An adaptive alignment control method and system for a microwave mobile station

Abstract

The application provides a microwave mobile station adaptive alignment control method and system, wherein the method comprises the following steps: mounting the microwave mobile station on a carrier, establishing a microwave communication link between the microwave mobile station and a microwave main station, controlling the carrier to move with the microwave mobile station, and monitoring high-frequency shaking of the carrier in real time. According to the high-frequency shaking, the reverse displacement and reverse angle of the microwave antenna turntable are calculated, and the microwave antenna turntable is controlled to rotate reversely according to the reverse displacement and reverse angle. The application can sense the posture change of the carrier in real time, drive the microwave antenna of the microwave mobile station to move in the opposite direction to offset the disturbance caused by the shaking of the carrier, thereby establishing a stable microwave communication link with the microwave main station during the movement of the microwave mobile station and improving the quality of microwave communication. The application does not depend on the initial accuracy of coarse alignment, can automatically adjust the independent angle variable, and does not need to additionally increase hardware devices.

Description

Technical Field

[0001] This invention relates to the field of microwave communication technology, specifically to an adaptive alignment control method and system for a microwave mobile station. Background Technology

[0002] Microwave antennas are highly directional antennas, concentrating energy within a narrow main beam. Only through alignment can the main beams of the transmitting and receiving antennas completely overlap, preventing significant signal attenuation. Otherwise, the receiver can only capture the weak energy from the sidelobes, resulting in a direct loss of several dB in link budget. Microwave mobile stations are mounted on vehicles or ships. As these vehicles and ships move, the position and orientation of the mobile station's microwave antennas need to be adjusted in real time to align with the main station's antenna, thereby mitigating the risk of link failure and improving anti-interference capabilities.

[0003] Microwave mobile station adaptive alignment is a technology that achieves rapid and accurate alignment of microwave antennas through automation. It can significantly reduce the time and error of manual calibration and ensure stable communication of microwave links. Currently, commonly used adaptive alignment methods include: (1) Two-stage alignment: First, the coordinates of the two devices are obtained through the positioning system. The azimuth and elevation angles are calculated based on the northeast-northeast coordinate system to complete the coarse alignment. Then, the conical scanning method is used to complete the fine alignment. The hardware cost is much lower than that of the single-pulse measurement scheme, and it can also reduce the interference of environmental factors such as atmosphere and rainfall. (2) Traditional manual calibration requires the adjustment of 4 independent angle variables, which can take 1-2 days. First, the vertical elevation angle of the antenna is fixed, and only the horizontal azimuth angle is retained as the adjustment variable. (3) Combining the adaptive antenna system with beamforming technology, the antenna beam direction is dynamically adjusted so that the main beam is accurately aligned with the target communication end. At the same time, nulls are formed in the interference direction, which further improves the communication reliability after alignment. However, the above three existing microwave antenna adaptive alignment methods have the following drawbacks: (1) For two-stage alignment, the coarse alignment stage depends on the coordinate accuracy of the positioning system. If the positioning signal is blocked, it will directly affect the initial accuracy of the coarse alignment, increase the time consumption of subsequent fine alignment, and reduce the accuracy of fine alignment. (2) For manual alignment, four independent angle variables need to be adjusted, and it takes 1-2 days to complete one calibration, which cannot achieve rapid deployment of microwave mobile stations. (3) For adaptive antenna systems, independent transceiver channels need to be deployed for each antenna array element, and high-speed digital synchronization circuits need to be added. The overall hardware complexity is higher than that of conventional microwave antenna systems. In addition, multiple receivers must achieve high-precision real-time synchronization, and the synchronous processing of multi-channel high-speed ADC data requires high computing power from FPGA and / or ASIC.

[0004] In summary, there is a need for an adaptive alignment control method and system for microwave mobile stations that does not rely on the initial accuracy of coarse alignment, can automatically adjust independent angle variables, and has low hardware costs. Summary of the Invention

[0005] To overcome the problems existing in related technologies, the purpose of this invention is to provide an adaptive alignment control method and system for microwave mobile stations that does not rely on the initial accuracy of coarse alignment, can automatically adjust independent angle variables, and has low hardware costs.

[0006] An adaptive alignment control method for a microwave mobile station includes: The microwave mobile station is mounted on a carrier, such as a vehicle or a ship. Establish a microwave communication link between the microwave mobile station and the microwave master station; The carrier is controlled to move the microwave mobile station, and the high-frequency shaking during the carrier's movement is monitored in real time. The reverse displacement and reversal angle of the microwave antenna turntable are calculated based on the high-frequency shaking. The microwave antenna turntable is controlled to rotate in the opposite direction according to the reverse displacement and the reverse angle, so as to dynamically compensate for the microwave communication between the microwave mobile station and the microwave master station.

[0007] In a preferred embodiment of the present invention, the real-time monitoring of high-frequency shaking during the carrier's motion includes: A three-axis gyroscope is used to monitor the angular velocity of the carrier on the X, Y and Z axes, where the X axis corresponds to the roll direction, the Y axis corresponds to the pitch direction, and the Z axis corresponds to the yaw direction. A triaxial accelerometer is used to measure the linear acceleration of the carrier in three axes, and the linear acceleration includes the projection components of the gravity vector in each axis of the accelerometer.

[0008] In a preferred embodiment of the present invention, the step of calculating the reverse displacement and reversal angle of the microwave antenna turntable based on the high-frequency shaking includes: An inertial measurement unit (IMU) is used to detect the first sway data in the carrier coordinate system in real time. The IMU is mounted on the carrier. The first sway data in the carrier coordinate system is converted into the second sway data in the geodetic coordinate system using a coordinate transformation matrix; The compensation parameters were derived from the second sway data in the geodetic coordinate system. Integrating the compensation parameters yields the reverse displacement and reversal angle of the microwave antenna turntable.

[0009] In a preferred embodiment of the present invention, the step of using an inertial measurement unit to detect the first sway data in the carrier coordinate system in real time includes: The angular velocities of the microwave mobile station in the three directions of roll, pitch, and yaw in the carrier coordinate system are measured using the gyroscope inside the inertial measurement unit. The linear acceleration of the microwave mobile station in the roll, pitch, and yaw directions in the carrier coordinate system is measured using the accelerometer inside the inertial measurement unit.

[0010] In a preferred embodiment of the present invention, the step of converting the first sway data in the carrier coordinate system into the second sway data in the geodetic coordinate system using a coordinate transformation matrix includes: Construct the X-axis rotation matrix, Y-axis rotation matrix, and Z-axis rotation matrix; The attitude matrix is ​​calculated using the following formula: ; in, Represents the attitude matrix, The matrix representing rotation about the X-axis. The matrix representing rotation about the Y-axis. The matrix representing rotation about the Z-axis; Indicates the yaw angle. Indicates pitch angle, Indicates the roll angle; Multiply the attitude matrix by the first sway data in the carrier coordinate system to obtain the second sway data in the geodetic coordinate system.

[0011] In a preferred embodiment of the present invention, the step of retrieving compensation parameters from the second sway data in the geodetic coordinate system includes: The compensation angular velocity is obtained by taking the opposite values ​​of the angular velocities of the microwave mobile station in the roll, pitch and yaw directions of the second sway data in the geodetic coordinate system; The microwave mobile station in the second sway data in the geodetic coordinate system takes the opposite value of the linear acceleration in the roll, pitch and yaw directions to obtain the compensated linear acceleration. The compensation angular velocity and the compensation linear acceleration are combined to form the compensation parameters.

[0012] In a preferred embodiment of the present invention, integrating the compensation parameters to obtain the reverse displacement and reversal angle of the microwave antenna turntable includes: The reversal angle of the microwave antenna turntable is obtained by integrating the compensated angular velocity once using the following formula: ; in, This indicates the reversal angle of the microwave antenna turntable at time T. This represents the integral of the compensated angular velocity of the microwave antenna turntable over time from the initial moment to time T. This indicates the compensated angular velocity; The reverse displacement of the microwave antenna turntable is obtained by performing a quadratic integration on the compensated linear acceleration using the following formula: ; in, This represents the reverse displacement of the microwave antenna turntable at time T. This represents the time integral of the compensated linear acceleration of the microwave antenna turntable from the initial moment to time T. This indicates the compensated linear acceleration.

[0013] In a preferred embodiment of the present invention, controlling the carrier to drive the microwave mobile station to move includes: In the first mode, the carrier is controlled to move the microwave mobile station along a preset path; In the second mode, a dynamic planning path is generated in real time based on the disaster situation of earthquakes and / or floods, and the carrier is controlled to drive the microwave mobile station to move along the dynamic planning path.

[0014] In a preferred embodiment of the present invention, the high-frequency shaking includes the roll, pitch and yaw of the carrier.

[0015] The present invention also provides an adaptive alignment control system for a microwave rover station, used to execute the above-described adaptive alignment control method for a microwave rover station, the system comprising: A mounting module is used to mount a microwave mobile station on a carrier, such as a vehicle or a ship. The microwave communication link establishment module is used to establish a microwave communication link between the microwave mobile station and the microwave master station. The motion control module is used to control the carrier to drive the microwave mobile station to move, and to monitor the high-frequency shaking of the carrier in real time during the movement process; The reverse parameter calculation module is used to calculate the reverse displacement and reverse angle of the microwave antenna turntable based on the high-frequency shaking. The dynamic compensation module is used to control the microwave antenna turntable to rotate in the opposite direction according to the reverse displacement and the reverse angle, so as to dynamically compensate the microwave communication between the microwave mobile station and the microwave master station.

[0016] The beneficial effects of this invention are as follows: The adaptive alignment control method for a microwave mobile station provided by this invention includes mounting the microwave mobile station on a carrier, such as a vehicle or ship. Before the vehicle and / or ship begins to move, the microwave mobile station is controlled to establish a stable pointing direction, thereby establishing a microwave communication link between the microwave mobile station and the microwave master station. The system transmits and receives microwave signals through a microwave antenna to complete bidirectional information transmission. The carrier is controlled to move the microwave mobile station, and high-frequency swaying during the carrier's movement is monitored in real time. High-frequency swaying includes roll, pitch, and yaw of the carrier, i.e., rotation and displacement in three directions. The movement of the vehicle and / or ship can cause the microwave antenna to deviate from the microwave master station, resulting in microwave communication interruption. The reverse displacement and reversal angle of the microwave antenna turntable are calculated based on the high-frequency swaying, and the microwave antenna turntable is controlled to rotate in the opposite direction according to the reverse displacement and reversal angle to dynamically compensate for the microwave communication between the microwave mobile station and the microwave master station. This invention senses the attitude changes of the carrier in real time and drives the microwave antenna of the microwave mobile station to move in the opposite direction to counteract the disturbance caused by the carrier swaying, thereby establishing a stable microwave communication link with the microwave master station during the movement of the microwave mobile station and improving the quality of microwave communication. This invention does not rely on the initial accuracy of coarse alignment, can automatically adjust independent angle variables, and does not require additional hardware. Attached Figure Description

[0017] Figure 1 This is a flowchart of the adaptive alignment control method for the microwave mobile station of the present invention; Figure 2 This is a schematic diagram of a microwave antenna and antenna controller; Figure 3 This is a diagram showing the operating parameters of a microwave antenna. Detailed Implementation

[0018] Preferred embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While preferred embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0019] Example 1 like Figure 1 As shown, this embodiment provides an adaptive alignment control method for a microwave mobile station, including: S1: Mount the microwave mobile station on a carrier, which may be a vehicle or a ship; S2: Establish a microwave communication link between the microwave mobile station and the microwave master station; S3: Control the carrier to drive the microwave mobile station to move, and monitor the high-frequency shaking of the carrier during the movement process in real time; S4: Calculate the reverse displacement and reversal angle of the microwave antenna turntable based on the high-frequency shaking; S5: Control the microwave antenna turntable to rotate in the opposite direction according to the reverse displacement and the reverse angle, so as to dynamically compensate for the microwave communication between the microwave mobile station and the microwave master station.

[0020] The establishment of a microwave communication link involves the microwave mobile station initiating a network access request to the microwave master station, completing ranging and establishing a basic connection through a series of interactive commands. The microwave master station authenticates the microwave mobile station, and after successful authentication, dynamically allocates a channel for this communication based on network resource availability.

[0021] The real-time monitoring of high-frequency shaking during the carrier's movement includes: S321: A three-axis gyroscope is used to monitor the angular velocity of the carrier on the X, Y and Z axes, where the X axis corresponds to the roll direction, the Y axis corresponds to the pitch direction, and the Z axis corresponds to the yaw direction. S322: A triaxial accelerometer is used to measure the linear acceleration of the carrier in three axes, wherein the linear acceleration includes the projection components of the gravity vector in each axis of the accelerometer.

[0022] High-frequency swaying includes the roll, pitch, and yaw of the carrier. Roll refers to the left and right tilt of a vehicle or ship. Roll will disrupt the horizontal reference plane of the microwave antenna, causing the microwave beam to drift in the horizontal direction. This is manifested as the twisting of the microwave antenna around its own beam direction. The effect of the shift in the roll direction is greater than the effect of the shift in the pitch and yaw directions.

[0023] Yaw refers to the left or right turn of a vehicle or ship, that is, the vehicle or ship rotates around its vertical axis. The offset in the yaw direction will change the azimuth angle of the microwave antenna. For example, if the microwave antenna is pointed due north at the microwave master station, and the vehicle turns right, the microwave antenna will now point due east. Pitch refers to the up and down sway of a vehicle or ship. The offset in the pitch direction will change the pitch angle of the microwave antenna.

[0024] High-performance MEMS gyroscopes accurately measure the angular velocities of a carrier in roll, yaw, and pitch directions at high frequencies. When the carrier is stationary or moving at a constant speed, the accelerometer only measures the components of the carrier's gravitational acceleration along the three axes. Under static conditions, the triaxial accelerometer has high measurement accuracy, but the gyroscope suffers from cumulative error. When the carrier accelerates, decelerates, or turns, the triaxial accelerometer measures the combined value of motion acceleration and gravitational acceleration. In dynamic scenarios, the triaxial accelerometer cannot distinguish between gravitational acceleration and motion acceleration. In these situations, the gyroscope has a fast response and high measurement accuracy.

[0025] The calculation of the reverse displacement and reversal angle of the microwave antenna turntable based on the high-frequency shaking includes: S41: An inertial measurement unit is used to detect the first sway data in the carrier coordinate system in real time, and the inertial measurement unit is installed on the carrier; S42: Convert the first sway data in the carrier coordinate system into the second sway data in the geodetic coordinate system using a coordinate transformation matrix; S43: Retrieve compensation parameters from the second sway data in the geodetic coordinate system; S44: Convert the compensation parameters into a reverse signal, send the reverse signal to the servo motor, and control the servo motor to drive the antenna turntable to rotate in the opposite direction to achieve disturbance isolation.

[0026] The data measured by the sensor is in the carrier coordinate system, which changes with the movement of the vehicle and ship. Therefore, the first sway data in the carrier coordinate system is converted into the second sway data in the geodetic coordinate system, so as to measure the accurate pointing of the microwave antenna relative to true north and the horizontal plane.

[0027] The microwave antenna is mounted on an antenna turntable. The compensation parameters are converted into inverted signals, which are then sent to a servo motor to control the servo motor to drive the antenna turntable to rotate in the opposite direction, thereby achieving disturbance isolation.

[0028] Following step S5, the direction of the microwave antenna is adjusted while the Received Signal Strength Indication (RSSI) is monitored. First, a small-range scan is performed in the horizontal direction (azimuth angle) to find the horizontal position with the strongest signal. Then, a scan is performed in the vertical direction (elevation angle). When the RSSI reaches its maximum value, it is determined that the microwave antenna of the microwave mobile station is aligned with the microwave master station, and the position of the microwave antenna remains unchanged.

[0029] The adaptive alignment control method for a microwave mobile station provided in this embodiment includes mounting the microwave mobile station on a carrier, such as a vehicle or ship. Before the vehicle and / or ship begins to move, the microwave mobile station is controlled to establish a stable pointing direction, thereby establishing a microwave communication link between the microwave mobile station and the microwave master station. The system transmits and receives microwave signals through a microwave antenna to complete bidirectional information transmission. The carrier is controlled to move the microwave mobile station, and high-frequency swaying during the carrier's movement is monitored in real time. High-frequency swaying includes roll, pitch, and yaw of the carrier, i.e., rotation and displacement in three directions. The movement of the vehicle and / or ship will cause the microwave antenna to deviate from the microwave master station, resulting in microwave communication interruption. The reverse displacement and reversal angle of the microwave antenna turntable are calculated based on the high-frequency swaying, and the microwave antenna turntable is controlled to rotate in the opposite direction according to the reverse displacement and reversal angle to dynamically compensate for the microwave communication between the microwave mobile station and the microwave master station. This invention senses the attitude changes of the carrier in real time and drives the microwave antenna of the microwave mobile station to move in the opposite direction to counteract the disturbance caused by the carrier's swaying, ensuring that the microwave antenna beam is always accurately pointed to the microwave master station. This establishes a stable microwave communication link with the microwave master station during the movement of the microwave mobile station, thereby improving the quality of microwave communication.

[0030] Example 2 This embodiment further describes the scheme of Embodiment 1 based on Embodiment 1. The step of using an inertial measurement unit to detect the first sway data in the carrier coordinate system in real time includes: S411: The angular velocity of the microwave mobile station in the three directions of roll, pitch and yaw in the carrier coordinate system is measured by the gyroscope inside the inertial measurement unit. S412: The linear acceleration of the microwave mobile station in the roll, pitch, and yaw directions in the carrier coordinate system is measured using the accelerometer inside the inertial measurement unit.

[0031] An inertial measurement unit (IMU) integrates two core sensors: a gyroscope and an accelerometer. The gyroscope detects angular velocity, while the accelerometer detects linear acceleration. Within the IMU's gyroscope, a tiny mass continuously vibrates. When the IMU rotates, this mass experiences a Coriolis force, producing a small displacement proportional to the rotational angular velocity. By detecting this displacement, the angular velocities in the X-axis (roll), Y-axis (pitch), and Z-axis (yaw) of the carrier's coordinate system can be calculated. The triaxial accelerometer detects the inertial displacements of the internal mass in the X, Y, and Z axes, outputting a vector sum containing the gravitational projection component and the linear acceleration. Subtracting the gravitational acceleration vector from the raw measurements from the triaxial accelerometer yields the linear acceleration.

[0032] Gyroscopes suffer from long-term drift, meaning that the angular errors measured by gyroscopes accumulate over time, while accelerometers are affected by the acceleration of the vehicle. Therefore, sensor fusion algorithms are needed to process multi-source data from gyroscopes and accelerometers to eliminate accumulated errors.

[0033] Preferably, drift compensation is performed on the gyroscope and accelerometer to correct the constant output (zero-point offset) and time-varying drift of the gyroscope and accelerometer when there is no input. The proportional relationship error between the outputs of the two sensors and the actual physical quantity is corrected, as are the parameters of the two sensors affected by changes in ambient temperature. After compensating the data from the gyroscope and accelerometer, complementary filtering is applied to the angular velocity output by the gyroscope and the linear acceleration output by the accelerometer. The angular velocity measured by the gyroscope is input into a high-pass filter to process the dynamic part, and the linear acceleration measured by the accelerometer is input into a low-pass filter to process the static part. The two results are then combined to obtain the roll and pitch angles of the microwave antenna, excluding the yaw angle. When the carrier experiences bumps, sharp turns, or swaying, the output roll and pitch angles are mainly determined by the gyroscope, reflecting the degree of tilt of the carrier at that moment. When the vehicle is traveling at a constant speed or stationary for a long time, the roll angle and pitch angle are mainly determined by the accelerometer. At this time, gravity plays a major role, and the angle will not drift over time like a pure gyroscope integral.

[0034] The process of converting the first sway data in the carrier coordinate system into the second sway data in the geodetic coordinate system using a coordinate transformation matrix includes: S421: Construct the X-axis rotation matrix, Y-axis rotation matrix, and Z-axis rotation matrix; S422: The attitude matrix is ​​calculated using the following formula: ; in, Represents the attitude matrix, The matrix representing rotation about the X-axis. The matrix representing rotation about the Y-axis. The matrix representing rotation about the Z-axis; Indicates the yaw angle. Indicates pitch angle, Indicates the roll angle; S423: Multiply the attitude matrix by the first sway data in the carrier coordinate system to obtain the second sway data in the geodetic coordinate system.

[0035] The X-axis, Y-axis, and Z-axis rotation matrices are 3×3 direction cosine matrices, describing the rotational relationship between the carrier coordinate system and the geodetic coordinate system. The origin of the carrier coordinate system is located at the carrier's center of gravity, with the X-axis pointing to the right of the carrier, the Y-axis pointing to the front of the carrier, and the Z-axis pointing upwards, forming a right-handed coordinate system. The geodetic coordinate system adopts the northeast-sky coordinate system, with its origin located at the carrier's position, the X-axis pointing due east, the Y-axis pointing due north, and the Z-axis pointing to the zenith.

[0036] In matrix multiplication, the matrix rotating around the X-axis is on the left, the matrix rotating around the Y-axis is in the middle, and the matrix rotating around the Z-axis is on the right. The rotation order is Z first, then Y, and finally X. The rightmost matrix acts on the vector first, that is, the first step is to rotate the yaw angle around the Z-axis of the vehicle coordinate system. The second step is to rotate the pitch angle around the Y-axis after the first update. The third step is to rotate the roll angle around the X-axis after the second update. .

[0037] The following formulas are used to calculate the matrices for rotation about the X-axis, rotation about the Y-axis, and rotation about the Z-axis: ; ; ; The attitude matrix is ​​multiplied by the first sway data in the carrier coordinate system to convert the relative motion measured on the carrier into absolute motion in the geodetic coordinate system, thus providing an absolute reference for microwave antenna compensation. The yaw angle is used to determine the direction of the microwave rover, the pitch angle is used to determine the pitch of the microwave rover, and the roll angle is used to determine the roll of the microwave rover, thereby decomposing the attitude of the carrier and the microwave rover in sequence.

[0038] Example 3 This embodiment further describes the scheme of Embodiment 1 based on Embodiment 1. The step of retrieving compensation parameters from the second sway data in the geodetic coordinate system includes: S431: Take the opposite of the angular velocities of the microwave mobile station in the roll, pitch and yaw directions of the second sway data in the geodetic coordinate system to obtain the compensated angular velocity; S432: Take the opposite of the linear accelerations of the microwave mobile station in the roll, pitch and yaw directions of the second sway data in the geodetic coordinate system to obtain the compensated linear acceleration; S433: The compensation angular velocity and the compensation linear acceleration are combined to form compensation parameters.

[0039] The operation of taking the opposite number reverses the rotation and displacement of the carrier and microwave mobile station in three directions to counteract the offset caused by shaking. The displacement in this invention refers to translation in the three directions of roll, pitch and yaw.

[0040] The process of integrating the compensation parameters to obtain the reverse displacement and reversal angle of the microwave antenna turntable includes: The reversal angle of the microwave antenna turntable is obtained by integrating the compensated angular velocity once using the following formula: ; in, This indicates the reversal angle of the microwave antenna turntable at time T. This represents the integral of the compensated angular velocity of the microwave antenna turntable over time from the initial moment to time T. This indicates the compensated angular velocity; The reverse displacement of the microwave antenna turntable is obtained by performing a quadratic integration on the compensated linear acceleration using the following formula: ; in, This represents the reverse displacement of the microwave antenna turntable at time T. This represents the time integral of the compensated linear acceleration of the microwave antenna turntable from the initial moment to time T. This indicates the compensated linear acceleration.

[0041] Angular velocity refers to the angle rotated per unit time. Integrating the compensated angular velocity over time from time 0 (initial time) to time T yields the reversal angle of the microwave antenna turntable. Linear acceleration refers to the acceleration of the carrier and microwave mobile station in the roll, pitch, and yaw directions. Integrating the compensated linear acceleration over time from time 0 (initial time) to time T yields the reverse displacement of the microwave antenna turntable.

[0042] Since the angles and displacements of the microwave antenna turntable in three directions are detected relative to the initial moment, the magnitude of the relative deviation can be obtained by direct integration. The microwave antenna turntable is controlled according to... and The reverse rotation restores the microwave mobile station and microwave antenna to their original positions before the shaking.

[0043] like Figure 3 As shown, the microwave antenna of the present invention has a roll angle in the range of -35° to 35°, an elevation angle in the range of -25° to 100°, and an azimuth angle in the range of 0° to 690°.

[0044] Example 4 This embodiment further describes the scheme of Embodiment 1 based on Embodiment 1. Controlling the carrier to move the microwave mobile station includes: S311: In the first mode, the carrier is controlled to drive the microwave mobile station to move along a preset path; S312: In the second mode, a dynamic planning path is generated in real time based on the disaster situation of earthquakes and / or floods, and the carrier is controlled to drive the microwave mobile station to move along the dynamic planning path.

[0045] Vehicles move along pre-defined or dynamically planned land paths, and ships move along pre-defined or dynamically planned sea paths. The dynamic planning path can be generated using search-based algorithms, sampling-based algorithms, or intelligent algorithms.

[0046] Example 5 This embodiment provides an adaptive alignment control system for a microwave mobile station, including: A mounting module is used to mount a microwave mobile station on a carrier, such as a vehicle or a ship. The microwave communication link establishment module is used to establish a microwave communication link between the microwave mobile station and the microwave master station. The motion control module is used to control the carrier to drive the microwave mobile station to move, and to monitor the high-frequency shaking of the carrier in real time during the movement process; The reverse parameter calculation module is used to calculate the reverse displacement and reverse angle of the microwave antenna turntable based on the high-frequency shaking. The dynamic compensation module is used to control the microwave antenna turntable to rotate in the opposite direction according to the reverse displacement and the reverse angle, so as to dynamically compensate the microwave communication between the microwave mobile station and the microwave master station.

[0047] The adaptive alignment control system of the microwave mobile station is used to execute the adaptive alignment control method of the microwave mobile station in Examples 1-4.

[0048] like Figure 2 As shown, the microwave antenna of this invention is enclosed by an radome, and a microwave antenna mainboard is disposed inside the radome. Multiple input terminals of the microwave antenna mainboard are electrically connected to a north-pointing module and a gyroscope, respectively. The output terminals of the microwave antenna mainboard are electrically connected to a roll motor, a pitch motor, and an azimuth motor. An antenna controller is disposed outside the microwave antenna, and the microwave antenna mainboard is electrically connected to the ACU mainboard, i.e., the antenna controller mainboard.

[0049] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, apparatus, article, or method. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, apparatus, article, or method that includes that element.

[0050] The above description is only a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural changes made based on the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. An adaptive alignment control method for a microwave mobile station, characterized in that, include: The microwave mobile station is mounted on a carrier, such as a vehicle or a ship. Establish a microwave communication link between the microwave mobile station and the microwave master station; The carrier is controlled to move the microwave mobile station, and the high-frequency shaking during the carrier's movement is monitored in real time. The reverse displacement and reversal angle of the microwave antenna turntable are calculated based on the high-frequency shaking. The microwave antenna turntable is controlled to rotate in the opposite direction according to the reverse displacement and the reverse angle, so as to dynamically compensate for the microwave communication between the microwave mobile station and the microwave master station.

2. The adaptive alignment control method for a microwave rover station according to claim 1, characterized in that, The real-time monitoring of high-frequency shaking during the carrier's movement includes: A three-axis gyroscope is used to monitor the angular velocity of the carrier on the X, Y and Z axes, where the X axis corresponds to the roll direction, the Y axis corresponds to the pitch direction, and the Z axis corresponds to the yaw direction. A triaxial accelerometer is used to measure the linear acceleration of the carrier in three axes, and the linear acceleration includes the projection components of the gravity vector in each axis of the accelerometer.

3. The adaptive alignment control method for a microwave rover station according to claim 1, characterized in that, The calculation of the reverse displacement and reversal angle of the microwave antenna turntable based on the high-frequency shaking includes: An inertial measurement unit (IMU) is used to detect the first sway data in the carrier coordinate system in real time. The IMU is mounted on the carrier. The first sway data in the carrier coordinate system is converted into the second sway data in the geodetic coordinate system using a coordinate transformation matrix; The compensation parameters were derived from the second sway data in the geodetic coordinate system. Integrating the compensation parameters yields the reverse displacement and reversal angle of the microwave antenna turntable.

4. The adaptive alignment control method for a microwave rover station according to claim 3, characterized in that, The method of using an inertial measurement unit to detect the first sway data in the carrier coordinate system in real time includes: The angular velocities of the microwave mobile station in the three directions of roll, pitch, and yaw in the carrier coordinate system are measured using the gyroscope inside the inertial measurement unit. The linear acceleration of the microwave mobile station in the roll, pitch, and yaw directions in the carrier coordinate system is measured using the accelerometer inside the inertial measurement unit.

5. The adaptive alignment control method for a microwave rover station according to claim 3, characterized in that, The process of converting the first sway data in the carrier coordinate system into the second sway data in the geodetic coordinate system using a coordinate transformation matrix includes: Construct the X-axis rotation matrix, Y-axis rotation matrix, and Z-axis rotation matrix; The attitude matrix is ​​calculated using the following formula: ； in, Represents the attitude matrix, The matrix representing rotation about the X-axis. The matrix representing rotation about the Y-axis. The matrix representing rotation about the Z-axis; Indicates the yaw angle. Indicates pitch angle, Indicates the roll angle; Multiply the attitude matrix by the first sway data in the carrier coordinate system to obtain the second sway data in the geodetic coordinate system.

6. The adaptive alignment control method for a microwave rover station according to claim 4, characterized in that, The method of retrieving compensation parameters from the second sway data in the geodetic coordinate system includes: The compensation angular velocity is obtained by taking the opposite values ​​of the angular velocities of the microwave mobile station in the roll, pitch and yaw directions of the second sway data in the geodetic coordinate system; The microwave mobile station in the second sway data in the geodetic coordinate system takes the opposite value of the linear acceleration in the roll, pitch and yaw directions to obtain the compensated linear acceleration. The compensation angular velocity and the compensation linear acceleration are combined to form the compensation parameters.

7. The adaptive alignment control method for a microwave rover station according to claim 6, characterized in that, The process of integrating the compensation parameters to obtain the reverse displacement and reversal angle of the microwave antenna turntable includes: The reversal angle of the microwave antenna turntable is obtained by integrating the compensated angular velocity once using the following formula: ； in, This indicates the reversal angle of the microwave antenna turntable at time T. This represents the integral of the compensated angular velocity of the microwave antenna turntable over time from the initial moment to time T. This indicates the compensated angular velocity; The reverse displacement of the microwave antenna turntable is obtained by performing a quadratic integration on the compensated linear acceleration using the following formula: ； in, This represents the reverse displacement of the microwave antenna turntable at time T. This represents the time integral of the compensated linear acceleration of the microwave antenna turntable from the initial moment to time T. This indicates the compensated linear acceleration.

8. The adaptive alignment control method for a microwave rover station according to claim 1, characterized in that, The control of the carrier to drive the microwave mobile station to move includes: In the first mode, the carrier is controlled to move the microwave mobile station along a preset path; In the second mode, a dynamic planning path is generated in real time based on the disaster situation of earthquakes and / or floods, and the carrier is controlled to drive the microwave mobile station to move along the dynamic planning path.

9. The adaptive alignment control method for a microwave rover station according to claim 1, characterized in that, The high-frequency shaking includes the roll, pitch, and yaw of the carrier.

10. An adaptive alignment control system for a microwave mobile station, used to execute the adaptive alignment control method for a microwave mobile station according to any one of claims 1 to 9, characterized in that, The system includes: A mounting module is used to mount a microwave mobile station on a carrier, such as a vehicle or a ship. The microwave communication link establishment module is used to establish a microwave communication link between the microwave mobile station and the microwave master station. The motion control module is used to control the carrier to drive the microwave mobile station to move, and to monitor the high-frequency shaking of the carrier in real time during the movement process; The reverse parameter calculation module is used to calculate the reverse displacement and reverse angle of the microwave antenna turntable based on the high-frequency shaking. The dynamic compensation module is used to control the microwave antenna turntable to rotate in the opposite direction according to the reverse displacement and the reverse angle, so as to dynamically compensate the microwave communication between the microwave mobile station and the microwave master station.

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