AU2012363739A1

AU2012363739A1 - Compact portable antenna positioner system and method

Info

Publication number: AU2012363739A1
Application number: AU2012363739A
Authority: AU
Inventors: Keith Ayotte; George Davison; Paul Lagasse; David Martin; Anthony Sorrentino; Spencer Webb; Mark Wheeler
Original assignee: Antennasys Inc; GBS Positioner LLC
Current assignee: Antennasys Inc; GBS Positioner LLC
Priority date: 2011-10-21
Filing date: 2012-10-18
Publication date: 2014-06-05
Also published as: IL232195A0; CA2856575A1; AU2017201722A1; EP2769438A2; WO2013103432A2; EP2769438A4; AU2017201722B2; CA2856575C; WO2013103432A3

Abstract

A low power, lightweight, collapsible and rugged antenna positioner for use in communicating with geostationary, geosynchronous and low earth orbit satellite. By collapsing, invention may be easily carried or shipped in a compact container. May be used in remote locations with simple or automated setup and orientation. Azimuth is adjusted by rotating an antenna in relation to a positioner base and elevation is adjusted by rotating an elevation motor coupled with the antenna. Manual orientation of antenna for linear polarized satellites yields lower weight and power usage. Updates ephemeris or TLE data via satellite. Algorithms used for search including Clarke Belt fallback, transponder/beacon searching switch, azimuth priority searching and tracking including uneven re-peak scheduling yield lower power usage. Orientation aid via user interface allows for smaller azimuth motor, simplifies wiring and lowers weight. Tilt compensation, bump detection and failure contingency provide robustness.

Description

WO 2013/103432 PCT/US2012/060697 COMPACT PORTABLE ANTENNA POSITIONER SYSTEM AND METHOD This invention was made with Government support under F19628-03-C-0039 awarded by US Air Force, Department of Defense. The Government has certain rights in the invention. BACKGROUND OF THE INVENTION FIELD OF THE INVENTION [001] Embodiments of the invention described herein pertain to the field of antenna positioning systems. More particularly, but not by way of limitation, these embodiments enable the positioning of antennas by way of a compact, lightweight, portable, self aligning antenna positioner that is easily moved by a single user and allows for rapid setup and alignment. DESCRIPTION OF THE RELATED ART [002] An antenna positioner is an apparatus that allows for an antenna to be pointed in a desired direction, such as towards a satellite. Many satellites are placed in geosynchronous orbit at approximately 22,300 miles above the surface of the earth. Other satellites may be placed in low earth orbit and traverse the sky relatively quickly. Generally, pointing may be performed by adjusting the azimuth and elevation or alternatively by rotating the positioner about the X and Y axes. Once oriented in the proper direction, the antenna is then best able to receive a given satellite signal. [003] Existing antenna positioners are heavy structures that are bulky and require many workers to manually setup and initially orient. These systems fail to satisfactorily achieve the full spectrum of compact storage, ease of transport and rapid setup. For example, currently fielded antenna systems capable of receiving Global Broadcast System transmissions comprise an antenna, support, positioner, battery, cables, receiver, decoder and PC. These antenna systems require over a half dozen storage containers that each require 2 or more workers to lift. Other antenna systems are mounted on trucks and are generally heavy and not easily shipped. Page 1 of 37 WO 2013/103432 PCT/US2012/060697 BRIEF SUMMARY OF THE INVENTION [004] Embodiments of the invention provide a lightweight, collapsible and rugged antenna positioner apparatus or system for use in receiving low earth orbit and geosynchronous satellite transmissions. By collapsing the antenna positioner, it may be readily carried by hand or shipped in a compact container. For example, embodiments of the invention may be stored in a common carry-on bag for an airplane. The antenna positioner may be used in remote locations with manually assisted or automated setup and orientation. Embodiments of the invention may be produced at low cost for disposable applications. The apparatus can be scaled to any size by altering the size of the various components. The gain requirements for receiving any associated satellite transmission may be altered by utilizing more sophisticated and efficient antennas as the overall size of the system is reduced. [005] The movement of an antenna coupled with embodiments of the portable antenna positioner allows for low earth orbit, geostationary or geosynchronous location and tracking of a desired satellite. Since the slew rate requirements are small for geosynchronous satellites, the motors used in geosynchronous applications may be small. [006] One embodiment of the invention may be used, for example, after extending stabilizer legs and an adjustable leg to provide a stable base upon which to operate. In embodiments with a battery coupled with the apparatus, the antenna is extended and the system is aligned near a desired satellite at which time the system searches for and finds a desired satellite. The entire setup process can occur in rapid fashion. Another embodiment of the invention may utilize alternate mechanical positioning devices such as an arm that extends upward and allows for azimuth and elevation motors to adjust the antenna positioning. Another embodiment of the invention utilizes a smaller azimuth motor and limited range in order to lower the overall weight of the apparatus. Another compact embodiment include a relative signal strength indicator (RSSI) receiver and computer, but utilizes an external power condition unit and external integrated receiver decoder (IRD). [007] One or more embodiments utilize an adjustable leg or legs that may be motorized with for example a stepper motor. These embodiments are able to alter the effective Page 2 of 37 WO 2013/103432 PCT/US2012/060697 elevation angle of a satellite relative to the apparatus so that the satellite is far enough away from the zenith to prevent "keyholing". [008] In one embodiment of the invention, positioning of an associated antenna is performed by rotating positioner support frame in relation to a positioner base in order to set the azimuth. Setting the elevation is performed by altering the angle of the antenna mounting plate with respect to the positioner support frame. Since the elements are rotationally coupled to each other, rotation of the positioning arm alters the angle of the antenna mounting plate in relation to the positioner support frame. The motion of the antenna alters the angle of the antenna with relation to the positioner base. The resulting motion positions a vector orthogonal to the antenna mounting plate plane in a desired elevation and with the positioner base rotated to a desired azimuth, the desired pointing direction is achieved. Another embodiment of the invention makes use of an arm that comprises azimuth and elevation motors that are asserted in order to point an antenna to a desired pointing direction. [009] The pointing process is normally accomplished via powered means using the mechanisms described above. Various components are utilized by the apparatus to accomplish automated alignment with a desired satellite. A GPS receiver is used in order to obtain the time and the latitude and longitude of the apparatus. In addition, a tilt meter (inclinometer) or three axis accelerometer and magnetometer are be used to determine magnetic north and obtain the pointing angle of the antenna. By placing a group of sensors in both the electronics housing and antenna housing, differential measurements of tilt or magnetic orientation may be used for calibration purposes and this configuration also provides a measure of redundancy. For example, if the magnetometer in the positioner base fails, the magnetometer coupled with the antenna or in the antenna housing may be utilized. Such failure may be the result of an electronics failure or a magnetic anomaly near the positioner base. A low noise block down converter (LNB) along with a wave guide allows high frequency transmissions to be shifted down in frequency for transmission on a cable. One or more embodiments of the invention comprise a built-in receiver that enables the apparatus to download ephemeris data and program guides for channels. Motors and motor controllers to point the antenna mounting plate in a desired direction are coupled with at least one positioning arm in Page 3 of 37 WO 2013/103432 PCT/US2012/060697 order to provide this functionality. Military Standard batteries such as BB-2590/M for example may be used to drive the motors. Any other battery of the correct voltage may also be utilized depending on the application. A keypad may be used in order to receive user commands such as Acquire, Stop, Stow (for embodiments with self stow capabilities) and Self-Test. A microcontroller may be programmed to accept the keypad commands and send signals to the azimuth, elevation and optional adjustable leg motor in order to achieve the desired pointing direction based on a satellite orbit calculation based on the time, latitude, longitude, north/south orientation and tilt of the apparatus at a given time and the various orbital elements of a desired satellite. Optionally, a PC may host the satellite orbit program and user interface and may optionally transfer commands and receive data from the apparatus via wired or wireless communications. [0010] By way of example an embodiment may weigh less than 20 pounds, comprise an associated antenna with 39 dBic gain, LHCP polarization, frequency range of 20.2 to 21.2 GHz and fit in an airplane roll-on bag of 14 x 22 x 9 inches, or smaller for compact embodiments, for example configured to fit into a rucksack or backpack. Embodiments of the invention may be set up in a few minutes or less and are autonomous after initial setup, including after loss and subsequent restoration of power. Although this example embodiment has a limited frequency range, any type of antenna may be coupled to the apparatus to receive any of a number of transmissions from at least the following satellite systems. User Frequency Polarization Tracking 1. GBS User 11GHz Rx LP GeoSynch NSK 20.2GHz Rx LHCP Self Aligning 2. GBS + Milstar (1) Plus RHCP GeoSynch NSK 20.2GHz Rx RHCP Self Aligning 44GHz Tx 3. Weather Only 1.7MHz LP LEO Tracking 2.2-2.3MHz RHCP 91V Retrograde Up to 15 0 /Sec 4. GBS + Weather (1) Plus (3) 5. Weather or DSP Low 1.7MHz LP GeoSynch Page 4 of 37 WO 2013/103432 PCT/US2012/060697 Rate Downlink (LRD) 2.2-2.3MHz RHCP Point and Forget Weather NPOESS High (5) Plus Polar LEO Rate Downlink (HRD) 8Ghz RHCP Tracking for 8 GHz 6. Wideband Gap Filler 7.9-8.4GHz RHCP GeoSynch NSK (WGS) SHF Low Tx LHCP Self-Aligning 7.25-7.75GHz Rx 7. WGS EHF High 30GHz Tx RHCP GeoSynch NSK 20GHz Rx RHCP Self-Aligning [0011] Any other geosynchronous or low earth orbiting satellite may be received by coupling an appropriate antenna to the apparatus. For example, a dish or patch array antenna may be coupled to the antenna mounting plate. An example calculation of the size of dish or patch array to achieve desired gains follows. An ideal one-meter dish, at 20 GHz, has a gain of 46.4 dBi. With 68% efficiency, it would have a gain of 44.7 dBi. A one-half meter diameter dish, therefore, would be 6 dB less, for a gain of 38.7 dBi. Certain patch arrays have efficiencies on the order of 30%, or about 3.6 dB below a dish of similar area. A patch array with a gain of 39dBi would have an area of 0.474 square meters. A dish with a gain of 39 dBi would have an area of 0.209 square meters, or a diameter of 0.516 meters. For a patch array consisting of four panels, this implies each panel should have an area of 0.119 square meters, or 184 square inches. This is a square with sides of 13.6 inches. A panel that measures 20in. by 12in. has an area of 240 square inches (0.155 square meters). For the 4-panel system, the area is 960 square inches or 0.619 square meters; with a calculated gain of 40.2 dBi. Embodiments of the invention are readily combined with these example antennas and any other type of antennas. Optionally a box horn antenna may be coupled with the apparatus that is smaller and more efficient than a patch array antenna, but that is generally heavier and thicker. Additionally a wave guide fed slot array may be utilized. [0012] Position Sensors used in embodiments of the invention allow for mobile applications. One or more accelerometer and/or gyroscope may be used to measure Page 5 of 37 WO 2013/103432 PCT/US2012/060697 perturbations to the pointing direction and automatically adjust for associated vehicle movements in order to keep the antenna pointed in a given direction. [0013] Some example components that may be used in embodiments of the invention include the Garmin GPS 15H-W, 010-00240-01, the Microstrain 3DM-G, the Norsat LNB 9000C the EADmotors L ISZA-H1 1XA080 and AMS motor driver controllers DCB-24 1. These components are exemplary and non-limiting in that substitute components with acceptable parameters may be substituted in embodiments of the invention. [0014] In addition, one or more embodiments of the invention may comprise mass storage devices including hard drives or flash drives in order to record programs or channels at particular times. The apparatus may also comprise the ability to transmit data, and transmit at preset times. Use of solar chargers or multiple input cables allows for multiple batteries or the switching of batteries to take place. The apparatus may search for satellites in any band and create a map of satellites found in order to determine or improve the calculated pointing direction to a desired satellite. The apparatus may also comprise stackable modules that allow for cryptographic, routing, power supplies or additional batteries to be added to the system. Such modules may comprise a common interface on the top or bottom of them so that one or more module may be stacked one on top of another to provide additional functionality. For lightweight deployments all external stackable modules including the legs may be removed depending on the mission requirements. [0015] Low power embodiments of the invention employ a limited range of motion in azimuth for the antenna positioner which allows the operator to be presented with an "X" in a box of the user interface. The operator sets the system to point within 60 degrees of a satellite, not 360 degrees. The system then prompts the user with the "X" which is on the left of the box if the operator should rotate the positioner base to the left and the "X" appears on the right side of the box if the operator is to rotate the positioner base to the right. Once the positioner base is within 30 degrees, the operator asserts a button and the system begins to acquire a satellite. Page 6 of 37 WO 2013/103432 PCT/US2012/060697 [0016] The system may employ tilt compensation so that even if the positioner base is not level, the scan includes adjustment to the elevation motor so that the scan lines are parallel to the horizon not to the incline on which the positioner base is situated. The three-axis accelerometer is used to provide tilt measurements in one or more embodiments of the invention. [0017] The search algorithm utilized by the system may be optimized to search in azimuth and sparsely search in elevation. This is due to the fact that magnetic anomalies are more prevalent than gravitational anomalies. The system looks first in azimuth before elevation (preferential azimuth searching) since that is where the errors are likely found. For example in one embodiment, the search proceeds to do two horizontal scan lines first above the initial point before performing two horizontal scan lines below the initial point. In other words, after the signal peaks, it goes to peak then leaves the raster scan algorithm then uses a box peaking algorithm right and up to a corner, go to a left corner, down to corner and right bottom corner, e.g., 5 measurements. Then the system points to the strongest and does the four corner measurements again. When the four corners of the box have equal strength the antenna is positioned correctly and the search algorithm terminates. [0018] The system also is capable of manually-assisted linear polarization setting. When aligning the third axis, that is aligning the antenna about an axis orthogonal to the antenna plane for linear polarization, the operator may be prompted for rotating the antenna manually. This allows for the elimination of a third motor although this motor is optional and may be employed in embodiments that are not power sensitive. The linear polarization axis is the least critical of all of the axial settings, so a little error is acceptable. In addition, the system without a linear polarization axis motor is lower weight. [0019] The system may also be configured for bump detection and reacquisition. In this configuration, the system detects when the base or the antenna is bumped and reacquires the satellite. If the satellite signal is still high, then the system returns to a four corner boxing algorithm for example, otherwise the system goes back into scan mode. With two Page 7 of 37 WO 2013/103432 PCT/US2012/060697 three-axis accelerometers, one on positioner base and one on antenna, both may be used for bump detection. [0020] In order to further save power and time in acquiring satellites, the age of the two line element (TLEs) is taken into account in one or more embodiments of the invention. This is known as Clarke Belt Fallback. For ephemeris data or two line elements, fresh TLE data allows the system to point to the satellite accurately. However, in a couple of weeks, the TLE information is out of date, in a couple of months is actually quite inaccurate. For perfectly stationary satellites on the Clarke belt, i.e., equator, all the system has to know is the longitude to find one of these satellites. The satellites that move have a problem in that a fresh TLE is more accurate than a Clarke Belt longitude, but after 30 days the system falls back to the Clarke Belt longitude since it is more accurate after about this time span. Without fresh TLEs, acquisition takes more time and power, but by using the Clarke Belt Fallback, the system can still function. [0021] In another power saving embodiment, the tracking of the satellites may switch between transponder signal and the beacon tracking signal output by a satellite. Beacons have a different frequency and are lower power than the data signal of the satellite. The beacons are also omni-directional so the system can find the satellite even if it is not pointed at the system at the time of acquisition. For small low power antennas, the beacon may be too small to detect, so if the data signal via the satellite transponder is on, it can be used to find and lock onto the satellite even if the beacon is too weak to detect. [0022] Embodiments of the positioner base may make use of a hole in the base such that water and other environmental elements do not collect in the positioner base where the antenna positioning elements are stored. Other compact embodiments may utilize a base box assembly instead of a base. The base box assembly in compact embodiments generally does not include a potential well and hence may be implemented without a hole for water drainage. In this embodiment, a thermal well may be employed wherein all of the heat-making components situated in the positioner base, i.e., the electronics utilized by the system, dissipate heat. With regards to saving power and minimizing heat dissipation, algorithms that conserve power may be utilized in one or more embodiments of the invention. For example, when tracking a geosynchronous satellite, e.g., one that Page 8 of 37 WO 2013/103432 PCT/US2012/060697 move in a figure eight pattern but remains relatively in one general area of the sky, the system can stop tracking the satellite at the top and bottom of the figure eight since motion is relatively slow there. The system can switch to more rapid tracking when the satellite is scheduled to move from the upper to the lower portion of the figure eight since the satellite motion is fast during this period. Conserving power as determined by two line element (TLE) determined re-peak schedule allows for lower power dissipation and longer battery life. The system may utilize distributed 12C thermal sensors. The sensors may be placed on the electronics boards utilized by the system for example, so the computer can self-monitor the components. [0023] The system allows for updating TLEs over the data link acquired. This allows for fresh TLEs to be used in locating and tracking satellites. The broadcasters may be configured to send down TLEs that the system uses to automatically update the local TLEs. After one month, the TLEs are considered old and if the system is powered up, then it may automatically update the TLEs if the acquired satellite is configured to broadcast them. [0024] Some embodiments of the invention allow for a quick disconnect for the antenna panel. This allows for different satellites having entirely different frequency bands to be acquired with the system. This quick disconnect capability may be implemented by using double pins to hook the antenna to positioning arm. By releasing one antenna and attaching another antenna to the positioning arm, a different set of satellites in general may be acquired since satellites use various frequencies. Linearly polarized satellites, generally commercial satellites, may be acquired using a third rotational motor that allows for the antenna to rotate about the axis pointing at a satellite. For low power configurations, this allows for the user to be prompted to rotate the antenna until the strength of the signal is maximized. Low power embodiments therefore do not require a third axis motor. [0025] One ore more embodiments of the invention provide an Integrated Receiver Decoder (IRD) slot. An IRD allows for set-top box functionality and may provide channel guide type functionality. The user interface to the IRD may include an IRD lock function that allows for feedback to the user for tracking qualification. If the IRD is Page 9 of 37 WO 2013/103432 PCT/US2012/060697 integrated into the positioner base, the IRD can provide input to the positioner's computer or a visual display to the user to qualify the satellite as being identified as the desired satellite. In one small area of the sky, there may be five 5 commercial satellites in the field of view, so the system may prompt the user to select Next Satellite to continue looking for the correct satellite or the computer may automatically look to the next satellite. Compact embodiments of the invention may couple with an external IRD, external power control unit and battery and user interface in order to reduce the weight of the antenna and base box assembly. [0026] Embodiments may utilize a "one button" or "no button" setup procedure. After opening the system and deploying the antenna and turning the power on, the system determines where it is and if pointed within a general direction of a satellite, requires no button pushes for the system to lock. The system can also perform the no button option so that after power loss and restore, the system re-acquires a satellite. This may occur with no intervention. One button operation may be utilized when the system is not rotated close enough to a satellite for example, where the system may prompt the user to rotate the base in one direction or the other and assert the acquire button. The prompt may include an "X" to the left or right in the LED screen to let the user know to turn the base clockwise or counterclockwise for example. The user interface may also present auto satellite options. For example, the first choice and second choice satellites may be presented to the user based on the band the system is configured for. Based on the location of the antenna on the planet, the user interface shows the operator the most likely satellite that is normally picked. [0027] The system may also employ a failure contingency tree. For example if any portion of the system fails, the system may prompt the user via the display and allow the user to utilize the keyboard to respond to system requests for positioning the system, etc. For example, if the GPS or tilt fails, the system allows the operator to compensate for the error, prompts for entry on keyboard, of the GPS position or to acknowledge that the base is level. In short, the system is configured to ask the user for help if components break. [0028] One or more embodiments of the invention allow for a sensor built into changeable antenna. For example, a 3 positioner accelerometer may be built into the Page 10 of 37 WO 2013/103432 PCT/US2012/060697 changeable antenna panel. In addition, the antenna panel may be configured with memory in the changeable antenna that is used to notify the system what band the antenna is, so the system does not have to perform third axis rotation when not acquiring a satellite that uses linear polarization. For example, if acquiring a Ka band military satellite, the antenna panel is read and based on the fact that the Ka band antenna is being utilized, a whole set of the correct satellites in the correct band may be presented to the user via the user interface wherein some of all of the previous satellites receivable with the previous antenna are no longer presented. An additional tilt sensor may be utilized in the positioner base for crosschecking with antenna. Any redundant positioners may be placed throughout the system in order to provide redundancy and crosschecking capabilities. [0029] The system has no loose parts and requires no tools. Since there are no parts to loose, the system is more robust. The system may include a camouflage bag that encapsulates the system and may be changed from desert to jungle to urban camouflage or black. Many different types of legs may be employed on the system depending on the terrain that the system is to be used in, including but not limited to legs with rubber bottoms, spikes or any other type of bottom, and the legs themselves may be of any type including telescoping or rigid or any other type. Compact embodiments of the invention may utilize a base box with integrated legs and straps for example that are utilized to secure the antenna to the ground using local materials. BRIEF DESCRIPTION OF THE DRAWINGS [0030] Fig. 1 shows a top perspective view of an embodiment of the invention in the deployed position. [0031] Fig. 2 shows a bottom perspective view of an embodiment of the invention in the deployed position. [0032] Fig. 3 shows a perspective view of an embodiment of the positioner base with cover removed to expose internal elements. [0033] Fig. 4 shows a perspective view of an embodiment of the collapsible antenna positioner. [0034] Fig. 5 shows a perspective view of an embodiment of the invention in the collapsed position. Page 11 of 37 WO 2013/103432 PCT/US2012/060697 [0035] Fig. 6 shows an isometric view of an embodiment of the invention in the stowed position. [0036] Fig. 7 shows an isometric view of the bottom of an embodiment of the invention in the stowed position. [0037] Fig. 8 shows an isometric view of an embodiment of the invention in the deployed position. [0038] Fig. 9 shows an isometric view of an embodiment of the invention with the antenna housing at a first azimuth and elevation setting. [0039] Fig. 10 shows an isometric view of an embodiment of the invention with the antenna housing at a second azimuth and elevation setting. [0040] Fig. 11 shows a flowchart depicting the manufacture of one or more embodiments of the invention. [0041] Figure 12 shows an embodiment of the position base configured with a hole to allow for environmental elements to escape and to also manage heat dissipation of the system. [0042] Figure 13 shows a close-up of Figure 12. [0043] Figure 14 shows a cross sectional view of Figure 12. [0044] Figure 15 shows a compact embodiment of the invention. [0045] Figure 16 shows the embodiment of Figure 15 in a stowed state. [0046] Figure 17 shows the embodiment of Figure 16 being deployed by unclipping the strap clips and removing the base/cover from the rear of the antenna. [0047] Figure 18 shows the rotation of the base/cover as shown removed in Figure 17, to a horizontal orientation to which the base box assembly and hence antenna is coupled. [0048] Figure 19 shows the bottom portion of the base/cover of the compact embodiment of Figure 15. [0049] Figure 20 shows the connector panel on the lower portion of the base box assembly of Figure 15. [0050] Figure 21 shows a basic wiring diagram of the compact embodiment of Figure 15 that includes DC power components. [0051] Figure 22 shows a wiring diagram of the compact embodiment of Figure 15 that includes AC power components. [0052] Figure 23 shows a basic wiring diagram of the compact embodiment of Figure 15 that includes DC power components along with secure communications components. Page 12 of 37 WO 2013/103432 PCT/US2012/060697 [0053] Figure 24 shows a wiring diagram of the compact embodiment of Figure 15 that includes AC power components along with secure communications components. [0054] Figure 25 shows an embodiment of the power conditioning unit and control interface for use with the compact embodiment of Figure 15. [0055] Figure 26 shows the power conditioning unit embodiment of Figure 25, before and after coupling with a battery. [0056] Figure 27 shows a bottom perspective view of the power conditioning unit of Figure 25. [0057] Figure 28 shows a top perspective view of the power conditioning unit of Figure 25. [0058] Figure 29 shows a side view of the usable rotational range of elevation of one or more embodiments of the invention. DETAILED DESCRIPTION OF THE INVENTION [0059] Embodiments of the invention provide a self contained lightweight, collapsible and rugged antenna positioner for use in receiving and transmitting to low earth orbit, geosynchronous and geostationary satellites. In the following exemplary description numerous specific details are set forth in order to provide a more thorough understanding of embodiments of the invention. It will be apparent, however, to an artisan of ordinary skill that the present invention may be practiced without incorporating all aspects of the specific details described herein. Any mathematical references made herein are approximations that can in some instances be varied to any degree that enables the invention to accomplish the function for which it is designed. In other instances, specific features, quantities, or measurements well-known to those of ordinary skill in the art have not been described in detail so as not to obscure the invention. Readers should note that although examples of the invention are set forth herein, the claims, and the full scope of any equivalents, are what define the metes and bounds of the invention. [0060] Fig. 1 shows a top perspective view of an embodiment of the invention in the deployed position. Positioner base 100 may be coupled to the ground or any structure that can adequately support the apparatus. An embodiment with stabilizer leg 117 extended as well as adjustable leg 115 extended is shown in Fig. 1. The legs are optional and if an embodiment comprises legs, they are not required for use but may be used Page 13 of 37 WO 2013/103432 PCT/US2012/060697 individually as required to provide stability based on the exact geography at the deployment site. [0061] Positioner base 100 and positioner support frame 101 may be any geometrical shape although they are roughly shown as rectangular in Fig. 1. Positioner support frame 101 is rotationally mounted on positioner base 100. This rotational mounting allows for altering the azimuth setting of the apparatus. Keypad port 114 and GPS sensor port 116 allow for access to the respective elements housed internal to the positioner base during shipping. Optional or combined use of and control of the apparatus may be accomplished via a PC (not shown). [0062] Collapsible antenna positioner 103 is further described below and in Fig. 4. The collapsible antenna positioner allows for altering the elevation of antenna 102 mounted on antenna mounting plate 222 (as shown in Fig. 2). Beneath antenna mounting plate 222 lies waveguide 104 and LNB 105. Tilt sensor and magnetometer 106 is also coupled with the bottom of antenna mounting plate 222. Tilt sensor and magnetometer 106 is used in order to measure the angle that antenna mounting plate 222 is pointing and determine the direction of North. Pinch paddles 107 and 108, release knobs 112 and 113 are used in order to disengage the positioning arms from antenna mounting plate 222 and elevation motor as will be explained in relation to Fig. 4. Any method of disengagement may be substituted with regards to pinch paddles 107 and 108 and release knobs 112 and 113. [0063] Fig. 2 shows a bottom perspective view of an embodiment of the invention in the deployed position. Stabilizer leg 200 is visible in this figure. The deployment of stabilizer leg 200 is optional as well as is the deployment of stabilizer leg 117 and adjustable leg 115 as shown in Fig. 1. Optional battery compartment 201 allows for battery removal and replacement without disturbing the internal components of positioner base 100. Pinch paddle port 206 allows for operation of the pinch paddles when the apparatus is in the collapsed position. Collapse grooves 203, 204 and 205 allow for the collapsing of collapsible antenna positioner 103 as shown in Fig. 1 by allowing for the disengaging of the respective axles in the associated positioning arms as will be further described in relation for Fig. 4. Page 14 of 37 WO 2013/103432 PCT/US2012/060697 [0064] Fig. 3 shows a perspective view of an embodiment of the positioner base with cover removed to expose internal elements. Normally, positioner base 100 is closed to the external elements so that dust and water are not able to readily enter the apparatus. Microcontroller 300 hosts the control program which reads inputs from keypad 320 and commands azimuth motor 330 to rotate via motor controller 303 to a desired azimuth based on various inputs. Optional motor controller 302 may run the elevation motor in the positioner support frame, or motor controller 303 may comprise a two port motor controller capable of running both motors independently. GPS receiver 324 provides time and position information to microcontroller 300. Drive hub 331 rotates positioner support frame 101 in order to point antenna 102 mounted to antenna mounting plate 222 in the desired azimuth. Optional location for battery 301 may be as shown in Fig. 3, or as was shown in Fig. 2 may lie between motor controller 303 and GPS receiver 324. Optionally, if motor controller 303 comprises two independent ports, then motor controller 302 may be replaced by an optional wireless transceiver to eliminate the need to physically connect to a PC. Any other unused space within positioner base 100 may also be used for external communications such as wireless transceivers. [0065] Fig. 4 shows a close up of collapsible antenna positioner 103 as is partially shown in Figs. 1 and 2. Plate mounts 402, 403 and 404 act to couple antenna mounting plate 222 as shown in Figs. 1 and 2 to positioner arms 110, 111 and 109 respectively. Positioner arms 109 and 110 are not directly coupled to one another. Pinch paddles 107 and 108 act to disengage positioner arms 110 and 111 from associated antenna mounting plate 222 in order to collapse the apparatus. When pinch paddles 107 and 108 are forced together, the common axle is disengaged and slides freely along collapse grooves 204 and 205. Similarly, when release knob 112 is activated, positioner arm 109 is disengaged from the axle associated with release know 112 allowing the axle to freely slide along collapse groove 203 as shown in Fig. 2. When motor release knob 113 is activated, elevation motor 401 and hence worm drive 441 are disengaged from positioner arm 111 allowing the apparatus to fully collapse. [0066] Stiffness in collapsible antenna positioner 103 as shown in Fig. 1 is added via positioner arm plate 118. LNB cutout 400 provides space for LNB 105 when antenna mounting plate 222 collapses in to positioner support frame 101. Frame mounts 405 and Page 15 of 37 WO 2013/103432 PCT/US2012/060697 406 provide rotational mounts for positioner arms 110 and 111. Positioner arm 109 couples to another frame mount that is not shown for ease of illustration. [0067] Fig. 5 shows a perspective view of an embodiment of the invention in the collapsed position. Adjustable leg 115 is folded underneath positioner base 100. Stabilizer leg 117 is folded against the side of positioner base 100. Antenna mounting plate 222 is shown collapsed into positioner support frame 101. The apparatus as shown in Fig. 5 is ready for shipment. [0068] Operation of embodiments of the invention comprises initial physical setup and powered acquisition of a desired satellite. Initial physical setup may comprise extending one or both of stabilizer legs 117 and 200 and in addition, optionally unfolding adjustable leg 115. As adjustable leg 115 may optionally comprise a powered stepper motor for altering the elevation of the apparatus when a satellite is near the zenith to eliminate keyholing. Alternatively, adjustable leg 115 may be manually adjusted. After any desired legs are deployed, pinch paddles 107 and 108 may be asserted in order to extend the associated axle up into the locked position on positioner arms 110 and 111. The opposing side of antenna 102 may then be lifted in order to lock the axle associated with release knob 112 in the extended position in positioner arm 109. When the axle associated with release knob 112 travels the full length of collapse groove 203, release knob 112 is in the locked position and must be asserted in order to release the associated axle and collapse the apparatus. With opposing sides of antenna 102 locked into position, motor release knob 113 is asserted in order to engage worm drive 441 and hence elevation motor 401. For connection based configurations not employing wireless communications, connecting desired communications links to a PC or other communications processor is performed. For configurations dependent upon an external computer, microcontroller 300 is optional so long as motor controller 303 comprises a communications port. As long as the external PC comprises the requisite drivers and satellite orbit calculation programs it may be substituted for microcontroller 300. [0069] After physically deploying the apparatus, keypad port 116 may be accessed in order to operate keypad 320. Operations accessible from keypad 320 comprise acquire, stop, stow and test. Page 16 of 37 WO 2013/103432 PCT/US2012/060697 [0070] Asserting the acquire button and selecting a satellite initiates an orbital calculation that determines the location of a satellite for the time acquired via the GPS receiver. With the latitude and longitude acquired via GPS receiver 324 and the direction North and tilt of the apparatus measured via tilt sensor and magnetometer 106 all of the parameters required to point antenna 102 towards a desired satellite may be achieved. Positioner support frame 101 is rotated to the desired azimuth via drive hub 331, azimuth motor 330 and motor controller 303. Antenna 102 is elevated to the desired elevation via antenna mounting plate 222, plate mounts 402, 403 and 404, positioner arms 110, 111 and 109, worm drive 441 and elevation motor 401. Communications and control lines, not shown for ease of illustration, extend through a center hole in drive hub 331 to and from positioner base 100 and positioner support frame 101. These communications and control lines allow for the control of elevation motor 401 and receipt of down converted satellite signal via LNB 105 and measurement data from tilt sensor and magnetometer 106. For satellite locations near the zenith in the reference frame of the apparatus, an optional stepper motor at the end of adjustable leg 115 may be activated in order to shift the observed zenith of the apparatus away from the desired satellite near the observed zenith in order to prevent keyholing. [0071] Asserting the stop button on keypad 320 stop whatever task the apparatus is currently performing. This button can be activated prior to activating the stow button. The stow button realigns positioner support frame 101 with positioner base 100 and performs a system shutdown. The test button performs internal system tests and may be activated with or without collapsible antenna positioner 103 deployed. These operations may be modified in certain embodiments or performed remotely by an attached PC or over a wireless network in other embodiments. [0072] Fig. 6 shows an isometric view of an embodiment of the invention in the stowed position. Positioner base 600 houses electronic components and mates with antenna housing 601 for compact storage. Positioner base 600 provides access to power switch 602, remote computer Ethernet connector 604, power plug A 606, power plug B 607, LNB RF out 608, data Ethernet connector 605 and day/night/test switch 603. Power plug A 606 and power plug B 607 are utilized for coupling with power sources, batteries and Page 17 of 37 WO 2013/103432 PCT/US2012/060697 solar panels for embodiments without built in receivers. Data Ethernet connector 605 provides internal receiver data for embodiments comprising at least one built in receiver which allows for coupling with external network devices capable of consuming a satellite data stream. In addition, one or more embodiments of the invention may use data Ethernet connector 605 for providing the apparatus with transmission data for transmission to a desired satellite. Day/night/test switch 603 is utilized in order to set the display (shown in Figs. 8-10) to provide for day and night time visual needs while the third position is utilized in order to test the system without deploying antenna housing 601. [0073] Fig. 7 shows an isometric view of the bottom of an embodiment of the invention in the stowed position. Carrying handle 703 may be used to physically move the apparatus. Legs 700, 701 and 702 may form a removable leg system as shown or may independently be mounted to the bottom of positioner base 600. In addition, a stackable module may be coupled to positioner base 600 in order to provide cryptographic, power/battery, router or any other functionality to augment the capabilities of the apparatus. [0074] Fig. 8 shows an isometric view of an embodiment of the invention in the deployed position. Legs 700 and 701 are shown in the deployed position. Bubble level 806 is used to level positioner base 600 in combination with the legs or by placing objects underneath an embodiment of the invention not comprising legs until positioner base 600 is roughly level. The system has no loose parts and requires no tools. Since there are no parts to loose, the system is more robust. The system may include a camouflage bag that encapsulates the system and may be changed from desert to jungle to urban camouflage or black. Many different types of legs may be employed on the system depending on the terrain that the system is to be used in, including but not limited to legs with rubber bottoms, spikes or any other type of bottom, and the legs themselves may be of any type including telescoping or rigid or any other type. Keypad 804 and display 805 are utilized in order to control the apparatus. Also shown is azimuth motor 800 that rotates positioning arm 801 and elevation motor 802 which rotates antenna housing 601 in elevation. In one or more embodiments, antenna housing 601 may be rotated on an axis orthogonal to the plane of antenna housing 601 and may optionally include a third motor, however low power embodiments of the invention allow for the operator of the system to Page 18 of 37 WO 2013/103432 PCT/US2012/060697 manually rotate antenna housing 601 for linear polarized satellite signals. LNB 803 couples with the reverse side of the antenna that is located within antenna housing 601. When opening one embodiment of the invention, positioning arm 801 locks into a vertical position as shown and after selecting a satellite to acquire an internal or external microcontroller rotates azimuth motor 800 and elevation motor 802 based on the GPS position, time and compass orientation of the apparatus. One embodiment of the invention may provide a limited turning range for azimuth motor 800 for example 60 degrees, in order to limit the overall weight of the device by allowing for simpler cable routing and minimizing complexity of the mechanism. Positioner base 600 comprises an indentation shown in the middle of positioner base 600 for housing positioning arm 801, elevation motor 802 and LNB 803 when in the stowed position. The indentation may make use of a hole that allows for environmental elements such as water, dirt, mud, snow or any other objects to drain or fall through the indentation. In addition, the hole may be coupled to the electronic components in order to provide a thermal well for heat management purposes. (See Figure 12). In one or more embodiments, thermal bonding of the electronic components to the upper and lower portions of the positioner base does not comprise a hole. Electronic components internal to positioner base 600 may comprise a microcontroller or computer which hosts a control program which reads inputs from keypad 804 and commands azimuth motor 800 to rotate to a desired azimuth. Positioner base 600 may also comprise a GPS receiver that provides time and position information to the microcontroller. Positioner base 600 and antenna housing 601 may comprise a three axis accelerometer or inclinometer, magnetometer, data receiver and relative signal strength indicator (RSSI) receiver and reports to the microcomputer the signal strength of the signal received and that information is used for the accurate pointing of the antenna. [0075] Using keypad 804, embodiments of the invention may utilize a "one button" or "no button setup" procedure. After opening the system and deploying the antenna in antenna housing 601 and turning the power on, the system determines where it is and if pointed within a general direction of a satellite, requires no button pushes for the system to lock. The system can also perform the no button option so that after power loss and restore, the system re-acquires a satellite. This may occur with no intervention. One button operation may be utilized when the system is not rotated close enough to a satellite for example, where the system may prompt the user to rotate positioner base 600 in one Page 19 of 37 WO 2013/103432 PCT/US2012/060697 direction or the other and assert the acquire button. The prompt may include an "X" to the left or right in display 805 (for example an LED screen) to let the user know to turn positioner base 600 clockwise or counterclockwise for example. Display 600 may also present auto satellite options. For example, the first choice and second choice satellites may be presented to the user based on the band the system is configured for. Based on the location of the antenna on the planet, the user interface shows the operator the most likely satellite that is normally picked. [0076] With regards to saving power and minimizing heat dissipation, algorithms may be employed by the computer housed in positioner base 600, that conserve power may be utilized in one or more embodiments of the invention. [0077] Low power embodiments of the invention employ a limited range of motion in azimuth (e.g., azimuth motor 800 rotates only a portion of 360 degrees) for the antenna positioner which allows the operator to be presented with an "X" in a box of the user interface is display 805. The operator sets the system to point within 60 degrees of a satellite, not 360 degrees. The system then prompts the user with the "X" which is on the left of the box if the operator should rotate the positioner base to the left and the "X" appears on the right side of the box if the operator is to rotate the positioner base to the right. Once the positioner base is within 30 degrees, the operator asserts a button and the system begins to acquire a satellite. Wiring of the system is simplified by sub-360 degree rotation and weight is lowered as well. [0078] The search algorithm utilized by the system may be optimized to search in azimuth and sparsely search in elevation. This is due to the fact that magnetic anomalies are more prevalent than gravitational anomalies. The system looks first in azimuth before elevation (preferential azimuth searching) since that is where the errors are likely found. For example in one embodiment, the search proceeds to do two horizontal scan lines first above the initial point before performing two horizontal scan lines below the initial point. In other words, after the signal peaks, it goes to peak then leaves the raster scan algorithm then uses a box peaking algorithm right and up to a corner, go to a left corner, down to corner and right bottom corner, e.g., 5 measurements. Then the system points to the strongest and does the four corner measurements again. When the four corners of the box Page 20 of 37 WO 2013/103432 PCT/US2012/060697 have equal strength the antenna is positioned correctly and the search algorithm terminates. [0079] In order to further save power, one or more embodiment may allow for the computer to perform tracking at uneven time intervals. For example, when tracking a geosynchronous satellite, e.g., one that move in a figure eight pattern but remains relatively in one general area of the sky, the system can stop tracking the satellite at the top and bottom of the figure eight since motion is relatively slow there. The system can switch to more rapid tracking when the satellite is scheduled to move from the upper to the lower portion of the figure eight since the satellite motion is fast during this period. Conserving power as determined by two-line element (TLE) determined re-peak schedule allows for lower power dissipation and longer battery life. The system may utilize distributed I2C thermal sensors. The sensors may be placed on the electronics boards utilized by the system for example, so the computer can self-monitor the components. [0080] In another power saving embodiment, the computer housed in positioner base 600 performs tracking of the satellites in a manner that may switch between transponder signal and the beacon tracking signal output by a satellite. For example, beacons have a different frequency and are lower power than the data signal of the satellite. The beacons are also omni-directional so the system can find the satellite even if it is not pointed at the system at the time of acquisition. For small low power antennas, the beacon may be to small to detect, so if the data signal via the satellite transponder is on, it can be used to find and lock onto the satellite even if the beacon is too weak to detect. [0081] In order to further save power and time in acquiring satellites, the age of the two line (TLEs) is taken into account in one or more embodiments of the invention by the computer housed in positioner base 600. This is known as Clarke Belt Fallback. For ephemeris data or two line elements (TLEs as used by Nasa), fresh TLE data allows the system to point to the satellite accurately. However, in a couple of weeks, the TLE information is out of date, in a couple of months is actually quite inaccurate. For perfectly stationary satellites on the Clarke belt, i.e., equator, all the system has to know is the longitude to find one of these satellites. The satellites that move have a problem in that a fresh TLE is more accurate than a Clarke Belt longitude, but after 30 days the Page 21 of 37 WO 2013/103432 PCT/US2012/060697 system falls back to the Clarke Belt longitude since it is more accurate after about this time span. Without fresh TLEs, acquisition takes more time and power, but by using the Clarke Belt Fallback, the system can still function. [0082] Fig. 9 shows an isometric view of an embodiment of the invention with the antenna housing at a first azimuth and elevation setting. Antenna housing 601 in this figure is pointed at a satellite midway between the zenith and horizon. Fig. 10 shows an isometric view of an embodiment of the invention with the antenna housing at a second azimuth and elevation setting wherein the satellite is directly above the apparatus at the zenith. One or more embodiments of the control program may search for a desired satellite by scanning along the azimuth as the elevation of the apparatus is generally fairly accurate and wherein the local magnetometer may give readings that are subject to magnetic sources that influence the magnetic field local to the apparatus. [0083] Some embodiments of the invention allow for a quick disconnect for the antenna panel or antenna itself in antenna housing 601. This allows for different satellites having entirely different frequency bands to be acquired with the system. This quick disconnect capability may be implemented by using double pins to hook the antenna or antenna housing 601 to positioning arm 801. By releasing one antenna and attaching another antenna to the positioning arm, a different set of satellites in general may be acquired since some satellites use various frequencies. Linearly polarized satellites, generally commercial satellites may be acquired using a third rotational motor that allows for the antenna to rotate about the axis pointing at a satellite. For low power configurations, this allows for the user to be prompted to rotate the antenna until the strength of the signal is maximized. Low power embodiments therefore do not require a third axis motor. [0084] The system may also employ a failure contingency tree that is utilized by the computer housed in positioner base 600. For example if any portion of the system fails, the system may prompt the user via the display and allow the user to utilize the keypad 804 an attached keyboard to respond to system requests for positioning the system, etc. For example, if the GPS or tilt fails, the system allows the operator to compensate for the error, prompts for entry on keyboard, of the GPS position or to acknowledge that the base is level. In short, the system is configured to ask the user for help is components break. Page 22 of 37 WO 2013/103432 PCT/US2012/060697 [0085] The system may employ tilt compensation via the computer housed in positioner base 600 so that even if positioner base 600 is not level, the scan includes adjustment to elevation motor 802 so that the scan lines are parallel to the horizon as azimuth motor 800 turns so that the scan lines are not parallel to the incline on which the positioner base is situated. The three-axis accelerometer is used to provide tilt measurements in one or more embodiments of the invention. [0086] The system also is capable of manually-assisted linear polarization setting. When aligning the third axis, that is aligning the antenna in antenna housing 601 about an axis orthogonal to the antenna plane for linear polarization, the operator may be prompted for rotating the antenna manually via display 805. This allows for the elimination of a third motor although this motor is optional and may be employed in embodiments that are not power sensitive. The linear polarization axis is the least critical of all of the axial settings, so a little error is acceptable. In addition, the system without a linear polarization axis motor is lower weight. An embodiment using a third axis motor for linear polarization may be manually moved if the motor controller for the linear polarization axis is detected as not working. [0087] The system may also be configured for bump detection and reacquisition via the computer housed in positioner base 600. In this configuration, the system detects when the base or the antenna is bumped and reacquires the satellite. If the satellite signal is still high, then the system returns to a four corner boxing algorithm for example, otherwise the system goes back into half-scan mode where only half the elevation scan lines are checked while checking range of azimuth. With two three-axis accelerometers, one on positioner base 600 and one in antenna housing 601 or coupled with the antenna in antenna housing 601, both may be used for bump detection. [0088] One or more embodiments of the invention allow for a sensor built into changeable antenna or changeable antenna housing 601. For example, a three-axis accelerometer may be built into the changeable antenna or changeable antenna housing 601. In addition, the antenna/housing may be configured with memory in the changeable antenna that is used to notify the system what band the antenna is, so the system does not Page 23 of 37 WO 2013/103432 PCT/US2012/060697 have to perform third axis rotation when not acquiring a satellite that uses linear polarization. For example, if acquiring a Ka band military satellite, the antenna panel is read and based on the fact that the Ka band antenna is being utilized, a whole set of the correct satellites in the correct band may be presented to the user via display 805 wherein some of all of the previous satellites receivable with the previous antenna are no longer presented. An additional tilt sensor may be utilized in the positioner base for crosschecking with antenna. Any redundant positioners may be placed throughout the system in order to provide redundancy and crosschecking capabilities. [0089] The system allows for updating TLEs over the data link acquired. This allows for fresh TLEs to be used in locating and tracking satellites. The broadcasters may be configured to send down TLEs that the system uses to automatically update the local TLEs. After one month, the TLEs are considered old and if the system is powered up, then it may automatically update the TLEs if the acquired satellite is configured to broadcast them. The download of ephemeris data or TLEs may occur before or after two months, or at any time that is convenient as determined by computer house in positioner base 600 or by the operator of the system for example. [0090] One ore more embodiments of the invention provide an Integrated Receiver Decoder (IRD) slot in positioner base 600. An IRD allows for set-top box functionality and may provide channel guide type functionality. The user interface to the IRD may include an IRD lock function that allows for feedback to the user for tracking qualification. If the IRD is integrated into the positioner base, the IRD can provide input to the positioner's computer or a visual display to the user to qualify the satellite as being identified as the desired satellite. In one small area of the sky, there may be five 5 commercial satellites in the field of view, so the system may prompt the user to select Next Satellite to continue looking for the correct satellite via display 805 or the computer may automatically look to the next satellite. [0091] After physically deploying the apparatus, keypad 804 as shown in Figure 8 may be utilized in order to operate the apparatus. Operations accessible from keypad 804 comprise acquire, stop, stow and test and may also include functions for receiving meta data regarding a channel for example a program information such as an electronic Page 24 of 37 WO 2013/103432 PCT/US2012/060697 program guide for a channel or multiple channels. Data received by the apparatus may comprise weather data, data files, real-time video feeds or any other type of data. Data may also include TLEs so that the position information of the satellites is updated. Data may be received on command or programmed for receipt at a later time based on the program information metadata. Keypad 804 may also comprise buttons or functions that are accessed via buttons or other elements for recording a particular channel, for controlling a transmission, for updating ephemeris or TLE data or for password entry, for searching utilizing an azimuth scan or for searching for any satellite within an area to better locate a desired satellite. Any other control function that may be activated via keypad 804 may be executed by an onboard or external computer in order to control or receive or send data via the apparatus. [0092] Asserting the acquire button and selecting a satellite initiates an orbital calculation that determines the location of a satellite for the time acquired via the GPS receiver. With the latitude and longitude acquired via GPS receiver and the direction North and tilt of the apparatus measured via tilt sensor and magnetometer all of the parameters required to point the antenna towards a desired satellite are achieved. Antenna housing 601 is rotated to the desired azimuth via azimuth motor 800. The antenna in antenna housing 601 is elevated to the desired elevation via elevation motor 802. The internal RSSI receiver may also be used in order to optimize the direction that the antenna is pointing to maximize the signal strength. [0093] Asserting the stop button on keypad 804 stops whatever task the apparatus is currently performing. This button can be activated prior to activating the stow button. The stow button realigns positioner arm 801 with positioner base 600 and performs a system shutdown. The test button performs internal system tests and may be activated with or without antenna housing 601 deployed. These operations may be modified in certain embodiments or performed remotely by an attached PC or over a wireless network in other embodiments. [0094] Fig. 11 shows a flowchart depicting the manufacture of one or more embodiments of the invention which starts at 1100 and comprises coupling an antenna with an elevation motor at 1101. Optionally a cover or antenna housing may be coupled with the antenna Page 25 of 37 WO 2013/103432 PCT/US2012/060697 (not shown in Fig. 11 for ease of illustration). At least one positioning arm is then coupled with the elevation motor at 1102. The positioning arm is further coupled with an azimuth motor at 1103. The azimuth motor is then coupled with a positioner base at 1104. The computer is coupled with the positioner base at 1104a. The computer is configured for searching, tracking, bump detection and other functionality when coupled to positioner base, or before or after coupling with positioner base. The positioner base may comprise a hole for allowing environmental elements to fall or leak through the potential well created by the indentation in the base that houses the positioner arm when the antenna housing is closed against the positioner base. The positioner base may optionally comprise a configuration that limits the amount of azimuth travel in order to allow for a smaller or more compact azimuth motor and to cut total weight from the system. The apparatus is delivered to an individual in a configuration that allows for a single person to carry the apparatus at 1105 wherein the manufacture is complete at 1106. [0095] Figure 12 shows an embodiment of the position base configured with a hole to allow for environmental elements to escape and to also manage heat dissipation of the system. The thermally conductive elements do not require use of a hole and the hole is optional in one or more embodiments of the invention. Embodiments of the positioner base may make use of a hole in the base such that water and other environmental elements do not collect in the potential well in the positioner base where the antenna positioning elements are stored. In this embodiment, a thermal well may be employed wherein all of the heat-making components situated in the positioner base, i.e., the electronics utilized by the system, dissipate heat. Thermal well 2001 is shown in the middle of the positioner base. (In this embodiment thermal well 2001 also includes a hole in the middle of it to allow environmental elements to pass through it. Figure 13 shows a close-up of thermal well 2001 (the optional hole can be seen in the middle of thermal well 2001). Figure 14 shows a cross section of thermal well 2001. When seen from the cross section it becomes clear that thermal well 2001 is actually male thermal conductor 2001 which couples with upper positioner base portion 2010 and prevents environmental contamination via O-rings 2003a and 2003b. Female thermal conductor 2002 couples to positioner base bottom 2011. Ring 2013 couples to ground plane 2014 of electronic circuit board 2012. Ground plane 2013 is generally highly conductive both thermally and electrically. The hole in male thermal conductor 2001 is optional. Heat dissipates Page 26 of 37 WO 2013/103432 PCT/US2012/060697 through the composite positioner base upper and bottom portions and allows for the internal components to remain as cool as possible. [0096] Figure 15 shows a compact embodiment of the invention. This embodiment may include all functionality described in relation to any other embodiment disclosed herein, but stows in compact manner as described below. In this embodiment, antenna housing 601 is coupled with LNB 608 and optionally is coupled with digital compass 1501. Antenna housing 601 is rotationally coupled with an embodiment of positioning arm 1503 for rotation in elevation at the top of positioning arm 1503. In one or more embodiments of the invention, elevation motor 802 may optionally be housed in this area of the positioning arm. Antenna housing 601 may attach with antenna brackets 1502 to the elevation rotation axis for example. Antenna positioning arm 1503 rotationally couples with base box 1504 for rotation in azimuth. As with other embodiments of the invention, the elevation and azimuth motors may be placed wherever desired within the assembly so long as they are able to rotate antenna housing 601 in elevation and azimuth. In one or more embodiments all motors and for example any motor controllers may be located within the base box, positioning arm or in any other area of the system and indirectly rotate antenna housing 601 via belts, chains or in any other indirect manner. Base/cover 1505 doubles as a base for the base box and also as a cover for the back of antenna housing 601 when in the stowed position (see Figure 16). Straps 1506 are utilized to strap base/cover 1505 to antenna housing 601 and also to secure base/cover and hence antenna housing 601 to the ground using local materials. Base box 1504 may include I/O ports for electrical power and communications and memory access. Specifically, base box 1504 may include power/data interface 1510, memory access 1511, GPS output and auxiliary output 1512 and RF output 1513 or any other interfaces desired, as one skilled in the art will recognize (see also Figure 20 for a close up view of the interface area of base box 1504). Embodiments of the invention may include a computer physically located anywhere in the components shown in Figure 15, or may electrically or wirelessly couple with an external computer and/or power control unit depending on the intended implementation. [0097] Figure 16 shows the embodiment of Figure 15 in a stowed state. Antenna housing 601 and base box 1504 that are connected via the positioning arm as shown in Page 27 of 37 WO 2013/103432 PCT/US2012/060697 Figure 15 are stowed by placing base/cover 1505 against the rear side of antenna housing 601 and strapping antenna housing 601 to base/cover 1505 with straps 1506. In this compact embodiment, handle 1601 may also be coupled with top strap 1506 to enable carrying the system with one hand. [0098] Figure 17 shows the embodiment of Figure 16 being deployed by unclipping straps 1506 and removing base/cover 1505 from the rear of antenna housing 601. Figure 18 shows the rotation of base/cover 1505 as shown removed in Figure 17, to a horizontal orientation to which base box 1504 and hence antenna housing 601 is coupled. Figure 19 shows the bottom portion of base/cover 1505 along with attachment handle 1901 that is utilized to rotate a bolt for example that couples with a bolt hole on the bottom of base box 1504. Any other method or structure may be utilized to couple base/cover 1505 to base box 1504 depending on the specific requirements of the implementation. [0099] Figure 20 shows the connector panel on the lower portion of base box 1504 of Figure 15. As shown, the exemplary connector panel in this embodiment may include power/data interface 1510 that enables base box to receive power and/or transfer information. In addition, memory access 1511 enables memory cards such as micro SD memory cards or any other type of memory device to be inserted and removed. GPS output and auxiliary output 1512 enables connection of a GPS antenna and transfer of any other desired communication protocol. RF output 1513 enables the output of an RF signal from the antenna. In this compact embodiment of the invention, external devices are utilized to provide power, decode the RF signal and control the compact antenna positioner (see Figs. 21-24). This minimizes the size of the stowed system and enables upgrading external components without altering the contents of the base box for example. Any other connectors or subset of connectors and interfaces may be included or excluded as desired. [00100] Figure 21 shows a basic wiring diagram of the compact embodiment of Figure 15. As shown, the compact embodiment interfaces with external components such as GPS puck 2101 that couples with GPS out and auxiliary output 1512 on base box 1504 (see also Figure 20). One or more embodiments of the invention may utilize internal GPS antennas and components depending on the desired implementation. In addition, external components such as IRD 2110, power control unit 2120, battery 2130 and PC 2140 may Page 28 of 37 WO 2013/103432 PCT/US2012/060697 be coupled with the system. In one embodiment, IRD 2110 couples with the system via RF output port 1513 on base box 1504 via RF cable 2103. IRD 2110 also couples with PC 2140 via Ethernet cable 2104. The system is powered by power control unit 2120, which couples with the system via power/data interface 1510 on base box 1504 via power cable 2102 and which also powers IRD 2110 via power cable 2105. The interface on the power control unit is shown in more detail in Figure 25. The power control unit and/or the computer may be utilized to control the antenna in one or more embodiments of the invention. For example, the interface on the power control unit may also be implemented in software and displayed on a screen on the computer, or any superset or subset of those features may be controlled in any other interface on the computer in other embodiments. [00101] Figure 22 shows a wiring diagram of the compact embodiment of Figure 15 that includes AC power components. Specifically, AC/DC power brick 2201 is utilized as an input to power control unit 2120, which intelligently utilizes power from the AC source before using power from the battery and in one or more embodiments may comprise charging circuitry to recharge one or more battery 2130. Other embodiments may utilize solar panels (not shown for brevity) that also interface with power control unit 2120 and which are prioritized so as to use "infinite" sources first and maximize the amount of time that the system can operate on battery for example. AC power cord 2202 may be utilized to power PC 2140 in AC enabled embodiments. [00102] Figure 23 shows a basic wiring diagram of the compact embodiment of Figure 15 along with secure communications components. Specifically, for secure networking embodiments, encryption device 2301, for example a SECNET 54 Type 1 HAIPE device or any other type of encryption device may be coupled between PC 2140 and IRD 2110, for example via Ethernet cable 2104 and Ethernet cable 2302. Encryption device 2301 may receive power from the power control unit for example. [00103] Figure 24 shows a wiring diagram of the compact embodiment of Figure 15 that includes AC power components along with secure communications components. In this embodiment that also includes encryption device 2301, AC/DC power brick 2201 and AC power cord 2202 may be utilized to provide power to the power control unit and PC respectively (see also Figure 22). Page 29 of 37 WO 2013/103432 PCT/US2012/060697 [00104] Figure 25 shows an embodiment of the power conditioning unit and control interface for use with the compact embodiment of Figure 15. For embodiments of the invention with a limited azimuth range or for power saving modes, left rotate LED 2501 blinks if the base/cover is to be rotated to the left to get the positioner pointed in an azimuth that allows the antenna to be pointed at a particular satellite, and right rotate LED 2501 blinks if the base/cover is to be rotated to the right to get the positioner pointed in an azimuth that allows the antenna to be pointed at a particular satellite. Numerical display 2503 may show mission profile numbers or fault codes or any other numeric information desired. Acquiring source LED 2504 blinks if acquiring a beacon or is solid when acquiring a transponder. System status LED 2505 blinks Red for example on system fault or remains Green and solid when the system is running properly. Input buttons 2506 are used to enter numerical values into the system that may for example be displayed on numerical display 2503. Power button 2507 is used to start the system and may be implemented to shut the system down, for example after holding the button down for a predetermined number of seconds, e.g., 5 seconds. Start stop button 2508 is used to confirm inputs and to stow the system. The start stop button may for example be used as an Enter button when changing profiles to confirm selections and also used to start the system when ready to acquire or stow the system, for example so that the internal motors do not continue to operate. Search acquire LED 2509 blinks during active acquire and is solid when a satellite is acquired. Error status LED 2510 blinks during system recovery and is solid if a satellite is not found. Although the exemplary interface shown contains a fixed layout, any other layout including a virtual layout of LCD layout that is for example programmable with any number of status outputs or input interfaces is in keeping with the spirit of the invention. [00105] Figure 26 shows the power conditioning unit embodiment of Figure 25, before and after coupling with a battery. The left side of the figure shows power conditioning unit 2120 ready to couple downward onto battery 2130 via standard battery connector 2602. The right side of the figure shows power conditioning unit 2120 coupled with battery 2130 via optional bracket 2601 to hold a BB-5590 primary cell or BB-2590 rechargeable battery for example. Page 30 of 37 WO 2013/103432 PCT/US2012/060697 [00106] Figure 27 shows a bottom perspective view of the power conditioning unit of Figure 25. Standard battery connector interface 2701 couples with standard battery connector 2602 shown in Figure 26. [00107] Figure 28 shows a top perspective view of the power conditioning unit of Figure 25. Power ports 2801 may be implemented as bi-directional power ports that are used to interface with external components that are sources or drains of power (see also Figs. 21 24). Any type of power connector desired may be utilized as power ports 2801. [00108] Figure 29 shows a side view of the usable rotational range of elevation of one or more embodiments of the invention. As shown, in one or more embodiments the rotational range in elevation can be up to or even over 180 degrees depending on the length of the element that holds the antenna. Ranges of more than 180 may not be necessary but may be implemented by coupling the elevation axle to the element that holds the antenna that has a finite length. If the length of the element is half the width of the positioning arm and the antenna has a flat back, then the antenna will have 180 degrees of elevation rotation. [00109] Thus embodiments of the invention directed to a Compact Portable Antenna Positioner Apparatus and Method have been exemplified to one of ordinary skill in the art. The claims, however, and the full scope of any equivalents are what define the metes and bounds of the invention. Page 31 of 37

Claims

1. A compact portable antenna positioner system comprising: an antenna with a centrally located pivot point; an elevation motor coupled with said antenna wherein said antenna may rotate in elevation about said centrally located pivot point; at least one positioning arm coupled with said elevation motor at a first end of said positioning arm; an azimuth motor coupled with said at least one positioning arm at a second end of said positioning arm wherein said azimuth motor is configured to rotate in azimuth; a base box comprising said azimuth motor and one or more connectors configured to connect to external components that are external to said base box; a base/cover configured to couple with a rear portion of said antenna and when removed from said antenna to couple with a bottom portion of said base box; and, said antenna configured to store in a stowed position through rotation of said antenna to lie in a plane parrallel to an axis parallel to said at least one positioning arm wherein said rotation is relative to said elevation motor.

2. The compact portable antenna positioner system of claim 1 further comprising: at least one GPS receiver; at least one magnetometer; at least one inclinometer; and, a computer configured to utilize time and position information from said at least one GPS receiver, orientation information from said at least one magnetometer and declination information from said at least one inclinometer in order to align said antenna with a satellite.

3. The compact portable antenna positioner system of claim 1 further comprising: a storage device configured to store a satellite transmission, metadata regarding a satellite transmission, ephemeris data and TLE data.

4. The compact portable antenna positioner system of claim 2 further comprising: Page 32 of 37 WO 2013/103432 PCT/US2012/060697 software configured to execute on said computer by searching in azimuth more than searching in elevation or wherein said computer is configured to utilize Clarke Belt Fallback when TLEs are over an age threshold or wherein said computer is configured to search selectably for a transponder signal or a beacon signal for a satellite.

5. The portable antenna positioner of claim 1 further comprising: a computer configured to align said antenna to point at a satellite; and, a user interface coupled with said computer wherein said computer is configured to place an indicator in said user interface to indicate that said positioner based should be rotated left or right to minimize powered azimuth movement of said antenna.

6. The portable antenna positioner of claim 1 further comprising: a computer configured to align said antenna to point at a satellite; and, a user interface coupled with said computer wherein said computer is configured to prompt an operator to rotate said antenna about the axis orthogonal to a plane in which said antenna lies to correctly align said antenna towards said linearly polarized satellite.

7. The portable antenna positioner of claim 1 further comprising: a computer configured to align said antenna to point at a satellite; and, a user interface coupled with said computer wherein said computer is configured to prompt an operator for a most likely satellite to point for a given location.

8. The portable antenna positioner of claim 1 further comprising: a computer configured to align said antenna to point at a satellite; and, a user interface coupled with said computer wherein said computer is configured to prompt an operator to input information to utilize when a failure of a component occurs.

9. The portable antenna positioner of claim 1 further comprising: a computer configured to align said antenna to point at a satellite; and, Page 33 of 37 WO 2013/103432 PCT/US2012/060697 a tilt compensation element coupled to said computer wherein said computer is configured to adjust said elevation motor so that scan lines are parallel to horizontal and not to an incline to which said position base is tilted.

10. The portable antenna positioner of claim 1 further comprising: a computer configured to align said antenna to point at a satellite; and, a tilt compensation element coupled to said computer wherein said computer is configured to detect when said portable antenna positioner is bumped and reacquire said satellite.

11. The portable antenna positioner of claim 1 further comprising: a computer configured to align said antenna to point at a satellite wherein said computer is configured to search in azimuth first and sparsely search in elevation.

12. The portable antenna positioner of claim 1 further comprising: a computer configured to align said antenna to point at a satellite wherein said computer is configured to search two scan lines in azimuth above an initial location and two scan lines in azimuth below said initial location and then utilize a box search algorithm to point said antenna at a signal peak.

13. The portable antenna positioner of claim 1 further comprising: a computer configured to align said antenna to point at a satellite wherein said computer is configured to search or track said satellite based on either a transponder signal or a beacon signal output by said satellite or both.

14. The portable antenna positioner of claim 1 further comprising: a computer configured to align said antenna to point at a geosynchronous satellite wherein said computer is configured to not track said geosynchronous satellite when said geosynchronous satellite is near a top or bottom of a figure eight pattern and track said geosynchronous satellite when said geosynchronous satellite is scheduled to move from between said top or bottom of said figure eight.

15. A method for utilizing a compact portable antenna positioner system comprising: Page 34 of 37 WO 2013/103432 PCT/US2012/060697 coupling an antenna with an elevation motor wherein said antenna comprises a centrally located pivot point and wherein said antenna is configured for rotation in elevation about said centrally located pivot point when moved by said elevation motor; coupling at least one positioning arm with said an elevation motor at a first end of said positioning arm; coupling said at least one positioning arm with an azimuth motor at a second end of said positioning arm wherein said azimuth motor is configured to rotate in azimuth; coupling said azimuth motor and one or more connectors with a base box; providing a base/cover configured to couple with a rear portion of said antenna and when removed from said antenna to couple with a bottom portion of said base box; and; delivering said antenna, said elevation motor, said at least one positioning arm, said azimuth motor wherein said antenna is configured to store in a stowed position through rotation of said antenna to lie in a plane parrallel to an axis parallel to said at least one positioning arm wherein said rotation is relative to said elevation motor.

16. The method of claim 15 further comprising: locating a satellite using timing and position data from at least one GPS receiver, orientation data from at least one magnetometer, declination data from at least one inclinometer and ephemeris data.

17. The method of claim 15 further comprising: locating a satellite using an RSSI receiver.

18. The method of claim 15 further comprising: receiving data and metadata from said antenna.

19. The method of claim 18 wherein said metadata comprises program information for at least one satellite channel.

20. The method of claim 15 further wherein said computer conserves power by searching in azimuth more than searching in elevation or wherein said computer is configured to utilize Clarke Belt Fallback when TLEs are over an age threshold or Page 35 of 37 WO 2013/103432 PCT/US2012/060697 wherein said computer is configured to search selectably for a transponder signal or a beacon signal for a satellite.

21. The method of claim 15 further comprising: receiving ephemeris data or TLE data from a satellite.

22. The method of claim 15 further comprising: transmitting data via said antenna.

23. The method of claim 15 further comprising: coupling with a module selected from the group consisting of cryptographic module, router module and power module. Page 36 of 37