Attitude control system for antenna on mobile body

• US 4,725,843 A
• Filed: 03/28/1986
• Issued: 02/16/1988
• Est. Priority Date: 03/29/1985
• Status: Expired due to Fees

• Current Assignee: Aisin Seiki Kabushiki Kaisha (Aisin Corp.)
• Original Assignee: Aisin Seiki Kabushiki Kaisha (Aisin Corp.)
• Inventors: Suzuki, Katsuo, Yamada, Takahiro
• Primary Examiner(s): Blum, Theodore M.
• Assistant Examiner(s): Barron, Jr., Gilberto
• Application Number:
  US06/845,315
• Time in Patent Office: 690 Days
• Field of Search: 342/50, 342/70, 342/75, 342/352, 342/357, 342/359, 342/422, 342/428, 342/429, 343/711, 343/713, 343/714, 343/757, 318/649, 364/424, 364/426, 364/434, 364/431.07, 364/453, 364/460, 364/516
• US Class Current: 342/359
• CPC Class Codes: H01Q 1/18 Means for stabilising antennas on an unstable platform
• CPC Class Codes: H01Q 1/3275 mounted on a horizontal surface of the vehicle, e.g. on roof, hood, trunk

Abstract

The location of a vehicle itself is detected on the vehicle in combination with an attitude control of an antenna mounted on the vehicle so that the antenna is directed toward a geostationary satellite. The antenna is driven for rotation about both a horizontal and a vertical shaft. A mean running speed MVb and a mean azimuth MQd of the vehicle over a time interval t₂ are used to calculate corrections ΔPx and ΔPy to the vehicle location, which corrections are added to vehicle location data corresponding to the starting point of the interval t₂. A mean azimuth MQd, a mean speed MVb, a mean roll angle MQr and a mean pitch angle MQp are used to control shifts ΔQdpo and ΔQppo which occur in the antenna attitude relative to the geostationary satellite as a result of the running of the vehicle over the time interval t₂, and these shifts are used to correct the antenna attitude. In order to allow the antenna to be maintained as directed toward the geostationary satellite if the vehicle rapidly changes its direction of travel, the antenna attitude is controlled in advance in accordance with rates of change in running speed Vb, throttle opening Op, angle of rotation of steering wheel Sa, roll angle Qr and pitch angle Qd of the vehicle, by detecting these rates of change.

Claims

1. Attitude control system for antenna on mobile body for maintaining it in opposing relationship with a stationary object comprising:

a first drive mechanism for driving an antenna for rotation about a horizontal axis on the mobile body;

first energizing means responsive to first attitude information for energizing the first drive mechanism to establish an angle of rotation of the antenna which is specified by the first attitude information;

a second drive mechanism for driving the antenna for rotation about a vertical axis on the mobile body;

second energizing means responsive to second attitude information for energizing the second drive mechanism to establish an angle of rotation of the antenna which is specified by the second attitude information;

means for detecting the distance travelled by the mobile body;

means for detecting an attitude of the mobile body;

rate of change detecting means for detecting a rate of change of a steering member of the mobile; and

attitude control means for supplying the first and the second attitude information to the first and the second energizing means, respectively, for correcting the first and second attitude information dependent on the distance travelled and the attitude for maintaining the attitude of the antenna in opposing relationship with the stationary object, and for updating the first and the second attitude information which is supplied to the energizing means;

said attitude control means calculating in advance a correction value corresponding to the rate of change and updating the second attitude information for predictive correction of the attitude of the antenna.

2. Attitude control system for antenna on mobile body for maintaining it in opposing relationship with a stationary object comprising:

a first drive mechanism for driving an antenna for rotation about a horizontal axis on the mobile body;

first energizing meand responsive to first attitude information for energizing the first drive mechanism to establish an angle of rotation of rotation of the antenna which is specified by the first attitude information;

a second drive mechanism for driving the antenna for rotation about a vertical axis on the mobile body;

second energizing means responsive to second attitude information for energizing the second drive mechanism to establish an angle of rotation of the antenna which is specified by the second attitude information;

means for detecting the distance travelled by the mobile body;

means for detecting an attitude of the mobile body;

means for detecting a position of steering member of the mobile; and

attitude control means for supplying the first and the second attitude information to the first and the second energizing means, respectively, for correcting the first and the second attitude information dependent on the distance travelled and the attitude for maintaining the attitude of the antenna in opposing relationship with the stationary object, and for updating the first and the second attitude information which is supplied to the energizing means;

said attitude control means calculating in advance a correction value corresponding to the position of the steering member and the speed of the mobile body and updating the second attitude information for predictive correction of the attitude of the antenna.

3. Attitude control system as set forth in claim 2 further comprising means for detecting a rate of change of the portion of the steering member;

said attitude control means further calculating in advance a correction value corresponding to said rate of change.

4. Attitude control system for antenna on mobile body for maintaining it in opposing relationship with a stationary object comprising:

a first drive mechanism for driving an antenna for rotation about a horizontal axis on the mobile body;

first energizing means responsive to first attitude information for energizing the first drive mechanism to establish an angle of rotation which is specified by the first attitude information;

a second drive mechanism for driving the antenna for rotation about a vertical axis on the mobile body;

second energizing means responsive to second attitude information for energizing the second drive mechanism to establish an angle of rotation of the antenna which is specified by the second attitude information;

means for detecting the distance travelled by the mobile body;

means for detecting an attitude of the mobile body;

rate of change detecting means for detecting a rate of change of speed of the mobile; and

attitude control means for supplying the first and the second attitude information to the first and the second energizing means, respectively, for correcting the first and the second attitude information dependent on the distance travelled and the attitude for maintaining the attitude of the antenna in opposing relationship with the stationary object, and for updating the first and the second attitude information which is supplied to the energizing means;

said attitude control means, at a value exceeding a predetermined value of the rate of change, calculating and accumulating in advance a correction value corresponding to the rate of change and updating the first attitude information for predictive correction of the attitude of the antenna; and

said attitude control means, at a value not exceeding the predetermined value, updating the first attitude information by cancelling the accumulated in advance correction value from the first attitude information.

5. Attitude control system as set forth in claim 4 further comprising means for detecting the speed of the mobile body and means for detecting the position of a steering member of the mobile body;

said attitude control means calculating in advance a correction value corresponding to the position of the steering member and the speed of the mobile body and updating the second attitude information for predictive correction of the attitude of the antenna.

6. Attitude control system for antenna on mobile body for maintaining it in opposing relationship with a stationary object comprising:

a first drive mechanism for driving an antenna for rotation about a horizontal axis on the mobile body;

first energizing means responsive to first attitude information for energizing the first drive mechanism to establish an angle of rotation of the antenna which is specified by the first attitude information;

a second drive mechanism for driving the antenna for rotation about a vertical axis on the mobile body;

second energizing means responsive to second attitude information for energizing the second drive mechanism to establish an angle of rotation of the antenna which is specified by the second attitude information;

means for detecting the distance travelled by the mobile body;

means for detecting an attitude of the mobile body;

rate of change detecting means for detecting a rate of change of throttle opening of a throttle valve of an engine on the mobile body; and

attitude control means for supplying the first and the second attitude information to the first and the second energizing means, respectively, for correcting the first and the second attitude information dependent on the distance traveled and the attitude for maintaining the attitude of the antenna in opposing relationship with the stationary object, and for updating the first and the second attitude information which is supplied to the energizing means;

said attitude control means, at a value exceeding a predetermined value of the rate of change, calculating and accumulating in advance a correction value corresponding to the rate of change and updating the first attitude information for predictive correction of the attitude of the antenna; and

said attitude control means, at a value not exceeding the predetermined value, updating the first attitude information by cancelling the accumulated in advance correction value from the first attitude information.

7. Attitude control system as set forth in claim 6 further comprising menas for detecting the speed of the mobile body and means for detecting the position of a steering member of the mobile body;

said attitude control means calculating in advance a correction value corresponding to the position of the steering member and the speed of the mobile body and updating the second attitude information for predictive correction of the attitude of the antenna.

8. Attitude control system for antenna on mobile body for maintaining it in opposing relationship with a stationary object comprising:

a first drive mechanism for driving an antenna for rotation about a horizontal axis on the mobile body;

first energizing means responsive to first attitude information for energizing the first drive mechanism to establish an angle of rotation of the antenna which is specified by the first attitude information;

a second drive mechanism for driving the antenna for rotation about a vertical axis on the mobile body;

second energizing means responsive to second attitude information for energizing the second drive mechanism to establish an angle of rotation of the antenna which is specified by the second attitude information;

means for detecting the distance travelled by the mobile body;

means for detecting an attitude of the mobile body;

rate of change detecting means for detecting a rate of change of position of a braking member of the mobile; and

attitude control means for supplying the first and the second attitude information to the first and the second energizing means, respectively, for correcting the first and the second attitude information dependent on the distance travelled and the attitude for maintaining the attitude of the antenna in opposing relationship with the stationary object, and for updating the first and the second attitude information which is supplied to the energizing means;

said attitude control means, at a value exceeding a predetermined value of the rate of change calculating and accumulating in advance a correction value corresponding to the rate of change and updating the first attitude information for predictive correction of the attitude of the antenna; and

said attitude control means, at a value not exceeding the predetermined value, updating the first attitude information by cancelling the accumulated in advance correction value for the first attitude information.

9. Attitude control system as set forth in claim 8 further comprising means for detecting the speed of the mobile body and means for detecting the position of a steering member of the mobile body;

said attitude control means calculating in advance a correction value corresponding to the position of the steering member and the speed of the mobile body and updating the second attitude information for predictive correction of the attitude of the antenna.

10. Attitude control system for antenna on mobile body for maintaining it in opposing relationship with a stationary object comprising:

a first drive mechanism for driving an antenna for rotation about a horizontal axis on the mobile body;

first energizing means responsive to first attitude information for energizing the first drive mechanism to establish an angle of rotation of the antenna which is specified by the first attitude information;

a second drive mechanism for driving the antenna for rotation about a vertical axis on the mobile body;

second energizing means responsive to second attitude information for energizing the second drive mechanism to establish an angle of rotation of the antenna whichis specified by the second attitude information;

means for detecting the distance travelled by the mobile body;

means for detecting an attitude of the mobile body;

first detecting means for detecting a rate of change of throttle opening of a throttle valve of an engine on the mobile;

second detecting means for detecting a rate of change of position of a braking member of the mobile; and

attitude control means for supplying the first and the second attitude information to the first and the second energizing means, respectively, for correcting the first and the second attitude information dependent on the distance travelled and the attitude for maintaining the attitude of the antenna in opposing relationship with the stationary object, and for updating the first and the second attitude information which is supplied to the energizing means;

said attitude control means, at a value exceeding a predetermined value of the rate of change of the throttle opening, calculating and accumulating in advance a correction value corresponding to the rate of change of the throttle opening and updating the first attitude information for predictive correction of the attitude of the antenna; and

said attitude control means at a value of the rate of change of the throttle opening not exceeding the predetermined value, up dating the first attitude information by cancelling the accumulated in advance correction value from the first attitude information;

said attitude control means, at a value exceeding a predetermined value of the rate of change of the position of the braking member, calculating and accumulating in advance a correction value corresponding to the rate of change of the position of the braking member and updating the first attitude information for predictive correction of the attitude of the antenna; and

said attitude control means, at a value of the rate of change of the position not exceeding the predetermined value, updating the first attitude information by cancelling the accumulated in advance correction value from the first attitude information.

11. Attitude control system as set forth in claim 10 further comprising means for detecting the speed of the mobile body and means for detecting the position of a steering member of the mobile body;

said attitude control means calculating in advance a correction value corresponding to the position of the steering member and the speed of the mobile body and updating the second attitude information for predictive correction of the attitude of the antenna.