CN116953729B - Satellite tracking method, storage medium and communication-in-motion equipment - Google Patents

Satellite tracking method, storage medium and communication-in-motion equipment Download PDF

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Publication number
CN116953729B
CN116953729B CN202311219483.XA CN202311219483A CN116953729B CN 116953729 B CN116953729 B CN 116953729B CN 202311219483 A CN202311219483 A CN 202311219483A CN 116953729 B CN116953729 B CN 116953729B
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module
tracking
satellite
inertial navigation
working mode
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CN116953729A (en
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袁赤诚
周勤
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Chengdu Kesai Technology Co ltd
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Chengdu Kesai Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/02—Details of the space or ground control segments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/53—Determining attitude
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/1851—Systems using a satellite or space-based relay
    • H04B7/18517—Transmission equipment in earth stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Astronomy & Astrophysics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Signal Processing (AREA)
  • Automation & Control Theory (AREA)
  • Radio Relay Systems (AREA)

Abstract

The invention discloses a satellite tracking method, a storage medium and communication-in-motion equipment, wherein the communication-in-motion equipment comprises a sanitation guide module and an inertial guide module which are mutually independent, and the satellite tracking methodDetermining to enter a first working mode or a second working mode by judging the direction-finding state of the defending and guiding module, wherein the first working mode only utilizes the attitude information output by the inertial navigation module to carry out tracking parameter calculation and satellite tracking, and the first working mode is led in t before entering the second working mode 1 Data, in the second mode of operation, using t in subsequent tracking 1 Correcting the carrier azimuth angle output by the inertial navigation module by the data, and calculating tracking parameters by using the corrected carrier azimuth angle, t 1 The data is the difference between the azimuth angle of the carrier output by the front guard module and the azimuth angle of the carrier output by the inertial navigation module when the second working mode is entered. The satellite tracking method based on the technical thought of reducing the dependence of inertial navigation on sanitation navigation has the advantages of high flexibility, high tracking stability and high tracking precision.

Description

Satellite tracking method, storage medium and communication-in-motion equipment
Technical Field
The invention belongs to the technical field of satellite tracking, in particular to the technical field of satellite tracking control for communication-in-motion equipment, and particularly relates to a satellite tracking method, a storage medium and communication-in-motion equipment.
Background
Communication-in-motion is an abbreviation for "satellite ground station communication system in motion". Through communication-in-motion equipment, a mobile carrier such as a vehicle, a ship, an airplane and the like can track a platform such as a satellite and the like in real time in the motion process, and can continuously transmit multimedia information such as voice, data, images and the like, so that the requirements of various military and civil emergency communication and multimedia communication under mobile conditions can be met. The communication-in-motion equipment well solves the difficulty that various vehicles, ships and other mobile carriers continuously transmit voice, data, high-definition dynamic video images, fax and other multimedia information in real time through geosynchronous satellites in motion, is a major breakthrough in the communication field, is an application field with vigorous requirements and rapid development in the current satellite communication field, and has extremely wide development prospects in both the military and civil fields.
At present, due to the problems of cost and the like, a base station of a mobile operator cannot be completely covered on land, and even a communication base station cannot be built on the sea. With the improvement of wireless communication rate, the coverage area of a single communication base station becomes smaller, the number of communication base stations required in the same geographic area is increased, and the construction cost of the operator base station and the later use and maintenance cost are improved. In case of earthquake, fire and other unresistable conditions, the mobile communication base station may be damaged to cause interruption of emergency communication in disaster areas. It follows that the satellite-mediated communication mode will be a good complement to the mobile communication mode that depends on the mobile operator base station at the present stage.
The mobile communication equipment generally comprises a navigation module with combined inertial navigation and defensive navigation, and when satellite tracking is carried out, a control module in the mobile communication equipment adopts a fused navigation algorithm with combined inertial navigation and defensive navigation, and according to the difference of the fused navigation algorithm, the combination modes of the inertial navigation and the defensive navigation comprise loose combination, tight coupling, deep coupling and the like, and the control module generates a servo control instruction according to navigation data obtained by the fused navigation algorithm, and adjusts azimuth angle, pitch angle, polarization angle and the like of an antenna array surface in the mobile communication equipment through the servo control instruction, so that beams generated by the antenna array surface can be better aligned with satellites, and scanning tracking of the satellites is realized.
However, in the combined navigation mode based on inertial navigation and the guard navigation, when Wei Daochu is transmitted or calculated abnormally, or when parameter selection in the guard navigation and inertial navigation fusion algorithm is improper, or inertial navigation delay is high and correction amount is overlarge due to the fact that the guard navigation is blocked in some environments, the navigation precision realized by taking the inertial navigation as the main navigation is obviously reduced, the dependency of the inertial navigation on the guard navigation is strong, the tracking flexibility is poor, and the satellite tracking stability based on the fusion navigation algorithm cannot be ensured.
In summary, on the premise of fully utilizing the respective navigation positioning advantages of the satellite navigation and the inertial navigation and ensuring the satellite tracking precision of the communication-in-motion equipment, the decoupling realization of the satellite navigation and the inertial navigation is necessary. Based on this, an improved satellite tracking scheme for communication-in-motion devices is highly desirable in the art.
Disclosure of Invention
In view of the above, the invention provides a satellite tracking method, a storage medium and communication-in-motion equipment, which are used for solving the technical problems of strong dependence on navigation and poor tracking flexibility and further poor satellite tracking stability caused by combined use of inertial navigation and navigation in the prior art.
The aim of the invention is realized by the following technical scheme:
first aspect
The first aspect of the present invention provides a satellite tracking method, which is applied to a control module in a communication-in-motion device, wherein the communication-in-motion device further comprises a guard module and an inertial navigation module which are independent from each other, and the guard module and the inertial navigation module are respectively connected with the control module, and the method comprises:
s100, after the equipment is electrified, acquiring direction-finding information output by the guard module, if the direction-finding state of the guard module is determined to be invalid according to the direction-finding information, executing S200, otherwise, jumping to S300;
s200, entering a first working mode to carry out tracking parameter calculation and satellite tracking, and when the satellite tracking system is in the first working mode, regularly judging whether the direction-finding state of the guide module is effective, if so, jumping to S300, otherwise, keeping in the first working mode until the satellite tracking is finished after a tracking exit instruction is received;
s300, calculating t 1 Data are imported into a second working mode, then the second working mode is entered for tracking parameter calculation and satellite tracking, when the second working mode is adopted, whether the direction-finding state of the satellite guiding module and satellite signals are invalid at the same time is regularly judged, if yes, the second working mode is kept until satellite tracking is finished after a tracking exit instruction is received, and otherwise, the step S200 is skipped;
wherein said t 1 The data is the difference value between the carrier azimuth angle in the direction-finding information output by the current-state defending and guiding module and the carrier azimuth angle in the attitude information output by the inertial navigation module, which are acquired before entering the second working mode; in the first working mode, tracking parameter calculation and satellite tracking are carried out only by using the attitude information output by the inertial navigation module; in the second working mode, when satellite tracking is performed regularly, the azimuth angle of the carrier output by the inertial navigation module in the current state is increased by t 1 And generating a new carrier azimuth after data, and carrying out attitude coordinate transformation when the tracking parameters are calculated by using the new carrier azimuth.
Further improved, in S200, the first working mode is entered to perform tracking parameter calculation and satellite tracking, specifically:
s201, receiving satellite pointing information which is set by a user and needs to be tracked, wherein the pointing information comprises a target azimuth angle and attitude information output by a current state inertial navigation module;
s202, changing the azimuth angle of an antenna module in the communication equipment in a stepping mode according to a preset angle, and recording the carrier azimuth angle in the attitude information output by the inertial navigation module in the current state when the signal acquired by the beacon module in the communication equipment in the moving mode is the maximum value;
s203, calculating a first difference value, wherein the first difference value is the difference value between the target azimuth angle and the recorded carrier azimuth angle;
s204, carrying out periodic satellite tracking, generating a new carrier azimuth after adding a first difference value to the carrier azimuth output by the current state inertial navigation module, and carrying out attitude coordinate transformation when tracking parameter calculation by using the new carrier azimuth.
Further improved, in S300, t1 data is calculated and is imported into the second working mode, and then the second working mode is entered to perform tracking parameter calculation and satellite tracking, specifically:
s301, acquiring a carrier azimuth angle a in direction-finding information output by a current state guard guide module 2 And a carrier azimuth angle a in the attitude information output by the inertial navigation module 1 And calculate t 1 =a 2 -a 1 ，t 1 Representing t 1 Data;
s302, carrying out periodic satellite tracking, and increasing the carrier azimuth angle output by the inertial navigation module in the current state by t 1 And generating a new carrier azimuth after data, and carrying out attitude coordinate transformation when the tracking parameters are calculated by using the new carrier azimuth.
Further improved, the direction-finding information output by the guarding module comprises a direction-finding state word, if the direction-finding state word is normal, the direction-finding state of the guarding module is determined to be effective, otherwise, the direction-finding state of the guarding module is determined to be invalid.
In a fusion navigation mode combining traditional navigation and inertial navigation, the inertial navigation is mainly used as a dominant navigation module, and when transmission or calculation abnormality occurs in the navigation, or parameter selection is improper in a navigation and inertial navigation fusion algorithm, or inertial navigation delay is high and correction amount is overlarge in a situation that some navigation is shielded, navigation accuracy realized by using the inertial navigation as the main navigation is obviously reduced. In the invention, the following components are added:
1) When the satellite signal is lost or the direction finding information output by the satellite navigation module is not needed to be imported, the satellite navigation system enters a first working mode, the first working mode only depends on the attitude information output by the inertial navigation module to carry out attitude coordinate transformation, then a servo control instruction is generated after the attitude coordinate transformation, the antenna module carries out satellite tracking scanning according to the servo control instruction so as to finish satellite navigation, and the mode is a decoupling form of the satellite navigation and the inertial navigation without importing the direction finding information output by the satellite navigation module; and when the first working mode is in, judging whether the direction-finding state of the guide module is valid or not periodically, if the direction-finding state is valid, only the guide module needs to enter short-time (for example, within 1 s) direction-finding work at the moment, and recording t 1 Data, t 1 The data is used as the input parameter of the second working mode, then the second working mode is switched to, otherwise, the first working mode is kept;
2) When the direction-finding state is normal, the direction-finding module only needs to enter short-time (for example, within 1 s) direction-finding work, and records t 1 Data, t 1 The data are used as input parameters of a second working mode, then the second working mode is entered, and in the follow-up tracking process, the azimuth angle of the carrier output by the inertial navigation module in the current state is increased by t when the attitude coordinates are transformed 1 The data form a new carrier azimuth angle, the new carrier azimuth angle is used for attitude coordinate transformation, and when the satellite tracking is carried out in a second working mode, no matter whether the satellite navigation module has a direction finding state or not, the communication-in-motion equipment still can normally work only by relying on the inertial navigation module in the second working mode, namely: the direction-finding information output by the defending and guiding module is not needed to be imported, and the decoupling form of defending and guiding is realized; and when the satellite signal is in the second working mode, the direction finding state of the satellite signal guide module and the judgment of whether the satellite signal is simultaneously invalid are regularly carried out, if so, the satellite signal guide module is kept in the second working mode, and only when one of the satellite signal guide module is invalid, the satellite signal guide module is switched into the first working mode, and the switching mechanism can effectively ensure thatThe communication-in-motion equipment still keeps in the second working mode under the states of a tunnel, a bridge shielding and the like, and after the states of the tunnel, the bridge shielding and the like disappear, the communication-in-motion equipment is ensured to work normally, and the communication-in-motion equipment cannot enter the first working mode by mistake due to shielding.
The first aspect of the invention has the following beneficial effects:
firstly, through the arrangement of the independent satellite navigation module and the independent inertial navigation module and the combination of a satellite tracking mode consisting of a first working mode and a second working mode, the dependence of inertial navigation on the satellite navigation is reduced, so that the satellite tracking method realized by the invention has stronger flexibility, and correspondingly, the stability of satellite tracking is improved;
secondly, the switching mechanism of the first working mode and the second working mode is set, so that the satellite tracking precision is ensured;
in conclusion, based on the technical thought of reducing the dependence of inertial navigation on sanitation navigation, the satellite tracking method has the advantages of high flexibility, high tracking stability and high tracking precision.
Second aspect
A second aspect of the present invention proposes a storage medium for connection to an external processor, said storage medium storing at least one instruction, at least one program, a set of codes or a set of instructions, said at least one instruction, said at least one program, said set of codes or said set of instructions being loaded and executed by said processor to implement a satellite tracking method according to the first aspect of the present invention.
The second aspect of the present invention brings about the same advantageous effects as the first aspect and is not described in detail herein.
Third aspect of the invention
The third aspect of the invention provides a communication-in-motion device, which comprises a control module, an inertial navigation module, a guard module, a beacon module and an antenna module, wherein the inertial navigation module, the guard module, the beacon module and the antenna module are respectively connected with the control module;
the control module is used for executing the satellite tracking method according to the first aspect of the invention, so that the antenna module performs tracking scanning on the satellite to realize satellite alignment.
Further improved, the control module comprises an MCU unit and an FPGA unit, the MCU unit is connected with the FPGA unit, and the inertial navigation module, the guard navigation module, the beacon module and the antenna module are respectively connected with the FPGA unit.
Further refinements are made in that the antenna module comprises several phased array antenna subarrays.
The third aspect of the present invention brings about the same advantageous effects as the first aspect and is not described in detail herein.
Drawings
FIG. 1 is a flow chart of a satellite tracking method;
fig. 2 is a block diagram of a component of the communication-in-motion apparatus.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by a person skilled in the art without any inventive effort, are intended to be within the scope of the present invention, based on the embodiments of the present invention.
The following embodiments are described with reference to fig. 1-2.
Example 1
The embodiment provides a satellite tracking method which is applied to a control module in communication-in-motion equipment, wherein the communication-in-motion equipment further comprises a defending and guiding module and an inertial navigation module which are mutually independent, and the defending and guiding module and the inertial navigation module are respectively connected with the control module.
Specifically, referring to fig. 1, a satellite tracking method includes the following implementation steps:
s100, after the equipment is electrified, acquiring direction-finding information output by the guard module, if the direction-finding state of the guard module is determined to be invalid according to the direction-finding information, executing S200, otherwise, jumping to S300.
In some embodiments, the direction-finding state judgment is performed by outputting a direction-finding state word in the direction-finding information through the guard module, specifically: if the direction-finding status word is normal, determining that the direction-finding status of the guide module is valid, otherwise, determining that the direction-finding status of the guide module is invalid.
S200, entering a first working mode to carry out tracking parameter calculation and satellite tracking, and when the satellite tracking system is in the first working mode, regularly judging whether the direction-finding state of the guide module is effective, if so, jumping to S300, otherwise, keeping in the first working mode until the satellite tracking is finished after receiving a tracking exit instruction. In the first working mode, tracking parameter calculation and satellite tracking are carried out only by using the attitude information output by the inertial navigation module.
The periodic judgment may be periodically judged at preset intervals. As can be seen, the tracking parameter calculation includes attitude coordinate transformation, and according to the result of the attitude coordinate transformation, information such as azimuth angle, pitch angle, etc. required to be adjusted by the antenna module in the communication-in-motion device is calculated, and the satellite tracking specifically means: and generating a servo control instruction according to the information of azimuth angle, pitch angle and the like required to be adjusted by the antenna module, so that the antenna module changes the azimuth angle and the like of the beam output by the antenna module according to the servo control instruction, and accordingly, tracking and scanning the satellite are performed, and finally, satellite alignment is realized.
In this embodiment, in S200, a first operation mode is entered for tracking parameter calculation and satellite tracking, and a specific implementation process is as follows:
and S201, receiving satellite pointing information set by a user in a certain satellite longitude, satellite latitude and satellite altitude parameter state, and acquiring attitude information output by the current state inertial navigation module, wherein the pointing information comprises a target azimuth angle. The satellite pointing information also includes a target pitch angle, etc. It is known that the attitude information output by the inertial navigation module comprises a carrier azimuth angle, a carrier yaw angle, a carrier roll angle and the like. It should be understood that the current state refers to a real-time state where the carrier is located at a time when the control module obtains the attitude information output by the inertial navigation module by transmitting an instruction. The same applies to the current state expressed in the following description.
And S202, changing the azimuth angle of the antenna module in the mobile communication equipment according to a preset angle step by step, and recording the carrier azimuth angle in the attitude information output by the inertial navigation module in the current state when the signal acquired by the beacon module in the mobile communication equipment is the maximum value. Preferably, the scanning of the azimuth angle of the antenna module can be realized by setting the azimuth angle of the antenna module in the communication-in-motion equipment to be changed within the range of 0-360 degrees according to the preset angle stepping.
Sub-step s203. Calculate a first difference, the first difference being the difference between the target azimuth and the recorded carrier azimuth. Specifically, a first difference D 1 = T 1 -U 1 ，T 1 Indicating the target azimuth in the satellite pointing information, U 1 And representing the carrier azimuth angle in the attitude information output by the inertial navigation module in the current state obtained by recording when the signal acquired by the beacon module in the communication-in-motion equipment is the maximum value.
And S204, when the follow-up regular satellite tracking is carried out, adding a first difference value to the carrier azimuth angle output by the current state inertial navigation module, generating a new carrier azimuth angle, and carrying out attitude coordinate transformation when the tracking parameter is calculated by using the new carrier azimuth angle. And after the gesture coordinates are transformed, other tracking information is resolved, a servo control instruction is generated according to a final resolving result, and the antenna module performs tracking scanning on the satellite according to the servo control instruction, so that satellite alignment is realized. Specifically, a new carrier azimuth angle D is generated 2 =U 1 ’+D 1 ，U 1 ' represents the carrier azimuth angle in the attitude information output by the current state inertial navigation module in the following satellite tracking process. The periodic satellite tracking may be periodic at preset intervals.
S300, calculating t 1 And importing data into a second working mode, then entering the second working mode to carry out tracking parameter calculation and satellite tracking, and periodically judging whether the direction-finding state of the satellite guiding module and satellite signals are invalid at the same time when the satellite guiding module is in the second working mode, if so, keeping the satellite guiding module in the second working mode until the satellite tracking is finished after receiving a tracking exit instruction, otherwise, jumping to S200.
Wherein t is 1 The data specifically refers to the current state guard module acquired before entering the second working modeThe difference between the carrier azimuth angle in the outputted direction-finding information and the carrier azimuth angle in the attitude information outputted by the inertial navigation module. Specifically, t 1 =a 2 -a 1 ，t 1 Representing t 1 Data, a 2 Representing the carrier azimuth angle, a, in the direction-finding information output by the current state guard module 1 And representing the carrier azimuth angle in the attitude information output by the inertial navigation module. In the second working mode, when satellite tracking is performed regularly, the azimuth angle of the carrier output by the inertial navigation module in the current state is increased by t 1 And generating a new carrier azimuth after data, and carrying out attitude coordinate transformation when the tracking parameters are calculated by using the new carrier azimuth.
In this embodiment, in S300, the second operation mode is entered to perform tracking parameter calculation and satellite tracking, specifically:
during periodic satellite tracking, increasing the carrier azimuth angle output by the current-state inertial navigation module by t 1 Generating a new carrier azimuth after data, and carrying out attitude coordinate transformation in the process of tracking parameter calculation by using the new carrier azimuth' 2 =U 1 ’’+t 1 ，U 1 ' represents the carrier azimuth angle output by the inertial navigation module in the current state in the following satellite tracking process;
and after the gesture coordinates are transformed, other tracking information is resolved, a servo control instruction is generated according to a final resolving result, and the antenna module performs tracking scanning on the satellite according to the servo control instruction, so that satellite alignment is realized.
Example two
The present embodiment proposes a storage medium, where the storage medium is used to connect to an external processor, and at least one instruction, at least one section of program, a code set, or an instruction set is stored in the storage medium, where the at least one instruction, the at least one section of program, the code set, or the instruction set is loaded and executed by the processor to implement a satellite tracking method according to the first embodiment.
Example III
The embodiment provides communication-in-motion equipment, which comprises a control module, an inertial navigation module, a guard module (navigation board card), an antenna module and a beacon module, wherein the inertial navigation module, the guard module, the antenna module and the beacon module are respectively connected with the control module. The control module is used for executing the satellite tracking method in the first embodiment, so that the antenna module performs tracking scanning on the satellite to realize satellite alignment.
As shown in fig. 2, the communication-in-motion device generally further includes a storage module for storing, where the storage module may be FLASH, etc. The communication-in-motion device is also connected to an external interactive device via a user interface.
In some embodiments, the beacon module may be a beacon, the antenna module includes a plurality of phased array antenna subarrays, the control module includes an MCU unit and an FPGA unit, the MCU unit is configured to control a beam state of each phased array subarray through the FPGA unit, and perform information transfer with the guard module, the inertial navigation module and the beacon through the FPGA unit.
The foregoing is merely a preferred embodiment of the invention, and it is to be understood that the invention is not limited to the form disclosed herein but is not to be construed as excluding other embodiments, but is capable of numerous other combinations, modifications and environments and is capable of modifications within the scope of the inventive concept, either as taught or as a matter of routine skill or knowledge in the relevant art. And that modifications and variations which do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.

Claims (8)

1. The satellite tracking method is characterized by being applied to a control module in a communication-in-motion device, wherein the communication-in-motion device further comprises a guard module and an inertial navigation module which are mutually independent, and the guard module and the inertial navigation module are respectively connected with the control module, and the method comprises the following steps:
s100, after the equipment is electrified, acquiring direction-finding information output by the guard module, if the direction-finding state of the guard module is determined to be invalid according to the direction-finding information, executing S200, otherwise, jumping to S300;
s200, entering a first working mode to carry out tracking parameter calculation and satellite tracking, and when the satellite tracking system is in the first working mode, regularly judging whether the direction-finding state of the guide module is effective, if so, jumping to S300, otherwise, keeping in the first working mode until the satellite tracking is finished after a tracking exit instruction is received;
s300, calculating t 1 Data are imported into a second working mode, then the second working mode is entered for tracking parameter calculation and satellite tracking, when the second working mode is adopted, whether the direction-finding state of the satellite guiding module and satellite signals are invalid at the same time is regularly judged, if yes, the second working mode is kept until satellite tracking is finished after a tracking exit instruction is received, and otherwise, the step S200 is skipped;
wherein said t 1 The data is the difference value between the carrier azimuth angle in the direction-finding information output by the current-state defending and guiding module and the carrier azimuth angle in the attitude information output by the inertial navigation module, which are acquired before entering the second working mode; in the first working mode, tracking parameter calculation and satellite tracking are carried out only by using the attitude information output by the inertial navigation module; in the second working mode, when satellite tracking is performed regularly, the azimuth angle of the carrier output by the inertial navigation module in the current state is increased by t 1 And generating a new carrier azimuth after data, and carrying out attitude coordinate transformation when the tracking parameters are calculated by using the new carrier azimuth.
2. The method for tracking a satellite according to claim 1, wherein in S200, the tracking parameter calculation and the satellite tracking are performed by entering a first operation mode, specifically:
s201, receiving satellite pointing information which is set by a user and needs to be tracked, wherein the pointing information comprises a target azimuth angle and attitude information output by a current state inertial navigation module;
s202, changing the azimuth angle of an antenna module in the communication equipment in a stepping mode according to a preset angle, and recording the carrier azimuth angle in the attitude information output by the inertial navigation module in the current state when the signal acquired by the beacon module in the communication equipment in the moving mode is the maximum value;
s203, calculating a first difference value, wherein the first difference value is the difference value between the target azimuth angle and the recorded carrier azimuth angle;
s204, carrying out periodic satellite tracking, generating a new carrier azimuth after adding a first difference value to the carrier azimuth output by the current state inertial navigation module, and carrying out attitude coordinate transformation when tracking parameter calculation by using the new carrier azimuth.
3. The method of claim 1, wherein in S300, t1 data is calculated and imported into a second operation mode, and then the second operation mode is entered to perform tracking parameter calculation and satellite tracking, specifically:
s301, acquiring a carrier azimuth angle a in direction-finding information output by a current state guard guide module 2 And a carrier azimuth angle a in the attitude information output by the inertial navigation module 1 And calculate t 1 =a 2 -a 1 ，t 1 Representing t 1 Data;
s302, carrying out periodic satellite tracking, and increasing the carrier azimuth angle output by the inertial navigation module in the current state by t 1 And generating a new carrier azimuth after data, and carrying out attitude coordinate transformation when the tracking parameters are calculated by using the new carrier azimuth.
4. The satellite tracking method according to claim 1, wherein the direction-finding information output by the guard module includes a direction-finding status word, if the direction-finding status word is normal, the direction-finding status of the guard module is determined to be valid, otherwise, the direction-finding status of the guard module is determined to be invalid.
5. A storage medium for connection to an external processor, said storage medium having stored therein at least one instruction, at least one program, code set or instruction set, said at least one instruction, said at least one program, said code set or instruction set being loaded and executed by said processor to implement a satellite tracking method according to any one of claims 1 to 4.
6. The communication-in-motion equipment is characterized by comprising a control module, an inertial navigation module, a guarding module, a beacon module and an antenna module, wherein the inertial navigation module, the guarding module, the beacon module and the antenna module are respectively connected with the control module;
the control module is configured to perform a satellite tracking method according to any one of claims 1-4, such that the antenna module performs tracking scanning on the satellite to achieve satellite alignment.
7. The communication-in-motion device according to claim 6, wherein the control module comprises an MCU unit and an FPGA unit, the MCU unit is connected with the FPGA unit, and the inertial navigation module, the guard navigation module, the beacon module and the antenna module are respectively connected with the FPGA unit.
8. A communication-in-motion device according to claim 6, characterized in that the antenna module comprises several phased array antenna sub-arrays.
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