CN116111353B - Tracking method of phased array antenna fusion device, electronic equipment and storage medium - Google Patents
Tracking method of phased array antenna fusion device, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention provides a tracking method, electronic equipment and a storage medium of a phased array antenna fusion device. The invention has the beneficial effects that: through one-dimensional azimuth tracking, the organic fusion of a pitching angle platform and a phased array antenna and reasonable use of a tracking method, the effective compensation of the phased array tracking pointing angle is realized, and the design difficulty and the equipment cost are reduced; the angle compensation method is simple in design, pitch angle compensation is achieved only through initial manual configuration, a two-dimensional servo tracking system is formed without devices such as a pitch motor, a servo driver and an encoder, miniaturization is easy to achieve, low power consumption is achieved, application requirements of small and medium-sized unmanned aerial vehicles are met, and the angle compensation method has high engineering application value.
Description
Technical Field
The invention belongs to the technical field of satellite communication, and particularly relates to a tracking method, electronic equipment and a storage medium of a phased array antenna fusion device.
Background
The satellite communication data link is an important means for the unmanned aerial vehicle to realize beyond-the-horizon flight, remote control, remote measurement and information transmission. The traditional mode is based on-board communication in motion, and realizes the stable platform and the accurate pointing of a communication satellite by means of motion control in three directions of azimuth, pitching and polarization, thereby ensuring uninterrupted communication of beyond-sight distance of a machine body. The mode can realize the omnibearing tracking pointing direction of pitching 0-90 degrees and azimuth 0-360 degrees, better meets the use requirement under the conventional condition, and is widely applied. However, the mode of realizing accurate pointing by means of mechanical movement has the advantages of large space envelope, heavy mass, complex system, low response speed, more moving parts, poor reliability and incapability of well meeting the requirements of medium and small-sized airborne use environments with limited space and load.
Phased array antenna technology compensates for this deficiency to some extent. A phased array antenna refers to an antenna in which the pattern shape is changed by controlling the feed phase of radiating elements in the array antenna. The control phase can change the direction of the maximum value of the antenna pattern so as to achieve the aim of tracking the direction of the beam. The main advantages are no mechanical parts, high reliability and quick tracking and pointing, but due to the limitation of unit patterns and impedance, the maximum scanning range of the planar phased array is a cone of + -60 DEG, and the index of the antenna array surface is obviously reduced beyond the range. The phased array antenna is used on stationary platforms such as fixed stations, portable stations and the like and platforms mainly for horizontal movement such as vehicle-mounted and the like, and the conical scanning range of the phased array antenna can better meet the requirements and is widely applied. The size of the equipment is reduced, and the equipment becomes a beneficial supplement of traditional Chinese communication in static state and Chinese communication in dynamic state. However, when the antenna is used for an airborne platform, the conical scanning of the phased array antenna shows limitation due to the three-dimensional steering characteristics of azimuth, pitching and rolling of the carrier platform, the omni-directional tracking and pointing coverage cannot be realized, and the use reliability is greatly reduced. In view of this, there have been some beneficial searches in the industry to compensate for azimuth and elevation tracking of phased array antennas. In the prior art, a device and a method for combining a phased array and a mechanical tracking mode are disclosed, so that scanning and tracking of a whole area without blind areas are realized. The method, the system, the terminal and the medium for tracking the hybrid scanning antenna of the phased array are disclosed, the phased array is combined with a mechanical platform, the rapid alignment and the real-time tracking of the antenna in the low-orbit satellite communication process are realized, the problem that the scanning angle of the phased array antenna is limited is solved by utilizing a servo system of the mechanical platform, and the tracking speed and the accuracy are optimized. The application requirements of the low-orbit satellite communication system scene are well met.
The compensation method is essentially the integration of the traditional mechanical tracking mode and the phased array, replaces the traditional narrow beam directional antenna by the phased array antenna, and performs certain optimization and adaptation on the tracking method. Although the problem that the traditional servo mode is low in tracking speed and the phased array cannot be omnidirectionally pointed is solved, the complexity, the power consumption, the size and the weight of the system are greatly increased, and the phased array is not applicable to small and medium unmanned aerial vehicle platforms sensitive to weight, size and power consumption. Meanwhile, unmanned aerial vehicles widely use geosynchronous orbit satellites to realize beyond-the-horizon communication. When the geosynchronous orbit communication satellite is used, the pitching scanning angle required by the antenna is small and relatively fixed, and the global scanning tracking is realized by combining the electric scanning tracking pointing function and the two-dimensional mechanical tracking pointing function of the phased array antenna, so that the functions are redundant and unnecessary.
Disclosure of Invention
In view of the foregoing, the present invention aims to provide a tracking method, an electronic device and a storage medium for a phased array antenna fusion device, so as to reduce the size, weight and system cost of the device while the phased array antenna achieves fast alignment and real-time tracking of a geosynchronous orbit satellite.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
the phased array antenna fusion device comprises a phased array antenna unit, a wave control and servo system, a tracking unit, a pitch angle position table and an azimuth servo tracking turntable, wherein the phased array antenna unit and the azimuth servo tracking turntable are in bidirectional communication connection with the wave control and servo system, the tracking unit is in unidirectional communication connection with the wave control and servo system, and the phased array antenna unit is mounted to the pitch angle position table and is mounted on the azimuth servo tracking turntable together with the wave control and servo system and the tracking unit.
Further, the phased array antenna unit comprises a receiving antenna array and a transmitting antenna array, wherein the receiving antenna array and the transmitting antenna array are both installed to the pitching angle platform, the receiving antenna array and the transmitting antenna array are two-dimensional electric scanning active phased array antennas, and the receiving antenna array and the transmitting antenna array are both horizontal planes with an XOY plane.
Further, when the phased array antenna unit is horizontally placed, the Z-axis direction is the normal direction of the phased array antenna unit, the included angle between the pointing direction of the phased array antenna unit and the Z-axis is an off-axis angle, the included angle between the projection of the pointing direction of the phased array antenna unit on the XOY plane and the X-axis is an azimuth angle, the azimuth scanning azimuth is 0-360 degrees, and the off-axis scanning range is 0-60 degrees.
Further, the wave control and servo system comprises a wave control unit and a servo system, wherein the servo system is used for controlling the azimuth servo tracking turntable to roughly point to a preset direction according to the phased array antenna unit pointing parameter in the carrier coordinate system calculated in real time, and the wave control unit is used for converting the calculated wave beam pointing instruction into the phased array antenna unit line amplitude and phase to configure wave beam forming so that the wave beam points to the target direction.
Furthermore, the tracking unit comprises a guard guide, an inertial guide and a beacon, wherein the guard guide is a GPS/Beidou receiver and is used for acquiring position information of a carrier, the inertial guide is used for acquiring pitch, roll, yaw angle, angular acceleration and linear acceleration information of the carrier, and the beacon is used for receiving a single-tone beacon or a carrier signal and converting the single-tone beacon or the carrier signal into corresponding digital voltage values so as to meet the requirements of satellite finding and satellite aligning of a phased array antenna and a servo mechanism.
Furthermore, the pitch angle position table is a mechanical angle position table, and is adjusted and locked through a manual worm gear, and the adjustable range is 0-60 degrees.
Furthermore, the azimuth servo tracking turntable is used for realizing the coarse pointing of the phased array antenna under the calculation control of the wave control and servo system.
Further, the tracking method of the phased array antenna fusion device comprises the following steps:
s1, confirming longitude and latitude of an airplane departure point and a landing point and longitude information of a satellite to be used, and respectively calculating the departure point and an antenna pitch angle E corresponding to the landing point according to a formula I 1 ，E 2 The method comprises the steps of carrying out a first treatment on the surface of the The first formula is:
in the method, in the process of the invention,
for carrier longitude->
The longitude of the satellite orbit, and the latitude of the carrier;
s2, taking
For E 1 ，E 2 Arithmetic mean of (i.e.)>
Will E δ As a coarse pitch pointing reference, a mechanical pitch stage is arranged such that the normal deflection E of the phased array antenna unit δ A degree;
s3, the wave control and servo system calculates the azimuth angle pointed by the phased array antenna unit in the carrier coordinate system in real time by utilizing the longitude of the satellite navigation and inertial navigation data of the tracking unit, takes the azimuth angle as the preset angle of the phased array antenna unit, and controls the azimuth servo tracking turntable to correct the pointing direction in real time so as to realize the coarse pointing of the phased array antenna unit;
s4, the wave control and servo system calculates the accurate pointing direction based on the position, the heading, the compensated attitude information and the beacon level, controls the amplitude and the phase of the phased array antenna unit, combines the antenna beam pointing to the target direction, and achieves satellite capturing and enters a real-time tracking mode when the beacon level is larger than a threshold value;
s5, under the premise that capturing is effective due to the movement and posture change of the pitch angle platform, a tracking electric scanning program is started, a capturing point is used as a circle center, half of scanning precision is used as a scanning radius, periodic electric scanning is conducted on the azimuth and pitch directions, pointing errors are output after the scanning period is finished, and real-time correction is conducted on the next scanning period to track.
Further, the electronic device comprises a processor and a memory which is in communication connection with the processor and is used for storing instructions executable by the processor, wherein the memory stores instructions executable by the processor, the instructions are executed by the processor, and the processor is used for executing the tracking method of the phased array antenna fusion device.
Further, a computer readable storage medium stores a computer program which when executed by a processor implements the tracking method of the phased array antenna fusion apparatus.
Compared with the prior art, the tracking method, the electronic equipment and the storage medium of the phased array antenna fusion device have the following advantages:
according to the tracking method, the electronic equipment and the storage medium of the phased array antenna fusion device, the effective compensation of the phased array tracking pointing angle is realized through one-dimensional azimuth tracking, the organic fusion of the pitching angle platform and the phased array antenna and the reasonable use of the tracking method, and the design difficulty and the equipment cost are reduced; the angle compensation method is simple in design, pitch angle compensation is achieved only through initial manual configuration, a two-dimensional servo tracking system is formed without devices such as a pitch motor, a servo driver and an encoder, miniaturization is easy to achieve, low power consumption is achieved, application requirements of small and medium-sized unmanned aerial vehicles are met, and the angle compensation method has high engineering application value.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of a system configuration of an apparatus according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a conical scanning range of a phased array antenna after mechanical compensation of a pitch angle according to an embodiment of the present invention.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.
The invention will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1 to 2, the phased array antenna fusion device is composed of a phased array antenna unit, a wave control and servo system, a tracking unit, a pitch angle platform and an azimuth servo tracking turntable.
In a preferred embodiment of the invention, the phased array antenna unit comprises a receiving antenna array surface and a transmitting antenna array surface, is a two-dimensional electric scanning active phased array antenna, wherein the XOY plane is a horizontal plane, the Z-axis direction is the normal direction of the phased array antenna when the phased array antenna unit is horizontally placed, the included angle between the antenna pointing direction and the Z axis is an off-axis angle, the included angle between the projection of the antenna pointing direction on the XOY plane and the X axis is an azimuth angle, the azimuth scanning azimuth is 0-360 degrees, and the off-axis scanning range is 0-60 degrees.
In a preferred embodiment of the invention, the wave control and servo system comprises a wave control unit and a servo system, and according to the carrier position, attitude information, heading information and satellite longitude information determined by the tracking unit, the theoretical azimuth angle and pitch angle of the alignment of the phased array antenna are calculated, the azimuth servo turntable is controlled to drive the phased array antenna to initially face the satellite, the azimuth angle and pitch angle of the phased array antenna are compensated, and the wave beam of the phased array antenna is controlled to accurately align and track and scan based on the initially-directed azimuth angle and pitch angle state and combined with the beacon signal intensity. And the servo system is used for controlling the azimuth servo turntable to roughly point to a preset direction according to the antenna pointing parameter in the carrier coordinate system calculated in real time. The wave control unit converts the calculated beam pointing instruction into antenna amplitude and phase configuration beam forming, so that the beam is pointed in the target direction.
In a preferred embodiment of the invention, the tracking unit comprises a guard guide, an inertial guide and a beacon machine, wherein the guard guide is a GPS/Beidou receiver and is used for acquiring position information (longitude, latitude, altitude and the like) of the carrier, and the inertial guide is composed of a high-precision MEMS gyroscope, an accelerometer and a geomagnetic sensor and is used for acquiring information such as pitching, rolling, yaw angle, angular acceleration, linear acceleration and the like of the carrier. The beacon machine is used for receiving the single-tone beacon or carrier signal and converting the single-tone beacon or carrier signal into corresponding digital voltage values, thereby meeting the requirements of searching and aligning the satellites of the phased array antenna and the servo mechanism.
In a preferred embodiment of the invention, the pitch angle stage is a mechanical angle stage, which is adjusted and locked by a manual worm gear and can be adjusted in the range of 0-60 °.
In a preferred embodiment of the invention, the azimuth servo tracking turntable mainly comprises an azimuth motor, an encoder, an azimuth transmission structure and the like, and the coarse pointing of the phased array antenna is realized under the resolving control of a wave control and servo system.
In a preferred embodiment of the present invention, the tracking method of the phased array antenna fusion device specifically performs the following tracking pointing procedure:
1. confirming longitude and latitude of the flying spot and landing spot of the airplane and longitude information of the satellite to be used, and respectively calculating the flying spot and the antenna pitch angle E corresponding to the landing spot according to the following theoretical formula 1 ，E 2 ；
In the method, in the process of the invention,
longitude (degrees) of the carrier->
Satellite orbit longitude (degrees), β is carrier latitude;
2. taking and taking
For E 1 ，E 2 Arithmetic mean of (i.e.)>
3. the wave control and servo system calculates the azimuth angle pointed by the antenna in the carrier coordinate system in real time by utilizing the longitude of the satellite navigation and inertial navigation data target of the tracking unit as the preset angle of the antenna, and controls the azimuth servo turntable to correct the pointing direction in real time so as to realize the coarse pointing of the phased array antenna;
4. the wave control and servo system calculates the accurate pointing direction based on the position, the heading, the compensated gesture information and the beacon level, controls the amplitude and the phase of the phased array antenna, and combines the antenna beam pointing to the target direction, when the beacon level is greater than a threshold value, satellite capturing is realized, and a real-time tracking mode is entered;
5. because of the motion and posture change of the carrier platform, a tracking electric scanning program is started on the premise of effective capturing, a capturing point is taken as a circle center, half of scanning precision is taken as a scanning radius, the azimuth and pitching directions are subjected to periodic electric scanning, a pointing error is output after the scanning period is finished, and the next scanning period is corrected in real time for tracking.
The beneficial effects of the invention are as follows:
according to the tracking method, the electronic equipment and the storage medium of the phased array antenna fusion device, the effective compensation of the phased array tracking pointing angle is realized through one-dimensional azimuth tracking, the organic fusion of the pitching angle platform and the phased array antenna and the reasonable use of the tracking method, and the design difficulty and the equipment cost are reduced. The tracking method, the electronic equipment and the storage medium of the phased array antenna fusion device have the advantages that the angle compensation method is simple in design, pitch angle compensation is achieved only through initial manual configuration, a two-dimensional servo tracking system is not required to be formed by a pitch motor, a servo driver, an encoder and the like, miniaturization is easy to achieve, low power consumption is achieved, application requirements of small and medium-sized unmanned aerial vehicles are met, and the method has high engineering application value.
In this embodiment, the geosynchronous orbit communication satellite is widely used in unmanned aerial vehicle satellite communication because of its relative geostationary state and stable beam coverage, such as Zhongxing 10 and 12, and the like, to achieve good coverage of the land area of China. Because of the relatively fixed relationship between satellites and China geographic locations, the requirement for the regional scanning capability of the phased array is substantially reduced. In theory, due to the pitching angle introduced by the relative position relationship, the pitching angle can be regarded as a systematic deviation, the higher the general latitude is, the larger the deviation is, and only the systematic deviation is required to be effectively corrected, so that the pointing corner is in the phased array electric scanning range, the minimum expenditure is achieved, the accurate pointing of the phased array antenna is realized, the reliability is improved, the cost is reduced, the volume weight of equipment is reduced, and the sanitary application requirements of small and medium unmanned aerial vehicles are met.
Example 1
Fig. 1 is a block diagram showing the system configuration of the phased array antenna fusion apparatus of the present invention. The device comprises a phased array antenna unit, a wave control and servo system, a tracking unit, a pitch angle platform and an azimuth servo tracking turntable.
In the following, an embodiment is described in detail, in which, in the application of the china area as a background, it is assumed that a flight mission flies from a great Xinghangling area to a Beijing area, the straight line distance between two points is about 1735 km, which exceeds the flight radius of most small and medium unmanned aerial vehicles, in addition, the higher the latitude is, the larger the system deviation is, the scene covers the north part of china, the longitude and latitude span of the route is larger, the representativeness and coverage are good, the satellite number 10 in the intended use is the target satellite, and the satellite number 10 in the intended use is one of the most widely used communication satellites in China. The satellite No. 10 works at 110.5 degrees of east longitude, can meet the demands of users in China, western Asia, south Asia and other countries and regions for communication, broadcast television, data transmission, digital broadband multimedia and streaming media service, great Khingan is located at the north of China, and takes 53 degrees of north latitude nearby, 126 degrees of east longitude as a starting point A1, beijing as the first capital of China, has excellent satellite signal coverage, 39 degrees of north latitude nearby, 116 degrees of east longitude as an ending point A2, and substitutes the following formulas:
obtaining a theoretical pitching value E corresponding to the A1 point 1 ＝27.7°，E 2 ＝44.5°。
The off-axis scanning range of the phased array antenna is 0-60 degrees, and according to the calculation result, if the pitch angle is not mechanically compensated when the phased array antenna is positioned at the point A1, the theoretical pointing angle exceeds the conical scanning area of the phased array antenna and cannot be used, and when the phased array antenna is used at the point A2, the off-axis angle is 45.5 degrees, so that the optimal antenna array surface index is difficult to ensure, and therefore, the necessary pitch angle of the phased array antenna is required to be mechanically compensated.
According to the formula
Available->
Then
After compensation, the off-axis angle of the theoretical pointing angle of the A1 point and the A2 point is only 8.4 degrees, so that on one hand, good antenna array surface indexes can be ensured, and on the other hand, larger redundancy is provided for responding to the attitude change of the carrier platform, so that the carrier platform is insensitive to the sudden attitude change in the flying process, the theoretical pointing angle is ensured to be always in the electric scanning range, the fast capturing and tracking are realized, and the use reliability and the robustness are improved.
The wave control and servo system calculates the azimuth angle pointed by the antenna in the carrier coordinate system in real time through the position, the course and the attitude information and the longitude of the satellite No. 10 of the middle star obtained by the tracking unit, and controls the azimuth servo turntable to correct the pointing direction in real time, so that the phased array antenna area array always faces the satellite, and the coarse pointing of the phased array antenna is realized;
the wave control and servo system calculates the accurate pointing direction based on the position, the heading, the compensated antenna attitude information and the beacon level, controls the amplitude and the phase of the phased array antenna, combines the antenna beam pointing to the target direction, and realizes satellite capture and real-time tracking when the beacon level is larger than the capture threshold.
In summary, the tracking method, the electronic equipment and the storage medium of the phased array antenna fusion device realize effective compensation of the electric scanning angle of the phased array antenna through the organic fusion of the one-dimensional azimuth servo tracking table, the pitch angle position table and the phased array antenna and reasonable tracking mode setting, are simple and effective, do not need a two-dimensional mechanical servo turntable, save space, reduce power consumption, weight and cost, meet the phased array satellite application requirements of synchronous orbit satellite application scenes and weight and size-sensitive medium and small unmanned aerial vehicles, and have high engineering application values.
While the fundamental principles, principal methods and advantages of the present invention have been shown and described, it will be apparent to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments. The embodiments are to be considered as exemplary and not restrictive.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (5)
1. The tracking method of the phased array antenna fusion device is characterized by comprising the following steps of: the phased array antenna fusion device comprises a phased array antenna unit, a wave control and servo system, a tracking unit, a pitch angle position table and an azimuth servo tracking turntable, wherein the phased array antenna unit and the azimuth servo tracking turntable are connected with the wave control and servo system in a two-way communication manner, the tracking unit is connected with the wave control and servo system in a one-way communication manner, and the phased array antenna unit is mounted to the pitch angle position table and is mounted on the azimuth servo tracking turntable together with the wave control and servo system and the tracking unit;
the phased array antenna unit comprises a receiving antenna array and a transmitting antenna array, wherein the receiving antenna array and the transmitting antenna array are both installed on a pitching angle platform, the receiving antenna array and the transmitting antenna array are both two-dimensional electric scanning active phased array antennas, and the receiving antenna array and the transmitting antenna array are both horizontal planes with an XOY plane;
when the phased array antenna unit is horizontally placed, the Z-axis direction is the normal direction of the phased array antenna unit, the included angle between the pointing direction of the phased array antenna unit and the Z-axis is an off-axis angle, the included angle between the projection of the pointing direction of the phased array antenna unit on the XOY plane and the X-axis is an azimuth angle, the azimuth scanning azimuth is 0-360 degrees, and the off-axis scanning range is 0-60 degrees;
the wave control and servo system comprises a wave control unit and a servo system, wherein the servo system is used for controlling a azimuth servo tracking turntable according to phased array antenna unit pointing parameters in a carrier coordinate system calculated in real time and coarsely pointing to a preset direction, and the wave control unit converts a calculated wave beam pointing instruction into phased array antenna unit line amplitude and phase to configure wave beam forming so that a wave beam points to a target direction;
the tracking unit comprises a guard guide, an inertial guide and a beacon, wherein the guard guide is a GPS/Beidou receiver and is used for acquiring position information of a carrier, the inertial guide is used for acquiring pitch, roll angle, yaw angle, angular acceleration and linear acceleration information of the carrier, and the beacon is used for receiving a single-tone beacon or a carrier signal and converting the single-tone beacon or the carrier signal into corresponding digital voltage values so as to meet the requirements of satellite finding and satellite aligning of a phased array antenna and a servo mechanism;
the tracking method of the phased array antenna fusion device comprises the following steps:
s1, confirming longitude and latitude of an airplane departure point and a landing point and longitude information of a satellite to be used, and respectively calculating the departure point and an antenna pitch angle E corresponding to the landing point according to a formula I 1 ，E 2 The method comprises the steps of carrying out a first treatment on the surface of the The first formula is:
in the method, in the process of the invention,
for carrier longitude->
The longitude of the satellite orbit, and the latitude of the carrier;
s2, taking
For E 1 ，E 2 Arithmetic mean of (i.e.)>
Will E δ As a coarse pitch pointing reference, a mechanical pitch stage is arranged such that the normal deflection E of the phased array antenna unit δ A degree;
s3, the wave control and servo system calculates the azimuth angle pointed by the phased array antenna unit in the carrier coordinate system in real time by utilizing the longitude of the satellite navigation and inertial navigation data of the tracking unit, takes the azimuth angle as the preset angle of the phased array antenna unit, and controls the azimuth servo tracking turntable to correct the pointing direction in real time so as to realize the coarse pointing of the phased array antenna unit;
s4, the wave control and servo system calculates the accurate pointing direction based on the position, the heading, the compensated attitude information and the beacon level, controls the amplitude and the phase of the phased array antenna unit, combines the antenna beam pointing to the target direction, and achieves satellite capturing and enters a real-time tracking mode when the beacon level is larger than a threshold value;
s5, under the premise that capturing is effective due to the movement and posture change of the pitch angle platform, a tracking electric scanning program is started, a capturing point is used as a circle center, half of scanning precision is used as a scanning radius, periodic electric scanning is conducted on the azimuth and pitch directions, pointing errors are output after the scanning period is finished, and real-time correction is conducted on the next scanning period to track.
2. The method of tracking a phased array antenna fusion apparatus of claim 1, wherein: the pitch angle position table is a mechanical angle position table, is adjusted and locked through a manual worm gear and worm, and can be adjusted by 0-60 degrees.
3. The method of tracking a phased array antenna fusion apparatus of claim 1, wherein: the azimuth servo tracking turntable is used for realizing the coarse pointing of the phased array antenna under the resolving control of the wave control and servo system.
4. An electronic device comprising a processor and a memory communicatively coupled to the processor for storing processor-executable instructions, characterized in that: the memory stores instructions executable by the processor for performing the tracking method of the phased array antenna fusion apparatus of any of the preceding claims 1-3.
5. A computer-readable storage medium storing a computer program, characterized in that: the computer program, when executed by a processor, implements a tracking method for a phased array antenna fusion apparatus according to any of claims 1-3.
Priority Applications (1)
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| CN118707199B (en) * | 2024-05-22 | 2025-07-22 | 中国电子科技集团公司第三十八研究所 | System and method for testing steering pattern of motorized phased array antenna |
| CN120149824B (en) * | 2025-05-16 | 2025-08-08 | 北京国电高科科技有限公司 | Method and device for calibrating turntable of satellite ground high-speed receiver |
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Inventor after: Feng Hui Inventor after: Chen Juan Inventor after: He Zhiming Inventor after: Liu Jianliang Inventor after: Zhang Lingjun Inventor after: Wang Shuangshuang Inventor after: Zhang Chunze Inventor after: Han Jie Inventor after: Yang Jichao Inventor after: Qin Wen Inventor before: Feng Hui Inventor before: Chen Juan Inventor before: He Zhiming Inventor before: Liu Jianliang Inventor before: Zhang Lingjun Inventor before: Wang Shuangshuang Inventor before: Zhang Chunze Inventor before: Han Jie Inventor before: Yang Jichao Inventor before: Qin Wen |