Laser communication station levelness compensation system and method based on nine-axis sensor

Abstract

The invention discloses a laser communication station levelness compensation system and method based on a nine-axis sensor. Belongs to the technical field of laser communication, and particularly relates to a laser communication station levelness compensation system and method based on a nine-axis sensor. The system comprises a nine-axis sensor, a ground station tracking frame, a tracking frame base and a station control system. The method comprises the following steps: collecting an actual azimuth angle and an actual pitch angle of a tracking frame; receiving three-axis acceleration and three-axis magnetic field intensity information; calculating a roll angle, a pitch angle and a yaw angle of the nine-axis sensor body under a coordinate system; calculating the inclination angle of the ground station around the east-west direction and the inclination angle around the south-north direction relative to the east-north-sky coordinate system; calculating an azimuth angle and a pitch angle of the ground station tracking frame relative to the east-north-sky coordinate system; and calculating a final azimuth horizontal compensation amount and a final pitching horizontal compensation amount.

Description

Technical Field

[0001] The present invention relates to the field of laser communication technology, and in particular to the field of a laser communication station horizontality compensation system and method based on a nine-axis sensor. Background Art

[0002] Laser communication ground stations are generally lightweight and mobile, allowing for rapid relocation to different scenarios. They offer flexible site selection and do not rely on fixed infrastructure. However, a significant drawback is that, due to their lack of a fixed foundation, mobile stations are susceptible to external environmental influences (such as wind and vehicle-mounted platform vibrations), which can cause slight deformation of the base platform, leading to a certain degree of deviation in the ground station's orientation. In severe cases, this can affect normal ground station communications. Manual leveling requires operators to manually calibrate the equipment, which is inefficient and time-consuming. Repeated adjustments also increase labor costs. Furthermore, manual adjustments are highly dependent on the operator's expertise and can easily introduce subjective errors if procedures are not strictly followed. Summary of the Invention

[0003] In response to the problem that existing technologies cannot meet the horizontal compensation requirements of laser communication ground stations, the present invention provides a laser communication station horizontality compensation system and method based on a nine-axis sensor. According to the acceleration and magnetic field strength information, the horizontal compensation amount of the laser communication ground station is gradually calculated.

[0004] The system includes: a nine-axis sensor, a ground station tracking frame, a tracking frame base and a station control system; The nine-axis sensor includes: a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer; The nine-axis sensor is used to output the three-axis acceleration and three-axis magnetic field strength in the nine-axis sensor body coordinate system; The ground station tracking frame is used to receive instructions from the station control system and move according to the instruction angle of the station control system; The tracking frame base is used to connect the nine-axis sensor and the ground station tracking frame; The station control system is used to send commands to control the ground station tracking frame and collect the actual azimuth angle of the ground station tracking frame in real time. and actual pitch angle ; Used to calculate the horizontal compensation of laser communication ground station.

[0005] Furthermore, the horizontal compensation amount of the laser communication ground station includes: a final azimuth horizontal compensation amount and a final pitch horizontal compensation amount.

[0006] A method for compensating the horizontality of a laser communication station based on a nine-axis sensor is provided, wherein the method is implemented using the above-mentioned laser communication station horizontality compensation system based on a nine-axis sensor, and the method comprises the following steps: S31, the station control system controls the ground station tracking frame to move according to the command angle and collects the actual azimuth angle of the tracking frame in real time and actual pitch angle ; S32, the station control system receives the three-axis acceleration and three-axis magnetic field strength information in the nine-axis sensor body coordinate system output by the nine-axis sensor; S33, the station control system calculates the roll angle in the nine-axis sensor body coordinate system based on the three-axis acceleration and three-axis magnetic field strength information , pitch angle and yaw angle ; S34. The station control system calculates the tilt angle of the ground station relative to the northeast celestial coordinate system in the east-west direction based on the roll angle, pitch angle and yaw angle. and the angle of inclination around the north-south direction ; S35, the station control system is based on the actual azimuth angle of the ground station tracking frame and actual pitch angle Calculate the azimuth angle of the ground station tracking frame relative to the northeast celestial coordinate system and pitch angle ; S36, station control system according to 、 、 and Calculate the final azimuth horizontal compensation and pitch level compensation .

[0007] Furthermore, the three-axis acceleration and the three-axis magnetic field strength respectively include: Axis acceleration information , Axis acceleration information 、 Axis acceleration information 、 Axis magnetic field strength information 、 Axis magnetic field strength information and Axis magnetic field strength information .

[0008] Furthermore, the roll angle By formula: calculate; Pitch angle By formula: calculate; Yaw angle By formula: Calculate, where and Represent the magnetometer components in Axis and Axis leveling compensation; Yaw angle The value of satisfies: .

[0009] Furthermore, the angle of the ground station tilted in the east-west direction relative to the northeast celestial coordinate system By formula: Calculate, where express In the Northeast Sky Coordinate System Axis acceleration, express In the Northeast Sky Coordinate System Axis acceleration; The tilt angle of the ground station relative to the northeast celestial coordinate system around the north-south direction By formula: Calculate, where express In the Northeast Sky Coordinate System Axis acceleration.

[0010] Furthermore, the azimuth angle of the ground station tracking frame relative to the northeast sky coordinate system By formula: Calculate, where Indicates the offset of the zero point of the ground station tracking frame relative to the zero point of the northeast celestial coordinate system; The value of satisfies: ; The pitch angle of the ground station tracking frame relative to the northeast celestial coordinate system By formula: calculate.

[0011] Furthermore, the final azimuth level compensation satisfy: ;in, Indicates the initial azimuth horizontal compensation amount, ,in, represents the algebra used to calculate the preliminary azimuth horizontal offset, , and Both are used for calculation algebra; , ,in, 、 、 and Respectively 、 、 and The arc measurement.

[0012] Furthermore, the final pitch level compensation By formula: Calculate, where represents the algebra used to calculate the final pitch level compensation, .

[0013] The beneficial effects of the present invention are: (1) The system described in the present invention uses a nine-axis sensor to achieve comprehensive perception of the object's posture and movement through multi-dimensional data fusion.

[0014] (2) The method of the present invention uses the acceleration and magnetic field strength data output by the nine-axis sensor to calculate the tilt angle of the laser communication ground station around the east-west direction and the tilt angle around the north-south direction, which can effectively, quickly and accurately complete the horizontal compensation work of the laser communication ground station.

[0015] (3) The method of the present invention calculates the ground station horizontal compensation based on the laser communication data of the nine-axis sensor, which reduces labor costs and avoids subjective errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a system structure diagram of the present invention; Figure 2 This is a flow chart of the method of the present invention; Figure 3 Schematic diagram of the actual azimuth and pitch angles of the ground station tracking frame of the present invention, where the horizontal axis represents the time of mission execution, the left vertical axis represents the actual azimuth angle, and the right vertical axis represents the actual pitch angle. The solid line curve represents the azimuth angle curve, and the dotted line curve represents the pitch angle curve; Figure 4 Schematic diagram of the azimuth horizontal compensation and pitch horizontal compensation according to the present invention, wherein the horizontal axis represents the time of executing the task, the vertical axis on the left represents the azimuth horizontal compensation, and the vertical axis on the right represents the pitch horizontal compensation. The implementation curve represents the azimuth horizontal compensation curve, and the dotted curve represents the pitch horizontal compensation curve; 1- Nine-axis sensor, 2- Ground station tracking frame, 3- Tracking frame base and 4- Station control system. DETAILED DESCRIPTION

[0017] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0018] Example 1 This embodiment provides a laser communication station level compensation system based on a nine-axis sensor. Figure 1 As shown, the system includes: a nine-axis sensor 1, a ground station tracking frame 2, a tracking frame base 3 and a station control system 4; The nine-axis sensor 1 includes: a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer; Three-axis accelerometer, three-axis gyroscope and three-axis magnetometer axis, Axis and The axes coincide with each other (the axes of each single machine coincide with each other); The nine-axis sensor 1 is used to output the three-axis acceleration and the three-axis magnetic field strength in the coordinate system of the nine-axis sensor 1 body; The acceleration range of the nine-axis sensor 1 is ±16g, where g is the acceleration due to gravity, and the resolution is 0.0005g. The angular velocity measurement range is ±2000° / s, with a resolution of ≤0.02° / s. The magnetic field strength measurement range is ±4900 microtesla, with a resolution of 1.5 milligauss.

[0019] The ground station tracking frame 2 is used to receive instructions from the station control system 4 and move according to the instructions (angle) of the station control system 4; The azimuth axis rotation angle range of the ground station tracking frame 2 is 0 degrees to 360 degrees, and the pitch axis rotation angle range is 0 degrees to 95 degrees. The acceleration range of the nine-axis sensor is ±16g, where g is the acceleration of gravity, and the resolution is 0.0005g. The angular velocity measurement range is ±2000° / s, with a resolution of ≤0.02° / s. The magnetic field strength measurement range is ±4900 microtesla, with a resolution of 1.5 milligauss.

[0020] The tracking frame base 3 is used to connect (carry) the nine-axis sensor 1 and the ground station tracking frame 2; The station control system 4 is used to send instructions to control the ground station tracking frame 2 and collect the actual azimuth angle of the ground station tracking frame 2 in real time. and actual pitch angle ; Used to calculate the horizontal compensation of laser communication ground station.

[0021] The horizontal compensation of the laser communication ground station includes: the final azimuth horizontal compensation and the final pitch horizontal compensation.

[0022] Example 2 This embodiment is a further limitation of embodiment 1. This embodiment provides a method for compensating the horizontality of a laser communication station based on a nine-axis sensor. The method is implemented by using the above-mentioned system for compensating the horizontality of a laser communication station based on a nine-axis sensor. Figure 2 As shown, the method includes the following steps: Step 1: The station control system 4 controls the ground station tracking frame 2 to move according to the instruction (angle) and collects the actual azimuth angle of the tracking frame 2 in real time and actual pitch angle ; Step 2: The station control system 4 receives the three-axis acceleration and three-axis magnetic field strength information in the nine-axis sensor 1 body coordinate system output by the nine-axis sensor 1. The three-axis acceleration and three-axis magnetic field strength information respectively include: Axis acceleration information 、 Axis acceleration information 、 Axis acceleration information 、 Axis magnetic field strength information 、 Axis acceleration information and Axis acceleration information .

[0023] Step 3: The station control system 4 calculates the roll angle of the nine-axis sensor 1 in the body coordinate system based on the three-axis acceleration and three-axis magnetic field strength information , pitch angle and yaw angle , the calculation formula is shown in formulas (1), (2) and (3); (1) (2) The magnetometer components are horizontally compensated: (3) (4) in, and Represent the magnetometer components in Axis and Compensation for axis horizontalization.

[0024] (5) The yaw angle It is limited to 0 to 360 degrees, as shown in formula (6): (6) According to formula (6)

[0025] Step 4: The station control system 4 calculates the tilt angle of the ground station relative to the northeast sky coordinate system in the east-west direction based on the roll angle, pitch angle and yaw angle and the angle of inclination around the north-south direction ; As shown in formula (7), the yaw correction matrix is ​​defined as , Indicates nine-axis sensor 1 around Shaft forward rotation ; (7) The acceleration component in the northeastern sky coordinate system is calculated by formula (8), where: express In the Northeast Sky Coordinate System Axis acceleration, express In the Northeast Sky Coordinate System Axis acceleration, express In the Northeast Sky Coordinate System Axis acceleration; (8) The angle of the ground station's tilt in the east-west direction relative to the northeast celestial coordinate system Calculated by formula (9): (9) The tilt angle of the ground station relative to the northeast celestial coordinate system around the north-south direction Calculated by formula (10): (10) Step 5: The station control system 4 tracks the actual azimuth angle of the ground station 2 and actual pitch angle Calculate the azimuth angle of the ground station tracking frame 2 relative to the northeast sky coordinate system and pitch angle ; Determine the offset of the zero point of the northeast celestial coordinate system relative to the zero point of the ground station tracking frame : Northeast celestial coordinate system, When the axis points to the north, the azimuth angle is 0 degrees, counterclockwise rotation is positive, clockwise rotation is negative, and the tracking frame is rotated horizontally so that the tracking frame axis is aligned with the nine-axis sensor 1. The axes coincide, and the actual angle of the azimuth axis of the ground station tracking frame is recorded at this time. , and the yaw angle The difference is the offset of the zero point of the ground station tracking frame relative to the zero point of the northeast celestial coordinate system, which is recorded as , the zero point offset The range is limited to -180 degrees to 180 degrees by formula (11): (11) Finalization , that is, the offset of the zero point of the northeast celestial coordinate system relative to the zero point of the ground station tracking frame is -21.8129°.

[0026] Azimuth angle of ground station tracking frame 2 relative to the northeast celestial coordinate system Calculated by formula (12): (12) Pitch angle of ground station tracking frame 2 relative to the northeast celestial coordinate system Calculated by formula (13): (13) By formula (14) 、 、 and Converted to radians, where Indicates the input of the radian calculation formula, represents the output of the radian calculation formula. In this embodiment, , ; (14) Final azimuth horizontal compensation Satisfies formula (15): (15) in, Indicates the initial azimuth horizontal compensation amount,

[0027] in, represents the algebra used to calculate the preliminary azimuth horizontal offset,

[0028] in, and Both are used for calculation algebra; (18) (19) in, 、 、 and Respectively 、 、 and The arc measurement.

[0029] Final pitch level compensation Calculated by formula (20): (20) in, Represents the algebraic equation used to calculate the final pitch level compensation (twenty one).

[0030] Example 3 This embodiment further limits Embodiments 1 and 2.

[0031] During a mission, the ground station tracks the actual azimuth angle and actual pitch angle of the frame 2, such as Figure 3 shown.

[0032] Example 4 This embodiment further limits Embodiments 1 and 2.

[0033] During a mission, the azimuth level compensation and the pitch level compensation are as follows: Figure 4 shown.

Claims

1. A laser communication station level compensation system based on a nine-axis sensor, characterized in that: The system comprises: a nine-axis sensor (1), a ground station tracking frame (2), a tracking frame base (3) and a station control system (4); The nine-axis sensor (1) includes: a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer; The nine-axis sensor (1) is used to output the three-axis acceleration and the three-axis magnetic field strength in the coordinate system of the nine-axis sensor (1); The ground station tracking frame (2) is used to receive instructions from the station control system (4) and move according to the instructions of the station control system (4); The tracking frame base (3) is used to connect the nine-axis sensor (1) and the ground station tracking frame (2); The station control system (4) is used to send instructions to control the ground station tracking frame (2) and collect the actual azimuth angle of the ground station tracking frame (2) in real time. and actual pitch angle ; Used to calculate the horizontal compensation of laser communication ground station.

2. The laser communication station levelness compensation system based on the nine-axis sensor according to claim 1 is characterized in that: The laser communication ground station horizontal compensation amount includes: a final azimuth horizontal compensation amount and a final pitch horizontal compensation amount.

3. A method for compensating the horizontality of a laser communication station based on a nine-axis sensor, characterized in that: The method is implemented by using a laser communication station horizontality compensation system based on a nine-axis sensor according to any one of claims 1-2, and the method comprises the following steps: S31, the station control system (4) controls the ground station tracking frame (2) to move according to the command angle, and collects the actual azimuth angle of the tracking frame (2) in real time and actual pitch angle ; S32, the station control system (4) receives the three-axis acceleration and three-axis magnetic field strength information of the nine-axis sensor (1) in the body coordinate system output by the nine-axis sensor (1); S33, the station control system (4) calculates the roll angle of the nine-axis sensor (1) in the body coordinate system based on the three-axis acceleration and three-axis magnetic field strength information , pitch angle and yaw angle ; S34, Station Control System (4) Calculates the tilt angle of the ground station relative to the northeast celestial coordinate system in the east-west direction based on the roll angle, pitch angle and yaw angle and the angle of inclination around the north-south direction ; S35, the station control system (4) is based on the actual azimuth angle of the ground station tracking frame (2) and actual pitch angle Calculate the azimuth angle of the ground station tracking frame (2) relative to the northeast sky coordinate system and pitch angle ; S36, station control system (4) according to 、 、 and Calculate the final azimuth horizontal compensation and pitch level compensation .

4. The method for compensating the horizontality of a laser communication station based on a nine-axis sensor according to claim 3 is characterized in that: The three-axis acceleration and the three-axis magnetic field strength respectively include: Axis acceleration information , Axis acceleration information 、 Axis acceleration information 、 Axis magnetic field strength information 、 Axis magnetic field strength information and Axis magnetic field strength information .

5. The method for compensating the horizontality of a laser communication station based on a nine-axis sensor according to claim 4 is characterized in that: Roll angle By formula: calculate; Pitch angle By formula: calculate; Yaw angle By formula: Calculate, where and Represent the magnetometer components in Axis and Axis leveling compensation; Yaw angle The value of satisfies: .

6. The method for compensating the horizontality of a laser communication station based on a nine-axis sensor according to claim 5, characterized in that: The angle of the ground station's tilt in the east-west direction relative to the northeast celestial coordinate system By formula: Calculate, where express In the Northeast Sky Coordinate System Axis acceleration, express In the Northeast Sky Coordinate System Axis acceleration; The tilt angle of the ground station relative to the northeast celestial coordinate system around the north-south direction By formula: Calculate, where express In the Northeast Sky Coordinate System Axis acceleration.

7. The method for compensating the horizontality of a laser communication station based on a nine-axis sensor according to claim 6, characterized in that: Azimuth angle of the ground station tracking frame (2) relative to the northeast celestial coordinate system By formula: Calculate, where It represents the offset of the zero point of the ground station tracking frame (2) relative to the zero point of the northeast celestial coordinate system; The value of satisfies: ; The pitch angle of the ground station tracking frame (2) relative to the northeast celestial coordinate system By formula: calculate.

8. The method for compensating the horizontality of a laser communication station based on a nine-axis sensor according to claim 7, characterized in that: Final azimuth horizontal compensation satisfy: ;in, Indicates the initial azimuth horizontal compensation amount, ,in, represents the algebra used to calculate the preliminary azimuth horizontal offset, , and Both are used for calculation algebra; ， ,in, 、 、 and Respectively 、 、 and The arc measurement.

9. The method for compensating the horizontality of a laser communication station based on a nine-axis sensor according to claim 8, characterized in that: Final pitch level compensation By formula: Calculate, where represents the algebra used to calculate the final pitch level compensation, 。

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