna system based on the current satellite tracking requirements. That is, regardless of whether the target mobile antenna is in the working state or in the safety mode to avoid mechanical resonance points after the end of the previous sampling period, the attitude of the target mobile antenna is adjusted to the attitude closest to the operating attitude of the target mobile antenna at the current moment, according to the attitude parameters that the target mobile antenna should be in at the current moment calculated by the antenna system.

[0093] Example 5

[0094] As described in the above embodiments, the steps of acquiring the vibration energy spectrum of the target mobile antenna and adjusting the attitude parameters of the target mobile antenna to avoid mechanical resonance points can be performed periodically. Therefore, S102 and S103 can refer to the execution steps corresponding to the sampling period [kN-1,k] at time k. After adjusting the attitude of the target mobile antenna to the attitude corresponding to a frequency point outside the hazardous energy range in S103, the antenna attitude control method provided in this application embodiment may further include:

[0095] Obtain the vibration energy spectrum of the target's moving antenna during the next sampling period;

[0096] If there is a hazardous frequency in the vibration energy spectrum of the next sampling period, and there is a corresponding frequency in the hazardous frequency that falls within the hazardous energy range, then according to the correspondence, adjust the attitude of the target mobile antenna to the attitude corresponding to the frequency outside the hazardous energy range, and then return to the step of obtaining the vibration energy spectrum of the target mobile antenna in the next sampling period.

[0097] If the vibration energy spectrum of the next sampling period does not contain any hazardous frequency points, or if the vibration energy spectrum of the next sampling period contains hazardous frequency points and there are no corresponding vibration energy points that do not fall within the hazardous energy range, then after restoring the target mobile antenna to its working attitude, return to the step of obtaining the vibration energy spectrum of the target mobile antenna.

[0098] In practical implementation, this can be referred to as "adjusting the attitude of the target mobile antenna to the attitude corresponding to a frequency point outside the hazardous energy range," that is, the target mobile antenna entering the corresponding non-resonant attitude is considered entering the safe mode. The steps then involve entering the next sampling cycle in the safe mode to acquire the vibration energy spectrum and adjust the attitude parameters of the target mobile antenna as needed.

[0099] In this embodiment, when the target mobile antenna is in a safe mode, the vibration energy spectrum X(k+1) of the target mobile antenna in the next sampling period is obtained. If there are still hazardous frequency points in the vibration energy spectrum X(k+1) of the next sampling period, and there are corresponding frequency points whose vibration energy falls within the hazardous energy range, then according to the pre-determined correspondence between the attitude parameters of the target mobile antenna and the resonant frequency of the target mobile antenna, the attitude of the target mobile antenna is adjusted to the attitude corresponding to the frequency point outside the hazardous energy range. After adjustment, the target mobile antenna is still in a safe mode, and the step of obtaining the vibration energy spectrum (X(k+2)...) of the target mobile antenna in the next sampling period is repeated.

[0100] When the target mobile antenna is in safe mode, if the vibration energy spectrum X(k+1) of the next sampling period does not contain any hazardous frequencies, or if it contains hazardous frequencies but the vibration energy corresponding to those frequencies does not fall within the hazardous energy range, then it is determined that the target mobile antenna has eliminated the risk of damage from mechanical resonance and can resume its operating state. The resumed operating state can be the operating state of the target mobile antenna at the most recent historical moment, or it can be the operating attitude that the target mobile antenna should be in at the current moment, calculated again according to the antenna system.

[0101] It should be noted that, in the embodiments of this application, the next sampling period refers to the next sampling period after adjusting the attitude of the target mobile antenna to the attitude corresponding to the frequency point outside the hazard energy range. The sampling periods corresponding to S102 and S103 can be the sampling period after adjusting the attitude of the target mobile antenna to the attitude corresponding to the frequency point outside the hazard energy range, or they can be the next sampling period when the target mobile antenna is in the working attitude.

[0102] Example 6

[0103] Entering the safe mode is defined as the target moving-mode antenna entering its corresponding non-resonant posture, while entering the normal mode is defined as the target moving-mode antenna being in its operating posture. Different methods can be used to determine the risk of mechanical resonance damage to the target moving-mode antenna during the sampling period following these two different modes.

[0104] In the antenna attitude control method provided in this application embodiment, when the target moving antenna is in the working attitude, there are frequency points in S103 where the vibration energy falls into the range of the hazardous energy. Specifically, there are frequency points in the hazardous frequency points where the vibration energy is greater than the hazardous energy inlet threshold.

[0105] When the attitude of the target's moving antenna is adjusted to the attitude corresponding to a frequency point outside the hazardous energy range, in S103 there are frequency points in the hazardous frequency points where the corresponding vibration energy falls into the hazardous energy range. Specifically, there are frequency points in the hazardous frequency points where the corresponding vibration energy is greater than the hazardous energy exit threshold.

[0106] Among them, the hazardous energy inlet threshold is greater than the hazardous energy outlet threshold.

[0107] In practice, the range of hazardous energy can be a range greater than the hazardous energy threshold.

[0108] When the target mobile antenna is in normal mode, the hazard energy threshold can be the hazard energy entry threshold Aenter_threshold. If there is a frequency point with vibration energy exceeding the hazard energy entry threshold Aenter_threshold, then the antenna's attitude is adjusted to the attitude corresponding to a frequency point outside the hazard energy range, based on the correspondence between the target mobile antenna's attitude parameters and its resonant frequency. If there is no frequency point with vibration energy exceeding the hazard energy entry threshold Aenter_threshold, the normal mode is maintained, and the antenna system adjusts the target mobile antenna's attitude parameters according to the service logic to keep the target mobile antenna operational.

[0109] When the target mobile antenna is in safe mode, the hazard energy threshold can be the hazard energy exit threshold Aexit_threshold. If there is a frequency point with corresponding vibration energy greater than the hazard energy exit threshold Aexit_threshold, the safe mode is maintained, and the process of adjusting the target mobile antenna's attitude to the attitude corresponding to a frequency point outside the hazard energy range is executed based on the correspondence between the target mobile antenna's attitude parameters and its resonant frequency. If there is no frequency point with corresponding vibration energy greater than the hazard energy exit threshold Aexit_threshold, the system switches to normal mode, and the antenna system adjusts the target mobile antenna's attitude parameters according to the service logic to keep the target mobile antenna operational.

[0110] Example 7

[0111] Figure 2 A flowchart of another antenna attitude control method provided in an embodiment of this application.

[0112] Based on the above embodiments, this application provides a preferred antenna attitude control method, such as... Figure 2 As shown, it includes:

[0113] S201: Pre-determine the correspondence between the attitude parameters of the target's mobile antenna and its resonant frequency, the hazardous frequency range that will cause damage to the target's mobile antenna, and the hazardous energy range that will cause damage to the target's mobile antenna.

[0114] S202: The acceleration of the target moving antenna in the current sampling period is transformed in the frequency domain using Fast Fourier Transform to obtain the vibration energy spectrum X(k).

[0115] S203: Determine the maximum vibration energy value Amax in the vibration energy spectrum X(k).

[0116] S204: Determine whether the current operating mode of the target's mobile antenna is safe mode; if yes, proceed to S205; if no, proceed to S208.

[0117] S205: Determine if Amax < Aexit_threshold is satisfied; if yes, proceed to S205; otherwise, proceed to S207.

[0118] S206: Set the target mobile antenna to normal mode, restore the previous operating parameters, and return to S202.

[0119] Among them, the previous working state parameter is the attitude parameter corresponding to the working state of the target moving antenna at the most recent historical moment.

[0120] S207: Maintain the target's mobile antenna in safe mode and return to S202.

[0121] S208: Determine if Amax > Aenter_threshold is satisfied; if yes, proceed to S209; if no, proceed to S213.

[0122] S209: Set the target's mobile antenna to safe mode, then proceed to S210.

[0123] S210: Determine if (fmax-fA) is satisfied. max )≥(fA max -fmin); if yes, proceed to S211; otherwise, proceed to S212.

[0124] S211: Adjust the attitude parameters of the target's moving antenna to the maximum resonant frequency f. max The corresponding attitude parameters are returned as S202.

[0125] S212: Adjust the attitude parameters of the target's moving antenna to the minimum resonant frequency f. min The corresponding attitude parameters are returned as S202.

[0126] S213: Keep the target mobile antenna in normal mode, adjust the attitude parameters of the target mobile antenna according to the service logic, and return to S202.

[0127] The various embodiments of the antenna attitude control method have been described in detail above. Based on this, this application also discloses antenna attitude control devices, equipment and computer-readable storage media corresponding to the above methods.

[0128] Example 8

[0129] Figure 3This is a schematic diagram of an antenna attitude control device provided in an embodiment of this application.

[0130] like Figure 3 As shown, the antenna attitude control device provided in this application embodiment includes:

[0131] The determination unit 301 is used to pre-determine the correspondence between the attitude parameters of the target moving antenna and the resonant frequency of the target moving antenna, the hazardous frequency range that will cause damage to the target moving antenna, and the hazardous energy range that will cause damage to the target moving antenna.

[0132] The first acquisition unit 302 is used to acquire the vibration energy spectrum of the target moving antenna;

[0133] The first adjustment unit 303 is used to adjust the attitude of the target moving antenna to the attitude corresponding to the frequency point outside the hazardous energy range if there is a hazardous frequency point in the vibration energy spectrum and there is a corresponding vibration energy point in the hazardous energy range.

[0134] The first acquisition unit 302 acquires the vibration energy spectrum of the target mobile antenna, specifically including:

[0135] Accelerometers were used to collect the time-domain acceleration sequences corresponding to each coordinate axis of the target's moving antenna.

[0136] The total acceleration time-domain sequence is obtained by vector synthesis of the acceleration time-domain sequences corresponding to each coordinate axis.

[0137] The vibration energy spectrum is obtained by performing a frequency domain transformation on the sampling points in the time domain sequence of total acceleration within a preset time period using a fast Fourier transform.

[0138] The first adjustment unit 303 performs the step of adjusting the attitude of the target moving antenna to the attitude corresponding to the frequency point outside the hazardous energy range if there is a hazardous frequency point in the vibration energy spectrum and there is a corresponding frequency point in the hazardous frequency point whose vibration energy falls within the hazardous energy range, according to the correspondence. Specifically, this includes:

[0139] If the vibration energy spectrum contains hazardous frequency points within the hazardous frequency range, then the maximum vibration energy value is determined in the vibration energy corresponding to each hazardous frequency point.

[0140] If the maximum vibration energy falls within the hazardous energy range, the attitude of the target's moving antenna is adjusted to the attitude corresponding to a frequency point outside the hazardous energy range, based on the corresponding relationship.

[0141] The first adjustment unit 303 adjusts the attitude of the target's on-the-move antenna to the attitude corresponding to a frequency point outside the hazard energy range, specifically including:

[0142] If the frequency corresponding to the maximum vibration energy is closer to the minimum resonance frequency between the maximum and minimum resonance frequencies of the target moving antenna, then the attitude parameters of the target moving antenna should be adjusted to the attitude parameters corresponding to the maximum resonance frequency.

[0143] If, between the maximum and minimum resonant frequencies, the frequency corresponding to the maximum vibration energy is closer to the maximum resonant frequency, then the attitude parameters of the target moving antenna should be adjusted to the attitude parameters corresponding to the minimum resonant frequency.

[0144] Alternatively, the first adjustment unit 303 adjusts the attitude of the target's on-the-move antenna to the attitude corresponding to a frequency point outside the hazard energy range, specifically as follows:

[0145] Adjust the attitude of the target's mobile antenna to the attitude that is closest to the working attitude of the target's mobile antenna among the attitudes corresponding to frequency points outside the hazard energy range.

[0146] Furthermore, the antenna attitude control device provided in this application embodiment also includes:

[0147] The second acquisition unit is used to acquire the vibration energy spectrum of the target moving antenna in the next sampling period after adjusting the attitude of the target moving antenna to the attitude corresponding to the frequency point outside the hazard energy range.

[0148] The second adjustment unit is used to adjust the attitude of the target mobile antenna to the attitude corresponding to the frequency point outside the hazardous energy range if there is a hazardous frequency point in the vibration energy spectrum of the next sampling period, and there is a corresponding frequency point in the hazardous frequency point whose vibration energy falls into the hazardous energy range, according to the correspondence, and then return to the second acquisition unit to obtain the vibration energy spectrum of the target mobile antenna in the next sampling period.

[0149] The third adjustment unit is used to restore the target mobile antenna to its working attitude and then return to the first acquisition unit to obtain the vibration energy spectrum of the target mobile antenna if there is no harmful frequency point in the vibration energy spectrum of the next sampling period, or if there is a harmful frequency point in the vibration energy spectrum of the next sampling period and there is no frequency point in the harmful frequency point whose corresponding vibration energy does not fall within the harmful energy range.

[0150] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0151] Example 9

[0152] Figure 4 This is a schematic diagram of the structure of an antenna attitude control device provided in an embodiment of this application.

[0153] like Figure 4 As shown, the antenna attitude control device provided in this application embodiment includes:

[0154] Memory 410 is used to store computer program 411;

[0155] Processor 420 is configured to execute computer program 411, which, when executed by processor 420, implements the steps of the antenna attitude control method as described in any of the above embodiments.

[0156] The processor 420 may include one or more processing cores, such as a 3-core processor or an 8-core processor. The processor 420 may be implemented using at least one hardware form selected from Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 420 may also include a main processor and a coprocessor. The main processor, also known as a Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 420 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 420 may also include an Artificial Intelligence (AI) processor, which handles computational operations related to machine learning.

[0157] The memory 410 may include one or more computer-readable storage media, which may be non-transitory. The memory 410 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 410 is used to store at least the following computer program 411, which, after being loaded and executed by the processor 420, is capable of implementing the relevant steps in the antenna attitude control method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 410 may also include an operating system 412 and data 413, and the storage method may be temporary storage or permanent storage. The operating system 412 may be Windows. The data 413 may include, but is not limited to, the data involved in the above methods.

[0158] In some embodiments, the antenna attitude control device may further include a display screen 430, a power supply 440, a communication interface 450, an input / output interface 460, a sensor 470, and a communication bus 480.

[0159] Those skilled in the art will understand that Figure 4 The structure shown does not constitute a limitation on the antenna attitude control device and may include more or fewer components than shown.

[0160] The antenna attitude control device provided in this application includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the antenna attitude control method as described above, with the same effect.

[0161] Example 10

[0162] It should be noted that the device and equipment embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or modules may be electrical, mechanical, or other forms. Modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0163] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0164] If the integrated module is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of this application.

[0165] Therefore, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements steps such as the antenna attitude control method.

[0166] The computer-readable storage medium may include: USB flash drive, portable hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and other media that can store program code.

[0167] The computer program contained in the computer-readable storage medium provided in this embodiment can implement the steps of the antenna attitude control method described above when executed by a processor, with the same effect.

[0168] The foregoing provides a detailed description of an antenna attitude control method, apparatus, device, and computer-readable storage medium provided in this application. The various embodiments are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus, device, and computer-readable storage medium disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0169] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. An antenna attitude control method, characterized by, The method comprises the following steps: pre-measuring the correspondence between the attitude parameter of a target SATCOM antenna and the resonance frequency of the target SATCOM antenna, the harmful frequency range causing damage to the target SATCOM antenna, and the harmful energy range causing damage to the target SATCOM antenna; obtaining the vibration energy spectrum of the target SATCOM antenna; if the vibration energy spectrum has harmful frequency points within the harmful frequency range, and the corresponding vibration energy of the harmful frequency points falls within the harmful energy range, adjusting the attitude of the target SATCOM antenna to the attitude corresponding to the frequency points outside the harmful energy range according to the correspondence; wherein if the vibration energy spectrum has harmful frequency points within the harmful frequency range, and the corresponding vibration energy of the harmful frequency points falls within the harmful energy range, adjusting the attitude of the target SATCOM antenna to the attitude corresponding to the frequency points outside the harmful energy range according to the correspondence, specifically comprising: if the vibration energy spectrum has the harmful frequency points within the harmful frequency range, determining the maximum vibration energy in the corresponding vibration energy of each harmful frequency point; if the maximum vibration energy falls within the harmful energy range, adjusting the attitude of the target SATCOM antenna to the attitude corresponding to the frequency points outside the harmful energy range according to the correspondence.

2. The antenna attitude control method according to claim 1, characterized by, The method of obtaining the vibration energy spectrum of the target SATCOM antenna specifically comprises: collecting the acceleration time domain sequence corresponding to each coordinate axis of the target SATCOM antenna by using an accelerometer; vector synthesizing the acceleration time domain sequence corresponding to each coordinate axis to obtain a total acceleration time domain sequence; performing frequency domain transformation on the sampling points in the past preset time length of the total acceleration time domain sequence by using fast Fourier transform to obtain the vibration energy spectrum.

3. The antenna attitude control method of claim 1, wherein The method of adjusting the attitude of the target SATCOM antenna to the attitude corresponding to the frequency points outside the harmful energy range specifically comprises: if the frequency corresponding to the maximum vibration energy is closer to the minimum resonance frequency of the target SATCOM antenna between the maximum resonance frequency of the target SATCOM antenna and the minimum resonance frequency of the target SATCOM antenna, adjusting the attitude parameter of the target SATCOM antenna to the attitude parameter corresponding to the maximum resonance frequency; if the frequency corresponding to the maximum vibration energy is closer to the maximum resonance frequency of the target SATCOM antenna between the maximum resonance frequency and the minimum resonance frequency of the target SATCOM antenna, adjusting the attitude parameter of the target SATCOM antenna to the attitude parameter corresponding to the minimum resonance frequency.

4. The antenna attitude control method of claim 1, wherein The method of adjusting the attitude of the target SATCOM antenna to the attitude corresponding to the frequency points outside the harmful energy range specifically comprises: adjusting the attitude of the target SATCOM antenna to the attitude closest to the working attitude of the target SATCOM antenna among the attitudes corresponding to the frequency points outside the harmful energy range.

5. The antenna attitude control method of claim 1, wherein After adjusting the attitude of the target SATCOM antenna to the attitude corresponding to the frequency points outside the harmful energy range, the method further comprises: obtaining the next sampling period vibration energy spectrum of the target SATCOM antenna; If the vibration energy spectrum of the next sampling period contains the hazardous frequency point, and there is a corresponding frequency point whose vibration energy falls within the hazardous energy range, then according to the correspondence, the attitude of the target mobile antenna is adjusted to the attitude corresponding to the frequency point outside the hazardous energy range, and then the step of obtaining the vibration energy spectrum of the target mobile antenna in the next sampling period is returned. If the vibration energy spectrum of the next sampling period does not contain the hazardous frequency point, or if the vibration energy spectrum of the next sampling period contains the hazardous frequency point but there is no corresponding vibration energy frequency point that does not fall within the hazardous energy range, then after restoring the attitude of the target mobile antenna to its working attitude, the process returns to the step of obtaining the vibration energy spectrum of the target mobile antenna.

6. The antenna attitude control method of claim 1, wherein When the target mobile antenna is in its working state, there are frequency points among the hazardous frequency points where the vibration energy falls within the hazardous energy range, specifically: there are frequency points among the hazardous frequency points where the vibration energy is greater than the hazardous energy inlet threshold. When the attitude of the target moving antenna is adjusted to the attitude corresponding to a frequency point outside the hazardous energy range, there are frequency points in the hazardous frequency points where the vibration energy falls into the hazardous energy range, specifically: there are frequency points in the hazardous frequency points where the vibration energy is greater than the hazardous energy exit threshold. Wherein, the hazardous energy inlet threshold is greater than the hazardous energy outlet threshold.

7. An antenna attitude control device, characterized by comprising: include: The determination unit is used to pre-determine the correspondence between the attitude parameters of the target mobile antenna and the resonant frequency of the target mobile antenna, the hazardous frequency range that will cause damage to the target mobile antenna, and the hazardous energy range that will cause damage to the target mobile antenna; The first acquisition unit is used to acquire the vibration energy spectrum of the target moving antenna; The first adjustment unit is used to adjust the attitude of the target moving antenna to the attitude corresponding to the frequency point outside the harmful energy range if there is a harmful frequency point in the vibration energy spectrum and there is a corresponding vibration energy point in the harmful energy range. Wherein, if the vibration energy spectrum contains a hazardous frequency point within the hazardous frequency range, and among the hazardous frequency points there exists a frequency point whose vibration energy falls within the hazardous energy range, then according to the correspondence, the attitude of the target mobile antenna is adjusted to the attitude corresponding to the frequency point outside the hazardous energy range, specifically including: If the vibration energy spectrum contains a hazardous frequency point within the hazardous frequency range, then the maximum vibration energy value is determined in the vibration energy corresponding to each hazardous frequency point. If the maximum vibration energy falls within the hazardous energy range, then according to the correspondence, the attitude of the target mobile antenna is adjusted to the attitude corresponding to a frequency point outside the hazardous energy range.

8. An antenna attitude control device, characterized by, include: Memory, used to store computer programs; A processor for executing the computer program, the computer program implementing the steps of the antenna attitude control method according to any one of claims 1 to 6 when executed by the processor.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program implementing the steps of the antenna attitude control method according to any one of claims 1 to 6 when executed by the processor.

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