CN105007109B - The adaptive integrated navigation antenna beam control method of satellite communications system - Google Patents
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Abstract
The invention discloses a kind of adaptive integrated navigation antenna beam control methods of satellite communications system, the following steps are included: 1) establish the system equation of satellite communications system, the quantity of state x of integrated navigation posture estimation system is chosen for the attitude error amount ψ of location error amount δ r of carrier, the velocity error amount δ v of carrier and carrier, while the observed quantity of master controller setting communication in moving integrated navigation Attitude estimation algorithm；2) according to the difference of carrier running environment, corresponding communication in moving integrated navigation measurement equation is established, solves measurement equation coefficient matrix Hk；3) attitude algorithm is carried out using adaptive extended kalman filtering, obtains the three-dimension altitude angle of carrier, the direction of three motor adjustment antenna beams is then controlled according to the three-dimension altitude angle of carrier, is antenna alignment satellite.The present invention, which can be realized this method, may be implemented being accurately aimed at for antenna and satellite, and at low cost.
Description
Technical Field
The invention belongs to the technical field of antenna beam control of satellite communication systems, relates to an antenna beam control method, and particularly relates to a self-adaptive combined navigation antenna beam control method of a satellite communication-in-motion system.
Background
With the arrival of the information-oriented era and the rapid development of new military revolution, the demand of people on communication is continuously increased, and people urgently need to realize high-speed and high-bandwidth communication in mobile. However, the mobile satellite communication frequency band resource is limited, the communication rate is slow, the service cost is high, and the further development of the mobile communication is severely limited, which greatly stimulates the development of a new satellite communication terminal-communication-in-motion communication. The mobile communication is an important branch of satellite communication, aims to provide communication service superior to a mobile satellite communication frequency band for a ground carrier by using satellite resources of a fixed satellite communication service frequency band with low price and rich frequency resources, has the advantages of strong communication mobility, no regional limitation, good safety and confidentiality and the like, is an important guarantee of important natural disaster emergency communication in the aspect of civil application, is a powerful guarantee of large-scale movable security communication, and is an effective measure for realizing broadband mobile communication and improving the quality of life in the information era. In the aspect of military application, the communication-in-motion is a powerful guarantee for adapting to the battle under the condition of informatization war, is an effective means for ensuring safe and confidential communication, and is an important way for realizing maneuvering battle command.
The communication-in-motion system is characterized in that mobile satellite communication is realized based on an FSS frequency band, and the whole set of equipment is required to be installed on a mobile carrier. Therefore, the communication-in-motion system has a smaller outline and good trafficability, and reduces the probability of exposing the target in the battlefield; the method has relatively low cost, and accelerates the expansion of the application range of the communication in motion; the method has good applicability and meets the requirements of people on mobile broadband high-speed communication; it should have good persistence to enable the mobile access ground station to achieve bidirectional, stable, high-rate communication while in motion. The premise of normal communication of the satellite communication-in-motion system is that an antenna beam is aligned with a target satellite in three directions of azimuth, elevation and polarization, but because the satellite communication-in-motion system is installed on a mobile carrier, the direction of the antenna beam is influenced by the jolt of the road surface and the change of the running state of the carrier, an effective attitude estimation scheme is the key for effectively isolating the interference of the carrier motion on the direction of the antenna beam and ensuring effective communication.
The communication-in-motion measurement and control technology determines the cost and the performance of the whole communication-in-motion system, and is a key technology for realizing satellite communication in communication-in-motion movement. The communication-in-motion measurement and control technology mainly aims at obtaining real-time and high-precision attitude measurement, controlling the beam direction of an antenna in real time and ensuring that the beam is accurately aligned to a target satellite in real time. For low-cost communication in motion, because the system adopts a micro-mechanical sensor, the attitude angle output of the system has accumulated errors and low measurement precision, and for a moving carrier, the change of the attitude angle is complex, so that the design of an attitude estimation algorithm which is suitable for a low-cost measurement and control system and can estimate the attitude of the carrier in real time becomes more important. At present, the algorithms applied to the low-cost attitude estimation of the communication-in-motion system comprise a sensor direct fusion algorithm, a complementary filtering algorithm and the like. The multi-sensor direct fusion attitude estimation algorithm is easily interfered by external factors such as maneuvering acceleration, sideslip angle and the like, attitude estimation errors are difficult to completely correct, and the accuracy of attitude estimation is limited. The complementary filtering is a constant gain Kalman filter, and the attitude estimation precision is similar to the sensor fusion algorithm based on the nonlinear filter. The integrated navigation is an emerging attitude estimation algorithm in the attitude estimation field of the communication-in-moving, overcomes the defect that the attitude estimation algorithm directly fused by a sensor is easily influenced by a sideslip angle and the maneuvering acceleration of a carrier, is simple and convenient to calculate, is suitable for a real-time attitude measurement system, and becomes a hotspot of research in the attitude estimation field based on the integrated navigation of a micro-mechanical inertial sensor and a GPS (global positioning system) in order to reduce the cost of the communication-in-moving measurement and control system.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an adaptive combined navigation antenna beam control method of a communication-in-motion satellite communication system, which can realize accurate alignment of an antenna and a satellite and has low cost.
In order to achieve the above object, the adaptive integrated navigation antenna beam control method for a communication-in-motion satellite communication system according to the present invention comprises the following steps:
1) establishing a system equation of the satellite communication system in motion, wherein the state quantity x of the integrated navigation attitude estimation system is selected as a position error quantity delta r of a carrier, a speed error quantity delta v of the carrier and an attitude angle error quantity psi of the carrier, and x is [ delta r, delta v, psi [ ]]TAnd simultaneously setting the observed quantity Z of the combined navigation attitude estimation of the communication-in-motion system by the master controllerkWherein an observed quantity Z of the integrated navigation attitude estimation is setkPosition r output for micromechanical gyroscope and micromechanical accelerometerINSAnd velocity vINSPosition r output from single baseline GPSGPSAnd velocity vGPSA difference of (i.e.
Wherein,
λINS、hINSand
λGPS、hGPSlatitude, longitude and elevation information measured by the micro-mechanical inertia measurement unit and the GPS respectively;
2) establishing a measurement equation of observed quantity of the combined navigation attitude estimation of the communication-in-moving, solving the combined navigation measurement equation of the communication-in-moving to obtain a measurement equation coefficient matrix Hk；
3) Then according to the system equation and the measurement equation coefficient matrix H of the communication-in-motion satellite communication systemkAnd the main controller sets the observed quantity Z of the combined navigation attitude estimation of the communication-in-motion systemkUsing extended Kalman filteringAnd (4) performing attitude calculation to obtain a three-dimensional attitude angle of the carrier, and then controlling three motors to adjust the direction of antenna beams according to the three-dimensional attitude angle of the carrier, so that the antenna is aligned to the satellite.
When the state quantity x of the integrated navigation attitude estimation system is selected as a position error quantity delta r of a carrier, a speed error quantity delta v of the carrier and an attitude angle error quantity psi of the carrier, a system equation of the satellite communication system in motion:
wherein:
Frris the autocorrelation coefficient of position, FrvAs a cross-correlation coefficient of position and velocity, FvvIs the autocorrelation coefficient of velocity, FvrAs a cross-correlation coefficient of velocity and position, FerAs cross-correlation coefficient between attitude and position, FevIs the cross-correlation coefficient between attitude and velocity, C is the direction cosine matrix, δ fbFor the carrier system specific force measurement error,
is the relative angular rate error between the inertial system and the geographic system.
When the number of single baseline GPS satellites is more than 6, the coefficient matrix of the measurement equation is
I3×3Is a 3 × 3 unit array, 03×3Is a zero matrix of 3 x 3.
When the number of the single base line GPS satellites is more than 4 and less than 6, measuring an equation coefficient matrix HkThe expression of (a) is:
εN、εEand epsilonDRespectively in the N direction, the E direction and the D directionThe error of (2).
The invention has the following beneficial effects:
when the wave beam control method of the self-adaptive integrated navigation antenna of the communication-in-moving satellite communication system is operated, attitude calculation is carried out by using extended Kalman filtering according to a system equation, an observed quantity and a measurement equation coefficient matrix to obtain a three-dimensional attitude angle of a carrier, the alignment of an antenna and a satellite is realized according to the three-dimensional attitude angle, and the observed quantity Z estimated by the integrated navigation attitude is combinedkR calculated using micromechanical gyroscope and micromechanical accelerometerINSAnd vINSR from single baseline GPS outputGPSAnd vGPSTherefore, the cost is effectively reduced, the attitude calculation is carried out by adopting the extended Kalman filtering, the alignment precision is effectively improved, the operability is extremely strong, the performance is stable and reliable, the popularization and the application of the communication-in-motion are greatly promoted, and the interference of external factors such as maneuvering acceleration, sideslip angle and the like is not required to be considered. The integrated navigation algorithm based on course angle assistance is simple and easy to implement, overcomes the defects that the attitude estimation algorithm directly fused by the sensor is easily interfered by external factors and estimation errors are difficult to correct, has high attitude estimation precision, and well meets the beam pointing requirement of the satellite communication in motion antenna.
Furthermore, when the measurement equation coefficient matrix is obtained, the corresponding measurement equation coefficient matrix is determined according to the number of the single-baseline GPS satellites, so that the precision of the antenna corresponding to the satellite is effectively improved.
Drawings
Fig. 1 is a schematic structural diagram of a satellite communication system for communications in motion in the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
referring to fig. 1, the method for controlling the beam of the adaptive combined navigation antenna of the communication-in-motion satellite communication system according to the present invention includes the following steps:
1) establishing a system equation of the satellite communication system in motion, and selecting the state quantity x of the integrated navigation attitude estimation system as the position error quantity delta r of the carrier, the speed error quantity delta v of the carrier and the speed error quantity delta v of the carrierThe attitude angle error amount ψ, i.e., x [ δ r, δ v, ψ ]]TThen, the system equation of the communication-in-motion satellite communication system is:
in the formula:the system equation of the discrete integrated navigation attitude estimation system is as follows: x is the number ofk+1＝φkxk+ωkIn the formula, phikIs a matrix of coefficients, phik＝I9×9+ F Δ t; Δ t is the sampling rate of the MEMS sensor; omegakIs the system noise;
setting observed quantity Z of integrated navigation attitude estimationkPosition r calculated for micromechanical gyroscope and micromechanical accelerometerINSAnd velocity vINSPosition r output from single baseline GPSGPSAnd velocity vGPSThe difference of (a) is: observed quantity
2) Measurement equation Z for establishing observed quantity of combined navigation attitude estimation of communication-in-movingk＝Hkxk+ek，ekFor measuring noise, a matrix H of measurement equation coefficients is solvedk；
3) Correcting the observed quantity and the measurement matrix according to the satellite receiving number of the GPS, then performing attitude calculation by using extended Kalman filtering according to a system equation, the observed quantity and the measurement matrix to obtain a three-dimensional attitude angle of the carrier, and then controlling three motors to adjust the direction of antenna beams according to the three-dimensional attitude angle of the carrier so as to enable the antenna to be aligned with the satellite.
When the number of the satellites of the single-baseline GPS (3) is more than 6, the course angle provided by the single-baseline GPS is used as an auxiliary, the course angle output by the single-baseline GPS is used as the course angle of the carrier, in addition, the observation of course angle errors is added in a measurement equation, the estimation precision of the attitude angle is further improved, the single-baseline GPS consists of two GPS antennas and a user receiver, and the two GPS antennas in the single-baseline GPS are respectively arranged in the front and at the back of the user receiverThe length of a base line vector formed by connecting two GPS antennae is b, the coordinate of the base line vector in a carrier coordinate system is (0 b 0)T. The coordinate of the single-baseline GPS baseline vector in the navigation coordinate system can also be obtained by data calculation of the GPS receiver, and is set as (x y z)TFrom the conversion relationship between the position vector of the single baseline GPS in the b-system and the position vector in the n-system:
the heading angle of the single baseline GPS output carrier isThe measurement equation is added with the observation of course angle error, namely the difference value of the course angle of the single-baseline GPS and the course angle obtained by the differentiation of the micro-mechanical gyroscope, and the coefficient matrix of the measurement equation is as follows:
when the number of single-baseline GPS satellites is more than 4 and less than 6, a track angle provided by a single GPS antenna of the single-baseline GPS is used as an auxiliary, and the problems that the heading angle observability of a combined attitude estimation algorithm is weak and an attitude angle estimation value is easy to disperse are solved by using single-antenna GPS track angle auxiliary observation; the influence of the measurement error of the flight path angle on the attitude estimation is reduced through a self-adaptive control algorithm; judging the motion state of the carrier through a turning judgment rule, and when the carrier does not turn, using the track angle of a single-antenna GPS as the course angle psi of the carrier, wherein the track angle psi of the GPSvCan be expressed as
In the formula, ve、vnThe speed of the single antenna GPS in the navigation coordinate system is measured in the east direction and the north direction; when the carrier turns, the attitude angle of the carrier is obtained by utilizing the short-time precision integral of the gyroscope, and the turning judgment rule is as follows:
variance, ω, corresponding to heading angle noisezThe angular rate output value of the micromechanical heading gyroscope is shown, and lambda is a turning judgment threshold value. When | ωz|>When lambda is measured, the effective output of course angle is ensured by the integral value of MEMS gyroscope in short time without using the track angle output information of single antenna GPS, and the coefficient matrix of equation is measured
The Kalman filtering can also be divided into two steps of time updating and measurement updating, wherein the time updating comprises the following steps: one step error covarianceAnd (3) state one-step prediction:
and (3) measurement updating: adaptive filter gain matrix:
in the formula:
εN、εE、εDn, E, D heading error, state quantity estimation of attitude angle respectivelyError covariance matrix: pm＝(I-KmHm)Pm,m-1The above-mentioned processes, however,
may be obtained using a time-varying noise estimator recursion.
When the single baseline GPS signal is invalid, the output of the system is maintained by means of the short-time precision of the micromechanical gyroscope, but when the shielding time is too long, the system needs to be recaptured.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (1)
1. An adaptive combined navigation antenna beam control method for a satellite communication-in-motion system is characterized by comprising the following steps:
1) establishing a system equation of the satellite communication system in motion, wherein the state quantity x of the integrated navigation attitude estimation system is selected as a position error quantity delta r of a carrier, a speed error quantity delta v of the carrier and an attitude angle error quantity psi of the carrier, and x is [ delta r, delta v, psi [ ]]TMeanwhile, the main controller sets the observed quantity Z of the combined navigation attitude estimation of the communication-in-motion systemkWherein an observed quantity Z of the integrated navigation attitude estimation is setkPosition r output for micromechanical gyroscope and micromechanical accelerometerINSAnd velocity vINSPosition r output from single baseline GPSGPSAnd velocity vGPSA difference of (i.e.
Wherein,
λINS、hINSand
λGPS、hGPSlatitude, longitude and elevation information measured by the micro-mechanical inertia measurement unit and the GPS respectively;
2) measurement equation Z for establishing observed quantity of combined navigation attitude estimation of communication-in-movingk＝Hkxk+ek，ekFor measuring noise, a matrix H of measurement equation coefficients is solvedk；
3) Then according to the system equation of the satellite communication system in motionMeasuring equation coefficient matrix HkAnd the main controller sets the observed quantity Z of the combined navigation attitude estimation of the communication-in-motion systemkPerforming attitude calculation by using extended Kalman filtering to obtain a three-dimensional attitude angle of the carrier, and controlling three motors to adjust the direction of antenna beams according to the three-dimensional attitude angle of the carrier so as to align the antenna to the satellite;
when the state quantity x of the integrated navigation attitude estimation system is selected as the position error quantity delta r of the carrier, the speed error quantity delta v of the carrier and the attitude angle error quantity psi of the carrier, the system equation of the satellite communication system in motion is as follows:
wherein:
Frris the autocorrelation coefficient of position, FrvAs a cross-correlation coefficient of position and velocity, FvvIs the autocorrelation coefficient of velocity, FvrAs a cross-correlation coefficient of velocity and position, FerAs cross-correlation coefficient between attitude and position, FevIs the cross-correlation coefficient between attitude and velocity, C is the direction cosine matrix, δ fbFor the carrier system specific force measurement error,
is the relative angular rate error between the inertial system and the geographic system;
the system equation of the discrete integrated navigation attitude estimation system is as follows: x is the number ofk+1＝φkxk+ωkIn the formula, phikIs a matrix of coefficients, phik＝I9×9+ F Δ t; Δ t is the sampling rate of the MEMS sensor; omegakIs the system noise;
when the number of the satellites of the single-baseline GPS (3) is more than 6, the course angle provided by the single-baseline GPS is used as assistance, and the course angle output by the single-baseline GPS is usedAs the course angle of the carrier, in addition, the observation of course angle error is added in the measurement equation; the single-baseline GPS comprises two GPS antennas and a user receiver, wherein the two GPS antennas in the single-baseline GPS are respectively arranged on the longitudinal axis of the carrier in a front-back manner, if the length of a baseline vector formed by connecting the two GPS antennas is b, the coordinate of the baseline vector in a carrier coordinate system is (0 b 0)T(ii) a The coordinate of the single-baseline GPS baseline vector in the navigation coordinate system can also be obtained by data calculation of the GPS receiver, and is set as (x y z)TThe conversion relationship between the position vector of the single-baseline GPS in the carrier coordinate system and the position vector in the geographic coordinate system is as follows:the heading angle of the single baseline GPS output carrier is
The measurement equation is added with the observation of course angle error, namely the difference value of the course angle of the single-baseline GPS and the course angle obtained by the differentiation of the micro-mechanical gyroscope, and the coefficient matrix of the measurement equation is as follows:
wherein, I3×3Is a 3 × 3 unit array, 03×3A zero matrix of 3 × 3;
when the number of single-baseline GPS satellites is more than 4 and less than 6, a track angle provided by a single GPS antenna of the single-baseline GPS is used as an auxiliary, and the problems that the heading angle observability of a combined attitude estimation algorithm is weak and an attitude angle estimation value is easy to disperse are solved by using single-antenna GPS track angle auxiliary observation; the influence of the measurement error of the flight path angle on the attitude estimation is reduced through a self-adaptive control algorithm; judging the motion state of the carrier through a turning judgment rule, and when the carrier does not turn, using the track angle of a single-antenna GPS as the course angle psi of the carrier, wherein the track angle psi of the GPSvCan be expressed as
In the formula, ve、vnThe speed of the single antenna GPS in the navigation coordinate system is measured in the east direction and the north direction; when the carrier turns, the attitude angle of the carrier is obtained by utilizing the short-time precision integral of the gyroscope, and the turning judgment rule is as follows:
variance, ω, corresponding to heading angle noisezThe angular rate output value of the micromechanical heading gyroscope is obtained, and lambda is a turning judgment threshold value; when | ωz|>When lambda is measured, the effective output of course angle is ensured by the integral value of MEMS gyroscope without using the track angle output information of single antenna GPS, and the equation coefficient matrix is measured
Wherein epsilonN、εEAnd epsilonDThe errors of the attitude angle in the N direction, the E direction, and the D direction, respectively.
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| CN110831147B (en) * | 2019-11-08 | 2020-12-01 | 北京邮电大学 | A carrier frequency synchronization method suitable for millimeter-wave inter-satellite links |
| CN110926468B (en) * | 2019-12-05 | 2022-03-01 | 中国电子科技集团公司第五十四研究所 | Communication-in-motion antenna multi-platform navigation attitude determination method based on transfer alignment |
| US11353594B2 (en) | 2020-07-13 | 2022-06-07 | U-Blox Ag | Methods and apparatus for detecting a potential fault in a positioning device |
| CN116124131A (en) * | 2023-02-21 | 2023-05-16 | 陕西宝成航空仪表有限责任公司 | A Heading System Based on Single-antenna Satellite Track Angle Correction |
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