CN107783156B - Satellite tracking method - Google Patents
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- CN107783156B CN107783156B CN201710947970.6A CN201710947970A CN107783156B CN 107783156 B CN107783156 B CN 107783156B CN 201710947970 A CN201710947970 A CN 201710947970A CN 107783156 B CN107783156 B CN 107783156B
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 239000011159 matrix material Substances 0.000 claims abstract description 54
- 230000008569 process Effects 0.000 claims abstract description 9
- 230000000750 progressive effect Effects 0.000 claims description 10
- 230000003321 amplification Effects 0.000 claims description 6
- 238000004422 calculation algorithm Methods 0.000 claims description 6
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 238000009795 derivation Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
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- 230000003044 adaptive effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000005388 cross polarization Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
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Abstract
The present invention relates to electromagnetic beams to track field, provides a kind of satellite tracking method, is aligned for realizing the quick tracking of satellite, including：Obtain the directivity factor function of antenna；The Jacobian matrix of the directivity factor function is obtained, the Jacobian matrix is used to determine the angle compensation direction of the antenna；It is obtained by scanning angle of deviation matrix of the antenna relative to satellite, the angle of deviation matrix is used to provide function model to obtain offset angle；The offset angle is obtained according to the directivity factor function, the angle of deviation matrix, the Jacobian matrix, the offset angle is for instructing the antenna to be moved in subsequent time；Offset angle described in dynamic access in the aligning process, and the antenna scanning tracking is constantly adjusted to satelloid according to the offset angle.By acquiring less or lower frequency beam signal data Fast Convergent Satellite Tracking error, high-precision satellite alignment is realized.
Description
Technical field
The present invention relates to electromagnetic beams to track field, more particularly to a kind of satellite tracking method.
Background technology
High-precision acquisition and tracking satellite-signal is always one core index of satellite antenna, and Most current is from motion tracking
Satellite methods are all that can relate to the power level value rssi of hardware parser satellite-signal to do beam signal instruction.Present satellites track
Algorithm is all the simple process to satellite beams signal value, by nearby doing step-scan to carrying out wave beam, search signal maximum point,
As to star foundation, signal processing mode is very simple.There are larger time delays, and error is also big, and precision also waits improving.
Moreover, partial scan mode is only in accordance with reception peak signal position mode is found, this treatment mechanism is for unilateral
Receive there is no problem, but for antenna transmitting also can Shortcomings can not ensure because when Antenna Design and in installation process
Antenna transmitting-receiving wave main lobe axis is completely superposed, while being received and dispatched the inconsistent directivity factor function for also leading to transmitting-receiving wave beam of frequency point and being agreed
It is fixed inconsistent, if simple analysis received signal intensity, does not consider launching beam pattern characteristics, transmitting gain can be influenced
Can, emit cross polarization isolation.
Invention content
Based on this, it is necessary to which, error low for precision is big, has the problems such as time delay, provides a kind of satellite tracking method.
A kind of satellite tracking method, for realizing the rapid alignment of satellite, including：
Obtain the directivity factor function of antenna；
The Jacobian matrix of the directivity factor function is obtained, the Jacobian matrix is used to determine the angle of the antenna
Spend compensation direction；
It is obtained by scanning angle of deviation matrix of the antenna relative to satellite, the angle of deviation matrix is used to mend to obtain
It repays angle and function model is provided；
The offset angle is obtained according to the directivity factor function, the angle of deviation matrix, the Jacobian matrix,
The offset angle is for instructing the antenna to be moved in subsequent time；
Offset angle described in dynamic access in the aligning process, and the antenna is constantly adjusted according to the offset angle and is swept
Tracking is retouched to satelloid.
The step of directivity factor function for obtaining antenna in one of the embodiments, including：
Acquire the direction coefficient data of antenna different frequency range；
The direction coefficient data conversion of the different frequency range is generated into far field direction coefficient data；
Fitting function models fitting corresponding with the antenna is selected to generate direction according to the far field direction coefficient data
Property coefficient function.
The step of direction coefficient data of the acquisition antenna different frequency range in one of the embodiments, including：
Acquire the direction coefficient data that antenna receives frequency range, emits frequency range.
In one of the embodiments, for planar array antenna, the fitting function model is：
Wherein J1(x) it is first-order bessel function,U=[Az El],
Az is by the practical azimuth difference for measuring the antenna obtained in antenna microwave darkroom；El is dark by antenna microwave
The practical pitch angle difference for measuring the antenna obtained in room；H is constant, is automatically generated when passing through Function Fitting；
Directivity factor function D is obtained after the azimuth difference Az and pitch angle difference El are substituted into the function model
(Az,El)；
For reflector antenna, the fitting function model is：
Wherein J1(x) it is first-order bessel function, x=u；U=[Az El]；
Az is by the practical azimuth difference for measuring the antenna obtained in antenna microwave darkroom；El is dark by antenna microwave
The practical pitch angle difference for measuring the antenna obtained in room；H is constant, is automatically generated when passing through Function Fitting；
Directionality system is obtained after the azimuth difference Az of the antenna and pitch angle difference El are substituted into the function model
Number function D (Az, El).
The Jacobian matrix for obtaining the directivity factor function in one of the embodiments, the Jacobi
Matrix is used to determine the step of angle compensation direction of the antenna, including：
Wherein,
Wherein, D (Δ θn) be D (Az, El) another representation.
It is described in one of the embodiments, to be obtained by scanning angle of deviation matrix of the antenna relative to satellite, institute
The step of angle of deviation matrix for acquisition offset angle for providing function model is stated, including：
The actual azimuth difference Az of antenna, pitch angle difference El are obtained by scanning survey, if the angle of deviation matrixThen Δ θ meets：
Wherein,For angle of deviation angular velocity matries,Derivation for Δ θ to the time；H=ω K, H are constant coefficient；Its
Middle Gk (rssi) is scanning range function, and size is determined by antenna beam signal value rssi value；KAz、KElFor scanning ratio coefficient.
The scanning range function Gk (rssi) is according to PI Filter Principles in one of the embodiments,：
Wherein, GknIndicate the output valve of n-th Gk (rssi) function；rssimaxIt it is one normal for a calculated value
Number；rssin、rssikThe collection value of n-th, kth time rssi are indicated respectively；Kp is rate mu-factor；Ki is integral amplification system
Number；
Wherein, spiral progressive scan is carried out by changing the size of the scanning range value of scanning range function automatically.
In one of the embodiments, it is described according to the directivity factor function, the angle of deviation matrix, it is described it is refined can
The offset angle is obtained than matrix, the offset angle is used to that the antenna to be instructed to carry out mobile step in subsequent time,
Including：
The offset angle
Wherein,
For the intermediate variable of calculating；Δθn-1For the angle of deviation matrix value at n-1 moment；rssinFor n-th rssi's
Collection value；For Jacobian matrix；D (Az, El) is actual direction property coefficient function；Δ t is algorithm iteration
Period；β is to adjust step-length, different for the value of different types of antenna β.
Offset angle described in the dynamic access in the aligning process in one of the embodiments, and according to the benefit
It repays angle and constantly adjusts the step of antenna scanning tracking is to satelloid, including：
According to the offset angle constantly adjust the antenna azimuth difference Az and pitch angle difference El spirals it is progressive
Scan tracing is to satelloid；
Wherein, spiral progressive scan is carried out by changing the size of the scanning range value of scanning range function automatically,
The scanning range function Gk (rssi) is according to PI Filter Principles：
Wherein, GknIndicate the output valve of n-th Gk (rssi) function, i.e. scanning range value；rssimaxFor a theoretical meter
Calculation value is a constant；rssin、rssikThe collection value of n-th, kth time rssi are indicated respectively；Kp is rate mu-factor；Ki
To integrate amplification coefficient；
Wherein, it is indicated by the signal quality of satellite receiver to determine whether to satelloid.
Above-mentioned satellite tracking method, by acquiring less or lower frequency beam signal data Fast Convergent Satellite Tracking
Error, by constantly obtaining offset angle come real-time tracking to satelloid, to improve the precision and wave beam of satellite alignment
The precision of tracking, reduces time delay and error.It can be suitable for the demand of various satellite beams tracking very well simultaneously.It makes full use of
Existing hardware conditional resources are thereby reduced without adding extras device to servomechanism and posture inertial navigation system
The dependence of precision.
Description of the drawings
Fig. 1 is the satellite tracking method flow chart in an example；
Fig. 2 is the flow chart for the directivity factor function that antenna is obtained in an embodiment.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Fig. 1 is the satellite tracking method flow chart of an embodiment.The satellite tracking method for realizing satellite it is quick with
Track is aligned, and includes the following steps S100~S500.
Step S100 obtains the directivity factor function of antenna.
The directivity factor of antenna is specifically defined as to indicate the concentrated radiation degree of antenna：In total radiant power
In the case of identical, antenna greatest irradiation direction radiosity and homogeneous radiation the direction radiosity
Ratio.The directivity factor of antenna is exactly the directivity factor function of antenna in fact.Wherein, first according to different antennae type
Theoretic calculating is carried out, in combination with the pattern data of the antenna obtained by the test of antenna microwave darkroom, will be got
Pattern data by the method for average synthesize a directional diagram.The directivity factor that regression fit generates one is carried out to direction figure
Function.
As shown in Fig. 2, be the generating process of the directivity factor function of antenna in one embodiment, including：
Step S110 acquires the direction coefficient data of antenna different frequency range.
Specifically, in one embodiment, the direction coefficient data that acquisition antenna receives frequency range, emits frequency range.
Such as ka satellite antennas, it is assumed that it is 18.7~19.2 to receive frequency range, and transmitting frequency range is 29.5~30.0.It is connecing
Receive therefrom 10 frequency points of extracted at equal intervals in frequency range.Therefrom 10 frequency points of extracted at equal intervals in transmitting frequency range.In antenna microwave
20 groups of pattern datas corresponding to this 20 frequency points are acquired in darkroom respectively.Certainly, this acquisition mode does not limit, also
It according to practical operation and can need to carry out data acquisition to different satellite antennas.
The direction coefficient data conversion of the different frequency range is generated far field direction coefficient data by step S120.
Specifically, in one embodiment, the direction coefficient data conversion that collected antenna is received to frequency range generates far
Field direction coefficient data；The direction coefficient data conversion that collected antenna is emitted to frequency range generates far field direction coefficient data.
Step S130 selects fitting function models fitting corresponding with the antenna according to the far field direction coefficient data
Generate directivity factor function.
Specifically, in one embodiment, for planar array antenna, the fitting function model is：
Wherein J1(x) it is first-order bessel function, Bessel function Jα(x) be a kind of special function mathematically general name.
Bessel function is the solution of Bessel equation.The Bessel function usually concentrated the talk of refers to Bessel function of the first kind.Bessel function
Concrete form change with arbitrary real number α in Bessel equation and change that (correspondingly, α is referred to as it and corresponds to Bessel function
Exponent number).It is Integer n that most common situation, which is α, in practical application, and homographic solution is known as n rank Bessel functions.J1(x) when to be n be 1
The solution of corresponding Bessel equation.
Herein, in Bessel functionU=[Az El], u are an one-dimensional array, packet
Containing two angle values, a H deviations of directivity angle, a V deviations of directivity angle.
Wherein, Az is by the practical azimuth difference for measuring the antenna obtained in antenna microwave darkroom；El is to pass through antenna
The practical pitch angle difference for measuring the antenna obtained of microwave dark room；H is constant, is automatically generated when passing through Function Fitting；
Directivity factor function D is obtained after the azimuth difference Az and pitch angle difference El are substituted into the function model
(Az, El), D (Az, El) are the function of one two input.
For reflector antenna, the fitting function model is：
Wherein J1(x) it is first-order bessel function, x=u；U=[Az El]；U is an one-dimensional array, including two angles
Angle value, a H deviations of directivity angle, a V deviations of directivity angle, it is to be understood that be u=[Az El],
Az is by the practical azimuth difference for measuring the antenna obtained in antenna microwave darkroom；El is dark by antenna microwave
The practical pitch angle difference for measuring the antenna obtained in room；H is constant, is automatically generated when passing through Function Fitting；
Directionality system is obtained after the azimuth difference Az of the antenna and pitch angle difference El are substituted into the function model
Number function D (Az, El), D (Az, El) are the function of one two input.
Step S200 obtains the Jacobian matrix of the directivity factor function, and the Jacobian matrix is for determining institute
State the angle compensation direction of antenna.
Specifically, carrying out partial differential derivation to the directivity factor function got, Jacobian matrix is obtained, can be passed through
Following equation obtains Jacobian matrix：
Wherein,
Wherein, D (Az, El) is the actual direction coefficient function that simulation generates, D (Δ θn) be D (Az, El) another table
Show form, it will be understood that D (Δ θn)=D (Az, El).
Step S300, is obtained by scanning angle of deviation matrix of the antenna relative to satellite, and the angle of deviation matrix is used
In for obtain offset angle function model is provided.
Specifically, in one embodiment, it is obtained by scanning angle of deviation matrix of the antenna relative to satellite, it is described
Angle of deviation matrix is used to provide function model to obtain offset angle；The actual azimuth difference of antenna is obtained by scanning survey
Az, pitch angle difference El；If the angle of deviation matrixThen Δ θ meets：
Wherein, Δ θ andAlgorithm be according to the popularization and application of madgwick algorithms, hereinFor angle of deviation angle speed
Matrix is spent,Derivation for Δ θ to the time；H=ω K, H are constant coefficient, and ω is the angular speed of satellite；
Wherein, Gk (rssi) is the scanning range function of antenna, and size is determined by antenna beam signal value rssi value；KAzFor
The scanning ratio coefficient at azimuth deviation angle, KElFor the scanning ratio coefficient at pitch deviation angle, the size of scanning ratio coefficient according to
The type of antenna determines.
In one embodiment, scanning range function Gk (rssi) is according to PI Filter Principles：
Wherein, GknIndicate the output valve of n-th Gk (rssi) function；rssimaxIt it is one normal for a calculated value
Number；rssin、rssikThe collection value of n-th, kth time rssi are indicated respectively；According to PI Filter Principles, Kp is ratio enlargement system
Number；Ki is integral amplification coefficient；
Wherein, by changing the scanning range value Gk of scanning range function automaticallynSize carry out spiral progressive scan.
Step S400, according to the directivity factor function, the angle of deviation matrix, Jacobian matrix acquisition
Offset angle, the offset angle is for instructing the antenna to be moved in subsequent time.
The offset angle is obtained according to the directivity factor function, the angle of deviation matrix, the Jacobian matrix,
The offset angle is for instructing the antenna to be moved in subsequent time.By the directivity factor function got, deviation
Angular moment battle array, Jacobian matrix, which substitute into formula, obtains offset angle, further, can obtain compensation angle with formula below
Degree：
Offset angle
Wherein,
For the intermediate variable of calculating；Δθn-1For the angle of deviation matrix value at n-1 moment；rssinFor n-th rssi's
Collection value；For Jacobian matrix；D (Az, El) is actual direction property coefficient function；Δ t is algorithm iteration
Period；β is to adjust step-length, different for the value of different types of antenna β.
Wherein, current time is the n-1 moment, here Δ θn-1Value by actually measuring, and according to Δ θn-1
Value obtain Δ θnValue for instructing antenna to be carried out mobile angle in subsequent time.
Step S500, offset angle described in dynamic access in the aligning process, and constantly adjusted according to the offset angle
The antenna scanning tracking is to satelloid.
Specifically, in one embodiment, offset angle described in dynamic access in the aligning process, and according to the compensation
Angle constantly adjusts the antenna scanning tracking to satelloid.During alignment, since satellite is moving in real time, so needing
Offset angle is obtained in real time according to the movement of satellite, the azimuth difference Az and pitch angle difference El to adjust antenna come
Further tracking is to satelloid.Wherein, spiral progressive scan is used to the scan mode of satellite, by changing scanning model automatically
Enclose the size of the scanning range value of function to carry out spiral progressive scan,
The scanning range function Gk (rssi) is according to PI Filter Principles：
Wherein, GknIndicate the output valve of n-th Gk (rssi) function, i.e. scanning range value；rssimaxFor a theoretical meter
Calculation value is a constant；rssin、rssikThe collection value of n-th, kth time rssi are indicated respectively；Kp is rate mu-factor；Ki
To integrate amplification coefficient；
Wherein, it is indicated by the signal quality of satellite receiver to determine whether to satelloid.Specifically, ought receive
When signal strength instruction reaches 70%~80%, illustrate antenna to the general orientation of satelloid, when signal quality is left up to 40%
The right side illustrates to determine whether to satelloid satelloid by the eb/n0 values size of such as signal.
Above-described embodiment takes first a wide range of signal scanning to make antenna substantially to upper satellite beams, then passes through darkroom mould
It is quasi- to obtain directivity factor function, determine that angle is mended in such a way that directional coefficient function solves partial differential function later
Direction and offset angle are repaid, realizes spiral progressive scan by changing scanning range value so that antenna may be implemented quickly
Tracking improves the precision of antenna beam direction to satelloid；It simultaneously can be according to different dynamic characteristic adjust automaticallies
The offset angle of antenna, with adaptive satellite；Existing hardware resource is made full use of, without additional addition apparatus, is also reduced
Dependence of the tracking accuracy to servo-drive system and posture inertial navigation system.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Cannot the limitation to the scope of the claims of the present invention therefore be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (9)
1. a kind of satellite tracking method is aligned for realizing the quick tracking of satellite, which is characterized in that including：
Obtain the directivity factor function of antenna；
The Jacobian matrix of the directivity factor function is obtained, the Jacobian matrix is used to determine that the angle of the antenna to be mended
Repay direction；
It is obtained by scanning angle of deviation matrix of the antenna relative to satellite, the angle of deviation matrix is used to obtain compensation angle
Degree provides function model；
The offset angle is obtained according to the directivity factor function, the angle of deviation matrix, the Jacobian matrix, it is described
Offset angle is for instructing the antenna to be moved in subsequent time；
Offset angle described in dynamic access in the aligning process, and according to the offset angle constantly adjust the antenna scanning with
Track is to satelloid.
2. satellite tracking method according to claim 1, which is characterized in that the directivity factor function for obtaining antenna
The step of, including：
Acquire the direction coefficient data of antenna different frequency range；
The direction coefficient data conversion of the different frequency range is generated into far field direction coefficient data；
Fitting function models fitting corresponding with the antenna is selected to generate directionality system according to the far field direction coefficient data
Number function.
3. satellite tracking method according to claim 2, which is characterized in that the direction system of the acquisition antenna different frequency range
The step of number data, including：
Acquire the direction coefficient data that antenna receives frequency range, emits frequency range.
4. satellite tracking method according to claim 2, which is characterized in that
For planar array antenna, the fitting function model is：
Wherein J1(x) it is first-order bessel function,U=[Az El],
Az is by the practical azimuth difference for measuring the antenna obtained in antenna microwave darkroom；El is by antenna microwave darkroom reality
Border measures the pitch angle difference of the antenna obtained；H is constant, is automatically generated when passing through Function Fitting；
The azimuth difference Az and pitch angle difference El is substituted into after the function model obtain directivity factor function D (Az,
El)；
For reflector antenna, the fitting function model is：
Wherein J1(x) it is first-order bessel function, x=u；U=[Az El]；
Az is by the practical azimuth difference for measuring the antenna obtained in antenna microwave darkroom；El is by antenna microwave darkroom reality
Border measures the pitch angle difference of the antenna obtained；H is constant, is automatically generated when passing through Function Fitting；
Directivity factor letter is obtained after the azimuth difference Az of the antenna and pitch angle difference El are substituted into the function model
Number D (Az, El).
5. satellite tracking method according to claim 4, which is characterized in that the acquisition directivity factor function
The step of Jacobian matrix, the Jacobian matrix is used to determine the angle compensation direction of the antenna, including：
Wherein, For a matrix；
Wherein, D (Δ θn) be D (Az, El) another representation；Az is to be obtained by practical measure in antenna microwave darkroom
The azimuth difference of antenna；El is by the practical pitch angle difference for measuring the antenna obtained in antenna microwave darkroom.
6. satellite tracking method according to claim 1, which is characterized in that described to be obtained by scanning the antenna opposite
In the angle of deviation matrix of satellite, the angle of deviation matrix is used to obtain the step of offset angle provides function model, including：
The actual azimuth difference Az of antenna, pitch angle difference El are obtained by scanning survey, if the angle of deviation matrixThen Δ θ meets：
Wherein,For angle of deviation angular velocity matries, ωAzFor azimuth angular speed, ωElFor pitch angle angular speed；HEl=ω KEl,
HAz=ω KAz；HEl、HAzFor constant coefficient；Wherein Gk (rssi) is scanning range function, and size is by antenna beam signal value rssi
Value determines；KAz、KElFor scanning ratio coefficient.
7. satellite tracking method according to claim 6, which is characterized in that scanning range function Gk (rssi) foundation
PI Filter Principles：
Wherein, GknIndicate the output valve of n-th Gk (rssi) function；rssimaxIt is a constant for a calculated value；
rssin、rssikThe collection value of n-th, kth time rssi are indicated respectively；Kp is rate mu-factor；Ki is integral amplification coefficient；
Wherein, spiral progressive scan is carried out by changing the size of the scanning range value of scanning range function automatically.
8. satellite tracking method according to claim 1, which is characterized in that it is described according to the directivity factor function,
The angle of deviation matrix, the Jacobian matrix obtain the offset angle, and the offset angle is for instructing the antenna to exist
Subsequent time carries out mobile step, including：
The offset angle
Wherein,
For the intermediate variable of calculating；ΔθnFor offset angle value；Δθn-1For the angle of deviation matrix value at n-1 moment；
For the angle of deviation angular velocity matries value at n-1 moment；rssinFor the collection value of n-th rssi；For Jacobi
Matrix；D (Az, El) is actual direction property coefficient function；Δ t is the algorithm iteration period；β is to adjust step-length, for different type
Antenna β value it is different.
9. satellite tracking method according to claim 1, which is characterized in that described in the dynamic access in the aligning process
Offset angle, and the step of antenna scanning tracking is to satelloid is constantly adjusted according to the offset angle, including：
The azimuth difference Az and pitch angle difference El spiral progressive scans of the antenna are constantly adjusted according to the offset angle
Tracking is to satelloid；
Wherein, spiral progressive scan is carried out by changing the size of the scanning range value of scanning range function automatically
The scanning range function Gk (rssi) is according to PI Filter Principles：
Wherein, GknIndicate the output valve of n-th Gk (rssi) function, i.e. scanning range value；rssimaxFor a calculated value,
For a constant；rssin、rssikThe collection value of n-th, kth time rssi are indicated respectively；Kp is rate mu-factor；Ki is product
Divide amplification coefficient；
Wherein, it is indicated by the signal quality of satellite receiver to determine whether to satelloid.
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| CN107783156B (en) * | 2017-10-12 | 2018-10-12 | 深圳市华讯方舟空间信息产业科技有限公司 | Satellite tracking method |
| CN110377929B (en) * | 2019-05-30 | 2023-04-18 | 中国人民解放军63921部队 | Method and apparatus for correcting three-axis antenna pointing |
| CN110380770B (en) | 2019-06-10 | 2021-07-06 | 浙江大学 | Self-adaptive satellite alignment method for low-orbit mobile satellite communication network |
| CN114942441B (en) * | 2022-07-21 | 2022-10-21 | 中国科学院空天信息创新研究院 | Progressive scanning terrain observation mode scanning parameter determination method |
| CN115833919B (en) * | 2023-02-14 | 2023-06-06 | 鹏城实验室 | Inter-satellite laser link rapid networking method based on iterative learning and related equipment |
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| CN107783156A (en) | 2018-03-09 |
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