Self-tracking array plane switching method based on satellite-borne phased-array antenna

Abstract

The invention discloses a self-tracking array plane switching method based on a satellite-borne phased-array antenna, and the method comprises the steps: deducing a directional angle of an airship body system and a directional angle of the other array plane through the conversion of a spatial vector geometrical relationship according to the installation positions of two array planes based on a satellite body coordinate system, and transmitting the directional angles in a measurement and control subsystem; when a target is shifted to the wave beam range of a certain array plane, the array plane can be tracked at a transmission directional angle immediately, a communication link can be effectively connected, the wave beam range of the whole antenna is improved to 110 degrees from 60 degrees of a single array plane, and the double array planes are in an overlapping area of 5 degrees.

Description

Technical Field

[0001] The invention relates to the field of satellite measurement, control and communication, and in particular to a self-tracking array switching method based on a satellite-borne phased array antenna. Background Art

[0002] The capture and tracking of signals by satellite-borne antennas is a core technology in the field of satellite measurement, control and communication, and is the primary condition for establishing a communication link. Currently, the commonly used capture methods for satellite-borne antennas are program tracking and self-tracking. Program tracking is to calculate the pointing angle of the phased array antenna through the orbit, attitude, time and other information provided by the satellite platform, and complete the real-time pointing to the target; self-tracking is to capture and demodulate the target beacon signal through the tracking receiver, extract the angle error and feed it back to the antenna, and adjust the antenna closed-loop pointing in real time. Due to the complex source of platform data errors, the errors cannot be fully compensated during the program-controlled calculation process, and the accuracy of the antenna pointing angle calculated by program control is low. In practical applications, program-controlled tracking is usually used as a traction to make the target fall into the capture range of the tracking receiver, and quickly enter self-tracking to perform system closed-loop pointing control to get rid of the influence of platform data errors, thereby improving the stability and reliability of the communication link.

[0003] With the continuous development of satellite-borne antenna technology, phased array antennas are increasingly used in satellite measurement and control, communications and other fields. The beam of the phased array antenna is realized through electronic control, and instantaneous beam switching can be achieved without mechanical rotation, thereby achieving continuous stable and low-latency communication. Compared with traditional mechanical rotating antennas, the pointing angle adjustment range of phased array antennas is lower, generally within the range of ±60°. In order to increase the availability of satellite-to-ground and intersatellite links, large-angle capture and tracking based on phased array antennas can be achieved through dual-array relay.

[0004] Traditional dual-antenna relay control is implemented by instructions. The satellite computer determines that the current target is within the coverage of antenna A or antenna B based on the position, attitude and other information provided by the satellite platform, as well as the target position and other information given on the ground, and makes antenna A or antenna B work through work instructions. This method relies on the accuracy of the position and attitude information provided by the satellite. For deep space exploration, due to the limited accuracy of platform data, the reliability of this method is reduced, and measurement and control are required to build a stable and reliable communication link with self-tracking closed-loop control. Phased array antennas mainly use single-array program tracking, and rarely use self-tracking and dual-array methods. Therefore, when dual-array self-tracking relays, it is currently an urgent need to switch arrays smoothly and quickly. Summary of the invention

[0005] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and provide a method for switching the self-tracking array surface based on a satellite-borne phased array antenna, so as to achieve comprehensive, rapid and accurate capture and tracking of signals by multiple satellite-borne phased array antennas during dual-array self-tracking relay.

[0006] The technical solution of the present invention is: a method for switching the self-tracking array surface based on a satellite-borne phased array antenna, comprising:

[0007] Obtain the transfer matrix I of the first array relative to the satellite system, and the transfer matrix II of the second array relative to the satellite system;

[0008] The first array face is used to obtain the first array face pointing angle through self-tracking, and the satellite pointing angle under the original system is obtained according to the first array face pointing angle and transfer matrix I;

[0009] When the first array determines that the target has fallen into the beam range of the second array, the satellite's pointing angle and array conversion mark are transmitted to the second array. The first array maintains the first array pointing angle and starts timing T.

[0010] After the second array receives the array conversion mark, the control module is powered on immediately, and the second array pointing angle is obtained according to the pointing angle and transfer matrix II in the satellite body coordinate system, and the array element is controlled to output the corresponding wave control code, and the timing 2T is started;

[0011] When the timing T time is up, the first array face is controlled to point to (0,0), and the second array face completely takes over the first array face to continue self-tracking, and the second array face pointing angle is updated in real time; when the timing 2T time is up, the module of the first array face is powered off, and the array face switching is completed.

[0012] Furthermore, the transfer matrix I of the first array relative to the satellite system and the transfer matrix II of the second array relative to the satellite system are obtained in the following way:

[0013]

[0014]

[0015] Among them, R A is the transfer matrix I, R B is the transfer matrix II;

[0016] (ω XA ,ω YA ,ω ZA ) is the first array installation position. According to the right-hand spiral rule, with the satellite system as a reference, first rotate around the Z axis of the satellite system ω ZA , and then rotate around the X-axis of the satellite system ω XA , and finally rotate around the Y axis of the satellite system ω YA , get the first array coordinate system; (ω XB ,ω YB ,ω ZB ) is the installation position of the second array. According to the right-hand spiral rule, with the satellite system as a reference, first rotate around the Z axis of the satellite system ωZB , and then rotate around the X-axis of the satellite system ω XB , and finally rotate around the Y axis of the satellite system ω YB , and obtain the second array coordinate system.

[0017] Furthermore, according to the first array pointing angle and transfer matrix I, the satellite pointing angle in this system is obtained as follows:

[0018] Calculate the three components X in the first array coordinate system A , Y A , Z A :

[0019]

[0020] in, is the first array pointing angle, θ A The first array faces point to the center angle. is the first array pointing azimuth;

[0021] Calculate the three components X in the satellite body coordinate system SA , Y SA , Z SA :

[0022]

[0023] Among them, R A -1 For R A The inverse matrix of

[0024] Calculate the pointing angle in the satellite body coordinate system

[0025]

[0026] Furthermore, according to the pointing angle and transfer matrix II in the satellite body coordinate system, the second array pointing angle is obtained as follows:

[0027] Calculate the three components X in the satellite body coordinate system SB , Y SB , Z SB :

[0028]

[0029] Calculate the three components X in the second array coordinate system B , Y B , Z B :

[0030]

[0031] Calculate the second array pointing angle

[0032]

[0033] Furthermore, a self-tracking algorithm is embedded in each array to obtain the array pointing angle according to the azimuth and elevation error voltage of the tracking receiver.

[0034] The present invention also provides a self-tracking array switching system based on a satellite-borne phased array antenna, comprising:

[0035] The first module is used to obtain the transfer matrix I of the first array relative to the satellite system, and the transfer matrix II of the second array relative to the satellite system;

[0036] The second module is used to obtain the first array face pointing angle by self-tracking, and obtain the satellite pointing angle in the system according to the first array face pointing angle and the transfer matrix I;

[0037] The third module is used for transmitting the pointing angle and the array conversion mark of the satellite system to the second array when the first array determines that the target has fallen into the beam range of the second array, and the first array maintains the first array pointing angle and starts timing T;

[0038] The fourth module is used for controlling the module to power on immediately after the second array receives the array conversion mark, obtaining the second array pointing angle according to the pointing angle and transfer matrix II in the satellite body coordinate system, controlling the array element to output the corresponding wave control code, and starting the timing 2T;

[0039] In the fifth module, when the timing T time is up, the first array face is controlled to point to (0,0), and the second array face completely takes over the first array face to continue self-tracking, and the second array face pointing angle is updated in real time; when the timing 2T time is up, the module of the first array face is powered off, and the array face switching is completed.

[0040] Furthermore, in the first module, the transfer matrix I of the first array relative to the satellite system and the transfer matrix II of the second array relative to the satellite system are obtained, and the specific method is:

[0041]

[0042] Among them, R A is the transfer matrix I, R B is the transfer matrix II;

[0043] (ω XA ,ω YA ,ω ZA ) is the first array installation position. According to the right-hand spiral rule, with the satellite system as a reference, first rotate around the Z axis of the satellite system ω ZA , and then rotate around the X-axis of the satellite system ωXA , and finally rotate around the Y axis of the satellite system ω YA , get the first array coordinate system; (ω XB ,ω YB ,ω ZB ) is the installation position of the second array. According to the right-hand spiral rule, with the satellite system as a reference, first rotate around the Z axis of the satellite system ω ZB , and then rotate around the X-axis of the satellite system ω XB , and finally rotate around the Y axis of the satellite system ω YB , and obtain the second array coordinate system.

[0044] Furthermore, in the second module, the pointing angle of the satellite in this system is obtained according to the pointing angle of the first array and the transfer matrix I. The specific method is:

[0045] Calculate the three components X in the first array coordinate system A , Y A , Z A :

[0046]

[0047] in, is the first array pointing angle, θ A The first array faces point to the center angle. is the first array pointing azimuth;

[0048] Calculate the three components X in the satellite body coordinate system SA , Y SA , Z SA :

[0049]

[0050] Among them, R A -1 For R A The inverse matrix of

[0051] Calculate the pointing angle in the satellite body coordinate system

[0052]

[0053] Furthermore, in the fourth module, the second array pointing angle is obtained according to the pointing angle and transfer matrix II in the satellite body coordinate system. The specific method is:

[0054] Calculate the three components X in the satellite body coordinate system SB , Y SB , Z SB :

[0055]

[0056] Calculate the three components X in the second array coordinate system B , Y B , Z B :

[0057]

[0058] Calculate the second array pointing angle

[0059]

[0060] Furthermore, a self-tracking algorithm is embedded in each array to obtain the array pointing angle according to the azimuth and elevation error voltage of the tracking receiver.

[0061] The advantages of the present invention compared with the prior art are:

[0062] (1) The present invention proposes to deduce the pointing angle of the spacecraft system and the pointing angle of the other array face based on the installation positions of the two array faces based on the satellite body coordinate system through the conversion of the space vector geometric relationship, and transmit them within the measurement and control subsystem; when the target enters the beam range of a certain array face, the array face can immediately track with the transmitted pointing angle, the communication link can be effectively connected, and the beam range of the entire antenna is increased from 60° of a single array face to 110°, with a 5° overlapping area of ​​the two array faces.

[0063] (2) This method does not involve platform data and does not rely on satellite computer instructions. The algorithm is simple, easy to implement, and highly autonomous. During the entire switching process, the communication signal is continuous and uninterrupted, and the array switches seamlessly, effectively reducing the burden on satellite computing equipment and ground measurement and control.

[0064] (3) This method is highly scalable. It only needs to know the installation position of the array based on the satellite's coordinate system and the pointing angle of the spacecraft's coordinate system to obtain the antenna pointing angle of the target under each array. It can also be applied to multi-array antennas. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 is a flow chart of the method of the present invention;

[0066] Figure 2 Schematic diagram of the antenna pointing angle of the present invention;

[0067] Figure 3 In the embodiment of the present invention, it is a diagram showing angle changes during the switching process of the array surface;

[0068] Figure 4 A diagram showing changes in the digital AGC and error signal during the switching of the array surface in an embodiment of the present invention. DETAILED DESCRIPTION

[0069] In order to better understand the technical solution of the present invention, the specific implementation mode of the present invention is described in detail below with reference to the accompanying drawings.

[0070] The calculation input parameters of the method of the present invention include: the installation position of the array A (ω XA ,ω YA ,ω ZA ), which means that according to the right-hand spiral rule, with the satellite system as the reference, it first rotates around the satellite Z axis ω ZA , and then rotate around the satellite's X axis ω XA , and finally rotate around the satellite Y axis ω YA , we can get the coordinate system of the array A; the installation position of the array B (ω XB ,ω YB ,ω ZB ), which means that according to the right-hand spiral rule, with the satellite system as the reference, it first rotates around the satellite Z axis ω ZB , and then rotate around the satellite's X axis ω XB , and finally rotate around the satellite Y axis ω YB , the front B coordinate system can be obtained.

[0071] Each array is embedded with a self-tracking algorithm, which can obtain the array pointing angle based on the azimuth and elevation error voltage of the tracking receiver. If the array switches from array A to array B, the pointing angle of array A will be is the input item; if the array B switches to the array A, the pointing angle of the array B For input items. Figure 2 As shown in the figure, the array center angle θ is the angle between the target vector and the array + Z axis, and the array azimuth angle It is the angle between the projection of the target vector on the XOY plane of the array and the X-axis of the array, and is positive when rotating counterclockwise from the +X axis of the array.

[0072] The main technical steps of the present invention can be referred to Figure 1 Here, we take the switching from front A to front B as an example, which includes the following steps:

[0073] Step 1: Calculate the transfer matrix R of the phased array antenna surface A relative to the satellite system A , and the transfer matrix R of the array B relative to the satellite system B .

[0074]

[0075]

[0076] Step 2: The same target has a unique pointing angle in the satellite system at the same time. The same target has different pointing angles in different arrays at the same time. Therefore, it is necessary to use the pointing angle of array A to calculate the pointing angle of array A. Calculate the pointing angle in the satellite's coordinate system

[0077] Step 2.1: Calculate the three components X in the A-plane coordinate system A , Y A , Z A :

[0078]

[0079] Step 2.2: Calculate the three components X in the satellite body coordinate system SA , Y SA , Z SA :

[0080]

[0081] Where R A -1 Represents R A The inverse matrix of .

[0082] Step 2.3: Calculate the pointing angle in the satellite coordinate system

[0083]

[0084] Step 3: Array A determines θ B The beam has fallen into the range of the array B, and the pointing angle of the satellite system is The array conversion mark is transmitted to array B through the communication port, and array A maintains the pointing angle And start timing T.

[0085] Step 4: After receiving the array switching mark, array B immediately controls the module to power on and adjusts the direction according to the satellite’s own system’s pointing angle. Calculate the pointing angle of array B The control array element outputs the corresponding wave control code and starts timing 2T.

[0086] Specifically, calculate the pointing angle of array surface B

[0087] Step 3.1: Calculate the three components X in the satellite body coordinate system SB , Y SB , Z SB :

[0088]

[0089] Step 3.2: Calculate the three components X in the B coordinate system B , Y B , Z B:

[0090]

[0091] Step 3.3: Calculate the pointing angle of array B

[0092]

[0093] Step 5: When the timing T time is up, array A is controlled to point to (0,0) to avoid interference between arrays. Array B completely takes over array A to continue self-tracking, and updates the pointing angle of array B in real time according to the azimuth and pitch error voltage of the tracking receiver; when the timing 2T time is up, the array A module is powered off, array A enters the waiting state, and the array switching is completed.

[0094] The following is an explanation of the effectiveness of this method: In one possible way, the array A installation position (ω XA ,ω YA ,ω ZA )=(0,1.5708,2.234), array B installation position (ω XB ,ω YB ,ω ZB )=(0,1.5708,0.9076), the system works in automatic tracking mode, initially working on array A, and controls the turntable to switch the target beam from array A to array B. In this process, the communication continuity and automatic tracking angle error are examined.

[0095] Test results such as Figure 3 , Figure 4 As shown, during the entire switching process of array A to array B, there is a 3-second period when plane array A and array B work simultaneously. During this period, communication is continuous without bit errors, angle changes are continuous, digital AGC is normal, azimuth and pitch error voltage of the tracking receiver is normal, and all status telemetry is in line with expectations, indicating that the array switching is successful.

[0096] It is to be understood that the present invention is described by way of embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and embodiments that can fall within the scope of the claims of this application all fall within the scope protected by the present invention.

[0097] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A method for switching the self-tracking array surface based on a spaceborne phased array antenna, characterized in that: include: Obtain the transfer matrix I of the first array relative to the satellite system, and the transfer matrix II of the second array relative to the satellite system; The first array face is used to obtain the first array face pointing angle through self-tracking, and the satellite pointing angle under the original system is obtained according to the first array face pointing angle and transfer matrix I; When the first array determines that the target has fallen into the beam range of the second array, the satellite's pointing angle and array conversion mark are transmitted to the second array. The first array maintains the first array pointing angle and starts timing T. After the second array receives the array conversion mark, the control module is powered on immediately, and the second array pointing angle is obtained according to the pointing angle and transfer matrix II in the satellite body coordinate system, and the array element is controlled to output the corresponding wave control code, and the timing 2T is started; When the timing T time is up, the first array face is controlled to point to (0,0), and the second array face completely takes over the first array face to continue self-tracking, and the second array face pointing angle is updated in real time; when the timing 2T time is up, the module of the first array face is powered off, and the array face switching is completed.

2. The method for switching the self-tracking array surface based on a satellite-borne phased array antenna according to claim 1 is characterized in that: Get the transfer matrix I of the first array relative to the satellite system, and the transfer matrix II of the second array relative to the satellite system. The specific method is: Among them, R A is the transfer matrix I, R B is the transfer matrix II; (ω XA ,ω YA ,ω ZA ) is the first array installation position. According to the right-hand spiral rule, with the satellite system as a reference, first rotate around the Z axis of the satellite system ω ZA , and then rotate around the X-axis of the satellite system ω XA , and finally rotate around the Y axis of the satellite system ω YA , get the first array coordinate system; (ω XB ,ω YB ,ω ZB ) is the installation position of the second array. According to the right-hand spiral rule, with the satellite system as a reference, first rotate around the Z axis of the satellite system ω ZB , and then rotate around the X-axis of the satellite system ω XB , and finally rotate around the Y axis of the satellite system ω YB , and obtain the second array coordinate system.

3. The method for switching the self-tracking array surface based on a satellite-borne phased array antenna according to claim 2 is characterized in that: According to the first array pointing angle and transfer matrix I, the satellite pointing angle in this system is obtained as follows: Calculate the three components X in the first array coordinate system A , Y A , Z A : in, is the first array pointing angle, θ A The first array faces point to the center angle. is the first array pointing azimuth; Calculate the three components X in the satellite body coordinate system SA , Y SA , Z SA : Among them, R A -1 For R A The inverse matrix of Calculate the pointing angle in the satellite body coordinate system 4. The method for switching the self-tracking array surface based on a satellite-borne phased array antenna according to claim 3 is characterized in that: According to the pointing angle and transfer matrix II in the satellite body coordinate system, the second array pointing angle is obtained as follows: Calculate the three components X in the satellite body coordinate system SB , Y SB , Z SB : Calculate the three components X in the second array coordinate system B , Y B , Z B : Calculate the second array pointing angle 5. The method for switching the self-tracking array surface based on a satellite-borne phased array antenna according to any one of claims 1 to 4, characterized in that: A self-tracking algorithm is embedded in each array, and the array pointing angle is obtained based on the azimuth and elevation error voltage of the tracking receiver.

6. A self-tracking array switching system based on a satellite-borne phased array antenna, characterized in that: include: The first module is used to obtain the transfer matrix I of the first array relative to the satellite system, and the transfer matrix II of the second array relative to the satellite system; The second module is used to obtain the first array face pointing angle by self-tracking, and obtain the satellite pointing angle in the system according to the first array face pointing angle and the transfer matrix I; The third module is used for transmitting the pointing angle and the array conversion mark of the satellite system to the second array when the first array determines that the target has fallen into the beam range of the second array, and the first array maintains the first array pointing angle and starts timing T; The fourth module is used for controlling the module to power on immediately after the second array receives the array conversion mark, obtaining the second array pointing angle according to the pointing angle and transfer matrix II in the satellite body coordinate system, controlling the array element to output the corresponding wave control code, and starting the timing 2T; In the fifth module, when the timing T time is up, the first array face is controlled to point to (0,0), and the second array face completely takes over the first array face to continue self-tracking, and the second array face pointing angle is updated in real time; when the timing 2T time is up, the module of the first array face is powered off, and the array face switching is completed.

7. The self-tracking array switching system based on a satellite-borne phased array antenna according to claim 6 is characterized in that: In the first module, the transfer matrix I of the first array relative to the satellite system and the transfer matrix II of the second array relative to the satellite system are obtained. The specific method is: Among them, R A is the transfer matrix I, R B is the transfer matrix II; (ω XA ,ω YA ,ω ZA ) is the first array installation position. According to the right-hand spiral rule, with the satellite system as a reference, first rotate around the Z axis of the satellite system ω ZA , and then rotate around the X-axis of the satellite system ω XA , and finally rotate around the Y axis of the satellite system ω YA , get the first array coordinate system; (ω XB ,ω YB ,ω ZB ) is the installation position of the second array. According to the right-hand spiral rule, with the satellite system as a reference, first rotate around the Z axis of the satellite system ω ZB , and then rotate around the X-axis of the satellite system ω XB , and finally rotate around the Y axis of the satellite system ω YB , and obtain the second array coordinate system.

8. The self-tracking array switching system based on a satellite-borne phased array antenna according to claim 7 is characterized in that: In the second module, the pointing angle of the satellite in this system is obtained according to the pointing angle of the first array and the transfer matrix I. The specific method is: Calculate the three components X in the first array coordinate system A , Y A , Z A : in, is the first array pointing angle, θ A The first array faces point to the center angle. is the first array pointing azimuth; Calculate the three components X in the satellite body coordinate system SA , Y SA , Z SA : Among them, R A -1 For R A The inverse matrix of Calculate the pointing angle in the satellite body coordinate system 9. The self-tracking array switching system based on a satellite-borne phased array antenna according to claim 8 is characterized in that: In the fourth module, the second array pointing angle is obtained according to the pointing angle and transfer matrix II in the satellite body coordinate system. The specific method is: Calculate the three components X in the satellite body coordinate system SB , Y SB , Z SB : Calculate the three components X in the second array coordinate system B , Y B , Z B : Calculate the second array pointing angle 10. The self-tracking array switching system based on a satellite-borne phased array antenna according to any one of claims 6 to 9, characterized in that: A self-tracking algorithm is embedded in each array, and the array pointing angle is obtained based on the azimuth and elevation error voltage of the tracking receiver.

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