Real-time horizontal calibration system suitable for vehicle-mounted laser communication ground station and use method

Abstract

The invention discloses a real-time horizontal calibration system suitable for a vehicle-mounted laser communication ground station, and the system employs a two-stage horizontal adjustment structure design of a static horizontal adjustment unit and a dynamic horizontal compensation unit, and the static horizontal adjustment unit completes the adjustment of the static horizontal state of the vehicle-mounted laser communication ground station. And the dynamic horizontal compensation unit completes dynamic horizontal deviation real-time compensation of the vehicle-mounted laser communication ground station. The static gradienter adopts a wide-range and low-precision gradienter, the dynamic gradienter adopts a small-range and high-precision gradienter, and the static gradienter and the dynamic gradienter work together to realize wide-range and high-precision horizontal adjustment of the vehicle-mounted laser communication ground station at the same time, so that the vehicle-mounted laser communication ground station can be adjusted in a larger range. Therefore, the vehicle-mounted laser communication ground station is suitable for more diverse terrains.

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 suitable for a vehicle-mounted laser communication ground station and a use method thereof. Background Art

[0002] Compared with the existing microwave communication technology, satellite laser communication technology has significant advantages such as high data rate, anti-interference and good confidentiality, and is an effective supplementary technical means for satellite communication in the future. At present, many satellite optical communication on-orbit tests have been carried out at home and abroad, and military and commercial aerospace applications are gradually being carried out.

[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 structure is not only complex in structure, cumbersome in engineering, and high in construction cost, but also because the foundation is permanent / semi-permanent, the ground station is fixed in an immovable position, requiring 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.

[0005] 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 accuracy in ensuring the horizontality during work, which causes the pointing accuracy of the vehicle-mounted ground communication terminal to decrease, the uncertainty area to increase, the capture probability to decrease, and the communication field of view to shorten in satellite-to-ground communication.

[0006] Traditional terminals have the following problems: 1) reliance on ground civil foundations, 2) low flexibility, 3) high cost, and 4) narrow application scope. Summary of the invention

[0007] The purpose of the present invention is to provide a real-time horizontal calibration system and a method of use suitable for a vehicle-mounted laser communication ground station. A static level uses a large-range, low-precision level, and a dynamic level uses a small-range, high-precision level. The two work together to achieve a large range and high precision of horizontal adjustment of the vehicle-mounted laser communication ground station, so that the level of the vehicle-mounted laser communication ground station can be adjusted over a larger range, making the vehicle-mounted laser communication ground station suitable for more diverse terrains.

[0008] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0009] A real-time horizontal calibration system suitable for a vehicle-mounted laser communication ground station adopts a two-level horizontal adjustment structure design of a static horizontal adjustment unit and a dynamic horizontal compensation unit. The static horizontal adjustment unit completes the adjustment of the static horizontal state of the vehicle-mounted laser communication ground station, and the dynamic horizontal compensation unit completes the real-time compensation of the dynamic horizontal deviation of the vehicle-mounted laser communication ground station. The static horizontal adjustment unit and the dynamic horizontal compensation unit cooperate together to complete the real-time horizontal calibration.

[0010] Preferably, the static horizontal adjustment unit includes a static level, an antenna support mechanism, and a static horizontal support controller. The static level measures the horizontal state of the antenna support mechanism and transmits the measurement information to the static horizontal support controller. The static horizontal support controller controls the antenna support mechanism to extend / shorten according to the measurement information.

[0011] Preferably, the dynamic horizontal adjustment unit includes a dynamic level, a communication antenna rack, a two-dimensional turntable, a communication transceiver antenna, a two-dimensional turntable driver, and an alignment capture tracking controller. The dynamic level measures the horizontal state of the communication antenna rack, the two-dimensional turntable, and the communication transceiver antenna, and transmits the measurement information to the alignment capture tracking controller. The alignment capture tracking 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 compensation angle, and transmits the compensation angle to the two-dimensional turntable driver. The two-dimensional turntable driver rotates the two-dimensional turntable to realize real-time compensation control of the horizontal state.

[0012] Preferably, the static level is a level with a large range and low precision, and the dynamic level is a level with a small range and high precision.

[0013] A method for using a real-time horizontal calibration system for a vehicle-mounted laser communication ground station is implemented according to the real-time horizontal calibration system for the vehicle-mounted laser communication ground station, comprising the following steps:

[0014] S1, the vehicle-mounted laser communication ground station is turned off and the equipment is powered on;

[0015] S2, complete level 1 adjustment using a static level;

[0016] S3, determining the azimuth angle and the elevation angle of the initial aiming;

[0017] S4, the azimuth angle of the initial aiming and the pitch angle of the initial aiming are transformed into the outer ring angle and the inner ring angle of the two-dimensional turntable that need to be rotated, and the two-dimensional turntable is rotated;

[0018] S5, the two-dimensional turntable updates in real time the outer ring angle that the two-dimensional turntable needs to rotate and the inner ring angle that the two-dimensional turntable needs to rotate.

[0019] S6, dynamically correct S5 using a dynamic level to obtain an outer ring angle after dynamic level correction and an inner ring angle after dynamic level correction, and rotate the two-dimensional turntable;

[0020] S7, after dynamic correction, repeat S5 to S6 to complete the 2nd level adjustment.

[0021] Preferably, in S4, the outer ring angle θ of the two-dimensional turntable to be rotated is O and the inner ring angle θ that the two-dimensional turntable needs to rotate I The calculation formula is:

[0022]

[0023] Among them, Az' is the azimuth angle of initial aiming, El' is the pitch angle of initial aiming, and x, y, and z are the three-dimensional coordinates of the vector between the satellite and the vehicle-mounted laser communication ground station.

[0024] Preferably, in S6, the outer ring angle θ' after dynamic level correction O and the inner ring angle θ' after dynamic level correction I The calculation formula is:

[0025]

[0026] Among them, θ O is the outer ring angle, θ I is the inner ring angle, γ y is the angle of the Yt azimuth measured by the dynamic level, γ x The dynamic level measures the angle of Xt azimuth, Xt is the reducer side pointing to the center of the outer frame in the vehicle-mounted station coordinate system, and Yt is the reducer side pointing to the center of the inner frame in the vehicle-mounted station coordinate system.

[0027] The beneficial effects of the present invention are as follows:

[0028] The present invention achieves the characteristics of large range, high precision and high dynamic response through static horizontal support and a two-level horizontal accuracy assurance method of dynamic horizontal correction, truly realizing the horizontal state adjustment and real-time compensation of horizontal deviation of the vehicle-mounted laser communication ground station, significantly improving the horizontal adjustment range of the vehicle-mounted laser communication ground station, and thus expanding and reducing the site requirements for the laser communication ground station. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 The structure diagram of a real-time horizontal calibration system suitable for a vehicle-mounted laser communication ground station.

[0030] Among them: static level 1, antenna support mechanism 2, static level support controller 3, dynamic level 4, communication antenna rack 5, two-dimensional turntable 6, communication transceiver antenna 7, two-dimensional turntable driver 8, alignment capture tracking controller 9.

[0031] Figure 2 is the corrected angle diagram measured by the dynamic level, where: γ y is the angle of the Yt azimuth measured by the dynamic level, γ x Measure the angle of the Xt azimuth for the dynamic level.

[0032] Figure 3 The present invention is a flow chart of a method for using a real-time horizontal calibration system suitable for a vehicle-mounted laser communication ground station. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the present invention more clear, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the present invention.

[0034] like Figure 1 As shown, a real-time horizontal calibration system suitable for a vehicle-mounted laser communication ground station adopts a two-level horizontal adjustment structure design of a static horizontal adjustment unit and a dynamic horizontal compensation unit. The static horizontal adjustment unit completes the adjustment of the static horizontal state of the vehicle-mounted laser communication ground station, and the dynamic horizontal compensation unit completes the real-time compensation of the dynamic horizontal deviation of the vehicle-mounted laser communication ground station. The static horizontal adjustment unit and the dynamic horizontal compensation unit work together to complete the real-time horizontal calibration.

[0035] The static level adjustment unit includes a static level 1, an antenna support mechanism 2, and a static level support controller 3. The static level 1 measures the horizontal state of the antenna support mechanism 2 and transmits the measurement information to the static level support controller 3, which controls the antenna support mechanism 2 to extend / shorten manually / automatically according to the measurement information.

[0036] The antenna supporting mechanism 2 is installed on the antenna base for directly supporting the ground.

[0037] The static level 1 adopts a large-range, low-precision level, while the dynamic level 4 adopts a small-range, high-precision level. The two work together to achieve a large range and high precision of horizontal adjustment of the vehicle-mounted terminal, so that the level of the vehicle-mounted ground station can be adjusted over a larger range, making the vehicle-mounted ground station suitable for more diverse terrains.

[0038] The static level 1 is mounted on the antenna support mechanism 2. It outputs a leveling signal for level 1 adjustment.

[0039] The antenna support mechanism 2 is used to support the ground station body (turntable, antenna, etc.) and has the function of extension and contraction.

[0040] The dynamic level adjustment unit includes a dynamic level meter 4, a communication antenna frame 5, a two-dimensional turntable 6, a communication transceiver antenna 7, a two-dimensional turntable driver 8, and an alignment capture tracking controller 9.

[0041] The communication antenna rack 5 is connected to the antenna support mechanism 2 through a vibration reduction / vibration isolation mechanism. The antenna support mechanism 2 is responsible for supporting the communication antenna rack 5, the two-dimensional turntable 6, and the communication transceiver antenna 7. The dynamic level 4 is installed on the communication antenna rack 5.

[0042] The dynamic level 4 measures the horizontal state of the communication antenna rack 5, the two-dimensional turntable 6, and the communication transceiver antenna 7, and transmits the measurement information to the alignment capture tracking controller 9; the alignment capture tracking controller 9 receives the measurement information of the dynamic level 4 and the angular state information (outer ring angle and inner ring angle) of the two-dimensional turntable 6 obtained by the two-dimensional turntable driver 8, calculates the horizontal deviation angle and the compensation angle, and transmits the compensation angle to the two-dimensional turntable driver 8. The two-dimensional turntable driver 8 rotates the two-dimensional turntable 6 to realize real-time compensation control of the horizontal state.

[0043] The static level adjustment unit and the dynamic level compensation unit work together to achieve a wide range and high precision of the level adjustment of the vehicle-mounted laser communication ground station.

[0044] After the static level 1 completes the first level adjustment, the static horizontal support controller 3 stops working, and the alignment capture tracking controller 9 starts working. After the alignment capture tracking controller 9 stops working, the static horizontal support controller 3 starts working.

[0045] In addition to supporting the main body of the ground station such as the two-dimensional turntable 6 , the communication antenna rack 5 should have a certain vibration isolation / shock absorption function to effectively isolate the vibration transmitted from the antenna support mechanism 2 .

[0046] The two-dimensional turntable 6 can be selected into various structures such as a ground-level type and a horizontal type.

[0047] like Figure 3 As shown, a method for using a real-time horizontal calibration system suitable for a vehicle-mounted laser communication ground station comprises the following steps:

[0048] S1, the vehicle-mounted laser communication ground station is turned off and the equipment is powered on.

[0049] (1) 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 1 is strictly consistent with the coordinate system of the terminal body;

[0050] (2) The antenna support mechanism 2 adopts a worm gear structure for support, with an elongation of not less than 600 mm and a support force of not less than 10000 N;

[0051] (3) 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 10 Hz. During installation, the coordinate system direction of the dynamic level 4 is strictly consistent with the coordinate system of the terminal body;

[0052] (4) In addition to supporting the main body of the ground station such as the two-dimensional turntable 6, 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. Considering the weight of the main body of the ground station, the support force should be no less than 600kg;

[0053] (5) In order to meet the vibration stability requirements of the vehicle-mounted terminal during transportation, the two-dimensional turntable 6 is preferably a horizontal structure;

[0054] After all equipment is installed, the vehicle station is turned off and the equipment is powered on.

[0055] S2, complete level 1 adjustment using static level 1.

[0056] The static level adjustment unit includes a static level 1, an antenna support mechanism 2, and a static level support controller 3. The static level 1 measures the horizontal state of the antenna support mechanism 2 and transmits the measurement information to the static level support controller 3, which controls the antenna support mechanism 2 to extend / shorten manually / automatically according to the measurement information.

[0057] The static level 1 is used as the leveling signal input to drive the worm gear to complete the first level adjustment.

[0058] S3, aiming, capturing and tracking controller 9 to determine the azimuth and elevation angles of initial aiming.

[0059] Use the target satellite's ephemeris and the station's Beidou navigation position information to determine the initial aiming azimuth and initial aiming elevation.

[0060] S4, coordinate transformation, alignment capture tracking controller 9 transforms the initial aiming azimuth angle and initial aiming elevation angle into the outer ring angle θ that the two-dimensional turntable needs to rotate O and the inner ring angle θ that the two-dimensional turntable needs to rotate I , rotate the two-dimensional turntable.

[0061] For the vector r, it can be characterized by azimuth and elevation, and the results are as follows:

[0062]

[0063] Among them, Az' is the azimuth angle of initial aiming, El' is the pitch angle of initial aiming, and x, y, and z are the three-dimensional coordinates of the vector between the satellite and the vehicle-mounted laser communication ground station.

[0064] Calculated under the inner / outer loop conditions, in the vehicle station coordinate system (transition coordinate system, no horizontal correction), the vector r can be represented as follows:

[0065] The outer ring angle θ required to be rotated to convert into a two-dimensional turntable O and the inner ring angle θ that the two-dimensional turntable needs to rotate I as follows:

[0066]

[0067] Among them, Az' is the azimuth angle of initial aiming, El' is the pitch angle of initial aiming, and x, y, and z are the three-dimensional coordinates of the vector between the satellite and the vehicle-mounted laser communication ground station.

[0068] The outer ring angle θ of the two-dimensional turntable needs to rotate O and the inner ring angle θ that the two-dimensional turntable needs to rotate I The signal is transmitted to the two-dimensional turntable driver 8 so that it drives the two-dimensional turntable 6 to work.

[0069] S5, the two-dimensional turntable 6 updates in real time the outer ring angle that the two-dimensional turntable needs to rotate and the inner ring angle that the two-dimensional turntable needs to rotate.

[0070] 2D turntable 6 real-time updates the outer ring angle θ that the 2D turntable needs to rotate O and the inner ring angle θ that the two-dimensional turntable needs to rotate I , the two-dimensional turntable 6 returns the angle status information (the outer ring angle θ that the two-dimensional turntable needs to rotate O and the inner ring angle θ that the two-dimensional turntable needs to rotate I ) to the two-dimensional turntable driver 8.

[0071] S6, dynamically correct S5 using the dynamic level 4, obtain the outer ring angle after dynamic level correction and the inner ring angle after dynamic level correction, and rotate the two-dimensional turntable.

[0072] The dynamic level 4 can be used to obtain the inclination measurement angles (i.e., γ x and γ y ), defined as follows Figure 2 shown.

[0073] The dynamic level 4 measures the horizontal state of the communication antenna rack 5, the two-dimensional turntable 6, and the communication transceiver antenna 7, and the angle of the Xt azimuth is γ x , the angle of the Yt direction is measured as γ y, the dynamic level meter 4 will measure the information (γ x and γ y ) is transmitted to the alignment capture tracking controller 9, which receives the measurement information (γ x and γ y ) y and the angular state information (outer ring angle θ) of the two-dimensional turntable 6 obtained by the two-dimensional turntable driver 8 O and the inner ring angle θ I ). Calculate the compensation angle (outer ring angle θ' after dynamic level correction) O and the inner ring angle θ' after dynamic level correction I ).

[0074] Assume that the measurement result obtained by the dynamic level 4 is positive upward and negative downward relative to the positive direction of Xt / Yt. Then the inner ring angle of the Xt orientation is subtracted from γ x (Similarly, the outer ring in the Yt direction minus γ y ), that is, the outer ring angle θ' after dynamic level correction O and the inner ring angle θ' after dynamic level correction I for:

[0075]

[0076] Among them, θ O is the outer ring angle, θ I is the inner ring angle, γ y is the angle of the Yt azimuth measured by the dynamic level, γ x The dynamic level measures the angle of Xt azimuth, Xt is the reducer side pointing to the center of the outer frame in the vehicle-mounted station coordinate system, and Yt is the reducer side pointing to the center of the inner frame in the vehicle-mounted station coordinate system.

[0077] The compensation angle (the outer ring angle after dynamic horizontal correction θ' O and the inner ring angle θ' after dynamic level correction I ) is transmitted to the two-dimensional turntable driver 8, and the two-dimensional turntable driver 8 rotates the two-dimensional turntable 6 to achieve real-time compensation control of the horizontal state.

[0078] S7, after dynamic correction, repeat S5 to S6 to complete the 2nd level adjustment.

[0079] Repeat steps S5 to S6 to complete the horizontal real-time calibration.

Claims

1. A real-time level calibration system suitable for a vehicle-mounted laser communication ground station, characterized in that: A two-level level adjustment structure design is adopted, which includes a static level adjustment unit and a dynamic level compensation unit. The static level adjustment unit completes the adjustment of the static level state of the vehicle-mounted laser communication ground station, and the dynamic level compensation unit completes the real-time compensation of the dynamic level deviation of the vehicle-mounted laser communication ground station. The static level adjustment unit and the dynamic level compensation unit cooperate with each other to complete the real-time level calibration.

2. The real-time horizontal calibration system suitable for a vehicle-mounted laser communication ground station according to claim 1, characterized in that: The static horizontal adjustment unit includes a static level, an antenna support mechanism, and a static horizontal support controller. The static level measures the horizontal state of the antenna support mechanism and transmits the measurement information to the static horizontal support controller. The static horizontal support controller controls the antenna support mechanism to extend / shorten according to the measurement information.

3. The real-time horizontal calibration system suitable for a vehicle-mounted laser communication ground station according to claim 2, characterized in that: The dynamic horizontal adjustment unit includes a dynamic level, a communication antenna rack, a two-dimensional turntable, a communication transceiver antenna, a two-dimensional turntable driver, and an alignment capture tracking controller. The dynamic level measures the horizontal state of the communication antenna rack, the two-dimensional turntable, and the communication transceiver antenna, and transmits the measurement information to the alignment capture tracking controller. The alignment capture tracking 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 compensation angle, and transmits the compensation angle to the two-dimensional turntable driver. The two-dimensional turntable driver rotates the two-dimensional turntable to realize real-time compensation control of the horizontal state.

4. The real-time horizontal calibration system suitable for a vehicle-mounted laser communication ground station according to claim 3 is characterized in that: The static level uses a large-range, low-precision level, and the dynamic level uses a small-range, high-precision level.

5. A method for using a real-time horizontal calibration system suitable for a vehicle-mounted laser communication ground station, characterized in that: The real-time horizontal calibration system of the vehicle-mounted laser communication ground station according to any of claims 1 to 4 is implemented, comprising the following steps: S1, the vehicle-mounted laser communication ground station is turned off and the equipment is powered on; S2, complete level 1 adjustment using a static level; S3, determining the azimuth angle and the elevation angle of the initial aiming; S4, the azimuth angle of the initial aiming and the pitch angle of the initial aiming are transformed into the outer ring angle and the inner ring angle of the two-dimensional turntable that need to be rotated, and the two-dimensional turntable is rotated; S5, the two-dimensional turntable updates in real time the outer ring angle that the two-dimensional turntable needs to rotate and the inner ring angle that the two-dimensional turntable needs to rotate. S6, dynamically correct S5 using a dynamic level to obtain an outer ring angle after dynamic level correction and an inner ring angle after dynamic level correction, and rotate the two-dimensional turntable; S7, after dynamic correction, repeat S5 to S6 to complete the 2nd level adjustment.

6. The method for real-time horizontal calibration of a vehicle-mounted laser communication ground station according to claim 5, characterized in that: In S4, the outer ring angle θ of the two-dimensional turntable needs to be rotated O and the inner ring angle θ that the two-dimensional turntable needs to rotate I The calculation formula is: Among them, Az' is the azimuth angle of initial aiming, El' is the pitch angle of initial aiming, and x, y, and z are the three-dimensional coordinates of the vector between the satellite and the vehicle-mounted laser communication ground station.

7. The method for real-time horizontal calibration of a vehicle-mounted laser communication ground station according to claim 5, characterized in that: In S6, the outer ring angle θ' after dynamic level correction O and the inner ring angle θ' after dynamic level correction I The calculation formula is: Among them, θ O is the outer ring angle, θ I is the inner ring angle, γ y is the angle of the Yt azimuth measured by the dynamic level, γ x The dynamic level measures the angle of Xt azimuth, Xt is the reducer side pointing to the center of the outer frame in the vehicle-mounted station coordinate system, and Yt is the reducer side pointing to the center of the inner frame in the vehicle-mounted station coordinate system.

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