移动载体卫星通信系统天线跟踪技术的研究
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摘要
天线稳定跟踪技术是“动中通”系统的关键技术,其核心问题是天线对卫星的初始对准和自动跟踪。初始对准是自动跟踪的前提,自动跟踪需要初始对准来找到并对准卫星;自动跟踪是对初始对准成果的维持。
在没有卫星信号的情况下,天线初始对准是在陀螺稳定的基础上,利用GPS和电子罗盘提供的数据,求出载体坐标系中卫星的方位角和俯仰角,控制天线运动到卫星附近,完成捕获并对准卫星的目的。本文通过编程,解析并处理了GPS和电子罗盘数据,完成了卫星的方位角和俯仰角的解算,实现对卫星的对准。
自动跟踪技术包括圆锥扫描和步进跟踪。本文对两种技术都进行了研究,并探讨了工程实现方法。首先在研究了圆锥扫描原理的基础上,通过编程实现天线运动出圆锥轨迹,达到自动跟踪的目的。其次研究了步进跟踪技术,采用了新的步进跟踪算法,并进行了两种步进跟踪算法的仿真和比较,得出新步进跟踪算法可以按照最优路径对卫星跟踪的结论。接着开发了步进跟踪程序。
The key technologies of "communications on the move" are antenna stabilization and tracking technology whose kernel is the initial alignment and automatic tracking technology of antenna toward satellite. The initial alignment catches and aims at satellite before automatic tracking, so it is a prerequisite for automatic tracking, and automatic tracking maintains the results of initial alignment.
Without satellite signals, initial alignment is the technology which is on basis of gyro stabilization, use the data of GPS and the electronic compass to extract the azimuth and pitch angles in carrier coordinate system. They control antenna movement to satellite nearby to complete the goal of catching and aiming at satellite. This paper copes with the data of GPS and the electronic compass and gets angles of azimuth and pitch.
Auto-tracking technologies include the conical scanning technology and the step tracking technology. In this paper, the two technologies have been studied and the project realization of them is discussed. Firstly, the paper realizes the antenna movement of cone trajectory on the program after studying the principles of conical scanning, and achieves the purpose of automatic tracking. Secondly, the paper studies the step-tracking technology and adopts a new step-tracking algorithm. The results of the comparison of the two step-tracking algorithms in simulation show that the antenna can track satellite through optimized way with the new tracking algorithm. Then the paper developes the step-tracking program.
在没有卫星信号的情况下,天线初始对准是在陀螺稳定的基础上,利用GPS和电子罗盘提供的数据,求出载体坐标系中卫星的方位角和俯仰角,控制天线运动到卫星附近,完成捕获并对准卫星的目的。本文通过编程,解析并处理了GPS和电子罗盘数据,完成了卫星的方位角和俯仰角的解算,实现对卫星的对准。
自动跟踪技术包括圆锥扫描和步进跟踪。本文对两种技术都进行了研究,并探讨了工程实现方法。首先在研究了圆锥扫描原理的基础上,通过编程实现天线运动出圆锥轨迹,达到自动跟踪的目的。其次研究了步进跟踪技术,采用了新的步进跟踪算法,并进行了两种步进跟踪算法的仿真和比较,得出新步进跟踪算法可以按照最优路径对卫星跟踪的结论。接着开发了步进跟踪程序。
The key technologies of "communications on the move" are antenna stabilization and tracking technology whose kernel is the initial alignment and automatic tracking technology of antenna toward satellite. The initial alignment catches and aims at satellite before automatic tracking, so it is a prerequisite for automatic tracking, and automatic tracking maintains the results of initial alignment.
Without satellite signals, initial alignment is the technology which is on basis of gyro stabilization, use the data of GPS and the electronic compass to extract the azimuth and pitch angles in carrier coordinate system. They control antenna movement to satellite nearby to complete the goal of catching and aiming at satellite. This paper copes with the data of GPS and the electronic compass and gets angles of azimuth and pitch.
Auto-tracking technologies include the conical scanning technology and the step tracking technology. In this paper, the two technologies have been studied and the project realization of them is discussed. Firstly, the paper realizes the antenna movement of cone trajectory on the program after studying the principles of conical scanning, and achieves the purpose of automatic tracking. Secondly, the paper studies the step-tracking technology and adopts a new step-tracking algorithm. The results of the comparison of the two step-tracking algorithms in simulation show that the antenna can track satellite through optimized way with the new tracking algorithm. Then the paper developes the step-tracking program.
引文
[1]王秉钧,王少勇,田宝玉等现代卫星通信系统.北京:电子工业出版社,2004.32-45.
[2]Young Hoon Kwon,Dan Keun Sung.Elevation angle dependent Markov model for LEO satellite communication systems.Global Telecommunications Conference,1999.GLOBECOM '99Volume 1A,1999:281-285.
[3]Jovanovic,S,Greca,A.A Novel Communication Protocol and Delay Model for Networking Satellites.Networking.Sensing and Control,2006.ICNSC '06.Proceedings of the 2006 IEEE International Conference on 23-25 April 2006:907-912.
[4]周华良.车载卫星天线稳定跟踪系统的设计与工程实现[硕士论文].南京:南京理工大学.2005.2-47.
[5]Gomez-Barquero,Cardona,N,Bria,A.Affordable Mobile TV Services in Hybrid Cellularand DVB-H Systems,Network,IEEE 2007,3,21(2):34-40.
[6]张智永.移动载体稳定跟踪平台测控技术研究[硕士论文].长沙:国防科学技术大学.2002.2-3.
[7]张岷峰,张忠敏,船用数字两轴稳定控制系统,电子对抗技术,1996年1期.
[8]刘修文.卫星数字电视直播接收技术.北京:机械工业出版社,2006.7.90-96
[9]Theodore E.Ioakimidis and Richard S.Wexler,COMMERCIAL KU-BAND SATCOM ON-THE-MOVE USING A HYBRID TRACKING SCHEME,The MITRE Corporation.
[10]边少峰,李文魁.卫星导航系统概论.北京:电子工业出版社,2005.2.12-16
[11]陈振国,杨鸿文,郭文彬.卫星通信系统与技术.北京:北京邮电大学出版社2003.
[12]邓正隆.惯性导航原理.哈尔滨工业大学出版社1994.8-12
[13]张树侠,孙静.捷联式惯性导航系统.北京:国防工业出版社1992.14-17
[14]潘尚龙.GPS系统及其应用.太原城市职业技术学院学报.2007,72:146-147.
[15]懂绪荣,张守信,华仲春.GPS/INS组合导航定位及其应用.长沙:国防科技大学出版社,1998.13-16
[16]曾元萍.GPS航姿系统研究.南京航空航天大学,硕士论文.2000,3.
[17]栾锡武,鲁银涛,徐涛.海洋地球物理测量中GPS数据问题与处理.地球物 理学进展,2005,12(4):897-904.
[18]邓四化,卫星接收天线俯仰角和方位角计算公式的推导,中国有线电视,1998,8.
[19]Honeywell.HMR3300 Digital Compass Module User's Guide[Z].1999.
[20]新型电子罗盘在组合航向系统的应用.江苏航空,2006年2期
[21]数字式磁罗盘的误差补偿方法研究.电子测量技术,2007,30(11).
[22]陈洪,航天测控飞机卫星移动通信跟踪技术的分析研究,军事通信技术,2001年1期
[23]李文铎,Ku频段卫星通信车载地球站的“动中通”技术,世界电信网络,2002年8期
[24]滕云鹤,毛献辉,章燕申等,移动卫星通信捷联式天线稳定系统,宇航学报,2002年5期
[25]韦和民,俞军.船载卫星天线自动跟踪控制系统,电子技术应用,1997年6期.
[26]Levanon N.Upgrading conical scan with off-boresight measurements.Aerospace and Electronic Systems,IEEE Transactions on.1997.33(4):1350-1357.
[27]王一平,杨恩跃,肖景明.传输线-天线-电波传播.西北电讯工程学院,1976.23-30.
[28]Guesalaga A,Tepper S.Synthesis of automatic gain controllers for conical scan tracking radar.Aerospace and Electronic Systems,IEEE Transactions on.2000.36(1):302-309.
[29]卢万铮.天线理论与技术.西安:西安电子科技大学出版社,2004.
[30]丁鹭飞,耿富录.雷达原理.西安:西安电子科技大学出版社,2002.6.
[31]邹丽娟,黄建国.基于圆锥扫描的舰载卫星电视天线跟踪系统.现代雷达.2004,26(10):68-70.
[32]王继东,罗武胜,张智永等.基于车载卫星天线稳定系统的电平圆锥扫描算法研究.电子技术应用.2005,5:128-130.
[33]胡正飞.船载“动中通”圆锥扫描系统结构设计.机械工程师.2006,8:58-60.
[34]赵来定,胡正飞,曹伟.卫星通信圆锥扫描跟踪.现在雷达.2006,28(3):76-78.
[35]陈开周.最优化计算方法.西北电讯工程学院.1984,11.
[36]阮晓刚,汪宏武.“动中通”卫星天线技术及产品的应用.技术与应用.2006,3:34-35.
[37]Ramesh R.Availability calculation for mobile satellite communication systems,Vehicular Technology,1996.Mobile Technology for the Human Race.IEEE 46th.1996,2:1033-1037.
[38]赵会平,移动接收卫星电视的天线自动跟踪系统.广播与电视技术.2002,7.
[39]魏克新,王云亮,陈志敏.MATLAB语言与自动控制系统设计.北京:机械工业出版社.1997.
[40]郝路瑶,赵建勋,苏刚.“动中通”稳定与跟踪技术.雷达与对抗.2006,2:48-51.
[41]刘卫国.MATLAB程序设计与应用.北京:高等教育出版社,2006.7.
[42]叶自清.船载天线自动跟踪系统测控技术研究.中南林学院硕士学位论文.2003:10.
[43]同济大学数学教研室主编.高等数学.北京:高等教育出版社,1996,53-60.
[44]申宇.移动卫星电视接收伺服系统的研究与实现.西安电子科技大学硕士学位论文.2006:1-2.
[45]刘进军.卫星移动天线系统.卫星电视与宽带多媒体.2007,8:35-42.
[46]生力松.车载卫星天线跟踪系统智能控制的研究.北京科技大学硕士学位论文.2006:3-6.
[47]彭树生,王洋.车载快速搜索/跟踪卫星的控制系统设计.计算机测量与控制.2005.13(9):932-934.
[48]Dybdal,R.B.Step tracking performance and issues.Antennas and Propagation Society International Symposium,1998.IEEE.1998,1:58-61.
[49]叶自清,吴舒辞.极化电平步进跟踪在船载移动卫星通信中的应用.世界电子元器件.2002.12:34-35.
[50]罗续成.步进跟踪式同步卫星地面站天线控制系统.遥测遥控.1987,3.
[51]兰鹏.极值步进跟踪在车载移动卫星通信中的应用.电讯技术.1997,37(4):39-41.
[52]韩文泽,董旭峰.卫星地面站天线的最优跟踪技术.无线电工程.2005,35(5):41-43.
[53]Holleboom,K.G.Self-Learning Step Track System to Point an Antenna at a Geostationary Satellite Using a PC.Consumer Electronics,IEEE Transactions on.1987,33(3):481-487.
[2]Young Hoon Kwon,Dan Keun Sung.Elevation angle dependent Markov model for LEO satellite communication systems.Global Telecommunications Conference,1999.GLOBECOM '99Volume 1A,1999:281-285.
[3]Jovanovic,S,Greca,A.A Novel Communication Protocol and Delay Model for Networking Satellites.Networking.Sensing and Control,2006.ICNSC '06.Proceedings of the 2006 IEEE International Conference on 23-25 April 2006:907-912.
[4]周华良.车载卫星天线稳定跟踪系统的设计与工程实现[硕士论文].南京:南京理工大学.2005.2-47.
[5]Gomez-Barquero,Cardona,N,Bria,A.Affordable Mobile TV Services in Hybrid Cellularand DVB-H Systems,Network,IEEE 2007,3,21(2):34-40.
[6]张智永.移动载体稳定跟踪平台测控技术研究[硕士论文].长沙:国防科学技术大学.2002.2-3.
[7]张岷峰,张忠敏,船用数字两轴稳定控制系统,电子对抗技术,1996年1期.
[8]刘修文.卫星数字电视直播接收技术.北京:机械工业出版社,2006.7.90-96
[9]Theodore E.Ioakimidis and Richard S.Wexler,COMMERCIAL KU-BAND SATCOM ON-THE-MOVE USING A HYBRID TRACKING SCHEME,The MITRE Corporation.
[10]边少峰,李文魁.卫星导航系统概论.北京:电子工业出版社,2005.2.12-16
[11]陈振国,杨鸿文,郭文彬.卫星通信系统与技术.北京:北京邮电大学出版社2003.
[12]邓正隆.惯性导航原理.哈尔滨工业大学出版社1994.8-12
[13]张树侠,孙静.捷联式惯性导航系统.北京:国防工业出版社1992.14-17
[14]潘尚龙.GPS系统及其应用.太原城市职业技术学院学报.2007,72:146-147.
[15]懂绪荣,张守信,华仲春.GPS/INS组合导航定位及其应用.长沙:国防科技大学出版社,1998.13-16
[16]曾元萍.GPS航姿系统研究.南京航空航天大学,硕士论文.2000,3.
[17]栾锡武,鲁银涛,徐涛.海洋地球物理测量中GPS数据问题与处理.地球物 理学进展,2005,12(4):897-904.
[18]邓四化,卫星接收天线俯仰角和方位角计算公式的推导,中国有线电视,1998,8.
[19]Honeywell.HMR3300 Digital Compass Module User's Guide[Z].1999.
[20]新型电子罗盘在组合航向系统的应用.江苏航空,2006年2期
[21]数字式磁罗盘的误差补偿方法研究.电子测量技术,2007,30(11).
[22]陈洪,航天测控飞机卫星移动通信跟踪技术的分析研究,军事通信技术,2001年1期
[23]李文铎,Ku频段卫星通信车载地球站的“动中通”技术,世界电信网络,2002年8期
[24]滕云鹤,毛献辉,章燕申等,移动卫星通信捷联式天线稳定系统,宇航学报,2002年5期
[25]韦和民,俞军.船载卫星天线自动跟踪控制系统,电子技术应用,1997年6期.
[26]Levanon N.Upgrading conical scan with off-boresight measurements.Aerospace and Electronic Systems,IEEE Transactions on.1997.33(4):1350-1357.
[27]王一平,杨恩跃,肖景明.传输线-天线-电波传播.西北电讯工程学院,1976.23-30.
[28]Guesalaga A,Tepper S.Synthesis of automatic gain controllers for conical scan tracking radar.Aerospace and Electronic Systems,IEEE Transactions on.2000.36(1):302-309.
[29]卢万铮.天线理论与技术.西安:西安电子科技大学出版社,2004.
[30]丁鹭飞,耿富录.雷达原理.西安:西安电子科技大学出版社,2002.6.
[31]邹丽娟,黄建国.基于圆锥扫描的舰载卫星电视天线跟踪系统.现代雷达.2004,26(10):68-70.
[32]王继东,罗武胜,张智永等.基于车载卫星天线稳定系统的电平圆锥扫描算法研究.电子技术应用.2005,5:128-130.
[33]胡正飞.船载“动中通”圆锥扫描系统结构设计.机械工程师.2006,8:58-60.
[34]赵来定,胡正飞,曹伟.卫星通信圆锥扫描跟踪.现在雷达.2006,28(3):76-78.
[35]陈开周.最优化计算方法.西北电讯工程学院.1984,11.
[36]阮晓刚,汪宏武.“动中通”卫星天线技术及产品的应用.技术与应用.2006,3:34-35.
[37]Ramesh R.Availability calculation for mobile satellite communication systems,Vehicular Technology,1996.Mobile Technology for the Human Race.IEEE 46th.1996,2:1033-1037.
[38]赵会平,移动接收卫星电视的天线自动跟踪系统.广播与电视技术.2002,7.
[39]魏克新,王云亮,陈志敏.MATLAB语言与自动控制系统设计.北京:机械工业出版社.1997.
[40]郝路瑶,赵建勋,苏刚.“动中通”稳定与跟踪技术.雷达与对抗.2006,2:48-51.
[41]刘卫国.MATLAB程序设计与应用.北京:高等教育出版社,2006.7.
[42]叶自清.船载天线自动跟踪系统测控技术研究.中南林学院硕士学位论文.2003:10.
[43]同济大学数学教研室主编.高等数学.北京:高等教育出版社,1996,53-60.
[44]申宇.移动卫星电视接收伺服系统的研究与实现.西安电子科技大学硕士学位论文.2006:1-2.
[45]刘进军.卫星移动天线系统.卫星电视与宽带多媒体.2007,8:35-42.
[46]生力松.车载卫星天线跟踪系统智能控制的研究.北京科技大学硕士学位论文.2006:3-6.
[47]彭树生,王洋.车载快速搜索/跟踪卫星的控制系统设计.计算机测量与控制.2005.13(9):932-934.
[48]Dybdal,R.B.Step tracking performance and issues.Antennas and Propagation Society International Symposium,1998.IEEE.1998,1:58-61.
[49]叶自清,吴舒辞.极化电平步进跟踪在船载移动卫星通信中的应用.世界电子元器件.2002.12:34-35.
[50]罗续成.步进跟踪式同步卫星地面站天线控制系统.遥测遥控.1987,3.
[51]兰鹏.极值步进跟踪在车载移动卫星通信中的应用.电讯技术.1997,37(4):39-41.
[52]韩文泽,董旭峰.卫星地面站天线的最优跟踪技术.无线电工程.2005,35(5):41-43.
[53]Holleboom,K.G.Self-Learning Step Track System to Point an Antenna at a Geostationary Satellite Using a PC.Consumer Electronics,IEEE Transactions on.1987,33(3):481-487.