A phased array antenna combined driving system based on a servo turntable
By combining a servo turntable with a phased array antenna drive system, along with GPS and an inertial navigation unit, omnidirectional airspace coverage of the RIS phased array was achieved, solving the problem of limited beam scanning angle and improving communication stability and scanning range.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SUZHOU XINGSHENG RUISI INTELLIGENT TECHNOLOGY CO LTD
- Filing Date
- 2026-05-06
- Publication Date
- 2026-06-05
AI Technical Summary
Existing RIS phased array antennas are limited by beam scanning angle, especially when scanning at large angles, resulting in decreased gain, increased sidelobe level, beam distortion, and reduced angular resolution, making it difficult to achieve 360° all-around airspace coverage.
A combined drive system of servo turntable and phased array antenna is adopted. It achieves rapid beam tracking and mechanical rotation through electronic control. It uses GPS and inertial navigation unit to obtain target position and phased array attitude information, and controls servo turntable to adjust beam pointing to achieve all-round airspace coverage.
It achieves all-around airspace coverage while maintaining rapid electronic scanning response, avoiding communication interruptions, and improving beam pointing accuracy and scanning angle range. It is suitable for fields such as millimeter-wave communication, radar, and satellite communication.
Smart Images
Figure CN122158943A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of reconfigurable smart surface technology, and more specifically to a phased array antenna combination drive system based on a servo turntable. Background Technology
[0002] Reconfigurable smart surfaces (RIS), as a novel electromagnetic control technology, have garnered widespread attention in recent years in fields such as wireless communication and radar detection. By manipulating the reactive characteristics of its numerous subwavelength elements, RIS can flexibly control the phase and amplitude of incident electromagnetic waves, thus enabling beamforming and scanning capabilities. Compared to traditional mechanically scanned antennas, RIS phased arrays offer the following significant advantages: High scanning speed: Beam pointing is achieved electronically, with response times down to the microsecond level. No mechanical wear: Avoiding the mechanical fatigue and periodic maintenance issues of servo systems. Based on these advantages, RIS phased arrays have demonstrated broad application prospects in millimeter-wave communication, radar, and satellite communication.
[0003] Despite the advantages mentioned above, RIS phased arrays still face a key problem in practical applications: limited beam scanning angle. According to phased array antenna theory, the beam scanning range of the array is constrained by both the element pattern and the array factor. When the beam deviates too much from the normal direction, the element gain drops sharply, the increased scanning angle makes the inter-element phase difference more sensitive, and the beam pointing accuracy decreases. At large scanning angles, the effective array aperture decreases, resulting in severe gain loss. Planar phased arrays typically maintain good scanning performance within a range of ±45°. When the scanning angle exceeds this range, the following problems occur: a sharp drop in gain, an increase in sidelobe level, beam distortion, beam broadening, and reduced angular resolution.
[0004] Therefore, how to provide a phased array antenna combination driving system based on a servo turntable to achieve 360° all-round spatial coverage of a single RIS phased array is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention
[0005] In view of this, the present invention provides a phased array antenna combination driving system based on a servo turntable. In existing solutions, the control of the turntable and the phased array is relatively independent, lacking coordinated optimization. Communication interruption or beam pointing discontinuity during turntable rotation does not fully consider the matching relationship between the characteristics of the RIS array and the turntable movement. In the present invention, when the target is within the effective beam scanning range of the RIS phased array, rapid beam tracking is achieved through electronic control. When the target exceeds the coverage angle threshold, the servo turntable drives the RIS array to rotate, so that the beam is re-aligned with the target direction, thereby achieving omnidirectional airspace coverage while maintaining rapid electronic scanning response.
[0006] To achieve the above objectives, the present invention adopts the following technical solution: a phased array antenna combination driving system based on a servo turntable, comprising: a phased array antenna module, a servo turntable module, a positioning calculation module, and a control module; The phased array antenna module is used for electrical scanning and pointing of the beam; The servo turntable module is used to drive the phased array antenna module to perform three-dimensional attitude adjustment. The positioning and calculation module is integrated on the phased array antenna module and is used to obtain the attitude information of the phased array antenna module and the position information of the distant target, and calculate the beam pointing angle. The control module is used to control the operation of the servo turntable module according to the beam pointing angle.
[0007] Preferably, the positioning calculation module includes a GPS unit and an inertial navigation unit; The GPS unit is used to acquire the latitude, longitude, and elevation information of the phased array antenna module and the distant target; The inertial navigation unit is used to collect the heading angle, pitch angle and roll angle attitude information of the phased array antenna module in real time.
[0008] Preferably, the positioning calculation module is used to obtain the normal vector of the phased array antenna module based on the latitude, longitude and elevation information of the phased array antenna module and the distant target, as well as the heading angle, pitch angle and roll angle attitude information of the phased array antenna module; and finally, the beam pointing angle θ and the angle Φ between the beam pointing and the reference axis in the array plane are calculated using the vector dot product formula.
[0009] Preferably, the positioning and calculation module converts the latitude, longitude, and elevation information of the GPS unit into geocentric rectangular coordinates and calculates the relative vector between the target and the phased array antenna module; Convert the obtained relative vector into a local ENU coordinate system vector; By combining the heading angle, pitch angle and roll angle information output by the inertial navigation unit, an attitude information rotation matrix is constructed to obtain the phased array normal unit vector; The angle θ between the target direction and the phased array normal direction is calculated by vector dot product, and the azimuth angle Φ is calculated by combining the array surface azimuth relationship.
[0010] Preferably, the control module has a built-in angle threshold judgment algorithm; The angle threshold determination algorithm includes: When the beam pointing angle θ obtained by real-time calculation is ≤ 45°, the control module controls the servo turntable module to remain stationary, and only the phased array antenna module performs electrical scanning tracking; When 45° < θ ≤ 60°, the control module controls the servo turntable module to adjust the normal direction of the phased array antenna module to a position where θ ≤ 45°.
[0011] Preferably, the servo turntable module is connected to the control module via a network port or an RS485 interface; The servo turntable module drives the phased array antenna module to rotate within an angle range of 0~360°.
[0012] Preferably, the servo turntable module includes: a circular tabletop, a support arm, a central cube, a drive housing, a rotary connecting shaft, and a fixing structure; The circular platform is used to mount the phased array antenna module; The support arm adopts a symmetrically arranged linkage structure; The drive housing receives control commands and outputs rotational power according to the control commands, which drives the support arm to move via the rotational connecting shaft; The support arm drives the circular platform through a linkage mechanism to adjust the attitude of the phased array antenna module; The fixed structure securely connects the drive housing to the intermediate cube.
[0013] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a phased array antenna combination driving system based on a servo turntable. The phased array is mounted on the servo turntable, and electronic scanning is performed within a small angle. When the angle span is large, the turntable rotates and then performs electronic scanning again. When the target is within the effective beam scanning range of the RIS phased array, fast beam tracking is achieved through electronic control. When the target exceeds the coverage angle threshold, the servo turntable drives the RIS array to rotate, so that the beam is re-aligned with the target direction, thereby achieving all-round airspace coverage while maintaining fast electronic scanning response. Attached Figure Description
[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.
[0015] Figure 1 A schematic diagram of the beam angle of a RIS phased array antenna provided in an embodiment of the present invention.
[0016] Figure 2 This is a schematic diagram of the beam angle pointing range provided in an embodiment of the present invention.
[0017] Figure 3This is a schematic diagram of a phased array equipped with GPS and inertial navigation, provided in an embodiment of the present invention.
[0018] Figure 4 This is a schematic diagram of a gyroscope and GPS coordinate system provided in an embodiment of the present invention.
[0019] Figure 5 This is a schematic diagram of the coordinate system of the gyroscope and antenna provided in an embodiment of the present invention.
[0020] Figure 6 This is a schematic diagram of the servo turntable structure provided in an embodiment of the present invention.
[0021] Figure 7 This is a schematic diagram of the phased array and turntable control connection provided in an embodiment of the present invention. Detailed Implementation
[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0023] This invention discloses a phased array antenna combination driving system based on a servo turntable, comprising: a phased array antenna module, a servo turntable module, a positioning calculation module, and a control module; The phased array antenna module is used for electrical scanning and pointing of the beam; The servo turntable module is used to drive the phased array antenna module to perform three-dimensional attitude adjustment. The positioning and calculation module is integrated on the phased array antenna module and is used to obtain the attitude information of the phased array antenna module and the position information of the distant target, and calculate the beam pointing angle. The control module is used to control the operation of the servo turntable module according to the beam pointing angle.
[0024] Specifically, the positioning calculation module includes a GPS unit and an inertial navigation unit; The GPS unit is used to acquire the latitude, longitude, and elevation information of the phased array antenna module and the distant target; The inertial navigation unit is used to collect the heading angle, pitch angle and roll angle attitude information of the phased array antenna module in real time.
[0025] Specifically, the inertial navigation unit uses a gyroscope.
[0026] Specifically, the phased array antenna is equipped with a gyroscope and GPS positioning. As the target moves or the phased array itself moves, it can automatically track and point to the distant target based on the algorithm, achieving real-time tracking.
[0027] When the target is outside the beam range of the phased array antenna, it is adjusted to the optimal performance beam range of the phased array by three-dimensional rotation of a mechanical turntable, thereby achieving the continuity of communication between the two ends.
[0028] Specifically, the RIS phased array calculates the directional angle between the distant target and the phased array by fusing the three directional angles of its own gyroscope with the phased array's own beam angle coordinate system and combining this with GPS positioning information. This allows it to determine the beam direction and assign a value. However, phased array beam scanning has a limited range, typically ±60°. Beyond this range, performance degrades drastically, making normal communication impossible. In such cases, a turntable needs to be mechanically rotated to bring the phased array facets within its beam pointing range, ensuring the phased array remains aligned with the target.
[0029] Specifically, the positioning calculation module is used to obtain the normal vector of the phased array antenna module based on the latitude, longitude and elevation information of the phased array antenna module and the distant target, as well as the heading angle, pitch angle and roll angle attitude information of the phased array antenna module; finally, the beam pointing angle θ and the angle Φ between the beam pointing and the reference axis in the array plane are calculated using the vector dot product formula.
[0030] Specifically, the positioning and calculation module converts the latitude, longitude, and elevation information of the GPS unit into geocentric rectangular coordinates and calculates the relative vector between the target and the phased array antenna module. Convert the obtained relative vector into a local ENU coordinate system vector; By combining the heading angle, pitch angle and roll angle information output by the inertial navigation unit, an attitude information rotation matrix is constructed to obtain the phased array normal unit vector; The angle θ between the target direction and the phased array normal direction is calculated by vector dot product, and the azimuth angle Φ is calculated by combining the array surface azimuth relationship, so as to achieve precise beam pointing positioning.
[0031] Specifically, GPS latitude and longitude can calculate the distance and relative altitude between two points, while the gyroscope can calculate three attitude angles. By integrating the GPS coordinates and the gyroscope coordinate system, the angle between the vector (line segment) between the two points and the three axes of the gyroscope can be obtained. Since the initial positions of the gyroscope and the phased array antenna are fixed, the angle between the vector between the two points and the antenna array can be obtained, thus determining the angle of the antenna beam and transmitting it.
[0032] By converting GPS latitude and longitude to geocentric rectangular coordinates, transforming the coordinates to the local ENU coordinate system, and calculating the normal vector of the phased array antenna module using the attitude information rotation matrix, the beam pointing angle θ and the angle Φ between the beam pointing direction and the reference axis within the array plane are finally calculated using the vector dot product formula. The beam pointing angle θ is the angle between the beam pointing direction and the normal direction of the phased array antenna module. Its optimal operating range is θ≤45°, and the critical operating range is 45°<θ≤60°. When θ>60°, the communication performance of the phased array antenna module decreases significantly. Φ is the angle between the beam pointing direction within the array surface and the reference axis, and its value ranges from 0 to 360°.
[0033] Specifically, the control module has a built-in angle threshold judgment algorithm; The angle threshold determination algorithm includes: When the beam pointing angle θ obtained by real-time calculation is ≤ 45°, the control module controls the servo turntable module to remain stationary, and only the phased array antenna module performs electrical scanning tracking; When 45° < θ ≤ 60°, the control module controls the servo turntable module to adjust the normal direction of the phased array antenna module to a position where θ ≤ 45°.
[0034] Specifically, the servo turntable module communicates with the control module via a network port or an RS485 interface; The servo turntable module drives the phased array antenna module to rotate within an angle range of 0~360°, which is used to fill the electrical scanning angle coverage blind spots of the phased array antenna module, enabling the system as a whole to achieve large-angle beam coverage of ±90° and above.
[0035] Specifically, the servo turntable module includes: a circular tabletop, a support arm, a central cube, a drive housing, a rotary connecting shaft, and a fixing structure; The circular platform is used to mount the phased array antenna module; The support arm adopts a symmetrically arranged linkage structure; The drive housing receives control commands and outputs rotational power according to the control commands, which drives the support arm to move via the rotational connecting shaft; The support arm drives the circular platform through a linkage mechanism to adjust the attitude of the phased array antenna module; The central cube serves as the central support, working in conjunction with the central pivot to ensure coaxiality and stability during the adjustment of the platform.
[0036] The fixed structure securely connects the drive housing to the intermediate cube.
[0037] In one specific embodiment of the present invention, firstly, asFigure 1 The diagram shows the beam pointing definition of the entire RIS phased array antenna. The beam pointing is defined in a three-dimensional coordinate system, divided into X, Y, and Z axes. However, in terms of specific spatial values, only two angles, θ and Φ, are represented. Φ defines the angle range between the Y-axis and the array surface, with the Y-axis as the reference. This angle varies from 0 to 360°. Figure 1 As shown, θ defines the angle between the beam pointing direction and the direction perpendicular to the Z-axis of the array surface. The Z-axis is also the normal direction. In a special case, when θ=0, the beam normal coincides with the Z-axis. At this time, Φ can be any value. This is the definition of the beam pointing direction of the phased array antenna. Once the angle value of Φ is determined, the spatial vector pointing direction of the beam is uniquely determined.
[0038] like Figure 2 As shown, the beam pointing of a phased array is not arbitrary in space; it has a pointing range, Φ = 0~360°, which remains constant. However, the angle range of θ is only 0~60°. Beyond 60°, performance degrades significantly, and the phased array can no longer function. 60° is considered a critical point where performance has already degraded to the 3dB critical point. This is an inherent drawback of phased array antennas. Ideally, performance should be achieved within ±45°, that is, within θ = 45°. Figure 2 As shown, the beam pointing range is a 120-degree spatial cone. As long as the beam is within the cone's range, antenna communication will function normally. Beyond this cone, the phased array beam cannot cover the area, potentially leading to communication interruption. Figure 2 The cone in the diagram indicates the beam pointing range of the phased array.
[0039] like Figures 3 to 5 As shown, in this embodiment of the invention, an inertial gyroscope is mounted on the back of the antenna to calculate the attitude angles of the antenna in various directions in real time. The gyroscope coordinate system is completely consistent with the antenna array beam coordinate system. At the same time, the phased array also contains a GPS positioning system to obtain the GPS positioning information of the remote device. Combined with the attitude information from the gyroscope, and through simple mathematical trigonometric function calculations, the angles θ and Φ between the beam direction and the antenna normal between the target end and the antenna array can be determined, thereby obtaining the output beam pointing angle. The specific calculation formula is as follows: First, convert GPS latitude and longitude to local rectangular coordinates → calculate the spatial vector from B to A → use attitude angles to calculate the phased array normal vector → use the vector dot product to calculate the included angle θ, specifically including: Phased array body coordinate system (consistent with gyroscope): Origin: Phased array center point B; x and y axes: located inside the array plane; z axis: phased array normal (perpendicular to the array plane and outwards). Attitude angles (gyroscope output, aviation standard 3-2-1 rotation) ψ: heading angle / yaw angle (rotation about the z-axis of the body) θ: pitch angle (rotation about the y-axis of the body) Φ: roll angle (rotation about the x-axis of the body); Geographic coordinates (WGS-84 system) latitude, longitude, and elevation: A(λ1,Φ1,h1), B(λ2,Φ2,h2); Local coordinate system: ENU (East-North-Sky), origin at point B; Step 1: GPS latitude and longitude → Geocentric rectangular coordinates (ECEF); Convert the latitude, longitude, and elevation of A and B to WGS-84 geocentric rectangular coordinates (X, Y, Z). formula: X = (N + h)cosΦcosλ; Y = (N + h)cosΦsinλ; Z=(N(1-e 2 )+h)sinΦ; Where: a = 6378137m (WGS84 major semi-axis), e 2 =0.00669437999014 (square of the first eccentricity), N=1-e 2 sin2Φa (radius of curvature of the trochanteric circle); Calculate the ECEF relative vector from B to A: ΔX=X A -X B ΔY=Y A -Y B ΔZ=Z A -Z B .
[0040] Step 2: ECEF vector → Local ENU coordinate system vector
[0041] Construct a rotation matrix using the latitude and longitude (λ2, Φ2) of point B to transform the ECEF relative vector into an East-North-Sky (ENU) vector: VENU=[-sinλ2-sinΦ2cosλ2, cosΦ2cosλ2, cosλ2, -sinΦ2sinλ2, cosΦ2sinλ2, 0, cosΦ2, sinΦ2]×[ΔXΔYΔZ]; We obtain: VENU=(E,N,U); this vector represents the direction of the line from B to A in the local horizontal coordinate system.
[0042] Step 3: Calculate the ENU vector of the phased array normal from the attitude angle: The phased array normal is equal to the z-axis of the body coordinate system. The z-axis of the body is rotated to the ENU system by the attitude angle rotation matrix. Rotation matrix (body → ENU), R = Rz(ψ) Ry(θ) Rx( ); Specifically, the single-axis rotation matrix is represented as: ; The z-axis of the body is [0,0,1]. T After rotation, the unit vector of the normal under ENU is obtained: (i.e., the third column of the rotation matrix R).
[0043] Step 4: Calculate the angle between line AB and the normal, and use the dot product formula to calculate the angle α: ; Since nENU is a unit vector, |nENU|=1, which simplifies to: ; α=arccos(∣VENU∣VENU nENU), which is θ on the antenna.
[0044] This invention maintains the communication connection between the remote device and the antenna array. As the remote device moves, the GPS information between the two points is constantly updated, thereby continuously generating new beam pointing θ and Φ, ensuring that the beam is aligned with the remote device and maintaining smooth communication.
[0045] Specifically, such as Figure 6 The diagram shows a servo turntable structure according to an embodiment of the present invention. The top support structure of the circular platform is used to fix the phased array antenna or other loads. The center has a pre-drilled mounting hole, and the bolt holes on the edge are used to reliably fix the load, ensuring installation coaxiality and stability.
[0046] The symmetrically arranged linkage structure of the support arms is a key moving component of the parallel mechanism. It transmits power through the hinge shafts at both ends to adjust the posture of the platform, while providing sufficient structural rigidity to ensure load-bearing capacity.
[0047] The central cube serves as the central support and transmission hub of the entire mechanism. It is not only the hinged base of the support arm but also houses the transmission / support structure (such as the central shaft and bearings) connected to the platform. It is the core carrier for the transmission of force and motion.
[0048] The drive housing contains a servo motor, reducer, and other power units, which are the power source for the turntable. By controlling the rotation of the output shaft, it provides precise power input to the entire mechanism.
[0049] The rotating connecting shaft transmits the power of the drive box to the support arm. The rotation of the shaft drives the support arm to move, thereby adjusting the posture of the table. The fixed structure reliably connects the drive housing to the intermediate cube or base, ensuring the installation accuracy and stability of the drive unit and preventing loosening during operation.
[0050] In this embodiment of the invention, the symmetrical support arms on both sides work in coordination with the drive unit: The drive housing outputs rotational power, which drives the support arm to move via the rotating connecting shaft; The support arm drives the top circular platform to adjust its attitude, such as pitch and tilt, through a linkage mechanism; The central cube serves as the central support, working in conjunction with the central pivot to ensure coaxiality and stability during the adjustment of the platform.
[0051] The advantages of this structure are fast response speed, high rigidity, strong load capacity and high motion accuracy. It is very suitable for applications such as phased array antennas that require fast and high-precision attitude adjustment. It can be used with electronically scanned phased arrays to achieve beam pointing control over a wide angle range.
[0052] The circular platform directly mounts the phased array antenna module, drives the housing to receive control commands, and quickly adjusts the antenna attitude through the support arm. In conjunction with the phased array's electronic scanning function, it achieves a working mode of rapid electronic scanning tracking and large-angle positioning by the mechanical turntable.
[0053] like Figure 6 and Figure 7 As shown, due to the limitations of phased array antenna beam scanning, optimal performance is achieved within ±45° of normal deviation. Beyond this range, performance drops sharply, and communication may even be interrupted. Therefore, when the phased array beam is pointed at the target, whether the remote device or the phased array device itself is moving, θ and Φ are dynamically changing. When θ exceeds 45° but is within 60°, the phased array will control the turntable to perform three-dimensional rotation adjustment via the network port or RS485 interface. (The last sentence appears to be incomplete and possibly refers to a connection or connection method.) Figure 7 As shown, the antenna beam is adjusted to any range within 45 degrees θ to ensure that the phased array operates within its optimal performance beam range (e.g., Figure 2 The cone shown is described in detail below: Knowing the GPS information and the gyroscope three-axis information, we can accurately calculate θ and Φ, which is the beam direction. The beam direction will change continuously as the GPS updates (up to 100Hz) and the gyroscope three-axis information updates (500Hz).
[0054] In other words, regardless of whether the remote device moves or the device rotates locally, the values of θ and Φ are updated in real time. Therefore, the phased array control module of this embodiment can always know the values of θ and Φ. If θ is within 45°, the servo turntable is not activated (remaining stationary). When the beam direction exceeds θ by more than 45° (assuming θ = 59° after calculation, exceeding the 45° threshold by 14°), the phased array control module will control the servo turntable via the network port or RS-485 interface to rotate it in the opposite direction to a position where θ ≤ 45°. The optimal choice is to adjust it to θ = 0° or near 0° (the servo has rotated 59°), because the beam with the best performance is near θ = 0°. Since the turntable is triggered to rotate once, it should rotate to the optimal performance. In this way, the threshold remains within 45°, providing a large electrical control range and avoiding frequent control of the servo turntable, thus improving the system's response time, because the beam scanning speed of the phased array is much greater than the speed of mechanical control rotation.
[0055] The beam working range of a servo turntable-assisted phased array can reach a hemisphere of ±90°, allowing real-time tracking and communication regardless of the location of the remote communication device. The phased array antenna has an extremely fast beam scanning response speed, with a beam update rate in the microsecond range, but its range is small, covering only 120 degrees. The mechanical turntable has a slower response speed, in the millisecond range, but a wide rotation angle range, theoretically up to 360° (although 360° is not used in practical applications). This is precisely by utilizing the complementary advantages and disadvantages of each to achieve a high dynamic and high-speed beam response throughout the entire space, ensuring that the remote device can achieve real-time dynamic tracking and maintain smooth communication even when moving at high speed.
[0056] Furthermore, this embodiment of the invention only uses GPS and gyroscopes on the antenna, eliminating the need for a servo turntable, thus reducing production costs. This embodiment is applicable to various communication scenarios, especially terrestrial communication. It does not require RSSI signals from a beacon to determine beam quality; instead, it uses GPS and gyroscopes at both ends to calculate beam pointing, resulting in greater accuracy and extremely fast response speed. It eliminates the need for RSSI strength feedback to determine communication location. The RIS phased array combined with servo drive in this embodiment achieves nanosecond-level response times, suitable for tracking high-speed mobile devices—a feat unmatched by traditional phased arrays that rely on RSSI alignment signals.
[0057] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.
[0058] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A phased array antenna combination driving system based on a servo turntable, characterized in that, include: Phased array antenna module, servo turntable module, positioning calculation module, and control module; The phased array antenna module is used for electrical scanning and pointing of the beam; The servo turntable module is used to drive the phased array antenna module to perform three-dimensional attitude adjustment. The positioning and calculation module is integrated on the phased array antenna module and is used to obtain the attitude information of the phased array antenna module and the position information of the distant target, and calculate the beam pointing angle. The control module is used to control the operation of the servo turntable module according to the beam pointing angle.
2. The phased array antenna combination driving system based on a servo turntable according to claim 1, characterized in that, The positioning calculation module includes a GPS unit and an inertial navigation unit; The GPS unit is used to acquire the latitude, longitude, and elevation information of the phased array antenna module and the distant target; The inertial navigation unit is used to collect the heading angle, pitch angle and roll angle attitude information of the phased array antenna module in real time.
3. The phased array antenna combination driving system based on a servo turntable according to claim 2, characterized in that, The positioning calculation module is used to obtain the normal vector of the phased array antenna module based on the latitude, longitude and elevation information of the phased array antenna module and the distant target, as well as the heading angle, pitch angle and roll angle attitude information of the phased array antenna module; finally, the beam pointing angle θ and the angle Φ between the beam pointing and the reference axis in the array plane are calculated using the vector dot product formula.
4. The phased array antenna combination driving system based on a servo turntable according to claim 3, characterized in that, The positioning and calculation module converts the latitude, longitude and elevation information of the GPS unit into geocentric rectangular coordinates and calculates the relative vector between the target and the phased array antenna module. Convert the obtained relative vector into a local ENU coordinate system vector; By combining the heading angle, pitch angle and roll angle information output by the inertial navigation unit, an attitude information rotation matrix is constructed to obtain the phased array normal unit vector; The angle θ between the target direction and the phased array normal direction is calculated by vector dot product, and the azimuth angle Φ is calculated by combining the array surface azimuth relationship.
5. The phased array antenna combination driving system based on a servo turntable according to claim 3, characterized in that, The control module has a built-in angle threshold judgment algorithm; The angle threshold determination algorithm includes: When the beam pointing angle θ obtained by real-time calculation is ≤ 45°, the control module controls the servo turntable module to remain stationary, and only the phased array antenna module performs electrical scanning tracking; When 45° < θ ≤ 60°, the control module controls the servo turntable module to adjust the normal direction of the phased array antenna module to a position where θ ≤ 45°.
6. The phased array antenna combination driving system based on a servo turntable according to claim 1, characterized in that, The servo turntable module communicates with the control module via a network port or an RS485 interface. The servo turntable module drives the phased array antenna module to rotate within an angle range of 0~360°.
7. The phased array antenna combination driving system based on a servo turntable according to claim 1, characterized in that, The servo turntable module includes: a circular tabletop, a support arm, a central cube, a drive housing, a rotary connecting shaft, and a fixing structure; The circular platform is used to mount the phased array antenna module; The support arm adopts a symmetrically arranged linkage structure; The drive housing receives control commands and outputs rotational power according to the control commands, which drives the support arm to move via the rotational connecting shaft; The support arm drives the circular platform through a linkage mechanism to adjust the attitude of the phased array antenna module; The fixed structure securely connects the drive housing to the intermediate cube.