JPH03101501A - Controller for attitude of antenna on travelling object - Google Patents

Abstract

PURPOSE:To make the controller small and the light weight by controlling the antenna directivity of an antenna with conical scanning in a minute range with respect to slow motion of a vehicle or the like and controlling the antenna directivity with search operation in a wide range with respect to extremely fast motion. CONSTITUTION:While a reception level of antennas 31, 32 is a 1st setting value TH1 or over, a 1st control means 1 applies such minimized drive to the antennas as correction of deviation in the directivity due to the attitude change of a vehicle or the like. When a reception level decreases slightly from a proper value, a 2nd control means 1 applies conical scanning to the antennas 31, 32 in a minute range to set the attitude of the antennas 31, 32 in a direction of the maximum reception level during the scanned range. When the reception level arrives to a value less than a 2nd setting value due to a rapid attitude change in the vehicle or the like, a 3rd control means 1 applies search scannint to the antennas 31, 32 in a wider range than that of the conical scanning. Thus, even when specially high response is not provided to the antenna attitude control system, the automatic tracking practically sufficient is realized.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to attitude control of an antenna on a moving body, and particularly to attitude control of a directional antenna that tracks a radio wave source on a moving body.

[Conventional technology]

For example, mobile objects such as vehicles, ships, and aircraft (hereinafter referred to as vehicles) are connected to fixed stations, artificial satellite stations, etc. for mobile communication, television broadcast reception, radio broadcast reception, self-location recognition, etc. It is equipped with an antenna used for communication.

In order to always direct this directional antenna toward a predetermined radio wave source or radio wave reflector, the following antenna attitude control method has conventionally been used.

1) The position and attitude of the moving body are grasped using a gyro sensor or the like, and the antenna attitude is controlled so as to cancel out the deviation in the pointing direction of the antenna due to changes in the position and attitude of the moving body.

2) Using a conical scan method or the like, the antenna is scan-driven while actually receiving radio waves, and the source of the radio waves is searched and tracked based on the reception level.

3), a combination of 1) and 2) above, that is, in areas where there are no obstacles, the movement of a vehicle, etc. is detected and the attitude of the antenna is corrected, and the error generated at that time is corrected by 2) above.
Correct with.

[Problem to be solved by the invention]

However, in the case of 1) above, it is extremely difficult to accurately detect the movement of a vehicle, etc. with the attitude detection means that detects the attitude of the moving body, and if you try to increase the detection accuracy of the attitude detection means, it will be difficult to accurately detect the movement of the vehicle etc. It is complicated and expensive, which poses a problem in practical use. In addition, in the case of 2) above, this is a problem unique to vehicles and the like. It has the disadvantage that it cannot be adapted when reception is interrupted due to obstacles such as mountains, tunnels, and buildings, or when the antenna attitude (direction of directivity) deviates significantly from the radio wave source.

In addition, if a continuous roving method is adopted in this method, the configuration is simple and can be made smaller, but the tracking speed cannot be increased, and if a monopulse method is adopted, high-speed tracking can be expected, but the structure However, it becomes complicated and there are problems in miniaturization and lowering the price.

In the case of 3) above, where the attitude of the antenna is to be controlled so that it always points at the radio wave source, in order to satisfy the tracking speed and accuracy, it is necessary to use a drive device that can drive the antenna at the same speed as the movement of the vehicle, etc. Considering vehicles that can turn at high speed, the output and weight required of the drive device are severe.

An object of the present invention is to obtain practical tracking performance for a moving body with a relatively simple configuration.

[Structure of the invention]

(Means for Solving the Problems) Therefore, in the present invention, in response to slow movement of a vehicle, etc.,
In response to changes in the detection value of the means for detecting the attitude of a moving object, the antenna pointing direction is controlled in the desired direction by conical scanning in a minute range, but for other extremely fast movements, normal Control is performed to search over a wide range without tracking, thereby realizing a small and lightweight device suitable for practical use as an antenna tracking device for a moving object.

That is, the attitude control device for an antenna on a mobile object according to the present invention is as follows:
Antenna (31, 32) supported on a mobile object (CAR) so that its attitude can be changed; this antenna (31°3
2) Drive mechanism (46, 57) for changing the posture of
; Reception level detection means (5a, 5b, 5c) for detecting the reception level of the antennas (31, 32); and, with reference to the reception level, sets the antenna attitude such that the reception level is equal to or higher than a set value via the drive mechanism. An attitude control device for an antenna on a moving object, comprising: a control means (1);

Attitude detection means (GY) that detects the attitude of the moving object (CAR)
rp.

GYya); The antennas (31, 3
2) The antenna (31
, 32); When the reception level is less than the first setting value (T old) and more than the second setting value (TH2), the antenna (31, 32) is conically scanned in a minute range. (Fig. 13) Second control means (1) for setting the attitude of the antenna (31, 32) in the direction of the maximum value of the reception level between them: and when the reception level is less than the second set value (TH2) is characterized by comprising a third control means (1) that searches and scans the antenna (31, 32) over a wider range (FIG. 14) than conical scanning (FIG. 13). In addition,
Symbols in parentheses indicate corresponding elements, value display symbols, or corresponding drawings in an embodiment described later with reference to one drawing.

(Function) (I) While the reception level of the antennas (31, 32) is equal to or higher than the first setting value (THI), the conical scanning and search scanning described below are not performed, and the first control means (1) The antennas (31, 32) are set in a posture that corresponds to a change in the detection value of the detection means (GYrp, GYya) and corrects a deviation in the pointing direction of the antenna (31, 32) due to the change.

Therefore, when reception is going well, antenna scanning is not performed, and only the minimum antenna drive is performed to correct deviations in the pointing direction due to changes in the attitude of the vehicle or the like.

(II) For example, posture detection means (G"/rp, GYya)
If the reception level becomes less than the first setting value (THI) or more than the second setting value (TH2) due to the accumulation of detection errors, antenna attitude setting errors, or response delays, that is, if the reception level drops slightly below the appropriate value, Second control means (1
) conically scans the antennas (31, 32) in a minute range (FIG. 13) and sets the attitude of the antennas (31, 32) in the direction of the maximum value of the reception level during that time. As a result, when the reception level becomes equal to or higher than the first set value (T)11), the above (1) will occur, and if it is less than the first set value (THI) and equal to or higher than the second set value (TH2), this (n) will also occur. repeated.

(Ill) If the reception level becomes less than the second set value due to an obstacle or a sudden change in the attitude of the vehicle, etc.
The third control means (1) searches the antenna (31, 32) over a wider range than the conical scan (FIG. 13).
(Fig. 4), when the reception level becomes equal to or higher than the second set value (TH2) due to this search scan, the above (n) occurs. Second
This (m) continues while the value is less than the set value (TH2).

As a result of the above, while the vehicle, etc. is moving in a place where there are no obstacles with relatively slow changes in attitude, the above (I) or (n)
Attitude control is performed, and attitude detection means (GYrp, GY
When the detection error or antenna attitude control error or response delay of ya) accumulates (the reception level becomes less than the first set value T), the attitude control of (II) above is automatically executed and the detection error or antenna attitude control error or response delay is accumulated. The accumulated attitude control error is automatically cleared (the reception level becomes equal to or higher than the first set value). Therefore, means (GYrp, GY
Even if a device with a relatively simple structure and a relatively large detection error is used for ya), there will be no practical problem. In addition, practically sufficient automatic tracking can be achieved without making the antenna attitude control system particularly responsive.

Due to obstacles, or due to antenna attitude control not being able to fully respond to sudden changes in attitude of the vehicle, etc.

When the pointing direction of the antenna with respect to the radio wave source deviates relatively significantly, the control in (m) above is started and continues until the reception level reaches the second set value (H2) or higher.

Therefore, when there are no obstacles or there are no sudden changes in the attitude of the vehicle, etc., the above (II) is automatically applied.
Then, the above (1) is obtained.

In this way, the control in (m) above automatically detects the change from the unreceivable state to the receivable state, and automatically sets the antenna attitude to one that allows tracking in a conical scan in a minute range. Has a function. With this (III), even if the antenna attitude control speed is slow in response to a relatively rapid attitude change of a vehicle, etc., continuity of automatic tracking is automatically ensured, so the responsiveness of the antenna attitude control system is improved. Practically sufficient automatic tracking can be achieved without being particularly expensive.

Other objects and features of the invention will become apparent from the following description of an embodiment with reference to one drawing.

[Example] Fig. 1 shows the appearance of embodiments of the present invention. In FIG. 1, CAR is a vehicle (mobile object), and an antenna 30 for receiving satellite broadcasting (hereinafter simply referred to as antenna) is installed on its roof Rf. In this embodiment, the antenna 30 is a commercially available parabolic antenna for satellite broadcast reception.The antenna 30 will be described with reference to FIGS. 3a and 3b.

First, referring to FIG. 3a, 31 is a parabolic reflector;
2 is a primary radiator integrated with the BS converter. The parabolic reflector 31 and the primary radiator 32 form a radiation lobe (main lobe: hereinafter the same) with a half-value angle of 2° at the frequency used.

A primary radiator 32 (hereinafter referred to as "hereinafter") integrated with a BS converter.

BS converter) is connected to support arms 33 and 34.
The parabolic reflector 31 is fixedly attached to the parabolic reflector 31, and the parabolic reflector 31 is pivotally attached to the support box 35.

The support box 35 is fixed to the rotating table 38 of the antenna 30 by frames 36 and 37. The rotary table 38 is rotatably supported by a fixed table 40 via a bearing 39. The fixed base 40 is fixed to a circular recess in the roof Rf of the vehicle CAR, and a weather strip 41 is attached to the abutment portion between the roof Rf and the fixed base 38.

The rotary table 38 has ring-shaped internal teeth 42 carved therein.
A gear 43 meshes with the internal teeth 42. This gear 4
The shaft 44 to which No. 3 is fixed is engaged with the rotating shaft of an azimuth drive motor 46 via a gear box 45. A rotary encoder 4 is attached to the rotating shaft of the azimuth drive motor 46.
7 are combined.

Since the azimuth drive motor 46 is fixed to the fixed base 40, when it is urged to rotate in the normal direction, the rotary base 38 rotates to the right when viewed from directly above (Fig. 3b) and clockwise in the azimuth direction. ), when reversely biased, the rotary table 38 rotates to the left (rotates to the left in the azimuth direction) when viewed from directly above (FIG. 3b). In other words.

When the azimuth drive motor 46 is energized in the forward direction, the radiation lobe of the antenna 30 points to the right, and when the azimuth drive motor 46 is energized in the reverse direction, the radiation lobe of the antenna 30 points to the left. The rotary encoder 47 outputs one signal every time the attitude of the antenna 30 in the azimuth direction changes by 0.5°.
Outputs pulses.

Reference numeral 49 denotes a photointerrupter (hereinafter referred to as Az sensor) for detecting the home position of the antenna 30 in the azimuth direction, and a light-shielding filler provided on the lower surface of the rotary table 38 enters at the home position.

The cable 48 connected to the electric element in the support box 35 of the antenna 30 is connected to a fixed cable (not shown) via a disc-shaped slip ring unit 50.

An electric cable connected to the output end of the BS converter 32 is connected to a fixed side cable 52 via a cylindrical rotary joint 51.

FIG. 3b is a plan view seen from directly above FIG. 3a, and the inside of the support box 35 will be explained with reference to this diagram.

A sector gear 54 is fixed to a rotating shaft 53 fixed to the parabolic reflector 31 of the antenna 30 . A gear 55 fixed to the output shaft of a gear box 56 meshes with this gear. A rotation shaft of an elevation drive motor 57 is engaged with an input shaft of the gear box 56 . A rotary encoder 58 is coupled to the rotation shaft of the elevation drive motor 57.

The elevation drive motor 57 is fixed to the support box 35, so when it is energized to rotate in the normal direction, it rotates the parabolic reflector 31, the BS converter 32, etc. upward together. When this is reversely energized, the parabolic reflector @ 31 and the BS converter 32 etc. are rotated downward together (counterclockwise rotation in Figure 3a: they move upward in the elevation direction). . In other words, when the elevation drive motor 57 is energized in the forward direction, the radiation lobe of the antenna 30 is directed upward, and when the elevation drive motor 57 is energized in the reverse direction, the radiation lobe of the antenna 30 is directed downward.
, the attitude of the antenna 30 in the elevation direction is 0.5
'Output one pulse each time there is a change. Although they overlap in Figure 3b, 59U on the back side is a limit switch that detects the limit of the elevation angle of the antenna 30, and 59D on the front side
is a limit switch that detects the limit of the angle of depression of the antenna 30. Further, 60 is a photointerrupter for detecting the home position of the antenna 30 in the elevation direction (
In the home position, a light-shielding filler provided on the rotating shaft 53 enters.

In this embodiment, when the Az sensor 49 and the EQ sensor 60 are detecting the home position, the main lobe of the antenna 30 is aligned in the front direction of the vehicle CAR (the traveling direction of the CAR when traveling straight ahead is the same as below). Please, roof Rf
becomes parallel to

FIG. 2a shows the configuration of an electrical control system that controls the attitude of the antenna 30.

This control system uses a microcomputer (hereinafter referred to as M
It is composed mainly of PU)1.

The MPUI pass line includes read-only memory (hereinafter referred to as ROM)2. Read/write memory (hereinafter referred to as RAM) 3, timer 4, and input/output port (hereinafter referred to as l10) 5, 6,
7 and 8 are connected.

A reception level detection unit of the antenna 30 is connected to 1105 . The reception level detection unit includes a BS converter 322 distributor 5a of the antenna 30, a BS level detector 5b including an amplifier 2 frequency converter, a detector, etc.
, and an A/D converter 5c. The distributor 5a distributes the output of the BS converter 32 of the antenna 30 to the BS level detector 5b and the BS tuner 5d. The BS level detector 5b detects the level of the received signal and provides it to the A/D converter 5c. A/D converter 5C is MPU
In response to the instruction from I, the received signal level from the BS level detector 5b is digitally converted and transferred to the MPUI.

Further, a television receiver TV and a radio receiver RD for receiving satellite broadcasting are connected to the BS tuner 5d.

A vehicle attitude detection unit is connected to l706. The vehicle attitude detection unit includes a pitching/rolling angle detection free gyro QYrp, a yawing angle detection gyro GYya, a pitch angle detector 6a, a roll angle detector 6b, a yaw angle detector 6d, and a gyro driver 6c.
, 6e.

The gyro GYrp has degrees of freedom around the pitch axis and around the roll axis, the pitch angle detector 6a detects rotation angle data (digital value) around the pitch axis, and the roll angle detector 6b detects rotation angle data (digital value) around the roll axis. Detect angle data (digital value).

The gyro QYya has a degree of freedom around the yaw axis, and the yaw angle detector 6d detects rotation angle data (digital value) around the yaw axis.

Gyro drivers 6C and 6d rotationally urge the rotor of the corresponding gyro QYrp or GYya, respectively.

The operation board 22 is connected to l107.

The operation board 22 is installed on a console board inside the vehicle CAR, and its appearance is shown in FIG. 4.

Referring to FIG. 4, this operation board 22 has a small size board for displaying azimuth data (hereinafter referred to as azimuth data), elevation (depression) angle data (hereinafter referred to as elevation data), reception level, and various messages of the antenna 30. CRT display 23. A START key 24 for instructing automatic attitude control of the antenna 30. A stop (STOP) key 25 for instructing to stop the automatic attitude control of the antenna 30. Up key (U key) for manual attitude control 26. Down key (D key) 27. A right key (R key) 28 and a left key (L key) 29 are provided.

The operation board 22 includes a key encoder for reading operations of these keys in response to instructions from the MPUI, and a CRT driver for displaying various messages on the CRT display 23.

A motor control unit 10 including an azimuth drive motor 46, an elevation drive motor 57, etc. is connected to l108.

The configuration of the motor control unit 10 is shown in FIG. 2b.

Referring to Figure 2b, motor control unit 1
0 is a microprocessor (hereinafter referred to as CPU) 10a, an azimuth unit AzUtelevation unit E
It consists of QU, input buffer 18, etc.

The azimuth unit AzU includes a D/A converter 11a,
Power amplifier 12a, pace driver 13a +
14a + waveform shaping circuit 15a, up/down counter 16a, parallel out serial in shift register (hereinafter referred to as PS register) 17a, azimuth drive motor 46. Rotary encoder 47. Power transistors Trla and Tr2a.

It is composed of Tr3a, Tr4a, etc.

Elevation unit EQU is D/A converter 1
1b, power amplifier 12b, pace driver 13b, 1
4b, waveform shaping circuit 15b, up/down counter 16
b, PS register 17b.

Elevation drive motor 57. Rotary recorder 58. Power transistors Trlb and Tr2b.

It is composed of Tr3b, Tr4b, etc.

The input buffer 18 includes the aforementioned Az sensor 49 and EQ.
Sensor 60. Limit switches 59U and 59D are connected.

In response to instructions from the MPUI, the CPU-10a controls the motors 46 and 57 to be forward and reverse biased at a specified speed, and outputs azimuth attitude data (angle), elevation attitude data (angle), and limit switch 59U.
and reads the state of 59d and transfers it to MPUI.

Azimuth unit AzU and elevation unit EQ
The azimuth unit A z U has the same configuration as U, although there are slight differences in the specifications of the constituent elements, so the azimuth unit A z U will be explained here.

The D/A converter 11a of the azimuth unit AzU is instructed by the output capacitor (PI) of the CPU 10a from the MPUI. Voltage data corresponding to the energization speed of motor 46 is provided. The D/A converter lla outputs a voltage corresponding to this voltage data and sends it to the power amplifier 12a.
to be applied. The power amplifier 12a converts the output voltage of the D/A converter lla into a drive voltage for the motor 46, and applies it to the collectors of the power transistors Trla and Tr3a. The emitter of the power transistor Trla is connected to the collector of the power transistor Tr4a, and the emitter of the power transistor Tr3a is connected to the collector of the power transistor Tr2a.
Further, the emitters of the power transistor Tr4a and the power transistor Tr2a are grounded. The bases of the power transistors Trla and Tr2a are connected to the output terminal of the base driver 13a, and the power transistors Trla and Tr2a are connected to the output terminal of the base driver 13a.
The bases of Tr 3a and Tr 4a are respectively connected to the output terminal of the pace driver 14a. The input terminal of the pace driver 13a is connected to the output port P2 of the CPU 10a.
The input terminals of the pace driver 14a are connected to the output ports P3 of the CPU 10a, respectively.
a is the output port P when energizing the motor 46 for forward rotation.
2 outputs an H level (high level) to instruct the pace driver 13a to turn on the power transistors Trla and Tr2a, and outputs an L level (low level) from the output port P3 to instruct the pace driver 14a to turn on the power transistors Trla and Tr2a. Instructs off drive of T r4a,
When energizing the motor 46 in reverse, an L level is output from the output port P2 to instruct the pace driver 13a to turn off the power transistors Trla and Tr2a,
To instruct the pace driver 14a to turn on the power transistors Tr3a and Tr4a by outputting an H level from the output port P3, and to de-energize the motor 46, the pace driver 13a outputs an L level from the output ports P2 and P3. and 14a, a power transistor Tr
Tr2a, Tr3a, and Tr4a are instructed to be turned off.

The motor 46 is powered by power transistors Trla and Tr4.
a and the power transistors Tr2a and Tr
Since power transistors Trla and Tr2a are on, power transistors Tr3a and Tr4a are inserted on the line connecting the connection point with Tr3a.
When turned off, the power amplifier 12a outputs.

Power transistor T rla , motor 46 . A normal rotation energizing circuit consisting of the power transistor Tr2a and the ground is configured, and is energized in the normal rotation with the voltage set by the D/A converter lla, power transistors Trla and Tr2a are turned off, and power transistors Tr3a and Tr4a are turned off. When turned on, the power amplifier 12a output,
A reverse energizing circuit is constituted by the power transistor Tr3a, the motor 46, the power transistor Tr4a, and the ground, and is energized in the reverse direction by a voltage set by the D/A converter lla.

The output of the rotary encoder 47 is the waveform shaping circuit 15a.
The signal is waveform-shaped and applied to the input port R1 of the CPU 10a and the input terminal In of the up/down counter 16a. When the U terminal is given an H level and the D terminal is given an L level, the up/down counter 16a counts up at the rising edge of the pulse given to the input terminal In. When a level is applied, the countdown is performed at the rising edge of the pulse applied to the input terminal In. This counter 16a is a 720-decimal counter (10 bits), and when the value is 719 and counts up, the value becomes 0, and when the value is O and counts down, the value becomes 719.

Reset input terminal R8t of up/down counter 16a
is connected to the output port P4 of the CPU 10a, and the 10-bit parallel output terminal is connected to the parallel input terminal of the PS register 17a. P.S.
The shift load input terminal SL of the register 17a is connected to the CPU.
A shift load pulse is applied from the output port P5 of the CPU 10a, and the clock input terminal CI of the CPU 1
A clock input signal is applied from the output port P6 of the CPU 10a, and a clock pulse is applied from the output port P7 of the CPU 10a to the clock input terminal CK.

The PS register 17a presets the data applied to the parallel input terminal into each bit at the rising edge of the shift load pulse, and when the clock inhibit signal changes to H level, the preset data is output from the output terminal OUT in synchronization with the clock pulse. Serial output is made to the serial input port R2 of the CPU 10a.

Referring again to FIG. 2a, the power source of this system is the on-board battery BAT, and constant voltages Vc and Vs are supplied to each part from the constant voltage circuit Reg via the Ace switch (accessory mode switch). The constant voltage Vc mainly serves as a power source for various parts of the electrical control system, and the constant voltage Vs mainly serves as a power source for driving the motor and gyro.

Next, antenna attitude control of the embodiment device brought about by the above configuration and the control operations of the MPUI and CPU 10a will be explained.

The flowchart shown in FIGS. 5a and 5b is based on M
The main routine of the PUI is shown, and the flowchart shown in FIG. 10 shows the main routine of the CPU 10a. In the following description, 11Spp indicates the number assigned to each step in the flowchart ("IJS" is omitted in the flowchart).

Referring to FIG. 5a, when the Ace switch is turned on and a predetermined voltage is supplied to each part, the MPUI controls each input/output port, internal register, and flag at SL.

Reset and initialize RAM3, etc., and set the CP in S2.
A loop is configured to wait for a Ready signal from U10a.

Referring to FIG. 10, at this time, the CPU 10a resets and initializes input/output ports, internal registers, etc., and then executes initial settings.

In the initial setting, the antenna 30 is set at the home position in the azimuth direction and the elevation direction. In other words, the motor 46 is urged to rotate normally and the Az sensor 49 is
After that, the motor 57 is energized for forward rotation to search for the orientation in the elevation direction where the EQ sensor 60 is turned on, but during the search, the elevation direction of the antenna 30 is When the attitude of the motor 5 reaches the elevation limit and the limit switch 59U is turned on, the motor 5
7 is reversely energized, and a posture in the elevation direction in which the EQ sensor 60 is turned on is searched for. When the CPU 10a completes setting the attitude of the antenna 30 to the home position in the azimuth direction and the elevation direction, the CPU 10a starts the counter 16.
Reset a and 16b and Re to MPUI.
Outputs ady signal. After this, depending on the instruction mode from MPUI, 1 s sheep right shift processing, 1st,
ep left shift processing, 1 step upward shift processing y 1s
tep down shift processing.

Executes right shift processing, left shift processing, up shift processing, down shift processing, or stop processing. These processes will be described later.

When the MPUI receives the Ready signal from the CPU 10a, the MPUI executes S4 until the 5TART key 24 is turned on.
Configure a loop that executes manual operation processing.

The manual operation process will be explained with reference to the flowchart shown in FIG. When the U key 26 is operated, the MPU
1 proceeds from S30 to S31, where the state of the limit switch 59U is checked. If the switch 59U is on, the attitude of the antenna 30 in the elevation direction is at the limit of the elevation angle, and further upward movement is impossible.
Otherwise, in S32, the CPU 10 a is sent for 1 s.
t, ep instructs execution of upper shift processing. Further, when the D key 27 is operated, the process advances from S33 to 334, where the state of the limit switch 59D is checked. switch 59
If D is on, the attitude of the antenna 30 in the elevation direction is at the limit of the depression angle, and further downward movement is impossible.
, instructs to execute a 15 step downward shift process.

When the R key 28 is operated, the MPUI
6 to 837, where the CPU 10a receives 1st
, if the execution of ep right shift processing is instructed and the L key-29 is operated, proceed from 338 to 539, where C
The PU 10a is instructed to execute a 1-step left shift process.

In response to such MPUI 15step drive instructions,
The 15 top right shift process executed by the CPU 10a is shown in FIG. 11a, the 15 step left shift process is shown in FIG.
The 15-step upward shift process is shown in FIG. 11c, and the 15-step downward shift process is shown in FIG. 11d, respectively.

To explain the 15 step right shift process with reference to FIG. 11a, the CPU 10a moves the motor 46 from the output port P1.
The voltage data corresponding to the maximum speed of is outputted and given to the D/A converter lla, and the H level is output from the output port P2.
Pace driver 1 outputs L level from P3 respectively.
3a to turn on the power transistors Trla and Tr2a, the pace driver 14a to turn off the power transistors Tr3a and Tr4a, and instruct the up/down counter 16a to count up. After this, the motor 46 rotates forward and the input boat R1
When the output pulse of the rotary encoder 47 via the waveform shaping circuit 15a is detected, an L level is output from P2 and the power transistor Tr is output to the pace driver 13a.
The motor 46 is deenergized by instructing to turn off the la and Tr2a. In other words.

In the 15 step right shift process, the attitude of the antenna 30 in the azimuth direction is shifted by one step, that is, 0.5'' to the right.

Similarly, in the 15-step left shift process shown in FIG. 11b, the CPU 10a shifts the attitude of the antenna 30 in the azimuth direction by 0.5° (one step) to the left, and in the 15-step upward shift process shown in FIG. 11c. In this case, the attitude of the antenna 30 in the elevation direction is set to 0.5°.
In the 15-step downward shift process shown in FIG. 1ID, the attitude of the antenna 30 in the elevation direction is shifted downward by 0.5@(1 step).

The CPU 10a performs a 15-step right shift process (FIG. 11a) and a 15-step left shift process (FIG. 11b).
When the p upward shift process (Figure 11c) or the 15 step downward shift process (Figure 1id) is completed, a signal indicating the end of the shift, attitude data in the azimuth direction (Az data), and attitude data in the elevation direction (EQ data) are generated. Transfer to MPUI.

Referring again to FIG. 6, in S40, the MPUI performs 1 st, ep right shift processing by cpulOa.

Wait for execution of 1 st, ep left shift processing, 1 step upward shift processing, or 15 step downward shift processing, and read the Az data and EQ data transferred in S41. Further, in 542, the received level is read and stored in register L1, and in S43, the Az data, EQ data, and the received level of register L1 are read and stored in register L1.
Display on RT23.

The MPUI is set to 5 in S4 and S5 (Figure 5a).
When the TART key 24 is turned on, the initial search process shown in FIG. 7 is executed in S5.

The contents of the initial search process S5 will be explained with reference to FIG. 7, but first the concept of the initial search process S5 will be explained with reference to FIG. In this case, while monitoring the reception level, the attitude of the antenna 30 in the elevation direction is repeatedly shifted upward in steps from the lower limit position (depression angle limit) to the upper limit position (elevation angle limit), and when the upper limit position is reached, the antenna 30
0's attitude in the azimuth direction is shifted one step to the right, and this time, the downward shift is repeated one step at a time from the upper limit position to the lower limit position, and when the lower limit position is reached, the attitude in the azimuth direction of the antenna 30 is shifted one step to the right, The above steps are repeated over the entire circumference until the reception level reaches a level sufficient for reception (actually, since one step of movement is 0.5", the width is much narrower than in FIG. 12).

To explain more specifically with reference to FIG. 7, in S50, the Az data at that time is stored in registers A1 and A2.
When the EQ data is stored in the registers E1 and E2, the flag F1 is reset (0) in S51. Flag F1 indicates the direction of shift in the elevation direction (up/down).
below) is a flag to set.

Thereafter, in S52, the reception level is read and the value is stored in register L1. If the received bell at this time, that is, the value of the register L1 is equal to or higher than the predetermined level THI, the MPUI immediately returns to the main routine from S53; Change your posture. In this attitude change, first, when the flag F1 is reset (0), if the limit switch 59U is not on, S5
4→S55→S56, the CPU 10a is instructed to execute the above-mentioned 15 step upward shift process, and the value of the register E2 is incremented by 1 in S57. CPU10a
When the MPUI receives a shift end signal from
Return to step 52 and repeat the above while monitoring the reception level. If the switch 59U is turned on before the reception level reaches the predetermined value THI, the flag F1 is set (
1) In L, S59, the above l 5t is installed on CPU 10 a.
Instructs to execute op right shift processing, and registers A in S60.
2 value is incremented by 1 (however, register A2
When the value of is 720, it is set to 0).

After setting flag F1 (1), S54→S61→
Proceed to S63, where the above-mentioned 15 is written to the CPU 10 a.
It instructs execution of tep downward shift processing, and decrements the value of register E2 by 1 in S64. Repeat this process and switch 5 before the reception level exceeds the predetermined value THI.
When 9D is turned on.

The flag F1 is reset (0) in S62, and the CP is set in S59.
Instructs U10a to execute the above-mentioned l 5 step right shift process, and increments the value of register A2 by 1 in S60 (however, when the value of register A2 becomes 720, O
).

While repeating the above process, the reception level reaches the predetermined value THI.
When the reception level exceeds the predetermined value THI, the attitude of the antenna 30 is changed to the state when the initial search process was started, that is, the value of register A2 is changed to the value of register AI. When the value of E2 becomes equal to the value of register El, S6
The process advances from 6 to 367, displays "unreceivable" on the CRT 23, and returns to the main routine 83.

In the initial search process S5, when the attitude of the antenna 30 at which the reception level is equal to or higher than the predetermined value TH1 is searched, 8 in FIG.
Set the gyro data in step 6. In this process, the yaw angle data from the yaw angle detector 6d is stored in the register RY, the roll angle data from the roll angle detector 6b is stored in the register Rr, and the pitch angle data from the pitch angle detector 6a is stored in the register 36a. After storing in Rp, S6
In step b, the conversion matrix (A) is used to convert into data in the azimuth direction and data in the elevation direction of the antenna 30 (in S6b of the flowchart, description of higher-order terms is omitted). This conversion operation is executed with reference to a conversion table stored in the ROM2. The converted gyro data in the azimuth direction is stored in register Ral, and the gyro data in the elevation direction is stored in register Re.
Store each in l.

When the gyro data is set in S6, the TI timer (internal timer) is cleared and started in S7.

Next, referring to FIG. 5b, in the motor energizing parameter setting process of S9, the MPU 1 first saves the azimuth direction gyro data stored in the register Ral in S9a to the register Ra2, and stores it in the register Rel. The gyro data for the current elevation direction is saved in register Re2. After this, in S9b, the above-mentioned 86
Perform the gyro dataset processing equivalent to the processing in
Gyro data in the azimuth and elevation directions are obtained from the yaw angle data (Ry), roll angle data (Rr), and pitch angle data (Rp) detected at that time and are stored in registers Ral and Rel, respectively. S9
c, the difference between registers Ra2 and Ral is expressed as register Ra
3, the difference between registers Re2 and Rel is expressed as register Re3.
, respectively. In other words, the values of registers Ra3 and Re3 indicate the amount of change in gyro data since the previous gyro data setting process. In addition, since the T1 timer measures the time while performing this gyro data set processing, the register Ra
The value obtained by dividing the value of register Re 3 by the value of the TI timer indicates the displacement speed in the azimuth direction (the sign is the direction), and the value obtained by dividing the value of register Re 3 by the value of the T1 timer indicates the displacement speed in the elevation direction (the sign indicates the direction). direction). Therefore, in S9d, the biasing speed and biasing direction of the motors 46 and 57 are calculated from these values, and the biasing speed and right/left shift or upward/downward shift are instructed to the CPU 10a. This operation is R
This is done by referring to the table stored in OM2.

When the MPUI instructs to shift to the right, the CPU Oa outputs voltage data corresponding to the instructed speed from the output port P1, and outputs H level from the output port P2, as shown in FIG. 13a to turn on the power transistors Trla and Tr2a, output an L level from the output port P3, and instruct the pace driver 14a to turn off the power transistors Tr3a and Tr4a. As shown in Figure 11f, voltage data corresponding to the command speed is output from the output port P1, and the voltage data corresponding to the command speed is output from the output port P1.
2 outputs an L level to instruct the pace driver 13a to turn off the power transistors Trla and Tr2a, and outputs an H level from the output port P3 to instruct the pace driver 14a to turn on the power transistors Tr3a and Tr4a. However, when an upward shift is instructed, as shown in FIG. 11g, voltage data corresponding to the instructed speed is output from the output port P8, and the output port P
9 outputs an H level to instruct the pace driver 13b to turn on the power transistors Trlb and Tr2b, and outputs an L level from the output port PIO to instruct the pace driver 14b to turn on the power transistors Trlb and Tr2b.
When the off-drive of r4b is instructed and the downward shift is instructed, the output port P is output as shown in FIG. 11h.
Pace driver 13b outputs voltage data corresponding to the instructed speed from output port P9 and outputs L level from output port P9.
instructs power transistors Trib and Tr2b to be turned off, outputs H level from output port P10, and drives power transistor Tr3 to pace driver 14b.
Tr4b and Tr4b are turned on.

In the fifth step S9e, the MPUI clears and starts the T1 timer.

The MPUI reads the reception level at the next step 810.

Az data and E indicating the attitude of the antenna 30 in Sll
After reading the ffi data, these data are displayed on the CRT 23 in S12.

(1) In S13, the reception level at this time, that is,
The value of register L1 is compared with a predetermined level THI, and as long as the value of register L1 is greater than or equal to the predetermined level THI, S8
→S9→810→Sll→S12→S13→S8→・・・
The attitude control process (I) of the antenna 30 based on the gyro data is executed by repeating the following loop. That is, while the reception level is equal to or higher than the first set value THI, if there is a change in the gyro data, the attitude of the antenna 30 is corrected accordingly. While this continues,
When the 5TOP key 25 is turned on, this is read in S8 and the process returns to 33 (standby state) of the flow shown in FIG. 5a.

In the above-mentioned loop (88 to 513) in which the reception level is high and the control is executed to change the attitude of the antenna 30 in conjunction with the change based on the gyro data, the reception level, that is, the value of the register L1 is set to a predetermined value. Level THI
When it becomes less than S13, MPUI detects this in S13 and
The process proceeds from 13 to 814, and the value of the register L1 is further compared with the reception lower limit level TH2. At S14, register L
When the value of 1 is higher than the reception lower limit level TH2, MPU 1
The process proceeds to S15 and executes reception tracking processing.

(II) The reception tracking process will be explained with reference to FIG.
First, the concept will be explained with reference to FIG. 13th
The figure is a conceptual diagram showing the scanning position when conically scanning a minute range with the antenna. This conical scanning of a minute range rotates the main beam of the antenna 30 (1→
2 → 3 → 4 → 5 → 6 → 7 → 8 → 1 →...),
If the target radio wave source is located at the center of rotation of the antenna beam, the reception level will be virtually constant during scanning, but if the target radio wave source is shifted from the rotation center of the beam, the reception level will fluctuate during scanning and a maximum value will appear. It is something to be used. In Fig. 13, each square represents one step (0.5°) in the elevation direction (U/D) and azimuth direction (R/L), and each point is 1, 2, 3, 4°, 5.6, 7°. and 8 are two projection points of the main beam (center) of the antenna 30; point 0 is the center of rotation of the antenna beam; and the arrow indicates the direction in which the attitude of the antenna 30 is shifted. In addition, assuming that there is an isotropic antenna (isotropic point radio wave source) at point a, below, the reception tracking process from the state where the antenna 30 is directed to point 0 will be described in the eighth section.
This will be explained with reference to the figures and FIG.

1) Drive the antenna 30 from the starting point 0 to the point 1 570
~573) The reception level was memorized at 1 point 1 (S8
4) Then, shift 2 steps to the azimuth direction.

Shift one step downward in the elevation direction and direct to point 2 574) Store the reception level at point 2 (S84)
.

2) 0th order, one step shift to the azimuth direction thread.

Shift 2 steps downward in the elevation direction and direct to point 3 575) Store the reception level at point 3 (584)
.

3) Next, shift one step to the azimuth direction thread.

Shift 2 steps downward in the elevation direction to point toward point 4 (576) Store the reception level at point 4 (S84)
.

4) First, shift 2 steps to the azimuth direction thread.

Shift one step downward in the elevation direction to point toward point 5 (577) Store the reception level at point 5 (584)
.

5) Next, shift 2 steps to the azimuth direction thread.

Shift one step in the elevation direction to point toward point 6 (578) Store the reception level at point 6 (S84)
.

6) Next, shift one step to the azimuth direction thread.

Shift 2 steps in the elevation direction to point 7 (579) Store the reception level at point 7 (584)
).

7) Next, shift one step to the azimuth direction thread.

Shift 2 steps in the elevation direction to point 8 (580) Store the reception level at point 8 (S84)
.

With this, one conical scan is completed, and the reception levels of all points (eight points) are written in registers FORI to FORI8.

8) 0 Next, the reception levels from point I to point 8 are compared to find the point with the highest reception level (887-91).

9), and the attitude of the antenna 30 is determined so that the center of rotation of the antenna beam is aligned with the obtained maximum point (S92).
) - When point a shown in Fig. 13 is the position of the radio wave source, the magnitude of the reception level is as follows: point 1> point 2> point 8> point 3> point 7> point 4> point 6> point 5 Therefore, the highest point of reception level is point 1. Therefore, the attitude of the antenna 30 is set so that the directional center of the antenna beam is aligned with point 1.

As described above, in the reception tracking process S15, the center axis (point O) of the original antenna beam is used as the center.

(2) Perform conical scanning of a minute range of cycles to detect the highest reception point, and set the attitude of the antenna 30 so that the central axis of the antenna beam is placed there.

Therefore, when the radio wave source moves relative to the antenna 30, attitude control is performed in such a manner that the locus of the central axis (point 0) of the antenna beam moves together with the radio wave source, and the antenna 30 moves the radio wave source. Tracking is performed.

Note that the reception level is not necessarily equal to or higher than THI when the above-described one conical scan and attitude setting (II) are completed. When the reception level becomes TH1 or higher with conical scanning and attitude setting (II), the above-mentioned attitude control (I) is executed, but even with conical scanning and attitude setting (If), the reception level does not rise above THI. When
The MPUI configures the motor energization parameter set (
The subroutine S9) is executed, and after SIO to S13, reception tracking (S15; FIG. 8) is executed again from S13, that is, one more conical scan and attitude setting (n). Since 89 motor parameter sets are executed between the leading conical scan and the trailing conical scan, when the conical scan is repeated, its center position (0 in Figure 13) changes depending on the change in vehicle attitude. Shift accordingly. In other words, even while repeating conical scanning, the antenna attitude is
Automatically shifts in response to changes in vehicle posture.

(m) Refer again to Figure 5b. In S14, when the reception level is less than the second set value TH2, which is the reception lower limit level,
Proceeding to S16, tracking search processing is executed.

Figure 9 shows a flowchart of the tracking search process.

FIG. 14 shows a schematic diagram explaining the concept of tracking search processing. Referring to these drawings, the content of the tracking search process 816 will be explained. 5100 is the initial setting, and the state where the antenna 30 is directed to the dot shown in FIG. 14 is the same as when TSC=0. do.

1) Check whether the TSC value is 4 or less in 5 lots. As long as the value of TSC: is 4 or less, proceed to 5102 and 5
The state of the switch 59U is checked in 102, and if it is not on, the CPU 10a is instructed to execute a one-step upward shift process in 5103. This is the scan from points 0 to 5 in FIG. If the TSC value is 5 or more in 5IOI, 5
Proceed to step 104.

2) Check whether the TSC value is 54 or less at 5104. As long as the value of TSC is 54 or less, the process advances to 5105 and instructs the CPU 10a to execute a 1-step right shift process. This is the scan from points 5 to 55 in FIG. 5
If the TSC value is 55 or more in 104, the process advances to 8106.

3) Check whether the TSC value is 64 or less at 5106. As long as the value of TSC is smaller than 65, the process advances to step 5107, and the state of the switch 59D is checked in step 5107. If it is not on, the CPU 10a is instructed to execute a one-step downward shift process in step 5108. This is the scan from points 55 to 65 in FIG. If the TSC value is 65 or more in 5106, the process advances to 5109.

4) Check whether the TSC value is 164 or less at 5109. As long as the value of TSC is 164 or less, the process advances to 5110 and instructs the CPU 10a to execute a 1-step left shift process. This is the scan from points 65 to 165 in FIG. 5109 and the TSC value is 165 or more, 51
Proceed to step 11.

5) Check whether the TSC value is 174 or less using 5ill. As long as the value of TSC is 174 or less, the process advances to step 5112, and the state of the switch 59U is checked in step 5112. If it is not on, the CPU 10a is instructed to execute a one-step upward shift process in step 5113. This is the point 165-1 in Figure 14.
75. 5ill and TSC value is 17
If it is 5 or more, proceed to 8114.

6) Check whether the TSC value is 224 or less at 5114. As long as the TSC value is 224 or less, the process advances to 5115 and instructs the CPU I Oa to execute a 1-stop right shift process. This is the scanning of points 175-225 (previous point 5) in FIG. 5114 and TSC value is 22
If it is 5 or more, proceed to 8116.

7), S], As long as the value of TSC is 229 or less in 16, proceed to 5117, check the state of switch 59D in 5117, and if it is not on, turn off the CPU 10 a in 5118.
Instructs to execute a 15 step downward shift process. This is point 225 (earlier point 5) to point 230 (earlier point 0) in Figure 14.
This is a scan up to

8) When the TSC value is 230 or more in 5116, and when the shift process is completed by instructing execution of the shift process as described above, execute 5120 to read the reception level, and in 5121, execute the shift process. It is checked whether it is TH2 or more, and if it is TH2 or more, the process returns to the main routine (FIG. 5b). When it is less than TH2, 31
22 motor energizing parameter sets (this content is in Section 5b)
89 in the figure), reads the reception level again in 5123, checks whether it is higher than the second set value TH2 in 5124, returns to the main routine when it is higher than TH2, but is lower than TH2. When , 5125
The value of TSC is updated to a value 1 greater than that, and the process proceeds to 5101.

As shown in FIG. 14, as shown in FIG. 14, as shown in FIG. 14, by the above processing of 3101 to 5125, the reception level starts from point b(0), points 1, 2, 3, etc. until the reception level reaches the second set value TH2 or more.
...230(0) in this order, and it is checked whether the reception level has become TH2 or higher at each point. Point 230 (b=
When reaching o), that is, returning to the original starting point, the TSC is reset to 0 at 5119, and the same search scan is performed again.

During such a search scan, each time a point is reached,
The motor energization parameter set is executed at 5122;
Since the attitude change corresponding to the change in the detection value of the gyro is executed, the position of the base point (b=0) does not change as long as there is no change in the attitude of the vehicle.

When there is a change in the attitude of the vehicle, the base point automatically shifts accordingly, but the search scanning range (FIG. 14) with respect to the base point does not change.

While the radio waves are blocked by an obstacle, the above-described search scan is repeated, and if the attitude of the vehicle changes during that time, the base point of the search scan is shifted in conjunction with the change in attitude of the vehicle. Therefore, when the radio wave is interrupted, the search scan of the trajectory shown in Fig. 14 is repeated until the radio wave is received, using the position of the beam center axis of the antenna just before that as the base point (b = 0: Fig. 14). If there is a change in the attitude of the vehicle during this period, the reference point will shift in conjunction with the change in attitude of the vehicle.

The above-mentioned search scan (m) is also executed when the reception level falls below TH2 due to a relatively sudden change in the attitude of the vehicle and the antenna is not able to track the above (1) and (It) in time. .

From the description of the embodiments above, it is easy to understand that the present invention can be applied to moving objects other than road vehicles, such as ships and aircraft.

〔Effect of the invention〕

As described above, according to the present invention, when the reception level of the antenna is above a certain value (THI), the pointing direction of the antenna is controlled so that the movement of the moving body is canceled out only by the signal of the gyro sensor, If the reception level is less than THI and greater than the reception lower limit level value (TH2),
The gyro sensor uses a signal from the gyro sensor to control the direction of the antenna so as to cancel out the movement of the moving object, and at the same time performs a conical scan operation to control the direction of the antenna in the direction where the maximum reception level is obtained. Correct error components included in the sensor. In addition, if the reception level of the antenna falls below TH2, the gyro sensor signal controls the antenna's pointing direction so as to cancel out the movement of the moving object, and at the same time, the antenna's pointing direction is controlled in a range larger than the range scanned by conical scan operation. Since tracking search processing is performed by scanning the direction, even if reception becomes temporarily unavailable due to errors in the gyro sensor, control delay time, obstacles, etc., radio waves can be automatically transmitted again by searching a sufficiently wide range. This allows you to accurately capture the radio waves and prevent you from completely losing track of the radio waves.

Furthermore, practical reception is possible even when a small, low-output driving device is used, and it is possible to realize a small and lightweight device required for use in a mobile object.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing the appearance of an embodiment of the present invention. FIG. 2a is a block diagram showing the electrical configuration of an antenna attitude control system according to an embodiment of the present invention, and FIG. 2b is a block diagram showing details of the motor control unit 10 shown in FIG. 2a. 3a and 3b show the antenna 30 shown in FIG.
FIG. FIG. 4 is a plan view showing the appearance of the operation board 22 shown in FIG. 2. FIG. 5a, 5b, 6, 7, 8 and 9 are flowcharts showing the operation of the microcomputer 1 shown in FIG. 2a. Figure 10, Figure 11a, Figure 11b, Figure 11c, Figure 1
1d, 1ie, 11f, 11g, and 11h are microprocessor 10a shown in FIG. 2b.
3 is a flowchart showing the operation of FIG. FIG. 12 is a schematic diagram illustrating the concept of the initial search process executed by the microcomputer 1 shown in FIG. 2a. FIG. 13 is a schematic diagram illustrating the concept of the reception tracking process executed by the microcomputer 1 shown in FIG. 2a. FIG. 14 is a schematic diagram illustrating the concept of the tracking search process executed by the microcomputer 1 shown in FIG. 2a. l: Microcomputer (first, second, third control means) 2: Read-only memory 3: Read/write memory 4:
Timer 5, 6, 7, 8: Input/output boat 5a: Distributor 5b: BS level detector 5c: A/D converter 5d: BS tuner (5a to 5c: reception level detection means) 6a: Pitch angle detector 6b 2 Roll angle detector 6
c, 6e: Gyro driver 6d: Yaw angle detector 10
: Motor control unit 10a: Microprocessor lla, llb: D
/A converter 12a, 12b: power amplifier 13
a, 13b, 14a, 14b: Base driver 15a
, 15b: Waveform shaping circuit 16a, 16b near-tube down counter 17a, 17b: Parallel-in/serial-out shift register 18 two-person buffer
22: Operation board 23: CRT display
24, 25, 26, 27, 28, 29: Operation key 30
: Satellite broadcast receiving antenna 31 : Parabolic reflector 32
: Primary radiator integrated with BS converter (31, 32: antenna) 33. 34 : Support arm 35: Support box 36. 37: Frame 38 Two-turn table 39:
Bearing 40: Fixed base 41: Weather strip 42: Internal teeth 43.55: Gear
44: Axis 45.56: Gear box 46: Azimuth drive motor 47.58: Rotary encoder 48
: Cable (46, 57: Drive mechanism) 49.60 : Photo interrupter 50 Nislip ring unit 51:
Rotary joint 52: Fixed side cable 53: Rotating shaft 54: Sector gear 57: Elevation drive motor 590.590: Limit switch CAR: Vehicle (mobile object) Rf: Roof Tv: Television receiver RD Niradio GYrp, GY
ya: Gyro (attitude detection means) Acc: Accessory mode switch

Claims (1)

[Scope of Claims] An antenna supported on a moving body so that its attitude can be changed; a drive mechanism for changing the attitude of this antenna; a reception level detection means for detecting the reception level of the antenna; and the reception level. An attitude control device for an antenna on a moving object, comprising: a control means for setting an antenna attitude that is equal to or greater than a set value with reference to the drive mechanism; an attitude detection means for detecting an attitude of the moving object; a first control means for correcting the antenna posture to a posture that corrects a shift in the pointing direction of the antenna in response to a change in the detection value of the posture detection means;
When the received level is equal to or higher than the second set value, the second control means scans the antenna conically in a minute range and sets the attitude of the antenna in the direction of the maximum value of the received level during that time; and when the received level is less than the second set value, the second control means An attitude control device for an antenna on a moving body, comprising: a third control means for searching and scanning the antenna over a wider range than conical scanning.