CN114689011A - Method and device for dynamic measurement of beam pointing deviation angle for multi-satellite joint calibration - Google Patents

Abstract

The invention discloses a method and device for dynamic measurement of beam pointing deviation angle for multi-satellite joint calibration. The method includes: discretely measuring the energy value of the satellite calibration beam; calculating a first included angle according to the energy value of the satellite calibration beam, where the first included angle is the connection between the calibration station and the satellite and the actual pointing of the satellite beam The included angle between; record the coordinates of the calibration station in real time, and convert the coordinates of the calibration station into the coordinates of the satellite antenna coordinate system; under the satellite antenna coordinate system, according to the calibration station coordinates and the first The included angle calculates the coordinates of the actual pointing point of the satellite beam; calculates the included angle between the actual pointing of the satellite beam and the theoretical pointing of the satellite beam according to the coordinates of the actual pointing point of the satellite beam and the theoretical pointing point of the satellite beam. It can be seen that the present invention can realize the calculation of the beam pointing deviation angle under the condition that both the calibration station and the theoretical pointing of the satellite beam change in real time.

Description

Method and device for dynamic measurement of beam pointing deviation angle for multi-satellite joint calibration

technical field

The invention relates to the field of satellite mobile communications, in particular to a method, device, electronic device and computer-readable storage medium for dynamic measurement of beam pointing deviation angle for multi-satellite joint calibration.

Background technique

In order to meet the needs of emergency communication, my country has launched my country's first domestic large S-band mobile communication satellite after 2016. The satellite uses a large-diameter deployable multi-beam ring mesh antenna to cover the mission area, and the system design expands the communication coverage area through multi-satellite splicing. Due to the satellite running in a synchronous orbit with a small inclination angle and other factors, the geometric relationship between the antenna and the ground coverage area exhibits periodic and constant changes. The actual pointing error of the antenna will cause the edge gain to change and affect the ground communication coverage. In order to ensure the accuracy of the antenna's on-orbit pointing accuracy and ensure good communication results in the communication coverage area, beam calibration work is required during the satellite's life, the antenna pointing deviation is measured, and the satellite platform attitude and antenna pointing are adjusted.

The first satellite was launched in 2016, and the beam center was designed to be fixed to Chengdu. By building a fixed calibration station at the theoretical pointing point of the satellite beam, based on the principle of amplitude ratio monopulse, the energy difference between the four calibration beams in the east, west, north, south and south was calculated and compared, and the satellite was obtained. The beam's actual pointing and the pointing deviation angle of the calibration station. Since the coordinates of the calibration station coincide with the theoretical pointing point of the satellite beam, the above measurement value is the satellite beam pointing deviation angle.

In recent years, follow-up satellites will be put into orbit one after another to expand the communication coverage at sea through multi-satellite splicing coverage. In order to solve the real-time change of the splicing edge caused by the movement of the small inclination angle, the system designs the theoretical pointing center point of each satellite to change in real time to compensate for the influence of the movement of the small inclination angle and ensure the stable coverage of the splicing area. At the same time, since the subsequent satellites cover the sea, only a mobile calibration station can be built based on the ship-borne platform. As a result, during calibration and measurement, the theoretical pointing point and calibration measurement point will change at the same time, and the calibration measurement method of the original first satellite cannot be used to complete the satellite calibration measurement. Beam pointing bias calculation.

In view of the problem that the latitude and longitude coordinates of the calibration station and the theoretical pointing point of the satellite beam change in real time in the joint beam calibration of multiple geosynchronous orbit satellites at sea, how to measure the beam pointing deviation angle of the multi-satellite joint calibration has become a problem that needs to be solved. The problem.

SUMMARY OF THE INVENTION

In view of the above problems, the present invention is proposed to provide a method, device, electronic device, and computer-readable storage medium for dynamic measurement of beam pointing deviation angle for multi-satellite joint calibration that overcomes the above problems or at least partially solves the above problems.

An embodiment of the present invention provides a method for dynamic measurement of beam pointing deviation angle for satellite joint calibration, the method includes:

Discrete measurement of the energy value of the satellite calibration beam;

Calculate the first included angle according to the energy value of the satellite calibration beam, and the first included angle is the included angle between the calibration station and the satellite connection line and the actual pointing of the satellite beam;

Record the coordinates of the calibration station in real time, and convert the coordinates of the calibration station into the coordinates of the satellite antenna coordinate system;

In the satellite antenna coordinate system, the coordinates of the actual pointing point of the satellite beam are calculated according to the coordinates of the calibration station and the first included angle;

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, the angle between the actual pointing of the satellite beam and the theoretical pointing of the satellite beam is calculated.

Optionally, the discrete measurement satellite calibration beam energy value, including:

The energy values of the four calibration beams in the east, west, north and south of the satellite are measured at preset time intervals within a preset period.

Optionally, the calculating the first included angle according to the energy value of the satellite calibration beam includes:

Calculate the east-west beam energy difference and the north-south beam energy difference respectively according to the energy value of the satellite calibration beam, and obtain the pitch between the calibration station and the satellite connection and the actual pointing of the satellite beam according to the east-west beam energy difference and the north-south beam energy difference. Orientation deviation angle and roll direction deviation angle.

Optionally, calculating the angle between the actual pointing point of the satellite beam and the theoretical pointing point of the satellite beam according to the coordinates of the actual pointing point of the satellite beam and the theoretical pointing point coordinate of the satellite beam, including:

Converting the coordinates of the actual pointing point of the satellite beam and the coordinates of the theoretical pointing point of the satellite beam into the satellite body coordinate system;

In the satellite body coordinate system, the angle between the actual pointing of the satellite beam and the theoretical pointing of the satellite beam is calculated according to the coordinates of the actual pointing point of the satellite beam and the theoretical pointing point of the satellite beam.

Another embodiment of the present invention provides a beam pointing deviation angle dynamic measurement device for satellite joint calibration, including:

The energy value measurement unit is used to discretize and measure the energy value of the satellite calibration beam;

a first included angle calculation unit, configured to calculate a first included angle according to the energy value of the calibration beam of the satellite, where the first included angle is the included angle between the calibration station and the connecting line of the satellite and the actual pointing of the satellite beam;

The calibration station coordinate recording unit is used to record the coordinates of the calibration station in real time, and convert the coordinates of the calibration station into the coordinates of the satellite antenna coordinate system;

The actual pointing point coordinate calculation unit is used to calculate the actual pointing point coordinates of the satellite beam according to the coordinates of the calibration station and the first included angle under the satellite antenna coordinate system;

The pointing deviation angle calculation unit is configured to calculate the angle between the actual pointing of the satellite beam and the theoretical pointing of the satellite beam according to the coordinates of the actual pointing point of the satellite beam and the theoretical pointing point of the satellite beam.

Optionally, the energy value measuring unit is further used for:

The energy values of the four calibration beams in the east, west, north and south of the satellite are measured at preset time intervals within a preset period.

Optionally, the first included angle calculation unit is further used for:

Calculate the east-west beam energy difference and the north-south beam energy difference respectively according to the energy value of the satellite calibration beam, and obtain the pitch between the calibration station and the satellite connection and the actual pointing of the satellite beam according to the east-west beam energy difference and the north-south beam energy difference. Orientation deviation angle and roll direction deviation angle.

Optionally, the pointing deviation angle calculation unit is further used for:

Converting the coordinates of the actual pointing point of the satellite beam and the coordinates of the theoretical pointing point of the satellite beam into the satellite body coordinate system;

In the satellite body coordinate system, the angle between the actual pointing of the satellite beam and the theoretical pointing of the satellite beam is calculated according to the coordinates of the actual pointing point of the satellite beam and the theoretical pointing point of the satellite beam.

Another embodiment of the present invention provides an electronic device, wherein the electronic device includes:

processor; and,

A memory arranged to store computer-executable instructions which, 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 that, when executed by a processor, implement the above-mentioned method .

The beneficial effect of the invention is that the invention solves the problem that the deviation angle of the satellite beam cannot be calculated due to the real-time change of the calibration station and the theoretical pointing of the satellite beam caused by the joint calibration of the multi-satellites at sea, and can realize the equalization of the calibration station and the theoretical pointing of the satellite beam. Calculation of beam pointing deviation angle under real-time changing conditions.

Description of drawings

1 is a schematic flowchart of a method for dynamic measurement of beam pointing deviation angle for multi-satellite joint calibration according to an embodiment of the present invention;

2 is a schematic diagram of a method for dynamic measurement of beam pointing deviation angle for multi-satellite joint calibration according to an embodiment of the present invention;

3 is a schematic flowchart of a method for dynamic measurement of beam pointing deviation angle for multi-satellite joint calibration according to another embodiment of the present invention;

4 is a schematic structural diagram of a device for dynamic measurement of beam pointing deviation angle for multi-satellite joint calibration according to an embodiment of the present invention;

FIG. 5 shows a schematic structural diagram of an electronic device according to an embodiment of the present invention;

FIG. 6 shows a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

FIG. 1 is a schematic flowchart of a method for dynamic measurement of beam pointing deviation angle for multi-satellite joint calibration according to an embodiment of the present invention. As shown in Figure 1, the method includes:

S11: Discretize and measure the energy value of the satellite calibration beam;

In practical applications, the energy value of the satellite calibration beam can be measured every 10 seconds.

S12: Calculate a first included angle according to the energy value of the satellite calibration beam, where the first included angle is the included angle between the calibration station and the satellite connection and the actual pointing of the satellite beam;

It is understandable that, in the embodiment of the present invention, the corresponding first included angle is calculated according to the energy value of the satellite calibration beam at each moment obtained by the measurement in S11.

S13: record the coordinates of the calibration station in real time, and convert the coordinates of the calibration station into the coordinates of the satellite antenna coordinate system;

In practical applications, the coordinates of the latitude and longitude of the calibration station are recorded in real time, and the coordinates of the latitude and longitude of the calibration station are converted into coordinates in the satellite antenna coordinate system.

S14: In the satellite antenna coordinate system, calculate the coordinates of the actual pointing point of the satellite beam according to the coordinates of the calibration station and the first included angle;

S15: Calculate the angle between the actual pointing of the satellite beam and the theoretical pointing of the satellite beam according to the coordinates of the actual pointing point of the satellite beam and the theoretical pointing point of the satellite beam.

As shown in Figure 2, due to the influence of the small-inclined orbit and other factors, the actual pointing of the satellite beam changes in real time, as shown in the star-shaped trajectory in Figure 2; The satellite beam pointing is adjusted in real time, resulting in the real-time change of the theoretical satellite beam pointing, as shown in the circular trajectory in Figure 2; the ship-borne calibration station passes through the coverage area of the calibration beam, and the motion trajectory is shown in the triangular trajectory in Figure 2.

The method for dynamic measurement of the beam pointing deviation angle of the multi-satellite joint calibration according to the embodiment of the present invention solves the problem that the deviation angle of the satellite beam cannot be calculated due to the real-time change of the theoretical pointing of the multi-satellite joint calibration at sea when the calibration station and the theoretical pointing of the satellite beam change. Realize the calculation of the beam pointing deviation angle under the condition that both the calibration station and the theoretical pointing of the satellite beam change in real time.

In an optional implementation manner of the embodiment of the present invention, the discrete measurement of the energy value of the satellite calibration beam includes:

The energy values of the four calibration beams in the east, west, north and south of the satellite are measured at preset time intervals within a preset period.

In practical applications, the preset period may be 24 hours, and the preset time interval may be 10 seconds. A measurement is carried out every 10 seconds, and the calibration station simultaneously receives and measures the energy values of the four calibration beams of the satellite, east, west, north, south and south, and normalizes them.

Further, calculating the first included angle according to the energy value of the satellite calibration beam includes:

Calculate the east-west beam energy difference and the north-south beam energy difference respectively according to the energy value of the satellite calibration beam, and obtain the pitch between the calibration station and the satellite connection and the actual pointing of the satellite beam according to the east-west beam energy difference and the north-south beam energy difference. Orientation deviation angle and roll direction deviation angle.

In practical applications, the amplitude ratio monopulse method is used, in the antenna coordinate system, according to the energy difference of the east-west beam and the energy difference of the north-south beam, the deviation angle of the pitch direction between the calibration station and the satellite connection and the actual pointing of the satellite beam are obtained respectively. Roll direction deviation angle.

Specifically, the calculation of the angle between the actual pointing point of the satellite beam and the theoretical pointing point of the satellite beam according to the coordinates of the actual pointing point of the satellite beam and the theoretical pointing point of the satellite beam includes:

Converting the coordinates of the actual pointing point of the satellite beam and the coordinates of the theoretical pointing point of the satellite beam into the satellite body coordinate system;

In the satellite body coordinate system, the angle between the actual pointing of the satellite beam and the theoretical pointing of the satellite beam is calculated according to the coordinates of the actual pointing point of the satellite beam and the theoretical pointing point of the satellite beam.

FIG. 3 is a schematic flowchart of a method for dynamic measurement of beam pointing deviation angle for multi-satellite joint 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 1: Measure the energy values of the four calibration beams of the satellite from east, west, north and south at time t _i ;

Step 2, using the amplitude ratio monopulse method, under the antenna coordinate system, calculate the pointing deviation angle between the actual pointing of the satellite beam and the calibration station at time t _i ;

Step 3, record t _i calibration station coordinates, query the satellite orbit position at time t _i , and convert calibration station coordinates into satellite antenna coordinate systems;

Step 4. Under the antenna coordinate system, according to the calibration station coordinates at time t _i , calculate the actual pointing point of the satellite beam at time t _i ;

Step 5: Convert the coordinates of the actual pointing point of the t _i satellite beam and the coordinates of the theoretical pointing point of the satellite beam into the satellite body coordinate system;

Step 6: Calculate the angle between the actual pointing of the satellite beam and the theoretical pointing of the beam at time _ti under the satellite body coordinate system;

Step 7. Draw the deviation angle curve: take 24 hours as the cycle, measure it every 10 seconds, and obtain the pointing deviation angle curve of a daily cycle.

FIG. 4 is a schematic structural diagram of a device for dynamic measurement of beam pointing deviation angle for multi-satellite joint calibration according to an embodiment of the present invention. As shown in Figure 4, the device includes:

The energy value measurement unit 41 is used to discretize the energy value of the satellite calibration beam;

The first included angle calculation unit 42 is used to calculate the first included angle according to the energy value of the calibration beam of the satellite, and the first included angle is the included angle between the calibration station and the connecting line of the satellite and the actual pointing of the satellite beam ;

The calibration station coordinate recording unit 43 is used to record the coordinates of the calibration station in real time, and convert the coordinates of the calibration station into the coordinates of the satellite antenna coordinate system;

The actual pointing point coordinate calculation unit 44 is used to calculate the actual pointing point coordinate of the satellite beam according to the calibration station coordinates and the first included angle under the satellite antenna coordinate system;

The pointing deviation angle calculation unit 45 is configured to calculate the angle between the actual pointing of the satellite beam and the theoretical pointing of the satellite beam according to the coordinates of the actual pointing point of the satellite beam and the theoretical pointing point of the satellite beam.

The multi-satellite joint calibration beam pointing deviation angle dynamic measurement device according to the embodiment of the present invention solves the problem that the satellite beam deviation angle cannot be calculated due to the real-time change of the satellite beam theoretical pointing and the multi-satellite joint calibration time calibration station at sea. Realize the calculation of the beam pointing deviation angle under the condition that both the calibration station and the theoretical pointing of the satellite beam change 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:

The energy values of the four calibration beams in the east, west, north and south of the satellite are measured at preset time intervals within a preset period.

The first included angle calculation unit 42 is further used for:

Calculate the east-west beam energy difference and the north-south beam energy difference respectively according to the energy value of the satellite calibration beam, and obtain the pitch between the calibration station and the satellite connection and the actual pointing of the satellite beam according to the east-west beam energy difference and the north-south beam energy difference. Orientation deviation angle and roll direction deviation angle.

The pointing deviation angle calculation unit 45 is further used for:

Converting the coordinates of the actual pointing point of the satellite beam and the coordinates of the theoretical pointing point of the satellite beam into the satellite body coordinate system;

In the satellite body coordinate system, the angle between the actual pointing of the satellite beam and the theoretical pointing of the satellite beam is calculated according to the coordinates of the actual pointing point of the satellite beam and the theoretical pointing point of the satellite beam.

It should be noted that the device for dynamic measurement of the beam pointing deviation angle of the multi-satellite joint calibration in the above-mentioned embodiments can be respectively used to execute the methods in the above-mentioned embodiments, and thus will not be described in detail one by one.

In summary, the present invention solves the problem that the deviation angle of the satellite beam cannot be calculated due to the real-time change of the calibration station and the theoretical pointing of the satellite beam caused by the joint calibration of the multi-satellites at sea, and can realize the real-time change of the calibration station and the theoretical pointing of the satellite beam. Calculation of beam pointing deviation angle under conditions.

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, etc.) having computer-usable program code embodied therein.

It should be noted:

The algorithms and displays provided herein are not inherently related to any particular computer, virtual appliance, or other device. Various general-purpose devices can also be used with the teachings based on this. The structure required to construct such a device is apparent from the above description. Furthermore, the present invention is not directed to any particular programming language. It is to be understood that various programming languages may be used to implement the inventions described herein, and that the descriptions of specific languages above are intended to disclose the best mode for carrying out the invention.

In the description provided herein, numerous specific details are set forth. It will be 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 is to be understood that in the above description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together into a single embodiment, figure, or its description. This disclosure, however, should not be construed as reflecting an intention 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 understand that the modules in the device in the embodiment can be adaptively changed and arranged in one or more devices different from the embodiment. The modules or units or components in the embodiments may be combined into one module or unit or component, and further they may be divided into multiple sub-modules or sub-units or sub-assemblies. All features disclosed in this specification (including accompanying claims, abstract and drawings) and any method so disclosed may be employed in any combination, unless at least some of such features and/or procedures or elements are mutually exclusive. All processes or units of equipment are combined. Each feature disclosed in this specification (including 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 although some of the embodiments described herein include certain features, but not others, included in other embodiments, that combinations of features of different embodiments are intended to be within the scope of the invention within and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.

Various component embodiments of the present invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of some or all of some or all of the components in the apparatus for detecting the wearing state of an electronic device according to an embodiment of the present invention Function. The present invention can also be implemented as apparatus or apparatus programs (eg, computer programs and computer program products) for performing part or all of the methods described herein. Such a program implementing the present invention may be stored on a computer-readable medium, or may be in the form of one or more signals. Such signals may be downloaded from Internet sites, or provided on carrier signals, or in any other form.

For example, FIG. 5 shows a schematic structural diagram of an electronic device according to an embodiment of the present invention. The electronic device conventionally includes a processor 51 and a memory 52 arranged to store computer-executable instructions (program code). The memory 52 may be electronic memory such as flash memory, EEPROM (electrically erasable programmable read only memory), EPROM, hard disk, or ROM. The memory 52 has storage space 53 for storing program code 54 for executing any of the method steps shown in FIG. 1 and in the various embodiments. For example, the storage space 53 for storing program codes may include respective program codes 54 for implementing various steps in the above methods, respectively. The program codes can be read from or written to one or more computer program products. These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks. Such a computer program product is typically a computer-readable storage medium as described in FIG. 6 . The computer-readable storage medium may have storage segments, storage spaces, etc. arranged similarly to the memory 52 in the electronic device of FIG. 5 . The program code may, for example, be compressed in a suitable form. Typically, the storage space stores program codes 61 for performing the method steps according to the invention, ie there may be program codes such as those read by the processor 51 which, when executed by an electronic device, cause the electronic device to perform the above-described execution of the program code. steps in the method.

The above descriptions are only specific embodiments of the present invention, and those skilled in the art can make other improvements or modifications on the basis of the above embodiments under the above teachings of the present invention. Those skilled in the art should understand that the above-mentioned specific description is only for better explaining the purpose of the present invention, and the protection scope of the present invention should be based on the protection scope of the claims.

Claims (10)

1. a beam pointing deviation angle dynamic measurement method of multi-star joint calibration, is characterized in that, comprises: Discrete measurement of the energy value of the satellite calibration beam; Calculate the first included angle according to the energy value of the satellite calibration beam, and the first included angle is the included angle between the calibration station and the satellite connection line and the actual pointing of the satellite beam; Record the coordinates of the calibration station in real time, and convert the coordinates of the calibration station into the coordinates of the satellite antenna coordinate system; In the satellite antenna coordinate system, the coordinates of the actual pointing point of the satellite beam are calculated according to the coordinates of the calibration station and the first included angle; 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, the angle between the actual pointing of the satellite beam and the theoretical pointing of the satellite beam is calculated. 2. The method according to claim 1, wherein the discrete measurement satellite calibration beam energy value comprises: The energy values of the four calibration beams in the east, west, north and south of the satellite are measured at preset time intervals within a preset period. 3. The method according to claim 2, wherein the calculating the first included angle according to the energy value of the satellite calibration beam comprises: Calculate the east-west beam energy difference and the north-south beam energy difference respectively according to the energy value of the satellite calibration beam, and obtain the pitch between the calibration station and the satellite connection and the actual pointing of the satellite beam according to the east-west beam energy difference and the north-south beam energy difference. Orientation deviation angle and roll direction deviation angle. 4. The method according to claim 1, wherein the calculation of the angle between the actual pointing point of the satellite beam and the theoretical pointing of the satellite beam according to the coordinates of the actual pointing point of the satellite beam and the theoretical pointing point coordinate of the satellite beam, comprising: Converting the coordinates of the actual pointing point of the satellite beam and the coordinates of the theoretical pointing point of the satellite beam into the satellite body coordinate system; In the satellite body coordinate system, the angle between the actual pointing of the satellite beam and the theoretical pointing of the satellite beam is calculated according to the coordinates of the actual pointing point of the satellite beam and the theoretical pointing point of the satellite beam. 5. A beam pointing deviation angle dynamic measuring device for multi-star joint calibration, is characterized in that, comprising: The energy value measurement unit is used to discretize and measure the energy value of the satellite calibration beam; a first included angle calculation unit, configured to calculate a first included angle according to the energy value of the calibration beam of the satellite, where the first included angle is the included angle between the calibration station and the connecting line of the satellite and the actual pointing of the satellite beam; The calibration station coordinate recording unit is used to record the coordinates of the calibration station in real time, and convert the coordinates of the calibration station into the coordinates of the satellite antenna coordinate system; The actual pointing point coordinate calculation unit is used to calculate the actual pointing point coordinates of the satellite beam according to the coordinates of the calibration station and the first included angle under the satellite antenna coordinate system; The pointing deviation angle calculation unit is configured to calculate the angle between the actual pointing of the satellite beam and the theoretical pointing of the satellite beam according to the coordinates of the actual pointing point of the satellite beam and the theoretical pointing point of the satellite beam. 6. The device according to claim 5, wherein the energy value measuring unit is further used for: The energy values of the four calibration beams in the east, west, north and south of the satellite are measured at preset time intervals within a preset period. 7. The device according to claim 6, wherein the first included angle calculation unit is further used for: Calculate the east-west beam energy difference and the north-south beam energy difference respectively according to the energy value of the satellite calibration beam, and obtain the pitch between the calibration station and the satellite connection and the actual pointing of the satellite beam according to the east-west beam energy difference and the north-south beam energy difference. Orientation deviation angle and roll direction deviation angle. 8. The device according to claim 5, wherein the pointing deviation angle calculation unit is further used for: Converting the coordinates of the actual pointing point of the satellite beam and the coordinates of the theoretical pointing point of the satellite beam into the satellite body coordinate system; In the satellite body coordinate system, the angle between the actual pointing of the satellite beam and the theoretical pointing of the satellite beam is calculated according to the coordinates of the actual pointing point of the satellite beam and the theoretical pointing point of the satellite beam. 9. An electronic device, characterized in that the electronic device comprises: processor; and, A memory arranged to store computer-executable instructions that, when executed, cause the processor to perform the beam pointing deviation angle dynamics of the multi-satellite joint calibration of any one of claims 1-4 Measurement methods. 10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores one or more programs, and the one or more programs, when executed by a processor, implement any one of claims 1-4. A method for dynamic measurement of beam pointing deviation angle for multi-satellite joint calibration.

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