Automated Satellite Tracking for Continuous Internet Access - Design and Implementation of a Dynamic Antenna Control System for Vehicular Internet Connectivity

Abstract

This thesis presents the design of a 2-DoF gimbal control system for vehicle-mounted antennas to maintain stable satellite alignment for uninterrupted Internet connectivity. Addressing challenges posed by vehicle movement, the work encompasses developing a simulation environment incorporating mathematical model of an antenna system, sensor fusion algorithms, and advanced control strategies, including complementary filter, Kalman filter, PID controller, and LQR. The results revealed that while the complementary filter responded more quickly to changes in system dynamics, it suffered from drift, whereas the Kalman filter provided more stable estimations at the cost of a delayed response due to its reliance on model dynamics. The study adopted a hybrid control strategy, employing an LQI controller on the outer gimbal angle and a PID controller on the inner gimbal angle. Future work may integrate signal strength sensors, and adopt quaternion-based orientation to overcome gimbal lock. Conducting a robustness analysis of the controllers can further enhance system reliability. This research provides valuable insights into filtering and control techniques, offering a robust framework for applications requiring precise orientation estimation and efficient control in dynamic systems.