Antenna maximum tracking method, device and equipment based on speed compensation

Abstract

The invention provides an antenna maximum tracking method, device and equipment based on speed compensation, and belongs to the technical field of antenna servo, and the method comprises the steps: carrying out the maximum search through employing a cross search method of a horizontal positive direction, a vertical positive direction, a horizontal negative direction and a vertical negative direction, and obtaining a time position sequence; obtaining the estimated speed of the antenna by using the position difference and the corresponding time difference in the time position sequence; the estimation speed serves as the compensation speed, the search speed during maximum value tracking is compensated, the maximum value search speed is reduced to the difference value between the operation speed and the estimation speed from the operation speed of the airship, the search turn-back speed is reduced, and the dynamics requirements of a servo system are reduced, including the power requirement and the torque requirement of a servo motor. The speed range of the trackable target is enlarged, and the tracking quality and reliability are improved.

Description

Technical Field

[0001] The present invention relates to the field of antenna servo technology, and in particular to a method, device and equipment for tracking antenna maximum values ​​based on speed compensation. Background Art

[0002] Large airships are increasingly being used in the field of scientific research and production due to their long hovering time, wide working airspace, and good economic efficiency. These airships may be used in various occasions such as electronic reconnaissance, remote sensing detection, meteorological observation, and communication relay. In these applications, the airship must establish an effective electronic link with the ground, receive ground instructions, report working status, and transmit payload data. The development of airship applications has also spawned the development of supporting ground receiving equipment, including antenna servo systems for communicating with airships.

[0003] Unlike traditional satellite communication servo systems, the trajectory of airships is random and uncertain. The tracking strategy adopted by airship servo systems is very complex. It generally uses multi-antenna and multi-strategy tracking, and makes selections based on the working conditions of the airship to ensure that the communication between the airship and the ground is in the optimal state. Among them, auxiliary antennas are generally small antennas. For efficiency and cost considerations, it is impossible to make complex feed structures and microwave synthesis networks. Only effective design and optimization can be carried out from the servo tracking strategy to achieve effective communication between the ground and the airship.

[0004] Small antennas can adopt two structures, AE type or XY type. Due to the uncertainty of the height of the airship's trajectory, in order to solve the problem of the dead zone of the antenna passing over the top, the XY type structure is generally used. During the initial link establishment process, a designated airspace scan (blind scan) is used, and once the reception is successful, it automatically switches to maximum value tracking. The initial link establishment time of the antenna is generally during the airship takeoff stage. At this time, the distance between the antenna and the airship is close, and the angular velocity of the airship relative to the antenna is large when it is running.

[0005] At present, the maximum value tracking algorithm requires that the antenna's angular velocity is at least 4 times the target's angular velocity and that it performs a reversal motion. However, it is difficult to achieve such a requirement for an XY-type antenna with a high eccentricity and large inertia, which can easily lose the tracking target. Summary of the invention

[0006] The present invention provides a method, device and equipment for tracking a maximum value of an antenna based on speed compensation, so as to solve the defects of the existing technology that the maximum value tracking has a large return degree, is difficult to track and is easy to lose.

[0007] In a first aspect, the present invention provides an antenna maximum tracking method based on velocity compensation, comprising: The cross search method in the horizontal positive direction, vertical positive direction, horizontal negative direction and vertical negative direction is used to search for the maximum value and obtain the time position sequence; Obtaining an estimated speed of the antenna using the position difference and the corresponding time difference in the time position sequence; The estimated speed is used as the compensation speed to compensate the search speed during maximum value tracking, and the maximum value search speed is reduced from the running speed of the airship to the difference between the running speed and the estimated speed, thereby reducing the search return speed.

[0008] According to a method for tracking antenna maximum values ​​based on velocity compensation provided by the present invention, a cross search method in a horizontal positive direction, a vertical positive direction, a horizontal negative direction and a vertical negative direction is used to perform a maximum search to obtain a time position sequence, including: Performing maximum value searches in the horizontal positive direction, the vertical positive direction, the horizontal negative direction, and the vertical negative direction in sequence, and obtaining the maximum indicator value position and the system time of reaching the maximum indicator value position in each search; The maximum indicator value position and the corresponding system time are recorded in sequence to form a time position sequence.

[0009] According to a method for tracking antenna maximum values ​​based on velocity compensation provided by the present invention, the maximum value search in the horizontal positive direction, the vertical positive direction, the horizontal negative direction and the vertical negative direction is performed in sequence, including: Determine the antenna operating speeds in the horizontal positive direction, the vertical positive direction, the horizontal negative direction, and the vertical negative direction in sequence; Based on the different operating speeds of the antenna, the position of the geographic coordinate system is converted into a value of the device coordinate system through matrix operation to operate the antenna; During the stabilization period of the operating antenna, recording the indicator quantity at preset time intervals; When the indicator value reaches the critical value, a straight line is drawn with the corresponding indicator value as the ordinate and time as the abscissa; The slope of the straight line is calculated by the least square method. When the slope is less than a slope threshold, the corresponding maximum value searches in the horizontal positive direction, the vertical positive direction, the horizontal negative direction and the vertical negative direction are terminated in sequence.

[0010] According to a method for tracking antenna maximum values ​​based on speed compensation provided by the present invention, the method of sequentially determining the antenna running speeds in a horizontal positive direction, a vertical positive direction, a horizontal negative direction, and a vertical negative direction includes: The sum of the horizontal running angular velocity of the airship and the horizontal search angular velocity of the antenna is used as the horizontal running velocity of the antenna during the horizontal positive direction search, and the vertical running angular velocity of the airship is used as the vertical running velocity of the antenna during the horizontal positive direction search; The horizontal running angular velocity of the airship is used as the horizontal running velocity of the antenna during the vertical positive direction search, and the sum of the vertical running angular velocity of the airship and the vertical search angular velocity of the antenna is used as the vertical running velocity of the antenna during the vertical positive direction search; The difference between the horizontal running angular velocity of the airship and the horizontal search angular velocity of the antenna is used as the horizontal running velocity of the antenna when searching in the horizontal negative direction, and the vertical running angular velocity of the airship is used as the vertical running velocity of the antenna when searching in the horizontal negative direction; The horizontal running angular velocity of the airship is used as the horizontal running velocity of the antenna during vertical negative direction search, and the difference between the vertical running angular velocity of the airship and the vertical search angular velocity of the antenna is used as the vertical running velocity of the antenna during vertical negative direction search.

[0011] According to a method for tracking antenna maximum values ​​based on velocity compensation provided by the present invention, the method of obtaining the estimated velocity of the antenna by using the position difference and the corresponding time difference in the time position sequence comprises: Determine any two position differences and corresponding time differences in the horizontal positive direction, vertical positive direction, horizontal negative direction, and vertical negative direction; The estimated speed of the antenna is obtained by dividing the position difference by the corresponding time difference.

[0012] According to the antenna maximum value tracking method based on speed compensation provided by the present invention, after drawing a straight line with the corresponding indicator value as the ordinate and time as the abscissa, the method further includes: Based on the crossing rule, a sequence of points where the straight line crosses the abscissa and the ordinate is obtained; The point sequence is solved by using the least square method to obtain a set of slope point sequences corresponding to the horizontal positive direction, the vertical positive direction, the horizontal negative direction and the vertical negative direction.

[0013] According to an antenna maximum value tracking method based on speed compensation provided by the present invention, the crossing rule is: ; in, is the vertical axis, i.e. the indicator value at a certain moment, The horizontal axis is the time to reach the indicator value. represents the slope of the straight line, represents the intercept of the line, Indicates the number of indicator values.

[0014] According to an antenna maximum value tracking method based on velocity compensation provided by the present invention, the solution process is: ; ; in, is the vertical axis, i.e. the indicator value at a certain moment, The horizontal axis is the time to reach the indicator value. represents the slope of the straight line, represents the intercept of the line, Indicates the number of indicator values.

[0015] In a second aspect, the present invention further provides an antenna maximum value tracking device based on speed compensation, comprising: A search module, used for performing a maximum value search using a cross search method in a horizontal positive direction, a vertical positive direction, a horizontal negative direction, and a vertical negative direction to obtain a time position sequence; an estimation module, configured to obtain an estimated speed of the antenna using the position difference and the corresponding time difference in the time position sequence; The compensation module is used to use the estimated speed as the compensation speed to compensate the search speed during maximum value tracking, reduce the maximum value search speed from the running speed of the airship to the difference between the running speed and the estimated speed, and reduce the search return speed.

[0016] In a third aspect, the present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the antenna maximum tracking method based on speed compensation as described above is implemented.

[0017] In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described methods for tracking antenna maximum values ​​based on velocity compensation.

[0018] In a fifth aspect, the present invention further provides a computer program product, comprising a computer program, which, when executed by a processor, implements any of the above-described methods for tracking antenna maximum values ​​based on velocity compensation.

[0019] The method, device and equipment for antenna maximum value tracking based on speed compensation provided by the present invention perform maximum value search by adopting a cross search method in horizontal positive direction, vertical positive direction, horizontal negative direction and vertical negative direction to obtain a time position sequence; use the position difference and the corresponding time difference in the time position sequence to obtain the estimated speed of the antenna; use the estimated speed as the compensation speed to compensate the search speed during maximum value tracking, reduce the maximum value search speed from the running speed of the airship to the difference between the running speed and the estimated speed, reduce the search return speed, reduce the dynamic requirements of the servo system, including the power requirements and torque requirements of the servo motor, increase the speed range of the trackable target, and improve the tracking quality and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 is a flow chart of the antenna maximum value tracking method based on speed compensation provided in this embodiment; Figure 2 is a schematic diagram of the principle of antenna tracking airship provided in this embodiment; Figure 3 Schematic diagram of the entire process of antenna maximum value tracking provided by this embodiment; Figure 4 is a schematic structural diagram of an antenna maximum value tracking device based on speed compensation provided in this embodiment; Figure 5 It is a schematic diagram of the structure of the electronic device provided in this embodiment. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0023] Figure 1 It is a flowchart of the antenna maximum tracking method based on speed compensation provided in this embodiment.

[0024] like Figure 1 As shown, the antenna maximum value tracking method based on speed compensation provided by an embodiment of the present invention mainly includes the following steps: 101. Use the cross search method in the horizontal positive direction, vertical positive direction, horizontal negative direction and vertical negative direction to perform maximum value search and obtain the time position sequence.

[0025] In a specific implementation process, take the tracking target as an example, such as Figure 2 The figure below is a schematic diagram of the principle of antenna tracking airship. The target requirement for tracking is: a large airship with a running speed of 80~120km / s and a deadweight of 30~40 tons. Taking a power of 500kW as an example, a rough calculation is made, as shown in (1): (1) in, Indicates power, Indicates time, Indicates quality, Indicates the running speed.

[0026] Airship acceleration: , assuming that the airship is 500m away from the antenna, roughly calculate the angular velocity and angular acceleration of the antenna: Angular velocity: , angular acceleration: .

[0027] The above parameters are basically the limit parameters of large airships. As long as the above parameters are met, all airship tracking requirements can be basically met. The target tracked in this embodiment is an airship, which is a low-dynamic moving target with a relatively small acceleration and stable and predictable motion characteristics. Therefore, the maximum value tracking algorithm uses a search in the geographic coordinate system.

[0028] First, the historical position of the tracking airship is recorded. When searching for the historical position, there are two stages: one is the unstable period of the search period, and the other is the stable period of the search period. In the unstable period of the search period, due to the unpredictability of the speed and position, the change of the indicator quantity (such as AGC value) of this period is not used as the basis for changing the search direction. In the stable period of the search period, the change of the indicator quantity (such as AGC value) of this period is the basis for changing the search direction. In order to improve the search speed, the cross search method is adopted, first horizontally, then vertically, and alternately, and then the process is repeated to obtain the time position sequence.

[0029] Specifically, the cross search method uses a search path of "cross", and performs maximum value searches in the horizontal positive direction, vertical positive direction, horizontal negative direction, and vertical negative direction in turn, and obtains the maximum indicator value position and the system time of reaching the maximum indicator value position in each search; records the maximum indicator value position and the corresponding system time in turn, and repeats the search and recording process. At the end of each search, a maximum indicator value position and the system time of reaching this position are obtained, and a time position sequence is constructed after recording.

[0030] 102. Using the position difference in the time position sequence and the corresponding time difference, the estimated speed of the antenna is obtained.

[0031] By dividing the two position differences in the time position sequence by the two corresponding time differences, the estimated speed of the antenna can be obtained. In actual operation, the time accuracy is very high, at the millisecond level, but the position has a certain error, which is about 1 / 4 of the antenna beam angle, which is determined by the characteristics of the antenna. In order to obtain a more accurate position, the time interval is generally longer, and 2 seconds to 4 seconds are more appropriate. If the error between the estimated accuracy and the actual operating speed is less than 0.3° / s, the speed compensation can achieve good results in the actual tracking process.

[0032] 103. The estimated speed is used as the compensation speed to compensate for the search speed during maximum value tracking, and the maximum value search speed is reduced from the running speed of the airship to the difference between the running speed and the estimated speed, thereby reducing the search return speed.

[0033] By compensating the estimated speed into the maximum tracking algorithm, the exploration speed of the maximum tracking is no longer the running speed of the airship, but the error between the running speed of the airship and the estimated speed, which significantly reduces the return speed value of the maximum tracking, and realizes the maximum tracking of the antenna servo at a high speed under large inertia conditions, reduces the search return speed, reduces the dynamic requirements of the antenna servo system, and enables the antenna to track faster targets.

[0034] While tracking the maximum value, the moving speed of the target airship is estimated, and the low dynamic characteristics of the target airship are utilized to compensate the exploration speed in the maximum value tracking with the estimated speed, which significantly reduces the exploration speed, lowers the servo system dynamics requirements, and improves the target tracking speed.

[0035] Further, on the basis of the above embodiments, the specific search process is described in the present embodiment, that is, the maximum value search in the horizontal positive direction, vertical positive direction, horizontal negative direction and vertical negative direction is performed in sequence, including: determining the antenna operation speed in the horizontal positive direction, vertical positive direction, horizontal negative direction and vertical negative direction in sequence; based on different antenna operation speeds, the position of the geographic coordinate system is converted into a numerical value of the device coordinate system through matrix operation, and the antenna is operated; during the stable period of the operating antenna, the indicator quantity is recorded at preset time intervals; when the indicator quantity reaches a critical value, a straight line is drawn with the corresponding indicator quantity as the ordinate and time as the abscissa; the slope of the straight line is calculated by the least squares method, and when the slope is less than the slope threshold, the corresponding maximum value search in the horizontal positive direction, vertical positive direction, horizontal negative direction and vertical negative direction is terminated in sequence.

[0036] Specifically, first define the parameters in the search process and estimate the horizontal angular velocity of the airship: , the initial value is 0, and the vertical angular velocity of the airship is estimated: , the initial value is 0, the antenna horizontal search angular velocity: , the vertical search angular velocity of the antenna: The search process mainly includes 8 steps, as follows: 1. Horizontal search in the positive direction.

[0037] The sum of the horizontal running angular velocity of the airship and the horizontal search angular velocity of the antenna is used as the horizontal running velocity of the antenna during the horizontal positive direction search, and the vertical running angular velocity of the airship is used as the vertical running velocity of the antenna during the horizontal positive direction search; that is, horizontally: ,vertical: .

[0038] The position of the geographic coordinate system is converted into the value of the device coordinate system through matrix operation, and the antenna is operated. The period of operation at the beginning is the stable period, and the indicator quantity is recorded at a preset time interval (for example, 2ms). When the indicator quantity reaches the critical value, a straight line is drawn with the indicator quantity as the vertical coordinate and the time as the horizontal coordinate, and the slope of the straight line is calculated using the least squares method. When the slope is less than a given slope threshold (usually a negative number), the horizontal positive direction search ends.

[0039] 2. Record the indicator value and run it to the maximum value position.

[0040] Record the geographic horizontal azimuth and vertical pitch angle when the indicator value is the maximum, as well as the system time to reach this position (accurate to milliseconds). The antenna reaches the maximum indicator predicted value position at the fastest possible speed. The maximum indicator predicted value position is: the geographic horizontal azimuth and vertical pitch angle when the indicator value is the maximum plus its expected operating distance.

[0041] The horizontal running distance is: ,vertical: .

[0042] It is the total running time from when the antenna reaches the maximum position to when the antenna reaches the predicted maximum position. This period of time is the search instability period.

[0043] 3. Vertical search in the positive direction.

[0044] The horizontal running angular velocity of the airship is used as the horizontal running velocity of the antenna during the vertical positive direction search, and the sum of the vertical running angular velocity of the airship and the vertical search angular velocity of the antenna is used as the vertical running velocity of the antenna during the vertical positive direction search, that is, the antenna running velocity is, horizontally: ,vertical: .

[0045] The position of the geographic coordinate system is converted into the value of the device coordinate system through matrix operation, and the antenna is operated. The period of operation at the beginning is the stable period, and the indicator quantity is recorded at a preset time interval (for example, 2ms). When the indicator quantity reaches the critical value, a straight line is drawn with the indicator quantity as the vertical coordinate and the time as the horizontal coordinate, and the slope of the straight line is calculated using the least squares method. When the slope is less than a given slope threshold (usually a negative number), the vertical positive direction search ends.

[0046] 4. Record the indicator value and run it to the maximum value position.

[0047] Record the geographic horizontal azimuth and vertical pitch angle when the indicator value is the maximum, as well as the system time to reach this position (accurate to milliseconds). The antenna reaches the maximum indicator predicted value position at the fastest possible speed. The maximum indicator predicted value position is: the geographic horizontal azimuth and vertical pitch angle when the indicator value is the maximum plus its expected operating distance.

[0048] The horizontal running distance is: ,vertical: .

[0049] It is the total running time from when the antenna reaches the maximum position to when the antenna reaches the predicted maximum position. This period of time is the search instability period.

[0050] 5. Horizontal search in the negative direction.

[0051] The difference between the horizontal running angular velocity of the airship and the horizontal search angular velocity of the antenna is taken as the horizontal running velocity of the antenna when searching in the horizontal negative direction, and the vertical running angular velocity of the airship is taken as the vertical running velocity of the antenna when searching in the horizontal negative direction, that is, the antenna running velocity is, horizontally: ,vertical: .

[0052] The position of the geographic coordinate system is converted into the value of the device coordinate system through matrix operation, and the antenna is operated. The period of operation at the beginning is the stable period, and the indicator quantity is recorded at a preset time interval (for example, 2ms). When the indicator quantity reaches the critical value, a straight line is drawn with the indicator quantity as the vertical coordinate and the time as the horizontal coordinate, and the slope of the straight line is calculated by the least squares method. When the slope is less than a given slope threshold (usually a negative number), the horizontal negative direction search ends.

[0053] 6. Record the indicator value and run it to the maximum value position.

[0054] Record the geographic horizontal azimuth and vertical pitch angle when the indicator value is the maximum, as well as the system time to reach this position (accurate to milliseconds). The antenna reaches the maximum indicator predicted value position at the fastest possible speed. The maximum indicator predicted value position is: the geographic horizontal azimuth and vertical pitch angle when the indicator value is the maximum plus its expected operating distance.

[0055] The horizontal running distance is: ,vertical: .

[0056] It is the total running time from when the antenna reaches the maximum position to when the antenna reaches the predicted maximum position. This period of time is the search instability period.

[0057] 7. Vertical search in negative direction.

[0058] The horizontal running angular velocity of the airship is used as the horizontal running velocity of the antenna during vertical negative direction search, and the difference between the vertical running angular velocity of the airship and the vertical search angular velocity of the antenna is used as the vertical running velocity of the antenna during vertical negative direction search, that is, the antenna running velocity is, horizontally: ,vertical: .

[0059] The position of the geographic coordinate system is converted into the value of the device coordinate system through matrix operation, and the antenna is operated. The period of operation at the beginning is the stable period, and the indicator quantity is recorded at a preset time interval (for example, 2ms). When the indicator quantity reaches the critical value, a straight line is drawn with the indicator quantity as the vertical coordinate and the time as the horizontal coordinate, and the slope of the straight line is calculated by the least squares method. When the slope is less than a given slope threshold (usually a negative number), the vertical negative direction search ends.

[0060] 8. The indicator value is recorded and runs to the maximum value position.

[0061] Record the geographic horizontal azimuth and vertical pitch angle when the indicator value is the maximum, as well as the system time to reach this position (accurate to milliseconds). The antenna reaches the maximum indicator predicted value position at the fastest possible speed. The maximum indicator predicted value position is: the geographic horizontal azimuth and vertical pitch angle when the indicator value is the maximum plus its expected operating distance.

[0062] The horizontal running distance is: ,vertical: .

[0063] It is the total running time from when the antenna reaches the maximum position to when the antenna reaches the predicted maximum position. This period of time is the search instability period.

[0064] After completing a round of search through the above 8 steps, repeat steps 1 to 8 and search over and over again.

[0065] Further, based on the above embodiment, the noise filtering in the scanning process is specifically described in this embodiment. In the first, third, fifth, and seventh search steps, the only criterion for determining whether the tracking position is correct is the size of the indicator value. The higher the indicator value, the better the tracking quality. In the actual tracking process, the indicator value is often interfered by some noise. These interferences will affect the tracking process and may even cause tracking failure in severe cases. To solve these problems, this embodiment uses the least squares method to filter out these noises to improve the tracking index and reliability.

[0066] set up is the indicator value at a certain moment, is the time to reach this indicator value, is the horizontal axis, As the ordinate, draw a straight line y=kx+b across the point sequence ( , ). The crossing rules are as follows (2): (2) in, is the vertical axis, i.e. the indicator value at a certain moment, The horizontal axis is the time to reach the indicator value. represents the slope of the straight line, represents the intercept of the line, Indicates the number of indicator values.

[0067] Take the minimum value, that is, the least squares method, and transform the solution process into a two-variable linear equation, such as (3): (3) Solve the equation using the determinant method, such as (4): (4) The slope criterion used in steps 1, 3, 5, and 7 is the solution of the above equation system (4). The least squares method is used to transform the tracking criterion from judging a single point to a set of point sequences, effectively eliminating the influence and damage of noise in a single point on the tracking process. By using the least squares method to filter out the influence of indicator value noise during the tracking process, the tracking quality and reliability are improved.

[0068] The method of the present invention can be directly embedded in the antenna tracking algorithm, and the actual use scenario of the portable terminal is fully considered during the design, without adding any additional cost and complexity of operation. Without adding any cost, by improving the algorithm, introducing target speed compensation in the maximum value tracking, and significantly reducing the exploration speed of the maximum value tracking, the dynamic requirements of the servo system are reduced, including the power requirements and torque requirements of the servo motor, the speed range of the trackable target is increased, and the quality and reliability of tracking are improved. The speed estimation of the target is embedded in the target tracking process, the program is refined, and almost no resources of the tracking system are occupied.

[0069] And the tracking performance of the XY type antenna near the low altitude dead zone is significantly improved. Since the conversion from the geographic system to the equipment system near the antenna dead zone causes the outer ring motor to run at a higher speed, it is extremely difficult to track the maximum value near the dead zone. However, after using this method, in actual applications, the simulated antenna target was successfully tracked at a pitch angle of 5°. For the existing antenna controller, it is only necessary to recompile the servo code tracking module using the algorithm idea of ​​the present invention, recompile, and load it, which is simple, convenient and easy.

[0070] Figure 3It is a schematic diagram of the entire process of antenna maximum tracking provided in this embodiment.

[0071] like Figure 3 As shown, it mainly includes: starting the horizontal positive direction scanning of the geographic system, superimposing the target estimated speed, then performing the geographic system equipment system conversion, driving the motor to sample the indicator value, processing the indicator value, calculating it using the least square method, judging whether the derivative of the indicator value relative to time is less than the threshold value (i.e., the slope threshold value of the above embodiment), if not, re-sampling the indicator value. If so, the maximum value, i.e., time, of this scanning stage is recorded, and then the motor is driven to the maximum value point.

[0072] Then perform a vertical positive direction scan of the geographic system, superimpose the target estimated speed, and then perform a geographic system device system conversion, drive the motor to sample the indicator value, process the indicator value, calculate it using the least square method, and determine whether the derivative of the indicator value relative to time is less than the threshold (i.e., the slope threshold of the above embodiment). If not, re-sample the indicator value. If so, record the maximum value, i.e., time, of this scanning stage, and then run the motor to the maximum value point.

[0073] Then perform a horizontal negative direction scan of the geographic system, superimpose the estimated target speed, and then perform a geographic system device system conversion, drive the motor to sample the indicator value, process the indicator value, calculate using the least squares method, and determine whether the derivative of the indicator value relative to time is less than the threshold (i.e., the slope threshold of the above embodiment). If not, re-sample the indicator value. If so, record the maximum value, i.e., time, of this scanning stage, and then run the motor to the maximum value point.

[0074] Then perform a vertical negative direction scan of the geographic system, superimpose the target estimated speed, and then perform a geographic system device system conversion, drive the motor to sample the indicator value, process the indicator value, calculate it using the least square method, and determine whether the derivative of the indicator value relative to time is less than the threshold (i.e., the slope threshold of the above embodiment). If not, re-sample the indicator value. If so, record the maximum value, i.e., time, of this scanning stage, and then run the motor to the maximum value point.

[0075] After completing this process, return to scanning in the horizontal positive direction and repeat the four scanning and recording processes.

[0076] The speed estimation sub-process is as follows: input the maximum value position of the indicator value and the corresponding system time in the data record, construct a position time series, and determine whether the time difference in the time series data is a critical value. If not, re-record the data. If so, calculate the target speed and output the data to the tracking process.

[0077] Based on the same general inventive concept, the present invention also protects an antenna maximum tracking device based on speed compensation. The antenna maximum tracking device based on speed compensation described below and the antenna maximum tracking method based on speed compensation described above can refer to each other.

[0078] Figure 4 It is a structural schematic diagram of the antenna maximum tracking device based on speed compensation provided in this embodiment.

[0079] like Figure 4 As shown, this embodiment provides an antenna maximum value tracking device based on speed compensation, including: A search module 401 is used to perform a maximum value search using a cross search method in a horizontal positive direction, a vertical positive direction, a horizontal negative direction, and a vertical negative direction to obtain a time position sequence; An estimation module 402, configured to obtain an estimated speed of the antenna using the position difference and the corresponding time difference in the time position sequence; The compensation module 403 is used to use the estimated speed as the compensation speed to compensate the search speed during maximum value tracking, reduce the maximum value search speed from the running speed of the airship to the difference between the running speed and the estimated speed, and reduce the search return speed.

[0080] Figure 5 It is a schematic diagram of the structure of the electronic device provided in this embodiment.

[0081] like Figure 5 As shown, the electronic device may include: a processor 510, a communication interface 520, a memory 530 and a communication bus 540, wherein the processor 510, the communication interface 520 and the memory 530 communicate with each other through the communication bus 540. The processor 510 may call the logic instructions in the memory 530 to execute the antenna maximum value tracking method based on speed compensation, the method comprising: performing a maximum value search using a cross search method in a horizontal positive direction, a vertical positive direction, a horizontal negative direction and a vertical negative direction to obtain a time position sequence; obtaining an estimated speed of the antenna using the position difference and the corresponding time difference in the time position sequence; using the estimated speed as the compensation speed to compensate for the search speed during the maximum value tracking, reducing the maximum value search speed from the running speed of the airship to the difference between the running speed and the estimated speed, and reducing the search return speed.

[0082] In addition, the logic instructions in the above-mentioned memory 530 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0083] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the antenna maximum tracking method based on speed compensation provided by the above methods, the method including: using a cross search method in the horizontal positive direction, the vertical positive direction, the horizontal negative direction and the vertical negative direction to perform a maximum search to obtain a time position sequence; using the position difference and the corresponding time difference in the time position sequence to obtain an estimated speed of the antenna; using the estimated speed as the compensation speed to compensate for the search speed during maximum tracking, reducing the maximum search speed from the running speed of the airship to the difference between the running speed and the estimated speed, thereby reducing the search return speed.

[0084] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the antenna maximum tracking method based on speed compensation provided by the above-mentioned methods, the method comprising: performing a maximum search using a cross search method in a horizontal positive direction, a vertical positive direction, a horizontal negative direction and a vertical negative direction to obtain a time position sequence; obtaining an estimated speed of the antenna using the position difference and the corresponding time difference in the time position sequence; using the estimated speed as a compensation speed to compensate for the search speed during maximum tracking, reducing the maximum search speed from the running speed of the airship to the difference between the running speed and the estimated speed, thereby reducing the search return speed.

[0085] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0086] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An antenna maximum value tracking method based on velocity compensation, characterized in that: include: The cross search method in the horizontal positive direction, vertical positive direction, horizontal negative direction and vertical negative direction is used to search for the maximum value and obtain the time position sequence; Obtaining an estimated speed of the antenna using the position difference and the corresponding time difference in the time position sequence; The estimated speed is used as the compensation speed to compensate the search speed during maximum value tracking, and the maximum value search speed is reduced from the running speed of the airship to the difference between the running speed and the estimated speed, thereby reducing the search return speed.

2. The antenna maximum value tracking method based on velocity compensation according to claim 1, characterized in that: The cross search method in the horizontal positive direction, the vertical positive direction, the horizontal negative direction and the vertical negative direction is used to perform the maximum value search to obtain the time position sequence, including: Performing maximum value searches in the horizontal positive direction, the vertical positive direction, the horizontal negative direction, and the vertical negative direction in sequence, and obtaining the maximum indicator value position and the system time of reaching the maximum indicator value position in each search; The maximum indicator value position and the corresponding system time are recorded in sequence to form a time position sequence.

3. The antenna maximum value tracking method based on velocity compensation according to claim 2, characterized in that: The step of sequentially searching for maximum values ​​in the horizontal positive direction, the vertical positive direction, the horizontal negative direction, and the vertical negative direction includes: Determine the antenna operating speeds in the horizontal positive direction, the vertical positive direction, the horizontal negative direction, and the vertical negative direction in sequence; Based on the different operating speeds of the antenna, the position of the geographic coordinate system is converted into a value of the device coordinate system through matrix operation to operate the antenna; During the stabilization period of the operating antenna, recording the indicator quantity at preset time intervals; When the indicator value reaches the critical value, a straight line is drawn with the corresponding indicator value as the ordinate and time as the abscissa; The slope of the straight line is calculated by the least square method. When the slope is less than a slope threshold, the corresponding maximum value searches in the horizontal positive direction, the vertical positive direction, the horizontal negative direction and the vertical negative direction are terminated in sequence.

4. The antenna maximum value tracking method based on velocity compensation according to claim 3 is characterized in that: The sequentially determining the antenna operating speeds in a horizontal positive direction, a vertical positive direction, a horizontal negative direction, and a vertical negative direction includes: The sum of the horizontal running angular velocity of the airship and the horizontal search angular velocity of the antenna is used as the horizontal running velocity of the antenna during the horizontal positive direction search, and the vertical running angular velocity of the airship is used as the vertical running velocity of the antenna during the horizontal positive direction search; The horizontal running angular velocity of the airship is used as the horizontal running velocity of the antenna during the vertical positive direction search, and the sum of the vertical running angular velocity of the airship and the vertical search angular velocity of the antenna is used as the vertical running velocity of the antenna during the vertical positive direction search; The difference between the horizontal running angular velocity of the airship and the horizontal search angular velocity of the antenna is used as the horizontal running velocity of the antenna when searching in the horizontal negative direction, and the vertical running angular velocity of the airship is used as the vertical running velocity of the antenna when searching in the horizontal negative direction; The horizontal running angular velocity of the airship is used as the horizontal running velocity of the antenna during vertical negative direction search, and the difference between the vertical running angular velocity of the airship and the vertical search angular velocity of the antenna is used as the vertical running velocity of the antenna during vertical negative direction search.

5. The antenna maximum value tracking method based on velocity compensation according to claim 2, characterized in that: The obtaining the estimated speed of the antenna by using the position difference and the corresponding time difference in the time position sequence includes: Determine any two position differences and corresponding time differences in the horizontal positive direction, vertical positive direction, horizontal negative direction, and vertical negative direction; The estimated speed of the antenna is obtained by dividing the position difference by the corresponding time difference.

6. The antenna maximum value tracking method based on velocity compensation according to claim 3 is characterized in that: After drawing a straight line with the corresponding indicator value as the ordinate and time as the abscissa, the method further includes: Based on the crossing rule, a sequence of points where the straight line crosses the abscissa and the ordinate is obtained; The point sequence is solved by using the least square method to obtain a set of slope point sequences corresponding to the horizontal positive direction, the vertical positive direction, the horizontal negative direction and the vertical negative direction.

7. The antenna maximum value tracking method based on velocity compensation according to claim 6, characterized in that: The crossing rules are: ； in, is the vertical axis, i.e. the indicator value at a certain moment, The horizontal axis is the time to reach the indicator value. represents the slope of the straight line, represents the intercept of the line, Indicates the number of indicator values.

8. The antenna maximum value tracking method based on velocity compensation according to claim 6, characterized in that: The solution process is: ； ； in, is the vertical axis, i.e. the indicator value at a certain moment, The horizontal axis is the time to reach the indicator value. represents the slope of the straight line, represents the intercept of the line, Indicates the number of indicator values.

9. An antenna maximum value tracking device based on speed compensation, characterized in that: include: A search module, used for performing a maximum value search using a cross search method in a horizontal positive direction, a vertical positive direction, a horizontal negative direction, and a vertical negative direction to obtain a time position sequence; an estimation module, configured to obtain an estimated speed of the antenna using the position difference and the corresponding time difference in the time position sequence; The compensation module is used to use the estimated speed as the compensation speed to compensate the search speed during maximum value tracking, reduce the maximum value search speed from the running speed of the airship to the difference between the running speed and the estimated speed, and reduce the search return speed.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the antenna maximum tracking method based on speed compensation as described in any one of claims 1 to 8 is implemented.

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