CN111487654B - Scanning method and system for satellite ground equipment to quickly search satellites - Google Patents
Scanning method and system for satellite ground equipment to quickly search satellites Download PDFInfo
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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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- 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
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/258—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view
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Abstract
The invention provides a scanning method and a system for rapidly searching satellites by satellite ground equipment, which are applied to the satellite ground equipment and comprise the following steps: acquiring a target equipment error of the satellite ground equipment, wherein the target equipment error comprises at least one of the following: positioning error of the satellite ground equipment, orientation error of the satellite ground equipment and time error of the satellite ground equipment; acquiring a satellite ephemeris of a satellite to be searched; determining a target scanning range for searching a satellite to be searched based on the target equipment error and the satellite ephemeris; and executing scanning operation in the target scanning range until the scanning is finished by receiving the signaling of the satellite to be searched. The invention solves the technical problem that the scanning range can not be dynamically adjusted according to the error changes of positioning, orientation and time of the satellite ground equipment in the prior art.
Description
Technical Field
The invention relates to the technical field of satellite communication, in particular to a scanning method and a scanning system for rapidly searching satellites by satellite ground equipment.
Background
The satellite communication system comprises a satellite system and a ground system, wherein the satellite system and the ground system are communicated through an antenna, and for the ground system, a process of changing the direction of the antenna to align with the satellite is a process of capturing the satellite, and is the basis of the development of services. The satellite ground equipment should quickly capture the satellite within a certain time to ensure the quick development of the service. Since the satellite-based device has errors in positioning, orientation, and time when acquiring the satellites, the satellite-based device must perform a global scan in conjunction with ephemeris in the area where the satellites may be present. On the basis, in order to shorten the scanning time, the range of the scanning area of the satellite ground equipment is adjusted according to the current situation of the satellite ground equipment.
The satellite ground equipment for rapidly acquiring the satellite is mainly limited by the following three errors.
(1) Satellite ground equipment positioning error
Because the earth is in an ellipsoidal shape and the datum planes of the station center coordinate systems at different ground positions are different, the longitude and latitude errors of the positioning of the satellite ground equipment can cause the station center coordinate system errors of the satellite ground equipment, and further cause the coordinate errors of the satellite after the earth is fixedly connected with the coordinate system and converted into the station center coordinate system.
(2) Satellite ground equipment orientation error
Similar to the positioning error of the satellite ground equipment, if there is an error in the orientation of the coordinate axis of the station center coordinate system of the satellite ground equipment (i.e., there is an error in the orientation of the satellite ground equipment), it also causes a coordinate error of the satellite in the station center coordinate system.
(3) Error in time
Satellite ephemeris is used to describe the space-flight-body position and velocity at a particular time. If there is an error in time, then there will also be an error in the satellite positions obtained by the satellite ground equipment from the ephemeris. Time error is also one of the main sources of satellite position error.
In recent years, scanning strategies for satellite terrestrial devices have been proposed and continuously optimized, such as progressive scanning, rectangular scanning, helical scanning, line-by-line helical scanning, and the like. However, when the satellite ground equipment searches for a satellite, the conventional method cannot dynamically adjust the scanning range according to the error changes of positioning, orientation and time existing in the satellite ground equipment.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a scanning method and system for a satellite ground device to search for a satellite quickly, so as to alleviate the technical problem in the prior art that the scanning range cannot be adjusted dynamically according to the error changes of positioning, orientation and time of the satellite ground device.
In a first aspect, an embodiment of the present invention provides a scanning method for a satellite ground device to quickly search for a satellite, where the scanning method is applied to the satellite ground device, and includes: acquiring a target device error of a satellite ground device, wherein the target device error comprises at least one of the following: positioning error of the satellite ground equipment, orientation error of the satellite ground equipment, and time error of the satellite ground equipment; acquiring a satellite ephemeris of a satellite to be searched; determining a target scanning range of the satellite to be searched based on the target equipment error and the satellite ephemeris; and executing scanning operation in the target scanning range until the signaling of the satellite to be searched is received to finish scanning.
Further, performing a scanning operation within the target scanning range, including: and scanning the target scanning range in a spiral outward scanning mode by taking the center of the target scanning range as a starting point.
Further, determining a target scanning range for searching the satellite to be searched based on the target device error and the satellite ephemeris, including: determining a first coordinate of the satellite to be searched under an earth fixed connection coordinate system based on the satellite ephemeris; obtaining a second coordinate of the satellite to be searched under the station center coordinate system based on a preset coordinate system rotation matrix and the first coordinate; determining a target scanning radius based on the preset coordinate system rotation matrix and the target equipment error; and determining a circular range with the second coordinate as the circle center and the target scanning radius as the radius as a target scanning range for searching the satellite to be searched.
Further, the expression of the preset coordinate system rotation matrix is as follows:
wherein omega is the ascension of the ascending intersection point, B is the latitude of the satellite ground equipment,
indicating rotation of the current coordinate system about the Z-axis
The rotation matrix of (a) is,
indicating rotation of the current coordinate system about the X-axis
The rotation matrix of (2).
Further, determining a target scanning radius based on the preset coordinate system rotation matrix and the target device error, including: respectively determining scanning radiuses corresponding to unit positioning errors, unit orientation errors and unit time errors based on the preset coordinate system rotation matrix; by the formula: r ═ rax+rby+rcz, calculating the target scanning radius; wherein r is the target scanning radius, raRepresents the scanning radius, r, corresponding to the unit positioning errorbRepresenting the scanning radius, r, corresponding to a unit orientation errorcThe scanning radius corresponding to the unit time error is represented, x represents the positioning error of the satellite ground equipment, y represents the orientation error of the satellite ground equipment, and z represents the time error of the satellite ground equipment.
Further, performing a scanning operation within the target scanning range, including: determining the satellite orbit of the satellite to be searched based on the satellite ephemeris; determining the antenna type for scanning the satellite to be searched based on the satellite orbit; determining a trajectory of a target helix based on the antenna type; and scanning the target scanning range according to the track of the target spiral line by using the target antenna matched with the antenna type.
Further, determining a trajectory of a target helix based on the antenna type includes: determining a pitch of a target helix based on the antenna type; determining the track of the target spiral line by the formula rho ═ a θ and the formula d ═ 2 π a; and p is the polar diameter of the target spiral line, theta is the polar angle of the target spiral line, a is a positive parameter, and d is the thread pitch of the target spiral line.
In a second aspect, an embodiment of the present invention further provides a scanning system for a satellite ground device to search for a satellite quickly, where the scanning system is applied to the satellite ground device, and includes: the device comprises a first acquisition module, a second acquisition module, a determination module and a scanning module, wherein the first acquisition module is used for acquiring a target device error of the satellite ground device, and the target device error comprises at least one of the following: positioning error of the satellite ground equipment, orientation error of the satellite ground equipment and time error of the satellite ground equipment; the second acquisition module is used for acquiring a satellite ephemeris of a satellite to be searched; the determining module is configured to determine a target scanning range of the satellite to be searched based on the target device error and the satellite ephemeris; and the scanning module is used for executing scanning operation in the target scanning range until the scanning is finished by receiving the signaling of the satellite to be searched.
Further, the determining module includes: the satellite search system comprises a first determination unit, a second determination unit, a third determination unit and a fourth determination unit, wherein the first determination unit is used for determining a first coordinate of the satellite to be searched under an earth-fixed coordinate system based on the satellite ephemeris; the second determining unit is used for obtaining a second coordinate of the satellite to be searched in the station center coordinate system based on a preset coordinate system rotation matrix and the first coordinate; the third determining unit is configured to determine a target scanning radius based on the preset coordinate system rotation matrix and the target device error; the fourth determining unit is configured to determine a circular range with the second coordinate as a center of a circle and the target scanning radius as a target scanning range for searching the satellite to be searched.
In a third aspect, an embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method according to the first aspect when executing the computer program.
The embodiment of the invention provides a scanning method and a scanning system for rapidly searching a satellite by satellite ground equipment, which can dynamically and adaptively adjust the scanning range of the satellite ground equipment when searching the satellite to be searched according to the positioning error, the orientation error and the time error of the satellite ground equipment, and scan in a spiral scanning mode according to the error distribution characteristic to achieve the effect of rapidly capturing the satellite.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a scanning method for a satellite ground device to quickly search for a satellite according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a coordinate system transformation according to an embodiment of the present invention;
fig. 3 is a schematic view of a target scanning range for searching a satellite to be searched according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an X-Y antenna corner according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a spiral according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a scanning system for rapidly searching satellites by using a satellite-ground device according to an embodiment of the present invention;
FIG. 7 is a diagram of another scanning system for fast satellite search by satellite-ground equipment according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a scanning apparatus for rapidly searching satellites by using a satellite ground device according to an embodiment of the present invention;
fig. 9 is a front view of a constellation of medium orbit satellites according to an embodiment of the present invention;
fig. 10 is a top view of a constellation of medium orbit satellites according to an embodiment of the present invention;
FIG. 11 is a schematic diagram of an earth station scanning process according to an embodiment of the present invention;
fig. 12 is a schematic diagram illustrating a satellite access time distribution of an earth station according to an embodiment of the present invention;
fig. 13 is a schematic diagram of a cumulative probability curve of satellite access time according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
fig. 1 is a flowchart of a scanning method for a satellite ground device to quickly search for a satellite according to an embodiment of the present invention, and the method is applied to the satellite ground device. As shown in fig. 1, the method specifically includes the following steps:
step S102, obtaining target equipment errors of the satellite ground equipment, wherein the target equipment errors comprise at least one of the following: positioning error of the satellite ground equipment, orientation error of the satellite ground equipment and time error of the satellite ground equipment.
And step S104, acquiring a satellite ephemeris of the satellite to be searched.
And step S106, determining a target scanning range for searching the satellite to be searched based on the target equipment error and the satellite ephemeris.
And step S108, executing scanning operation in the target scanning range until the signaling of the satellite to be searched is received to finish scanning.
Preferably, in the embodiment of the present invention, the scanning operation is performed on the target scanning range in a spiral outward scanning manner with the center of the target scanning range as a starting point until the scanning is ended by receiving the signaling of the satellite to be searched.
The embodiment of the invention provides a scanning method for rapidly searching a satellite by satellite ground equipment, which can dynamically and adaptively adjust the scanning range of the satellite ground equipment when searching for the satellite to be searched according to the positioning error, the orientation error and the time error of the satellite ground equipment, and adopts a spiral scanning mode to scan according to the error distribution characteristic so as to achieve the effect of rapidly capturing the satellite.
Optionally, step S106 further includes the following steps:
step S1061, determining a first coordinate of the satellite to be searched under the earth fixed connection coordinate system based on the satellite ephemeris.
And step S1062, obtaining a second coordinate of the satellite to be searched in the station center coordinate system based on the preset coordinate system rotation matrix and the first coordinate.
The expression of the preset coordinate system rotation matrix is as follows:
omega is the ascension of the ascending intersection point, B is the latitude of the satellite ground equipment,
indicating rotation of the current coordinate system about the Z-axis
The rotation matrix of (a) is,
indicating rotation of the current coordinate system about the X-axis
The rotation matrix of (2).
Specifically, as shown in fig. 2, a first coordinate of the satellite to be searched under the earth-fixed coordinate system is wound around Z1Shaft rotation
Then wound around XmShaft rotation
I.e. to a second coordinate in the centroid coordinate system.
And step S1063, determining a target scanning radius based on the preset coordinate system rotation matrix and the target equipment error.
Specifically, the target scan radius may be determined as follows:
firstly, based on a preset coordinate system rotation matrix, scanning radiuses corresponding to unit positioning errors, unit orientation errors and unit time errors are respectively determined.
Specifically, the scanning radius corresponding to the unit positioning error is determined as follows: and obtaining the position coordinate range (namely the coordinate value under the maximum error) of the satellite ground equipment in the earth fixed coordinate system according to the positioning error, and obtaining the coordinate error range of the station center coordinate system of the satellite ground equipment pointing to the satellite vector according to the first coordinate of the satellite in the earth fixed coordinate system and the preset coordinate system rotation matrix R, thereby obtaining the sphere center angle range of the hemispherical airspace taking the satellite ground equipment as the sphere center, namely the scanning radius corresponding to the unit positioning error.
Specifically, the scanning radius corresponding to the unit orientation error is determined as follows: obtaining the earth fixed coordinate system coordinate [ x, y, z ] of the satellite ground equipment pointing to the satellite vector under the earth fixed coordinate system by the position coordinate of the satellite ground equipment in the earth fixed coordinate system and the first coordinate of the satellite in the earth fixed coordinate system]T. Obtaining the station center coordinate system coordinate R [ x, y, z ] of the satellite ground equipment pointing satellite vector by the preset coordinate system rotation matrix R]T. Setting three coordinate axes X of the station center coordinate system according to the orientation error, namely the maximum orientation error of the coordinate axes of the station center coordinate systemm、Ym、ZmRespectively has a maximum value of pointing error angle of
Theta, psi. Then respectively winding the coordinate system of the station center system around three coordinate axes Xm、Ym、ZmRotate
Theta, psi, i.e. R1·R·[x,y,z]TAnd obtaining the coordinate error range of the station center coordinate system of the satellite ground equipment pointing to the satellite vector, thereby obtaining the scanning sphere angle range, namely the scanning radius corresponding to the unit orientation error. Wherein R is1The rotation matrix is a rotation matrix of the centroid coordinate system, and the specific rotation mode is not limited in the embodiment of the present invention. For example, R1May be a coordinate axis rotation matrix of a 3-2-1 rotation pattern.
Alternatively, the coordinate axis rotation matrix R of the 3-2-1 rotation mode1The mathematical form of (a) is as follows:
specifically, the scanning radius corresponding to the unit time error is determined as follows: and obtaining the position coordinate error range of the satellite in the earth fixed coordinate system according to the time error, and obtaining the station center coordinate system coordinate error range of the satellite ground equipment pointing to the satellite vector by the earth fixed coordinate system position coordinate of the satellite ground equipment and the rotation matrix R of the preset coordinate system, thereby obtaining the sphere center angle range of the hemispherical airspace taking the satellite ground equipment as the sphere center, namely the scanning radius corresponding to the unit time error.
Then, by the formula: r ═ rax+rby+rcz, calculating the target scanning radius; wherein r is the target scanning radius, raRepresents the scanning radius, r, corresponding to the unit positioning errorbRepresenting the scanning radius, r, corresponding to a unit orientation errorcThe scanning radius corresponding to the unit time error is expressed, x represents the positioning error of the satellite ground equipment, y represents the orientation error of the satellite ground equipment, and z represents the time error of the satellite ground equipment.
And step S1064, determining a circular range with the second coordinate as the center of a circle and the target scanning radius as the radius as a target scanning range for searching the satellite to be searched.
In the embodiment of the present invention, when the satellite ground device has a positioning error, an orientation error, and a time error, the target scanning range is a circular area centered on the satellite position obtained according to the satellite ephemeris, and the target scanning radius is a sum of scanning radii corresponding to the positioning error, the orientation error, and the time error, as shown in fig. 3.
Specifically, step S108 further includes the steps of:
step S1081, determining the satellite orbit of the satellite to be searched based on the satellite ephemeris.
Step S1082, determining the antenna type for scanning the satellite to be searched based on the satellite orbit.
Step S1083, the trajectory of the target helix is determined based on the antenna type.
And step S1084, scanning the target scanning range according to the track of the target spiral line by using the target antenna matched with the antenna type.
In the embodiment of the invention, whether the overhead exists is judged according to the satellite orbit to be tracked, and the antenna is determined to be of any type by combining other factors, wherein the antenna is mainly of a pitching-azimuth type, an X-Y type and a pitching-azimuth-inclination type, and the problem of the overhead can be solved by the two types. And converting the coordinates of the points on the scanning trace into an adjustment instruction of the antenna pointing direction according to different antenna types, wherein the conversion methods are different according to different antenna types. The pitching-azimuth type antenna rotates along the pitching direction and the azimuth direction, and the conversion method of the antenna is to convert the coordinates of the scanning trace point into the variation of the pitching angle and the azimuth angle of the antenna. The X-Y antenna rotates along the X-axis and the Y-axis. As shown in figure 4 of the drawings,
the angle of the X axis is an angle calculated by taking the antenna head space, the X axis angle and the Y axis angle as zero (the antenna points upward along the Z axis). Firstly rotating around X axis
Angle, re-rotation about Y axis
The angle may be pointing to the satellite S. The conversion method of the antenna is to convert the coordinates of the scanning trace points into the variation of the rotation angle around the X axis and the Y axis. The pitch-azimuth-tilt antenna introduces a third axis, i.e. a tilt axis, on the basis of the pitch-azimuth antenna mount. The conversion method of the antenna is to convert the coordinates of the scanning trace points into the variation of the pitch angle, the azimuth angle and the inclination axis rotation angle of the antenna.
Generally, positioning errors, orientation errors and time errors of satellite ground equipment are distributed in a random normal mode, the probability of a satellite to be searched in the center of a target scanning range is the largest, and the probability of the satellite to be searched is smaller when the satellite to be searched reaches the edge of the scanning range, so that a spiral scanning mode is adopted, a central area is searched first, and then an edge area is searched, and the satellite can be found more quickly.
The helical line diagram is as shown in fig. 5, and the scanning center is located at the origin of coordinates of the polar coordinate system, and the helical line scanning parameters are determined according to the target scanning range in the following manner:
the pitch of the target helix is determined based on the antenna type.
Determining the track of the target spiral line by the formula rho ═ a θ and the formula d ═ 2 π a; wherein ρ is the polar diameter of the target helix, θ is the polar angle of the target helix, a is a positive parameter, and d is the pitch of the target helix.
The expression for the spiral length L is:
and finally, the satellite ground equipment controls the antenna to point to the central position of the scanning range, namely the satellite position obtained according to ephemeris rotates in a spiral scanning mode, stops at each scanning wave position along a scanning trace (namely the track of a target spiral), and waits for the satellite signaling reception of each frequency point. If the signaling sent by the satellite is not received, the antenna continues to turn to the next direction until the signaling of the satellite is received. And after receiving the satellite signaling, the satellite ground equipment antenna sends an uplink response signaling to the satellite, and the scanning is finished.
Example two:
fig. 6 is a schematic diagram of a scanning system for rapidly searching for satellites by using a satellite ground device according to an embodiment of the present invention, and the system is applied to the satellite ground device. As shown in fig. 6, the system includes: a first acquisition module 10, a second acquisition module 20, a determination module 30 and a scanning module 40.
Specifically, the first obtaining module 10 is configured to obtain a target device error of the satellite ground device, where the target device error includes at least one of: positioning error of the satellite ground equipment, orientation error of the satellite ground equipment and time error of the satellite ground equipment.
And a second obtaining module 20, configured to obtain a satellite ephemeris of a satellite to be searched.
And the determining module 30 is configured to determine a target scanning range for searching for a satellite to be searched based on the target device error and the satellite ephemeris.
And the scanning module 40 is used for executing scanning operation in the target scanning range until the scanning is finished by receiving the signaling of the satellite to be searched.
Preferably, in the embodiment of the present invention, the scanning module 40 is configured to perform a scanning operation on the target scanning range in a spiral outward scanning manner with a center of the target scanning range as a starting point until the scanning is finished by receiving a signaling of a satellite to be searched.
The embodiment of the invention provides a scanning system for rapidly searching satellites by satellite ground equipment, which can dynamically and adaptively adjust the scanning range of the satellite ground equipment when searching for a satellite to be searched according to the positioning error, the orientation error and the time error of the satellite ground equipment, and scan in a spiral scanning mode according to the error distribution characteristic to achieve the effect of rapidly capturing the satellite.
Alternatively, fig. 7 is a schematic diagram of another scanning system for rapidly searching satellites by using a satellite ground device according to an embodiment of the present invention. As shown in fig. 7, the determination module 30 includes: a first determining unit 31, a second determining unit 32, a third determining unit 33 and a fourth determining unit 34.
Specifically, the first determining unit 31 is configured to determine, based on the satellite ephemeris, first coordinates of a satellite to be searched in an earth-fixed coordinate system.
And the second determining unit 32 is configured to obtain a second coordinate of the satellite to be searched in the station center coordinate system based on the preset coordinate system rotation matrix and the first coordinate.
And a third determining unit 33, configured to determine the target scanning radius based on the preset coordinate system rotation matrix and the target device error.
Specifically, the third determination unit 33 is further configured to: respectively determining scanning radiuses corresponding to unit positioning errors, unit orientation errors and unit time errors on the basis of a preset coordinate system rotation matrix; by the formula: r ═ rax+rby+rcz, calculating the target scanning radius; wherein r is the target scanning radius, raRepresents the scanning radius, r, corresponding to the unit positioning errorbRepresenting the scanning radius, r, corresponding to a unit orientation errorcThe scanning radius corresponding to the unit time error is expressed, x represents the positioning error of the satellite ground equipment, y represents the orientation error of the satellite ground equipment, and z represents the time error of the satellite ground equipment.
And a fourth determining unit 34, configured to determine a circular range with the second coordinate as a center and the target scanning radius as a target scanning range for searching for the satellite to be searched.
The embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the computer program, the steps of the method in the first embodiment are implemented.
The embodiment of the invention also provides a computer readable medium with a non-volatile program code executable by a processor, wherein the program code causes the processor to execute the method in the first embodiment.
Example three:
fig. 8 is a schematic diagram of a scanning apparatus for rapidly searching satellites by using a satellite ground device according to an embodiment of the invention. As shown in fig. 8, the apparatus includes: a determine scan range module 81, a determine scan mode module 82, and a determine scan flow module 83.
Specifically, the scan range determining module 81 is configured to analyze an influence of a positioning error, an orientation error, and a time error of the satellite ground equipment on a scan range in a coordinate system conversion manner; and determining the scanning range according to the positioning error, the orientation error and the time error.
A scanning mode determining module 82, configured to determine a parameter of helical scanning according to a scanning range; and determining an antenna pointing direction adjusting method according to the adopted antenna type.
A scanning process determining module 83, configured to control the satellite ground equipment antenna to execute the central position of the scanning range; controlling the satellite ground equipment antenna to rotate according to the scanning trace of the spiral line; if the satellite signaling is received, the scanning is finished; if the satellite signaling is not received, the system turns to the next direction to guide the scanning to the satellite.
For example, the satellite ground equipment takes an earth station as an example, and the process of scanning a satellite of a medium-orbit satellite constellation is as follows:
middle orbit satellite constellation configuration: the 8 medium orbit satellites are positioned on 8 orbit surfaces, the height and the inclination angle of the orbits are the same, the height of the orbits is about 20000km, and the inclination angle of the orbits is about 50 degrees. The orbital plane elevation points are uniformly distributed in the reference plane, and the phase differences between satellites in adjacent orbital planes are the same. The front and top views of the constellation are shown in fig. 9 and 10.
According to the scanning range determining module, 642 earth stations on the ground positions which are uniformly distributed in the global are selected, and the scanning ranges of all the earth stations under the same error are determined. Through simulation, the longitude of the earth station with the largest scanning range is 128.1 degrees, and the latitude is-4.65 degrees. The scanning range of the earth station at this location is simulated in relation to three errors. Through simulation, the scanning range is in direct proportion to the positioning error, the orientation error and the time error: the scanning radius of the circular area is increased by about 1.85 degrees when the positioning error is increased by 1 degree; every 1 DEG increase of the orientation error, the scanning radius is increased by about 1.78 DEG; for every 1 minute increase in time error, the scan radius increases by about 0.53 °.
If the bit error is set to x degrees, the orientation error is set to y degrees, and the time error is set to z minutes, the scanning radius r is 1.85x +1.78y +0.53z (degrees).
And according to the scanning mode determining module, a spiral scanning mode is adopted, and due to the fact that the example satellite passes the top, an X-Y type antenna is adopted, and a corresponding antenna pointing adjustment instruction is determined. Example scanning radius r, scanning pitch d, length of helical line between centers of adjacent beams L0The scanning parameters such as the scanning linear velocity v are shown in the following table 1:
table 1 example scan parameters
And according to the determined scanning flow module, the earth station antenna starts scanning the satellite from the center of the scanning range according to the scanning flow. The earth station antenna stops at each scanning wave position along the scanning trace, and waits for the satellite signaling reception of each frequency point, wherein the waiting time is 3.12 seconds. If the earth station antenna does not receive the signaling sent by the satellite, the antenna continues to turn to the next direction to wait for the signaling, and if the signaling is received, the uplink signaling is sent to the satellite, and the scanning is successful. The scanning time of the antenna of the earth station is the sum of the time of the antenna rotating and the time of waiting for the frequency point.
The simulation results for the examples are as follows:
the earth station is located in Beijing. Fig. 11 is a schematic diagram of an earth station scanning process according to an embodiment of the present invention. As shown in fig. 11, the scanning process uses an X-Y antenna, the abscissa is the X-axis angle, the ordinate is the Y-axis angle, and the oblique straight line is the satellite orbit.
As shown in fig. 11, the middle solid circle is the scanned area, and the outer hollow circle is the area to be scanned. A total of 449 beams were scanned for a total scan time of 31.2 minutes. The earth station antenna eventually scanned the position of satellite 1 at the 214 th beam position, with an actual scan time of 14.8 minutes.
And simulating satellite access time distribution of 642 earth stations uniformly distributed in the world by adopting a Monte Carlo simulation method. The earth station scans the satellite with the largest elevation angle at the starting moment, and other satellites can be accessed in the scanning process. The distribution of satellite access time of earth stations is shown in fig. 12, and the cumulative probability curve is shown in fig. 13.
From the simulation results, after the scanning method provided by the embodiment of the invention is adopted, 92.2% of the earth stations can be accessed within 10 minutes, and the satellite access time of the earth stations is 0 minute at the shortest and 90 minutes at the longest. Therefore, the scanning device for rapidly searching satellites by the satellite ground equipment provided by the embodiment of the invention can dynamically and adaptively adjust the scanning range of the earth station through the positioning error, the orientation error and the time error of the earth station, and achieves the technical effect of rapidly capturing the satellites by the earth station by combining the scanning mode of the spiral line.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. A scanning method for rapidly searching satellites by satellite ground equipment is characterized by being applied to the satellite ground equipment and comprising the following steps:
acquiring a target device error of a satellite ground device, wherein the target device error comprises at least one of the following: positioning error of the satellite ground equipment, orientation error of the satellite ground equipment, and time error of the satellite ground equipment;
acquiring a satellite ephemeris of a satellite to be searched;
determining a target scanning range of the satellite to be searched based on the target equipment error and the satellite ephemeris;
executing scanning operation in the target scanning range until the signaling of the satellite to be searched is received to finish scanning;
determining a target scanning range for searching the satellite to be searched based on the target device error and the satellite ephemeris, wherein the method comprises the following steps:
determining a first coordinate of the satellite to be searched under an earth fixed connection coordinate system based on the satellite ephemeris;
obtaining a second coordinate of the satellite to be searched under the station center coordinate system based on a preset coordinate system rotation matrix and the first coordinate;
determining a target scanning radius based on the preset coordinate system rotation matrix and the target equipment error;
determining a circular range with the second coordinate as a circle center and the target scanning radius as a target scanning range for searching the satellite to be searched;
determining a target scanning radius based on the preset coordinate system rotation matrix and the target device error, including:
respectively determining scanning radiuses corresponding to unit positioning errors, unit orientation errors and unit time errors based on the preset coordinate system rotation matrix;
by the formula: r ═ rax+rby+rcz, calculating the target scanning radius; wherein r is the target scanning radius, raRepresents the scanning radius, r, corresponding to the unit positioning errorbRepresenting the scanning radius, r, corresponding to a unit orientation errorcThe scanning radius corresponding to the unit time error is represented, x represents the positioning error of the satellite ground equipment, y represents the orientation error of the satellite ground equipment, and z represents the time error of the satellite ground equipment.
2. The method of claim 1, wherein performing a scan operation within the target scan range comprises:
and scanning the target scanning range in a spiral outward scanning mode by taking the center of the target scanning range as a starting point.
3. The method of claim 1, wherein the expression of the preset coordinate system rotation matrix is:
wherein omega is the ascension of the ascending intersection point, B is the latitude of the satellite ground equipment,
indicating rotation of the current coordinate system about the Z-axis
The rotation matrix of (a) is,
indicating rotation of the current coordinate system about the X-axis
The rotation matrix of (2).
4. The method of claim 2, wherein performing a scan operation within the target scan range comprises:
determining the satellite orbit of the satellite to be searched based on the satellite ephemeris;
determining the antenna type for scanning the satellite to be searched based on the satellite orbit;
determining a trajectory of a target helix based on the antenna type;
and scanning the target scanning range according to the track of the target spiral line by using the target antenna matched with the antenna type.
5. The method of claim 4, wherein determining the trajectory of the target helix based on the antenna type comprises:
determining a pitch of a target helix based on the antenna type;
determining the track of the target spiral line by the formula rho ═ a θ and the formula d ═ 2 π a; and p is the polar diameter of the target spiral line, theta is the polar angle of the target spiral line, a is a positive parameter, and d is the thread pitch of the target spiral line.
6. A scanning system for rapidly searching satellites by satellite ground equipment is applied to the satellite ground equipment and comprises: a first acquisition module, a second acquisition module, a determination module, and a scanning module, wherein,
the first obtaining module is configured to obtain a target device error of a satellite ground device, where the target device error includes at least one of: positioning error of the satellite ground equipment, orientation error of the satellite ground equipment and time error of the satellite ground equipment;
the second acquisition module is used for acquiring a satellite ephemeris of a satellite to be searched;
the determining module is configured to determine a target scanning range of the satellite to be searched based on the target device error and the satellite ephemeris;
the scanning module is used for executing scanning operation in the target scanning range until the signaling of the satellite to be searched is received and scanning is finished;
the determining module comprises: a first determining unit, a second determining unit, a third determining unit, and a fourth determining unit, wherein,
the first determining unit is used for determining a first coordinate of the satellite to be searched under an earth fixed coordinate system based on the satellite ephemeris;
the second determining unit is used for obtaining a second coordinate of the satellite to be searched in the station center coordinate system based on a preset coordinate system rotation matrix and the first coordinate;
the third determining unit is configured to determine a target scanning radius based on the preset coordinate system rotation matrix and the target device error;
the fourth determining unit is configured to determine a circular range with the second coordinate as a circle center and the target scanning radius as a target scanning range for searching the satellite to be searched;
the third determination unit is further configured to: respectively determining scanning radiuses corresponding to unit positioning errors, unit orientation errors and unit time errors on the basis of a preset coordinate system rotation matrix; by the formula: r ═ rax+rby+rcz, calculating the target scanning radius; wherein r is the target scanning radius, raRepresents the scanning radius, r, corresponding to the unit positioning errorbRepresenting the scanning radius, r, corresponding to a unit orientation errorcThe scanning radius corresponding to the unit time error is expressed, x represents the positioning error of the satellite ground equipment, y represents the orientation error of the satellite ground equipment, and z represents the time error of the satellite ground equipment.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the method of any of the preceding claims 1 to 5 are implemented when the computer program is executed by the processor.
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