Method and system for controlling antenna of mobile communication application system based on double quaternions in MEMS inertial navigation
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
B64G-001/36
G05D-001/00
G05D-003/00
G06F-007/00
G06F-017/00
G01C-021/18
H01Q-003/02
H01Q-001/24
B64G-001/10
B64G-001/24
출원번호
US-0108778
(2014-06-30)
등록번호
US-9574881
(2017-02-21)
우선권정보
CN-2014 1 0265808 (2014-06-13)
국제출원번호
PCT/CN2014/081165
(2014-06-30)
국제공개번호
WO2015/188409
(2015-12-17)
발명자
/ 주소
Yu, Qingbo
Men, Jizhuo
Zhao, Shulun
Lang, Rong
Liu, Xiaobin
Yang, Chunxiang
출원인 / 주소
BEIJING AEROSPACE WANDA HI-TECH LTD.
대리인 / 주소
Fenwick & West LLP
인용정보
피인용 횟수 :
0인용 특허 :
20
초록▼
A method for controlling an antenna of a mobile communication application system based on double quaternions in MEMS inertial navigation. The method comprises: introducing an antenna control quaternion based on a navigation attitude quaternion; in each interrupt cycle of a navigation computer, updat
A method for controlling an antenna of a mobile communication application system based on double quaternions in MEMS inertial navigation. The method comprises: introducing an antenna control quaternion based on a navigation attitude quaternion; in each interrupt cycle of a navigation computer, updating the two quaternions respectively using a carrier system measured by a gyroscope relative to a rotation vector of an ideal platform coordinate system; in each filter cycle, correcting the error of the navigation attitude quaternion respectively using a Kalman filter; according to the relationship between the attitudes determined by the two attitude quaternions, determining the angular speed in an antenna control instruction; and finally, driving a servo system to rotate at an antenna servo control angle converted by an antenna control quaternion attitude.
대표청구항▼
1. A method for controlling a bi-quaternion satellite communication in motion antenna based on MEMS inertial navigation, comprising: (1) mounting an MEMS inertial navigation, a GPS and a satellite communication in motion on a carrier, wherein the MEMS inertial navigation and the GPS compose an integ
1. A method for controlling a bi-quaternion satellite communication in motion antenna based on MEMS inertial navigation, comprising: (1) mounting an MEMS inertial navigation, a GPS and a satellite communication in motion on a carrier, wherein the MEMS inertial navigation and the GPS compose an integrated navigation system;(2) setting an antenna control quaternion, wherein the antenna control quaternion is in a form of [q0′ q1′ q2′ q3′], meanings of parameters of the antenna control quaternion coincide with those of a navigation attitude quaternion [q0 q1 q2 q3] obtained from a strapdown inertial navigation solving, and initial values of the antenna control quaternion are equal to those of the navigation attitude quaternion;(3) in each interrupt cycle of a strapdown inertial navigation computer, updating the navigation attitude quaternion and the antenna control quaternion by using a rotation vector ωTbb of a carrier coordinate system with respect to an ideal platform coordinate system;(4) in each filtering cycle of the integrated navigation system, correcting a horizontal attitude error in a navigation attribute of the MEMS inertial navigation by using a Kalman filtering and integrated navigation algorithm, to correct the navigation attitude quaternion;(5) in each interrupt cycle of the strapdown inertial navigation computer, obtaining an attitude angle difference by performing subtraction between a carrier attitude angle determined from the navigation attitude quaternion and a carrier attitude angle determined from the antenna control quaternion; and generating, based on the attitude angle difference, a tri-axis instruction angular velocity rotation vector for correcting the antenna control quaternion, wherein a. a positive correction instruction angular velocity is taken as a third element of the tri-axis instruction angular velocity rotation vector, in a case that a heading angle determined from the antenna control quaternion is greater than a heading angle determined from the navigation attitude quaternion;b. a negative correction instruction angular velocity is taken as a third element of the tri-axis instruction angular velocity rotation vector, in a case that a heading angle determined from the antenna control quaternion is less than a heading angle determined from the navigation attitude quaternion;c. a positive correction instruction angular velocity is taken as a first element of the tri-axis instruction angular velocity rotation vector, in a case that a pitching angle determined from the antenna control quaternion is greater than a pitching angle determined from the navigation attitude quaternion;d. a negative correction instruction angular velocity is taken as a first element of the tri-axis instruction angular velocity rotation vector, in a case that a pitching angle determined from the antenna control quaternion is less than a pitching angle determined from the navigation attitude quaternion;e. a positive correction instruction angular velocity is taken as a second element of the tri-axis instruction angular velocity rotation vector, in a case that a roll angle determined from the antenna control quaternion is greater than a roll angle determined from the navigation attitude quaternion;f. a negative correction instruction angular velocity is taken as a second element of the tri-axis instruction angular velocity rotation vector, in a case that a roll angle determined from the antenna control quaternion is less than a roll angle determined from the navigation attitude quaternion; and(6) correcting the antenna control quaternion by using the tri-axis instruction angular velocity rotation vector; and in a next interrupt cycle of the strapdown inertial navigation computer after the correction, solving out a servo azimuth angle, a servo altitude angle and a servo polarizing angle of the satellite communication in motion antenna by using the corrected antenna control quaternion, and obtaining control quantities corresponding to the three attitude directions to control rotation of the satellite communication in motion antenna. 2. The method for controlling the bi-quaternion satellite communication in motion antenna based on MEMS inertial navigation according to claim 1, wherein in the cases a and b, a value of the correction instruction angular velocity in step (5) is not less than a value determined by dividing a difference between the heading angle determined from the antenna control quaternion and the heading angle determined from the navigation attitude quaternion by the filtering cycle of the integrated navigation, and is not greater than a maximum allowable satellite aiming angular error per second of the satellite communication in motion antenna;in the cases c and d, the value of the correction instruction angular velocity in step (5) is not less than a value determined by dividing a difference between the pitching angle determined form the antenna control quaternion and the pitching angle determined from the navigation attitude quaternion by the filtering cycle of the integrated navigation, and is not greater than the maximum allowable satellite aiming angular error per second of the satellite communication in motion antenna; andin the cases e and f, the value of the correction instruction angular velocity in step (5) is not less than a value determined by dividing a difference between the roll angle determined from the antenna control quaternion and the roll angle determined from the navigation attitude quaternion by the filtering cycle of the integrated navigation, and is not greater than the maximum allowable satellite aiming angular error per second of the satellite communication in motion antenna. 3. A system for controlling a bi-quaternion satellite communication in motion antenna based on MEMS inertial navigation, comprising a satellite communication in motion antenna controller, a GPS, an MEMS gyroscope, an MEMS accelerometer and a satellite communication in motion antenna servo mechanism, wherein the GPS is configured to measure velocity and position information of a carrier and send the velocity and position information of the carrier to a filter unit in the satellite communication in motion antenna controller;the MEMS gyroscope is configured to measure angular velocity information of the carrier in a three-dimensional space and send the angular velocity information of the carrier in the three-dimensional space to an inertial navigation solving unit and an antenna control quaternion calculation unit in the satellite communication in motion antenna controller;the MEMS accelerometer is configured to measure specific force information of the carrier in the three-dimensional space and send the specific force information of the carrier in the three-dimensional space to the inertial navigation solving unit in the satellite communication in motion antenna controller;the satellite communication in motion antenna controller comprises the inertial navigation solving unit, the filter unit, the antenna control quaternion calculation unit, an antenna control instruction generation unit and an antenna control quaternion correction instruction angular velocity generation unit, whereinthe inertial navigation solving unit is configured toremove angular velocities due to earth rotation and motion of the carrier along earth surface from the angular velocity information of the carrier in the three-dimensional space measured by the MEMS gyroscope, to obtain a tri-axis rotation vector ωTbb of a carrier coordinate system with respect to the geographic coordinate system;remove a gravity acceleration and a Coriolis acceleration from the specific force information of the carrier in the three-dimensional space measured by the MEMS accelerometer, to obtain an acceleration of the carrier with respect to ground;obtain attitude, position and velocity information of the carrier via an inertial navigation solving based on the tri-axis rotation angular velocity of the carrier coordinate system with respect to the geographic coordinate system and the acceleration of the carrier with respect to the ground, and send the attitude, position and velocity information of the carrier to the filter unit;send, to the antenna control quaternion calculation unit, the tri-axis rotation vector ωTbb of the carrier coordinate system with respect to the geographic coordinate system and an attitude quaternion [q0 q1 q2 q3] corresponding to a carrier attitude directly obtained from first inertial navigation solving; andobtain corrected carrier attitude information from the filter unit, update the attitude quaternion corresponding to the corrected carrier attitude information by using the tri-axis rotation vector ωTbb of the carrier coordinate system with respect to the geographic coordinate system, take the updated attitude quaternion as a navigation attitude quaternion, and send the navigation attitude quaternion to the antenna control quaternion correction instruction angular velocity generation unit;the filter unit is configured to correct, at a fixed filter cycle, a horizontal attitude error in the carrier attitude output from the inertial navigation solving unit by using the Kalman filtering and integrated navigation algorithm based on the velocity and position information of the carrier output from the GPS and the velocity and position information of the carrier output from the inertial navigation solving unit; and send the corrected result to the inertial navigation solving unit;the antenna control quaternion calculation unit is configured to generate an antenna control quaternion, wherein the antenna control quaternion is in a form of [q0′ q1′ q2′ q3′], meanings of parameters of the antenna control quaternion coincide with those of the attitude quaternion [q0 q1 q2 q3] obtained by the inertial navigation solving unit, and initial values of [q0′ q1′ q2′ q3′] are [q0 q1 q2 q3]; update the antenna control quaternion [q0′ q1′ q2′ q3′] by using the tri-axis rotation vector ωTbb of the carrier coordinate system with respect to the geographic coordinate system and send the updated antenna control quaternion to the antenna control quaternion correction instruction angular velocity generation unit, every time the tri-axis rotation vector ωTbb of the carrier coordinate system with respect to the geographic coordinate system is received from the inertial navigation solving unit; and obtain a tri-axis instruction angular velocity rotation vector from the antenna control quaternion correction instruction angular velocity generation unit, update the antenna control quaternion [q0′ q1′ q2′ q3′] by using the tri-axis instruction angular velocity rotation vector again and send the updated antenna control quaternion to the antenna control instruction generation unit;the antenna control quaternion correction instruction angular velocity generation unit is configured to obtain the navigation attitude quaternion and the antenna control quaternion from the inertial navigation solving unit and the antenna control quaternion calculation unit respectively; obtain an attitude angle difference by performing subtraction between a carrier attitude angle determined from the navigation attitude quaternion and a carrier attitude angle determined from the antenna control quaternion; and generate, based on the attitude angle difference, a tri-axis instruction angular velocity rotation vector for correcting the antenna control quaternion, and send the tri-axis instruction angular velocity rotation vector to the antenna control quaternion calculation unit, wherein values of elements in the tri-axis instruction angular velocity rotation vector are as follows: a. a positive correction instruction angular velocity is taken as a third element of the tri-axis instruction angular velocity rotation vector, in a case that a heading angle determined from the antenna control quaternion is greater than a heading angle determined from the navigation attitude quaternion;b. a negative correction instruction angular velocity is taken as a third element of the tri-axis instruction angular velocity rotation vector, in a case that a heading angle determined from the antenna control quaternion is less than a heading angle determined from the navigation attitude quaternion;c. a positive correction instruction angular velocity is taken as a first element of the tri-axis instruction angular velocity rotation vector, in a case that a pitching angle determined from the antenna control quaternion is greater than a pitching angle determined from the navigation attitude quaternion;d. a negative correction instruction angular velocity is taken as a first element of the tri-axis instruction angular velocity rotation vector, in a case that a pitching angle determined from the antenna control quaternion is less than a pitching angle determined from the navigation attitude quaternion;e. a positive correction instruction angular velocity is taken as a second element of the tri-axis instruction angular velocity rotation vector, in a case that a roll angle determined from the antenna control quaternion is greater than a roll angle determined from the navigation attitude quaternion;f. a negative correction instruction angular velocity is taken as a second element of the tri-axis instruction angular velocity rotation vector, in a case that a roll angle determined from the antenna control quaternion is less than a roll angle determined from the navigation attitude quaternion;the antenna control instruction generation unit is configured to receive a newest antenna control quaternion from the antenna control quaternion calculation unit; and solve out a servo azimuth angle, a servo altitude angle and a servo polarizing angle of the satellite communication in motion antenna by using the antenna control quaternion, and send the servo azimuth angle, the servo altitude angle and the servo polarizing angle of the satellite communication in motion antenna to the satellite communication in motion antenna servo mechanism;the satellite communication in motion antenna servo mechanism comprises an azimuth-oriented motor driver and a corresponding motor, a pitch-oriented motor driver and a corresponding motor and a polarization-oriented motor driver and a corresponding motor, wherein the motor drivers in the three orientations drive the corresponding motors based on the servo azimuth angle, the servo altitude angle and the servo polarizing angle sent from the antenna control instruction generation unit respectively, to control rotation of three axis of the satellite communication in motion antenna. 4. The system for controlling the bi-quaternion satellite communication in motion antenna based on MEMS inertial navigation according to claim 3, wherein in the cases a and b, a value of the correction instruction angular velocity generated by the antenna control quaternion correction instruction angular velocity generation unit is not less than a value determined by dividing a difference between the heading angle determined from the antenna control quaternion and the heading angle determined from the navigation attitude quaternion by the filtering cycle of the integrated navigation, and is not greater than a maximum allowable satellite aiming angular error per second of the satellite communication in motion antenna;in the cases c and d, a value of the correction instruction angular velocity generated by the antenna control quaternion correction instruction angular velocity generation unit is not less than a value determined by dividing a difference between the pitching angle determined from the antenna control quaternion and the pitching angle determined from the navigation attitude quaternion by the filtering cycle of the integrated navigation, and is not greater than the maximum allowable satellite aiming angular error per second of the satellite communication in motion antenna; andin the cases e and f, a value of the correction instruction angular velocity generated by the antenna control quaternion correction instruction angular velocity generation unit is not less than a value determined by dividing a difference between the roll angle determined from the antenna control quaternion and the roll angle determined from the navigation attitude quaternion by the filtering cycle of the integrated navigation, and is not greater than a maximum allowable satellite aiming angular error per second of the satellite communication in motion antenna.
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이 특허에 인용된 특허 (20)
Johnson William M. (Sudbury MA) Musoff Howard (Brookline MA), Apparatus and method for autonomous satellite attitude sensing.
Bender Douglas J. (Redondo Beach CA) Parks Thomas R. (Redondo Beach CA) Brozenec Thomas F. (El Segundo CA), Method of attitude determination using earth and star sensors.
Polle Bernard,FRX ; Billand Marcel,FRX ; Hanin Benoit,FRX, Method of controlling the attitude control for satellites on an orbit inclined relative to the equator.
Robinson, Brendan H.; Steele, II, John H.; Quan, Clifton; Hui, Leo H., Systems and methods for determining a positional state of an airborne array antenna using distributed accelerometers.
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