CN104079342B - Portable satellite communications terminal and method - Google Patents
Portable satellite communications terminal and method Download PDFInfo
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- CN104079342B CN104079342B CN201410344097.8A CN201410344097A CN104079342B CN 104079342 B CN104079342 B CN 104079342B CN 201410344097 A CN201410344097 A CN 201410344097A CN 104079342 B CN104079342 B CN 104079342B
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Abstract
The invention discloses a kind of portable police satellite communication terminal and method, it is related to satellite communication field.The terminal includes navigation measurement system, automatic following control system, satellite antenna system and the Intelligent Human-Machine Interface's system that head and the tail are sequentially connected.Navigation measurement system includes beacon module, GPS module and attitude information acquisition module；Automatic following control system includes information gathering and resolves module, automatic tracking control algorithm module and gesture stability module；Satellite antenna system includes pitching motor, horizontal motor, polarization motor and satellite earth antenna；Beacon module, GPS module and attitude information acquisition module resolve module with information gathering and are connected, information gathering resolves module and is connected by automatic tracking control algorithm module with gesture stability module, and gesture stability module is connected by pitching motor, horizontal motor, polarization motor with satellite earth antenna respectively.Present invention operation is more convenient and flexible, and not only use cost is relatively low, and ensure that communication quality.
Description
Technical field
The present invention relates to satellite communication field, and in particular to a kind of portable police satellite communication terminal and method.
Background technology
Portable police satellite communication is in use, need to track target satellite with dynamic in real time by antenna.In order to ensure
Its line traffic control high accuracy and stability, people typically using high precision apparatus (such as optical fibre gyro or fibre optical sensor) obtain and
Luffing angle, level angle and the polarisation angles of antenna are adjusted, so that real-time ensuring communication quality.
But the manufacturing cost of high precision apparatus and purchase cost are higher, and then add making for portable police satellite
With cost, therefore, the use cost of existing portable police satellite is higher, is not easy to user and uses.
The content of the invention
It is whole it is an object of the invention to provide a kind of portable police satellite communication for defect present in prior art
End and method, operation are more convenient and flexible, and not only use cost is relatively low, and ensure that communication quality, is easy to user to make
With.
To achieve the above objectives, the present invention is adopted the technical scheme that：A kind of portable satellite communications terminal, including head and the tail
Navigation measurement system, automatic following control system and the satellite antenna system being sequentially connected, navigation measurement system include beacon mould
Block, GPS module and attitude information acquisition module；Automatic following control system includes information gathering and resolves module, from motion tracking control
Algoritic module and gesture stability module processed；Satellite antenna system includes pitching motor, horizontal motor, polarization motor and satellite reception
Antenna；
The beacon module, GPS module and attitude information acquisition module resolve module with information gathering and are connected, the letter
Breath collection resolves module and is connected by automatic tracking control algorithm module with gesture stability module, and gesture stability module passes through respectively
Pitching motor, horizontal motor, polarization motor are connected with satellite earth antenna；
The automatic tracking control algorithm module includes geographic information processing algoritic module, satellite beacon algoritic module, day
Line attitude information algoritic module, antenna attitude adjustment algorithm module and from motion tracking computing module；Described information collection resolves mould
Block respectively by geographic information processing algoritic module, satellite beacon algoritic module, antenna attitude information algoritic module with it is automatic with
Track computing module is connected, described to pass through antenna attitude adjustment algorithm module and gesture stability module phase from motion tracking computing module
Even；The attitude information acquisition module is using electric sensing equipment or magnetic sensing equipment；
The satellite earth antenna is used for：Communicated with satellite；
The beacon module is used for：Obtain the semaphore value of satellite；
The GPS module is used for：Obtain current geographic position information；
The attitude information acquisition module is used for：Luffing angle, the level of satellite earth antenna are obtained using sensing equipment
Angle and polarisation angles；
Described information collection, which resolves module, to be used for：The semaphore value of satellite is sent to satellite beacon algoritic module；By satellite
Luffing angle, level angle and the polarisation angles of reception antenna are sent to antenna attitude information algoritic module；
The geographic information processing algoritic module is used for：Geographical location information and current geographic position to satelloid will be treated
Information is sent to from motion tracking computing module；
The satellite beacon algoritic module is used for：Semaphore value is sent to from motion tracking computing module；
The antenna attitude information algoritic module is used for：By luffing angle, level angle and polarisation angles by sending extremely
From motion tracking computing module；
It is described to be used for from motion tracking computing module：The present beacon value of satellite and the threshold value of default satellite beacon are carried out
Compare；Calculate angle of pitch angle value, horizontal angle angle value and polarizing angle angle value that satellite earth antenna needs to adjust；
The antenna attitude adjustment algorithm module is used for：Adjusted according to angle of pitch angle value, horizontal angle angle value and polarizing angle angle value
Whole gesture stability module；
The gesture stability module is used for：Drive pitching motor, horizontal motor and polarization motor work；
The pitching motor is used for：Adjust the luffing angle of satellite earth antenna；
The horizontal motor is used for：Adjust the level angle of satellite earth antenna；
The polarization motor is used for：Adjust the polarisation angles of satellite earth antenna.
On the basis of above-mentioned technical proposal, when the satellite communication terminal carries out satellite communication, satellite communication is initialized
Terminal, configures the threshold value and satellite parametric reduction of satellite beacon；
Geographic information processing algoritic module is obtained after current geographic position information by GPS module from the Big Dipper or gps system,
Current geographic position information is sent to from motion tracking computing module；The geography treated to satelloid is obtained from motion tracking computing module
After positional information, according to the geographical location information and current geographic position information of satellite, the coarse adjustment for calculating satellite earth antenna is bowed
Elevation angle angle value, coarse adjustment horizontal angle angle value and coarse adjustment polarizing angle angle value；From motion tracking computing module by coarse adjustment angle of pitch angle value, coarse adjustment
Horizontal angle angle value and coarse adjustment polarizing angle angle value are exported to antenna attitude adjustment algorithm module；
Antenna attitude adjustment algorithm module passes through gesture stability module drive pitching motor, horizontal motor and polarization motor；
Pitching motor adjusts the luffing angle of satellite earth antenna according to coarse adjustment angle of pitch angle value, and horizontal motor is according to coarse adjustment level angle
The level angle of value adjustment satellite earth antenna, polarization motor adjusts the polarization of satellite earth antenna according to coarse adjustment polarizing angle angle value
Angle；Beacon module obtains the current coarse adjustment intensity semaphore value of satellite；
Information gathering is resolved after the present beacon value that module obtains satellite by beacon module, passes through satellite beacon algorithm mould
Block sends present beacon value to from motion tracking computing module；Information gathering resolves biography of the module by attitude information acquisition module
Feel after current luffing angle, level angle and polarisation angles that equipment obtains satellite earth antenna, by current luffing angle, level
Angle and polarisation angles are sent to from motion tracking computing module by antenna attitude information algoritic module；
Isolate placement according to present beacon value, luffing angle, level angle and polarisation angles from motion tracking computing module to defend
The motion of the carrier of star reception antenna；Conical scanning algorithm is used from motion tracking computing module, the essence of satellite earth antenna is calculated
Adjust angle of pitch angle value, accurate adjustment horizontal angle angle value and accurate adjustment polarizing angle angle value；From motion tracking computing module by accurate adjustment angle of pitch angle value,
Accurate adjustment horizontal angle angle value and accurate adjustment polarizing angle angle value are exported to antenna attitude adjustment algorithm module；
Antenna attitude adjustment algorithm module passes through gesture stability module drive pitching motor, horizontal motor and polarization motor；
Pitching motor adjusts the luffing angle of satellite earth antenna according to accurate adjustment angle of pitch angle value, and horizontal motor is according to accurate adjustment level angle
The level angle of value adjustment satellite earth antenna, polarization motor adjusts the polarization of satellite earth antenna according to accurate adjustment polarizing angle angle value
Angle；Beacon module obtains the semaphore value of accurate adjustment intensity.
On the basis of above-mentioned technical proposal, the satellite communication terminal also includes what is be connected with from motion tracking computing module
Intelligent Human-Machine Interface's system, it is used for：Threshold value, satellite parametric reduction and the initialization information of satellite beacon are configured, obtains and treats that alignment is defended
The geographical location information of star.
On the basis of above-mentioned technical proposal, Intelligent Human-Machine Interface's system includes touch LCD display.
On the basis of above-mentioned technical proposal, the attitude information acquisition module uses electric transducer or Magnetic Sensor.
A kind of portable satellite communications method based on above-mentioned terminal, comprises the following steps：
A, initialization satellite communication terminal, configure threshold value, satellite parametric reduction and the initialization information of satellite beacon；
B, geographic information processing algoritic module obtain current geographic position information by GPS module from the Big Dipper or gps system
Afterwards, current geographic position information is sent to from motion tracking computing module；Obtain and treated to satelloid from motion tracking computing module
After geographical location information, according to the geographical location information and current geographic position information of satellite, the thick of satellite earth antenna is calculated
Adjust angle of pitch angle value, coarse adjustment horizontal angle angle value and coarse adjustment polarizing angle angle value；From motion tracking computing module by coarse adjustment angle of pitch angle value,
Coarse adjustment horizontal angle angle value and coarse adjustment polarizing angle angle value are exported to antenna attitude adjustment algorithm module；
Antenna attitude adjustment algorithm module passes through gesture stability module drive pitching motor, horizontal motor and polarization motor；
Pitching motor adjusts the luffing angle of satellite earth antenna according to coarse adjustment angle of pitch angle value, and horizontal motor is according to coarse adjustment level angle
The level angle of value adjustment satellite earth antenna, polarization motor adjusts the polarization of satellite earth antenna according to coarse adjustment polarizing angle angle value
Angle；Beacon module obtains the current coarse adjustment intensity semaphore value of satellite；
C, information gathering are resolved after the present beacon value that module obtains satellite by beacon module, pass through satellite beacon algorithm
Module sends present beacon value to from motion tracking computing module；Information gathering resolves module and passes through attitude information acquisition module
Sensing equipment is obtained after current luffing angle, level angle and the polarisation angles of satellite earth antenna, by current luffing angle, water
Straight angle degree and polarisation angles are sent to from motion tracking computing module by antenna attitude information algoritic module；
Isolate placement according to present beacon value, luffing angle, level angle and polarisation angles from motion tracking computing module to defend
The motion of the carrier of star reception antenna；Conical scanning algorithm is used from motion tracking computing module, the essence of satellite earth antenna is calculated
Adjust angle of pitch angle value, accurate adjustment horizontal angle angle value and accurate adjustment polarizing angle angle value；From motion tracking computing module by accurate adjustment angle of pitch angle value,
Accurate adjustment horizontal angle angle value and accurate adjustment polarizing angle angle value are exported to antenna attitude adjustment algorithm module；
Antenna attitude adjustment algorithm module passes through gesture stability module drive pitching motor, horizontal motor and polarization motor；
Pitching motor adjusts the luffing angle of satellite earth antenna according to accurate adjustment angle of pitch angle value, and horizontal motor is according to accurate adjustment level angle
The level angle of value adjustment satellite earth antenna, polarization motor adjusts the polarization of satellite earth antenna according to accurate adjustment polarizing angle angle value
Angle；Beacon module obtains the semaphore value of accurate adjustment intensity.
On the basis of above-mentioned technical proposal, satellite parametric reduction described in step A includes satellite information and terminal geographic position
Information；The geographical position treated to satelloid is obtained by Intelligent Human-Machine Interface's system from motion tracking computing module described in step B
Information.
It is further comprising the steps of after step C on the basis of above-mentioned technical proposal：
D, the geographical position of judgement satellite earth antenna are moved, and go to step E；
E, from motion tracking computing module judge satellite present beacon value be less than default satellite beacon threshold value, automatically with
Track computing module calculates the amendment angle of pitch angle value, amendment horizontal angle angle value and amendment polarizing angle angle value of satellite earth antenna, from
Motion tracking computing module will correct angle of pitch angle value, amendment horizontal angle angle value and amendment polarizing angle angle value and export to antenna attitude and adjust
Whole algoritic module；
Antenna attitude adjustment algorithm module passes through gesture stability module drive pitching motor, horizontal motor and polarization motor；
Pitching motor adjusts the luffing angle of satellite earth antenna according to amendment angle of pitch angle value, and horizontal motor is according to amendment level angle
The level angle of value adjustment satellite earth antenna, polarization motor adjusts the polarization of satellite earth antenna according to amendment polarizing angle angle value
Angle；
F, step E is repeated, until satellite communication terminal sign off.
On the basis of above-mentioned technical proposal, step D is further comprising the steps of：Judge the geographical position of satellite earth antenna
It is not moved, re-executes step D.
On the basis of above-mentioned technical proposal, step E is further comprising the steps of：Judge satellite from motion tracking computing module
Present beacon value is more than or equal to the threshold value of default satellite beacon, goes to step D.
Compared with prior art, the advantage of the invention is that：
(1) present invention can connect according to the semaphore value of the geographical location information, current geographic position, satellite of satellite, satellite
Current luffing angle, level angle and the polarisation angles of receipts antenna, the angle of pitch angle value of calculating satellite earth antenna needs adjustment,
Horizontal angle angle value and polarizing angle angle value.Empirical tests show that the present invention calculates obtained angle of pitch angle value, horizontal angle angle value and polarization
Angle value, with the essence of the angle of pitch angle value, horizontal angle angle value and the polarizing angle angle value that are obtained using optical fibre gyro or fibre optical sensor
Degree is identical.Therefore, the present invention accurate in the case where not needing high precision apparatus can adjust satellite earth antenna, and it is used into
This is relatively low, user-friendly.
(2), can from motion tracking computing module if the geographical position of antenna is moved when the present invention carries out satellite communication
The automatic amendment angle of pitch angle value for calculating satellite earth antenna, amendment horizontal angle angle value and amendment polarizing angle angle value, pitching motor
The luffing angle of satellite earth antenna is adjusted according to amendment angle of pitch angle value, horizontal motor is defended according to amendment horizontal angle angle value adjustment
The level angle of star reception antenna, polarization motor adjusts the polarisation angles of satellite earth antenna according to amendment polarizing angle angle value.Cause
This, the present invention ensure that satellite earth antenna under mobile status to satelloid, it is ensured that communication quality.
(3) navigation measurement system, automatic following control system and satellite antenna system of the invention are set using modularization
Meter, not only mount and dismount it is fairly simple, movement it is more flexible, and if satellite communication terminal need change or repair, only
The module specified need to be changed or repaired, is operated more convenient.
(4) satellite communication terminal of the invention includes Intelligent Human-Machine Interface, user can in the case of no computer,
Immediately satellite communication terminal is configured and adjusted either manually or by Intelligent Human-Machine Interface, is operated more flexible.
Brief description of the drawings
Fig. 1 is the structured flowchart of portable satellite communications terminal in the embodiment of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
It is shown in Figure 1, the portable police satellite communication terminal in the embodiment of the present invention, including be sequentially connected from beginning to end
Navigation measurement system, automatic following control system and satellite antenna system.
Navigation measurement system includes beacon module, GPS module and attitude information acquisition module；Automatic following control system bag
Include information gathering and resolve module, automatic tracking control algorithm module and gesture stability module；Satellite antenna system includes pitching electricity
Machine, horizontal motor, polarization motor and satellite earth antenna.
Beacon module, GPS module and attitude information acquisition module resolve module with information gathering and are connected, information gathering solution
Calculate module by automatic tracking control algorithm module with gesture stability module to be connected, gesture stability module passes through pitching electricity respectively
Machine, horizontal motor, polarization motor are connected with satellite earth antenna.
Automatic tracking control algorithm module includes geographic information processing algoritic module, satellite beacon algoritic module, antenna appearance
State information algoritic module, antenna attitude adjustment algorithm module and from motion tracking computing module；Information gathering resolves module and led to respectively
Geographic information processing algoritic module, satellite beacon algoritic module, antenna attitude information algoritic module are crossed with calculating mould from motion tracking
Block is connected, and is connected from motion tracking computing module by antenna attitude adjustment algorithm module with gesture stability module.
Portable police satellite communication terminal in the present embodiment also includes the intelligent people for being provided with touch LCD display
Machine interface system, Intelligent Human-Machine Interface's system is connected by touch LCD display with from motion tracking computing module.The present embodiment
In attitude information acquisition module use electric transducer or Magnetic Sensor.
Satellite earth antenna is used for：Communicated with satellite；
Beacon module is used for：Obtain the semaphore value of satellite；
GPS module is used for：Obtain current geographic position information；
Attitude information acquisition module is used for：Using sensor obtain the luffing angle of satellite earth antenna, level angle and
Polarisation angles；
Information gathering, which resolves module, to be used for：The semaphore value of satellite is sent to satellite beacon algoritic module；By satellite reception
Luffing angle, level angle and the polarisation angles of antenna are sent to antenna attitude information algoritic module；
Geographic information processing algoritic module is used for：Geographical location information and current geographic position information to satelloid will be treated
Send to from motion tracking computing module；
Satellite beacon algoritic module is used for：Semaphore value is sent to from motion tracking computing module；
Antenna attitude information algoritic module is used for：By luffing angle, level angle and polarisation angles by sending to automatic
Track computing module；
It is used for from motion tracking computing module：The present beacon value and the threshold value of default satellite beacon of satellite are compared
Compared with；Calculate angle of pitch angle value, horizontal angle angle value and polarizing angle angle value that satellite earth antenna needs to adjust；
Antenna attitude adjustment algorithm module is used for：Appearance is adjusted according to angle of pitch angle value, horizontal angle angle value and polarizing angle angle value
State control module；
Gesture stability module is used for：Drive pitching motor, horizontal motor and polarization motor work；
Pitching motor is used for：Adjust the luffing angle of satellite earth antenna；
Horizontal motor is used for：Adjust the level angle of satellite earth antenna；
Polarization motor is used for：Adjust the polarisation angles of satellite earth antenna.
Intelligent Human-Machine Interface's system is used for：Threshold value, satellite parametric reduction and the initialization information of satellite beacon are configured, acquisition is treated pair
The geographical location information of satelloid.
The portable police satellite communication method based on above-mentioned terminal in the present embodiment, comprises the following steps：
S1：Satellite communication terminal is initialized, user is defended by the touch LCD display configuration of Intelligent Human-Machine Interface's system
Threshold value, satellite parametric reduction and the initialization information of star beacon, satellite parametric reduction include satellite information and terminal geographic positional information etc..
S2：The geographical location information treated to satelloid is obtained by Intelligent Human-Machine Interface's system from motion tracking computing module；
Geographic information processing algoritic module is obtained after current geographic position information by GPS module from the Big Dipper/gps system, by current position
Reason positional information is sent to from motion tracking computing module.
S3：From geographical location information and current geographic position information of the motion tracking computing module according to satellite, satellite is calculated
Coarse adjustment angle of pitch angle value, coarse adjustment horizontal angle angle value and the coarse adjustment polarizing angle angle value of reception antenna；Will be thick from motion tracking computing module
Angle of pitch angle value, coarse adjustment horizontal angle angle value and coarse adjustment polarizing angle angle value is adjusted to export to antenna attitude adjustment algorithm module.
S4：Antenna attitude adjustment algorithm module passes through gesture stability module fast driving pitching motor, horizontal motor and pole
Change motor；Pitching motor adjusts the luffing angle of satellite earth antenna according to coarse adjustment angle of pitch angle value, and horizontal motor is according to coarse adjustment
Horizontal angle angle value adjusts the level angle of satellite earth antenna, and polarization motor adjusts satellite reception day according to coarse adjustment polarizing angle angle value
The polarisation angles of line；Beacon module obtains the current coarse adjustment intensity semaphore value of satellite.
S5：Information gathering is resolved after the present beacon value that module obtains satellite by beacon module, is calculated by satellite beacon
Method module sends present beacon value to from motion tracking computing module.Information gathering resolves module and passes through attitude information acquisition module
Sensing equipment obtain satellite earth antenna current luffing angle, level angle and polarisation angles after, by current luffing angle,
Level angle and polarisation angles are sent to from motion tracking computing module by antenna attitude information algoritic module.
S6：Isolated from motion tracking computing module according to present beacon value, luffing angle, level angle and polarisation angles and placed
The motion of the carrier of satellite earth antenna；Conical scanning algorithm is used from motion tracking computing module, satellite earth antenna is calculated
Accurate adjustment angle of pitch angle value, accurate adjustment horizontal angle angle value and accurate adjustment polarizing angle angle value.From motion tracking computing module by accurate adjustment luffing angle
Value, accurate adjustment horizontal angle angle value and accurate adjustment polarizing angle angle value are exported to antenna attitude adjustment algorithm module.
S7：Antenna attitude adjustment algorithm module passes through gesture stability module fast driving pitching motor, horizontal motor and pole
Change motor；Pitching motor adjusts the luffing angle of satellite earth antenna according to accurate adjustment angle of pitch angle value, and horizontal motor is according to accurate adjustment
Horizontal angle angle value adjusts the level angle of satellite earth antenna, and polarization motor adjusts satellite reception day according to accurate adjustment polarizing angle angle value
The polarisation angles of line；Beacon module obtains the semaphore value of accurate adjustment intensity.
S8：Judge whether the geographical position of satellite earth antenna is moved, if so, going to step S9, otherwise hold again
Row step S8.
S9：Whether the present beacon value for judging satellite from motion tracking computing module is less than the threshold value of default satellite beacon,
If it is not, going to step S8；Otherwise amendment angle of pitch angle value, the amendment water of satellite earth antenna are calculated from motion tracking computing module
Straight angle angle value and amendment polarizing angle angle value, will correct angle of pitch angle value, amendment horizontal angle angle value from motion tracking computing module and repair
Positive polarization angle value is exported to antenna attitude adjustment algorithm module.
S10：Antenna attitude adjustment algorithm module passes through gesture stability module fast driving pitching motor, horizontal motor and pole
Change motor；Pitching motor adjusts the luffing angle of satellite earth antenna according to amendment angle of pitch angle value, and horizontal motor is according to amendment
Horizontal angle angle value adjusts the level angle of satellite earth antenna, and polarization motor is according to amendment polarizing angle angle value adjustment satellite reception day
The polarisation angles of line.
S11：Step S9~S10 is repeated, until satellite communication terminal sign off.
Step S2~S4 is initial alignment satellite operations, and step S5~S7 is accurate alignment satellite operations, step S8~S11
For position skew tracking correction operation.
The present invention is not limited to the above-described embodiments, for those skilled in the art, is not departing from
On the premise of the principle of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as the protection of the present invention
Within the scope of.The content not being described in detail in this specification belongs to prior art known to professional and technical personnel in the field.
Claims (10)
1. a kind of portable satellite communications terminal, including navigation measurement system, the automatic following control system that head and the tail are sequentially connected
And satellite antenna system, navigation measurement system include beacon module, GPS module and attitude information acquisition module；From motion tracking control
System processed includes information gathering and resolves module, automatic tracking control algorithm module and gesture stability module；Satellite antenna system bag
Include pitching motor, horizontal motor, polarization motor and satellite earth antenna；
The beacon module, GPS module and attitude information acquisition module resolve module with information gathering and are connected, and described information is adopted
Collection resolves module and is connected by automatic tracking control algorithm module with gesture stability module, and gesture stability module passes through pitching respectively
Motor, horizontal motor, polarization motor are connected with satellite earth antenna；
It is characterized in that：The automatic tracking control algorithm module includes geographic information processing algoritic module, satellite beacon algorithm
Module, antenna attitude information algoritic module, antenna attitude adjustment algorithm module and from motion tracking computing module；Described information is gathered
Resolve module respectively by geographic information processing algoritic module, satellite beacon algoritic module, antenna attitude information algoritic module with
It is connected from motion tracking computing module, it is described to pass through antenna attitude adjustment algorithm module and gesture stability mould from motion tracking computing module
Block is connected；The attitude information acquisition module is using electric sensing equipment or magnetic sensing equipment；
The satellite earth antenna is used for：Communicated with satellite；
The beacon module is used for：Obtain the semaphore value of satellite；
The GPS module is used for：Obtain current geographic position information；
The attitude information acquisition module is used for：Luffing angle, the level angle of satellite earth antenna are obtained using sensing equipment
And polarisation angles；
Described information collection, which resolves module, to be used for：The semaphore value of satellite is sent to satellite beacon algoritic module；By satellite reception
Luffing angle, level angle and the polarisation angles of antenna are sent to antenna attitude information algoritic module；
The geographic information processing algoritic module is used for：Geographical location information and current geographic position information to satelloid will be treated
Send to from motion tracking computing module；
The satellite beacon algoritic module is used for：Semaphore value is sent to from motion tracking computing module；
The antenna attitude information algoritic module is used for：By luffing angle, level angle and polarisation angles by sending to automatic
Track computing module；
It is described to be used for from motion tracking computing module：The present beacon value and the threshold value of default satellite beacon of satellite are compared
Compared with；Calculate angle of pitch angle value, horizontal angle angle value and polarizing angle angle value that satellite earth antenna needs to adjust；
The antenna attitude adjustment algorithm module is used for：Appearance is adjusted according to angle of pitch angle value, horizontal angle angle value and polarizing angle angle value
State control module；
The gesture stability module is used for：Drive pitching motor, horizontal motor and polarization motor work；
The pitching motor is used for：Adjust the luffing angle of satellite earth antenna；
The horizontal motor is used for：Adjust the level angle of satellite earth antenna；
The polarization motor is used for：Adjust the polarisation angles of satellite earth antenna.
2. portable satellite communications terminal as claimed in claim 1, it is characterised in that：
When the satellite communication terminal carries out satellite communication, satellite communication terminal is initialized, the threshold value of satellite beacon is configured and defends
Star parameter；
Geographic information processing algoritic module is obtained after current geographic position information by GPS module from the Big Dipper or gps system, ought
Preceding geographical location information is sent to from motion tracking computing module；The geographical position treated to satelloid is obtained from motion tracking computing module
After information, according to the geographical location information and current geographic position information of satellite, the coarse adjustment angle of pitch of satellite earth antenna is calculated
Angle value, coarse adjustment horizontal angle angle value and coarse adjustment polarizing angle angle value；From motion tracking computing module by coarse adjustment angle of pitch angle value, coarse adjustment level
Angle value and coarse adjustment polarizing angle angle value are exported to antenna attitude adjustment algorithm module；
Antenna attitude adjustment algorithm module passes through gesture stability module drive pitching motor, horizontal motor and polarization motor；Pitching
Motor adjusts the luffing angle of satellite earth antenna according to coarse adjustment angle of pitch angle value, and horizontal motor is adjusted according to coarse adjustment horizontal angle angle value
The level angle of whole satellite earth antenna, polarization motor adjusts the polarizing angle of satellite earth antenna according to coarse adjustment polarizing angle angle value
Degree；Beacon module obtains the current coarse adjustment intensity semaphore value of satellite；
Information gathering is resolved after the present beacon value that module obtains satellite by beacon module, will by satellite beacon algoritic module
Present beacon value is sent to from motion tracking computing module；Information gathering resolves module and set by the sensing of attitude information acquisition module
After standby current luffing angle, level angle and the polarisation angles for obtaining satellite earth antenna, by current luffing angle, level angle
Sent with polarisation angles by antenna attitude information algoritic module to from motion tracking computing module；
Satellite is placed from motion tracking computing module according to the isolation of present beacon value, luffing angle, level angle and polarisation angles to connect
Receive the motion of the carrier of antenna；Conical scanning algorithm is used from motion tracking computing module, the accurate adjustment for calculating satellite earth antenna is bowed
Elevation angle angle value, accurate adjustment horizontal angle angle value and accurate adjustment polarizing angle angle value；From motion tracking computing module by accurate adjustment angle of pitch angle value, accurate adjustment
Horizontal angle angle value and accurate adjustment polarizing angle angle value are exported to antenna attitude adjustment algorithm module；
Antenna attitude adjustment algorithm module passes through gesture stability module drive pitching motor, horizontal motor and polarization motor；Pitching
Motor adjusts the luffing angle of satellite earth antenna according to accurate adjustment angle of pitch angle value, and horizontal motor is adjusted according to accurate adjustment horizontal angle angle value
The level angle of whole satellite earth antenna, polarization motor adjusts the polarizing angle of satellite earth antenna according to accurate adjustment polarizing angle angle value
Degree；Beacon module obtains the semaphore value of accurate adjustment intensity.
3. portable satellite communications terminal as claimed in claim 1, it is characterised in that：The satellite communication terminal also include with
The Intelligent Human-Machine Interface's system being connected from motion tracking computing module, it is used for：Configure the threshold value of satellite beacon, satellite parametric reduction and just
Beginningization information, obtains the geographical location information treated to satelloid.
4. portable satellite communications terminal as claimed in claim 3, it is characterised in that：Intelligent Human-Machine Interface's system includes
Touch LCD display.
5. the portable satellite communications terminal as described in any one of Claims 1-4, it is characterised in that：The attitude information is adopted
Collect module and use electric transducer or Magnetic Sensor.
6. a kind of portable satellite communications method based on any one of claim 1 to 5 terminal, it is characterised in that including
Following steps：
A, initialization satellite communication terminal, configure threshold value, satellite parametric reduction and the initialization information of satellite beacon；
B, geographic information processing algoritic module are obtained after current geographic position information by GPS module from the Big Dipper or gps system, will
Current geographic position information is sent to from motion tracking computing module；The geographical position treated to satelloid is obtained from motion tracking computing module
After confidence breath, according to the geographical location information and current geographic position information of satellite, the coarse adjustment pitching of satellite earth antenna is calculated
Angle value, coarse adjustment horizontal angle angle value and coarse adjustment polarizing angle angle value；From motion tracking computing module by coarse adjustment angle of pitch angle value, coarse adjustment water
Straight angle angle value and coarse adjustment polarizing angle angle value are exported to antenna attitude adjustment algorithm module；
Antenna attitude adjustment algorithm module passes through gesture stability module drive pitching motor, horizontal motor and polarization motor；Pitching
Motor adjusts the luffing angle of satellite earth antenna according to coarse adjustment angle of pitch angle value, and horizontal motor is adjusted according to coarse adjustment horizontal angle angle value
The level angle of whole satellite earth antenna, polarization motor adjusts the polarizing angle of satellite earth antenna according to coarse adjustment polarizing angle angle value
Degree；Beacon module obtains the current coarse adjustment intensity semaphore value of satellite；
C, information gathering are resolved after the present beacon value that module obtains satellite by beacon module, pass through satellite beacon algoritic module
Present beacon value is sent to from motion tracking computing module；Information gathering resolves sensing of the module by attitude information acquisition module
Equipment is obtained after current luffing angle, level angle and the polarisation angles of satellite earth antenna, by current luffing angle, horizontal angle
Degree and polarisation angles are sent to from motion tracking computing module by antenna attitude information algoritic module；
Satellite is placed from motion tracking computing module according to the isolation of present beacon value, luffing angle, level angle and polarisation angles to connect
Receive the motion of the carrier of antenna；Conical scanning algorithm is used from motion tracking computing module, the accurate adjustment for calculating satellite earth antenna is bowed
Elevation angle angle value, accurate adjustment horizontal angle angle value and accurate adjustment polarizing angle angle value；From motion tracking computing module by accurate adjustment angle of pitch angle value, accurate adjustment
Horizontal angle angle value and accurate adjustment polarizing angle angle value are exported to antenna attitude adjustment algorithm module；
Antenna attitude adjustment algorithm module passes through gesture stability module drive pitching motor, horizontal motor and polarization motor；Pitching
Motor adjusts the luffing angle of satellite earth antenna according to accurate adjustment angle of pitch angle value, and horizontal motor is adjusted according to accurate adjustment horizontal angle angle value
The level angle of whole satellite earth antenna, polarization motor adjusts the polarizing angle of satellite earth antenna according to accurate adjustment polarizing angle angle value
Degree；Beacon module obtains the semaphore value of accurate adjustment intensity.
7. portable satellite communications method as claimed in claim 6, it is characterised in that：Satellite parametric reduction includes described in step A
Satellite information and terminal geographic positional information；Obtained described in step B from motion tracking computing module by Intelligent Human-Machine Interface's system
Take the geographical location information treated to satelloid.
8. portable satellite communications method as claimed in claims 6 or 7, it is characterised in that also include following step after step C
Suddenly：
D, the geographical position of judgement satellite earth antenna are moved, and go to step E；
E, the present beacon value from motion tracking computing module judgement satellite are less than the threshold value of default satellite beacon, from motion tracking meter
Calculate module calculate satellite earth antenna amendment angle of pitch angle value, amendment horizontal angle angle value and amendment polarizing angle angle value, automatically with
Track computing module will correct angle of pitch angle value, amendment horizontal angle angle value and amendment polarizing angle angle value and export to antenna attitude to adjust and calculate
Method module；
Antenna attitude adjustment algorithm module passes through gesture stability module drive pitching motor, horizontal motor and polarization motor；Pitching
Motor adjusts the luffing angle of satellite earth antenna according to amendment angle of pitch angle value, and horizontal motor is adjusted according to amendment horizontal angle angle value
The level angle of whole satellite earth antenna, polarization motor adjusts the polarizing angle of satellite earth antenna according to amendment polarizing angle angle value
Degree；
F, step E is repeated, until satellite communication terminal sign off.
9. portable satellite communications method as claimed in claim 8, it is characterised in that：Step D is further comprising the steps of：Judge
The geographical position of satellite earth antenna is not moved, re-executes step D.
10. portable satellite communications method as claimed in claim 8, it is characterised in that：Step E is further comprising the steps of：From
Motion tracking computing module judges that the present beacon value of satellite is more than or equal to the threshold value of default satellite beacon, goes to step D.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104168055B (en) * | 2014-08-29 | 2017-12-01 | 南京中网卫星通信股份有限公司 | Closed loop IP star satellite mobile stations automatic star-seekings and the control device and method to network |
| CN104993248B (en) * | 2015-05-28 | 2017-09-29 | 北京航天控制仪器研究所 | The antenna for satellite communication in motion polarizing angle Time-sharing control method of star is sought under a kind of motion state |
| CN105699986A (en) * | 2016-01-13 | 2016-06-22 | 广东欧珀移动通信有限公司 | Intelligent mobile terminal pose adjusting prompting method and apparatus thereof, and intelligent mobile terminal |
| CN106935976B (en) * | 2017-02-21 | 2020-09-18 | 熊猫电子集团有限公司 | Mobile satellite communication antenna servo system based on FFT tracking technology |
| CN107864005B (en) * | 2017-10-24 | 2020-04-21 | 协同通信技术有限公司 | Portable satellite communication control system, satellite communication method and terminal device |
| CN110086510A (en) * | 2018-01-26 | 2019-08-02 | 中兴通讯股份有限公司 | A kind of antenna system and data processing method |
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