Ship heading angle dynamic measurement method for satellite mobile terminal antenna

Abstract

This invention discloses a method for dynamically measuring the heading angle of a ship using a satellite mobile terminal antenna. The antenna base is equipped with an azimuth origin fixing plate, and the method includes the following steps: obtaining the azimuth origin position of the antenna; obtaining the actual attitude angle of the antenna based on the azimuth origin position; obtaining the geographical location information of the antenna and the latitude and longitude of the target satellite; calculating the theoretical attitude angle of the antenna based on the latitude and longitude of the target satellite and the geographical location information of the antenna; controlling the antenna to rotate from the actual attitude angle to the theoretical attitude angle; initiating a satellite acquisition program until the target satellite is locked, entering the antenna tracking state; and dynamically acquiring the ship's heading angle through an adaptive calibration process in the antenna tracking state. This invention can obtain the ship's heading angle accurately and in real time, greatly facilitating antenna maintenance personnel to remotely determine antenna obstruction and perform data analysis for antenna maintenance. It also improves the intelligence level of the antenna, optimizes obstruction recovery performance, and avoids prolonged communication interruptions.

Description

Technical Field

[0001] This invention relates to the field of ship navigation technology, and in particular to a method for dynamically measuring the heading angle of a ship using a satellite mobile terminal antenna. Background Technology

[0002] Currently, when satellite mobile terminal antennas are used on ships, heading angle information is frequently used. Obtaining the heading angle is beneficial for: 1. Remotely analyzing the impact of radar interference, masts, or other obstructions around the antenna on board based on the heading angle and satellite signal quality, and making judgments and proposing improvement plans; 2. Optimizing obstruction-keeping performance by the antenna main control unit based on the heading angle and satellite signal quality; 3. Improving the maintainability of satellite communication antennas used on ships by remotely analyzing heading angle information in conjunction with other data.

[0003] Currently, the two most common methods for obtaining a ship's heading are: 1. Accessing the ship's electric compass signal; 2. Using an antenna with a built-in electronic compass chip.

[0004] However, connecting the ship's digital compass signal to the antenna system involves a certain degree of complexity in construction and wiring. Moreover, some small and medium-sized fishing boats mainly use gyrocompasses, which cannot provide electric compass signals. Although the built-in electronic compass chip in the antenna saves the trouble of construction and wiring, it has problems such as poor anti-interference and low heading accuracy. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose a dynamic measurement method for ship heading angle using a satellite mobile terminal antenna. This method solves the technical problems of complex construction for accessing shipboard gyrocompass signals, poor anti-interference performance of the built-in electronic compass chip in the antenna, and low heading accuracy in the existing technology.

[0006] To achieve the above-mentioned technical objectives, in a first aspect, the present invention provides a method for dynamically measuring the heading angle of a ship using a satellite mobile terminal antenna, wherein the antenna base is provided with an azimuth origin fixing plate, and includes the following steps:

[0007] Obtain the azimuth origin position of the antenna, and obtain the actual attitude angle of the antenna based on the azimuth origin position;

[0008] The antenna's geographical location information and the target satellite's latitude and longitude are obtained, and the theoretical attitude angle of the antenna is calculated based on the target satellite's latitude and longitude and the antenna's geographical location information.

[0009] The control antenna is rotated from the actual attitude angle to the theoretical attitude angle;

[0010] Initiate the satellite acquisition process until the target satellite is locked, and enter antenna tracking mode;

[0011] The ship's heading angle is dynamically acquired during the adaptive calibration process while the antenna is tracking.

[0012] Compared with existing technologies, the beneficial effects of the method for dynamic measurement of ship heading angle using a satellite mobile terminal antenna provided by this invention include:

[0013] This invention can acquire the actual attitude angle of an antenna, and intelligently analyze the theoretical attitude angle of the mobile satellite terminal antenna based on the antenna's geographical location information and the target satellite's latitude and longitude. It then controls the antenna to rotate from the actual attitude angle to the theoretical attitude angle. During the adaptive calibration process in antenna tracking mode, it acquires the azimuth yaw angle of the fixed azimuth origin plate. After adaptive azimuth yaw angle calibration, the antenna can accurately acquire the ship's heading angle in real time. This greatly facilitates antenna maintenance personnel in remotely judging antenna obstruction and analyzing data through the backend, while also improving the antenna's intelligence, optimizing obstruction recovery performance, and avoiding prolonged communication interruptions. It has significant practical value.

[0014] According to some embodiments of the present invention, the satellite mobile terminal antenna is equipped with a polarization motor, a roll motor, a pitch motor, an azimuth motor, and a memory. An azimuth position sensor is mounted on the antenna azimuth base. The method for obtaining the azimuth origin position of the antenna and obtaining the actual attitude angle of the antenna based on the azimuth origin position includes the following steps:

[0015] The four axes—polarized motor, roll motor, pitch motor, and azimuth motor—start simultaneously to find the azimuth origin position;

[0016] The azimuth motor drives the azimuth position sensor to rotate to the azimuth origin position. The initial motor azimuth angle is read from the memory. The initial motor azimuth angle is the azimuth rotation reference angle of the azimuth origin fixed plate relative to the bow of the ship. The actual attitude angle of the antenna is obtained based on the rotation angle of the azimuth position sensor and the initial motor azimuth angle.

[0017] According to some embodiments of the present invention, controlling the antenna to rotate from the actual attitude angle to the theoretical attitude angle includes the following steps:

[0018] After the polarization motor, the roll motor, and the pitch motor finish searching for the azimuth origin position, they control the antenna to adjust to the theoretical attitude angle.

[0019] According to some embodiments of the present invention, initiating a satellite acquisition procedure until the target satellite is locked includes the following steps:

[0020] Maintaining the initial pitch angle, start rotating from the initial motor azimuth angle. The motor angle range is set to 0-360°. If the target satellite is found, lock onto the target satellite and enter antenna tracking mode.

[0021] According to some embodiments of the present invention, after rotating from the initial motor orientation angle, and setting the motor angle range to 0–360°, the following steps are included:

[0022] If the target satellite is not found within the motor angle range, increase or decrease the pitch angle by one step and continue the azimuth rotation search until the target satellite is locked and the antenna tracking state is entered.

[0023] According to some embodiments of the present invention, the ship's heading angle is dynamically acquired during the adaptive calibration process in antenna tracking mode, including the following steps:

[0024] The carrier's heading angle and heading velocity are obtained by positioning satellites, and the cumulative angle of the azimuth motor rotation over the initial motor azimuth angle is obtained.

[0025] The expected value of the heading angle is calculated based on the theoretical attitude angle and the cumulative angle.

[0026] The expected value of the heading angle of the antenna is updated based on the heading angle of the carrier, the heading speed of the carrier, and the maximum set speed.

[0027] The heading deviation value is calculated based on the expected heading angle, the cumulative angle, and the theoretical attitude angle.

[0028] The initial motor bearing angle is updated based on the heading deviation value, and the ship's heading angle is calculated based on the initial motor bearing angle.

[0029] According to some embodiments of the present invention, updating the initial motor azimuth angle based on the heading deviation value includes the following steps:

[0030] If the heading deviation value is equal to 0, then the initial motor bearing angle has no deviation relative to the current navigation state;

[0031] If the heading deviation value is not equal to 0, the updated initial motor bearing angle is obtained by subtracting the heading deviation value from the initial motor bearing angle.

[0032] According to some embodiments of the present invention, the expected value of the heading angle is calculated based on the theoretical attitude angle and the cumulative angle, including the following steps:

[0033] The expected value of the heading angle when the target satellite is initially locked:

[0034] Ahead = Asat-An;

[0035] Where Asat is the theoretical attitude angle, and An is the cumulative angle;

[0036] Subsequently, based on the cumulative angle An of the current cycle of the azimuth motor and the cumulative angle A(n-1) of the previous cycle, the expected value of the ship's heading angle is updated: Ahead = Ahead + A(n-1) - An.

[0037] According to some embodiments of the present invention, the expected value of the antenna's heading angle is updated based on the carrier's heading angle, the carrier's heading speed, and the maximum set speed, as expressed by the following formula:

[0038] Ahead = (1-K)*Ahead + K*Agps

[0039] K = Vgps / Vmax

[0040] Where Ahead is the expected value of the heading angle, K is the weighting coefficient, Vgps is the heading speed of the vehicle, Agps is the heading angle of the vehicle, and Vmax is the maximum set speed.

[0041] According to some embodiments of the present invention, the heading deviation value is calculated based on the expected heading angle, the cumulative angle, and the theoretical attitude angle, and is expressed as follows:

[0042] △E=Ahead+An-Asat

[0043] Where Asat is the theoretical attitude angle, An is the cumulative angle, and Ahead is the expected value of the heading angle.

[0044] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0045] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein the abstract drawings are to be completely consistent with one of the drawings in the specification:

[0046] Figure 1 A flowchart of a method for dynamically measuring the heading angle of a ship using a satellite mobile terminal antenna, provided in an embodiment of the present invention;

[0047] Figure 2 A flowchart of a method for dynamically measuring the heading angle of a ship using a satellite mobile terminal antenna, provided in another embodiment of the present invention;

[0048] Figure 3 A flowchart of a method for dynamically measuring the heading angle of a ship using a satellite mobile terminal antenna, provided in another embodiment of the present invention;

[0049] Figure 4A schematic diagram of a ship navigation method for dynamically measuring the ship's heading angle using a satellite mobile terminal antenna, as provided in another embodiment of the present invention;

[0050] Figure 5 This is a schematic diagram of the structure of a satellite mobile terminal antenna provided in another embodiment of the present invention. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0052] It should be noted that although functional modules are divided in the system diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the system or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0053] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0054] Reference Figure 1 , Figure 4 and Figure 5 , Figure 1 A flowchart of a method for dynamically measuring the heading angle of a ship using a satellite mobile terminal antenna, provided in an embodiment of the present invention; Figure 4 A schematic diagram of a ship navigation method for dynamically measuring the ship's heading angle using a satellite mobile terminal antenna, as provided in another embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a satellite mobile terminal antenna provided in another embodiment of the present invention. The method for dynamically measuring the ship's heading angle using a satellite mobile terminal antenna includes, but is not limited to, steps S110 to S150.

[0055] Step S110: Obtain the azimuth origin position of the antenna, and obtain the actual attitude angle of the antenna based on the azimuth origin position;

[0056] Step S120: Obtain the geographical location information of the antenna and the latitude and longitude of the target satellite, and calculate the theoretical attitude angle of the antenna based on the latitude and longitude of the target satellite and the geographical location information of the antenna.

[0057] Step S130: Control the antenna to rotate from the actual attitude angle to the theoretical attitude angle;

[0058] Step S140: Start the satellite search procedure until the target satellite is locked, and enter the antenna tracking state;

[0059] Step S150: In the antenna tracking state, enter the adaptive calibration process to dynamically obtain the ship's heading angle.

[0060] In one embodiment, a method for dynamically measuring the ship's heading angle using a satellite mobile terminal antenna, wherein the antenna base is provided with an azimuth origin fixing plate, includes the following steps: obtaining the azimuth origin position of the antenna, and obtaining the actual attitude angle of the antenna based on the azimuth origin position; obtaining the geographical location information of the antenna and the latitude and longitude of the target satellite, and calculating the theoretical attitude angle of the antenna based on the latitude and longitude of the target satellite and the geographical location information of the antenna; controlling the antenna to rotate from the actual attitude angle to the theoretical attitude angle; starting the satellite acquisition program until the target satellite is locked, and entering the antenna tracking state; and entering the adaptive calibration process in the antenna tracking state to dynamically obtain the ship's heading angle.

[0061] In step S110, when the antenna is powered on, the initialization program is started first. The four axes of the polarization motor, roll motor, pitch motor and azimuth motor start simultaneously to find the origin position and obtain the actual attitude angle of the antenna.

[0062] The antenna base bracket has an azimuth origin fixing piece. Since the direction of the azimuth origin fixing piece relative to the ship's heading is not fixed during antenna installation, the antenna needs to undergo adaptive calibration after installation.

[0063] An azimuth position sensor is mounted on the antenna azimuth base. During initialization, the azimuth motor drives the azimuth position sensor to rotate to the position of the azimuth origin fixed piece. The initial motor azimuth angle is Aref, which is the azimuth rotation reference angle of the azimuth origin fixed piece relative to the bow of the ship. It is read from the memory of the antenna control unit and has a default value of 0 before adaptive calibration.

[0064] Step S120: Obtain geographical location information and target satellite latitude and longitude. The geographical location information is obtained through Global Positioning Satellite and the theoretical attitude angle of the antenna is calculated based on the target satellite latitude and longitude.

[0065] In step S130, after the polarization motor, roll motor, and pitch motor finish searching for the origin, they control the antenna surface to adjust to the theoretical attitude angle.

[0066] Step S140: After initialization, the satellite acquisition process is initiated. Since there is no electronic compass, the carrier's heading information cannot be obtained during antenna initialization; therefore, a wide-area scan in azimuth is required to lock onto the satellite.

[0067] Initially, the pitch angle remains constant, while the azimuth angle rotates from the fixed position (Aref) at the azimuth origin. The motor angle range is 0–360°. When the angle exceeds 360°, the rotation continues in the original direction, and the recorded angle restarts from 0. After each azimuth rotation cycle, if the target satellite is still not locked, the pitch angle is increased or decreased by one step, and the azimuth rotation search continues until the target satellite is locked, entering antenna tracking mode.

[0068] Step S150: After satellite lock-in, the adaptive calibration process begins. Since the orientation of the azimuth origin fixing plate relative to the ship's heading is not fixed during initial antenna installation, and the default value of Aref is 0, the current angle An value of the antenna azimuth motor is not based on the ship's bow, resulting in a relative angle deviation. Therefore, the azimuth origin calibration function needs to be activated via an adaptive algorithm while the ship is in motion.

[0069] The deflection angle of the antenna azimuth sensor reference position relative to the bow is Aref (i.e., the initial motor azimuth angle); based on the satellite latitude and longitude and the carrier's geographical location coordinates obtained by the GPS module, the theoretical azimuth angle precisely calculated by the antenna main control MCU is Asat ( Figure 4 ∠NOS); The heading angle of the vehicle obtained by GPS is Agps ( Figure 4 ∠NOH); An is the angle accumulated based on the fixed angle Aref at the azimuth origin.

[0070] When the antenna has locked onto the target satellite and is tracking it, the Aref value is updated according to the following formula.

[0071] When the target satellite is locked for the first time, the expected heading angle is Ahead = Asat - An;

[0072] Subsequently, based on the current rotation angle An of the azimuth motor and the previous rotation angle A(n-1), the expected value of the ship's heading angle is updated:

[0073] Ahead = Ahead + A(n-1) - An;

[0074] Because the heading angle obtained by the GPS module has a significant deviation when the vehicle is static or at low speed, it can only be used as a reference and for compensation when the vehicle is at a certain speed. The vehicle's heading and speed information can be obtained by parsing the GPRMC command issued by the GPS module. Using the GPS-acquired heading speed Vgps as a weighting coefficient and Agps as the actual measured heading value, the expected value of the antenna heading angle is updated:

[0075] Ahead = (1-K)*Ahead + K*Agps

[0076] K = Vgps / Vmax

[0077] The appropriate GPS heading angle compensation speed can be selected by adjusting the maximum speed Vmax.

[0078] When Aref is correct, theoretically Asat = Ahead + An. If ΔE = Ahead + An - Asat is not 0, it means that there is a deviation in the deflection angle Aref of the azimuth fixation plate relative to the bow of the ship. The Aref value needs to be updated, Aref = Aref - ΔE, and stored in the antenna control unit.

[0079] After adaptive calibration, the correct ship heading angle can be obtained as long as the antenna locks onto the satellite, regardless of whether the carrier is in a static or low-speed heading state.

[0080] This invention can acquire the actual attitude angle of a satellite mobile terminal antenna. Based on the antenna's geographical location information and the target satellite's latitude and longitude, it intelligently analyzes the theoretical attitude angle of the mobile satellite terminal antenna and controls the antenna to rotate from the actual attitude angle to the theoretical attitude angle. During the adaptive calibration process in antenna tracking mode, it acquires the azimuth yaw angle of the fixed azimuth origin plate. After adaptive calibration of the yaw angle, the antenna can accurately acquire the ship's heading angle in real time. This greatly facilitates maintenance personnel in remotely judging antenna obstruction and analyzing data for antenna maintenance. At the same time, it improves the antenna's intelligence level, optimizes obstruction recovery performance, avoids long-term communication interruptions, and enhances the anti-interference performance of the satellite mobile terminal antenna. This enables ships to dynamically acquire accurate heading angles during navigation on the sea, improving the safety and route accuracy of the navigation process.

[0081] Reference Figure 2 , Figure 2 A flowchart of a method for dynamically measuring the heading angle of a ship using a satellite mobile terminal antenna, provided in another embodiment of the present invention; the method for dynamically measuring the heading angle of a ship using a satellite mobile terminal antenna includes, but is not limited to, steps S210 to S220.

[0082] In step S210, the four axes—polarization motor, roll motor, pitch motor, and azimuth motor—start simultaneously to find the azimuth origin position.

[0083] In step S210, the azimuth motor drives the azimuth position sensor to rotate to the azimuth origin position. The initial motor azimuth angle is read from the memory. The initial motor azimuth angle is the azimuth rotation reference angle of the azimuth origin fixed plate relative to the bow of the ship. The actual attitude angle of the antenna is obtained based on the rotation angle of the azimuth position sensor and the initial motor azimuth angle.

[0084] In one embodiment, a method for dynamically measuring the ship's heading angle using a satellite mobile terminal antenna, wherein the antenna base is provided with an azimuth origin fixing plate, includes the following steps: obtaining the azimuth origin position of the antenna, and obtaining the actual attitude angle of the antenna based on the azimuth origin position; obtaining the geographical location information of the antenna and the latitude and longitude of the target satellite, and calculating the theoretical attitude angle of the antenna based on the latitude and longitude of the target satellite and the geographical location information of the antenna; controlling the antenna to rotate from the actual attitude angle to the theoretical attitude angle; starting the satellite acquisition program until the target satellite is locked, and entering the antenna tracking state; and entering the adaptive calibration process in the antenna tracking state to dynamically obtain the ship's heading angle.

[0085] The satellite mobile terminal antenna is equipped with a polarization motor, roll motor, pitch motor, azimuth motor, and memory. An azimuth position sensor is mounted on the antenna azimuth base to obtain the azimuth origin position of the antenna. The actual attitude angle of the antenna is obtained based on the azimuth origin position. The steps include: the four axes of the polarization motor, roll motor, pitch motor, and azimuth motor are started simultaneously to find the azimuth origin position; the azimuth motor drives the azimuth position sensor to rotate to the azimuth origin position; the initial motor azimuth angle is read from the memory. The initial motor azimuth angle is the azimuth rotation reference angle of the azimuth origin fixed plate relative to the bow of the ship; the actual attitude angle of the antenna is obtained based on the rotation angle of the azimuth position sensor and the initial motor azimuth angle.

[0086] Furthermore, controlling the antenna to rotate from the actual attitude angle to the theoretical attitude angle includes the following steps: after the polarization motor, roll motor, and pitch motor finish searching for the azimuth origin position, controlling the antenna to adjust to the theoretical attitude angle.

[0087] In one embodiment, a method for dynamically measuring the ship's heading angle using a satellite mobile terminal antenna, wherein the antenna base is provided with an azimuth origin fixing plate, includes the following steps: obtaining the azimuth origin position of the antenna, and obtaining the actual attitude angle of the antenna based on the azimuth origin position; obtaining the geographical location information of the antenna and the latitude and longitude of the target satellite, and calculating the theoretical attitude angle of the antenna based on the latitude and longitude of the target satellite and the geographical location information of the antenna; controlling the antenna to rotate from the actual attitude angle to the theoretical attitude angle; starting the satellite acquisition program until the target satellite is locked, and entering the antenna tracking state; and entering the adaptive calibration process in the antenna tracking state to dynamically obtain the ship's heading angle.

[0088] The satellite mobile terminal antenna is equipped with a polarization motor, roll motor, pitch motor, azimuth motor, and memory. An azimuth position sensor is mounted on the antenna azimuth base to obtain the azimuth origin position of the antenna. The actual attitude angle of the antenna is obtained based on the azimuth origin position. The steps include: the four axes of the polarization motor, roll motor, pitch motor, and azimuth motor are started simultaneously to find the azimuth origin position; the azimuth motor drives the azimuth position sensor to rotate to the azimuth origin position; the initial motor azimuth angle is read from the memory. The initial motor azimuth angle is the azimuth rotation reference angle of the azimuth origin fixed plate relative to the bow of the ship; the actual attitude angle of the antenna is obtained based on the rotation angle of the azimuth position sensor and the initial motor azimuth angle.

[0089] The satellite search process begins and continues until the target satellite is locked, including the following steps: maintaining the initial pitch angle, rotating from the initial motor azimuth angle, with the motor angle range set to 0–360°; if the target satellite is found, locking onto the target satellite and entering antenna tracking mode; if the target satellite is not found within the motor angle range, increasing or decreasing the pitch angle by one step and continuing the azimuth rotation search until the target satellite is locked onto and antenna tracking mode is entered.

[0090] Reference Figure 3 , Figure 3 A flowchart of a method for dynamically measuring the heading angle of a ship using a satellite mobile terminal antenna, provided in another embodiment of the present invention; the method for dynamically measuring the heading angle of a ship using a satellite mobile terminal antenna includes, but is not limited to, steps S310 to S350.

[0091] Step S310: Obtain the carrier heading angle and carrier heading speed through positioning satellites, and obtain the cumulative angle of the azimuth motor rotation on the initial motor azimuth angle;

[0092] Step S320: Calculate the expected value of the heading angle based on the theoretical attitude angle and the cumulative angle;

[0093] Step S330: Update the desired value of the antenna's heading angle based on the carrier's heading angle, carrier's heading speed, and maximum set speed;

[0094] Step S340: Calculate the heading deviation value based on the expected heading angle, cumulative angle, and theoretical attitude angle;

[0095] Step S350: Update the initial motor bearing angle based on the heading deviation value, and calculate the ship's heading angle based on the initial motor bearing angle.

[0096] In one embodiment, a method for dynamically measuring the ship's heading angle using a satellite mobile terminal antenna, wherein the antenna base is provided with an azimuth origin fixing plate, includes the following steps: obtaining the azimuth origin position of the antenna, and obtaining the actual attitude angle of the antenna based on the azimuth origin position; obtaining the geographical location information of the antenna and the latitude and longitude of the target satellite, and calculating the theoretical attitude angle of the antenna based on the latitude and longitude of the target satellite and the geographical location information of the antenna; controlling the antenna to rotate from the actual attitude angle to the theoretical attitude angle; starting the satellite acquisition program until the target satellite is locked, and entering the antenna tracking state; and entering the adaptive calibration process in the antenna tracking state to dynamically obtain the ship's heading angle.

[0097] The satellite mobile terminal antenna is equipped with a polarization motor, roll motor, pitch motor, azimuth motor, and memory. An azimuth position sensor is mounted on the antenna azimuth base to obtain the azimuth origin position of the antenna. The actual attitude angle of the antenna is obtained based on the azimuth origin position. The steps include: the four axes of the polarization motor, roll motor, pitch motor, and azimuth motor are started simultaneously to find the azimuth origin position; the azimuth motor drives the azimuth position sensor to rotate to the azimuth origin position; the initial motor azimuth angle is read from the memory. The initial motor azimuth angle is the azimuth rotation reference angle of the azimuth origin fixed plate relative to the bow of the ship; the actual attitude angle of the antenna is obtained based on the rotation angle of the azimuth position sensor and the initial motor azimuth angle.

[0098] The adaptive calibration process, which involves dynamically acquiring the ship's heading angle during antenna tracking, includes the following steps: acquiring the carrier's heading angle and heading speed via positioning satellites, and acquiring the cumulative angle of the azimuth motor rotation over the initial motor azimuth angle; calculating the expected heading angle based on the theoretical attitude angle and the cumulative angle; updating the antenna's expected heading angle based on the carrier's heading angle, heading speed, and maximum set speed; calculating the heading deviation based on the expected heading angle, cumulative angle, and theoretical attitude angle; updating the initial motor azimuth angle based on the heading deviation value; and calculating the ship's heading angle based on the initial motor azimuth angle.

[0099] The process of updating the initial motor bearing angle based on the heading deviation value includes the following steps: if the heading deviation value is equal to 0, then the initial motor bearing angle has no deviation relative to the current navigation state; if the heading deviation value is not equal to 0, the updated initial motor bearing angle is obtained by subtracting the heading deviation value from the initial motor bearing angle.

[0100] The expected heading angle is calculated based on the theoretical attitude angle and the cumulative angle, including the following steps: When the target satellite is initially locked, the expected heading angle is:

[0101] Ahead = Asat-An;

[0102] Where Asat is the theoretical attitude angle and An is the cumulative angle;

[0103] Subsequently, based on the cumulative angle An of the current cycle of the azimuth motor and the cumulative angle A(n-1) of the previous cycle, the expected value of the ship's heading angle is updated: Ahead = Ahead + A(n-1) - An.

[0104] Based on the carrier's heading angle, heading speed, and maximum set speed, the desired heading angle of the antenna is updated, as expressed by the following formula:

[0105] Ahead = (1-K)*Ahead + K*Agps

[0106] K = Vgps / Vmax

[0107] Where Ahead is the expected value of the heading angle, K is the weighting coefficient, Vgps is the vehicle heading speed, Agps is the vehicle heading angle, and Vmax is the maximum set speed.

[0108] The heading deviation is calculated based on the expected heading angle, cumulative angle, and theoretical attitude angle, and is expressed as follows:

[0109] △E=Ahead+An-Asat

[0110] Where Asat is the theoretical attitude angle, An is the cumulative angle, and Ahead is the expected value of the heading angle.

[0111] This invention also provides a dynamic measurement system for ship heading angle of a satellite mobile terminal antenna, comprising: an actual attitude acquisition module for acquiring the azimuth origin position of the antenna and obtaining the actual attitude angle of the antenna based on the azimuth origin position; a theoretical attitude acquisition module for acquiring the geographical location information of the antenna and the latitude and longitude of the target satellite and calculating the theoretical attitude angle of the antenna based on the latitude and longitude of the target satellite and the geographical location information of the antenna; an antenna attitude control module for controlling the antenna to rotate from the actual attitude angle to the theoretical attitude angle; a satellite acquisition module for initiating a satellite acquisition program until the target satellite is locked and the antenna is entered into a tracking state; and a ship heading angle dynamic measurement module for dynamically acquiring the ship heading angle during an adaptive calibration process in the antenna tracking state.

[0112] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0113] Furthermore, one embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions that are executed by a processor or controller, for example, by a processor in the above-described terminal embodiment, enabling the processor to execute the ship heading angle dynamic measurement method of the satellite mobile terminal antenna in the above-described embodiment.

[0114] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0115] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of the present invention.

[0116] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A method for dynamically measuring the heading angle of a ship using a satellite mobile terminal antenna, wherein the antenna base is provided with an azimuth origin fixing plate, characterized in that, Includes the following steps: Obtain the azimuth origin position of the antenna, and obtain the actual attitude angle of the antenna based on the azimuth origin position; The antenna's geographical location information and the target satellite's latitude and longitude are obtained, and the theoretical attitude angle of the antenna is calculated based on the target satellite's latitude and longitude and the antenna's geographical location information. The control antenna is rotated from the actual attitude angle to the theoretical attitude angle; Initiate the satellite acquisition process until the target satellite is locked, and enter antenna tracking mode; The ship's heading angle is dynamically acquired during the adaptive calibration process while the antenna is tracking. The satellite mobile terminal antenna is equipped with a polarization motor, a roll motor, a pitch motor, an azimuth motor, and a memory. An azimuth position sensor is mounted on the antenna azimuth base to acquire the azimuth origin position of the antenna. Based on the azimuth origin position, the actual attitude angle of the antenna is obtained, including the following steps: The four axes—polarized motor, roll motor, pitch motor, and azimuth motor—start simultaneously to find the azimuth origin position; The azimuth motor drives the azimuth position sensor to rotate to the azimuth origin position. The initial motor azimuth angle is read from the memory. The initial motor azimuth angle is the azimuth rotation reference angle of the azimuth origin fixed piece relative to the bow of the ship. The actual attitude angle of the antenna is obtained based on the rotation angle of the azimuth position sensor and the initial motor azimuth angle. The ship's heading angle is dynamically acquired during the adaptive calibration process in antenna tracking mode, including the following steps: The carrier's heading angle and heading velocity are obtained by positioning satellites, and the cumulative angle of the azimuth motor rotation over the initial motor azimuth angle is obtained. The expected value of the heading angle is calculated based on the theoretical attitude angle and the cumulative angle. The expected value of the heading angle of the antenna is updated based on the heading angle of the carrier, the heading speed of the carrier, and the maximum set speed. The heading deviation value is calculated based on the expected heading angle, the cumulative angle, and the theoretical attitude angle. The initial motor bearing angle is updated based on the heading deviation value, and the ship's heading angle is calculated based on the initial motor bearing angle.

2. The method for dynamic measurement of ship heading angle using a satellite mobile terminal antenna according to claim 1, characterized in that, Controlling the antenna to rotate from the actual attitude angle to the theoretical attitude angle includes the following steps: After the polarization motor, the roll motor, and the pitch motor finish searching for the azimuth origin position, they control the antenna to adjust to the theoretical attitude angle.

3. The method for dynamically measuring the ship's heading angle using a satellite mobile terminal antenna according to claim 1, characterized in that, Initiating the satellite acquisition process until the target satellite is locked includes the following steps: Maintaining the initial pitch angle, start rotating from the initial motor azimuth angle. The motor angle range is set to 0-360°. If the target satellite is found, lock onto the target satellite and enter antenna tracking mode.

4. The method for dynamically measuring the ship's heading angle using a satellite mobile terminal antenna according to claim 3, characterized in that, After starting to rotate from the initial motor orientation angle, with the motor angle range set to 0–360°, the following steps are included: If the target satellite is not found within the motor angle range, increase or decrease the pitch angle by one step and continue the azimuth rotation search until the target satellite is locked and the antenna tracking state is entered.

5. The method for dynamically measuring the ship's heading angle using a satellite mobile terminal antenna according to claim 1, characterized in that, Updating the initial motor azimuth angle based on the heading deviation value includes the following steps: If the heading deviation value is equal to 0, then the initial motor bearing angle has no deviation relative to the current navigation state; If the heading deviation value is not equal to 0, the updated initial motor bearing angle is obtained by subtracting the heading deviation value from the initial motor bearing angle.

6. The method for dynamically measuring the ship's heading angle using a satellite mobile terminal antenna according to claim 1, characterized in that, The expected value of the heading angle is calculated based on the theoretical attitude angle and the cumulative angle, including the following steps: When the target satellite is locked for the first time, the expected heading angle is: Ahead = Asat - An; Where Asat is the theoretical attitude angle, and An is the cumulative angle; Subsequently, based on the cumulative angle An of the current cycle of the azimuth motor and the cumulative angle A(n-1) of the previous cycle, the expected value of the ship's heading angle is updated: Ahead = Ahead + A(n-1) - An.

7. The method for dynamically measuring the ship's heading angle using a satellite mobile terminal antenna according to claim 6, characterized in that, The desired value of the antenna's heading angle is updated based on the carrier's heading angle, heading speed, and maximum set speed, as expressed in the following formula: Ahead = (1-K)*Ahead + K*Agps; K = Vgps / Vmax; Where Ahead is the expected value of the heading angle, K is the weighting coefficient, Vgps is the heading speed of the vehicle, Agps is the heading angle of the vehicle, and Vmax is the maximum set speed.

8. The method for dynamically measuring the ship's heading angle using a satellite mobile terminal antenna according to claim 7, characterized in that, The heading deviation value is calculated based on the expected heading angle, the cumulative angle, and the theoretical attitude angle, and is expressed as follows: ΔE = Ahead + An - Asat; Where Asat is the theoretical attitude angle, An is the cumulative angle, and Ahead is the expected value of the heading angle.

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