车载移动卫星天线稳定跟踪系统设计及实现
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摘要
随着卫星通信技术的发展,移动卫星通信系统已成为一种机动通信的良好手段,可用于汽车、火车、舰船、飞机等各种移动载体上,有着广泛的市场和应用前景。移动卫星通信系统的关键设备是天线稳定跟踪系统。目前,国内车载移动卫星天线稳定跟踪系统大都使用方位和俯仰二轴机械结构,只能实现天线波束轴线的稳定,不能隔离波束滚动;同时,多数设计方案采用高精度的陀螺作为测姿传感器,成本昂贵。本课题正是根据这种情况,对现有天线稳定跟踪系统提出两点重要改进:一、使用三轴稳定策略,避免天线波束滚动,提高通信质量;二、使用微机电MEMS(Micro Electron Mechanical System)传感器组合搭建出具有较高精度的测姿系统,降低成本。
论文从工程应用出发,首先介绍了天线稳定跟踪系统的总体方案,包括天线座的机械结构、隔离车体扰动的稳定控制方案、寻星对星的扫描跟踪方案;其次根据系统的要求对元件、模块选型,设计了相关电路,为下一步开发打下基础;然后介绍了系统的软件设计,包括μc/OS-II实时操作系统在MSP430F149单片机上的移植,系统任务的规划,并结合具体源码介绍了测姿系统的主要功能函数;接着着重讨论了天线稳定跟踪系统的初始对准算法、动态跟踪算法和三轴稳定算法,介绍了测姿部分传感器的数据融合算法以及姿态解算算法。最后,针对系统调试和工作中存在的一些问题,给出了下一步的工作思路。
With the development of satellite communication,mobile satellite communication system which can be used in vehicles,trains,ships,planes and other mobile carriers has became a good solution for mobile communication and has had a broad market space and good prospect of application.The key equipment of mobile satellite communication system is the antenna stabilized tracking system. Presently,the azimuth and pitching 2-axis mechanical construction has been used in most of vehicle -borne mobile satellite antenna stabilized tracking systems in our country,which only can make the antenna beam axis stable but cann't isolate antenna beam rolling.Besides,most designs have used hight precision gyroscopes as attitude measured sensors which cost a lot.This project makes two important changes to the existing antenna stabilized tracking system:firstly, 3-axis stabilized scheme has been adopted in order to aviod antenna beam rolling and improve communication quality;secondly, combination of MEMS(Micro Electron Mechanical System) sensors has been used to construct high accuracy attitude measured system,which can reduce the cost.
Based on the engineering application,this paper firstly introduces the overall plan of satellite antenna stabilized tracking system , including mechanical structure of antenna pedestal, control strategy for isolating disturbances from vehicles,scanning and tracking strategy for searching satellite.Then types of electronic components and modules are choosen according to the system requirement and relative circuits are designed to lay foundation for the next reasearch.Subsequently,software design of system is introduced,includingμc/OS-II RTOS(real-time operating system) transplanted on MSP430F149 microcontroller , system missions planed and main functions of attitude measured system explained with the codes. After that,the initial alignment algorithm,dynamic tracking algorithm and 3-axis stabilized algorithm of antenna stabilized tracking system are discussed focusedly,what's more,the information fusion algorithm and attitude calculation of attitude measured system are introduced. At last,some problems that occurred during the debugging and working are discussed and the next step of work is pointed out in this paper.
论文从工程应用出发,首先介绍了天线稳定跟踪系统的总体方案,包括天线座的机械结构、隔离车体扰动的稳定控制方案、寻星对星的扫描跟踪方案;其次根据系统的要求对元件、模块选型,设计了相关电路,为下一步开发打下基础;然后介绍了系统的软件设计,包括μc/OS-II实时操作系统在MSP430F149单片机上的移植,系统任务的规划,并结合具体源码介绍了测姿系统的主要功能函数;接着着重讨论了天线稳定跟踪系统的初始对准算法、动态跟踪算法和三轴稳定算法,介绍了测姿部分传感器的数据融合算法以及姿态解算算法。最后,针对系统调试和工作中存在的一些问题,给出了下一步的工作思路。
With the development of satellite communication,mobile satellite communication system which can be used in vehicles,trains,ships,planes and other mobile carriers has became a good solution for mobile communication and has had a broad market space and good prospect of application.The key equipment of mobile satellite communication system is the antenna stabilized tracking system. Presently,the azimuth and pitching 2-axis mechanical construction has been used in most of vehicle -borne mobile satellite antenna stabilized tracking systems in our country,which only can make the antenna beam axis stable but cann't isolate antenna beam rolling.Besides,most designs have used hight precision gyroscopes as attitude measured sensors which cost a lot.This project makes two important changes to the existing antenna stabilized tracking system:firstly, 3-axis stabilized scheme has been adopted in order to aviod antenna beam rolling and improve communication quality;secondly, combination of MEMS(Micro Electron Mechanical System) sensors has been used to construct high accuracy attitude measured system,which can reduce the cost.
Based on the engineering application,this paper firstly introduces the overall plan of satellite antenna stabilized tracking system , including mechanical structure of antenna pedestal, control strategy for isolating disturbances from vehicles,scanning and tracking strategy for searching satellite.Then types of electronic components and modules are choosen according to the system requirement and relative circuits are designed to lay foundation for the next reasearch.Subsequently,software design of system is introduced,includingμc/OS-II RTOS(real-time operating system) transplanted on MSP430F149 microcontroller , system missions planed and main functions of attitude measured system explained with the codes. After that,the initial alignment algorithm,dynamic tracking algorithm and 3-axis stabilized algorithm of antenna stabilized tracking system are discussed focusedly,what's more,the information fusion algorithm and attitude calculation of attitude measured system are introduced. At last,some problems that occurred during the debugging and working are discussed and the next step of work is pointed out in this paper.
引文
[1]王明忠.卫星通信的未来发展.上海航天,2000, 17(3):54~59.
[2]周华良.车载卫星天线稳定跟踪系统的设计与工程实现,[硕士学位论文].南京:南京理工大学,2005.
[3] D Gomez-Barquero, N Cardona, A Bria, J Zander. Affordable mobile TV services in hybrid cellular and DVB-H systems, IEEE Network, 2007, 21(2):34~40.
[4] Lai K.,Cherniakov M. Ray-tracing model of satellite to aircraft communication in aeronautical satellite communication system. Proceedings of the IEEE Region 10 Conference,1999, Vol.1: 558 ~ 560.
[5] Phillips K.P. An overview of propagation factors influencing the design of mobile satellite communication systems. Tenth International Conference on Antennas and Propagation, 1997,Vol.1: 261~268.
[6]谢子泉,胡华伟.舰载雷达稳定平台的结构概况.电子工程,2002,(l):17~22.
[7]滕云鹤,毛献辉等.移动卫星通信捷联式天线稳定系统.宇航学报,2002,23(5):72~75.
[8]曾金荣,曾进松.船摇扰动和雷达天线两轴稳定系统.雷达与对抗,1995,(2):28~32.
[9]王小军,李殿璞等.舰载三轴雷达波束稳定跟踪的研究.哈尔滨工程大学学报,2002,23(l): 58~63.
[10]杨俊永.船载移动卫星电视系统控制技术及其实现研究,[硕士学位论文].重庆:重庆大学,2003.
[11]藤本共荣,J.R.詹姆斯著,杨可忠,井淑华译.移动天线系统手册.北京:人民邮电出版社,1997.
[12]秦龙.MSP430单片机应用系统开发典型实例.北京:中国电力出版社,2005.
[13]胡大可.MSP430系列flash型超低功耗16位单片机.北京:北京航空航天大学出版社,2001.
[14]叶自清.船载卫星天线自动跟踪系统测控技术研究,[硕士学位论文].长沙:中南林学院,2003.
[15]李勇.我国车载GPS系统的应用现状与发展前景.合肥学院学报(自然科学版),2008,18(1): 67~69.
[16]袁磊峰.用于卫星通信的舰载天线稳定系统的设计及工程实现,[硕士学位论文].南京:南京理工大学,2002.
[17]吕志清,吴旭峰.微机械惯性器件.压电与声光,1997,19(6):375~380.
[18] P. Chalimbaud, F. Berry, F.Marmoiton, S. Alizon. Towards an Embedded Visuo-Inertial Smart Sensor. The International Journal of Robotics Research, 2007,26(6): 537~546.
[19]高同跃,龚振邦,罗均,冯伟.基于加速度计和角速率陀螺的超小无人直升机姿态控制系统.飞行器测控学报,2007,(l) :70~73.
[20]朱俊华,周兆英,叶雄英等.微型隧道效应磁强计的设计和加工工艺研究.微细加工技术,2001,(1):53~55.
[21]徐晓东,赵忠,李丽锦.采用磁阻传感器与加速度计的电子罗盘设计.兵工自动化,2005, 24(5): 21~22.
[22]战延谋,王卓柱,陈明等.基于HMC1022磁引信的信号采集模块设计.兵工自动化,2007, 26(12): 69~70.
[23]宋宇宁,周兆英.高精度磁阻式罗盘及其SET/RESET电路设计.仪器仪表学报,2006, 27(6): 1513~1514.
[24]王丽颖,支炜,孙红霞等.基于HMC1022磁阻传感器的数字.电子测量技术,2009,(1): 108~ 111.
[25]贾智平,孙宇.嵌入式实时系统中分布式RTOS的设计与实现.山东大学学报,2002 , 37(4): 317~319.
[26]陈是知.μc/OS-II内核分析、移植与驱动程序开发.北京:人民邮电出版社,2007.
[27]王田苗.μc/OS-II在处理器上移植.北京:北京航空航天出版社,2003.
[28]杨中田.双轴稳定平台嵌入式控制系统设计与开发,[硕士学位论文].长沙:国防科学技术大学,2005.
[29]魏小龙.MSP430系列单片机接口技术及系统设计实例.北京:北京航空航天大学出版社,2002.
[30]王继东.移动载体稳定跟踪平台测控关键技术研究,[硕士学位论文].长沙:国防科技大学,2003.
[31]白徐祥,官山林.动中通卫星通信天线.无线通信技术,2004,13(1):26~28.
[32]林培通.卫星接收极化角计算公式的推导.宁德师专学报(自然科学版). 2004 , 16(4) : 400~402.
[33]季鸿宇.船载卫星通信地球站的圆锥扫描技术,[硕士学位论文].南京:南京邮电大学,2006.
[34]夏鲁瑞.移动载体稳定跟踪平台关键技术研究,[硕士学位论文].长沙:国防科技大学,2005.
[35]周建兴,岂兴明,矫津毅等.MATLAB从入门到精通.北京:人民邮电出版社,2008.
[36]陈杰.MATLAB宝典.北京:电子工业出版社,2007.
[37]陈建.机载陀螺稳定平台自动控制系统研究.飞行试验,2001,(3):25~26.
[38]王连明.机载光电平台的稳定与跟踪伺服控制技术研究,[博士学位论文].长春:中国科学院长春光学精密机械与物理研究所,2002.
[39]韦和民,俞军.船用卫星天线自动跟踪控制系统.电子技术应用,1997,(6):37~38.
[40]陈向明.机载天线稳定跟踪系统的设计与实现,[硕士学位论文].南京:南京理工大学,2004.
[41]易继锴,侯媛彬.智能控制技术.北京:北京工业大学出版社,1999.
[42]刘金馄.先进PID控制及其MATLAB仿真.北京:电子工业出版社,2003:15~16.
[43]李荣冰,刘建业,曾庆化等.基于MEMS技术的微型惯性导航系统的发展现状.中国惯性技术学报,2004,6(12):88~94.
[44]任大海,尤政.一种用微型惯性测量组合进行三维位置测量的方法.仪表技术与传感器,2001,(10):33~35.
[45] Hashmipour H. R., Roy S, Laub A .J. Decentralized structures for parallel Kalman filtering. IEEE Transactions on Automatic Control,1998,33(1):88~93.
[46]邓自立.卡尔曼滤波与维纳滤波.哈尔滨:哈尔滨工业大学出版社,2001.
[47] M.S. Grewal, V.D. Henderson , R.S. Miyasako. Application of kalman filtering to the calibration and alignment of inertial navigation systems. IEEE Transactions on Automatic Control,1991,36:4~13.
[48]周兆英,朱荣,王鼎荣等.一种载体姿态测量方法,中国,发明专利,200410004660,2004.3.5.
[49] Alison K. Brown ,Yan Lu. Performance test results of an integrated GPS/MEMS inertial navigation package. Proceedings of ION GNSS 2004, 2004, Vol.1:825~832.
[50] Cho, S.Y., Park C.G. A calibration technique for a two-axis magnetic compass in telematics devices . ETRI Journal, 2005,27(3):280~288.
[51] Ellum C., El-Sheimy N. Inexpensive kinematic attitude determination from MEMS-based accelerometers and GPS-derived accelerations. Journal of Institute of Navigation, 2002,49 (3) : 117 ~ 126.
[52]邓正隆.惯性导航原理.哈尔滨:哈尔滨工业大学出版社,1994.
[2]周华良.车载卫星天线稳定跟踪系统的设计与工程实现,[硕士学位论文].南京:南京理工大学,2005.
[3] D Gomez-Barquero, N Cardona, A Bria, J Zander. Affordable mobile TV services in hybrid cellular and DVB-H systems, IEEE Network, 2007, 21(2):34~40.
[4] Lai K.,Cherniakov M. Ray-tracing model of satellite to aircraft communication in aeronautical satellite communication system. Proceedings of the IEEE Region 10 Conference,1999, Vol.1: 558 ~ 560.
[5] Phillips K.P. An overview of propagation factors influencing the design of mobile satellite communication systems. Tenth International Conference on Antennas and Propagation, 1997,Vol.1: 261~268.
[6]谢子泉,胡华伟.舰载雷达稳定平台的结构概况.电子工程,2002,(l):17~22.
[7]滕云鹤,毛献辉等.移动卫星通信捷联式天线稳定系统.宇航学报,2002,23(5):72~75.
[8]曾金荣,曾进松.船摇扰动和雷达天线两轴稳定系统.雷达与对抗,1995,(2):28~32.
[9]王小军,李殿璞等.舰载三轴雷达波束稳定跟踪的研究.哈尔滨工程大学学报,2002,23(l): 58~63.
[10]杨俊永.船载移动卫星电视系统控制技术及其实现研究,[硕士学位论文].重庆:重庆大学,2003.
[11]藤本共荣,J.R.詹姆斯著,杨可忠,井淑华译.移动天线系统手册.北京:人民邮电出版社,1997.
[12]秦龙.MSP430单片机应用系统开发典型实例.北京:中国电力出版社,2005.
[13]胡大可.MSP430系列flash型超低功耗16位单片机.北京:北京航空航天大学出版社,2001.
[14]叶自清.船载卫星天线自动跟踪系统测控技术研究,[硕士学位论文].长沙:中南林学院,2003.
[15]李勇.我国车载GPS系统的应用现状与发展前景.合肥学院学报(自然科学版),2008,18(1): 67~69.
[16]袁磊峰.用于卫星通信的舰载天线稳定系统的设计及工程实现,[硕士学位论文].南京:南京理工大学,2002.
[17]吕志清,吴旭峰.微机械惯性器件.压电与声光,1997,19(6):375~380.
[18] P. Chalimbaud, F. Berry, F.Marmoiton, S. Alizon. Towards an Embedded Visuo-Inertial Smart Sensor. The International Journal of Robotics Research, 2007,26(6): 537~546.
[19]高同跃,龚振邦,罗均,冯伟.基于加速度计和角速率陀螺的超小无人直升机姿态控制系统.飞行器测控学报,2007,(l) :70~73.
[20]朱俊华,周兆英,叶雄英等.微型隧道效应磁强计的设计和加工工艺研究.微细加工技术,2001,(1):53~55.
[21]徐晓东,赵忠,李丽锦.采用磁阻传感器与加速度计的电子罗盘设计.兵工自动化,2005, 24(5): 21~22.
[22]战延谋,王卓柱,陈明等.基于HMC1022磁引信的信号采集模块设计.兵工自动化,2007, 26(12): 69~70.
[23]宋宇宁,周兆英.高精度磁阻式罗盘及其SET/RESET电路设计.仪器仪表学报,2006, 27(6): 1513~1514.
[24]王丽颖,支炜,孙红霞等.基于HMC1022磁阻传感器的数字.电子测量技术,2009,(1): 108~ 111.
[25]贾智平,孙宇.嵌入式实时系统中分布式RTOS的设计与实现.山东大学学报,2002 , 37(4): 317~319.
[26]陈是知.μc/OS-II内核分析、移植与驱动程序开发.北京:人民邮电出版社,2007.
[27]王田苗.μc/OS-II在处理器上移植.北京:北京航空航天出版社,2003.
[28]杨中田.双轴稳定平台嵌入式控制系统设计与开发,[硕士学位论文].长沙:国防科学技术大学,2005.
[29]魏小龙.MSP430系列单片机接口技术及系统设计实例.北京:北京航空航天大学出版社,2002.
[30]王继东.移动载体稳定跟踪平台测控关键技术研究,[硕士学位论文].长沙:国防科技大学,2003.
[31]白徐祥,官山林.动中通卫星通信天线.无线通信技术,2004,13(1):26~28.
[32]林培通.卫星接收极化角计算公式的推导.宁德师专学报(自然科学版). 2004 , 16(4) : 400~402.
[33]季鸿宇.船载卫星通信地球站的圆锥扫描技术,[硕士学位论文].南京:南京邮电大学,2006.
[34]夏鲁瑞.移动载体稳定跟踪平台关键技术研究,[硕士学位论文].长沙:国防科技大学,2005.
[35]周建兴,岂兴明,矫津毅等.MATLAB从入门到精通.北京:人民邮电出版社,2008.
[36]陈杰.MATLAB宝典.北京:电子工业出版社,2007.
[37]陈建.机载陀螺稳定平台自动控制系统研究.飞行试验,2001,(3):25~26.
[38]王连明.机载光电平台的稳定与跟踪伺服控制技术研究,[博士学位论文].长春:中国科学院长春光学精密机械与物理研究所,2002.
[39]韦和民,俞军.船用卫星天线自动跟踪控制系统.电子技术应用,1997,(6):37~38.
[40]陈向明.机载天线稳定跟踪系统的设计与实现,[硕士学位论文].南京:南京理工大学,2004.
[41]易继锴,侯媛彬.智能控制技术.北京:北京工业大学出版社,1999.
[42]刘金馄.先进PID控制及其MATLAB仿真.北京:电子工业出版社,2003:15~16.
[43]李荣冰,刘建业,曾庆化等.基于MEMS技术的微型惯性导航系统的发展现状.中国惯性技术学报,2004,6(12):88~94.
[44]任大海,尤政.一种用微型惯性测量组合进行三维位置测量的方法.仪表技术与传感器,2001,(10):33~35.
[45] Hashmipour H. R., Roy S, Laub A .J. Decentralized structures for parallel Kalman filtering. IEEE Transactions on Automatic Control,1998,33(1):88~93.
[46]邓自立.卡尔曼滤波与维纳滤波.哈尔滨:哈尔滨工业大学出版社,2001.
[47] M.S. Grewal, V.D. Henderson , R.S. Miyasako. Application of kalman filtering to the calibration and alignment of inertial navigation systems. IEEE Transactions on Automatic Control,1991,36:4~13.
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