CN111864348B - Initial satellite finding method of VICTS antenna - Google Patents

Initial satellite finding method of VICTS antenna Download PDF

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CN111864348B
CN111864348B CN202010586881.5A CN202010586881A CN111864348B CN 111864348 B CN111864348 B CN 111864348B CN 202010586881 A CN202010586881 A CN 202010586881A CN 111864348 B CN111864348 B CN 111864348B
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victs antenna
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CN111864348A (en
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杨洋
黄季甫
尤阳
尤清春
刘祥
鲁严
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Ningbo University
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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
    • H01Q3/08—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying two co-ordinates of the orientation

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Abstract

The invention discloses an initial satellite finding method of a VICTS antenna, which obtains an angle to be rotated according to a theoretical azimuth angle and a theoretical pitch angle of a satellite, and a pitch angle, a course angle and a roll angle of the VICTS antenna under a real-time measured geographic coordinate system, so that a radiation disc and a feed disc rotate according to the angle to be rotated, and further, a wave beam of the VICTS antenna points to the theoretical azimuth angle and the theoretical pitch angle to complete coarse alignment; in the fine alignment process, calculating a course angle of the VICTS antenna under a carrier coordinate system according to a theoretical azimuth angle, a theoretical pitch angle, a course angle and a roll angle which are measured in real time, further obtaining an instruction angle of the VICTS antenna under the carrier coordinate system, then enabling a wave beam of the VICTS antenna to take the current azimuth angle as the center and scan in a variable step length manner within the range of +/-15 degrees of the instruction angle, then enabling the VICTS antenna to take the current pitch angle as the center and scan in a variable step length manner within the range of +/-5 degrees of pitching, finally finishing fine alignment, and enabling initial satellite finding to be successful; the method has the advantages of low cost, high initial satellite finding speed and high precision.

Description

Initial satellite finding method of VICTS antenna
Technical Field
The invention relates to a satellite communication antenna technology, in particular to an initial satellite finding method of a VICTS (variable inclination angle continuous section joint array) antenna.
Background
The satellite communication technology has the advantages of wide coverage range, large capacity, small interference, high communication quality and the like, and the communication-in-motion antenna can realize real-time, high-bandwidth and uninterrupted transmission of multimedia information such as images, videos, voices and the like, and is the first choice for emergency communication, carrier mobile communication and remote area communication. In order to make the motto antenna capable of ensuring that the antenna beam is always aligned with the geostationary satellite on a moving carrier, the motto satellite finding technology has become an urgent need for the development of satellite communication systems.
In the technology of the communication-in-motion antenna, the antenna is required to have performance indexes such as high gain, low profile, wide frequency band, multi-polarization, low cost, high scanning angle, high tracking precision and the like. The VICTS antenna is used as a mechanical scanning type communication-in-motion antenna, continuous through transverse slots are formed in a flat waveguide to achieve radiation, the azimuth angle pointed by an antenna beam is adjusted through a rotating azimuth disc, the pitch angle of the antenna is adjusted through a rotating pitch disc, the polarization direction of the antenna is adjusted through a rotating polarization disc, and therefore the antenna beam tracking function is achieved. Compared with mechanical scanning antennas such as parabolic antennas and dielectric lens antennas, the VICTS antenna has the advantages of low profile, simple structure, high tracking rate and the like. Compared with a phased array antenna, the VICTS antenna has the advantages of high gain, high scanning gain stability, low cost and the like.
The satellite finding process of the VICTS antenna is one of the main key technologies of the communication-in-motion antenna. The satellite finding process of the VICTS antenna is a process that antenna beams automatically find a target satellite in space, and the process is a premise that the VICTS antenna can dynamically track the satellite in real time and at high precision.
The initial satellite finding of the existing communication-in-motion antenna uses a high-precision inertial navigation system to obtain attitude information and calculates to obtain a satellite finding instruction angle (a pitch angle, a polarization angle and an azimuth angle), but the scheme is high in cost, in order to effectively reduce the cost, the VICTS antenna uses a low-cost inertial measurement device to obtain attitude information, compared with the high-precision inertial navigation system, the course angle error directly obtained by the low-cost inertial measurement device is larger, and the VICTS antenna cannot be accurately aligned with a satellite; in addition, the traditional initial star finding method of the mechanical scanning type satellite communication-in-motion antenna is fixed step scanning, and the method cannot meet the requirements of initial star finding speed and accuracy of the VICTS antenna at the same time.
Disclosure of Invention
The invention aims to provide an initial satellite finding method of a VICTS antenna, which has the advantages of low cost, high initial satellite finding speed and high initial satellite finding precision.
The technical scheme adopted by the invention for solving the technical problems is as follows: an initial satellite finding method of a VICTS antenna is characterized by comprising the following steps:
step 1: electrifying a communication-in-motion system installed on a mobile carrier, and initializing a VICTS antenna, a beacon receiver, inertial navigation equipment and a GPS sensor after the communication-in-motion system is electrified; then, the beacon receiver acquires the beacon AGC value of the target satellite in real time, and normalizes the acquired beacon AGC value of the target satellite in real time to obtain the normalized value of the beacon AGC value of the target satellite acquired in real time; enabling inertial navigation equipment to measure a pitch angle, a course angle and a roll angle of the VICTS antenna in a geographic coordinate system in real time;
step 2: calculating a theoretical azimuth angle and a theoretical pitch angle of a wave beam of the VICTS antenna to the satellite in a geographic coordinate system, and correspondingly recording the theoretical azimuth angle and the theoretical pitch angle as theta and beta;
and step 3: reading the pitch angle, the course angle and the roll angle of the VICTS antenna in a geographic coordinate system measured in real time; then obtaining the angle of the VICTS antenna to be rotated according to the theta and the beta and the pitch angle, the course angle and the roll angle which are read in real time; then a servo motor in the mobile communication system drives a radiation disc and a feed disc of the VICTS antenna to simultaneously rotate according to the angle to be rotated, so that the wave beam of the VICTS antenna points to theta and beta positions, and the wave beam of the VICTS antenna is roughly aligned to a target satellite; coarse alignment may increase the speed at which the beams of the VICTS antenna are aligned with the target satellite.
And 4, step 4: when the wave beam of the VICTS antenna is roughly aligned to the target satellite, simultaneously reading the normalization value of the beacon AGC value of the target satellite acquired in real time, and if the normalization value read in real time is larger than or equal to the set AGC value threshold, executing the step 5; if the normalization value read in real time is smaller than the set AGC value threshold value, a servo motor in the satellite communication system drives a radiation disc and a feed disc of the VICTS antenna to rotate simultaneously, so that the beam of the VICTS antenna performs azimuth uniform scanning, the normalization value of the beacon AGC value of the target satellite acquired in real time is read in real time in the azimuth uniform scanning process, if the normalization value read in real time is larger than or equal to the set AGC value threshold value, the step 5 is executed, and if the normalization value read in real time is smaller than the set AGC value threshold value, the azimuth uniform scanning is continued;
and 5: reading the pitch angle, the course angle and the roll angle of the VICTS antenna in a geographic coordinate system measured in real time; then calculating the course angle of the VICTS antenna under the carrier coordinate system according to the theta and the beta, and the pitch angle, the course angle and the roll angle which are read in real time, and recording as phi; then, calculating an instruction angle of the VICTS antenna under a carrier coordinate system according to phi and the pitch angle and the roll angle which are read in real time;
step 6: enabling a servo motor in a communication-in-motion system to drive a radiation disc and a feed disc of a VICTS antenna to rotate simultaneously, enabling a wave beam of the VICTS antenna to be centered on the current azimuth angle, and performing variable-step scanning within a range of +/-15 degrees of an instruction angle of the VICTS antenna under a carrier coordinate system, wherein the specific process of the variable-step scanning is as follows:
step 6_ 1: reading a normalization value of a beacon AGC value of a target satellite acquired in real time; then, calculating a rotation step length according to the normalization value read in real time, and recording the rotation step length as s; then, rotating a servo motor for driving the azimuth disc of the VICTS antenna to rotate according to the real-time read normalization value, if the real-time read normalization value is larger than or equal to the set AGC value threshold value, clockwise rotating the servo motor for driving the azimuth disc of the VICTS antenna to rotate according to the rotation step length s, and then executing the step 6_ 2; if the normalization value read in real time is smaller than the set AGC value threshold value, enabling a servo motor for driving the azimuth disc of the VICTS antenna to rotate anticlockwise according to the rotation step length s, and then executing the step 6_ 2; wherein, the rotation step length refers to the number of rotation angles;
step 6_ 2: reading the normalized value of the beacon AGC value of the target satellite acquired in real time again; then, recalculating the rotation step length according to the normalization value read in real time again, and recording the step length as s; then, rotating a servo motor for driving the azimuth disc of the VICTS antenna to rotate according to the normalization value read again in real time, if the normalization value read again in real time is greater than or equal to the set AGC value threshold, storing the normalization value read in real time, clockwise rotating the servo motor for driving the azimuth disc of the VICTS antenna according to the rotation step s, and then executing the step 6_ 3; if the normalization value read again in real time is smaller than the set AGC value threshold value, the normalization value read in real time is stored, a servo motor for driving an azimuth disc of the VICTS antenna to rotate is used for anticlockwise rotating according to a rotating step length s, and then the step 6_3 is executed;
step 6_ 3: returning to the step 6_2 to continue executing until the wave beam of the VICTS antenna completes variable step scanning within +/-15 degrees of the command angle of the VICTS antenna under the carrier coordinate system, and then executing the step 7;
and 7: finding out the maximum normalized value from all the stored normalized values, if the maximum normalized value is greater than or equal to 0.95, enabling a servo motor in the communication-in-motion system to drive a radiation disc and a feed disc of the VICTS antenna to rotate simultaneously, enabling the wave beam of the VICTS antenna to point to the azimuth corresponding to the maximum normalized value, and then executing step 8; if the maximum normalization value is less than 0.95, returning to the step 3 to continue executing;
and 8: enabling a servo motor in the communication-in-motion system to drive a radiation disc and a feed disc of the VICTS antenna to rotate simultaneously, enabling the VICTS antenna to use the current pitch angle as the center, and performing variable-step scanning within the range of +/-5 degrees of pitching, wherein the process of the variable-step scanning is the same as that of the step 6_1 and the step 6_2, after the variable-step scanning is completed within the range of +/-5 degrees of pitching, finding out the maximum normalized value from all stored normalized values, and if the maximum normalized value is greater than or equal to 0.95, enabling the servo motor in the communication-in-motion system to drive the radiation disc and the feed disc of the VICTS antenna to rotate simultaneously, enabling the wave beam of the VICTS antenna to point to the pitch angle corresponding to the maximum normalized value, enabling the wave beam of the VICTS antenna to be precisely aligned to a.
In step 2, the geographic coordinate system is defined as: the centroid of the moving carrier is used as an origin, the X axis points to the east-righting direction, the Y axis points to the north-righting direction, and the Z axis is perpendicular to the X axis and the Y axis and forms a right-hand rectangular coordinate system.
The specific process of the step 2 is as follows: calculating a theoretical azimuth angle theta and a theoretical pitch angle beta of a wave beam of the VICTS antenna to the satellite under a geographic coordinate system according to the longitude of the target satellite and the longitude and latitude of the current position of the mobile carrier measured by the GPS sensor,
Figure BDA0002554991520000041
wherein mu represents the difference value of the longitude of the target satellite and the longitude of the current position of the mobile carrier,
Figure BDA0002554991520000042
Figure BDA0002554991520000043
which represents the longitude of the target satellite or satellites,
Figure BDA0002554991520000044
the longitude of the current position of the mobile carrier is shown, and the lambda of the latitude of the current position of the mobile carrier is shown.
The value of the set AGC value threshold is 0.5.
In step 5, the carrier coordinate system is defined as: the center of mass of the moving carrier is used as an origin, the X axis points to the advancing direction of the moving carrier, the Y axis points to the right side of the advancing direction of the moving carrier, and the Z axis points to the right above the moving carrier.
In the step 5, the course angle phi of the VICTS antenna in the carrier coordinate system is calculated as follows: let Ia、Ib、Ic、XnAnd XeAll represent a matrix and
Figure BDA0002554991520000045
Figure BDA0002554991520000046
Xe＝Ic×Ib×Ia×Xnto obtain
Figure BDA0002554991520000047
Then according to XeAnd trigonometric function, calculating course angle phi of the VICTS antenna in the carrier coordinate system,
Figure BDA0002554991520000048
where ψ represents a heading angle read in real time, α represents a pitch angle read in real time, γ represents a roll angle read in real time, and λ represents a moving carrierThe latitude of the current location of the body.
In the above step 6_1 and the above step 6_2, s ═ int (ω x (1-exp)-ε|y|) Int () represents an integer function, ω and ε are both constants greater than zero, and y represents AmaxDifference from the normalized value read in real time, Amax∈[0.9,1]Exp () represents an exponential function with a natural base e as a base, and the symbol "|" is an absolute value symbol.
Compared with the prior art, the invention has the advantages that:
1) the method uses low-cost inertial navigation equipment to measure the pitch angle, the course angle and the roll angle of the VICTS antenna in the geographic coordinate system in real time, and is low in cost.
2) Because the error of the course angle measured in real time by using the low-cost inertial navigation equipment is larger, the method calculates the course angle of the VICTS antenna under the carrier coordinate system according to the theoretical azimuth angle and the theoretical pitch angle of the satellite by the wave beam of the VICTS antenna under the geographic coordinate system and the pitch angle, the course angle and the roll angle of the VICTS antenna under the geographic coordinate system measured in real time by the inertial navigation equipment, and the error of the calculated course angle is very small, so that the VICTS antenna can be accurately aligned to the target satellite.
3) In the precise alignment process, the method performs variable-step scanning in the azimuth direction and the pitching direction, and the method can simultaneously meet the requirements of initial satellite finding speed and accuracy of the VICTS antenna.
4) The method of the invention adopts a mode of combining coarse alignment and fine alignment to carry out initial star finding, thereby greatly shortening the time of initial star finding.
Drawings
FIG. 1 is a block diagram of an overall implementation of the method of the present invention;
FIG. 2 is a block diagram of a process for achieving fine alignment in the method of the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying examples.
The overall implementation block diagram of the initial satellite finding method for the VICTS antenna provided by the invention is shown in FIG. 1, and the method comprises the following steps:
step 1: electrifying a communication-in-motion system installed on a mobile carrier, and initializing a VICTS antenna, a beacon receiver, inertial navigation equipment and a GPS sensor after the communication-in-motion system is electrified; then, the beacon receiver acquires the beacon AGC (automatic gain control) value of the target satellite in real time, and normalizes the beacon AGC value of the target satellite acquired in real time by adopting the prior art to obtain the normalized value of the beacon AGC value of the target satellite acquired in real time; enabling inertial navigation equipment to measure a pitch angle, a course angle and a roll angle of the VICTS antenna in a geographic coordinate system in real time; in the embodiment, the beacon receiver in the communication-in-motion system obtains the beacon AGC value of one target satellite every 20 ms.
Step 2: and calculating the theoretical azimuth angle and the theoretical pitch angle of the beam of the VICTS antenna to the satellite (aiming at the satellite) in the geographic coordinate system, and correspondingly recording the theoretical azimuth angle and the theoretical pitch angle as theta and beta.
In this embodiment, in step 2, the geographic coordinate system is defined as: the centroid of the moving carrier is used as an origin, the X axis points to the east-righting direction, the Y axis points to the north-righting direction, and the Z axis is perpendicular to the X axis and the Y axis and forms a right-hand rectangular coordinate system.
In this embodiment, the specific process of step 2 is: calculating a theoretical azimuth angle theta and a theoretical pitch angle beta of a wave beam of the VICTS antenna to the satellite under a geographic coordinate system according to the longitude of the target satellite and the longitude and latitude of the current position of the mobile carrier measured by the GPS sensor,
Figure BDA0002554991520000061
Figure BDA0002554991520000062
wherein mu represents the difference value of the longitude of the target satellite and the longitude of the current position of the mobile carrier,
Figure BDA0002554991520000063
Figure BDA0002554991520000064
which represents the longitude of the target satellite or satellites,
Figure BDA0002554991520000065
the longitude of the current position of the mobile carrier is shown, and the lambda of the latitude of the current position of the mobile carrier is shown.
And step 3: reading the pitch angle, the course angle and the roll angle of the VICTS antenna in a geographic coordinate system measured in real time; then obtaining the angle of the VICTS antenna to be rotated according to the theta and the beta and the pitch angle, the course angle and the roll angle which are read in real time; then a servo motor in the mobile communication system drives a radiation disc and a feed disc of the VICTS antenna to simultaneously rotate according to the angle to be rotated, so that the wave beam of the VICTS antenna points to theta and beta positions, and the wave beam of the VICTS antenna is roughly aligned to a target satellite; coarse alignment may increase the speed at which the beams of the VICTS antenna are aligned with the target satellite.
And 4, step 4: when the wave beam of the VICTS antenna is roughly aligned to the target satellite, simultaneously reading the normalization value of the beacon AGC value of the target satellite acquired in real time, and if the normalization value read in real time is larger than or equal to the set AGC value threshold, executing the step 5; if the normalization value read in real time is smaller than the set AGC value threshold value, a servo motor in the satellite communication system drives a radiation disc and a feed disc of the VICTS antenna to rotate simultaneously, so that the beam of the VICTS antenna performs azimuth uniform scanning, the normalization value of the beacon AGC value of the target satellite acquired in real time is read in real time in the azimuth uniform scanning process, if the normalization value read in real time is larger than or equal to the set AGC value threshold value, the step 5 is executed, and if the normalization value read in real time is smaller than the set AGC value threshold value, the azimuth uniform scanning is continued.
In this embodiment, the value of the set AGC value threshold is 0.5.
And 5: reading the pitch angle, the course angle and the roll angle of the VICTS antenna in a geographic coordinate system measured in real time; then calculating the course angle of the VICTS antenna under the carrier coordinate system according to the theta and the beta, and the pitch angle, the course angle and the roll angle which are read in real time, and recording as phi; and then calculating the command angle of the VICTS antenna under the carrier coordinate system according to phi and the pitch angle and the roll angle which are read in real time.
In this embodiment, in step 5, the carrier coordinate system is defined as: the center of mass of the moving carrier is used as an origin, the X axis points to the advancing direction of the moving carrier, the Y axis points to the right side of the advancing direction of the moving carrier, and the Z axis points to the right above the moving carrier.
In this embodiment, in step 5, the course angle Φ of the VICTS antenna in the carrier coordinate system is calculated as follows: let Ia、Ib、Ic、XnAnd XeAll represent a matrix and
Figure BDA0002554991520000071
Figure BDA0002554991520000072
Xe＝Ic×Ib×Ia×Xnto obtain
Figure BDA0002554991520000073
Then according to XeAnd trigonometric function, calculating course angle phi of the VICTS antenna in the carrier coordinate system,
Figure BDA0002554991520000074
where ψ represents a heading angle read in real time, α represents a pitch angle read in real time, γ represents a roll angle read in real time, and λ represents a latitude at which the mobile carrier is currently located.
Step 6: enabling a servo motor in a communication-in-motion system to drive a radiation disc and a feed disc of a VICTS antenna to rotate simultaneously, enabling a wave beam of the VICTS antenna to be centered on the current azimuth angle, and performing variable-step scanning within a range of +/-15 degrees of an instruction angle of the VICTS antenna under a carrier coordinate system, wherein the specific process of the variable-step scanning is as follows:
step 6_ 1: reading a normalization value of a beacon AGC value of a target satellite acquired in real time; then, calculating a rotation step length according to the normalization value read in real time, and recording the rotation step length as s; then, rotating a servo motor for driving the azimuth disc of the VICTS antenna to rotate according to the real-time read normalization value, if the real-time read normalization value is larger than or equal to the set AGC value threshold value, clockwise rotating the servo motor for driving the azimuth disc of the VICTS antenna to rotate according to the rotation step length s, and then executing the step 6_ 2; if the normalization value read in real time is smaller than the set AGC value threshold value, enabling a servo motor for driving the azimuth disc of the VICTS antenna to rotate anticlockwise according to the rotation step length s, and then executing the step 6_ 2; wherein the rotation step refers to the number of angles of rotation.
In this embodiment, the value of the set AGC value threshold is 0.5.
Step 6_ 2: reading the normalized value of the beacon AGC value of the target satellite acquired in real time again; then, recalculating the rotation step length according to the normalization value read in real time again, and recording the step length as s; then, rotating a servo motor for driving the azimuth disc of the VICTS antenna to rotate according to the normalization value read again in real time, if the normalization value read again in real time is greater than or equal to the set AGC value threshold, storing the normalization value read in real time, clockwise rotating the servo motor for driving the azimuth disc of the VICTS antenna according to the rotation step s, and then executing the step 6_ 3; if the normalization value read again in real time is smaller than the set AGC value threshold value, the normalization value read in real time is stored, a servo motor for driving the azimuth disc of the VICTS antenna to rotate is used for rotating anticlockwise according to the rotation step length s, and then the step 6_3 is executed.
Step 6_ 3: and returning to the step 6_2 to continue execution until the wave beam of the VICTS antenna completes variable step scanning within +/-15 degrees of the command angle of the VICTS antenna under the carrier coordinate system, and then executing the step 7.
In the present embodiment, in step 6_1 and step 6_2, s ═ int (ω x (1-exp)-ε|y|) Int () represents an integer function, ω and ∈ are constants greater than zero, where ω is 0.1, ∈ is 2, and y represents amaxDifference from the normalized value read in real time, Amax∈[0.9,1]Exp () represents an exponential function with a natural base e as a base, and the symbol "|" is an absolute value symbol.
And 7: finding out the maximum normalized value from all the stored normalized values, if the maximum normalized value is greater than or equal to 0.95, enabling a servo motor in the communication-in-motion system to drive a radiation disc and a feed disc of the VICTS antenna to rotate simultaneously, enabling the wave beam of the VICTS antenna to point to the azimuth corresponding to the maximum normalized value, and then executing step 8; and if the maximum normalized value is less than 0.95, returning to the step 3 to continue the execution.
And 8: enabling a servo motor in the communication-in-motion system to drive a radiation disc and a feed disc of a VICTS antenna to rotate simultaneously, enabling the VICTS antenna to use the current pitch angle as the center, and performing variable-step scanning within a pitching range of +/-5 degrees, wherein the process of the variable-step scanning is the same as that of the step 6_1 and the step 6_2, after the variable-step scanning is completed within the pitching range of +/-5 degrees, finding out the maximum normalized value from all stored normalized values, and if the maximum normalized value is greater than or equal to 0.95, enabling the servo motor in the communication-in-motion system to drive the radiation disc and the feed disc of the VICTS antenna to rotate simultaneously, enabling a wave beam of the VICTS antenna to point to the pitching angle corresponding to the maximum normalized value, enabling the wave beam of the VICTS antenna to be accurately aligned to a target satellite, and enabling the initial satellite finding to.

Claims (7)

1. An initial satellite finding method of a VICTS antenna is characterized by comprising the following steps:
step 1: electrifying a communication-in-motion system arranged on a mobile carrier, and initializing a VICTS antenna, namely a variable inclination angle continuous section array antenna, a beacon receiver, inertial navigation equipment and a GPS sensor after the communication-in-motion system is electrified; then, the beacon receiver acquires the beacon AGC value of the target satellite in real time, namely the beacon automatic gain control value, and normalizes the beacon AGC value of the target satellite acquired in real time to obtain the normalized value of the beacon AGC value of the target satellite acquired in real time; enabling inertial navigation equipment to measure a pitch angle, a course angle and a roll angle of the VICTS antenna in a geographic coordinate system in real time;
step 2: calculating a theoretical azimuth angle and a theoretical pitch angle of a wave beam of the VICTS antenna to the satellite in a geographic coordinate system, and correspondingly recording the theoretical azimuth angle and the theoretical pitch angle as theta and beta;
and step 3: reading the pitch angle, the course angle and the roll angle of the VICTS antenna in a geographic coordinate system measured in real time; then obtaining the angle of the VICTS antenna to be rotated according to the theta and the beta and the pitch angle, the course angle and the roll angle which are read in real time; then a servo motor in the mobile communication system drives a radiation disc and a feed disc of the VICTS antenna to simultaneously rotate according to the angle to be rotated, so that the wave beam of the VICTS antenna points to theta and beta positions, and the wave beam of the VICTS antenna is roughly aligned to a target satellite;
and 4, step 4: when the wave beam of the VICTS antenna is roughly aligned to the target satellite, simultaneously reading the normalization value of the beacon AGC value of the target satellite acquired in real time, and if the normalization value read in real time is larger than or equal to the set AGC value threshold, executing the step 5; if the normalization value read in real time is smaller than the set AGC value threshold value, a servo motor in the satellite communication system drives a radiation disc and a feed disc of the VICTS antenna to rotate simultaneously, so that the beam of the VICTS antenna performs azimuth uniform scanning, the normalization value of the beacon AGC value of the target satellite acquired in real time is read in real time in the azimuth uniform scanning process, if the normalization value read in real time is larger than or equal to the set AGC value threshold value, the step 5 is executed, and if the normalization value read in real time is smaller than the set AGC value threshold value, the azimuth uniform scanning is continued;
and 5: reading the pitch angle, the course angle and the roll angle of the VICTS antenna in a geographic coordinate system measured in real time; then calculating the course angle of the VICTS antenna under the carrier coordinate system according to the theta and the beta, and the pitch angle, the course angle and the roll angle which are read in real time, and recording as phi; then, calculating an instruction angle of the VICTS antenna under a carrier coordinate system according to phi and the pitch angle and the roll angle which are read in real time;
step 6: enabling a servo motor in a communication-in-motion system to drive a radiation disc and a feed disc of a VICTS antenna to rotate simultaneously, enabling a wave beam of the VICTS antenna to be centered on the current azimuth angle, and performing variable-step scanning within a range of +/-15 degrees of an instruction angle of the VICTS antenna under a carrier coordinate system, wherein the specific process of the variable-step scanning is as follows:
step 6_ 1: reading a normalization value of a beacon AGC value of a target satellite acquired in real time; then, calculating a rotation step length according to the normalization value read in real time, and recording the rotation step length as s; then, rotating a servo motor for driving the azimuth disc of the VICTS antenna to rotate according to the real-time read normalization value, if the real-time read normalization value is larger than or equal to the set AGC value threshold value, clockwise rotating the servo motor for driving the azimuth disc of the VICTS antenna to rotate according to the rotation step length s, and then executing the step 6_ 2; if the normalization value read in real time is smaller than the set AGC value threshold value, enabling a servo motor for driving the azimuth disc of the VICTS antenna to rotate anticlockwise according to the rotation step length s, and then executing the step 6_ 2; wherein, the rotation step length refers to the number of rotation angles;
step 6_ 2: reading the normalized value of the beacon AGC value of the target satellite acquired in real time again; then, recalculating the rotation step length according to the normalization value read in real time again, and recording the step length as s; then, rotating a servo motor for driving the azimuth disc of the VICTS antenna to rotate according to the normalization value read again in real time, if the normalization value read again in real time is greater than or equal to the set AGC value threshold, storing the normalization value read in real time, clockwise rotating the servo motor for driving the azimuth disc of the VICTS antenna according to the rotation step s, and then executing the step 6_ 3; if the normalization value read again in real time is smaller than the set AGC value threshold value, the normalization value read in real time is stored, a servo motor for driving an azimuth disc of the VICTS antenna to rotate is used for anticlockwise rotating according to a rotating step length s, and then the step 6_3 is executed;
step 6_ 3: returning to the step 6_2 to continue executing until the wave beam of the VICTS antenna completes variable step scanning within +/-15 degrees of the command angle of the VICTS antenna under the carrier coordinate system, and then executing the step 7;
and 7: finding out the maximum normalized value from all the stored normalized values, if the maximum normalized value is greater than or equal to 0.95, enabling a servo motor in the communication-in-motion system to drive a radiation disc and a feed disc of the VICTS antenna to rotate simultaneously, enabling the wave beam of the VICTS antenna to point to the azimuth corresponding to the maximum normalized value, and then executing step 8; if the maximum normalization value is less than 0.95, returning to the step 3 to continue executing;
and 8: enabling a servo motor in the communication-in-motion system to drive a radiation disc and a feed disc of the VICTS antenna to rotate simultaneously, enabling the VICTS antenna to use the current pitch angle as the center, and performing variable-step scanning within the range of +/-5 degrees of pitching, wherein the process of the variable-step scanning is the same as that of the step 6_1 and the step 6_2, after the variable-step scanning is completed within the range of +/-5 degrees of pitching, finding out the maximum normalized value from all stored normalized values, and if the maximum normalized value is greater than or equal to 0.95, enabling the servo motor in the communication-in-motion system to drive the radiation disc and the feed disc of the VICTS antenna to rotate simultaneously, enabling the wave beam of the VICTS antenna to point to the pitch angle corresponding to the maximum normalized value, enabling the wave beam of the VICTS antenna to be precisely aligned to a.
2. The method as claimed in claim 1, wherein in step 2, the geographic coordinate system is defined as: the centroid of the moving carrier is used as an origin, the X axis points to the east-righting direction, the Y axis points to the north-righting direction, and the Z axis is perpendicular to the X axis and the Y axis and forms a right-hand rectangular coordinate system.
3. The method as claimed in claim 2, wherein the specific process of step 2 is as follows: calculating a theoretical azimuth angle theta and a theoretical pitch angle beta of a wave beam of the VICTS antenna to the satellite under a geographic coordinate system according to the longitude of the target satellite and the longitude and latitude of the current position of the mobile carrier measured by the GPS sensor,
Figure FDA0002843446710000031
wherein mu represents the difference value of the longitude of the target satellite and the longitude of the current position of the mobile carrier,
Figure FDA0002843446710000032
Figure FDA0002843446710000033
which represents the longitude of the target satellite or satellites,
Figure FDA0002843446710000034
the longitude of the current position of the mobile carrier is shown, and the lambda of the latitude of the current position of the mobile carrier is shown.
4. The method of claim 1, wherein the AGC threshold is set to 0.5.
5. An initial satellite finding method for a VICTS antenna as claimed in any one of claims 1 to 4, wherein in said step 5, the carrier coordinate system is defined as: the center of mass of the moving carrier is used as an origin, the X axis points to the advancing direction of the moving carrier, the Y axis points to the right side of the advancing direction of the moving carrier, and the Z axis points to the right above the moving carrier.
6. The method as claimed in claim 5, wherein in step 5, the calculation process of the heading angle Φ of the VICTS antenna in the carrier coordinate system is as follows: let Ia、Ib、Ic、XnAnd XeAll represent a matrix and
Figure FDA0002843446710000035
Figure FDA0002843446710000036
Xe＝Ic×Ib×Ia×Xnto obtain
Figure FDA0002843446710000037
Then according to XeAnd trigonometric function, calculating course angle phi of the VICTS antenna in the carrier coordinate system,
Figure FDA0002843446710000038
where ψ represents a heading angle read in real time, α represents a pitch angle read in real time, γ represents a roll angle read in real time, and λ represents a latitude at which the mobile carrier is currently located.
7. The method of claim 6, wherein the initial satellite finding of the VICTS antenna is performed by a satellite-based communication systemIn step 6_1 and step 6_2, s ═ int (ω x (1-exp)-ε|y|) Int () represents an integer function, ω and ε are both constants greater than zero, and y represents AmaxDifference from the normalized value read in real time, Amax∈[0.9,1]Exp () represents an exponential function with a natural base e as a base, and the symbol "|" is an absolute value symbol.
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