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CN-116973963-B - Ship course angle dynamic measurement method of satellite mobile terminal antenna

CN116973963BCN 116973963 BCN116973963 BCN 116973963BCN-116973963-B

Abstract

The invention discloses a ship course angle dynamic measurement method of a satellite mobile terminal antenna, wherein an antenna base is provided with an azimuth origin fixing sheet, and the method comprises the following steps of obtaining the azimuth origin position of the antenna and obtaining the actual attitude angle of the antenna according to the azimuth origin position; the method comprises the steps of obtaining geographic position information of an antenna and longitude and latitude of a target satellite, calculating to obtain a theoretical attitude angle of the antenna according to the longitude and latitude of the target satellite and the geographic position information of the antenna, controlling the antenna to rotate from the actual attitude angle to the theoretical attitude angle, starting a star finding program until the target satellite is locked, entering an antenna tracking state, and dynamically obtaining a ship course angle in the antenna tracking state in a self-adaptive calibration process. The invention can accurately acquire the course angle of the ship in real time, brings great convenience for operation and maintenance personnel to remotely judge the shielding of the antenna and maintain the data analysis antenna through the background, improves the intelligent degree of the antenna, optimizes the shielding recovery performance and avoids long-time communication interruption.

Inventors

  • WU FUCUN
  • CAI JINPING

Assignees

  • 迪泰（浙江）通信技术有限公司

Dates

Publication Date
20260505
Application Date
20230724

Claims (8)

  1. 1. The ship course angle dynamic measurement method of the satellite mobile terminal antenna is characterized by comprising the following steps that an antenna base is provided with an azimuth origin fixing sheet: acquiring an azimuth origin position of an antenna, and acquiring an actual attitude angle of the antenna according to the azimuth origin position; acquiring geographic position information of an antenna and longitude and latitude of a target satellite, and calculating to obtain a theoretical attitude angle of the antenna according to the longitude and latitude of the target satellite and the geographic position information of the antenna; The antenna is controlled to rotate from the actual attitude angle to the theoretical attitude angle; Starting a satellite finding program until a target satellite is locked, and entering an antenna tracking state; dynamically acquiring a ship course angle in an adaptive calibration process in an antenna tracking state; The satellite mobile terminal antenna is provided with a polarization motor, a roll motor, a pitch motor, an azimuth motor and a memory, an azimuth position sensor is arranged on an antenna azimuth base, an azimuth origin position of the antenna is obtained, and an actual attitude angle of the antenna is obtained according to the azimuth origin position, and the satellite mobile terminal antenna comprises the following steps: The polarization motor, the roll motor, the pitch motor and the azimuth motor are started to search the azimuth origin position at the same time; The azimuth motor drives the azimuth position sensor to rotate to an azimuth origin position, and reads an azimuth angle of the initialization motor from the memory, wherein the azimuth angle of the initialization motor is an azimuth rotation reference angle of the azimuth origin fixing sheet relative to the bow, and an actual attitude angle of the antenna is obtained according to the rotation angle of the azimuth position sensor and the azimuth angle of the initialization motor; Dynamically acquiring a ship course angle in an adaptive calibration process in an antenna tracking state, and comprising the following steps: acquiring a carrier course angle and a carrier course speed through a positioning satellite, and acquiring an accumulated angle of the rotation of the azimuth motor on the azimuth angle of the initialization motor; calculating according to the theoretical attitude angle and the accumulated angle to obtain a course angle expected value; Updating the expected value of the course angle of the antenna according to the carrier course angle, the carrier course speed and the maximum set course speed; calculating to obtain a heading deviation value according to the heading angle expected value, the accumulated angle and the theoretical attitude angle; and updating the azimuth angle of the initialization motor according to the heading deviation value, and calculating the heading angle of the ship according to the azimuth angle of the initialization motor.
  2. 2. The method for dynamically measuring the ship heading angle of the satellite mobile terminal antenna according to claim 1, wherein the step of controlling the antenna to rotate from the actual attitude angle to the theoretical attitude angle comprises the step of controlling the antenna to adjust to the theoretical attitude angle after the polarization motor, the roll motor and the pitch motor finish searching for the azimuth origin position.
  3. 3. The method for dynamically measuring the heading angle of a ship by using a satellite mobile terminal antenna according to claim 1, wherein the step of starting a satellite finding program until a target satellite is locked comprises the steps of: and maintaining an initial pitching angle, starting to rotate from the azimuth angle of the initialized motor, setting the motor angle range to be 0-360 degrees, and locking the target satellite to enter an antenna tracking state if the target satellite is found.
  4. 4. The method for dynamically measuring the heading angle of a ship by using the satellite mobile terminal antenna according to claim 3, wherein after the rotation from the initial motor azimuth angle, the motor angle range is set to 0-360 degrees, the method comprises the steps of: If the target satellite is not found in the motor angle range, increasing or decreasing a stepping pitching angle, and continuing azimuth rotation searching until the target satellite is locked to enter an antenna tracking state.
  5. 5. The method for dynamically measuring the heading angle of a ship of a satellite mobile terminal antenna according to claim 1, wherein updating the initialization motor azimuth angle according to the heading deviation value comprises the steps of: If the course deviation value is equal to 0, the azimuth angle of the initialization motor is not deviated from the current sailing state; and if the heading deviation value is not equal to 0, subtracting the heading deviation value from the azimuth angle of the initialized motor to obtain the updated azimuth angle of the initialized motor.
  6. 6. The ship course angle dynamic measurement method of the satellite mobile terminal antenna according to claim 1, wherein the course angle expected value is calculated according to the theoretical attitude angle and the accumulated angle, comprising the steps of: the expected heading angle value is Ahead =asat-An when the target satellite is locked for the first time; wherein Asat is the theoretical attitude angle and An is the cumulative angle; And updating the expected ship course angle value Ahead = Ahead +A (n-1) -An according to the current running accumulated angle An and the previous running accumulated angle A (n-1) of the azimuth motor.
  7. 7. The method for dynamically measuring the heading angle of a ship of a satellite mobile terminal antenna according to claim 6, wherein the expected value of the heading angle of the antenna is updated according to the carrier heading angle, the carrier heading speed and a maximum set speed, and is represented by the following formula: Ahead=(1-K)*Ahead+K*Agps; K=Vgps/Vmax; Wherein Ahead is the expected value of the course angle, K is a weighting coefficient, vgps is the carrier course speed, agps is the carrier course angle, and Vmax is the maximum set course speed.
  8. 8. The method for dynamically measuring the heading angle of a ship by using the satellite mobile terminal antenna according to claim 7, wherein the heading deviation value is calculated according to the expected heading angle value, the accumulated angle and the theoretical attitude angle, and is represented by the following formula: ΔE=Ahead+An-Asat; Wherein Asat is the theoretical attitude angle, an is the cumulative angle, ahead is the heading angle expected value.

Description

Ship course angle dynamic measurement method of satellite mobile terminal antenna Technical Field The invention relates to the technical field of ship navigation, in particular to a ship course angle dynamic measurement method of a satellite mobile terminal antenna. Background At present, when a satellite mobile terminal antenna is used on a ship, course angle information is often used. The course angle is beneficial to 1, according to the course angle and satellite signal quality, radar interference, mast or other shielding objects around the ship antenna are analyzed remotely, judgment is made, and an improvement scheme is provided, and 2, the antenna main control unit optimizes shielding maintenance performance according to the course angle and satellite signal quality. 3. The method is beneficial to improving the maintainability of the satellite communication antenna applied to the ship by combining remote information according to the course angle with other data analysis. At present, the common mode comprises the following two ways of acquiring the ship heading, namely 1, accessing an on-board electronic compass signal, and 2, arranging an electronic compass chip in an antenna. However, the digital compass signal on the ship is connected to the antenna system, so that the complexity of construction wiring is high, and in some small and medium-sized fishing ships, the gyrocompass are mainly used, and cannot provide electric compass signals, and the built-in electronic compass chip of the antenna saves the trouble of construction wiring, but has the problems of poor anti-interference performance, low heading precision and the like. Disclosure of Invention The invention aims to overcome the technical defects, and provides a ship course angle dynamic measurement method of a satellite mobile terminal antenna, which solves the technical problems of complex construction of accessing an on-board electronic compass signal, poor anti-interference performance of an antenna built-in electronic compass chip and low course accuracy in the prior art. In order to achieve the above technical objective, in a first aspect, the present invention provides a method for dynamically measuring a ship heading angle of a satellite mobile terminal antenna, wherein an antenna base is provided with an azimuth origin fixing piece, comprising the following steps: acquiring an azimuth origin position of an antenna, and acquiring an actual attitude angle of the antenna according to the azimuth origin position; acquiring geographic position information of an antenna and longitude and latitude of a target satellite, and calculating to obtain a theoretical attitude angle of the antenna according to the longitude and latitude of the target satellite and the geographic position information of the antenna; The antenna is controlled to rotate from the actual attitude angle to the theoretical attitude angle; Starting a satellite finding program until a target satellite is locked, and entering an antenna tracking state; And dynamically acquiring the course angle of the ship in the self-adaptive calibration process in the antenna tracking state. Compared with the prior art, the ship course angle dynamic measurement method of the satellite mobile terminal antenna has the beneficial effects that: According to the invention, the actual attitude angle of the antenna can be obtained, the theoretical attitude angle of the mobile satellite terminal antenna is intelligently analyzed according to the geographic position information of the antenna and the longitude and latitude of the target satellite, the antenna is controlled to rotate from the actual attitude angle to the theoretical attitude angle, the azimuth deflection angle of the azimuth origin fixing sheet is obtained in the process of self-adaptive calibration of the antenna tracking state, the heading angle of the ship can be accurately obtained in real time through the antenna after self-adaptive calibration of the deflection angle, great convenience is brought to the remote antenna shielding judgment and data analysis antenna maintenance of operation and maintenance staff through the background, the intelligent degree of the antenna is improved, the shielding recovery performance is optimized, long-time communication interruption is avoided, and the method has good practical value. According to some embodiments of the present invention, the satellite mobile terminal antenna is provided with a polarization motor, a roll motor, a pitch motor, an azimuth motor and a memory, and an azimuth position sensor is installed on an antenna azimuth base, and the satellite mobile terminal antenna is characterized in that an azimuth origin position of the antenna is obtained, and an actual attitude angle of the antenna is obtained according to the azimuth origin position, and the method comprises the steps of: The polarization motor, the roll motor, the pitch motor and the azimuth motor are started to searc