船载卫星天线自动跟踪系统测控技术研究
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摘要
当前，移动载体卫星通讯正日益受到人们的重视。民用上，随着卫星电视，卫星上网以及视频电话等民用系统的发展，对载体移动通讯的需求越来越大；军事上，对装备的快速反应和机动能力以及机动间稳瞄、跟踪和打击能力的高要求，也有赖于移动载体卫星通讯。移动载体卫星通讯系统的关键设备是卫星天线自动跟踪系统。目前发达国家已有类似产品出现，但价格昂贵。而我国目前尚无实用的用于移动式卫星通讯天线自动跟踪系统的产品。因此，研制性能价格比较为合理的卫星天线自动跟踪系统，填补这一领域的国内空白，具有重要意义。本文以船载天线稳定跟踪系统的研制为背景，主要研究了基于数字罗盘和GPS等姿态敏感器组合的天线稳定平台的姿态测控技术，从硬件和软件两个方面对整个系统的设计和研究进行了较为详细的描述。课题研究的主要内容包括：
一．硬件的设计和选型。硬件是构成整个系统的物质基础，合理地设计各种硬件元件，使之协调有效地工作，是保证整个系统成败的关键之一。
二．数字罗盘的原理、工作性能和标定方法进行了研究，分析了影响其精度的因素，针对其使用的特殊要求，提出了其在天线稳定系统中的使用方法和减小误差的方案。
三．对捷联式惯导系统的数学稳定平台和姿态解算算法进行了研究，在此基础上，针对船体运动的特点，采用LabWindows/CVI和Visual C++融合开发平台，实现了一种使用数字罗盘的天线稳定方案。
Nowadays, satellite communication of mobile carriers is being paid attention to by people day by day . In military affairs, with the development of weapon equipment of our troops, there are more requests to fast reaction and flexible ability of the equipment and the ability of teady aim , track and attack. Civilly, with the development of civil system such as satellite TV, satellite network and video telephone etc., the demand for mobile communication of the carrier is more and more urgent. The key equipment of mobile carrier satellite communication system is the automatic tracking system of satellite antenna. Satellite antenna automatic tracking system is used mainly for track and orient of mobile carrier satellite communication so as to ensure that the aerial can aim at the synchronous satellite appointed automatically and aim at the satellite incessantly with high precision under the condition that the vehicle moving (various speed;urgent startup; stop and swerve and so on ) and under various kinds of meteorological phenomena, so that realizing the sending and receives of the satellite information incessantly. Developed country have correlative products appeared already , but costly at present. There is no applied antenna auto-tracing system used in mobile satellite communication in our country now. So, it' s very significant to develop satellite antenna auto-tracing system with rational capability and price ratio and fill up the domestic blankness. This paper took the auto-tracing system development of ship antenna as the background, studied the pose measure and control technique based on digital compass and GPS combined sensor. The main contents of the task research include: the integer framework and track scheme design of antenna auto-tracing system, the principium and capability analyze of the combined pose sensor, hardware model choice, and giving one king of system settle scheme based on LabWindows/CVI and Visual C++ amalgamation technic.
一．硬件的设计和选型。硬件是构成整个系统的物质基础，合理地设计各种硬件元件，使之协调有效地工作，是保证整个系统成败的关键之一。
二．数字罗盘的原理、工作性能和标定方法进行了研究，分析了影响其精度的因素，针对其使用的特殊要求，提出了其在天线稳定系统中的使用方法和减小误差的方案。
三．对捷联式惯导系统的数学稳定平台和姿态解算算法进行了研究，在此基础上，针对船体运动的特点，采用LabWindows/CVI和Visual C++融合开发平台，实现了一种使用数字罗盘的天线稳定方案。
Nowadays, satellite communication of mobile carriers is being paid attention to by people day by day . In military affairs, with the development of weapon equipment of our troops, there are more requests to fast reaction and flexible ability of the equipment and the ability of teady aim , track and attack. Civilly, with the development of civil system such as satellite TV, satellite network and video telephone etc., the demand for mobile communication of the carrier is more and more urgent. The key equipment of mobile carrier satellite communication system is the automatic tracking system of satellite antenna. Satellite antenna automatic tracking system is used mainly for track and orient of mobile carrier satellite communication so as to ensure that the aerial can aim at the synchronous satellite appointed automatically and aim at the satellite incessantly with high precision under the condition that the vehicle moving (various speed;urgent startup; stop and swerve and so on ) and under various kinds of meteorological phenomena, so that realizing the sending and receives of the satellite information incessantly. Developed country have correlative products appeared already , but costly at present. There is no applied antenna auto-tracing system used in mobile satellite communication in our country now. So, it' s very significant to develop satellite antenna auto-tracing system with rational capability and price ratio and fill up the domestic blankness. This paper took the auto-tracing system development of ship antenna as the background, studied the pose measure and control technique based on digital compass and GPS combined sensor. The main contents of the task research include: the integer framework and track scheme design of antenna auto-tracing system, the principium and capability analyze of the combined pose sensor, hardware model choice, and giving one king of system settle scheme based on LabWindows/CVI and Visual C++ amalgamation technic.
引文
[1]“十五”国防科技预研书(内参)[R]．长沙：国防科技大学机电工程学院，2001．2—6
[2]MarvinK Simon,Dariush divsalar. Doppler—Corrected Differential Detectron of MPSK.LEEE Transactions Transactions on Communications[N]37(2), February 1989. 23—34
[3]张更新．，低轨道卫星通信系统分析[J]．．通信工程学院学报，1995，9(3)：67—69
[4]赵荣黎，卫星移动通信系统轨道高度的研究[J]．通信学报，1996，17(6)：34—39
[5]沈民谊，蔡镇远．卫星通信天线、馈源、跟踪系统[M]．北京：人民邮电出版社，1993．21—25
[6]Branka Vucetic,Jun Du. Channel Mookling and Simulation in Satellite Mobile Communication Systems.LEEE Joumal on Selecthy Areas in Communications[R], 10(8), October 1992. 4—7
[7]Timothy Pratt, Charles W Bosian. Satellits Communication[M] . John Wiley Si, Sons.Lne. 1986. 76—81
[8]VSAT用户用册[S]．北京：人民邮电出版社，1993．12—16
[9]顾瑞龙、沈民谊．微波技术与天线[M]，国防工业出版社1980．6。102—109
[10]W.F. Williams "High Efficiency Antemna Reflector" Microwave J.Vol 8, No7pp79—82, 1965. 83—87
[11]P.J.B.Clarricat;G.T. Poulton "High Efficiency Microwave Reflector Antenna—A Review" PIEEE vol.65 No10 oct. 1977 pp1470—1504
[12]H.Thielen;V. Hombach;G.Schindler "Reflector Antennas with Bent Struts" IEEE APS-5-8 1985 PP. 173—176
[13]章日荣，等．卫星地面站天线新技术研究[M]，国防工业出版社1982．5，28—42
[14]"Operation and Maintenance Handbook for Antenna and Tracking System" Nippon Electric Co. Tokyo. 1995, 22—2
[15]宫宪一等著，钱忠信等译．卫生通信技术[M]，人民邮电出版社，1985．9．99—107
[16]Department of Defense and Department of Transportation. 1994 Federal Radionavigation Plan.National Tachnical Information Serviae,Virginia, 89—93
[17]Parkinson W B.A History of Satellite Navagation. Navigation Journal of Instiute of Navigation,42(1),Special Issue, 109—164
[18]Bradford W. Global Positioning System:theory and applications. Washington,DC:American Institute of Aeronautics and Astronautics,INC.,1997, 334—340
[19]Carlson Neal A.Federated Fault Tolerant Integrated Navigation Systems. Proc.of the Inst.of Navigation Conf, Santa Barbara CA,January 1998, 126—127
[20]丁子明．通信、导航、识别综合系统中导航功能的实现[A]．北京航空学院学报，1981，(4)，776—779
[21]邱致和．JTIDS—美军新一代的通信导航和识别系统[M]．电子工业部第二十研究所，1988，84—88
[22]刘烈武．三军联合战术信息分发系统[R]，电子科学研究院，1994，48—51
[23]刘徐德．战术通信、导航定位和识别综合系统文集(2)[A]．北京：电子工业出版社，1992， 175—181
[24]刘徐德．．战术通信、导航定位和识别综合系统文集(1)[A]．北京：电子工业出版社，1992，233—235
[25]Robinson Ciarence A. Commanders Oberse, Control Oberse, Control Distant Real-Time Maneuvers. SIGNAL,Jume 1996, 65—66
[26] 许其凤．GPS卫生导航与精密定位[M]．解放军出版社，1989，134—141
[27] 王广运，等．GPS精密测地系统原理[M]．测绘出版社，1988，47—54
[28] Wont R V C, Schwarz K P. Offshore positioning with an integrated GPS/inertial navitation systen, paper presented at the Third International Symposium on Satellite Doppler Positioning, Can. Inst. Surv., Las Cruces, N. M. February 7-21, 1982, 77—79
[29] Wong R V C, Schwarz K P, Cannon M E. Higt accuracy kinematic positioning by GPS-INS. Navigation. Journal of The Institute of Navigation, 1988(35,2) :275-287
[30] Bastos L, Landau H. Fixing Cycle Slips in Kinematic GPS Applications Using Kalman Filtering. Manuscript Geodaetica, 1988, 13(4):249-256
[31] 董绪荣，宁津生，刘经南．An Efficient Aigorithm for kinematic GPS Data Processing． Paper presented at the General Meeting of the LAG[R],1993,306—310
[32] 毛胧．GPS／INS组合导航系统探讨．中国惯性技术学会第二届学术年会论文集[R]，1991，332—336
[33] 顾启泰．INS／GPS组合导航系统的实现方法及其应用．导航[M]，1992(2)，57—62
[34] 袁信，郑谔．捷联惯性导航系统原理[M]．航空业出版社，1985，153—158
[35] 任思聪．惯性导航系统[M]，宙航出版社，1989，94—98
[36] 章燕申．卫星一惯性组合定位系统导航[J]，1986(3)，54—57
[37] 崔中兴．惯性导航系统[M]．长沙：国防工业出版社，1982，102—111
[38] 赵经纬，用计算机实现的几种极值跟踪[J]，无线电通信技术1983．6．pp．18—28
[39] 李连升，等．现代雷达伺服控制[M]，国防工业出版社，1987，203——207
[40] 赵文常，等．自动控制元件[M]，哈尔滨般舶工程学院出版社，1986，79—86
[41] Clarricoats,P.J.B,Elliot,R.D. "Multimode corrugated uaveguide feed for monopulse Radar" IEE proc.uol 128H,Microwave,Optics and Antennas,April 1981 ,pp. 102—110
[42] Baarda W.A Testing Procedure for Use in Geodetic Networks. Netherlands Geodetic Commission. Publications on Geodesy, New Series 2. No. 5 deoft, 1986, 201—206
[43] Bierman G J.A comparison of discrete linear filtering algorithms .IEEE-Trans. On Aerospace and Electronic Systems ,Vol. IEEE-AES9(1), 1973(a):28-37
[44] Schwarz K P, Wei M(1990). Cartesian representation of the normal gravity model for the inertial navigation. Manuscripta geodaetica, 1990(15):228-234
[45] 何克思，郝忠恕编著，计算机控制系统分析与设计[M]．北京：清华大学出版社，1989，47—62
[46] 高钟毓，王永梁编著．机电控制工程[M]．北京：清华大学出版社，1994，93—113
[47] 黄一夫主编．微型计算机控制技术[M]．北京：机械工业出版社，1991，3—8
[48] 戴忠达主编．自动控制理论基础[M]．北京：清华大学出版社，1991，187—192
[49] 谢剑英编著．微型计算机控制技术[M]，北京：机械工业出版社，1992，53—61
[50] 黄大贵．微机数控系统[M]，西安：电子科技大学出版社，1997，76—84
[51] 孙增圻．计算机控制理论及应用[M]．北京：清华大学出版社，1989，142—157
[52] 何克忠，李伟．计算机控制系统[M]．北京：清华大学出版社，1998，23—28
[53] [美]A．V奥本海姆等，刘海棠译，信号与系统[M]，西安交通大学出版社，1998，185—193
[54] 袁本初，计算机控制系统[M]，北京：中国科学技术出版社，1989，34—39
[55] 戴冠中，计算机控制原理[M]，西北工业大学出版社，1988，55—67
[56] 谢寄石，机电系统动力学[M]，长沙：国防工业出版社，1989，86—91
[57] 王俊功，数字伺服系统[M]，上海：上海交通大学出版社，1989，28—34
[58] 刘玉廷，程树康，步进电动机及其驱动控制系统[M]．哈尔滨：哈尔滨工业大学出版社，1997
[59] 陈理壁．步进电动机及其应用[M]．上海：上海科技出版社，1985，48—73
[60] 李中杰．宁守信．步进电动机应用技术[M]．北京：机械工业出版社，1988，131—156
[61] 王鸿钰．步进电机控制技术入门[M]．上海：同济大学出版社，1990，69—74
[62] 邓星钟，周祖德．机电传动控制．[M]，武汉：华中理工大学出版社，1996，73—92
[2]MarvinK Simon,Dariush divsalar. Doppler—Corrected Differential Detectron of MPSK.LEEE Transactions Transactions on Communications[N]37(2), February 1989. 23—34
[3]张更新．，低轨道卫星通信系统分析[J]．．通信工程学院学报，1995，9(3)：67—69
[4]赵荣黎，卫星移动通信系统轨道高度的研究[J]．通信学报，1996，17(6)：34—39
[5]沈民谊，蔡镇远．卫星通信天线、馈源、跟踪系统[M]．北京：人民邮电出版社，1993．21—25
[6]Branka Vucetic,Jun Du. Channel Mookling and Simulation in Satellite Mobile Communication Systems.LEEE Joumal on Selecthy Areas in Communications[R], 10(8), October 1992. 4—7
[7]Timothy Pratt, Charles W Bosian. Satellits Communication[M] . John Wiley Si, Sons.Lne. 1986. 76—81
[8]VSAT用户用册[S]．北京：人民邮电出版社，1993．12—16
[9]顾瑞龙、沈民谊．微波技术与天线[M]，国防工业出版社1980．6。102—109
[10]W.F. Williams "High Efficiency Antemna Reflector" Microwave J.Vol 8, No7pp79—82, 1965. 83—87
[11]P.J.B.Clarricat;G.T. Poulton "High Efficiency Microwave Reflector Antenna—A Review" PIEEE vol.65 No10 oct. 1977 pp1470—1504
[12]H.Thielen;V. Hombach;G.Schindler "Reflector Antennas with Bent Struts" IEEE APS-5-8 1985 PP. 173—176
[13]章日荣，等．卫星地面站天线新技术研究[M]，国防工业出版社1982．5，28—42
[14]"Operation and Maintenance Handbook for Antenna and Tracking System" Nippon Electric Co. Tokyo. 1995, 22—2
[15]宫宪一等著，钱忠信等译．卫生通信技术[M]，人民邮电出版社，1985．9．99—107
[16]Department of Defense and Department of Transportation. 1994 Federal Radionavigation Plan.National Tachnical Information Serviae,Virginia, 89—93
[17]Parkinson W B.A History of Satellite Navagation. Navigation Journal of Instiute of Navigation,42(1),Special Issue, 109—164
[18]Bradford W. Global Positioning System:theory and applications. Washington,DC:American Institute of Aeronautics and Astronautics,INC.,1997, 334—340
[19]Carlson Neal A.Federated Fault Tolerant Integrated Navigation Systems. Proc.of the Inst.of Navigation Conf, Santa Barbara CA,January 1998, 126—127
[20]丁子明．通信、导航、识别综合系统中导航功能的实现[A]．北京航空学院学报，1981，(4)，776—779
[21]邱致和．JTIDS—美军新一代的通信导航和识别系统[M]．电子工业部第二十研究所，1988，84—88
[22]刘烈武．三军联合战术信息分发系统[R]，电子科学研究院，1994，48—51
[23]刘徐德．战术通信、导航定位和识别综合系统文集(2)[A]．北京：电子工业出版社，1992， 175—181
[24]刘徐德．．战术通信、导航定位和识别综合系统文集(1)[A]．北京：电子工业出版社，1992，233—235
[25]Robinson Ciarence A. Commanders Oberse, Control Oberse, Control Distant Real-Time Maneuvers. SIGNAL,Jume 1996, 65—66
[26] 许其凤．GPS卫生导航与精密定位[M]．解放军出版社，1989，134—141
[27] 王广运，等．GPS精密测地系统原理[M]．测绘出版社，1988，47—54
[28] Wont R V C, Schwarz K P. Offshore positioning with an integrated GPS/inertial navitation systen, paper presented at the Third International Symposium on Satellite Doppler Positioning, Can. Inst. Surv., Las Cruces, N. M. February 7-21, 1982, 77—79
[29] Wong R V C, Schwarz K P, Cannon M E. Higt accuracy kinematic positioning by GPS-INS. Navigation. Journal of The Institute of Navigation, 1988(35,2) :275-287
[30] Bastos L, Landau H. Fixing Cycle Slips in Kinematic GPS Applications Using Kalman Filtering. Manuscript Geodaetica, 1988, 13(4):249-256
[31] 董绪荣，宁津生，刘经南．An Efficient Aigorithm for kinematic GPS Data Processing． Paper presented at the General Meeting of the LAG[R],1993,306—310
[32] 毛胧．GPS／INS组合导航系统探讨．中国惯性技术学会第二届学术年会论文集[R]，1991，332—336
[33] 顾启泰．INS／GPS组合导航系统的实现方法及其应用．导航[M]，1992(2)，57—62
[34] 袁信，郑谔．捷联惯性导航系统原理[M]．航空业出版社，1985，153—158
[35] 任思聪．惯性导航系统[M]，宙航出版社，1989，94—98
[36] 章燕申．卫星一惯性组合定位系统导航[J]，1986(3)，54—57
[37] 崔中兴．惯性导航系统[M]．长沙：国防工业出版社，1982，102—111
[38] 赵经纬，用计算机实现的几种极值跟踪[J]，无线电通信技术1983．6．pp．18—28
[39] 李连升，等．现代雷达伺服控制[M]，国防工业出版社，1987，203——207
[40] 赵文常，等．自动控制元件[M]，哈尔滨般舶工程学院出版社，1986，79—86
[41] Clarricoats,P.J.B,Elliot,R.D. "Multimode corrugated uaveguide feed for monopulse Radar" IEE proc.uol 128H,Microwave,Optics and Antennas,April 1981 ,pp. 102—110
[42] Baarda W.A Testing Procedure for Use in Geodetic Networks. Netherlands Geodetic Commission. Publications on Geodesy, New Series 2. No. 5 deoft, 1986, 201—206
[43] Bierman G J.A comparison of discrete linear filtering algorithms .IEEE-Trans. On Aerospace and Electronic Systems ,Vol. IEEE-AES9(1), 1973(a):28-37
[44] Schwarz K P, Wei M(1990). Cartesian representation of the normal gravity model for the inertial navigation. Manuscripta geodaetica, 1990(15):228-234
[45] 何克思，郝忠恕编著，计算机控制系统分析与设计[M]．北京：清华大学出版社，1989，47—62
[46] 高钟毓，王永梁编著．机电控制工程[M]．北京：清华大学出版社，1994，93—113
[47] 黄一夫主编．微型计算机控制技术[M]．北京：机械工业出版社，1991，3—8
[48] 戴忠达主编．自动控制理论基础[M]．北京：清华大学出版社，1991，187—192
[49] 谢剑英编著．微型计算机控制技术[M]，北京：机械工业出版社，1992，53—61
[50] 黄大贵．微机数控系统[M]，西安：电子科技大学出版社，1997，76—84
[51] 孙增圻．计算机控制理论及应用[M]．北京：清华大学出版社，1989，142—157
[52] 何克忠，李伟．计算机控制系统[M]．北京：清华大学出版社，1998，23—28
[53] [美]A．V奥本海姆等，刘海棠译，信号与系统[M]，西安交通大学出版社，1998，185—193
[54] 袁本初，计算机控制系统[M]，北京：中国科学技术出版社，1989，34—39
[55] 戴冠中，计算机控制原理[M]，西北工业大学出版社，1988，55—67
[56] 谢寄石，机电系统动力学[M]，长沙：国防工业出版社，1989，86—91
[57] 王俊功，数字伺服系统[M]，上海：上海交通大学出版社，1989，28—34
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