CN114759349A - Beidou antenna with dynamic tracking function, adjusting method and storage medium - Google Patents
Beidou antenna with dynamic tracking function, adjusting method and storage mediumDownload PDFInfo
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Abstract
Description
Translated fromChinese技术领域technical field
本申请涉及北斗天线技术领域，具体而言，涉及一种具有动态跟踪功能的北斗天线、调整方法及存储介质。The present application relates to the technical field of Beidou antennas, and in particular, to a Beidou antenna with a dynamic tracking function, an adjustment method and a storage medium.
背景技术Background technique
北斗天线，是用于接收北斗卫星信号的天线本体，传统北斗天线采用水平方式固定在设备内部；常规方案中北斗通信天线本体通过下方反射面四周螺孔固定在内部结构体上，安装简单；水平安装北斗通信天线本体存在性能上的不足，由于低成本北斗通信天线本体低仰角区域增益性能较差，在配合小功率北斗通信模组使用时，在有些应用场合下使用时容易造成通信失败，因此，急需一种用于动态跟踪北斗卫星方位的北斗天线，通过调整天线本体与水平面之间的固定夹角，以解决现有的技术问题。The Beidou antenna is the antenna body used to receive Beidou satellite signals. The traditional Beidou antenna is fixed inside the device in a horizontal manner; in the conventional scheme, the Beidou communication antenna body is fixed on the internal structure through the screw holes around the lower reflective surface, and the installation is simple; horizontal The installation of the Beidou communication antenna body has performance deficiencies. Due to the poor gain performance of the low-cost Beidou communication antenna body in the low-elevation area, when used with low-power Beidou communication modules, it is easy to cause communication failures in some applications. Therefore, , there is an urgent need for a Beidou antenna for dynamically tracking the azimuth of Beidou satellites, which can solve the existing technical problems by adjusting the fixed angle between the antenna body and the horizontal plane.
发明内容SUMMARY OF THE INVENTION
为了解决上述问题，本申请的目的是一种具有动态跟踪功能的北斗天线、调整方法及存储介质，包括：In order to solve the above problems, the purpose of this application is a Beidou antenna with a dynamic tracking function, an adjustment method and a storage medium, including:
获取天线面在水平面中的朝向与地理南极间的夹角为方位夹角，并获取天线转轴的已转动夹角；Obtain the angle between the orientation of the antenna plane in the horizontal plane and the geographic south pole as the azimuth angle, and obtain the rotated angle of the antenna shaft;
当所述方位夹角和所述已转动夹角符合预设条件时，控制所述天线转轴转动，以使所述方位夹角为零，控制所述天线面朝向赤道面。When the azimuth included angle and the rotated included angle meet a preset condition, the rotation of the antenna shaft is controlled to make the azimuth included angle zero, and the antenna surface is controlled to face the equatorial plane.
可选地，所述获取天线面在水平面中的朝向与地理南极间的夹角为方位夹角的步骤包括：Optionally, the step of obtaining that the angle between the orientation of the antenna plane in the horizontal plane and the geographic south pole is the azimuth angle includes:
响应于获取磁场数据，计算磁方位角；in response to acquiring the magnetic field data, calculating a magnetic azimuth;
获取当前经纬度对应的磁偏角，根据所述磁方位角和所述磁偏角，计算所述方位夹角。The magnetic declination angle corresponding to the current longitude and latitude is obtained, and the azimuth included angle is calculated according to the magnetic azimuth angle and the magnetic declination angle.
可选地，所述响应于获取磁场数据，计算磁方位角的步骤包括：Optionally, in response to acquiring magnetic field data, the step of calculating the magnetic azimuth includes:
获取重力加速度数据；Get gravitational acceleration data;
根据所述重力加速度数据对所述方位角进行倾斜补偿。Tilt compensation is performed on the azimuth angle according to the gravitational acceleration data.
可选地，所述获取天线转轴的已转动夹角的步骤包括：Optionally, the step of obtaining the rotated angle of the antenna shaft includes:
对所述天线转轴设置复位点为基准，记录所述天线转轴每次转动的转动角度；A reset point is set for the antenna shaft as a reference, and the rotation angle of each rotation of the antenna shaft is recorded;
对多个所述转动角度累积计算，以获取所述天线转轴相对于所述复位点的已转动夹角。The multiple rotation angles are accumulated and calculated to obtain the rotated included angle of the antenna rotation shaft relative to the reset point.
可选地，所述预设条件包括第一预设条件和第二预设条件，所述当所述方位夹角和所述已转动夹角符合预设条件时，控制所述天线转轴转动的步骤包括：Optionally, the preset conditions include a first preset condition and a second preset condition, and when the azimuth angle and the rotated angle meet the preset conditions, control the rotation of the antenna shaft. Steps include:
当所述方位夹角和所述已转动夹角符合第一预设条件时，控制所述天线转轴向第一时针方向转动；When the azimuth included angle and the rotated included angle meet the first preset condition, controlling the rotation axis of the antenna to rotate in the first clockwise direction;
和/或，当所述方位夹角和所述已转动夹角符合第二预设条件时，控制所述天线转轴向第二时针方向转动。And/or, when the azimuth included angle and the rotated included angle meet the second preset condition, the antenna rotation axis is controlled to rotate in the second clockwise direction.
可选地，以天线本体在水平面的投影指向转动轴复位点时为0度位置，以俯视北斗天线的顺时针方向为正向，以逆时针方向为负向；设α为所述方位夹角，β为所述已转动夹角；所述当所述方位夹角和所述已转动夹角符合第一预设条件时，控制所述天线转轴向第一时针方向转动的步骤包括：Optionally, when the projection of the antenna body on the horizontal plane points to the reset point of the rotation axis, it is the 0-degree position, the clockwise direction of the Beidou antenna is the positive direction, and the counterclockwise direction is the negative direction; let α be the azimuth angle. , β is the rotated angle; when the azimuth angle and the rotated angle meet the first preset condition, the step of controlling the rotation of the antenna axis to rotate in the first clockwise direction includes:
当α＞0，β＞0，且α＜β，则控制所述北斗天线逆时针方向转动；When α>0, β>0, and α<β, control the Beidou antenna to rotate counterclockwise;
和/或，当α＞0，β＞0，且α＞β，则控制所述北斗天线逆时针方向转动；And/or, when α>0, β>0, and α>β, control the Beidou antenna to rotate counterclockwise;
和/或，当α＞0，β＜0，且α+|β|＜180，则控制所述北斗天线逆时针方向转动；and/or, when α>0, β<0, and α+|β|<180, control the Beidou antenna to rotate counterclockwise;
和/或，当α＜0，β＞0，且α+|β|＞180，则控制所述北斗天线逆时针方向转动。And/or, when α<0, β>0, and α+|β|>180, control the Beidou antenna to rotate counterclockwise.
可选地，以天线本体在水平面的投影指向转动轴复位点时为0度位置，以俯视北斗天线的顺时针方向为正向，以逆时针方向为负向；设α为所述方位夹角，β为所述已转动夹角；所述当所述方位夹角和所述已转动夹角符合第二预设条件时，控制所述天线转轴向第二时针方向转动的步骤包括：Optionally, when the projection of the antenna body on the horizontal plane points to the reset point of the rotation axis, the position is 0 degrees, the clockwise direction of the Beidou antenna is the positive direction, and the counterclockwise direction is the negative direction; let α be the azimuth angle. , β is the rotated angle; when the azimuth angle and the rotated angle meet the second preset condition, the step of controlling the rotation of the antenna axis to rotate in the second clockwise direction includes:
当α＞0，β＜0，且α+|β|＞180，则控制所述北斗天线顺时针方向转动；When α>0, β<0, and α+|β|>180, control the Beidou antenna to rotate clockwise;
和/或，当α＜0，β＞0，且α+|β|＜180，则控制所述北斗天线顺时针方向转动；and/or, when α<0, β>0, and α+|β|<180, control the Beidou antenna to rotate clockwise;
和/或，当α＜0，β＜0，且|α|＜|β|，则控制北斗天线顺时针方向转动；And/or, when α<0, β<0, and |α|<|β|, control the Beidou antenna to rotate clockwise;
和/或，当α＜0，β＜0，且|α|＞|β|，则控制北斗天线顺时针方向转动。And/or, when α<0, β<0, and |α|>|β|, control the Beidou antenna to rotate clockwise.
另一方面，本申请还提供一种具有动态跟踪功能的北斗天线，具体地，所述北斗天线包括天线本体、转动机构和固定结构体，其中：On the other hand, the present application also provides a Beidou antenna with a dynamic tracking function. Specifically, the Beidou antenna includes an antenna body, a rotating mechanism and a fixed structure, wherein:
用于接收北斗卫星信号的天线本体，通过转轴设置于所述固定结构体上，所述固定结构体与所述天线本体具有可变夹角；The antenna body for receiving Beidou satellite signals is arranged on the fixed structure through a rotating shaft, and the fixed structure and the antenna body have a variable angle;
所述转动机构，与所述转轴连接，用于实现如上述的调整方法。The rotating mechanism is connected with the rotating shaft, and is used to realize the above-mentioned adjustment method.
可选地，所述北斗天线包括被配置为测量磁场数据的电子罗盘，所述电子罗盘设置于所述天线本体上。Optionally, the Beidou antenna includes an electronic compass configured to measure magnetic field data, and the electronic compass is provided on the antenna body.
另一方面，本申请还提供一种存储介质，具体地，所述存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现如上述的调整方法的步骤。On the other hand, the present application also provides a storage medium, in particular, a computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of the above adjustment method are implemented.
本申请公开了以下技术效果：The application discloses the following technical effects:
本申请剔除了天线本体低仰角增益较差的区域，提升了天线本体整体增益性能，同时能智能检测北斗通信卫星方位并控制天线本体转动朝向北斗通信卫星，从而获得较好的天线本体增益性能。The application eliminates the areas with poor low elevation angle gain of the antenna body, improves the overall gain performance of the antenna body, and at the same time intelligently detects the azimuth of the Beidou communication satellite and controls the antenna body to rotate towards the Beidou communication satellite, so as to obtain better gain performance of the antenna body.
附图说明Description of drawings
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the present application. In the embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative labor.
图1是本申请所述的调整方法示意图；1 is a schematic diagram of the adjustment method described in the present application;
图2是本申请所述的天线本体与水平面夹角示意图；2 is a schematic diagram of the angle between the antenna body and the horizontal plane described in the present application;
图3是本申请所述的天线本体结构示意图。FIG. 3 is a schematic diagram of the structure of the antenna body described in the present application.
具体实施方式Detailed ways
下为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本申请实施例的组件可以以各种不同的配置来布置和设计。因此，以下对在附图中提供的本申请的实施例的详细描述并非旨在限制要求保护的本申请的范围，而是仅仅表示本申请的选定实施例。基于本申请的实施例，本领域技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本申请保护的范围。In order to make the purposes, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments It is only a part of the embodiments of the present application, but not all of the embodiments. The components of the embodiments of the present application generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations. Thus, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the application as claimed, but is merely representative of selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.
第一实施例first embodiment
图1是本申请所述的调整方法示意图。FIG. 1 is a schematic diagram of the adjustment method described in this application.
如图1所示，本申请公开的一种具有动态跟踪功能的北斗天线的调整方法，包括：As shown in FIG. 1 , a method for adjusting a Beidou antenna with a dynamic tracking function disclosed in this application includes:
S10：获取天线面在水平面中的朝向与地理南极间的夹角为方位夹角，并获取天线转轴的已转动夹角。S10: Obtain the included angle between the orientation of the antenna plane in the horizontal plane and the geographic south pole as the azimuth included angle, and obtain the rotated included angle of the antenna rotation axis.
示例性地，通过电子罗盘等地磁及加速度测量设备可以获取方位夹角。通过对天线转轴的转动测量可以获取天线转轴的已转动夹角。Exemplarily, the included azimuth angle can be obtained through geomagnetic and acceleration measurement devices such as an electronic compass. The rotated angle of the antenna shaft can be obtained by measuring the rotation of the antenna shaft.
S20：当方位夹角和已转动夹角符合预设条件时，控制天线转轴转动，以使方位夹角为零，控制天线面朝向赤道面。S20: When the azimuth included angle and the rotated included angle meet the preset conditions, control the rotation of the antenna shaft to make the azimuth included angle zero, and control the antenna surface to face the equatorial plane.
可以理解地，当方位夹角为零时，天线面朝向赤道面，此时能够提升天线本体整体增益性能，从而获得较好的天线本体增益性能。It can be understood that when the azimuth angle is zero, the antenna surface faces the equatorial plane, and at this time, the overall gain performance of the antenna body can be improved, thereby obtaining better gain performance of the antenna body.
可选地，获取天线面在水平面中的朝向与地理南极间的夹角为方位夹角的步骤包括：Optionally, the step of acquiring the included angle between the orientation of the antenna plane in the horizontal plane and the geographic south pole is the azimuth included angle includes:
响应于获取磁场数据，计算磁方位角；获取当前经纬度对应的磁偏角，根据磁方位角和磁偏角，计算方位夹角。In response to acquiring the magnetic field data, the magnetic azimuth is calculated; the magnetic declination corresponding to the current longitude and latitude is acquired, and the azimuth included angle is calculated according to the magnetic azimuth and the magnetic declination.
可选地，响应于获取磁场数据，计算磁方位角的步骤包括：Optionally, in response to acquiring the magnetic field data, the step of calculating the magnetic azimuth includes:
获取重力加速度数据；根据重力加速度数据对方位角进行倾斜补偿。Acquire gravitational acceleration data; perform tilt compensation on azimuth according to gravitational acceleration data.
通过重力加速度数据获得倾斜角度，可获得磁传感器在水平方向上的分量，计算出水平面磁方位角。示例性地，天线本体设置的电子罗盘内置一个三轴的磁力计以测量磁场数据，内置一个三轴加速计以测量罗盘倾角。罗盘倾角不仅可以用于倾斜补偿，也可以用于获得水平方向的磁场方向。通过数字接口读取三维空间中的重力加速度数据和磁场数据，再通过磁场数据计算出方位角，通过重力加速度数据可进行倾斜补偿。这样处理后输出的方位角不受电子罗盘空间姿态的影响。The tilt angle is obtained from the gravitational acceleration data, the component of the magnetic sensor in the horizontal direction can be obtained, and the magnetic azimuth angle of the horizontal plane is calculated. Exemplarily, the electronic compass provided on the antenna body has a built-in three-axis magnetometer to measure magnetic field data, and a built-in three-axis accelerometer to measure the compass inclination. The compass tilt angle can be used not only for tilt compensation, but also for obtaining the magnetic field direction in the horizontal direction. Read the gravitational acceleration data and magnetic field data in the three-dimensional space through the digital interface, and then calculate the azimuth angle through the magnetic field data, and perform tilt compensation through the gravitational acceleration data. The azimuth angle output after processing in this way is not affected by the spatial attitude of the electronic compass.
可选地，获取天线转轴的已转动夹角的步骤包括：Optionally, the step of obtaining the rotated included angle of the antenna shaft includes:
对天线转轴设置复位点为基准，记录天线转轴每次转动的转动角度；对多个转动角度累积计算，以获取天线转轴相对于复位点的已转动夹角。Set the reset point as the benchmark for the antenna shaft, record the rotation angle of each rotation of the antenna shaft; accumulate and calculate multiple rotation angles to obtain the rotated angle of the antenna shaft relative to the reset point.
示例性地，通过控制步进电机转动，带动天线本体同步转动，转动过程中实时读取电子罗盘数据，并计算方位夹角α，当该夹角值为0时，控制步进电机停止转动，累计记录当前天线本体转动角度和复位点间的方位角度，获得当前已转动夹角β值，最终使天线本体正面朝向赤道面。Exemplarily, by controlling the rotation of the stepper motor, the antenna body is driven to rotate synchronously, the electronic compass data is read in real time during the rotation, and the azimuth included angle α is calculated, and when the included angle value is 0, the stepper motor is controlled to stop rotating, Accumulate and record the current rotation angle of the antenna body and the azimuth angle between the reset point, obtain the current rotated angle β value, and finally make the front of the antenna body face the equatorial plane.
可选地，预设条件包括第一预设条件和第二预设条件，当方位夹角和已转动夹角符合预设条件时，控制天线转轴转动的步骤包括：Optionally, the preset conditions include a first preset condition and a second preset condition, and when the azimuth angle and the rotated angle meet the preset conditions, the step of controlling the rotation of the antenna shaft includes:
当方位夹角和已转动夹角符合第一预设条件时，控制天线转轴向第一时针方向转动；和/或，当方位夹角和已转动夹角符合第二预设条件时，控制天线转轴向第二时针方向转动。When the azimuth angle and the rotated angle meet the first preset condition, control the antenna to rotate in the first clockwise direction; and/or, when the azimuth angle and the rotated angle meet the second preset condition, control The antenna rotating shaft rotates in the second clockwise direction.
可选地，以天线本体在水平面的投影指向转动轴复位点时为0度位置，以俯视北斗天线的顺时针方向为正向，以逆时针方向为负向；设α为方位夹角，β为已转动夹角；当方位夹角和已转动夹角符合第一预设条件时，控制天线转轴向第一时针方向转动的步骤包括：Optionally, when the projection of the antenna body on the horizontal plane points to the reset point of the rotation axis, it is the 0-degree position, the clockwise direction of the Beidou antenna is the positive direction, and the counterclockwise direction is the negative direction; let α be the azimuth angle, β is the rotated angle; when the azimuth angle and the rotated angle meet the first preset condition, the steps of controlling the rotation of the antenna axis to rotate in the first clockwise direction include:
当α＞0，β＞0，且α＜β，则控制北斗天线逆时针方向转动。When α>0, β>0, and α<β, control the Beidou antenna to rotate counterclockwise.
和/或，当α＞0，β＞0，且α＞β，则控制北斗天线逆时针方向转动。And/or, when α>0, β>0, and α>β, control the Beidou antenna to rotate counterclockwise.
和/或，当α＞0，β＜0，且α+|β|＜180，则控制北斗天线逆时针方向转动。And/or, when α>0, β<0, and α+|β|<180, control the Beidou antenna to rotate counterclockwise.
和/或，当α＜0，β＞0，且α+|β|＞180，则控制北斗天线逆时针方向转动。And/or, when α<0, β>0, and α+|β|>180, control the Beidou antenna to rotate counterclockwise.
可选地，以天线本体在水平面的投影指向转动轴复位点时为0度位置，以俯视北斗天线的顺时针方向为正向，以逆时针方向为负向；设α为方位夹角，β为已转动夹角；当方位夹角和已转动夹角符合第二预设条件时，控制天线转轴向第二时针方向转动的步骤包括：Optionally, when the projection of the antenna body on the horizontal plane points to the reset point of the rotation axis, it is the 0-degree position, the clockwise direction of the Beidou antenna is the positive direction, and the counterclockwise direction is the negative direction; let α be the azimuth angle, β is the rotated included angle; when the azimuth included angle and the rotated included angle meet the second preset condition, the steps of controlling the antenna axis to rotate in the second clockwise direction include:
当α＞0，β＜0，且α+|β|＞180，则控制北斗天线顺时针方向转动。When α>0, β<0, and α+|β|>180, control the Beidou antenna to rotate clockwise.
和/或，当α＜0，β＞0，且α+|β|＜180，则控制北斗天线顺时针方向转动。And/or, when α<0, β>0, and α+|β|<180, control the Beidou antenna to rotate clockwise.
和/或，当α＜0，β＜0，且|α|＜|β|，则控制北斗天线顺时针方向转动。And/or, when α<0, β<0, and |α|<|β|, control the Beidou antenna to rotate clockwise.
和/或，当α＜0，β＜0，且|α|＞|β|，则控制北斗天线顺时针方向转动。And/or, when α<0, β<0, and |α|>|β|, control the Beidou antenna to rotate clockwise.
可以理解地，当转动至α为0时，电机停止转动。此时天线面朝向赤道面，能够提升天线本体整体增益性能，从而获得较好的天线本体增益性能。Understandably, when the rotation reaches 0, the motor stops rotating. In this case, the antenna surface faces the equatorial plane, which can improve the overall gain performance of the antenna body, thereby obtaining better gain performance of the antenna body.
第二实施例Second Embodiment
另一方面，本申请还提供一种具有动态跟踪功能的北斗天线。图2是本申请所述的天线本体与水平面夹角示意图；图3是本申请所述的天线本体结构示意图。On the other hand, the present application also provides a Beidou antenna with a dynamic tracking function. FIG. 2 is a schematic diagram of the angle between the antenna body and the horizontal plane according to the present application; FIG. 3 is a schematic diagram of the structure of the antenna body according to the present application.
请参考图3，所述北斗天线包括天线本体1、转动机构和固定结构体3。Referring to FIG. 3 , the Beidou antenna includes an
可选地，用于接收北斗卫星信号的天线本体1，通过转轴设置于所述固定结构体3上，所述固定结构体3与所述天线本体1具有可变夹角。所述转动机构，与所述转轴连接，用于实现如上述的调整方法。Optionally, the
具体地：specifically:
天线本体1，用于接收北斗卫星信号；转动机构，通过转轴2与天线本体连接；转动机构设置于固定结构体3上；固定结构体3与天线本体1具有夹角，夹角为可变夹角。The
进一步优选地，转动机构为步进电机6，固定结构体3通过固定螺丝与步进电机6固定连接。Further preferably, the rotating mechanism is a stepping
进一步优选地，固定螺丝至少包括三个；Further preferably, the fixing screws include at least three;
和/或，固定结构体3通过轴承4嵌套在转轴上，固定螺丝5设置在轴承4的一端。And/or, the fixing
进一步优选地，固定结构体3靠近固定螺丝5的附近设置有腔体结构，用于设置轴承4。Further preferably, the fixing
可选地，北斗天线包括被配置为测量磁场数据的电子罗盘，电子罗盘设置于天线本体1上。Optionally, the Beidou antenna includes an electronic compass configured to measure magnetic field data, and the electronic compass is provided on the
示例性地，天线本体1的背面设置有电子罗盘，电子罗盘用于获取方位角。Exemplarily, the back of the
进一步优选地，北斗天线还包括MCU；Further preferably, the Beidou antenna also includes an MCU;
电子罗盘与MCU电性连接；The electronic compass is electrically connected to the MCU;
MCU用于读取电子罗盘数据；MCU is used to read electronic compass data;
MCU与步进电机电性连接；The MCU is electrically connected to the stepper motor;
MCU还用于控制步进电机6。The MCU is also used to control the
进一步优选地，转轴2与步进电机6的电机转轴同轴连接。Further preferably, the
进一步优选地，固定结构体3与步进电机6的输出端平行设置；Further preferably, the fixed
固定结构体3与天线本体1具有夹角的一端的间距为5-10mm；The distance between the fixed
北斗天线还包括电源模块，用于为步进电机6供电，其中，电源模块包括蓄电池单元和太阳能。The Beidou antenna also includes a power module for powering the stepping
可以理解的是，在接收到的卫星波束信号不佳时，不转动天线本体1，而是控制天线本体1向赤道面方向翻转，以获得较好的卫星波束信号。It can be understood that, when the received satellite beam signal is not good, the
可以理解的是，在接收到的卫星波束信号不佳时，直接控制调整整机姿态，以获得较好的卫星波束信号。It can be understood that when the received satellite beam signal is not good, the attitude of the whole machine can be directly controlled and adjusted to obtain a better satellite beam signal.
可以理解的是，本申请中使用了步进电机6，天线本体后面转轴和电机转轴末端相连，目的是让天线本体1转动，实际也可用机械或是其他方式代替。It can be understood that a stepping
可以理解的是，本申请中使用轴承4是为了转动时阻力小，同时使天线本体和转轴2获得支撑，实际可省略或是用其他方式代替。It can be understood that, the
可以理解的是，方案中在天线本体1背面使用电子罗盘的目的是获得天线本体1和赤道面的朝向关系，实际也可用其他方式实现。It can be understood that the purpose of using an electronic compass on the back of the
可以理解的是，本申请中天线本体1与固定结构体2之间以固定夹角角度方式安装固定，在其他实施方式中，也可以考虑夹角角度可调。It can be understood that in the present application, the
本申请将北斗通信天线本体从水平安装调整为和水平面有一定夹角的方式安装，从而在使用时直接屏蔽天线本体低仰角性能不好的区域，从而保证实际使用时天线本体整体有较好的增益性能。In this application, the Beidou communication antenna body is adjusted from the horizontal installation to the installation at a certain angle with the horizontal plane, so as to directly shield the area with poor low-elevation angle performance of the antenna body during use, thus ensuring that the antenna body as a whole has better performance in actual use. gain performance.
本申请采用动态跟踪技术，通过控制天线本体转动寻找高增益信号角度，在任何北斗通信卫星波束覆盖范围内使用时，均能获得较好的天线本体增益性能。This application adopts the dynamic tracking technology to find the high-gain signal angle by controlling the rotation of the antenna body, and can obtain better gain performance of the antenna body when used within the coverage of any Beidou communication satellite beam.
第三实施例Third Embodiment
请参考图2和图3，首先需要将北斗通信天线本体由水平安装调整为和水平面有一定的夹角后安装，如图2所示。天线本体背面安装有电子罗盘，本项目使用电子罗盘型号为LSM303DLH，内置一个三轴的磁力计以测量磁场数据，和一个三轴加速计以测量罗盘倾角。天线本体中心点a在水平面投影为b，天线本体和水平面交点为o，图2中箭头b->o表示天线本体在水平面中的指向。Please refer to Figure 2 and Figure 3. First, the Beidou communication antenna body needs to be adjusted from horizontal installation to a certain angle with the horizontal plane and then installed, as shown in Figure 2. An electronic compass is installed on the back of the antenna body. This project uses the electronic compass model LSM303DLH, with a built-in three-axis magnetometer to measure the magnetic field data, and a three-axis accelerometer to measure the compass inclination. The projection of the center point a of the antenna body on the horizontal plane is b, and the intersection point of the antenna body and the horizontal plane is o. The arrow b->o in Figure 2 indicates the direction of the antenna body in the horizontal plane.
MCU通过数字接口读取三维空间中的重力加速度数据和磁场数据，再通过磁场数据计算出方位角，通过重力加速度数据可进行倾斜补偿。这样处理后输出的方位角不受电子罗盘空间姿态的影响，即为图2中天线本体在水平面投影上b->o在地磁场中的方位角。地理北极和地磁北极(也称为磁南极)不是完全重合，两者间存在一定的夹角，该夹角称为磁偏角。不同纬度地区的磁偏角稍有不同，实际使用时根据经纬度获取当地磁偏角，并和计算的磁方位角组合计算后，可获得和地理南极间的方位夹角α，范围：-180度～180度。天线本体和固定结构件间的最低点为天线本体转动轴复位点，天线本体转动范围为该复位点两侧正负180度内，顺时针转动为正值，反之为负值。天线本体在水平面投影上b->o相对于转动轴复位点之间的夹角称为转动夹角β，天线本体在水平面的投影指向转动轴复位点时为0度位置。为便于描述，使用环境以北半球为例，假设方位夹角α为0度时，天线本体正面朝向地理南极，即赤道面方向。根据已知方位夹角α后控制天线本体转动的步骤如下：The MCU reads the gravitational acceleration data and magnetic field data in the three-dimensional space through the digital interface, and then calculates the azimuth angle through the magnetic field data, and can perform tilt compensation through the gravitational acceleration data. The azimuth angle output after processing in this way is not affected by the spatial attitude of the electronic compass, that is, the azimuth angle of b->o in the geomagnetic field on the projection of the antenna body on the horizontal plane in Figure 2. The geographic north pole and the magnetic north pole (also called the magnetic south pole) are not completely coincident, and there is a certain angle between them, which is called the magnetic declination angle. The magnetic declination angle is slightly different in different latitude regions. In actual use, the local magnetic declination angle is obtained according to the longitude and latitude, and after combining with the calculated magnetic azimuth angle, the azimuth angle α between the geographic south pole and the geographic south pole can be obtained. Range: -180 degrees ~180 degrees. The lowest point between the antenna body and the fixed structure is the reset point of the rotation axis of the antenna body. The rotation range of the antenna body is within plus or minus 180 degrees on both sides of the reset point. Clockwise rotation is a positive value, otherwise it is a negative value. The angle between the antenna body on the horizontal plane projection b->o relative to the reset point of the rotation axis is called the rotation angle β. When the projection of the antenna body on the horizontal plane points to the reset point of the rotation axis, it is 0 degrees. For ease of description, the use environment is taken as an example in the northern hemisphere. It is assumed that when the azimuth angle α is 0 degrees, the front of the antenna body faces the geographic south pole, that is, the direction of the equatorial plane. The steps of controlling the rotation of the antenna body according to the known azimuth angle α are as follows:
天线本体每次上电时，会自动将天线本体转动至复位点，之后每次控制天线本体转动，都会累计计算并记录当前位置与复位点之间已转动的方位角度，获得当前已转动夹角β值；Each time the antenna body is powered on, it will automatically rotate the antenna body to the reset point. After that, every time the antenna body is controlled to rotate, the azimuth angle that has been rotated between the current position and the reset point will be accumulated and recorded to obtain the current rotated angle. beta value;
以下为方位夹角α和已转动夹角β在不同情况下的处理，实际操作时通过MCU控制步进电机转动，带动天线本体同步转动，转动过程中实时读取电子罗盘数据，并计算方位夹角α，当该夹角值为0时，MCU控制步进电机停止转动，累计记录当前天线本体转动角度和复位点间的方位角度，获得当前已转动夹角β值，最终使天线本体正面朝向赤道面。The following is the processing of the azimuth angle α and the rotated angle β in different situations. In actual operation, the stepper motor is controlled by the MCU to rotate to drive the antenna body to rotate synchronously. During the rotation process, the electronic compass data is read in real time, and the azimuth clip is calculated. Angle α, when the included angle value is 0, the MCU controls the stepper motor to stop rotating, accumulatively records the current rotation angle of the antenna body and the azimuth angle between the reset point, obtains the current rotated included angle β value, and finally makes the antenna body face equatorial plane.
当方位夹角α为正值，已转动夹角β也为正值，且α＜β，则MCU控制步进电机逆时针转动，当α为0时，电机停止转动；When the azimuth angle α is positive, the rotated angle β is also positive, and α < β, the MCU controls the stepper motor to rotate counterclockwise, and when α is 0, the motor stops rotating;
当方位夹角α为正值，已转动夹角β也为正值，且α＞β，则MCU控制步进电机逆时针转动，当α为0时，电机停止转动；When the azimuth angle α is positive, the rotated angle β is also positive, and α>β, the MCU controls the stepper motor to rotate counterclockwise, and when α is 0, the motor stops rotating;
当方位夹角α为正值，已转动夹角β为负值，当α+|β|＜180，则MCU控制步进电机逆时针转动，当α为0时，电机停止转动；When the azimuth angle α is positive, the rotated angle β is negative, when α+|β|<180, the MCU controls the stepper motor to rotate counterclockwise, and when α is 0, the motor stops rotating;
当方位夹角α为正值，已转动夹角β为负值，当α+|β|＞180，则MCU控制步进电机顺时针转动，当α为0时，电机停止转动；When the azimuth angle α is positive, the rotated angle β is negative, when α+|β|>180, the MCU controls the stepper motor to rotate clockwise, and when α is 0, the motor stops rotating;
当方位夹角α为负值，已转动夹角β为正值，当α+|β|＜180，则MCU控制步进电机顺时针转动，当α为0时，电机停止转动；When the azimuth angle α is negative, the rotated angle β is positive, when α+|β|<180, the MCU controls the stepper motor to rotate clockwise, and when α is 0, the motor stops rotating;
当方位夹角α为负值，已转动夹角β为正值，当α+|β|＞180，则MCU控制步进电机逆时针转动，当α为0时，电机停止转动；When the azimuth angle α is negative, the rotated angle β is positive, when α+|β|>180, the MCU controls the stepper motor to rotate counterclockwise, and when α is 0, the motor stops rotating;
当方位夹角α为负值，已转动夹角β也为负值，且|α|＜|β|，则MCU控制步进电机顺时针转动，当α为0时，电机停止转动；When the azimuth angle α is negative, the rotated angle β is also negative, and |α| < |β|, the MCU controls the stepper motor to rotate clockwise, and when α is 0, the motor stops rotating;
当方位夹角α为负值，已转动夹角β也为负值，且|α|＞|β|，则MCU控制步进电机顺时针转动，当α为0时，电机停止转动。When the azimuth angle α is negative, the rotated angle β is also negative, and |α| > |β|, the MCU controls the stepper motor to rotate clockwise. When α is 0, the motor stops rotating.
可以理解地，当转动至α为0时，此时天线面朝向赤道面，能够提升天线本体整体增益性能，从而获得较好的天线本体增益性能。It can be understood that when the rotation is until α is 0, the antenna surface faces the equatorial plane at this time, which can improve the overall gain performance of the antenna body, thereby obtaining better gain performance of the antenna body.
第四实施例Fourth Embodiment
另一方面，本申请还提供一种存储介质，具体地，存储介质上存储有计算机程序，计算机程序被处理器执行时实现如上述的调整方法的步骤。On the other hand, the present application also provides a storage medium, in particular, a computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of the above adjustment method are implemented.
计算机程序在实现调整方法的过程中，所涉及的技术细节与上述各实施例相同，此处不再赘述。In the process of implementing the adjustment method by the computer program, the technical details involved are the same as those of the above-mentioned embodiments, which will not be repeated here.
本申请将北斗通信天线本体从水平安装调整为和水平面有一定夹角的方式安装，从而在使用时直接屏蔽天线本体低仰角性能不好的区域，从而保证实际使用时天线本体整体有较好的增益性能。In this application, the Beidou communication antenna body is adjusted from the horizontal installation to the installation at a certain angle with the horizontal plane, so as to directly shield the area with poor low-elevation angle performance of the antenna body during use, thus ensuring that the antenna body as a whole has better performance in actual use. gain performance.
本申请采用动态跟踪技术，通过控制天线本体转动寻找高增益信号角度，在任何北斗通信卫星波束覆盖范围内使用时，均能获得较好的天线本体增益性能。This application adopts the dynamic tracking technology to find the high-gain signal angle by controlling the rotation of the antenna body, and can obtain better gain performance of the antenna body when used within the coverage of any Beidou communication satellite beam.
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释，此外，术语“第一”、“第二”、“第三”等仅用于区分描述，而不能理解为指示或暗示相对重要性。It should be noted that like numerals and letters refer to like items in the following figures, so that once an item is defined in one figure, it does not require further definition and explanation in subsequent figures, Furthermore, the terms "first", "second", "third", etc. are only used to differentiate the description and should not be construed as indicating or implying relative importance.
最后应说明的是：以上所述实施例，仅为本申请的具体实施方式，用以说明本申请的技术方案，而非对其限制，本申请的保护范围并不局限于此，尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，其依然可以对前述实施例所记载的技术方案进行修改或可轻易想到变化，或者对其中部分技术特征进行等同替换；而这些修改、变化或者替换，并不使相应技术方案的本质脱离本申请实施例技术方案的精神和范围。都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应所述以权利要求的保护范围为准。Finally, it should be noted that the above-mentioned embodiments are only specific implementations of the present application, and are used to illustrate the technical solutions of the present application, rather than limit them. The embodiments describe the application in detail, and those of ordinary skill in the art should understand that any person skilled in the art can still modify the technical solutions described in the foregoing embodiments within the technical scope disclosed in the application. Changes can be easily conceived, or equivalent replacements are made to some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the present application. All should be covered within the scope of protection of this application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.
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