CN115149275A - Foldable fixed-surface antenna reflector and unfolding method - Google Patents
Foldable fixed-surface antenna reflector and unfolding method Download PDFInfo
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- CN115149275A CN115149275A CN202211036659.3A CN202211036659A CN115149275A CN 115149275 A CN115149275 A CN 115149275A CN 202211036659 A CN202211036659 A CN 202211036659A CN 115149275 A CN115149275 A CN 115149275A
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q15/00—Devices for reflection, refraction, diffraction or polarisation of waves radiated from an antenna, e.g. quasi-optical devices
- H01Q15/14—Reflecting surfaces; Equivalent structures
- H01Q15/18—Reflecting surfaces; Equivalent structures comprising plurality of mutually inclined plane surfaces, e.g. corner reflector
- H01Q15/20—Collapsible reflectors
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/08—Means for collapsing antennas or parts thereof
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/28—Adaptation for use in or on aircraft, missiles, satellites, or balloons
- H01Q1/288—Satellite antennas
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q19/00—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic
- H01Q19/10—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic using reflecting surfaces
- H01Q19/106—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic using reflecting surfaces using two or more intersecting plane surfaces, e.g. corner reflector antennas
Abstract
The present application provides a foldable solid-surface antenna reflector comprising: the folding antenna comprises a main body part and a folding part, wherein the folding part is movably connected with the main body part so that the folding part can be folded towards a satellite wallboard direction relative to the main body part to fold an antenna reflector; when the antenna reflector is in a folded state, the antenna reflector is located within an envelope of the satellite radome. The foldable solid-surface antenna reflector has at least one of the following beneficial technical effects: the structure is simple, the universality is good, and the large-caliber fixed surface reflector can be folded and folded; in addition, a larger layout space can be generated, the antenna layout is more flexible, the envelope limitation of the rocket fairing is not limited any more, the development of a large-caliber fixed-surface antenna in the future is adapted, and the wide applicability and the popularization and application value are achieved.
Description
Technical Field
The application relates to the field of antennas, in particular to a foldable fixed-surface antenna reflector and an unfolding method.
Background
With the continuous development of aerospace technology, high-throughput satellites are rapidly developed, and in order to improve the communication capacity of the satellites, the number of beams in a coverage area needs to be increased through extremely narrow beams. Generally, an antenna with the aperture within 2200mm can realize the coverage of a beam width of 0.9 to 1.4 degrees, and the communication capacity is within 50 Gbps; the antenna with the aperture within 2200 mm-2600 mm can realize the coverage of the beam width within 0.6-0.8 degrees, and the communication capacity is within 50Gbps-150Gbps; the antenna with the caliber of 2600mm or more can realize the coverage within 0.5 degree of beam width, and the communication capacity is 150Gbps or more.
The aperture of the antenna reflector is closely related to the communication capacity of the satellite, however, the size of the aperture of the antenna is limited by the size of a platform of the communication satellite and the envelope size of a rocket fairing, so that the satellite has difficulty in realizing larger communication capacity.
Disclosure of Invention
In order to overcome at least one of the deficiencies in the prior art, embodiments of the present application provide a foldable solid antenna reflector and a method for unfolding.
In a first aspect, an embodiment of the present application provides a foldable fixed-plane antenna reflector, including: the folding part is movably connected with the main body part so that the folding part can be folded towards the direction of the satellite wallboard relative to the main body part to fold the antenna reflector; when the antenna reflector is in a collapsed state, the antenna reflector is located within the envelope of the satellite radome.
In one embodiment, the working surfaces of the main body portion and the fold portion face the satellite radome in the collapsed state of the antenna reflector.
In one embodiment, the fold portion and the body portion are connected by a self-driven hinge located behind the working surface of the antenna reflector.
In one embodiment, the fold angle of the folded portion relative to the body portion is 30 ° -40 °.
In one embodiment, the folding portion includes a first folding block and a second folding block, which are symmetrically disposed at both sides of the body portion.
In one embodiment, the first folding block and the second folding block are respectively connected with the satellite wall board through a first locking and releasing device.
In one embodiment, the relationship between the length D of the body portion in the direction of the fold and the length D of the satellite wall panel in the same direction is: d is more than or equal to 0.6D and less than or equal to 0.7D.
In one embodiment, the first folding block and the second folding block are close to one end of the main body part, and the distance L1 between the first folding block and the center point of the corresponding first lock release device satisfies the following relation: l1 is more than or equal to 0.7L and less than or equal to 0.8L, wherein L is the length of the first folding block or the second folding block.
In one embodiment, the first folding block and the second folding block are far away from one end of the main body part, and the distances h between the first folding block and the second folding block and the satellite wall plate respectively satisfy the following relations: h is more than or equal to 0mm.
In one embodiment, the body portion is connected to the satellite wall panel by at least one second lock release.
In one embodiment, 4 second lock release devices are provided.
In one embodiment, a layout space is formed between the back surface of the working surface of the body portion and the satellite wall panel.
In one embodiment, the body portion is connected to the satellite wall panel by a two-dimensional rotation mechanism to effect rotation of the antenna reflector in the pitch and azimuth directions.
In one embodiment, the antenna reflector is rotated by an angle greater than 90 ° in the elevation direction and by an angle greater than 90 ° in the azimuth direction.
In a second aspect, an embodiment of the present application provides a method for unfolding a foldable solid-surface antenna reflector, including:
the two first locking and releasing devices are synchronously unlocked to unlock and release the first folding block and the second folding block;
the first folding block and the second folding block are unfolded under the driving of the corresponding self-driven hinges respectively;
the second locking and releasing device close to the two-dimensional rotating mechanism is firstly unlocked synchronously, and the second locking and releasing device far away from the two-dimensional rotating mechanism is unlocked synchronously;
and 5, rotating the antenna reflector to a second preset position along the azimuth direction, wherein the second preset position is a position reached by rotating more than 90 degrees along the azimuth direction.
Compared with the prior art, the method has the following beneficial effects: the structure is simple, the universality is good, and the large-caliber fixed surface reflector can be folded and folded; in addition, a larger layout space can be generated, the antenna layout is more flexible, the envelope limitation of the rocket fairing is not limited any more, the development of a large-caliber fixed-surface antenna in the future is adapted, and the wide applicability and the popularization and application value are achieved.
Drawings
The present application may be better understood by reference to the following description taken in conjunction with the accompanying drawings, which are incorporated in and form a part of this specification, and the following detailed description. In the drawings:
FIG. 1 illustrates a perspective view of a foldable solid-surface antenna reflector according to an embodiment of the present application;
FIG. 2 illustrates a schematic front view of a foldable solid-surface antenna reflector according to an embodiment of the present application;
FIG. 3 illustrates a side view schematic of a self-powered hinge according to an embodiment of the present application;
FIG. 4 illustrates a schematic view of an installation structure of a foldable solid-surface antenna reflector, a satellite radome and a satellite body according to an embodiment of the application;
FIG. 5 is a schematic diagram illustrating a layout space formed between a foldable fixed-area antenna reflector and a satellite wall panel according to an embodiment of the present application;
FIG. 6 is a schematic diagram illustrating parametric relationships of a foldable solid surface antenna reflector according to an embodiment of the present application;
FIG. 7 illustrates a schematic structural view of a foldable solid surface antenna reflector in an unfolded intermediate state 1 according to an embodiment of the present application;
FIG. 8 illustrates a structural schematic diagram of a foldable solid plane antenna reflector in an unfolded intermediate state 2 according to an embodiment of the present application;
fig. 9 is a schematic diagram illustrating a foldable solid-surface antenna reflector according to an embodiment of the present application in an unfolded position.
Reference numerals:
1-a main body part, 2-a folding part, 201-a first folding block, 202-a second folding block, 3-a satellite fairing, 4-a satellite wallboard, 5-a satellite body, 6-a self-driving hinge, 7-a first locking and releasing device, 8-a second locking and releasing device, 9-a layout space, 10-a two-dimensional rotating mechanism and 11-an unfolding arm.
Detailed Description
Exemplary embodiments of the present application will be described hereinafter with reference to the accompanying drawings. In the interest of clarity and conciseness, not all features of an actual embodiment are described in the specification. It will of course be appreciated that in the development of any such actual embodiment, numerous implementation-specific decisions may be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which will vary from one implementation to another.
Here, it should be further noted that, in order to avoid obscuring the present application with unnecessary details, only the device structure closely related to the solution according to the present application is shown in the drawings, and other details not so related to the present application are omitted.
It is to be understood that the application is not limited to the described embodiments, since the description proceeds with reference to the drawings. In this context, embodiments may be combined with each other, features may be replaced or borrowed between different embodiments, one or more features may be omitted in one embodiment, where feasible.
The size of the antenna aperture is limited by the size of a communication satellite platform and the enveloping size of a rocket fairing, the main communication satellite platform such as a DFH-4 satellite platform and a DFH-4E series satellite platform has the width direction (Y direction) size of 2100mm, a carrier adopts CZ-3B, the net enveloping size phi 3650mm of the satellite is allowed, and the maximum width direction size of a reflector is often smaller than 2200mm according to the layout characteristics of the communication satellite antenna.
In view of the requirement of the envelope of the satellite fairing, the caliber of the antenna reflector cannot exceed 2200mm, and in order to achieve the communication capacity of more than 150Gbps, the caliber of the antenna reflector needs to reach more than 2600 mm; based on the demand, the antenna reflector of this application is collapsible to be accomodate, and the bore can reach more than 2600mm, has broken through the technical bottleneck of current antenna launcher, for future high flux/very high flux satellite domestic, international market competitive bidding, and multi-beam antenna technical development provide support.
Fig. 1 to 3 show structural schematic diagrams of a foldable fixed-surface antenna reflector according to an embodiment of the present application at different angles, and fig. 4 shows an installation structural schematic diagram of the foldable fixed-surface antenna reflector, a satellite radome and a satellite body according to an embodiment of the present application. Satellite body 5 can all install the antenna reflector including 2 satellite wallboard 4 that the symmetry set up on every satellite wallboard 4, and the antenna reflector is installed only to unilateral satellite wallboard 4 as the example below in this application, explains.
The foldable fixed-surface antenna reflector of the embodiment of the application can comprise a main body part 1 and a folding part 2, wherein the folding part 2 is movably connected with the main body part 1 so that the folding part 2 can be folded towards the direction of a satellite wall plate 4 relative to the main body part 1 to fold the antenna reflector; when the antenna reflector is in the stowed condition, the antenna reflector is located within the envelope of the satellite radome 3.
The embodiment of the application adopts the arrangement mode that the folding part 2 is folded towards the satellite wall plate 4 relative to the main body part 1 so as to furl the antenna reflector; meanwhile, when the antenna reflector is in a folded state, the antenna reflector is positioned in the envelope of the satellite fairing 3. Fig. 5 shows a schematic structural diagram of a layout space 9 formed between a foldable fixed-surface antenna reflector and a satellite wall plate according to an embodiment of the present application, and according to fig. 5, under the condition that the height between a satellite fairing 3 and the satellite wall plate 4 is constant, because a folding manner is adopted in which a folding portion 2 is folded toward the satellite wall plate 4 relative to a main body portion 1, a value of t1 is smaller, and further a distance t2 between the antenna reflector and the satellite wall plate 4 is larger, that is, the layout space 9 formed between the antenna reflector and the satellite wall plate 4 is larger, and the utilization rate of the satellite wall plate 4 is higher; here, the layout space 9 may be provided with a fixed non-foldable antenna reflector or another foldable antenna reflector, so as to realize the layout of two antenna reflectors.
In one embodiment, the working surfaces of the main body portion 1 and the folded portion 2 face towards the satellite radome 3 when the antenna reflector is in a collapsed state. In this embodiment, in order to realize that the folding part 2 can be folded in the direction of the satellite wall panel 4 with respect to the main part 1, the folding part 2 and the main part 1 may be connected by a self-driven hinge 6, and the self-driven hinge 6 is located behind the working surface of the antenna reflector. Here, the folding portion 2 and the main body portion 1 may be connected in other ways, as long as the purpose of enabling the folding portion 2 to be folded toward the satellite wall panel 4 with respect to the main body portion 1 can be achieved, and the connection is not particularly limited herein. In the embodiment, the self-driven hinge 6 is arranged at the back of the working surface of the antenna reflector, the electrical property of the working surface is not influenced, meanwhile, the interference of the folding part 2 and the main body part 1 in the folding process can be avoided, and the folding effect is ensured.
In one embodiment, fig. 6 illustrates a parametric relationship diagram of a foldable solid surface antenna reflector according to an embodiment of the present application; the folding angle of the folding part 2 relative to the main part 1 is 30-40 degrees, see fig. 6, wherein the folding angle of the folding part 2 relative to the main part 1 refers to the included angle of the main part 1 along the direction of the folding part 2 and the length direction of the folding part 2 when the antenna reflector is in a folded state
. The embodiment of the application aims at the satellite fairing 3 with the envelope size phi 3650mm, and the included angle is formed
The angle is set to be 30-40 degrees, and the folding fixed-surface antenna reflector can be effectively ensured to be positioned in the envelope range of the satellite fairing 3 when being in a furled state.
In one embodiment, referring to fig. 1 to 4, the folding portion 2 may include two portions, namely a first folding block 201 and a second folding block 202, where the first folding block 201 and the second folding block 202 may be symmetrically disposed on two sides of the main body portion 1, and when the antenna reflector needs to be folded, the first folding block 201 and the second folding block 202 are folded toward the satellite wall panel 4. In this embodiment, the first folding block 201 and the second folding block 202 are both connected to the main body portion 1 by the self-driven hinge 6, where the first folding block 201 and the second folding block 202 can be folded or unfolded by the driving of the self-driven hinge 6, and the self-driven hinge 6 has an in-place locking function to ensure that the first folding block 201 and the second folding block 202 can be locked after being unfolded in place. In other embodiments, the first folding block 201 and the second folding block 202 are both connected to the main body portion 1 by two self-driven hinges 6, ensuring that there is sufficient driving torque.
In one embodiment, referring to fig. 2, the first folding block 201 and the second folding block 202 are connected to the satellite wall panel 4 by a first lock release 7, respectively. Here, the first locking and releasing device 7 may be a low impact locking and releasing device, when the antenna reflector is in the folded state, the first folding block 201 and the second folding block 202 are locked with the satellite wall panel 4 through the first locking and releasing device 7, when the folded part 2 of the antenna reflector needs to be unfolded, the two first locking and releasing devices 7 are unlocked synchronously, and the first folding block 201 and the second folding block 202 are unfolded in place under the driving of the self-driven hinge 6.
In one embodiment, referring to fig. 6, the relationship between the length D of the body portion 1 in the direction of the fold portion 2 and the length D of the satellite wall panel 4 in the same direction is: d is more than or equal to 0.6D and less than or equal to 0.7D; in other embodiments, the first folding block 201 and the second folding block 202 are close to one end of the main body portion 1, and the distances L1 between the center points of the first lock releasing devices 7 respectively satisfy the following relations: l1 is more than or equal to 0.7L and less than or equal to 0.8L, wherein L is the length of the first folding block 201 or the second folding block 202; the first folding block 201 and the second folding block 202 are far away from one end of the main body part 1, and the distances h between the first folding block and the satellite wall plate 4 respectively satisfy the following relations: h is more than or equal to 0mm. The parameter setting in the above embodiment further ensures that the antenna reflector is located inside the envelope of the satellite radome 3 when the antenna reflector is in the folded state; meanwhile, mechanical analysis shows that the locking rigidity of the first locking and releasing device 7 can achieve that the antenna fundamental frequency of the satellite in the X direction is more than or equal to 30Hz, the antenna fundamental frequency of the satellite in the Y direction is more than or equal to 30Hz, and the antenna fundamental frequency of the satellite in the Z direction is more than or equal to 60Hz, so that the requirement of the mechanical test condition of the whole satellite is met.
In one embodiment, referring to fig. 2, the body portion 1 is connected to the satellite wall panel 4 by at least one second lock release 8. Here, the second lock releasing means 8 may be a fire cutting lock releasing means, and in order to secure the reliability of locking, the second lock releasing means 8 may be provided with 4 pieces, which are uniformly arranged between the body part 1 and the satellite wall panel 4. When the antenna reflector needs to be unfolded, the 4 second lock release devices 8 are unlocked according to a set sequence, so that the main body part 1 is separated from the satellite wall plate 4.
In one embodiment, referring to fig. 1, the body portion 1 is connected to the satellite wall panel 4 by a two-dimensional rotation mechanism 10 to effect rotation of the antenna reflector in both the pitch and azimuth directions. Specifically, the rotation angle of the antenna reflector in the pitching direction is greater than 90 degrees, the rotation angle in the azimuth direction is greater than 90 degrees, and it can be ensured that the antenna reflector reaches the working state through rotation, that is, the working surface of the antenna reflector faces the satellite wall plate 4, that is, the included angle between the working surface of the antenna reflector and the surface of the satellite wall plate 4 is an acute angle. In other embodiments, the main body portion 1 may be connected to the two-dimensional rotation mechanism 10 by the deployment arm 11.
In other embodiments, there may be 4 second locking and releasing devices 8, wherein 2 of the second locking and releasing devices are located near the two-dimensional rotating mechanism 10,2 and are located far from the two-dimensional rotating mechanism 10, when the antenna reflector needs to be unfolded, the two second locking and releasing devices 8 close to the two-dimensional rotating mechanism 10 are unlocked and released first, and the two second locking and releasing devices 8 far from the two-dimensional rotating mechanism 10 are unlocked and released later, so that the main body portion 1 is stably separated from the satellite wall panel 4.
In summary, the foldable fixed-surface antenna reflector is simple in structure and good in universality, and can be folded and folded; and moreover, a larger layout space can be generated, the antenna layout is more flexible, the envelope limitation of the rocket fairing is not limited any more, the development of a future large-caliber fixed-surface antenna is adapted, and the wide applicability and the popularization and application value are realized.
The embodiment of the application provides a method for unfolding a foldable fixed-surface antenna reflector, which comprises the following steps:
And 3, unlocking and releasing the main body part 1 of the antenna reflector. Here, the number of the second lock releasing devices 8 may be 4, two of the second lock releasing devices 8 are close to the two-dimensional rotating mechanism 10, and two of the second lock releasing devices 8 are far from the two-dimensional rotating mechanism 10, when the main body portion 1 is unlocked and released, the two second lock releasing devices 8 close to the two-dimensional rotating mechanism 10 are firstly unlocked synchronously, and then the two second lock releasing devices 8 far from the two-dimensional rotating mechanism 10 are unlocked synchronously, so that the stability of the main body portion 1 in the unlocking and releasing process is ensured.
And 4, rotating the antenna reflector to a first preset position along the pitching direction. Here, referring to fig. 8, the antenna reflector is rotated in the pitch direction by the two-dimensional rotation mechanism 10, and the first predetermined position refers to a position reached by being rotated more than 90 ° in the pitch direction, and may be 135 °, for example.
And 5, rotating the antenna reflector to a second preset position along the azimuth direction. Here, referring to fig. 9, the antenna reflector is rotated in the pitch direction by the two-dimensional rotation mechanism 10, and the second predetermined position refers to a position reached by being rotated more than 90 ° in the azimuth direction, and may be 180 °, for example.
According to the unfolding method of the foldable solid-surface antenna reflector, the antenna reflector can be unfolded from the folded state to the unfolded state, the effective working position of the antenna reflector is achieved, and the unfolding process has high reliability and stability.
The above description is only for various embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (15)
1. A foldable solid plane antenna reflector, comprising: the antenna reflector comprises a main body part (1) and a folding part (2), wherein the folding part (2) is movably connected with the main body part (1) so that the folding part (2) can be folded relative to the main body part (1) towards a satellite wall plate (4) to fold the antenna reflector; when the antenna reflector is in a folded state, the antenna reflector is located within the envelope of the satellite radome (3).
2. The foldable surface antenna reflector according to claim 1, characterized in that the working surfaces of the main part (1) and the folded part (2) are facing towards the satellite radome (3) when the antenna reflector is in a collapsed state.
3. The foldable fixed-surface antenna reflector according to claim 2, characterized in that the folding part (2) and the main part (1) are connected by a self-driven hinge (6), the self-driven hinge (6) being located behind the working surface of the antenna reflector.
4. The foldable solid antenna reflector of claim 1, characterized in that the folding angle of the folded part (2) with respect to the body part (1) is 30 ° -40 °.
5. The foldable solid antenna reflector of 1~4 of any of claims wherein the folded portion (2) comprises a first folded block (201) and a second folded block (202), the first folded block (201) and the second folded block (202) are symmetrically disposed on both sides of the body portion (1).
6. The foldable fixed-surface antenna reflector according to claim 5, characterized in that said first folding block (201) and said second folding block (202) are connected to said satellite wall panel (4) by a first locking and releasing means (7), respectively.
7. The foldable fixed-area antenna reflector according to claim 6, characterized in that the relationship between the length D of the body portion (1) in the direction of the folded portion (2) and the length D of the satellite wall panel (4) in the same direction is: d is more than or equal to 0.6D and less than or equal to 0.7D.
8. The foldable fixed-surface antenna reflector according to claim 6, characterized in that the first folding block (201) and the second folding block (202) close to one end of the main body portion (1) have a distance L1 from the center point of the first lock release means (7) that satisfies the following relationship: l1 is more than or equal to 0.7L and less than or equal to 0.8L, wherein L is the length of the first folding block (201) or the second folding block (202).
9. The foldable fixed-area antenna reflector according to claim 6, wherein the first folding block (201) and the second folding block (202) are away from the end of the main body part (1) and have a distance h from the satellite wall panel (4) satisfying the following relationship: h is more than or equal to 0mm.
10. The foldable fixed-area antenna reflector according to claim 1, characterized in that said main portion (1) is connected to said satellite wall panel (4) by at least one second lock release means (8).
11. The foldable fixed-area antenna reflector according to claim 10, characterized in that there are 4 of said second lock release means (8).
12. The foldable fixed-area antenna reflector according to claim 1, characterized in that a layout space (9) is formed between the back of the working surface of the body portion (1) and the satellite wall panel (4).
13. The foldable fixed-area antenna reflector of claim 1, wherein the body portion (1) is connected to the satellite wall panel (4) by a two-dimensional rotation mechanism (10) to effect rotation of the antenna reflector in both the pitch and azimuth directions.
14. The foldable solid surface antenna reflector of claim 13 wherein the antenna reflector is rotated in a pitch direction by an angle greater than 90 ° and in an azimuth direction by an angle greater than 90 °.
15. A method of deploying a foldable solid-surface antenna reflector, comprising:
step 1, unlocking a folded part (2) of a released antenna reflector, comprising:
the two first locking and releasing devices (7) are synchronously unlocked to unlock and release the first folding block (201) and the second folding block (202);
step 2, unfolding the folded part (2), comprising:
the first folding block (201) and the second folding block (202) are unfolded under the drive of the self-driven hinges (6) corresponding to the first folding block and the second folding block respectively;
step 3, unlocking and releasing the main body part (1) of the antenna reflector, comprising:
the second locking and releasing device (8) close to the two-dimensional rotating mechanism (10) is firstly unlocked synchronously, and the second locking and releasing device (8) far away from the two-dimensional rotating mechanism (10) is unlocked synchronously again;
step 4, the antenna reflector rotates to a first preset position along the pitching direction, and the first preset position is a position reached by rotating more than 90 degrees along the pitching direction;
and 5, rotating the antenna reflector to a second preset position along the azimuth direction, wherein the second preset position is a position reached by rotating more than 90 degrees along the azimuth direction.
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