CN109786966A - The tracking device and its application method of low orbit satellite earth station antenna - Google Patents
The tracking device and its application method of low orbit satellite earth station antenna Download PDFInfo
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- CN109786966A CN109786966A CN201811617761.6A CN201811617761A CN109786966A CN 109786966 A CN109786966 A CN 109786966A CN 201811617761 A CN201811617761 A CN 201811617761A CN 109786966 A CN109786966 A CN 109786966A
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Abstract
The invention discloses a kind of tracking devices of low orbit satellite earth station antenna, comprising: ephemeris forecast unit is connected with is connect with multimedia LEO satellite communications to receive the ephemeris receiver of ephemeris thereon；With the tracing control unit of ephemeris forecast unit communication connection, it is connected with GPS and/or Beidou positioning unit and Inertial Measurement Unit thereon；The servo control unit connecting with tracing control unit communication is provided with the antenna driving assembly and frame assembly matched with earth station antenna.The present invention provides a kind of tracking device of low orbit satellite earth station antenna, it can predict track location information of the satellite within subsequent a period of time by accessing ephemeris forecast unit, and then for guiding earth station antenna to realize capture, tracking, alignment (ATP) to satellite, transition transition of the device to automatic satellite antenna product from high rail to low rail shortens the satellite antenna product transformation lead time with positive impetus.
Description
Technical field
The present invention relates to the tracking and its application of a kind of low orbit satellite earth station antenna used in satellite communication
Method.
Background technique
Mobile communication system based on low orbit satellite has communication delay short, and propagation loss is small, and transmission quality reliably waits spies
Point can form Global coverage by multi-satellite networking, and power system capacity and ground fixed communication network can be at identical number
Magnitude can easily be got a promotion by increasing number of satellite.
It is low with the reduction of the high speed development of China's present mobile communication technology and the maturation of Small Satellite Technology and cost
Orbiter mobile communication system has become the emphasis direction of China's satellite communication development.And develop low cost, high-speed, small
Type, full-automatic, domestic autonomous multimedia LEO satellite communications terminal have a vast market foreground.
And due to the high-speed motion of low orbit satellite, it is dynamic that earth station antenna needs to follow the movement of satellite to be continuously tracked
Make, the beam switchover that reception frequency of carrier signal is also required to follow satellite is changed, and the tracing task of earth station antenna is also wanted
Constantly next satellite is switched to from a star.Earth station antenna needs to be kept for the higher alignment precision moment automatically track
Be aligned used in satellite, and guarantee the continuity communicated within effective time.So low orbit satellite tracking is to earth station day
The tracking accuracy and dynamic characteristic of line require all higher than high rail satellite more.
Low orbit satellite is in the certain tracks away from ground 200~2000km height around earth high-speed cruising, earth station antenna
It needs the movement of servo-actuated satellite and moves, remain the direction of relative satellite；Since multimedia LEO satellite communications use networking
The mode of (constellation) continuously covers the signal of specific region on ground in time to realize, needs more to establish rules by one
The satellite then arranged cooperates.
The characteristics of based on above-mentioned LEO satellite communication systems, earth station antenna, first: needing to keep the company of relative satellite
Continuous, high-precision servo follow-up tracing；Secondly, when carrying out telecommunication satellite switching, it is desirable that antenna can be realized quick be switched to will
The target satellite of alignment, to guarantee the continuity of communication.Therefore, relatively high rail (GEO) satellite of low rail (LEO) satellite communication is logical
Letter, made higher requirement the tracking accuracy and dynamic characteristic of earth station antenna.
Therefore because low orbit satellite, high rail satellite are different relative to the working method presence of earth station antenna, therefore in the prior art
High rail satellite ground station antenna tracking device, can not be applied to low orbit satellite earth station antenna in.
Summary of the invention
It is excellent it is an object of the invention to solve at least the above problems and/or defect, and provide at least to will be described later
Point.
It is a still further object of the present invention to provide a kind of tracking devices of low orbit satellite earth station antenna, can pass through
Access ephemeris forecast unit, according to the location information of satellite moment (or initial time), the Kepler based on planetary motion
Law, predicts track location information of the satellite within subsequent a period of time, and then for guiding earth station antenna to realize to defending
Capture, tracking, the alignment (ATP) of star, transition transition of the device to automatic satellite antenna product from high rail to low rail are shortened
The satellite antenna product transformation lead time has positive impetus.
In order to realize these purposes and other advantages according to the present invention, a kind of low orbit satellite earth station antenna is provided
Tracking device, comprising:
Ephemeris forecast unit is connected with is connect with multimedia LEO satellite communications to receive the ephemeris receiver of ephemeris thereon；
With the tracing control unit of ephemeris forecast unit communication connection, it is connected with GPS and/or Beidou positioning unit thereon
And Inertial Measurement Unit；
The servo control unit connecting with tracing control unit communication is provided with and matches with earth station antenna
Antenna driving assembly and frame assembly；
Wherein, the frame assembly is configured to include the pedestal matched with antenna, and the pedestal is configured as in cone
The double-layer hollow structure of tubular, top, the bottom of the pedestal are respectively arranged with note husky mouth, sand outlet.
Preferably, wherein further include:
The subcarrier tracking unit connecting with tracing control unit communication, communication link are connected to carrier wave or letter wave receiver；
With the position detection unit of servo control unit communication connection.
Preferably, wherein the ephemeris forecast unit, subcarrier tracking unit are respectively arranged on servo control unit
The first CPU, the 2nd CPU, the 3rd CPU matched with tracing control unit；
MCU and controller are provided on the tracing control unit.
Preferably, wherein the antenna driving assembly include the azimuth-drive motor matched with antenna, pitching motor and
Roll motor；
The frame assembly further includes the A/E/R axis frame mechanism of the two axis A/E or three axis that match with antenna；
Wherein, the azimuth-drive motor, pitching motor, roll motor and angle-measuring equipment are configured on institutional framework axis；
The pedestal is configured as in inverted cone-shaped structure, and the peace matched with bottom surface is provided at the top of the pedestal
Dress face, and connected between bottom surface and the edge of mounting surface by being spaced a plurality of rib of pre-determined distance.
A kind of method of application tracking device, comprising:
Step 1, ephemeris forecast unit is according to initial T0The satellite orbit parameter data at moment, by being calculated through t
The satellite orbit coordinate of track after moment is resolved through coordinate conversion to obtain satellite location parameter in terrestrial coordinate system；
Step 2, the current appearance of location parameter and antenna of the tracing control unit based on earth station and satellite t moment
State parsing information is iterated operation, to obtain the real-time direction angle of antenna relative satellite.
Preferably, wherein in step 1, the satellite orbit parameter is received wide by GPS positioning self-position
The satellite information broadcast or mode in being manually entered are held to obtain, and after obtaining the orbit parameter data of satellite initial time
The corresponding axis frame mechanism of row initializes flyback action；
The satellite orbit parameter includes: the semi-major axis a, orbital eccentricity e, orbit inclination angle, track of elliptical orbit
The flat perigee angle M of right ascension of ascending node i, argument of perigee ω, satellite, this 6 parameters jointly define position of the satellite with respect to the earth
It sets；Wherein: a, e, Ω, i define the running track plane of satellite, and ω defines elliptical orientation in orbit plane, and M is advised
The position in satellite relative proximity place is determined
Wherein, real-time flat perigee angle MtCalculation formula it is as follows:
In above formula, μ=3.986005 × 1014m3/s2For Gravitational coefficient of the Earth, fix indicates rounding operation, Mt value model
Enclose for [0 °, 360 °).
Preferably, wherein in step 2, the tracing control unit be based on ephemeris forecast unit will be real-time when
The longitude and latitude parameter for carving satellite and earth station, the cartesian coordinate being converted into terrestrial coordinate system respectively indicates, then passes through following
Calculating process step a~d seek the guidance with star for earth station to calculate the real-time direction angle of antenna；
A, the geodetic coordinates of earth station and satellite is converted into ECEF coordinate system coordinate [X respectivelys,Ys,Zs] and
[Xu,Yu,Zu] indicate:
Wherein, N is radius of curvature in prime vertical, and a is the major semiaxis of ellipsoid；B is the semi-minor axis of ellipsoid,λ, h satellite
Longitude and latitude is high；
B, the vector s that subscriber station is directed toward satellite is indicated in ECEF coordinate system are as follows:
S=[Xs-Xu,Ys-Yu,Zs-Zu]
C, the vector s of calculating subscriber station direction satellite vector l=[X, Y, Z] in geographic coordinate system；
D, the antenna directional angle of subscriber station straight line satellite can be calculated:
Azimuth ψ=arctan2 (z, x)
Pitching angle theta=arcsin (y/n).
Preferably, wherein in step 2, the carrier track of subcarrier tracking unit is configured as using conical scanning
With real-time semaphore value feedback modifiers technology, the stable feedback parameter of high speed is provided a system to；
The carrier wave or letter wave receiver of subcarrier tracking unit carry out real-time reception and tracking to the carrier signal of satellite, adopt
With FPGA channelizing FFT reception technique and technology of frequency tracking, carrier signal is scanned and is tracked, and by carrier wave
Amplitude is acquired and then exports corresponding beacon voltage value AGC；
Tracing control unit is according to the angle of the AGC signal detection satellite drift main beam received, and and inertia measurement
The Real-time Feedback of angle measurement encoder corrects the close loop control circuit to form high stable in unit, to overcome signals transmission more
The general influence for strangling frequency shift effect, tracing control unit are closed according to satellite trajectory, satellite main website, earth station location and relative motion
System, pre- calculating antenna and satellite Doppler shift value make antenna beam begin as the frequency compensation to carrier track receiver
It precisely aligns eventually and tracking satellite.
Preferably, wherein the algorithm flow of semaphore value feedback modifiers technology includes: in real time
S1, the CPU of subcarrier tracking unit are for the present beacon voltage value that receives from carrier wave or letter wave receiver
V1, compared with preceding beacon voltage value V0 carries out first time, if its difference is greater than or equal to predetermined value, amendment terminates, no
Then execute S2~S4；
The value of V1 is given to V0 by S2；
S3 acquires beacon voltage value V2 in real time；
S4 compared with carrying out the value of V2 for the second time with the value of V0, if its difference is greater than or equal to 0, carries out S3, otherwise
Carry out S5~S7；
The position of orientation of V0 is subtracted 0.4o output by S5；
S6 acquires beacon voltage value V3 in real time；
S7, if its difference is greater than or equal to 0, the value of V3 is assigned by the value of V3 compared with the value of V0 carries out third time
To V0, and S5~S7 is executed, otherwise executes S8；
The position of orientation of V3 is added 0.2o to export by S8, and amendment terminates.
Preferably, wherein further include:
Step 3, tracing control unit control itself by servo control unit and complete according to target direction is calculated
The direction of antenna tracks；
Step 4 starts link setup after tracking device locking satellite, initiates access request, and by self-identity information and position
Confidence breath is sent to satellite main website；
Step 5 after main website receives access request, calculates the connection sequence of user's following a period of time, distributes IP address
And channel resource, and tracking device and satellite connected sequence are issued into tracking device；
Step 6, tracking device link setup success, and calculate according to connected sequence future antenna direction in advance, into continuous
Communications status；
Step 7, satellite main station side application software generate business datum, are sent to terminal by WIFI or lan protocol and use
Family, terminal user complete the reception and processing of signal and information, implement service communication.
The present invention is include at least the following beneficial effects: first, the invention proposes a kind of low orbit satellite earth station antennas
Tracking device, the tracing control unit of the device can be (or initial according to the satellite moment by access ephemeris forecast unit
Moment) location information, the Kepler's law based on planetary motion predicts track position of the satellite within subsequent a period of time
Confidence breath, and then for guiding earth station antenna to realize capture, tracking, alignment (ATP) to satellite, the device to defending automatically
Transition transition of the star antenna product from high rail to low rail shortens the satellite antenna product transformation lead time with positive promotion
Effect.
Second, tracking device of the invention uses high-speed computation processor and the module-integrated design of high speed detection, for ground
Stable communication link channel is set up between face station and satellite, it can be achieved that earth station accesses internet by low orbit satellite, in fact
The high band wide data transmissions demands such as existing video conference, voice call, fax, file transmission.
Third, being automatically tracked the present invention also provides a kind of method of application device by low orbit satellite earth station antenna
Software systems, be the key that based on low orbit satellite mobile radio system construction in ground installation component part,
Efficiently, stable antenna is sought star, is designed with star, to star (ATP), and reliable continue can be set up between earth station and satellite
Communication link channel, have seek star quickly, to star stablize, channel signal transmission stablize, can promote the use of vehicle-mounted, boat-carrying,
The LEO satellite communication systems of airborne equal platforms, have extensive engineer application promotional value.
Further advantage, target and feature of the invention will be partially reflected by the following instructions, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Detailed description of the invention
Fig. 1 is the composition schematic diagram of the tracking device of one embodiment of the present of invention medium and low earth orbit satellites earth station antenna；
Fig. 2 is the structural schematic diagram of pedestal in another embodiment of the invention；
Fig. 3 is the modified algorithm schematic diagram of carrier wave in another embodiment of the invention；
Fig. 4 is the algorithm schematic diagram of trace routine in another embodiment of the invention；
Fig. 5 is beacon following principle block diagram in another embodiment of the invention；
Fig. 6 is control principle block diagram in another embodiment of the invention；
Fig. 7 is ephemeris forecast principle procedural block diagram in another embodiment of the invention.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification
Text can be implemented accordingly.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of a other elements or combinations thereof.
Fig. 1-2 shows a kind of way of realization of the tracking device of low orbit satellite earth station antenna according to the present invention,
In include:
Ephemeris forecast unit 1 is connected with is connect with multimedia LEO satellite communications to receive the ephemeris receiver 2 of ephemeris thereon,
For receiving the ephemeris data of satellite transmission, specifically it is made of, receives outer ephemeris forecast unit ephemeris forecast module and CPU
The satellite almanac data that portion is periodically injected, can be with by specific prediction algorithm in conjunction with satellite relevant parameter and moving law
Track location information of the satellite within subsequent a period of time is predicted, resolves satellite with respect to earth station for tracing control unit
Real-time coordinates parameter, the core of this formal apparatus of the present invention of a part；
The tracing control unit 3 communicated to connect with ephemeris forecast unit, mainly by MCU control processor and tracing control
Software composition, MCU can be according to ephemeris forecast data, satellite beacon information, antenna GPS/BD location information, inertia of input
The posture information etc. of unit detection, calculates the direction angle of antenna relative satellite, seeks for guide antenna, with star, connect thereon
There are GPS and/or Beidou positioning unit 4 and Inertial Measurement Unit 5, is used for through GPS and/or Beidou positioning unit to satellite
The positioning to antenna itself in real time is carried out, the inertia in antenna operation process is obtained by Inertial Measurement Unit；
The servo control unit 6 being connect with tracing control unit communication, by controlling CPU, driver, motor, antenna frame
The composition such as mechanism, position detection unit, the direction angle information that CPU is exported according to tracing control unit, driving antenna mechanism turn
It is dynamic, it realizes the real-time control that antenna is directed toward, is provided with the antenna driving assembly 8 and frame matched with earth station antenna 7
Component (not shown), using A/E/R (orientation+pitching+roll) axis frame mechanism group of two axis A/E (orientation+pitching) or three axis
At motor, angle-measuring equipment etc. are mounted in mechanism shaft, load of the radio frequency components such as antenna feed as antenna mechanism；
The signal that servo control unit is issued according to tracing control unit, antenna driving assembly makees corresponding alignment, so that day
Line can be aligned in real time；
Wherein, the frame assembly is configured to include the pedestal 9 matched with antenna, is used to prop up antenna
Support, and installation position is provided, the pedestal is configured as the double-layer hollow structure in cone cylinder shape, is used for the installation position to antenna
It is controlled, so that its structure, volume and quality controllable, top, the bottom of the pedestal are respectively arranged with the husky mouth 10 of note, go out
Husky mouth 11, by infusing the structure setting of husky mouth, sand outlet, so that it is outer in the quality for guaranteeing to install, in transportational process,
Can also be by suitable injection loose sand, so that its quality increases, the stability after installation is more preferable.Using the device of this scheme
It mainly include tracing control unit, ephemeris forecast unit, subcarrier tracking unit, antenna servo control unit, inertial navigation unit etc.
Composition, by device be added ephemeris forecast unit, with adapt to low orbit satellite to star requirement, pass through the knot to pedestal
Structure design, so that it is simple with structure, it is easy for installation, it is readily transported, the controllable benefit of volume mass.Also, it is this
Mode is a kind of explanation of preferred embodiments, and however, it is not limited to this.It in carrying out the present invention, can be according to user's demand
Carry out replacement and/or modification appropriate.
As shown in Figure 1, in another example, further includes:
The subcarrier tracking unit 12 connecting with tracing control unit communication, communication link are connected to carrier wave or letter wave receiver
13 (i.e. beacons or beacon receiver), by receiving satellite beacon signals or beacon signal, shape by beacon or beacon receiver
At space closed loop, to complete high precision tracking；
With the position detection unit 14 of servo control unit communication connection.Using this scheme device by carrier wave with
The cooperation of track unit and position detection unit is accurately positioned the movement angle of antenna, position, has implementable effect
Good, strong operability, adaptability is good, the strong benefit of stability.Also, this mode is a kind of saying for preferred embodiments
Bright, however, it is not limited to this.In carrying out the present invention, replacement and/or modification appropriate can be carried out according to user's demand.
As shown in Figure 1, in another example, the ephemeris forecast unit, subcarrier tracking unit, servo control unit
On be respectively arranged with the first CPU 15, the 2nd CPU 16, the 3rd CPU 17 matched with tracing control unit；
Specific tracing control unit is mainly made of MCU control processor and Tracking Control Software, main control unit according to
Current satellite-orbit information, carrier information, antenna location information, posture information etc., control antenna to satellite carry out precisely with
Track；
Specific servo control unit is made of control CPU, driver, position detection unit and angular encoder, according to
The control information of tracing control unit drives antenna platform, completes the control of position and speed；
Specific carrier track is made of beacon receiver and carrier track CPU, is completed by tracking satellite signal high-precision
Degree tracking；
Specific ephemeris forecast unit is made of ephemeris forecast module and CPU, calculates antenna according to antenna attitude information
Attitude data in geographic coordinate system, is converted by coordinate, and resolving obtains the low rail of antenna axis alignment target in antenna coordinate system
The orientation of satellite, pitching, roll angle-data；
MCU 18 and controller (not shown) are provided on the tracing control unit.Using this scheme device to star
Go through forecast, carrier track, SERVO CONTROL are all made of the single-chip microcontroller of operation independent, effectively alleviate the operation pressure of master cpu
Power, specifically, the present apparatus use high-speed computation processor and the module-integrated design of high speed detection, can be according to satellite
The location information at moment (or initial time), the Kepler's law based on planetary motion predict satellite at subsequent one section
Interior track location information, and then for guiding earth station antenna to realize capture, tracking, alignment (ATP) to satellite, it is
Stable communication link channel is set up between earth station and satellite, it can be achieved that earth station accesses interconnection by low orbit satellite
Net realizes the high band wide data transmissions demands such as video conference, voice call, fax, file transmission, has implementable effect good,
Strong operability, adaptability is good, the benefit of high reliablity.Also, this mode is a kind of explanation of preferred embodiments,
However, it is not limited to this.In carrying out the present invention, replacement and/or modification appropriate can be carried out according to user's demand.
As shown in Figs. 1-2, in another example, the antenna driving assembly includes the orientation electricity matched with antenna
Machine 19, pitching motor 20 and roll motor 21 are used for antenna and convert into three axis orientation, so that its angle energy and low orbit satellite
It matches；
The frame assembly further includes that the A/E/R axis frame mechanism of the two axis A/E or three axis that match with antenna (do not show
Out), it is formed using A/E/R (orientation+pitching+roll) the axis frame mechanism of two axis A/E (orientation+pitching) or three axis, motor,
Angle-measuring equipment etc. is mounted in mechanism shaft, load of the radio frequency components such as antenna feed as antenna mechanism；
Wherein, the azimuth-drive motor, pitching motor, roll motor and angle-measuring equipment are configured on institutional framework axis；
The pedestal is configured as in inverted cone-shaped structure, so that the area of bottom installation position is controllable, and the pedestal
Top is provided with the mounting surface 22 matched with bottom surface, is used to match with the axis frame mechanism of antenna, realizes antenna electrical
Deng installation, and between bottom surface and the edge of mounting surface by be spaced pre-determined distance a plurality of rib 23 connection, be used for
Guarantee structural stability between the two, so that its installation for adapting to different occasions and stability needs.Using this
Scheme has implementable effect good, and adaptability is good, strong operability, the strong benefit of stability.Also, this mode
A kind of only explanation of preferred embodiments, however, it is not limited to this.In carrying out the present invention, it can be carried out according to user's demand
Replacement and/or modification appropriate.
As shown in Fig. 2, the pedestal is configured as rectangular configuration, and its each edge is pivotally connected respectively in another example
There is the fixed part 24 matched, is used to its bottom area can be made to be reduced significantly when not using or transporting, while being suitable for pacifying
The lesser installation scenario of holding position, it is only necessary to which setting matches on the position that mounting surface is matched with fixed part mounting hole
Through-hole is used in installation；
Wherein, at least one mounting hole (not shown) is provided on the fixed part, setting and its phase on the mounting hole
The positioning pin strip or screw (not shown) of cooperation, it is dismountable fixed its role is to carry out quickly pedestal and installation position；
The fixed part is provided with flexible cushion 25 on the position matched with installation position, be used for antenna rotation and
Vibration under external force is removed, so that it adapts to different working environments, more excellent is arranged in bed course
Hollow form is attached between top and bottom sidewall by flexible connection column or the protrusion matched, is effectively gone with shaking to it
It removes, also there is the control surplus of offset vibration, and then guarantee that antenna has metastable operating condition.Had using this scheme
Implementable effect is good, the benefit of strong operability.Also, this mode is a kind of explanation of preferred embodiments, but not
It is confined to this.In carrying out the present invention, replacement and/or modification appropriate can be carried out according to user's demand.
A kind of method of application tracking device, comprising:
Step 1, ephemeris forecast unit is according to initial T0The satellite orbit parameter data at moment, by being calculated through t
The satellite orbit coordinate of track after moment is resolved through coordinate conversion to obtain satellite location parameter in terrestrial coordinate system, low rail
Satellite is different from high rail satellite, and numerous parameters such as longitude, latitude, speed, the eccentricity at each of which moment are a variable,
We cannot directly adopt variable and carry out tracking resolving, and satellite orbit parameter is needed to be converted into ground WGS-84 coordinate system
Parameter, the information such as position time of ephemeris module combination antenna extrapolate satellite in the location information of future time, ephemeris module
Processing and operation orbital data are needed, and constantly corrects and guarantee forecast precision, ephemeris forecast precision is that tracking and capture are defended
The key of star, workflow are specific as follows:
After system boot, progress initial configuration is received by GPS positioning self-position and is manually entered or is broadcasted first
Satellite information, obtain the initial T of satellite0The orbit parameter data at moment, and execute the initialization flyback action of frame mechanism；
It is forecast by ephemeris, obtains the satellite orbit parameter of real time of day, in order to be directed toward for calculating earth station antenna
Angle also needs satellite orbit parameter to be converted into indicating in terrestrial coordinates by the definition in orbital plane；Successively pass through track system coordinate
To earth inertial coordinates system (ECI), ECEF coordinate system (ECEF), then terrestrial coordinate system is arrived, finally, output satellite is on ground
High (LBH) information of longitude and latitude in spherical coordinate system, for calculating the real-time direction angle of antenna relative satellite, this and high rail satellite
Handling principle is consistent with process, is no longer described in detail herein,
Step 2, the current appearance of location parameter and antenna of the tracing control unit based on earth station and satellite t moment
State parsing information is iterated operation, to obtain the real-time direction angle of antenna relative satellite, tracing control unit by program with
Track is this automatically to the common method of star, and system utilizes inertia measurement list to gyro, accelerometer and GPS data real-time sampling
Three inside member add table, three gyro datas to carry out the alignment in certain times and the parsing of real-time posture, are combined solution
It calculates, obtains the posture informations such as orientation, pitching, the roll angle of carrier.And wave beam wider satellite of less demanding for tracking accuracy
Signal, program tracking velocity is very fast, and system realizes simple, the quick initial acquisition easy to accomplish to satellite, but for low rail
For satellite, single program tracking can not be completed precisely to track, and ephemeris forecast accuracy and antenna servo system prolong
Slow property can all seriously affect tracking accuracy.Therefore the tracking alignment of earth station antenna relative satellite is realized using this scheme, it is first
The geographical coordinate position for first needing to know satellite with respect to earth station, and low orbit satellite is different from high rail satellite, opposite ground
Position changes at any time, and the parameters such as longitude, latitude, height of satellite are all variables；For this purpose, being defended relatively calculating earth station
When the direction angle of star, need to calculate satellite first in the geographical coordinate and operating parameter at moment at that time, such as warp, latitude, height
(LBH), the parameters such as speed of service vector, this is also a core key technology of low orbit satellite tracking, ephemeris forecast unit root
According to received initial satellite orbit parameter, Kepler's law and dynamics of orbits model based on planetary motion are calculated, and are predicted
Track location information of the satellite at certain subsequent moment or certain a period of time, and converted by coordinate system, derive satellite on ground
Position coordinate parameters in spherical coordinate system, and then realize ephemeris forecast；This automatic antenna system takes offset and corrects forward
Technology forecasts that input quantity and posture parsing information are iterated operation according to ephemeris, so that antenna is obtained high-precision and precisely align finger
Mark.Good with implementable effect, precision is high, and adaptability is good, the benefit of high reliablity.Also, this mode is
A kind of explanation of preferred embodiments, however, it is not limited to this.In carrying out the present invention, it is appropriate to be carried out according to user's demand
Replacement and/or modification.
In another example, in step 1, the satellite orbit parameter is received wide by GPS positioning self-position
The satellite information broadcast or mode in being manually entered are held to obtain, and after obtaining the orbit parameter data of satellite initial time
The corresponding axis frame mechanism of row initializes flyback action；
The satellite orbit parameter includes: the semi-major axis a, orbital eccentricity e, orbit inclination angle, track of elliptical orbit
The flat perigee angle M of right ascension of ascending node i, argument of perigee ω, satellite, this 6 parameters jointly define position of the satellite with respect to the earth
It sets；Wherein: a, e, Ω, i define the running track plane of satellite, and ω defines elliptical orientation in orbit plane, and M is advised
The position in satellite relative proximity place is determined
Wherein, since in a short time, running track plane, keplerian cllipse orientation and the argument of perigee of satellite change
It is smaller, it determines the real-time angle in satellite relative proximity place in orbit plane, has also determined that the real time position of satellite, therefore,
Ephemeris forecast is carried out, that is, to flat perigee angle MtCalculating, and in real time flat perigee angle MtCalculation formula it is as follows:
In above formula, μ=3.986005 × 1014m3/s2For Gravitational coefficient of the Earth, fix indicates rounding operation, Mt value model
Enclose for [0 °, 360 °).Using this scheme in engineering design application, we are using the pre- push technology of satellite orbit (abbreviation: star
Go through forecast), using the position and speed information at satellite initial time (or certain moment), the Kepler based on planetary motion is fixed
Rule, predicts orbital position and velocity vector information of the satellite within subsequent a period of time, principle process is as shown in fig. 7, have
Implementable effect is good, strong operability, the good benefit of adaptability.Also, this mode is a kind of saying for preferred embodiments
Bright, however, it is not limited to this.In carrying out the present invention, replacement and/or modification appropriate can be carried out according to user's demand.
In another example, in step 2, the tracing control unit be based on ephemeris forecast unit will be real-time when
The longitude and latitude parameter for carving satellite and earth station, the cartesian coordinate being converted into terrestrial coordinate system respectively indicates, then passes through following
Calculating process step a~d seek the guidance with star for earth station to calculate the real-time direction angle of antenna；
A, the geodetic coordinates of earth station and satellite is converted into ECEF coordinate system coordinate [X respectivelys,Ys,Zs] and
[Xu,Yu,Zu] indicate:
Wherein, N is radius of curvature in prime vertical, and a is the major semiaxis of ellipsoid；B is the semi-minor axis of ellipsoid,λ, h satellite
Longitude and latitude is high；
B, the vector s that subscriber station is directed toward satellite is indicated in ECEF coordinate system are as follows:
S=[Xs-Xu,Ys-Yu,Zs-Zu]
C, the vector s of calculating subscriber station direction satellite vector l=[X, Y, Z] in geographic coordinate system；
D, the antenna directional angle of subscriber station straight line satellite can be calculated:
Azimuth ψ=arctan2 (z, x)
Pitching angle theta=arcsin (y/n).
Modularized design is used using the tracking device software of this scheme, passes through the algorithm of such as Fig. 4 and the principle of Fig. 6
Shown in block diagram, realize obtain satellite orbit parameter, in conjunction with pedestal can effectively realize line automatic star-seeking and
Following function has implementable effect good, strong operability, the good benefit of adaptability.Also, this mode is one
The explanation of kind preferred embodiments, however, it is not limited to this.In carrying out the present invention, it can be carried out according to user's demand appropriate
Replacement and/or modification.
In another example, in step 2, the carrier track of subcarrier tracking unit is configured as using conical scanning
With real-time semaphore value feedback modifiers technology, the stable feedback parameter of high speed is provided a system to；
The carrier wave or letter wave receiver of subcarrier tracking unit carry out real-time reception and tracking to the carrier signal of satellite,
Principle is scanned carrier signal as shown in figure 5, use FPGA with channelizing FFT reception technique and technology of frequency tracking
And tracking, and carrier amplitude is acquired to and then is exported corresponding beacon voltage value AGC；
Tracing control unit is according to the angle of the AGC signal detection satellite drift main beam received, and and inertia measurement
The Real-time Feedback of angle measurement encoder corrects the close loop control circuit to form high stable in unit, to overcome signals transmission more
The general influence for strangling frequency shift effect, tracing control unit are closed according to satellite trajectory, satellite main website, earth station location and relative motion
System, pre- calculating antenna and satellite Doppler shift value make antenna beam begin as the frequency compensation to carrier track receiver
It precisely aligns eventually and tracking satellite.Tracking for low orbit satellite, we cannot fully rely on program tracking, time precision, meter
High precision tracking and capture satellite can all be influenced by calculating precision and mechanical response feedback time.Carrier track be built upon program with
On the basis of track, it can quickly judge the offset direction of antenna beam and target source, be a kind of efficient antenna tracking skill
Art.Have implementable effect good using this scheme, strong operability, adaptability is good, is directed at the benefit of high reliablity.
Also, this mode is a kind of explanation of preferred embodiments, and however, it is not limited to this.It in carrying out the present invention, can be according to making
User's demand carries out replacement and/or modification appropriate.
In another example, the algorithm flow of real-time semaphore value feedback modifiers technology includes:
S1, the CPU of subcarrier tracking unit are for the present beacon voltage value that receives from carrier wave or letter wave receiver
V1, compared with preceding beacon voltage value V0 carries out first time, if its difference is greater than or equal to predetermined value, amendment terminates, no
Then execute S2~S4；
The value of V1 is given to V0 by S2；
S3 acquires beacon voltage value V2 in real time；
S4 compared with carrying out the value of V2 for the second time with the value of V0, if its difference is greater than or equal to 0, carries out S3, otherwise
Carry out S5~S7；
The position of orientation of V0 is subtracted 0.4o output by S5；
S6 acquires beacon voltage value V3 in real time；
S7, if its difference is greater than or equal to 0, the value of V3 is assigned by the value of V3 compared with the value of V0 carries out third time
To V0, and S5~S7 is executed, otherwise executes S8；
The position of orientation of V3 is added 0.2o to export by S8, and amendment terminates.Using algorithm flow such as Fig. 3 institute of this scheme
Show, so that its later period computational accuracy is higher, have implementable effect good, stability is good, the benefit of high reliablity.And
And this mode is a kind of explanation of preferred embodiments, however, it is not limited to this.It in carrying out the present invention, can be according to using
Person's demand carries out replacement and/or modification appropriate.
In another example, further includes:
Step 3, tracing control unit control itself by servo control unit and complete according to target direction is calculated
The direction of antenna tracks；
Step 4 starts link setup after tracking device locking satellite, initiates access request, and by self-identity information and position
Confidence breath is sent to satellite main website；Antenna enters the capture rate in airspace to satellite, determines the success rate of antenna automatic tracking,
System single capture rate can't be very high, to improve capture rate for the first time, system while improving ephemeris forecast parameter precision,
In the initial airspace that satellite is flown into, increases low elevation angle conical scanning range and scanning speed, direction along ng a path constantly face upward difference
The time deviation that angle generates is modified, and the acquisition probability for initially seeking star can be improved, and device obtains target satellite track fortune first
Row information calculates the theoretical orientation of low orbit satellite with target satellite ephemeris information, current time by geographical location information, bows
Elevation angle degree and its variation track, device controls antenna and carries out track adjustment according to the time at theoretical pitch angle, then controls day
Line carries out all direction searching, is judged by carrier receiver and signal trace signal strength, realizes automatic star-seeking
Process；
Step 5 after main website receives access request, calculates the connection sequence of user's following a period of time, distributes IP address
And channel resource, and tracking device and satellite connected sequence are issued into tracking device；
Step 6, tracking device link setup success, and calculate according to connected sequence future antenna direction in advance, into continuous
Communications status；
Step 7, satellite main station side application software generate business datum, are sent to terminal by WIFI or lan protocol and use
Family, terminal user complete the reception and processing of signal and information, implement service communication.Present apparatus reality is passed through using this scheme
Showed satellite to star and connection so that its ground-plane antenna station may be directly applied to low orbit satellite, realize data communication, have
The good strong operability of implementable effect, the good benefit of adaptability.Also, this mode is a kind of saying for preferred embodiments
Bright, however, it is not limited to this.In carrying out the present invention, replacement and/or modification appropriate can be carried out according to user's demand.
Number of devices and treatment scale described herein are for simplifying explanation of the invention.To low rail of the invention
The application of the tracking device and its application method of satellite ground station antenna, modifications and variations are to one skilled in the art
It is obvious.
Although the embodiments of the present invention have been disclosed as above, but its institute not only in the description and the implementation
Column use.It can be applied to various suitable the field of the invention completely.For those skilled in the art, can hold
It changes places and realizes other modification.Therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously
It is not limited to specific details and legend shown and described herein.
Claims (10)
1. a kind of tracking device of low orbit satellite earth station antenna characterized by comprising
Ephemeris forecast unit is connected with is connect with multimedia LEO satellite communications to receive the ephemeris receiver of ephemeris thereon；
With the tracing control unit of ephemeris forecast unit communication connection, it is connected with GPS and/or Beidou positioning unit and inertia thereon
Measuring unit；
The servo control unit connecting with tracing control unit communication is provided with the antenna matched with earth station antenna and drives
Dynamic component and frame assembly；
Wherein, the frame assembly is configured to include the pedestal matched with antenna, and the pedestal is configured as in cone cylinder shape
Double-layer hollow structure, top, the bottom of the pedestal are respectively arranged with note husky mouth, sand outlet.
2. the tracking device of low orbit satellite earth station antenna as described in claim 1, which is characterized in that further include:
The subcarrier tracking unit connecting with tracing control unit communication, communication link are connected to carrier wave or letter wave receiver；
With the position detection unit of servo control unit communication connection.
3. the tracking device of low orbit satellite earth station antenna as claimed in claim 2, which is characterized in that the pre- declaration form of ephemeris
Member, subcarrier tracking unit are respectively arranged with the first CPU matched with tracing control unit, second on servo control unit
CPU, the 3rd CPU；
MCU and controller are provided on the tracing control unit.
4. the tracking device of low orbit satellite earth station antenna as described in claim 1, which is characterized in that the antenna driving group
Part includes the azimuth-drive motor matched with antenna, pitching motor and roll motor；
The frame assembly further includes the A/E/R axis frame mechanism of the two axis A/E or three axis that match with antenna；
Wherein, the azimuth-drive motor, pitching motor, roll motor and angle-measuring equipment are configured on institutional framework axis；
The pedestal is configured as in inverted cone-shaped structure, and the mounting surface matched with bottom surface is provided at the top of the pedestal,
And it is connected between bottom surface and the edge of mounting surface by being spaced a plurality of rib of pre-determined distance.
5. a kind of method of application tracking device as described in claim any one of 1-4, which is characterized in that
Step 1, ephemeris forecast unit is according to initial T0The satellite orbit parameter data at moment, by being calculated after t moment
The satellite orbit coordinate of track is resolved through coordinate conversion to obtain satellite location parameter in terrestrial coordinate system；
Step 2, the current posture parsing of location parameter and antenna of the tracing control unit based on earth station and satellite t moment
Information is iterated operation, to obtain the real-time direction angle of antenna relative satellite.
6. the method for application tracking device as claimed in claim 5, which is characterized in that in step 1, the satellite orbit ginseng
The mode in receiving the satellite information of broadcast by GPS positioning self-position or be manually entered is counted to obtain, and is obtaining satellite
After the orbit parameter data of initial time, corresponding axis frame mechanism initialization flyback action is executed；
The satellite orbit parameter includes: that semi-major axis a, orbital eccentricity e, orbit inclination angle, the track of elliptical orbit rise friendship
Point right ascension i, argument of perigee ω, the flat perigee angle M of satellite, this 6 parameters jointly define position of the satellite with respect to the earth；Its
In: a, e, Ω, i define the running track plane of satellite, and ω defines elliptical orientation in orbit plane, and M is defined and defended
The relatively perigean position of star
Wherein, real-time flat perigee angle MtCalculation formula it is as follows:
In above formula, μ=3.986005 × 1014m3/s2For Gravitational coefficient of the Earth, fix indicates rounding operation, and Mt value range is
[0°,360°)。
7. the method for application tracking device as claimed in claim 5, which is characterized in that in step 2, the tracing control list
Member is to be converted into the longitude and latitude parameter of real time of day satellite and earth station in terrestrial coordinate system respectively based on ephemeris forecast unit
Cartesian coordinate indicate, then by calculating process step a~d below, to calculate the real-time direction angle of antenna, for ground
The guidance with star is sought at face station；
A, the geodetic coordinates of earth station and satellite is converted into ECEF coordinate system coordinate [X respectivelys,Ys,Zs] and [Xu,Yu,
Zu] indicate:
Wherein, N is radius of curvature in prime vertical, and a is the major semiaxis of ellipsoid；B is the semi-minor axis of ellipsoid,λ, h are the longitude and latitude of satellite
It is high；
B, the vector s that subscriber station is directed toward satellite is indicated in ECEF coordinate system are as follows:
S=[Xs-Xu,Ys-Yu,Zs-Zu]
C, the vector s of calculating subscriber station direction satellite vector l=[X, Y, Z] in geographic coordinate system；
D, the antenna directional angle of subscriber station straight line satellite can be calculated:
Azimuth ψ=arctan2 (z, x)
Pitching angle theta=arcsin (y/n).
8. the method for application tracking device as claimed in claim 5, which is characterized in that in step 2,
The carrier wave or letter wave receiver of subcarrier tracking unit carry out real-time reception and tracking to the carrier signal of satellite, use
FPGA is scanned carrier signal and is tracked with channelizing FFT reception technique and technology of frequency tracking, and by carrier amplitude into
Row acquires and then exports corresponding signal；
The carrier track of subcarrier tracking unit is configured as using conical scanning and real-time semaphore value feedback modifiers technology, with to
Track control unit provides high speed stable feedback parameter；
Tracing control unit detects the angle of satellite drift main beam, and and Inertial Measurement Unit according to the feedback parameter received
The Real-time Feedback of middle angle measurement encoder corrects the close loop control circuit to form high stable, to overcome signals transmission Doppler's frequency
The influence of effect is moved, tracing control unit is according to satellite trajectory, satellite main website, earth station location and relative motion relation, budget
Antenna and satellite Doppler shift value out keep antenna beam accurate always right as the frequency compensation to carrier track receiver
Quasi- and tracking satellite.
9. the method for application tracking device as claimed in claim 8, which is characterized in that the calculation of real-time semaphore value feedback modifiers technology
Method process includes:
S1, the CPU of subcarrier tracking unit for the present beacon voltage value V1 that is received from carrier wave or letter wave receiver, with
Preceding beacon voltage value V0 carries out first time comparison, if its difference is greater than or equal to predetermined value, amendment terminates, and otherwise executes S2
~S4；
The value of V1 is given on V0 by S2；
S3 acquires beacon voltage value V2 in real time；
S4 compared with carrying out the value of V2 for the second time with the value of V0, if its difference is greater than or equal to 0, carries out S3, otherwise carries out S5
~S7；
The position of orientation of V0 is subtracted 0.4o output by S5；
S6 acquires beacon voltage value V3 in real time；
The value of V3, if its difference is greater than or equal to 0, is given to V0 by the value of V3 compared with the value of V0 carries out third time by S7,
And S5~S7 is executed, otherwise execute S8；
The position of orientation of V3 is added 0.2o to export by S8, and amendment terminates.
10. the method for application tracking device as claimed in claim 5, which is characterized in that further include:
Step 3, tracing control unit control itself by servo control unit and complete antenna according to target direction is calculated
Direction tracking；
Step 4 starts link setup after tracking device locking satellite, initiates access request, and by self-identity information and location information
It is sent to satellite main website；
Step 5 after main website receives access request, calculates the connection sequence of user's following a period of time, distributes IP address and channel
Resource, and tracking device and satellite connected sequence are issued into tracking device；
Step 6, the success of tracking device link setup, and calculate future antenna direction in advance according to connected sequence, into continuous communiction shape
State；
Step 7, satellite main station side application software generate business datum, are sent to terminal user by WIFI or lan protocol, eventually
End subscriber completes the reception and processing of signal and information, implements service communication.
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| CN116374212A (en) * | 2023-05-17 | 2023-07-04 | 北京星网宇达科技股份有限公司 | Satellite orbit correction method and device, computer equipment and storage medium |
| CN116609813A (en) * | 2023-05-17 | 2023-08-18 | 北京星网宇达科技股份有限公司 | Satellite orbit position determining system, method, equipment and storage medium |
| CN116374212B (en) * | 2023-05-17 | 2024-03-29 | 北京星网宇达科技股份有限公司 | Satellite orbit correction method and device, computer equipment and storage medium |
| CN116609813B (en) * | 2023-05-17 | 2024-04-02 | 北京星网宇达科技股份有限公司 | Satellite orbit position determining system, method, equipment and storage medium |
| CN117434885A (en) * | 2023-12-20 | 2024-01-23 | 北京航天驭星科技有限公司 | Satellite communication antenna servo system and control method |
| CN117434885B (en) * | 2023-12-20 | 2024-04-02 | 北京航天驭星科技有限公司 | Satellite communication antenna servo system and control method |
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