Low-cost MEMS inertial navigation tracking method for shipboard antennas

Abstract

The application discloses a low-cost MEMS inertial navigation tracking method on a shipborne antenna and belongs to the technical field of antenna control. The method comprises the following steps: firstly, in the antenna control system, the heading, the pitch and the roll data of the inertial navigation are read in real time; then, in the inertial navigation data processing model, the heading, the pitch and the roll of the inertial navigation are smoothed, and the processed data are used for antenna dynamic tracking; the difference between the theoretical angle and the actual angle during the antenna dynamic tracking is continuously adjusted to be minimum, and the optimal model parameter is obtained. The optimal model parameter is used for the control system of the antenna, the whole antenna dynamic tracking process is stable, the processed inertial navigation data are smooth, and the effect is remarkable.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of antenna control, in particular to an application method of low-cost MEMS inertial navigation for a shipborne antenna. BACKGROUND

[0002] A communication antenna needs to calculate the pointing angle of the antenna to a satellite in real time according to target satellite information and position and attitude changes in the process of carrier movement, and control the antenna to quickly align to the satellite to implement tracking and ensure the transmission of communication signals. Therefore, carrier attitude data directly affects the tracking accuracy of the antenna. Under the premise of cost reduction and efficiency increase, the established tracking accuracy needs to be met, and the cost of each device also needs to be considered. Although the optical fiber inertial navigation data is good in quality and meets the antenna tracking accuracy index, the cost is also correspondingly high, and it is urgent to seek a method of using low-cost inertial navigation while meeting the antenna tracking accuracy requirement.

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

[0004] 1) The low-cost MEMS inertial navigation data is unstable and has large fluctuations.

[0005] 2) The antenna directly uses the inertial navigation data to produce jitter in the tracking process. SUMMARY

[0006] Therefore, the application provides an application method of low-cost MEMS inertial navigation for a shipborne antenna. The method improves the processing method of using inertial navigation data in the antenna tracking process to effectively improve the stability of the inertial navigation data and solve the jitter problem of the antenna in the tracking process.

[0007] In order to achieve the above purpose, the technical scheme adopted by the application is:

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

[0009] Step 1: reading inertial navigation data in real time in an antenna control system;

[0010] Step 2: processing the heading, pitch and roll data of the inertial navigation in real time in an inertial navigation data processing model, and finally obtaining data for antenna tracking.

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

[0012] Further, the step 2 inertial navigation data processing model optimal parameter N is obtained as follows:

[0013] Step 201, establish an inertial navigation data processing model, and initialize the model parameters

[0014]

[0015] Wherein, 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 , M n is the input value, M n-1 is the iteration value, the heading H, pitch P, roll R of the inertial navigation is 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] Wherein, 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 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] Wherein, 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] wherein, R is a roll input value, R out is a roll output value, R n-1 is a last roll input value, R out-1 is a roll output value at the last iteration;

[0029] According to the actual position of the antenna and the satellite longitude, the theoretical angles of the azimuth A G and the elevation E G are calculated, the processed heading, pitch and roll are obtained through an inertial navigation data processing model, are used for conversion from the geographic angle to the deck angle, the azimuth deck angle and the elevation deck angle of the antenna are obtained, the antenna is directed in real time, and the azimuth A and the elevation E geographic angle at this time are inversely deduced.

[0030] Step 203, the model parameter N is continuously adjusted, and the optimal model parameter N is obtained in the case that the difference between A G -A and E G -E is minimum.

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

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

[0033] 2. In the inertial navigation data processing model of the application, single parameter adjustment is selected, and the operation is simple.

[0034] 3. The application solves the problem of antenna dynamic tracking jitter caused by large inertial navigation data fluctuation. DETAILED DESCRIPTION

[0035] Figure 1 is a flow chart of the application method of the low-cost MEMS inertial navigation in the shipborne antenna in the embodiment of the application.

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

[0037] Figure 3 is a data diagram of the low-cost MEMS inertial navigation data processed by the model in the embodiment of the application.

[0038] Figure 4 is an antenna pointing error diagram directly using the low-cost MEMS inertial navigation data in the embodiment of the application.

[0039] Figure 5This is an antenna pointing error diagram after model processing of low-cost MEMS inertial navigation data in an embodiment of the present invention. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be fully described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] A low-cost MEMS inertial navigation system (INS) application method for shipborne antennas is proposed. The method first reads INS data in real time in the antenna control system; then, in the INS data processing model, the heading, pitch, and roll data of the INS are processed in real time, and the obtained data is used for antenna tracking.

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

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

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

[0045]

[0046]

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

[0048] 3) Based on mathematical model Y n =A1*Y n-1 +B1*M n +M n-1 , of which M n M is the input value. n-1 These are iterative values ​​obtained by real-time processing of the inertial navigation system's heading H, pitch P, and roll R.

[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 outH is the heading output value n-1 H is the heading input value of the last time out-1 H 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 pitch input value of the last time, 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 roll input value, R out is the roll output value, R n-1 is the roll input value of the last time, R out-1 is the roll output value of the last iteration;

[0061] 3) According to the actual position of the antenna and the satellite longitude, the theoretical angles of azimuth A G and pitch E G are calculated, and the processed heading, pitch and roll are obtained through the inertial navigation data processing model, which are used for the conversion of geographic angles to deck angles to obtain the azimuth deck angle and the pitch deck angle of the antenna, and the antenna is directed in real time, and then the geographic angles of the azimuth A and the pitch E at this time are back calculated;

[0062] 4) By continuously adjusting the model parameter N, the difference between A G and A is minimized, and the difference between E G and E is minimized, so as to obtain the optimal model parameter N.

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

[0064] Appendix Figure 2In the figure, X axis is sampling point, Y axis is angle, unit °; describes the same time low-cost inertial navigation heading, pitch, roll data chart.

[0065] Attached Figure 3 In the figure, X axis is sampling point, Y axis is angle, unit °; describes the same time low-cost inertial navigation heading, pitch, roll data chart.

[0066] Attached Figure 4 In the figure, X axis is sampling point, Y axis is angle, unit °; describes the same time low-cost inertial navigation heading, pitch, roll data chart.

[0067] Attached Figure 5 In the figure, X axis is sampling point, Y axis is angle, unit °; describes the same time low-cost inertial navigation heading, pitch, roll data chart.

Claims

1. A low-cost tracking method for MEMS inertial navigation systems on shipborne antennas, characterized in that, The process includes the following: 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 system are processed in real time, and the resulting data is used for antenna tracking. In step 1, the antenna control system acquires the inertial navigation system's heading in real time via a serial bus. , looking up and tilt ; The process of obtaining the optimal parameter N of the inertial navigation data processing model in step 2 is as follows: Step 201: Establish the inertial navigation data processing model and initialize the model parameters. in, It is an adjustable parameter. These are model parameters; Step 202, based on the mathematical model ,in, For input values, For the iterative value, the heading of the inertial navigation system. , looking up Horizontal tilt Real-time processing yields: in, This is the heading input value. This is the heading output value. The previous heading input value. This is the heading output value from the previous iteration; in, For pitch input, For pitch output value, The previous pitch input value, This is the pitch output value from the previous iteration; in, For the tilt input value, This is the tilt output value. This is the previous tilt input value. This is the tilt output value from the previous iteration; The azimuth is calculated based on the actual position of the antenna and the longitude of the satellite. , looking up From a theoretical perspective, the inertial navigation data processing model obtains the processed heading, pitch, and roll, which are used for the conversion from geographic angles to deck angles. This yields the antenna's azimuth and pitch deck angles, allowing the antenna to point in real time, and then the azimuth at that moment is deduced. , looking up Geographical angle; Step 203: Continuously adjust the model parameters ,exist as well as The optimal model parameter N is obtained when the difference between the two is minimized.

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