A real-time horizontal calibration system and method suitable for vehicle-mounted laser communication ground station

Abstract

The invention discloses a real-time horizontal calibration system and method suitable for a vehicle-mounted laser communication ground station, belonging to the technical field of optical communication equipment. The real-time horizontal calibration system comprises a static horizontal adjustment unit and a dynamic horizontal compensation unit; wherein the static horizontal adjustment unit comprises a static level, an antenna support mechanism, and a static horizontal support controller; the dynamic horizontal compensation unit comprises a dynamic level, a communication antenna rack, a two-dimensional turntable, a communication transceiver antenna, a two-dimensional turntable driver, and a PAT controller, wherein the communication antenna rack is connected to the antenna support mechanism through a vibration reduction / vibration isolation mechanism, and the dynamic level is installed on the communication antenna rack; the PAT controller receives measurement information of the dynamic level and angle state information of the two-dimensional turntable obtained by the two-dimensional turntable driver, calculates the horizontal deviation angle and the compensation angle according to the above information, and transmits the compensation angle to the two-dimensional turntable driver, so as to realize real-time compensation control of the horizontal state.

Description

Technical Field

[0001] The present invention belongs to the technical field of optical communication equipment, and in particular relates to a real-time horizontal calibration system and method suitable for a vehicle-mounted laser communication ground station. Background Art

[0002] Compared with existing microwave communication technology, satellite laser communication technology has significant advantages such as high data rate, anti-interference and good confidentiality. It is an effective supplementary technical means for satellite communications in the future.

[0003] Compared with traditional microwave communication systems, laser communication systems are superior in that they use light wave bands as information carriers (carrier 10 to 400 THz), have extremely high communication bandwidth, and have the outstanding advantages of light weight, small size, and low power consumption.

[0004] Traditional ground laser communication terminals in satellite-to-ground laser communication links mostly adopt permanent station or transferable fixed station structure design. This structure is connected to the preset foundation of the ground station, and the ground station is directly installed on the permanent / semi-permanent supporting civil structure. This overall structure is not only complex, cumbersome, and has high construction costs, but also has the advantage of permanent / semi-permanent foundation, which makes the ground station fixed in an immovable position and requires multiple environmental supports such as roads, water supply, and power supply, and has low flexibility. Based on the above limitations, the satellite-to-ground link vehicle-mounted laser communication terminal can solve the above problems well. The terminal can be flexible and mobile, and can be deployed according to needs, and complete satellite-to-ground transmission, which greatly improves mobility, availability and safety. However, for the vehicle-mounted laser communication ground station terminal, since it does not rely on a fixed foundation, there is a problem of low horizontality assurance accuracy during work, resulting in the problem of reduced pointing accuracy, increased uncertainty area, reduced capture probability, and shortened communication field of view of the vehicle-mounted ground communication terminal in satellite-to-ground communication. Summary of the invention

[0005] In view of the above-mentioned problems, the present invention proposes a real-time horizontal calibration system and method suitable for vehicle-mounted laser communication ground stations. Through static horizontal support and a two-level horizontal accuracy assurance method of dynamic horizontal correction, it achieves the characteristics of large range, high precision and high dynamic response. It truly realizes the horizontal state maintenance of the vehicle-mounted satellite-to-ground laser communication terminal and the real-time compensation of the horizontal accuracy in satellite-to-ground laser communication, significantly improves the horizontal adjustment range of the vehicle-mounted satellite-to-ground laser communication terminal, and thus expands and reduces the site requirements for the vehicle-mounted satellite-to-ground laser communication terminal (laser communication ground station).

[0006] The above purpose is achieved through the following technical solutions:

[0007] The present invention first provides a real-time level calibration system suitable for a vehicle-mounted laser communication ground station, comprising a static level adjustment unit and a dynamic level compensation unit;

[0008] The static level adjustment unit includes a static level, an antenna support mechanism, and a static level support controller. The antenna support mechanism is installed on the antenna base, used to directly support the ground, and is controlled by the static level support controller to perform manual / automatic extension / shortening according to external instructions. The static level measures the horizontal state of the antenna support mechanism, and transmits the information to the static level support controller.

[0009] The dynamic horizontal compensation unit includes a dynamic level, a communication antenna rack, a two-dimensional turntable, a communication transceiver antenna, a two-dimensional turntable driver, and a PAT controller, wherein the communication antenna rack is connected to the antenna support mechanism through a vibration reduction / vibration isolation mechanism, and the dynamic level is installed on the communication antenna rack to measure the horizontal state of the communication antenna rack, the two-dimensional turntable, and the communication transceiver antenna, and transmit the measurement result to the PAT controller; the PAT controller receives the measurement information of the dynamic level and the angle state information of the two-dimensional turntable obtained by the two-dimensional turntable driver, calculates the horizontal deviation angle and the compensation angle based on the above information, and transmits the compensation angle to the two-dimensional turntable driver to realize real-time compensation control of the horizontal state.

[0010] Furthermore, the static level is a large-range static level with a measuring range of ±20° and a resolution of 0.1°.

[0011] Furthermore, the dynamic level is a small-range, high-precision dynamic level with a range of 1°, a resolution of 1″, and an update frequency of not less than 10 Hz.

[0012] The present invention also provides a method for real-time horizontal calibration of a vehicle-mounted laser communication ground station using the real-time horizontal calibration system suitable for the vehicle-mounted laser communication ground station, the method comprising the following steps:

[0013] S1.Static level adjustment:

[0014] The static level meter is used to measure data (α, β), where α is the horizontal angle along the longitudinal direction of the vehicle-mounted terminal, and β is the horizontal angle along the transverse direction of the vehicle-mounted terminal. The static horizontal support controller is driven and controlled using the measurement data (α, β), with the target being α=0 and β=0, to complete the static horizontal state adjustment;

[0015] The space vector r of the communication target in the coordinate system of the ground station is characterized by azimuth and elevation angles, and the results are as follows:

[0016]

[0017] Where r represents the space vector of the communication target in the coordinate system of the ground station, x, y, and z are the unit projections of the target in the three directions of the coordinate system of the ground station, Az′ is the azimuth axis angle of the ground station turntable, and El′ is the altitude axis angle of the ground station turntable;

[0018] Calculated in the vehicle station coordinate system without horizontal correction:

[0019]

[0020] In the formula, θ O Indicates the external axis angle of the horizontal turntable of the vehicle-mounted ground station, θ I It represents the inner axis angle of the horizontal turntable of the vehicle-mounted ground station, which is obtained by the two-dimensional turntable driver;

[0021] S2. Dynamic level correction:

[0022] The horizontality of the vehicle-mounted station position (Xt, Yt) is obtained by the dynamic level meter. The measurement result obtained by the dynamic level meter is positive upward and negative downward relative to the positive direction of (Xt, Yt). After the horizontal correction, the vehicle-mounted station coordinate system is:

[0023]

[0024] In the formula, θ′ O It represents the actual rotation angle of the outer axis of the horizontal turntable of the vehicle-mounted ground station after correction, θ′ I It represents the actual rotation angle of the inner axis of the horizontal turntable of the vehicle-mounted ground station after correction, γ x It is expressed as the angle along the X-axis of the ground station coordinate system obtained by the dynamic level measurement, γ y It is expressed as the angle along the Y axis of the ground station coordinate system obtained by the dynamic level. The PAT controller receives the measurement information of the dynamic level and the 2D turntable angle status information obtained by the 2D turntable driver, and calculates θ′ based on the above information. O and θ′ I Transmitted to the two-dimensional turntable driver to achieve real-time compensation control of the horizontal state.

[0025] Beneficial effects:

[0026] Compared with the traditional single-stage horizontal measurement and adjustment mechanism, the present invention achieves the characteristics of large range, high precision and high dynamic response at the same time through static horizontal support and dynamic horizontal correction of the two-stage horizontal accuracy guarantee method, truly realizing the horizontal state maintenance of the vehicle-mounted satellite-to-ground laser communication terminal and the real-time compensation of the horizontal accuracy in the satellite-to-ground laser communication, significantly improving the horizontal adjustment range of the vehicle-mounted satellite-to-ground laser communication terminal, thereby expanding and reducing the site requirements for the vehicle-mounted satellite-to-ground laser communication terminal (laser communication ground station). BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a system structure diagram of the present invention;

[0028] Description of the components in the figure: 1. Static level; 2. Antenna support mechanism; 3. Static level support controller; 4. Dynamic level; 5. Communication antenna rack; 6. Two-dimensional turntable; 7. Communication transceiver antenna; 8. Two-dimensional turntable driver; 9. PAT controller. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0030] As attached Figure 1 As shown, a real-time level calibration system and method suitable for a vehicle-mounted laser communication ground station in this embodiment includes the following components: a static level 1, an antenna support mechanism 2, a static level support controller 3, a dynamic level 4, a communication antenna rack 5, a two-dimensional turntable 6, a communication transceiver antenna 7, a two-dimensional turntable driver 8, and a PAT controller 9. These components constitute a static level adjustment unit and a dynamic level compensation unit, which respectively complete the static level state adjustment of the vehicle-mounted ground station and the dynamic level deviation compensation in satellite-to-ground communication. Among them:

[0031] Static horizontal adjustment unit: It consists of a static level 1, an antenna support mechanism 2, and a static horizontal support controller 3. The antenna support mechanism 2 is installed on the antenna base and is used to directly support the ground. It is controlled by the static horizontal support controller 3 and is manually / automatically extended / shortened according to external instructions. The horizontal state of the antenna support mechanism is measured by the static level 1, and the information is transmitted to the static horizontal support controller 3.

[0032] Dynamic horizontal compensation unit: It is composed of a dynamic level 4, a communication antenna rack 5, a two-dimensional turntable 6, a communication transceiver antenna 7, a two-dimensional turntable driver 8, and a PAT controller 9, wherein the communication antenna rack 5 is connected to the antenna support mechanism 2 through a vibration reduction / vibration isolation mechanism, and is responsible for supporting the two-dimensional turntable 6 and the communication transceiver antenna 7; the dynamic level 4 is installed on the communication antenna rack 5, and is used to measure the horizontal state of the communication antenna rack 5, the two-dimensional turntable 6, and the communication transceiver antenna 7, and transmit the measurement structure to the PAT controller 9; the PAT controller 9 receives the information measured by the dynamic level 4 and the angle state information of the two-dimensional turntable 6 obtained by the two-dimensional turntable driver 8, and calculates the horizontal deviation angle and the compensation angle based on the above information, and transmits the compensation angle to the two-dimensional turntable driver 8 to realize real-time compensation control of the horizontal state.

[0033] The static level 1 uses a large-range static level with a range of ±20° and a resolution of 0.1°. During installation, the coordinate system direction of the static level is strictly consistent with the coordinate system of the terminal body, while the dynamic level 4 uses a small-range, high-precision dynamic level with a range of 1°, a resolution of 1″, and an update frequency of not less than 10Hz. The two work together to achieve a large range and high precision of the horizontal adjustment of the vehicle-mounted terminal, so that the vehicle-mounted ground station can be adjusted in a wider range, making the vehicle-mounted ground station suitable for more diverse terrains; the antenna support mechanism 2 is used for ground To support the main body of the ground station (turntable, antenna, etc.), the antenna support mechanism adopts a worm gear structure for support, with an elongation of not less than 600mm and a supporting force of not less than 10000N; in addition to supporting the main body of the ground station such as the two-dimensional turntable, the communication antenna rack 5 should have a certain vibration isolation / shock absorption function to effectively isolate the vibration transmitted by the antenna support mechanism 2. According to the weight of the ground station body, the supporting force is selected to be not less than 600kg; in order to meet the vibration stability requirements during the transportation of vehicle-mounted terminals, the two-dimensional turntable 6 can be selected from a variety of structures such as ground-level and horizontal types.

[0034] The real-time horizontal calibration system suitable for the vehicle-mounted laser communication ground station is used to perform a real-time horizontal calibration method for the vehicle-mounted laser communication ground station, and the method comprises the following steps:

[0035] S1.Static level adjustment:

[0036] The static level meter 1 is used to measure data (α, β), where α is the horizontal angle along the longitudinal direction of the vehicle-mounted terminal, and β is the horizontal angle along the transverse direction of the vehicle-mounted terminal. The static horizontal support controller 3 is driven and controlled using the measurement data (α, β), with the target being α=0 and β=0, to complete the static horizontal state adjustment;

[0037] The space vector r of the communication target in the coordinate system of the ground station is characterized by azimuth and elevation angles, and the results are as follows:

[0038]

[0039] Where r represents the space vector of the communication target in the coordinate system of the ground station, x, y, and z are the unit projections of the target in the three directions of the coordinate system of the ground station, Az′ is the azimuth axis angle of the ground station turntable, and El′ is the altitude axis angle of the ground station turntable;

[0040] Calculated in the vehicle station coordinate system without horizontal correction:

[0041]

[0042] In the formula, θ O Indicates the external axis angle of the horizontal turntable of the vehicle-mounted ground station, θ I represents the inner axis angle of the horizontal turntable of the vehicle-mounted ground station, which is obtained by the two-dimensional turntable driver 8;

[0043] S2. Dynamic level correction:

[0044] The horizontality of the vehicle-mounted station position (Xt, Yt) is obtained by the dynamic level 4. The measurement result obtained by the dynamic level 4 is positive upward and negative downward relative to the positive direction of (Xt, Yt). After the horizontal correction, the vehicle-mounted station coordinate system is:

[0045]

[0046] In the formula, θ′ O It represents the actual rotation angle of the outer axis of the horizontal turntable of the vehicle-mounted ground station after correction, θ′ I It represents the actual rotation angle of the inner axis of the horizontal turntable of the vehicle-mounted ground station after correction, γ x It is expressed as the angle along the X-axis of the ground station coordinate system measured by the dynamic level 4, γ y The PAT controller 9 receives the measurement information of the dynamic level 4 and the angle state information of the two-dimensional turntable 6 obtained by the two-dimensional turntable driver 8, and calculates θ′ based on the above information. O and θ′ I The data are transmitted to the two-dimensional turntable driver 8 to realize real-time compensation control of the horizontal state.

Claims

1. A real-time level calibration system suitable for a vehicle-mounted laser communication ground station, characterized in that: It includes a static level adjustment unit and a dynamic level compensation unit; The static level adjustment unit comprises a static level meter (1), an antenna support mechanism (2), and a static level support controller (3); the antenna support mechanism (2) is mounted on an antenna base and is used to directly support the ground, and is controlled by the static level support controller (3) and automatically extends / contracts according to external instructions; the static level meter (1) measures the level of the antenna support mechanism, and transmits the information to the static level support controller (3); The dynamic horizontal compensation unit comprises a dynamic level (4), a communication antenna rack (5), a two-dimensional turntable (6), a communication transceiver antenna (7), a two-dimensional turntable driver (8), and a PAT controller (9), wherein the communication antenna rack (5) is connected to the antenna support mechanism (2) via a vibration reduction / vibration isolation mechanism, and the dynamic level (4) is installed on the communication antenna rack (5) and is used to measure the horizontal state of the communication antenna rack (5), the two-dimensional turntable (6), and the communication transceiver antenna (7), and transmit the measurement result to the PAT controller (9); the PAT controller (9) receives the measurement information of the dynamic level (4) and the angle state information of the two-dimensional turntable (6) obtained by the two-dimensional turntable driver (8), calculates the horizontal deviation angle and the compensation angle according to the above information, and transmits the compensation angle to the two-dimensional turntable driver (8), so as to realize real-time compensation control of the horizontal state.

2. A real-time horizontal calibration system suitable for a vehicle-mounted laser communication ground station according to claim 1, characterized in that: The static level (1) is a large-range static level with a measuring range of ±20° and a resolution of 0.1°.

3. A real-time horizontal calibration system suitable for a vehicle-mounted laser communication ground station according to claim 1, characterized in that: The dynamic level (4) is a small-range, high-precision dynamic level with a range of 1°, a resolution of 1″ and an update frequency of not less than 10 Hz.

4. A method for real-time horizontal calibration of a vehicle-mounted laser communication ground station using the real-time horizontal calibration system suitable for a vehicle-mounted laser communication ground station according to any one of claims 1 to 3, characterized in that: The method comprises the following steps: S1.Static level adjustment: Using a static level meter (1) to measure data (α, β), wherein α is a horizontal angle along the longitudinal direction of the vehicle-mounted terminal, and β is a horizontal angle along the transverse direction of the vehicle-mounted terminal, using the measured data (α, β) to drive and control a static horizontal support controller (3), with the target being α=0 and β=0, to complete static horizontal state adjustment; The space vector r of the communication target in the coordinate system of the ground station is characterized by azimuth and elevation angles, and the results are as follows: Where r represents the space vector of the communication target in the coordinate system of the ground station, x, y, and z are the unit projections of the target in the three directions of the coordinate system of the ground station, Az′ is the azimuth axis angle of the ground station turntable, and El′ is the altitude axis angle of the ground station turntable; Calculated in the vehicle station coordinate system without horizontal correction: In the formula, θ O Indicates the external axis angle of the horizontal turntable of the vehicle-mounted ground station, θ I represents the inner axis angle of the horizontal turntable of the vehicle-mounted ground station, which is obtained by the two-dimensional turntable driver (8); S2. Dynamic level correction: The horizontality of the vehicle-mounted station position (Xt, Yt) is obtained by the dynamic level (4), and the measurement result obtained by the dynamic level (4) is positive upward and negative downward relative to the positive direction of (Xt, Yt). After the horizontal correction, the vehicle-mounted station coordinate system is: In the formula, θ′ O It represents the actual rotation angle of the outer axis of the horizontal turntable of the vehicle-mounted ground station after correction, θ′ I It represents the actual rotation angle of the inner axis of the horizontal turntable of the vehicle-mounted ground station after correction, γ x It is expressed as the angle along the X-axis of the ground station coordinate system measured by the dynamic level (4), γ y The PAT controller (9) receives the measurement information of the dynamic level (4) and the angle state information of the two-dimensional turntable (6) obtained by the two-dimensional turntable driver (8), and calculates θ′ based on the above information. O and θ′ I The data are transmitted to the two-dimensional turntable driver (8) to realize real-time compensation control of the horizontal state.

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