CN114039206A - Ground automatic tracking receiving system for low-orbit satellite constellation - Google Patents
Ground automatic tracking receiving system for low-orbit satellite constellation Download PDFInfo
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- CN114039206A CN114039206A CN202111267359.1A CN202111267359A CN114039206A CN 114039206 A CN114039206 A CN 114039206A CN 202111267359 A CN202111267359 A CN 202111267359A CN 114039206 A CN114039206 A CN 114039206A
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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
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Abstract
The application relates to a ground automatic tracking receiving system for a low-orbit satellite constellation, which comprises an antenna end and a control end. The antenna end is a hemispherical multi-beam phased array antenna.
Description
Technical Field
The application relates to a satellite signal automatic tracking receiving method, belongs to the field of satellite communication, and particularly relates to a ground automatic tracking receiving system for a low-orbit satellite constellation.
Background
The low-orbit satellite is close to the earth, can obtain more precise observation characteristics on earth observation, has the characteristic of low time delay on data transmission, and is suitable for forming a high-speed communication satellite constellation. In order to acquire real-time load information downloaded by a satellite in a portable manner, a ground receiving system is needed to continuously track the satellite to acquire data issued by the satellite.
The low-orbit satellite has short orbit period and short transit time due to the characteristics of the orbit, for example, the transit time of a low-orbit inclined circular orbit satellite with an orbit height of 600 kilometers is only ten minutes, and a mobile satellite receiving antenna needs to quickly track the position change of the satellite in real time. In particular, when the satellites form a constellation, multiple satellites may enter the constellation at the same time, and the satellite antenna needs to track the multiple satellites and screen the tracked satellites when the number of the satellites exceeds the number that the satellite antenna can receive.
At present, there are several antenna technologies for implementing mobile satellite communication: parabolic antennas, flat panel array antennas, and phased array antennas. The parabolic antenna has the advantages of stronger signal receiving capability, lower manufacturing cost and high cost performance of the whole set of antenna equipment, and has the defects that the antenna is made into a mushroom shape, the wind resistance is large, and the alignment direction of the antenna needs to be adjusted by a mechanical device; the flat array antenna has small volume, light weight, small wind resistance and convenient installation and use, but the alignment direction of the antenna also needs to be adjusted by a mechanical device; the phased array antenna has strong functions, flexible working mode and computer-controlled inertia-free beam scanning, can receive a plurality of target signals, is a main antenna form applied to a plurality of military phased array antennas or satellites at present, provides flexibility for capturing and tracking satellite signals in the moving process, and is a mainstream antenna in the moving ground station at present and in the future.
The current mobile satellite receiving system is mainly used for receiving television satellites (see the chinese patent application with application number 201610307432.6, "a mobile satellite receiving system") or beidou and GPS navigation satellites (see the chinese patent with application number 201410370647.3, "a beidou satellite signal receiving system and method"), the orbit height of the satellites is higher than that of low-orbit satellites, and due to the characteristics of the satellite orbit or the purpose of signal receiving, the ground receiving end does not need to continuously track the satellites, and the mobile satellite receiving system is not suitable for the low-orbit satellite constellation which needs to be continuously tracked and is related to the application.
The current mobile satellite receiving system is mainly used for receiving geosynchronous satellite signals and is used on a fixed platform, a vehicle-mounted system and a ship. Specifically, for example, chinese patent application "a mobile satellite receiving system" (application No. 201610307432.6) proposes an on-board satellite receiving system based on a control system, a gyro sensor, an electronic compass, a GPS module, and a servo system, which mechanically adjusts the direction of an antenna to accommodate the movement and offset of a ground vehicle. The system for low earth orbit satellite constellations faces the following problems: 1. the system is used for tracking a television satellite, the television satellite is in a geosynchronous orbit and has small change relative to the ground position, the satellite position can be considered to be unchanged after the satellite is found, and the low-orbit satellite continuously changes relative to the ground position, so that the satellite flight trajectory needs to be predicted by a relevant strategy and the change of the satellite position needs to be tracked; 2. the method utilizes a mechanical device to adjust the direction of the satellite antenna so as to adapt to the change of the position and the attitude of a vehicle, the adjustment amplitude is small, the pitch angle is changed from 0-90 degrees when the low-earth-orbit satellite passes by, the azimuth angle is changed from 0-360 degrees, the mechanical device needs to respond to the change of the position of the satellite in a short time, and the reliability of the system is reduced because the mechanical movement device is easy to break down; 3. the system antenna can only aim at one satellite, multiple satellites in the environment cannot be tracked simultaneously, multiple satellites can enter the environment simultaneously for a low-orbit satellite constellation, and the system is difficult to meet requirements. The patent "a receiving system and method of big dipper satellite signal" (application number: 201410370647.3) proposes a system for receiving big dipper signal, can receive many satellite signals, but mainly handles big dipper signal, and the antenna does not realize the tracking to the satellite.
Therefore, there is a need in the art to develop a satellite receiving system for low-earth orbit satellite constellation, which can reliably track the fast position change.
Disclosure of Invention
The application aims to provide a satellite automatic tracking system which is based on a multi-beam phased array antenna and can realize reliable tracking on rapid position change.
In order to achieve the above object, the present application provides the following technical solutions.
The application provides a ground automatic tracking receiving system aiming at a low-orbit satellite constellation, which comprises an antenna end and a control end.
The antenna end is a hemispherical multi-beam phased array antenna.
In one embodiment of the application, the antenna end is equipped with a multi-channel signal processing module.
In another embodiment of the present application, the antenna end is further equipped with a three-axis gyroscope and a GPS module.
In another embodiment of the present application, the control terminal includes a communication module, an orbit extrapolation module, an antenna direction calculation module, an antenna direction correction module, a satellite filtering module, and a data processing module.
In another embodiment of the present application, the hemispherical multi-beam phased array antenna has antenna elements mounted on a spherical surface, and can synthesize the multi-beam antenna to receive satellite signals, and an internal beam controller controls the directions of the beams of the antenna according to a control command sent by a control terminal, so as to align with a satellite.
Compared with the prior art, the satellite receiving system for the low-orbit satellite constellation has the advantages that the hemispherical multi-beam phased array antenna is introduced, the beam direction can be controlled through the beam control circuit, a mechanical adjusting device in the system is removed, the reliability of the system is improved, and the satellite with the rapidly changed position can be tracked. The antenna control and processing module adopts a multi-channel processing mode, and can realize the tracking of a plurality of satellites and the satellite data processing at the same time. The control device of the system predicts the position of the satellite by adopting an orbit extrapolation model, calculates the pitch angle and the azimuth angle of the antenna by combining the position of the ground antenna, and corrects the angles by combining the attitude of the satellite so as to achieve the aim of real-time tracking. Under the condition of receiving a plurality of satellites, the satellites can be selectively tracked according to the connection time between the satellites and the antenna.
Drawings
Fig. 1 is a schematic diagram of a terrestrial automatic tracking reception system for a low earth orbit satellite constellation according to the present application.
Fig. 2 is a schematic diagram of antenna and satellite position calculation in geocentric coordinates according to the present application.
Detailed Description
The technical solution of the present application will be clearly and completely described below with reference to the accompanying drawings and the embodiments of the present application.
The application provides a satellite automatic tracking system based on a multi-beam phased array antenna, which consists of an antenna end and a control end. The antenna end is a hemispherical multi-beam phased array antenna, and the hemispherical assistance antenna end searches for satellite targets in azimuth angles of 0-360 degrees; the internal beam control circuit can adjust the beam direction to aim at the satellite without mechanically moving the antenna; the multi-beam antenna can allocate corresponding beams to carry out alignment tracking on a plurality of satellites. The antenna end is provided with a multi-channel signal processing module, so that the receiving processing of multiple satellite data can be realized at the same time. The antenna end is also provided with a three-axis gyroscope and a GPS module, and can acquire real-time course angle, pitch angle, roll angle, longitude and latitude of the position where the antenna is located and altitude information. The positioning and attitude information is filled in the state information of the antenna end. The satellite data processed by the antenna end and the acquired self attitude information are sent to the control end through the same communication module, and the data are distinguished through different frame formats. The control end mainly comprises a communication module, an orbit extrapolation module, an antenna direction calculation module, an antenna direction correction module, a satellite screening module and a data processing module. The communication module sorts the state information and the data information transmitted by the antenna end and sends the sorted state information and the data information to different modules for processing. The communication module sends the data information to the data processing module, processes the data and outputs the processed data to other devices for use; sending the position information in the state information to an antenna direction calculation module, and calculating a pitch angle and an azimuth angle of the satellite relative to the ground antenna at the moment by combining the satellite position calculated by the orbit extrapolation module; and sending the attitude information in the state information to an antenna direction correction module to correct the direction angle calculated by the antenna direction calculation module, and sending the corrected angle to an antenna end through a communication module to control the beam pointing direction of the multi-beam phased array antenna. Satellite orbit data required by the control end orbit extrapolation module is input from the outside through a file. And the satellite screening module of the control end combines the satellite predicted position given by the orbit extrapolation module, selects the satellite which can establish the connection state with the antenna for the longest time to receive data when the number of the satellites is excessive, and sends the number of the selected satellite to the antenna end to set corresponding beam parameters. The system schematic of the present application is shown in fig. 1.
The antenna end multi-beam hemispherical phased array antenna is provided with antenna array elements on the spherical surface, can synthesize a multi-beam antenna to receive satellite signals, and controls the beam directions of the antenna by an internal beam controller according to a control instruction sent by a control end, so that the antenna is aligned to a satellite. The control and processing part in the application processes the signals received by each wave beam respectively, and can independently control the direction of the antenna signal wave beam and process different satellite signals. The received satellite signals are subjected to wave filtering and fundamental frequency processing, packed and framed into data frames and transmitted to the communication module. The GPS equipped for the antenna is used for positioning the antenna, outputting the longitude, the latitude and the altitude of the position of the antenna, and calculating the angle relation between the antenna and the satellite as the input of the antenna direction calculation module at the control end after transmission; and integrating the output angular speed of the three-axis gyroscope to obtain a course angle, a pitch angle and a roll angle of the phased array antenna, and using the integrated values as the input of the antenna direction correction module at the control end to correct the pointing direction of the antenna after transmission. And the GPS and gyroscope data are packed and framed into a state frame and transmitted to the communication module.
And the communication module of the control end receives the data frame and the state frame of the antenna end, analyzes the data into satellite data, position data and attitude data according to different frame formats and distributes the satellite data, the position data and the attitude data to the corresponding module of the control end for processing. The communication module also receives control instructions given by other modules through calculation, the control instructions comprise the attitude angle of the antenna and the screened satellite to be tracked, and the control instructions are sent to the antenna end communication module.
The control end signal processing module analyzes the satellite data transmitted by the communication module and transmits the data to other equipment devices as the output of the receiving system.
And the track extrapolation module monitors whether the input folder has a new track file in real time, and reads file parameters to update the track model in the control terminal after monitoring that the file changes. The external file is input in an xml format, and the file comprises a track semi-major axis, a track eccentricity, a track inclination angle, a rising intersection declination, an argument of a near place, an argument of a mean near point and corresponding epoch time. The orbit extrapolation model extrapolates the satellite orbit at the specified time using the HPOP model, which may output the position of the satellite in the geocentric coordinate system at the specified time (x1, y1, z 1).
The antenna direction calculation module is used for calculating the pitching angle and the azimuth angle of the satellite relative to the ground antenna. After the GPS acquires the longitude and latitude and the altitude of the ground antenna, the calculation module converts the position of the antenna into a geocentric coordinate system (x2, y2, z 2). The azimuth angle alpha and the pitch angle beta which are standard in the due north direction can be obtained through the position relation of the satellite and the ground antenna in the coordinate system. The schematic diagram is shown in FIG. 2, and the calculation formula is
The ground antenna is placed on a fixed platform, and may also be placed on a mobile device such as a vehicle and a ship, and the antenna may change in attitude along with the movement and the inclination of the platform, so that the pitch angle and the azimuth angle calculated by the antenna direction calculation module need to be corrected according to the current heading angle psi, the pitch angle theta and the roll angle phi of the antenna. Converting the antenna coordinate into a geocentric coordinate, wherein three attitude angles are shown in fig. 2, and the calculation flow of the correction formula is as follows:
1) formula for correcting yaw angle to antenna direction angle
αψ＝α-ψ
βψ＝β
2) Formula for correcting yaw angle and roll angle to antenna direction angle
βψφ＝arccos(-sinφcosβψsinαψ+cosφcosβψ)
3) Formula for correcting yaw angle, roll angle and pitch angle to antenna direction angle
β′＝βψφθ＝arccos(sinθsinβψφcosαψφ+cosθcosβψφ)
The finally obtained α 'and β' are the azimuth angle and the pitch angle of the final antenna.
The multi-beam antenna has a limited number of beams for obtaining a good signal gain, and when a plurality of satellites are within a receiving range of the antenna and exceed the number of beams, the satellite screening module needs to screen the satellites by combining with a satellite extrapolation orbit. The satellite antenna receiving system provided by the application selects the satellites on the principle that the longer the trackable time is, the higher the priority is. The track extrapolation module can extrapolate the positions of the satellites in all receiving ranges within a certain time, the satellite screening module can continuously calculate the pitch angles of the positions relative to the antenna, and when the pitch angles are lower than the lowest pitch angle of the antenna, the absolute time at the moment is recorded. And sequencing the satellite numbers from late to early according to the absolute time that the pitch angle is equal to the lowest elevation angle of the antenna, and selecting the satellite with the front rank for tracking according to the maximum beam number of the multi-beam antenna.
The embodiments described above are intended to facilitate the understanding and appreciation of the application by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present application is not limited to the embodiments herein, and those skilled in the art who have the benefit of this disclosure will appreciate that many modifications and variations are possible within the scope of the present application without departing from the scope and spirit of the present application.
Claims (3)
1. A ground automatic tracking receiving system for a low-orbit satellite constellation is characterized by comprising an antenna end and a control end;
the antenna end is a hemispherical multi-beam phased array antenna, wherein an antenna array element is arranged on the spherical surface of the hemispherical multi-beam phased array antenna so as to synthesize a multi-beam antenna to receive satellite signals, and an internal beam controller controls each beam of the antenna to point according to a control instruction sent by a control end, so that the antenna end is aligned to a satellite;
the control end comprises a communication module, an orbit extrapolation module, an antenna direction calculation module, an antenna direction correction module, a satellite screening module and a data processing module;
the control end predicts the satellite position by adopting an orbit extrapolation model and calculates the pitch angle and the azimuth angle of the antenna by combining the ground antenna position, and the method comprises the following steps:
the orbit extrapolation model extrapolates the orbit of the satellite in the specified time by using the HPOP model and outputs the position (x1, y1, z1) of the satellite in the geocentric coordinate system at the specified time;
after the GPS acquires the longitude and latitude and the altitude of the ground antenna, the calculation module converts the antenna position into a geocentric coordinate system (x2, y2, z 2);
obtaining an azimuth angle alpha and a pitch angle beta which take the north direction as a standard through the position relation of the satellite and the ground antenna in the coordinate system according to the following formula:
wherein, the angle is corrected according to the satellite attitude, and the corrected angle is sent to the antenna end to control the beam pointing direction of the multi-beam phased array antenna, comprising the following steps:
correcting the pitch angle and the azimuth angle calculated by the antenna direction calculation module according to the current heading angle psi, the pitch angle theta and the roll angle phi of the antenna, wherein:
the correction formula of the course angle to the antenna direction angle is as follows:
αψ＝α-ψ
βψ＝β；
the correction formula of the course angle and the roll angle to the antenna direction angle is as follows:
βψφ＝arccos(-sinφcosβψsinαψ+cosφcosβψ)；
the correction formula of the course angle, the roll angle and the pitch angle to the direction angle of the antenna is as follows:
β′＝βψφθ＝arccos(sinθsinβψφcosαψφ+cosθcosβψφ)，
the finally obtained alpha 'and beta' are the azimuth angle and the pitch angle of the final antenna;
and extrapolating the positions of the satellites in all receiving ranges within a certain time by an orbit extrapolation module, continuously calculating the pitch angles of the positions relative to the antenna by a satellite screening module, recording the absolute time when the pitch angle is lower than the lowest pitch angle of the antenna, sequencing the satellite numbers from late to early according to the absolute time, and selecting the satellite with the front rank for tracking according to the maximum beam number of the multi-beam antenna.
2. A terrestrial auto-tracking reception system for a low earth orbit satellite constellation as recited in claim 1, wherein the antenna end is equipped with a multi-channel signal processing module.
3. A ground auto-tracking reception system for a low earth orbit satellite constellation as recited in claim 1, wherein said antenna end is further equipped with a three-axis gyroscope and a GPS module.
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| CN202111267359.1A CN114039206A (en) | 2018-06-01 | 2018-06-01 | Ground automatic tracking receiving system for low-orbit satellite constellation |
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| CN202111267359.1A CN114039206A (en) | 2018-06-01 | 2018-06-01 | Ground automatic tracking receiving system for low-orbit satellite constellation |
| CN201810554682.9A CN108718002B (en) | 2018-06-01 | 2018-06-01 | Satellite automatic tracking system based on multi-beam phased array antenna |
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| CN115629240A (en) * | 2022-12-01 | 2023-01-20 | 北京航天驭星科技有限公司 | Phased array antenna directional pattern on-orbit testing method and device, electronic equipment and medium |
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| CN109742543B (en) * | 2019-01-29 | 2021-07-23 | 上海微小卫星工程中心 | Method for aligning antenna of terminal to satellite and corresponding system |
| CN110048754B (en) * | 2019-03-20 | 2020-08-14 | 北京交通大学 | Discrete vehicle-mounted antenna system and signal transmission method based on system |
| CN113472398B (en) * | 2020-03-30 | 2023-03-28 | 中国电信股份有限公司 | Satellite tracking apparatus, method, gateway station and medium for the same |
| CN114208059A (en) * | 2020-07-13 | 2022-03-18 | 北京小米移动软件有限公司 | Communication method, communication device and storage medium |
| CN113009526A (en) * | 2021-02-23 | 2021-06-22 | 重庆两江卫星移动通信有限公司 | Ground tracking device and method for low-earth-orbit satellite |
| CN113701753B (en) * | 2021-08-30 | 2024-05-07 | 西安大衡天成信息科技有限公司 | Phased array antenna-based positioning and orientation device and method |
| CN116232417B (en) * | 2022-12-07 | 2024-03-29 | 迪泰（浙江）通信技术有限公司 | Multi-beam automatic switching method and system for mobile television satellite antenna |
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| US6292134B1 (en) * | 1999-02-26 | 2001-09-18 | Probir K. Bondyopadhyay | Geodesic sphere phased array antenna system |
| CN104101786B (en) * | 2014-06-24 | 2017-07-28 | 中国电子科技集团公司第十研究所 | The active multi-beam sphere phase array antenna pattern measurement system in full spatial domain |
| CN104682017A (en) * | 2014-12-26 | 2015-06-03 | 北京航天科工世纪卫星科技有限公司 | Multi-beam phased-array satellite communication antenna array and directivity control system |
| CN106469853B (en) * | 2015-08-19 | 2019-06-25 | 中国移动通信集团公司 | A kind of method of mobile earth station and mobile earth station tracking satellite wave beam |
| US11245185B2 (en) * | 2016-06-14 | 2022-02-08 | Miles Space, Inc. | Portable phased aperture array antenna |
| CN108051803B (en) * | 2017-10-25 | 2021-06-15 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Method for tracking target over-top by multi-beam spherical phased array antenna |
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| CN115629240A (en) * | 2022-12-01 | 2023-01-20 | 北京航天驭星科技有限公司 | Phased array antenna directional pattern on-orbit testing method and device, electronic equipment and medium |
| CN115629240B (en) * | 2022-12-01 | 2023-03-28 | 北京航天驭星科技有限公司 | Phased array antenna directional pattern on-orbit testing method and device, electronic equipment and medium |
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