Search

CN-121643883-B - Vehicle-mounted station satellite dynamic tracking device and method

CN121643883BCN 121643883 BCN121643883 BCN 121643883BCN-121643883-B

Abstract

The invention relates to the technical field of satellite communication and discloses a vehicle-mounted station satellite dynamic tracking device and a vehicle-mounted station satellite dynamic tracking method, wherein the technical scheme is characterized in that a theoretical satellite alignment angle pointed by an antenna is calculated, the antenna is driven to rotate to the angle for rough alignment, and frame searching is started when effective satellite signals are not captured; the method comprises the steps of adaptively switching a main tracking mode and an auxiliary tracking mode according to a real-time vehicle speed, dynamically adjusting servo driving parameters based on the processed tracking deviation to drive an antenna to track a satellite in real time, compensating the tracking angle of the antenna in real time, predicting the current angle at which the antenna should point when the satellite is judged to be lost, and executing cone scanning by taking the predicted angle as a center to recapture satellite signals. The invention adopts a self-adaptive hybrid tracking mode switching, multidimensional error real-time compensation and 'inertial navigation prediction+conical scanning' rapid recovery cooperative mechanism to realize satellite dynamic tracking with high precision, high stability and rapid recovery under complex road conditions and high-speed movement.

Inventors

  • ZHANG TAO
  • SHI YAN
  • LI JIANGHUA
  • Qi dongyuan

Assignees

  • 凯睿星通信息科技(南京)股份有限公司

Dates

Publication Date
20260512
Application Date
20260203

Claims (8)

  1. 1. A satellite dynamic tracking device for a vehicle-mounted station, comprising: The antenna module is configured with a single pulse receiving unit and a beacon signal detecting unit, the single pulse receiving unit is used for receiving satellite signals and extracting tracking deviation of an antenna in at least one direction, and the beacon signal detecting unit is used for detecting the intensity of the satellite beacon signals in real time; The gesture sensing module is used for acquiring real-time gesture, motion state and running speed information of the vehicle-mounted carrier; the signal processing module is in communication connection with the antenna module and is used for calculating tracking deviation according to the output of the single pulse receiving unit and carrying out filtering processing on the tracking deviation and the gesture data; the servo driving module is used for driving the antenna to rotate according to the control instruction, and the controller can dynamically adjust the control parameters according to the carrier running speed and the tracking error change rate; The main control module is respectively in communication connection with the gesture sensing module, the signal processing module and the servo driving module, and is used for adaptively switching a tracking mode according to the running speed acquired by the gesture sensing module, starting a lost star recovery flow when the beacon signal detection unit judges that a star is lost, and controlling the servo driving module to carry out signal recapture based on inertial navigation prediction and cone scanning; The main control module is internally provided with a tracking mode switching unit, which is configured to adopt a hybrid tracking mode which takes inertial navigation data as a main part and corrects single pulse tracking errors when the real-time vehicle speed is smaller than or equal to a first preset threshold value, and switch to a hybrid tracking mode which takes single pulse tracking as a main part and carries out motion prediction on the inertial navigation data when the real-time vehicle speed is larger than the first preset threshold value; the star loss recovery process comprises the following steps: Predicting the angle at which the antenna is supposed to point currently through a gesture recursive algorithm based on last effective tracking data latched at the star losing moment and angular speed data output by an inertial navigation unit in real time; controlling the servo driving module to drive the antenna to execute cone scanning by taking the predicted angle as the center; In the scanning process, if the beacon signal detection unit detects that the beacon signal strength reaches or exceeds a preset threshold again, the scanning is stopped immediately and the dynamic tracking stage is switched back.
  2. 2. The vehicle-mounted station satellite dynamic tracking device according to claim 1, wherein the gesture sensing module comprises a GPS receiver, an inertial navigation unit and a vehicle speed sensor, and the sensor data is output after synchronous alignment, amplitude limiting filtering and Kalman filtering preprocessing.
  3. 3. The satellite dynamic tracking device for vehicle station according to claim 1, wherein the controller of the servo driving module is a fuzzy PID controller, which uses the carrier running speed v and the tracking error change rate And outputting correction quantity of the PID parameter for input through fuzzy reasoning, and dynamically correcting interpolation parameters in the fuzzy reasoning process based on angle adjustment errors fed back by an encoder to realize closed-loop self-adaptive optimization of control parameters.
  4. 4. The satellite dynamic tracking device for the vehicle-mounted station according to claim 1, wherein the main control module is further used for performing error compensation, specifically, according to a pre-calibrated and stored antenna mechanical installation error angle beta, a real-time target pointing angle of the antenna is compensated through space coordinate transformation in combination with a real-time acquired carrier roll angle alpha.
  5. 5. A vehicle-mounted station satellite dynamic tracking method applied to the vehicle-mounted station satellite dynamic tracking device as claimed in any one of claims 1 to 4, and characterized by comprising the following steps: s1, an initial satellite alignment step, namely calculating a theoretical satellite alignment angle pointed by an antenna according to preset satellite orbit parameters and an initial position of a vehicle-mounted carrier, driving the antenna to rotate to the angle for rough alignment, and starting frame searching when effective satellite signals are not captured; S2, a dynamic tracking step of collecting carrier motion data in real time, extracting tracking deviation, adaptively switching main and auxiliary tracking modes according to the real-time vehicle speed, and dynamically adjusting servo driving parameters based on the processed tracking deviation to drive an antenna to track a satellite in real time; s3, error compensation, namely carrying out real-time compensation on the tracking angle of the antenna according to the mechanical installation error of the antenna calibrated in advance and combining the real-time attitude of the carrier; S4, when the satellite is lost, predicting the current angle at which the antenna should point based on the inertial navigation data, and performing cone scanning by taking the predicted angle as the center to reacquire satellite signals.
  6. 6. The method for dynamically tracking the satellite of the vehicle-mounted station according to claim 5, wherein in the step of dynamically tracking, the self-adaptive switching main and auxiliary tracking modes are specifically a hybrid mode which mainly uses inertial navigation data and corrects single pulse errors when the vehicle speed is less than or equal to 30 km/h, and a hybrid mode which mainly uses single pulse tracking and predicts the motion of the inertial navigation data when the vehicle speed is greater than 30 km/h.
  7. 7. The method for dynamically tracking a satellite at a vehicle-mounted station according to claim 5, wherein in the step of recovering from satellite loss, the mathematical model for predicting the pointing angle of the antenna is: ; Wherein, the The predicted angle at the time t; To the moment of satellite loss Omega (tau) is the angular velocity of the carrier around the shaft acquired by the optical fiber inertial navigation unit in real time; The amount of inertial drift compensation for the angle.
  8. 8. The method for dynamically tracking satellites in vehicle stations according to claim 5, wherein the frame search uses the theoretical satellite alignment angle as a center, a spiral search path is adopted in a preset range of roll angle and pitch angle, and step gradient is reduced until the intensity of the detected beacon signal reaches or exceeds a preset threshold.

Description

Vehicle-mounted station satellite dynamic tracking device and method Technical Field The invention relates to the technical field of satellite communication, in particular to a vehicle-mounted station satellite dynamic tracking device and method. Background On-board satellite communication systems (also known as "communication-in-motion") require continuous and stable tracking of the geostationary satellite during vehicle travel to maintain a communication link. In the prior art, a single inertial navigation tracking or a single pulse tracking mode is mainly relied on. The inertial navigation mode is based on sensors such as gyroscopes, accelerometers and the like, has strong autonomy, but has the inherent defect that zero offset errors are accumulated along with time, so that long-term tracking accuracy is reduced, and the single-pulse tracking mode acquires tracking errors by comparing the signal intensities of a plurality of beams, has higher accuracy, and is easy to cause tracking interruption due to signal loss under complex road conditions of short signal shielding caused by high-speed running, sharp turning, passing through tunnels, bridges and the like of a vehicle. In addition, the existing system generally lacks comprehensive compensation mechanisms for mechanical installation errors and carrier motion coupling errors, and in the process of reacquiring after satellite signals are lost, the search range is large, the time consumption is long, and the severe requirements of high precision, high stability and quick recovery are difficult to meet under complex running environments such as high speed, jolt and the like. Therefore, the invention provides a vehicle-mounted station satellite dynamic tracking device and a vehicle-mounted station satellite dynamic tracking method, and the technical problems are improved. Disclosure of Invention Aiming at the defects of the prior art, the embodiment of the invention provides a vehicle-mounted station satellite dynamic tracking device and method, which adopt a self-adaptive hybrid tracking mode switching, multi-dimensional error real-time compensation and inertial navigation prediction and conical scanning rapid recovery cooperative mechanism to solve the problems of low tracking precision, poor stability and slow satellite loss recovery of the existing vehicle-mounted station under complex road conditions and high-speed movement. In order to achieve the above objective, the embodiments of the present disclosure propose the following technical solutions: in a first aspect, an embodiment of the present disclosure provides a satellite dynamic tracking device for a vehicle-mounted station, including: The antenna module is configured with a single pulse receiving unit and a beacon signal detecting unit, the single pulse receiving unit is used for receiving satellite signals and extracting tracking deviation of an antenna in at least one direction, and the beacon signal detecting unit is used for detecting the intensity of the satellite beacon signals in real time; The gesture sensing module is used for acquiring real-time gesture, motion state and running speed information of the vehicle-mounted carrier; the signal processing module is in communication connection with the antenna module and is used for calculating tracking deviation according to the output of the single pulse receiving unit and carrying out filtering processing on the tracking deviation and the gesture data; the servo driving module is used for driving the antenna to rotate according to the control instruction, and the controller can dynamically adjust the control parameters according to the carrier running speed and the tracking error change rate; The main control module is respectively in communication connection with the gesture sensing module, the signal processing module and the servo driving module, and is used for adaptively switching the tracking mode according to the running speed acquired by the gesture sensing module, starting a lost star recovery flow when the beacon signal detection unit judges that a star is lost, and controlling the servo driving module to carry out signal recapture based on inertial navigation prediction and cone scanning. As a preferable technical scheme of the invention, the gesture sensing module comprises a GPS receiver, an inertial navigation unit and a vehicle speed sensor, and the data of each sensor is output after synchronous alignment, amplitude limiting filtering and Kalman filtering preprocessing. As a preferable technical scheme of the invention, the controller of the servo driving module is a fuzzy PID controller which uses the carrier running speed v and the tracking error change rateAnd outputting correction quantity of the PID parameter for input through fuzzy reasoning, and dynamically correcting interpolation parameters in the fuzzy reasoning process based on angle adjustment errors fed back by an encoder to realize closed-loop self-adaptive opt