CN114689011A - Multi-satellite combined calibration beam pointing deviation angle dynamic measurement method and device - Google Patents
Multi-satellite combined calibration beam pointing deviation angle dynamic measurement method and device Download PDFInfo
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Abstract
The invention discloses a dynamic measurement method and device for beam pointing deviation angle of multi-satellite combined calibration. The method comprises the following steps: measuring the energy value of the satellite calibration wave beam in a discretization manner; calculating a first included angle according to the energy value of the satellite calibration wave beam, wherein the first included angle is an included angle between a satellite connecting line and a calibration station and the actual direction of the satellite wave beam; recording the coordinates of the calibration station in real time, and converting the coordinates of the calibration station into coordinates of a satellite antenna coordinate system; under a satellite antenna coordinate system, calculating the actual pointing point coordinate of the satellite wave beam according to the calibration station coordinate and the first included angle; and calculating an included angle between the actual pointing direction of the satellite beam and the theoretical pointing direction of the satellite beam according to the actual pointing point coordinates of the satellite beam and the theoretical pointing point coordinates of the satellite beam. Therefore, the method can realize the calculation of the beam pointing deviation angle under the real-time change condition of both the calibration station and the satellite beam theoretical pointing.
Description
Technical Field
The invention relates to the field of satellite mobile communication, in particular to a dynamic measurement method and device of beam pointing deviation angle of multi-satellite combined calibration, electronic equipment and a computer readable storage medium.
Background
In order to meet the requirement of emergency communication, the first domestic large S-band mobile communication satellite in China is transmitted after 2016 years. The satellite uses a large-caliber deployable multi-beam annular mesh antenna to cover a task area, and the system design expands a communication coverage area through multi-satellite splicing. Due to the fact that the satellite runs in a small-inclination synchronous orbit and other factors, the geometric relation between the antenna and the ground coverage area is changed periodically and constantly, and the actual pointing error of the antenna can cause edge gain change to affect the ground communication coverage. In order to ensure the requirement of the on-orbit pointing accuracy of the antenna and ensure good communication effect in a communication coverage area, beam calibration work needs to be carried out during the service life of the satellite, the pointing deviation of the antenna is measured, and the attitude of a satellite platform and the pointing direction of the antenna are adjusted.
The first satellite is launched in 2016, the beam center is designed to be fixedly directed, a fixed calibration station is built at a theoretical pointing point of the satellite beam, the energy difference of the east, west, south and north 4 calibration beams is calculated and compared based on the amplitude comparison single-pulse principle, and the actual pointing direction of the satellite beam and the pointing deviation angle of the calibration station are obtained. The coordinate of the calibration station is superposed with the theoretical pointing point of the satellite beam, so that the measured value is the pointing deviation angle of the satellite beam.
In recent years, the follow-up satellite can be operated in orbit, and the communication coverage range on the sea is expanded through multi-satellite splicing coverage. In order to solve the problem of real-time change of splicing edges caused by small-inclination motion, the system designs real-time change of the theoretical pointing center point of each satellite so as to compensate the influence of the small-inclination motion and ensure stable coverage of a splicing area. Meanwhile, since the subsequent satellite covers the sea, only a mobile calibration station can be built based on the shipborne platform, so that during calibration measurement, the theoretical pointing point and the calibration measurement point change simultaneously, and the satellite beam pointing deviation calculation cannot be completed by using the original calibration measurement method of the first satellite.
Aiming at the problem that longitude and latitude coordinates of theoretical pointing points of a calibration station and satellite beams change simultaneously in real time in the process of carrying out combined beam calibration of a plurality of geosynchronous orbit satellites on the sea, the problem that how to measure the beam pointing deviation angle of multi-satellite combined calibration becomes to be solved.
Disclosure of Invention
In view of the above, the present invention has been made to provide a dynamic measurement method, apparatus, electronic device, computer readable storage medium for beam pointing deviation angle of multi-satellite joint calibration that overcomes or at least partially solves the above problems.
One embodiment of the present invention provides a dynamic measurement method for beam pointing deviation angle of satellite-associated calibration, including:
measuring the energy value of the satellite calibration wave beam in a discretization manner;
calculating a first included angle according to the energy value of the satellite calibration wave beam, wherein the first included angle is an included angle between a satellite connecting line and a calibration station and the actual direction of the satellite wave beam;
recording the coordinates of the calibration station in real time, and converting the coordinates of the calibration station into coordinates of a satellite antenna coordinate system;
under a satellite antenna coordinate system, calculating the actual pointing point coordinate of the satellite wave beam according to the calibration station coordinate and the first included angle;
and calculating an included angle between the actual pointing direction of the satellite beam and the theoretical pointing direction of the satellite beam according to the actual pointing point coordinates of the satellite beam and the theoretical pointing point coordinates of the satellite beam.
Optionally, the discretizing measures the energy value of the satellite calibration beam, including:
and measuring the energy values of four calibration beams of the satellite at east, west, south and north at preset time intervals in a preset period.
Optionally, the calculating a first included angle according to the energy value of the satellite calibration beam includes:
and respectively calculating an east-west beam energy difference and a south-north beam energy difference according to the energy value of the satellite calibration beam, and respectively obtaining a pitching direction deviation angle and a rolling direction deviation angle between the calibration station and a satellite connecting line and the actual pointing direction of the satellite beam according to the east-west beam energy difference and the south-north beam energy difference.
Optionally, the calculating an included angle between the actual pointing direction of the satellite beam and the theoretical pointing direction of the satellite beam according to the actual pointing point coordinate of the satellite beam and the theoretical pointing point coordinate of the satellite beam includes:
converting the actual pointing point coordinates of the satellite beams and the theoretical pointing point coordinates of the satellite beams into a satellite body coordinate system;
and under a satellite body coordinate system, calculating an included angle between the actual direction of the satellite beam and the theoretical direction of the satellite beam according to the actual direction point coordinate of the satellite beam and the theoretical direction point coordinate of the satellite beam.
Another embodiment of the present invention provides a dynamic beam pointing deviation angle measurement device for satellite-associated calibration, including:
the energy value measuring unit is used for measuring the energy value of the satellite calibration wave beam in a discretization manner;
the first included angle calculating unit is used for calculating a first included angle according to the energy value of the satellite calibration wave beam, and the first included angle is an included angle between a satellite connecting line and a calibration station and the actual direction of the satellite wave beam;
the calibration station coordinate recording unit is used for recording the coordinates of the calibration station in real time and converting the coordinates of the calibration station into the coordinates of a satellite antenna coordinate system;
the actual pointing point coordinate calculation unit is used for calculating the actual pointing point coordinate of the satellite wave beam according to the calibration station coordinate and the first included angle under the satellite antenna coordinate system;
and the pointing deviation angle calculation unit is used for calculating an included angle between the actual pointing direction of the satellite beam and the theoretical pointing direction of the satellite beam according to the actual pointing point coordinates of the satellite beam and the theoretical pointing point coordinates of the satellite beam.
Optionally, the energy value measuring unit is further configured to:
and measuring the energy values of four calibration beams of the satellite at east, west, south and north at preset time intervals in a preset period.
Optionally, the first included angle calculating unit is further configured to:
and respectively calculating an east-west beam energy difference and a south-north beam energy difference according to the energy values of the satellite calibration beams, and respectively obtaining a pitching direction deviation angle and a rolling direction deviation angle between the calibration station and a satellite connecting line and the actual pointing direction of the satellite beams according to the east-west beam energy difference and the south-north beam energy difference.
Optionally, the directional deviation angle calculation unit is further configured to:
converting the actual pointing point coordinates of the satellite beams and the theoretical pointing point coordinates of the satellite beams into a satellite body coordinate system;
and under a satellite body coordinate system, calculating an included angle between the actual direction of the satellite beam and the theoretical direction of the satellite beam according to the actual direction point coordinate of the satellite beam and the theoretical direction point coordinate of the satellite beam.
Another embodiment of the present invention provides an electronic apparatus, wherein the electronic apparatus includes:
a processor; and the number of the first and second groups,
a memory arranged to store computer executable instructions that, when executed, cause the processor to perform the method described above.
Another embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores one or more programs which, when executed by a processor, implement the above-described method.
The method has the advantages that the problem that the satellite beam deviation angle cannot be calculated due to real-time change of the calibration station and the theoretical direction of the satellite beam during marine multi-satellite combined calibration is solved, and the calculation of the beam direction deviation angle under the condition that both the calibration station and the theoretical direction of the satellite beam change in real time can be realized.
Drawings
FIG. 1 is a schematic flow chart of a dynamic measurement method of beam pointing deviation angle for multi-satellite combined calibration according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a dynamic measurement method of beam pointing deviation angle for multi-satellite combined calibration according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of a dynamic measurement method of beam pointing deviation angle for multi-satellite combined calibration according to another embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a dynamic measurement apparatus for beam pointing deviation angle in multi-satellite combined calibration according to an embodiment of the present invention;
FIG. 5 shows a schematic structural diagram of an electronic device according to one embodiment of the invention;
fig. 6 shows a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a dynamic measurement method of beam pointing deviation angle in multi-satellite combined calibration according to an embodiment of the present invention. As shown in fig. 1, the method includes:
s11: measuring the energy value of the satellite calibration wave beam in a discretization manner;
in practical applications, the energy value of the satellite calibration beam can be measured every 10 seconds.
S12: calculating a first included angle according to the energy value of the satellite calibration wave beam, wherein the first included angle is an included angle between a satellite connecting line and a calibration station and the actual direction of the satellite wave beam;
it is understood that the embodiment of the present invention calculates the corresponding first angle according to the energy values of the satellite calibration beam at each time obtained by the measurement in S11.
S13: recording the coordinates of the calibration station in real time, and converting the coordinates of the calibration station into coordinates of a satellite antenna coordinate system;
in practical application, the coordinates of the longitude and latitude height of the calibration station are recorded in real time, and the coordinate values of the longitude and latitude height of the calibration station are converted into coordinates under a satellite antenna coordinate system.
S14: under a satellite antenna coordinate system, calculating the actual pointing point coordinate of the satellite wave beam according to the calibration station coordinate and the first included angle;
s15: and calculating an included angle between the actual pointing direction of the satellite beam and the theoretical pointing direction of the satellite beam according to the actual pointing point coordinates of the satellite beam and the theoretical pointing point coordinates of the satellite beam.
As shown in fig. 2, the actual pointing direction of the satellite beam changes in real time due to the low dip orbit and other factors, as shown by the star trajectory in fig. 2; according to a three-star combined calibration control strategy, in order to ensure that the multi-star splicing coverage edge is kept stable, the satellite beam pointing needs to be compensated and adjusted in real time, so that the theoretical pointing of the satellite beam changes in real time, as shown in a circular track in fig. 2; the shipborne calibration station passes through the coverage area of the calibration beam, and the motion trail is shown as a triangular trail in fig. 2.
The dynamic measurement method for the beam pointing deviation angle of the multi-satellite combined calibration solves the problem that the satellite beam deviation angle cannot be calculated due to real-time change of the calibration station and the theoretical pointing direction of the satellite beam during the marine multi-satellite combined calibration, and can realize the calculation of the beam pointing deviation angle under the condition that the theoretical pointing directions of the calibration station and the satellite beam are changed in real time.
In an optional implementation manner of the embodiment of the present invention, the discretizing measuring an energy value of a satellite calibration beam includes:
and measuring the energy values of four calibration beams of the satellite at east, west, south and north every preset time interval in a preset period.
In practical applications, the predetermined period may be 24 hours, and the predetermined time interval may be 10 seconds. And measuring once every 10 seconds, and simultaneously receiving and measuring the energy values of four calibration beams of east, west, south and north of the satellite by the calibration station and carrying out normalization processing.
Further, the calculating the first included angle according to the energy value of the satellite calibration beam includes:
and respectively calculating an east-west beam energy difference and a south-north beam energy difference according to the energy values of the satellite calibration beams, and respectively obtaining a pitching direction deviation angle and a rolling direction deviation angle between the calibration station and a satellite connecting line and the actual pointing direction of the satellite beams according to the east-west beam energy difference and the south-north beam energy difference.
In practical application, a single-pulse amplitude comparison method is used, and a pitching direction deviation angle and a rolling direction deviation angle between a calibration station and a satellite connecting line and the actual direction of a satellite beam are respectively obtained according to an energy difference of an east-west beam and an energy difference of a north-south beam in an antenna coordinate system.
Specifically, the calculating an included angle between the actual pointing direction of the satellite beam and the theoretical pointing direction of the satellite beam according to the actual pointing point coordinate of the satellite beam and the theoretical pointing point coordinate of the satellite beam includes:
converting the actual pointing point coordinates of the satellite beams and the theoretical pointing point coordinates of the satellite beams into a satellite body coordinate system;
and under a satellite body coordinate system, calculating an included angle between the actual pointing direction of the satellite wave beam and the theoretical pointing direction of the satellite wave beam according to the actual pointing point coordinate of the satellite wave beam and the theoretical pointing point coordinate of the satellite wave beam.
Fig. 3 is a flowchart illustrating a beam pointing deviation angle dynamic measurement method for multi-satellite combined calibration according to another embodiment of the present invention. As shown in fig. 3, the method of the embodiment of the present invention includes the following steps:
step one, measuring tiEnergy values of four calibration beams of east, west, south and north of the satellite at the moment;
step two, using amplitude-comparison monopulse method to calculate t under the antenna coordinate systemiThe pointing deviation angle between the actual pointing direction of the satellite beam and the calibration station at the moment;
step three, recording tiCalibrating station coordinates, querying tiThe satellite orbit position at the moment, and the coordinate of the calibration station is converted into a satellite antenna coordinate system;
step four, under an antenna coordinate system, according to tiCalibrating the coordinates of the station at the moment, and calculating tiTime of day satellite beam realAn intersectional point;
step five, mixing tiConverting the actual pointing point coordinates of the satellite beams and the theoretical pointing point coordinates of the satellite beams into a satellite body coordinate system;
step six, calculating t under the satellite body coordinate systemiThe angle between the actual beam pointing direction of the satellite at the moment and the theoretical beam pointing direction is formed;
step seven, drawing a deviation angle curve: and measuring every 10 seconds by taking 24 hours as a period to obtain a pointing deviation angle curve of a daily period.
Fig. 4 is a schematic structural diagram of a dynamic measurement apparatus for beam pointing deviation angle in multi-satellite combined calibration according to an embodiment of the present invention. As shown in fig. 4, the apparatus includes:
an energy value measuring unit 41, configured to measure the energy value of the satellite calibration beam in a discretization manner;
a first included angle calculating unit 42, configured to calculate a first included angle according to the energy value of the satellite calibration beam, where the first included angle is an included angle between a satellite connection line and a satellite calibration station and an actual pointing direction of the satellite beam;
a calibration station coordinate recording unit 43, configured to record coordinates of the calibration station in real time, and convert the coordinates of the calibration station into coordinates of a satellite antenna coordinate system;
the actual pointing point coordinate calculation unit 44 is configured to calculate an actual pointing point coordinate of a satellite beam according to the calibration station coordinate and the first included angle in the satellite antenna coordinate system;
and a pointing deviation angle calculation unit 45, configured to calculate an included angle between the actual pointing direction of the satellite beam and the theoretical pointing direction of the satellite beam according to the actual pointing point coordinate of the satellite beam and the theoretical pointing point coordinate of the satellite beam.
The dynamic measurement device for the beam pointing deviation angle of the multi-satellite combined calibration solves the problem that the satellite beam deviation angle cannot be calculated due to real-time change of the theoretical pointing directions of the calibration station and the satellite during the marine multi-satellite combined calibration, and can realize the calculation of the beam pointing deviation angle under the condition that the theoretical pointing directions of the calibration station and the satellite are changed in real time.
In an optional implementation manner of the embodiment of the present invention, the energy value measuring unit 41 is further configured to:
and measuring the energy values of four calibration beams of the satellite at east, west, south and north at preset time intervals in a preset period.
The first angle calculation unit 42 is further configured to:
and respectively calculating an east-west beam energy difference and a south-north beam energy difference according to the energy values of the satellite calibration beams, and respectively obtaining a pitching direction deviation angle and a rolling direction deviation angle between the calibration station and a satellite connecting line and the actual pointing direction of the satellite beams according to the east-west beam energy difference and the south-north beam energy difference.
The directional deviation angle calculation unit 45 is further adapted to:
converting the actual pointing point coordinates of the satellite beams and the theoretical pointing point coordinates of the satellite beams into a satellite body coordinate system;
and under a satellite body coordinate system, calculating an included angle between the actual direction of the satellite beam and the theoretical direction of the satellite beam according to the actual direction point coordinate of the satellite beam and the theoretical direction point coordinate of the satellite beam.
It should be noted that the dynamic beam pointing deviation angle measuring apparatus for multi-satellite combined calibration in the foregoing embodiments can be respectively used for executing the methods in the foregoing embodiments, and therefore, detailed description thereof is omitted.
In conclusion, the method and the device solve the problem that the satellite beam deviation angle cannot be calculated due to real-time change of the theoretical pointing directions of the calibration station and the satellite beams during marine multi-satellite combined calibration, and can realize the calculation of the beam pointing deviation angle under the condition that the theoretical pointing directions of the calibration station and the satellite beams are changed in real time.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
It should be noted that:
the algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose devices may be used with the teachings herein. The required structure for constructing such a device will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components of the apparatus for detecting a wearing state of an electronic device according to embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
For example, fig. 5 shows a schematic structural diagram of an electronic device according to an embodiment of the invention. The electronic device conventionally comprises a processor 51 and a memory 52 arranged to store computer executable instructions (program code). The memory 52 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. The memory 52 has a storage space 53 storing program code 54 for performing the steps of the method shown in fig. 1 and in any of the embodiments. For example, the storage space 53 for storing the program code may comprise respective program codes 54 for implementing the various steps in the above method, respectively. The program code can be read from or written to one or more computer program products. These computer program products comprise a program code carrier such as a hard disk, a Compact Disc (CD), a memory card or a floppy disk. Such a computer program product is typically a computer readable storage medium such as described in fig. 6. The computer readable storage medium may have memory segments, memory spaces, etc. arranged similarly to the memory 52 in the electronic device of fig. 5. The program code may be compressed, for example, in a suitable form. In general, the memory space stores program code 61 for performing the steps of the method according to the invention, i.e. there may be program code, such as read by the processor 51, which, when run by the electronic device, causes the electronic device to perform the steps of the method described above.
While the foregoing is directed to embodiments of the present invention, other modifications and variations of the present invention may be devised by those skilled in the art in light of the above teachings. It should be understood by those skilled in the art that the foregoing detailed description is for the purpose of better explaining the present invention, and the scope of the present invention should be determined by the scope of the appended claims.
Claims (10)
1. A dynamic measurement method for beam pointing deviation angle of multi-satellite combined calibration is characterized by comprising the following steps:
measuring the energy value of the satellite calibration wave beam in a discretization manner;
calculating a first included angle according to the energy value of the satellite calibration wave beam, wherein the first included angle is an included angle between a satellite connecting line and a calibration station and the actual direction of the satellite wave beam;
recording the coordinates of the calibration station in real time, and converting the coordinates of the calibration station into coordinates of a satellite antenna coordinate system;
under a satellite antenna coordinate system, calculating the actual pointing point coordinate of the satellite wave beam according to the calibration station coordinate and the first included angle;
and calculating an included angle between the actual pointing direction of the satellite beam and the theoretical pointing direction of the satellite beam according to the actual pointing point coordinates of the satellite beam and the theoretical pointing point coordinates of the satellite beam.
2. The method of claim 1, wherein the discretizing measures energy values of satellite calibration beams, comprising:
and measuring the energy values of four calibration beams of the satellite at east, west, south and north at preset time intervals in a preset period.
3. The method of claim 2, wherein said calculating a first angle from the energy values of the satellite calibration beams comprises:
and respectively calculating an east-west beam energy difference and a south-north beam energy difference according to the energy values of the satellite calibration beams, and respectively obtaining a pitching direction deviation angle and a rolling direction deviation angle between the calibration station and a satellite connecting line and the actual pointing direction of the satellite beams according to the east-west beam energy difference and the south-north beam energy difference.
4. The method of claim 1, wherein calculating an angle between the actual pointing direction of the satellite beam and the theoretical pointing direction of the satellite beam according to the coordinates of the actual pointing point of the satellite beam and the coordinates of the theoretical pointing point of the satellite beam comprises:
converting the actual pointing point coordinates of the satellite beams and the theoretical pointing point coordinates of the satellite beams into a satellite body coordinate system;
and under a satellite body coordinate system, calculating an included angle between the actual direction of the satellite beam and the theoretical direction of the satellite beam according to the actual direction point coordinate of the satellite beam and the theoretical direction point coordinate of the satellite beam.
5. A dynamic measurement device for beam pointing deviation angle of multi-satellite combined calibration is characterized by comprising:
the energy value measuring unit is used for measuring the energy value of the satellite calibration wave beam in a discretization manner;
the first included angle calculating unit is used for calculating a first included angle according to the energy value of the satellite calibration wave beam, and the first included angle is an included angle between a satellite connecting line and a calibration station and the actual direction of the satellite wave beam;
the calibration station coordinate recording unit is used for recording the coordinates of the calibration station in real time and converting the coordinates of the calibration station into the coordinates of a satellite antenna coordinate system;
the actual pointing point coordinate calculation unit is used for calculating the actual pointing point coordinate of the satellite wave beam according to the calibration station coordinate and the first included angle under the satellite antenna coordinate system;
and the pointing deviation angle calculation unit is used for calculating an included angle between the actual pointing direction of the satellite beam and the theoretical pointing direction of the satellite beam according to the actual pointing point coordinates of the satellite beam and the theoretical pointing point coordinates of the satellite beam.
6. The apparatus of claim 5, wherein the energy value measuring unit is further configured to:
and measuring the energy values of four calibration beams of the satellite at east, west, south and north at preset time intervals in a preset period.
7. The apparatus of claim 6, wherein the first angle calculation unit is further configured to:
and respectively calculating an east-west beam energy difference and a south-north beam energy difference according to the energy values of the satellite calibration beams, and respectively obtaining a pitching direction deviation angle and a rolling direction deviation angle between the calibration station and a satellite connecting line and the actual pointing direction of the satellite beams according to the east-west beam energy difference and the south-north beam energy difference.
8. The apparatus of claim 5, wherein the directional deviation angle calculation unit is further configured to:
converting the actual pointing point coordinates of the satellite beams and the theoretical pointing point coordinates of the satellite beams into a satellite body coordinate system;
and under a satellite body coordinate system, calculating an included angle between the actual direction of the satellite beam and the theoretical direction of the satellite beam according to the actual direction point coordinate of the satellite beam and the theoretical direction point coordinate of the satellite beam.
9. An electronic device, comprising:
a processor; and the number of the first and second groups,
a memory arranged to store computer executable instructions which when executed cause the processor to perform a method of dynamic measurement of beam pointing deviation angle for multi-satellite joint calibration according to any one of claims 1-4.
10. A computer readable storage medium storing one or more programs which, when executed by a processor, implement the dynamic measurement method of multi-satellite jointly calibrated beam pointing deviation angle of any one of claims 1-4.
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