A Design Method of UAV Directional Antenna Self-tracking System

Abstract

The invention relates to a design method of a self-tracking system for a directional antenna of an unmanned aerial vehicle, which is used for the control of an unmanned aerial vehicle. In this method, a GPS receiver is installed on the vehicle to obtain the position and speed of the directional antenna in real time. The main controller uses the positions of the directional antenna and the UAV to obtain the tracking target angle of the directional antenna, and realizes it by using the speed of the directional antenna and the UAV. Predictive smoothing of position and implementation of adding feed-forward to azimuth motion as the drone flies over the directional antenna apex. The azimuth and elevation angle measuring instrument is installed on the vehicle to measure the current azimuth and elevation angle of the vehicle, and the current angle of the directional antenna is obtained by combining the measured value of the angle sensor. The main controller calculates the control amount according to the difference between the tracking target angle of the directional antenna and the current angle, and drives the directional antenna to reach the target position. The invention improves the maneuverability and concealment of the system, is easy to realize in engineering, effectively smooths the directional antenna tracking action, reduces overhead tracking errors, and improves system reliability and adaptability.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle control, relates to automatic tracking, in particular to a design method of an unmanned aerial vehicle directional antenna self-tracking system. Background technique [0002] With the rapid development of UAV technology, the application is more and more extensive. In many applications, there is a large amount of observation and control data between the UAV and the ground control system that needs to be transmitted in real time. In order to ensure the accuracy and reliability of data transmission and reception, and at the same time improve the receiving gain and anti-interference ability, this long-distance, high-bandwidth communication, Usually a directional antenna is used. When the directional antenna works, only when the main lobe of the transmitting antenna and the receiving antenna are aligned, there is a higher gain. If the real-time alignment of the directional antenna cannot be gua...

AI Technical Summary

Problems solved by technology

However, based on the GPS position signal to design the directional antenna automatic tracking system, there are currently the following shortcomings: to determine the tracking target angle according to the relative position of the UAV and the directional antenna, the current calculation method needs to be based on the relative position of the directional antenna and the UAV. Judging the quadrant where the real azimuth is located, it is easy to cause ambiguity at the quadrant boundary, which increases the complexity of the control system and brings difficulties to engineering applications

Due to the limitations of the communication link transmission capability and the dynamic characteristics of the low-cost GPS receiver, the location update frequency sent by the UAV to the ground control system is usually low. Motion fluctuations and large tracking errors can significantly increase system wear

With the widespread application of unmanned aerial vehicles, the directional antenna tracking system is required to have maneuvering tracking capabilities in many application fields to improve the maneuverability and concealment of the system. However, during the maneuvering process, the GPS position information of the directional antenna is easily affected by tunnels, Interference from trees, buildings, etc. will cause inaccurate location information, resulting in the loss of tracking targets

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