CN113555688B - Method and system for aligning terminal antenna and high-orbit satellite - Google Patents
Method and system for aligning terminal antenna and high-orbit satellite Download PDFInfo
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- CN113555688B CN113555688B CN202110838830.1A CN202110838830A CN113555688B CN 113555688 B CN113555688 B CN 113555688B CN 202110838830 A CN202110838830 A CN 202110838830A CN 113555688 B CN113555688 B CN 113555688B
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- 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
- H01Q3/005—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 remotely controlled antenna positioning or scanning
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
Abstract
The invention relates to a method for aligning an antenna of a terminal with a satellite, comprising: receiving positioning information and velocity information from a satellite, wherein the positioning information describes a position of the satellite and the velocity information describes a velocity of the satellite; determining the rated orientation of the terminal according to the positioning information and the speed information; and adjusting the antenna of the terminal to said nominal orientation. The invention also relates to a corresponding system. The invention can accurately determine the current position of the satellite, thereby accurately aligning the antenna of the terminal to the satellite.
Description
Technical Field
The present invention relates generally to antenna auto-tracking technology in the satellite field, and more particularly, to a method for aligning an antenna of a terminal with a satellite. The invention also relates to a system for aligning an antenna of a terminal with a satellite.
Background
As the level of satellite manufacturing increases, the size of satellites gradually decreases, and the manufacturing cost gradually decreases, which allows more enterprises to participate in the satellite manufacturing industry. With the rise of commercial aerospace, more and more satellites will be launched and lifted off in the future, and correspondingly, the ground terminal requirements matched with the satellites are more and more vigorous.
The terminal is used as a satellite and ground interaction system and plays a crucial role in the performance of satellite capability. For a geosynchronous orbit satellite, the satellite position is unchanged relative to the ground, and the satellite terminal wire can be arranged in an orientation without tracking movement. However, most of the existing in-orbit and subsequent satellites are not in geosynchronous orbit, that is, the satellite position moves relatively to the ground, the beam range of the terminal antenna is limited, and the satellite must be continuously tracked and aligned to ensure effective data transmission between the satellite and the terminal, so that an automatic tracking method is necessary to be adopted on the terminal antenna to ensure effective data interaction.
The current automatic tracking technology of the terminal antenna tracks according to the signal strength issued by a satellite, namely tracks according to the beacon strength of a satellite signal or the AGC (automatic gain control) level of the satellite signal. For example, the patents "method and apparatus for automatically tracking satellite by satellite antenna" (CN103715508A), "method for tracking antenna in shipborne satellite communication" (CN108052122A), "automatic tracking system for satellite signal" (CN107885233A), "automatic tracking satellite television antenna for fishing boat" (CN102938502A), "control method for mobile satellite tracking antenna system" (CN100423362C), "control apparatus for mobile satellite automatic tracking" (CN2697665Y), "intelligent portable satellite communication earth station and its control method" (CN1968048A) all use satellite signal intensity level as the condition according to which the terminal antenna tracks. The automatic tracking method has the advantage of simple operation, but has the following disadvantages: the signal level intensity is easily interfered by the environment, the signal intensity is influenced by various factors and fluctuates greatly, so that signals can not be transmitted and received easily due to electromagnetic interference, or the tracking is inaccurate, the signal quality is poor, the error rate is increased, and the situation is worse for low-orbit satellites and narrow-beam terminals/antennas moving at high speed; secondly, the terminal can not establish effective communication with the satellite most of the time, the terminal can not predict the position of the satellite, the terminal can continuously start the search, and the method is difficult to adapt to the terminal with limited energy, such as a sea buoy terminal.
Therefore, a method capable of accurately tracking a satellite is required.
Disclosure of Invention
It is an object of the present invention to provide a method and a system for aligning an antenna of a terminal with a satellite, by means of which method and/or system the current position of the satellite can be accurately determined and thus the antenna of the terminal can be accurately aligned with the satellite.
According to the invention, this task is solved by a method for aligning an antenna of a terminal with a satellite, comprising:
receiving positioning information (e.g., initial position information) and velocity information from a satellite, wherein the positioning information describes a position of the satellite and the velocity information describes a velocity of the satellite;
determining the rated orientation of the terminal according to the positioning information and the speed information; and
and adjusting the antenna of the terminal to the rated orientation.
In a preferred embodiment of the invention, it is provided that the nominal orientation includes the pitch angle and the azimuth angle of the terminal relative to the satellite. By adjusting the two angles, the antenna of the terminal can be accurately positioned to the satellite. Other parameters characterizing orientation are also conceivable.
In a further preferred embodiment of the invention, it is provided that the determination of the target orientation of the terminal from the positioning information and the speed information comprises:
performing track prediction calculation according to the positioning information and the speed information; and
and determining the rated orientation of the terminal according to the track prediction calculation.
By the optimal scheme, the orbit of the satellite can be predicted, so that the current position of the satellite is predicted, and the antenna of the terminal is accurately positioned to the satellite.
In a further preferred embodiment of the invention, it is provided that the method further comprises:
and turning off the terminal when the terminal cannot perform effective data interaction with the satellite.
By the preferred scheme, satellites which cannot effectively communicate with the satellites can be turned off, thereby saving resources and energy.
In one embodiment of the invention, it is provided that the positioning information is received from a global positioning satellite system and/or a beidou satellite navigation system. The current GPS/Beidou positioning precision can reach several meters, the orbit prediction precision model predicts the orbit error of one month to be less than 1km according to the GPS/Beidou data, and the high-precision tracking of the satellite position can be realized by utilizing the state information distributed by the satellite.
In a second aspect of the invention, the aforementioned task is solved by a system for aligning an antenna of a terminal with a satellite, comprising:
a communication module configured to transmit positioning information and velocity information to a terminal, wherein the positioning information describes a position of a satellite and the velocity information describes a velocity of the satellite;
a trajectory extrapolation module configured to perform a trajectory prediction calculation based on the positioning information and velocity information;
an angle calculation module configured to determine a pitch angle and an azimuth angle of the terminal relative to the satellite from the orbit prediction calculation; and
an antenna control module configured to adjust an antenna of a terminal to the pitch angle and the azimuth angle.
In a preferred embodiment of the invention, it is provided that the positioning information is received from a global positioning satellite system and/or a beidou satellite navigation system.
In one embodiment of the invention, the system is used for low-orbit satellites. It should be noted that the invention is equally applicable to other types of satellites, such as high orbit satellites.
Drawings
The invention is further elucidated with reference to specific embodiments in the following description, in conjunction with the appended drawings.
FIG. 1 illustrates a flow diagram of one embodiment of a method for aligning an antenna of a terminal with a satellite in accordance with the present invention; and
fig. 2 shows a schematic view of a system for aligning an antenna of a terminal with a satellite according to the invention.
Detailed Description
It should be noted that the components in the figures may be exaggerated and not necessarily to scale for illustrative purposes. In the figures, identical or functionally identical components are provided with the same reference symbols.
In the present invention, "disposed on …", "disposed over …" and "disposed over …" do not exclude the presence of an intermediate therebetween, unless specifically indicated otherwise. Further, "disposed on or above …" merely indicates the relative positional relationship between two components, and may also be converted to "disposed below or below …" and vice versa in certain cases, such as after reversing the product direction.
In the present invention, the embodiments are only intended to illustrate the aspects of the present invention, and should not be construed as limiting.
In the present invention, the terms "a" and "an" do not exclude the presence of a plurality of elements, unless otherwise specified.
It is further noted herein that in embodiments of the present invention, only a portion of the components or assemblies may be shown for clarity and simplicity, but those of ordinary skill in the art will appreciate that, given the teachings of the present invention, required components or assemblies may be added as needed in a particular scenario.
It is also noted herein that, within the scope of the present invention, the terms "same", "equal", and the like do not mean that the two values are absolutely equal, but allow some reasonable error, that is, the terms also encompass "substantially the same", "substantially equal".
The numbering of the steps of the methods of the present invention does not limit the order of execution of the steps of the methods. Unless specifically stated, the method steps may be performed in a different order.
The invention provides a terminal antenna automatic tracking method based on satellite information distribution. The principle is as follows: the satellite positions the self position by using a positioning device such as a GPS/Beidou carried on the satellite, the self position and the speed are issued to the terminal when the satellite communicates with the terminal, the terminal carries out orbit prediction calculation on the position and speed data, and calculates the pitch angle and the azimuth angle of the satellite and the terminal in real time according to the self position (a static terminal can be initially set, and a dynamic terminal can be provided with a GPS/Beidou module for carrying out position updating), guides a terminal antenna to align the satellite, and carries out power-off or dormancy operation on a module related to the terminal when effective data interaction cannot be established with the satellite.
The scheme according to the invention is set forth below.
Fig. 1 shows a flow of an embodiment 100 of a method for aligning an antenna of a terminal with a satellite according to the invention, wherein the optional steps are indicated by dashed boxes.
At step 102, initial position and velocity information for the satellites is input and the orbit extrapolation module calculates satellite position data based on the input information.
At step 104, a nominal orientation of the terminal is determined based on the satellite position data.
In step 106, whether the terminal can accept the satellite signal of the rated orientation is judged according to the calculated rated orientation, so as to judge whether data interaction can be carried out, and the step 108\ step 104 or step 110 is skipped according to the judgment result.
When the terminal is unable to perform valid data interaction with the satellite, it jumps to optional step 108, and turns off the terminal. This saves energy, and when step 108 is not selected, step 106 jumps directly to step 104.
In case of being able to interact with the satellite, it jumps to step 110, adjusting the antenna of the terminal to said nominal orientation. This can be achieved by means of a corresponding actuator, such as an antenna control module.
At step 112, it is determined whether satellite positioning information and velocity information are received, wherein the positioning information describes a position of a satellite and the velocity information describes a velocity of the satellite. The information may be received from, for example, a GPS or beidou satellite navigation system. If the determination result is negative, the process proceeds to step 104, and if the determination result is positive, the process proceeds to step 114.
At step 114, the track is extrapolated from the received positioning information and velocity information, and the extrapolated position data of the original track is updated. And jumps to step 104.
Fig. 2 shows a schematic diagram of a system 200 for aligning an antenna of a terminal with a satellite according to the present invention.
As shown in fig. 2, a system 200 for aligning an antenna of a terminal with a satellite includes:
a communication module (or satellite information distribution module, not shown) configured to send to the terminal positioning information and velocity information, wherein the positioning information describes the position of the satellite and the velocity information describes the velocity of the satellite. The satellite information distribution module may be composed of a satellite 206 and a terminal antenna 201, for example, and completes satellite information distribution and antenna information reception, and transmits the information to the orbit extrapolation module 203. The satellite information (t, x, y, z, xv, yv, zv) includes 7 parameters including the satellite position and the satellite velocity, i.e., x-axis position x, y-axis position y, z-axis position z, x-axis velocity xv, y-axis velocity yv, and z-axis velocity zv at time t and the corresponding WGS84 coordinates, for example. Each parameter may for example be allocated four bytes, i.e. a total of 28 bytes. This information may not need to be updated in real time, but only within the tolerance of the orbit extrapolation module 203, for example once a week or a month. Therefore, the distribution of the satellite position information has little influence on the downlink rate of the effective information of the satellite 206 and the terminal, and does not influence the transmission and reception of other effective information. In 7 parameters, time t can be given in the form of product seconds of specific epoch time, the data type can be set to 4-byte UINT32, the actual time can be obtained by adding the product seconds value to the epoch time after ground analysis, and the other 6 parameters can be 4-byte floating point type Float data type.
An orbit extrapolation module 203 configured to perform an orbit prediction calculation based on the positioning information and the velocity information. The orbit extrapolation initialization function is started when the terminal is started or the satellite is not connected with the terminal for a long time, and at the moment, the local information of the terminal cannot guarantee accurate prediction of the satellite position. The initialization input information comprises (t0, x0, y0, z0, xv0, yv0 and zv0), namely x axis position x0, y axis position y0, z axis position z0, x axis speed xv0, y axis speed yv0 and z axis speed zv0 at time t0 and the corresponding WGS84 coordinate, and the information can be given by the ground satellite measurement and control center. And the track extrapolation calculation function is used for carrying out extrapolation calculation on the satellite track according to the initial input information, predicting the real-time position of the satellite, guiding the pitch angle/azimuth angle calculation module and the antenna pointing control module to control the terminal antenna, and after the satellite is connected with the terminal, using information distributed by the satellite as the input of the track extrapolation calculation module and carrying out iterative updating on the information. The inputs of the orbit extrapolation calculation function are initialization information (t0, x0, y0, z0, xv0, yv0, zv0) and the latest parameters (t, x, y, z, xv, yv, zv) received by the satellite antenna, namely the x-axis position x, y-axis position y, z-axis position z, x-axis speed xv, y-axis speed yv and z-axis speed zv at the time t and the corresponding WGS84 coordinate, and then the satellite position prediction is carried out by using the orbit extrapolation model. Common orbit recursion models for satellites are: the high-precision orbit prediction model (HPOP) takes a gravity field model, solid tide, ocean tide, light pressure, third body gravity and atmospheric factors into consideration, is a high-precision numerical extrapolation model, is used for precise orbit extrapolation, and can be applied to lunar orbits and even longer distances; the J4 model is a J4 model only considering perturbation of an earth gravitational field, and is suitable for long-time task analysis and monthly magnitude; the J2 model is a J2 model only considering perturbation of an earth gravitational field, and is suitable for short-time task analysis and week magnitude; the two-body model (TwoBody), believes that the earth is only under the centripetal force of the earth's centroid. The model precision is decreased progressively, and meanwhile, the calculated amount is decreased progressively, so that the calculated amount is small, the requirement on the hardware of the terminal is low, and when the terminal is actually used, the model can be selected according to actual requirements. The satellite motion speed is high, the terminal antenna beam is narrow, the requirement on the satellite position precision is high, and then an accurate model is selected; the satellite speed is low, the terminal antenna beam is wide, the requirement on the satellite position precision is not high, and a low-precision model can be selected.
An angle calculation module, here a pitch/azimuth calculation module 204, configured to determine the pitch and azimuth of the terminal with respect to the satellite from said orbit prediction calculations. The inputs of the module 204 are the position (sx, sy, sz) of the satellite at the current time t1 under the WGS84 coordinate and the terminal position (tx, ty, tz), where the satellite position is given by the orbit extrapolation module 203 after the orbit extrapolation calculation according to the information sent by the satellite 206, and the terminal position is given by, for example, the GSP/beidou device of the terminal itself. In order to facilitate the calculation of the pitch angle and the azimuth angle, a formula can be used for converting the coordinate values in the form of two rectangular coordinate systems into a polar coordinate system form, and the coordinate values are converted into longitude and latitude heights. The conversion method is, for example:
let a be 6378137; 6356755.0; e2 ═ 0.00669437999013
Initial value:
iteration is carried out according to the initial values:
until:
|Hi-Hi-1|≤0.0000001；|Bi-Bi-1|≤0.0000001
obtaining: l ═ arctan (y/x); b ═ Bi；H＝Hi
In the above formula, input: x is an x-axis position value of the rectangular coordinate system; y is a y-axis position value of the rectangular coordinate system; and z is a z-axis position value of the rectangular coordinate system, and the following is output: l is the calculated longitude, B is the calculated latitude, and H is the calculated height.
With the above calculation, the satellite position (sx, sy, sz) can be converted into the satellite latitudinal height (sL, sB, sH) and the terminal position (tx, ty, tz) can be converted into the latitudinal height (tL, tB, tH), and then the pitch angle azimuth calculation is performed using the following two equations:
after the module calculates the pitch angle and the azimuth angle, the pitch angle and the azimuth angle are output to the terminal antenna control module.
An antenna control module 202 configured to adjust the antenna of the terminal to the pitch angle and the azimuth angle. The antenna control module 202 controls the antenna according to the output (EL, AZ) of the pitch angle/azimuth angle calculation module, the pitch angle azimuth is [ -pi/2, pi/2 ], the terminal antenna cannot receive signals in all pitch angle ranges because of the structural structure and the influence of the spherical shape of the earth, the terminal can perform data interaction with the satellite only in the terminal antenna receiving range of the satellite, the range can be represented by the lowest pitch angle of the terminal antenna, the terminal antenna is set to be EL (min) in the lowest pitch angle, and the terminal only receives signals in the pitch angle ranges [ EL (min), pi/2 ]. When the pitch angle is within the trackable range, the antenna control module controls the terminal antenna to point in real time so as to achieve the purpose of real-time tracking; when the pitch angle is not in the trackable range, the antenna control module closes the terminal antenna and the terminal antenna control mechanism consuming energy, stops the direction adjustment of the terminal antenna, and stops the data transceiving of the terminal antenna, so as to achieve the purpose of saving energy.
Although some embodiments of the present invention have been described herein, it will be understood by those skilled in the art that these embodiments are shown by way of example only. Numerous variations, substitutions and modifications will occur to those skilled in the art in light of the teachings of the present invention without departing from the scope thereof. It is intended that the following claims define the scope of the invention and that methods and structures within the scope of these claims and their equivalents be covered thereby.
Claims (5)
1. An alignment system for a terminal antenna with an orbiting satellite, comprising:
the communication module comprises a high-orbit satellite and a terminal antenna, wherein the high-orbit satellite is configured to be capable of issuing position and speed information of the high-orbit satellite, and the terminal antenna is configured to be capable of receiving the position and speed information of the high-orbit satellite;
an orbit extrapolation module configured to enable an orbit extrapolation calculation based on the received position and velocity information for the high-orbit satellite, comprising:
when the local information of the terminal cannot guarantee accurate prediction of the position of the high-orbit satellite, carrying out extrapolation calculation according to initialization input information provided by a ground satellite measurement and control center to predict the real-time position of the high-orbit satellite, wherein the initialization input information comprises an initial time and the x-axis position, the y-axis position, the z-axis position, the x-axis speed, the y-axis speed and the z-axis speed of the high-orbit satellite under the corresponding WGS84 coordinate; and
after the terminal is connected with the high-orbit satellite, carrying out extrapolation calculation according to the position and speed information issued by the communication module at regular time, and predicting the real-time position of the high-orbit satellite;
the angle calculation module is configured to calculate a pitch angle and an azimuth angle of the terminal relative to the high-orbit satellite according to the real-time position of the high-orbit satellite and the position of the terminal, and send the pitch angle and the azimuth angle to the antenna control module; and
an antenna control module configured to adjust an antenna angle based on a pitch angle and an azimuth angle of the terminal relative to an orbiting satellite.
2. The alignment system of claim 1, wherein the communication module issues position and speed information once per week or once per month.
3. A method for aligning a terminal antenna with an elevated satellite comprises the following steps:
when the local information of the terminal cannot guarantee accurate prediction of the position of the high-orbit satellite, an orbit extrapolation module carries out extrapolation calculation according to initial input information provided by a ground satellite measurement and control center to predict the real-time position of the high-orbit satellite, wherein the initial input information comprises an initial time and the x-axis position, the y-axis position, the z-axis position, the x-axis speed, the y-axis speed and the z-axis speed of the satellite under the corresponding WGS84 coordinate;
after the terminal is connected with the satellite, the communication module issues position and speed information of the high-orbit satellite at regular time, and the orbit extrapolation module carries out iterative updating according to the received information to obtain the real-time position of the high-orbit satellite;
the angle calculation module calculates a pitch angle and an azimuth angle of the terminal relative to the high-orbit satellite according to the real-time position of the high-orbit satellite and the position of the terminal, and sends the pitch angle and the azimuth angle to the antenna control module; and
and the antenna control module adjusts the angle of the antenna according to the pitch angle and the azimuth angle of the terminal relative to the high-orbit satellite.
4. The alignment method of claim 3, wherein the orbit extrapolation module performs extrapolation calculation using a high-precision orbit prediction model or a J4 model or a J2 model or a two-body model.
5. The alignment method as claimed in claim 3, wherein the terminal position is given by a terminal's own global satellite positioning system and/or Beidou satellite navigation system.
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| CN201910083541.8A CN109742543B (en) | 2019-01-29 | 2019-01-29 | Method for aligning antenna of terminal to satellite and corresponding system |
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| CN113532428B (en) * | 2020-04-14 | 2024-03-01 | 中国电信股份有限公司 | Data processing method, device, communication-in-motion terminal and computer readable storage medium |
| CN111430917B (en) * | 2020-04-17 | 2021-09-21 | 北京行晟科技有限公司 | Control method, device and system of phased array antenna |
| CN113242085B (en) * | 2021-05-13 | 2022-06-03 | 重庆邮电大学 | Terminal position management method of low-earth-orbit satellite network |
| CN117254847A (en) * | 2023-09-18 | 2023-12-19 | 中国人民解放军军事科学院系统工程研究院 | Quick satellite searching method and device for low-orbit satellite terminal |
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| CN109742543B (en) | 2021-07-23 |
| CN109742543A (en) | 2019-05-10 |
| CN113555688A (en) | 2021-10-26 |
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