Tracking method of low-cost MEMS inertial navigation on shipborne antenna

Abstract

The invention discloses a tracking method of low-cost MEMS inertial navigation on a shipborne antenna, and belongs to the technical field of antenna control. The method comprises the following steps: firstly, reading data of heading, pitching and heeling of inertial navigation in real time in an antenna control system; and then, in an inertial navigation data processing model, smooth processing is performed on the course, pitching and transverse inclination of inertial navigation, the processed data is used for antenna dynamic tracking, the difference value between a theoretical angle and an actual angle during antenna dynamic tracking is minimum by continuously adjusting model parameters, and optimal model parameters are obtained. The optimal model parameters are used for an antenna control system, the whole antenna dynamic tracking process is stable in operation, the processed inertial navigation data is smooth, and the effect is remarkable.

Description

Technical Field

[0001] The present invention relates to the field of antenna control technology, and in particular to an application method of a low-cost MEMS inertial navigation system in a shipboard antenna, which can be used for antenna tracking of a low-cost moving carrier and replace the optical fiber inertial navigation system to meet the tracking accuracy requirements of the antenna. Background Art

[0002] The communication antenna needs to calculate the antenna's pointing angle in real time according to the target satellite information and the changes in the position and attitude of the carrier during movement, and control the antenna to quickly align to track the satellite to ensure the transmission of the communication signal. Therefore, the carrier attitude data directly affects the tracking accuracy of the antenna. Under the premise of reducing costs and increasing efficiency, the established tracking accuracy must be met, and the cost of each device must also be considered. Although the fiber-optic inertial navigation data has good quality and meets the antenna tracking accuracy indicators, its cost is also correspondingly high. It is also urgent to find a method that uses low-cost inertial navigation and meets the antenna tracking accuracy requirements.

[0003] During debugging and actual use, low-cost MEMS inertial navigation has the following shortcomings in antenna tracking:

[0004] 1) Low-cost MEMS inertial navigation data is unstable and has large fluctuations;

[0005] 2) The antenna directly uses inertial navigation data and generates jitter during the tracking process. Summary of the invention

[0006] In view of this, the present invention proposes a method for applying low-cost MEMS inertial navigation to shipboard antennas. This method improves the processing method of inertial navigation data in the antenna tracking process, effectively improves the stability of inertial navigation data, and solves the problem of antenna jitter during the tracking process.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is:

[0008] A low-cost MEMS inertial navigation tracking method for a shipborne antenna includes the following processes:

[0009] Step 1: In the antenna control system, read the inertial navigation data in real time;

[0010] Step 2: In the inertial navigation data processing model, the heading, pitch, and roll data of the inertial navigation are processed in real time, and finally the obtained data is used for antenna tracking.

[0011] Furthermore, in step 1, the antenna control system collects the heading H, pitch P and roll R of the inertial navigation in real time through the serial port bus.

[0012] Furthermore, the process of obtaining the optimal parameter N of the inertial navigation data processing model in step 2 is as follows:

[0013] Step 201: Establish an inertial navigation data processing model and initialize model parameters

[0014]

[0015] Among them, N is an adjustable parameter, A1 and B1 are model parameters;

[0016] Step 202: According to the mathematical model Y n =A1*Y n-1 +B1*M n +M n-1 , where M n is the input value, M n-1 is the iterative value, and the heading H, pitch P, and roll R of the inertial navigation are processed in real time to obtain:

[0017] H out =A1*H out-1 +B1*H+H n-1

[0018] H out-1 =H out

[0019] H n-1 =H

[0020] Among them, H is the heading input value, H out is the heading output value, H n-1 is the last heading input value, H out-1 It is the heading output value of the last iteration;

[0021] P out =A1*P out-1 +B1*P+P n-1

[0022] P out-1 =P out

[0023] P n-1 =P

[0024] Where P is the pitch input value, P out is the pitch output value, P n-1 is the last pitch input value, P out-1 is the pitch output value of the last iteration;

[0025] R out =A1*R out-1 +B1*R+R n-1

[0026] R out-1 =R out

[0027] R n-1 =R

[0028] Where R is the heel input value, R out is the heel output value, R n-1 is the last heel input value, R out-1 is the heel output value of the last iteration;

[0029] According to the actual position of the antenna and the longitude of the satellite, the azimuth A is calculated. G 、Pitch E G The theoretical angle of the inertial navigation data processing model is used to obtain the processed heading, pitch and roll, which are used to convert the geographical angle to the deck angle, and obtain the azimuth deck angle and pitch deck angle of the antenna. The antenna is pointed in real time, and then the azimuth A and pitch E geographical angles are inferred.

[0030] Step 203, continuously adjust the model parameter N, in A G -A and E G -EWhen the difference between the two is the smallest, the optimal model parameter N is obtained.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. The use of low-cost inertial navigation can meet the dynamic tracking accuracy of the antenna.

[0033] 2. In the inertial navigation data processing model of the present invention, single parameter adjustment is selected, which is simple to operate.

[0034] 3. The present invention solves the problem of antenna dynamic tracking jitter caused by large fluctuations in inertial navigation data. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a flow chart of a method for applying low-cost MEMS inertial navigation to a shipborne antenna in an embodiment of the present invention.

[0036] Figure 2 This is a low-cost MEMS inertial navigation data diagram in an embodiment of the present invention.

[0037] Figure 3 This is a data diagram of low-cost MEMS inertial navigation data after being processed by the model in an embodiment of the present invention.

[0038] Figure 4 This is a diagram of antenna pointing errors in an embodiment of the present invention that directly uses low-cost MEMS inertial navigation data.

[0039] Figure 5This is a diagram of antenna pointing error after low-cost MEMS inertial navigation data is processed by the model in an embodiment of the present invention. DETAILED DESCRIPTION

[0040] The following is a complete description of the technical solutions in the embodiments of the present invention in conjunction with the drawings 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 creative work are within the scope of protection of the present invention.

[0041] A method for applying low-cost MEMS inertial navigation to shipboard antennas. The method first reads inertial navigation data in real time in an antenna control system; then processes the heading, pitch and roll data of the inertial navigation in real time in an inertial navigation data processing model, and uses the obtained data for antenna tracking.

[0042] like Figure 1 As shown, taking the servo antenna as an example, the specific steps of the method are as follows:

[0043] 1) The antenna control software collects the heading H, pitch P, and roll R of the inertial navigation in real time through the serial port bus;

[0044] 2) Establish an inertial navigation data processing model and initialize model parameters

[0045]

[0046]

[0047] Among them, N is an adjustable parameter, and A1 and B1 are model parameters.

[0048] 3) According to the mathematical model Y n =A1*Y n-1 +B1*M n +M n-1 , where M n is the input value, M n-1 is the iterative value, and the heading H, pitch P, and roll R of the inertial navigation are processed in real time to obtain:

[0049] H out =A1*H out-1 +B1*H+H n-1

[0050] H out-1 =H out

[0051] H n-1 =H

[0052] Where H is the heading input value, H outis the heading output value, H n-1 is the last heading input value, H out-1 is the heading output value of the last iteration; similarly, the pitch and roll are obtained.

[0053] P out =A1*P out-1 +B1*P+P n-1

[0054] P out-1 =P out

[0055] P n-1 =P

[0056] Where P is the pitch input value, P out is the pitch output value, P n-1 is the last pitch input value, P out-1 is the pitch output value of the last iteration;

[0057] R out =A1*R out-1 +B1*R+R n-1

[0058] R out-1 =R out

[0059] R n-1 =R

[0060] Where R is the heel input value, R out is the heel output value, R n-1 is the last heel input value, R out-1 is the heel output value of the last iteration;

[0061] 3) Calculate the direction A based on the actual position of the antenna and the longitude of the satellite G 、Pitch E G The theoretical angle of the inertial navigation data processing model is used to obtain the processed heading, pitch and roll, which are used to convert the geographical angle to the deck angle, and obtain the azimuth deck angle and pitch deck angle of the antenna. The antenna is pointed in real time, and then the azimuth A and pitch E geographical angles are inferred.

[0062] 4) By continuously adjusting the model parameter N, A G -A has the smallest difference, E G -E difference is the smallest, and the optimal model parameter N is obtained.

[0063] In this method, the model parameter N can be adjusted according to actual conditions.

[0064] Attached Figure 2In the figure, the X-axis is the sampling point and the Y-axis is the angle in degrees; it describes the data graph of the heading, pitch, and roll of the low-cost inertial navigation at the same time.

[0065] Attached Figure 3 In the figure, the X-axis is the sampling point and the Y-axis is the angle, with the unit being °; it describes the data graph of heading, pitch and roll after the low-cost inertial navigation is processed by the model at the same time.

[0066] Attached Figure 4 In the figure, the X-axis is the sampling point and the Y-axis is the angle, with the unit being °; it describes the difference between the theoretical azimuth angle and the actual azimuth geographical angle, as well as the difference between the theoretical elevation angle and the actual elevation geographical angle when using low-cost inertial navigation dynamic tracking.

[0067] Attached Figure 5 In the figure, the X-axis is the sampling point and the Y-axis is the angle, with the unit being °; it describes the difference between the theoretical azimuth angle and the actual azimuth geographical angle, as well as the difference between the theoretical pitch angle and the actual pitch geographical angle when the low-cost inertial navigation is dynamically tracked after model processing.

Claims

1. A low-cost MEMS inertial navigation tracking method on a shipborne antenna, characterized in that: The process includes: Step 1: In the antenna control system, read the inertial navigation data in real time; Step 2: In the inertial navigation data processing model, the heading, pitch, and roll data of the inertial navigation are processed in real time, and finally the obtained data is used for antenna tracking.

2. According to claim 1, a low-cost MEMS inertial navigation tracking method on a shipborne antenna is characterized in that: In step 1, the antenna control system collects the heading H, pitch P and roll R of the inertial navigation in real time through the serial port bus.

3. According to claim 2, a low-cost MEMS inertial navigation tracking method on a shipborne antenna is characterized in that: The process of obtaining the optimal parameter N of the inertial navigation data processing model in step 2 is as follows: Step 201: Establish an inertial navigation data processing model and initialize model parameters Among them, N is an adjustable parameter, A1 and B1 are model parameters; Step 202: According to the mathematical model Y n =A1*Y n-1 +B1*M n +M n-1 , where M n is the input value, M n-1 is the iterative value, and the heading H, pitch P, and roll R of the inertial navigation are processed in real time to obtain: H out =A1*H out-1 +B1*H+H n-1 H out-1 =H out H n-1 =H Among them, H is the heading input value, H out is the heading output value, H n-1 is the last heading input value, H out-1 It is the heading output value of the last iteration; P out =A1*P out-1 +B1*P+P n-1 P out-1 =P out P n-1 =P Where P is the pitch input value, P out is the pitch output value, P n-1 is the last pitch input value, P out-1 is the pitch output value of the last iteration; R out =A1*R out-1 +B1*R+R n-1 R out-1 =R out R n-1 =R Where R is the heel input value, R out is the heel output value, R n-1 is the last heel input value, R out-1 is the heel output value of the last iteration; According to the actual position of the antenna and the longitude of the satellite, the azimuth A is calculated. G 、Pitch E G The theoretical angle of the inertial navigation data processing model is used to obtain the processed heading, pitch and roll, which are used to convert the geographical angle to the deck angle, and obtain the azimuth deck angle and pitch deck angle of the antenna. The antenna is pointed in real time, and then the azimuth A and pitch E geographical angles are inferred. Step 203, continuously adjust the model parameter N, in A G -A and E G -EWhen the difference between the two is the smallest, the optimal model parameter N is obtained.

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