Patent ID: 9574881
Date: 2017-02-21
CPC Classifications: B64G,G01C,H01Q

Claim:
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 [q (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 ω (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 (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.