CN117878598A - Method and device for tracking communication-in-motion antenna suitable for medium-orbit satellite communication - Google Patents

Method and device for tracking communication-in-motion antenna suitable for medium-orbit satellite communication Download PDF

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Publication number
CN117878598A
CN117878598A CN202311593434.2A CN202311593434A CN117878598A CN 117878598 A CN117878598 A CN 117878598A CN 202311593434 A CN202311593434 A CN 202311593434A CN 117878598 A CN117878598 A CN 117878598A
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China
Prior art keywords
communication
target
antenna
motion
angle
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苏厉
陈军
葛宁
晏坚
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Shanghai Qingshen Technology Development Co ltd
Tsinghua University
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Shanghai Qingshen Technology Development Co ltd
Tsinghua University
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Priority to CN202311593434.2A priority Critical patent/CN117878598A/en
Publication of CN117878598A publication Critical patent/CN117878598A/en
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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/005—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using remotely controlled antenna positioning or scanning
    • 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
    • H01Q1/285—Aircraft wire antennas
    • 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
    • H01Q1/32—Adaptation for use in or on road or rail vehicles
    • 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
    • H01Q1/34—Adaptation for use in or on ships, submarines, buoys or torpedoes
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
    • H01Q3/08—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying two co-ordinates of the orientation

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Astronomy & Astrophysics (AREA)
  • General Physics & Mathematics (AREA)
  • Radio Relay Systems (AREA)

Abstract

The invention provides a method and a device for tracking a communication-in-motion antenna suitable for medium-orbit satellite communication, wherein the method comprises the following steps: in the open loop capturing process of the communication-in-motion antenna, determining the pointing angle of an antenna beam of the communication-in-motion antenna at a target appointed moment, wherein the target appointed moment is determined according to the scanning period of conical scanning of the communication-in-motion antenna; the pointing angle is an angle formed by the antenna beam pointing to the middle orbit satellite; performing coarse alignment processing on the communication-in-motion antenna by using a pointing angle at a target appointed moment, and acquiring a target beacon signal at the target appointed moment in a closed loop tracking process of the communication-in-motion antenna, wherein the target beacon signal is a beacon signal obtained in an azimuth angle direction and a pitch angle direction based on cone scanning; based on the target beacon signal, the angle of the communication-in-motion antenna is adjusted to realize tracking alignment of the communication-in-motion antenna. The invention reduces the alignment cost on the premise of ensuring the accurate alignment of the communication-in-motion antenna and the middle orbit satellite.

Description

Method and device for tracking communication-in-motion antenna suitable for medium-orbit satellite communication
Technical Field
The invention relates to the technical field of satellite communication, in particular to a method and a device for tracking a communication-in-motion antenna suitable for medium-orbit satellite communication.
Background
The communication-in-motion systems are mainly classified into three categories of vehicle-mounted, vehicle-mounted and ship-mounted according to different mobile carriers. Regardless of the type of in-motion communication, real-time alignment of the in-motion antenna beam with a satellite, such as a mid-orbit satellite, is desirable in terms of improving the received signal strength, as well as reducing interference generated by the transmitted signal.
Related art shows that in the current real-time alignment process of the antenna beam in motion and the middle orbit satellite, a high-precision heading angle, a high-precision attitude angle, an angular acceleration, a linear acceleration and the like of the mobile carrier are often obtained by adopting a high-precision heading attitude reference system, and the alignment cost is increased.
Therefore, finding a communication-in-motion antenna tracking method suitable for medium-orbit satellite communication, which can reduce the alignment cost, is a current research hotspot.
Disclosure of Invention
The invention provides a method and a device for tracking a communication-in-motion antenna suitable for communication of a medium-orbit satellite, which reduce alignment cost on the premise of ensuring accurate alignment of the communication-in-motion antenna and the medium-orbit satellite.
The invention provides a communication-in-motion antenna tracking method suitable for medium-orbit satellite communication, which comprises the following steps: in the open loop capturing process of the communication-in-motion antenna, determining the pointing angle of an antenna beam of the communication-in-motion antenna at a target appointed moment, wherein the target appointed moment is determined according to the scanning period of conical scanning of the communication-in-motion antenna; the pointing angle is an angle formed by the antenna beam pointing to the middle orbit satellite; performing coarse alignment processing on the communication-in-motion antenna according to the pointing angle of the target appointed moment, and acquiring a target beacon signal at the target appointed moment in the closed loop tracking process of the communication-in-motion antenna, wherein the target beacon signal is a beacon signal obtained in the azimuth angle direction and the pitch angle direction based on the conical scanning; and adjusting the angle of the communication-in-motion antenna based on the target beacon signal so as to realize tracking alignment of the communication-in-motion antenna.
According to the method for tracking the communication-in-motion antenna applicable to the communication of the medium-orbit satellite, the target beacon signals comprise a group of beacon signals obtained in the azimuth direction and a group of beacon signals obtained in the pitch angle direction; the adjusting the angle of the communication-in-motion antenna based on the target beacon signal specifically includes: adjusting an angle of the on-the-fly antenna in the azimuth direction based on signal strengths of a set of beacon signals obtained in the azimuth direction; and adjusting the angle of the communication-in-motion antenna in the pitch angle direction based on the signal strength of a set of beacon signals obtained in the pitch angle direction.
According to the method for tracking the communication-in-motion antenna applicable to the medium orbit satellite communication, the target designated time comprises a first target time, a second target time, a third target time and a fourth target time, wherein the first target time is the starting time of conical scanning of the communication-in-motion antenna, the second target time is the time corresponding to 0.25 time of the scanning period, the third target time is the time corresponding to 0.5 time of the scanning period, and the fourth target time is the time corresponding to 0.75 time of the scanning period.
According to the method for tracking the communication-in-motion antenna suitable for the communication of the medium orbit satellite, the pointing angle of the antenna beam of the communication-in-motion antenna at the target appointed moment is determined by adopting the following modes: predicting target position information of the middle orbit satellite at the target appointed moment, and acquiring geographic position information of an antenna carrier of the moving communication antenna and an attitude angle of the antenna carrier; and calculating to obtain the pointing angle of the antenna beam of the communication-in-motion antenna at the target appointed moment based on the target position information, the geographic position information and the attitude angle.
According to the method for tracking the communication-in-motion antenna suitable for communication of the medium-orbit satellite, the prediction of the target position information of the medium-orbit satellite at the target appointed moment is realized by adopting the following modes: acquiring two rows of orbit data of the middle orbit satellite; and predicting and obtaining the target position information of the middle orbit satellite at the target appointed moment based on the two lines of orbit data and a satellite orbit prediction model.
The invention also provides a communication-in-motion antenna tracking device suitable for medium-orbit satellite communication, which comprises: the determining module is used for determining the pointing angle of the antenna beam of the communication-in-motion antenna at the target appointed moment in the open loop capturing process of the communication-in-motion antenna, wherein the target appointed moment is determined according to the scanning period of conical scanning of the communication-in-motion antenna; the pointing angle is an angle formed by the antenna beam pointing to the middle orbit satellite; the processing module is used for carrying out rough alignment processing on the communication-in-motion antenna according to the pointing angle of the target appointed moment, and acquiring a target beacon signal at the target appointed moment in the closed loop tracking process of the communication-in-motion antenna, wherein the target beacon signal is a beacon signal obtained in the azimuth angle direction and the pitch angle direction based on the conical scanning; and the tracking module is used for adjusting the angle of the communication-in-motion antenna based on the target beacon signal so as to realize tracking alignment of the communication-in-motion antenna.
According to the communication-in-motion antenna tracking device suitable for medium orbit satellite communication, the target beacon signals comprise a group of beacon signals obtained in the azimuth direction and a group of beacon signals obtained in the pitch angle direction; the tracking module is used for adjusting the angle of the communication-in-motion antenna based on the target beacon signal in the following mode: adjusting an angle of the on-the-fly antenna in the azimuth direction based on a signal magnitude of a set of beacon signals obtained in the azimuth direction; and adjusting the angle of the communication-in-motion antenna in the pitch angle direction based on the signal magnitude of a group of beacon signals obtained in the pitch angle direction.
According to the communication-in-motion antenna tracking device suitable for medium orbit satellite communication, the target designated time comprises a first target time, a second target time, a third target time and a fourth target time, wherein the first target time is the starting time of conical scanning of the communication-in-motion antenna, the second target time is the time corresponding to 0.25 times of the scanning period, the third target time is the time corresponding to 0.5 times of the scanning period, and the fourth target time is the time corresponding to 0.75 times of the scanning period.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the communication-in-motion antenna tracking method suitable for medium-orbit satellite communication when executing the program.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of tracking a communication-in-motion antenna suitable for use in medium-orbit satellite communications as described in any of the above.
The invention also provides a computer program product comprising a computer program which when executed by a processor implements a method of tracking a communication-in-motion antenna as described in any one of the above adapted for medium-orbit satellite communications.
The invention provides a method and a device for tracking a communication-in-motion antenna suitable for communication of a medium orbit satellite, wherein in the open loop capturing process of the communication-in-motion antenna, the pointing angle of an antenna beam of the communication-in-motion antenna at a target appointed moment is determined, then the communication-in-motion antenna is subjected to rough alignment processing according to the pointing angle of the target appointed moment, in the closed loop tracking process of the communication-in-motion antenna, a target beacon signal at the target appointed moment is obtained, and then the angle of the communication-in-motion antenna is adjusted based on the target beacon signal, so that the tracking alignment of the communication-in-motion antenna is realized. The method reduces the alignment cost on the premise of ensuring the accurate alignment of the communication-in-motion antenna and the middle orbit satellite.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for tracking an antenna in communication with a medium-orbit satellite according to the present invention;
fig. 2 is a schematic flow chart of adjusting an angle of a communication-in-motion antenna based on a target beacon signal according to the present invention;
fig. 3 is a schematic flow chart of determining the pointing angle of an antenna beam of the communication-in-motion antenna at a target designated moment;
FIG. 4 is a schematic diagram of a target beacon signal distribution scenario provided by the present invention;
fig. 5 is a schematic diagram of an application scenario of the method for tracking a communication-in-motion antenna suitable for medium-orbit satellite communication provided by the invention;
FIG. 6 is a schematic diagram of a communication-in-motion antenna tracking device suitable for medium-orbit satellite communication;
fig. 7 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a communication-in-motion antenna tracking method suitable for medium orbit satellite communication, which predicts the motion trail of a medium orbit satellite by using Two rows of report data (TLE: two-Line Orbital Element, also called satellite ephemeris, two rows of orbit data) on the basis of simplifying a general perturbation model 4 (SGP 4: simplified General Perturbations No.4, which can correspond to a satellite orbit prediction model in the invention); combining with Global Navigation Satellite System (GNSS) in a ground communication-in-motion receiver and carrier geographic position information, azimuth, pitching and other attitude information obtained by low-cost strapdown inertial navigation, and calculating the pointing angle of an antenna beam at a designated moment in the process of capturing the ground communication-in-motion antenna of a medium orbit satellite in an open loop manner; and ensuring that the designated time and the subsequent closed loop tracking stage are synchronous with the beacon signal acquisition time of t=0, T/4, T/2 and 3T/4 when a cone scanning tracking algorithm with the period of T is performed, so that the tracking requirement of the medium orbit satellite on the communication-in-motion antenna can be met at low cost.
Fig. 1 is a schematic flow chart of a method for tracking a communication-in-motion antenna suitable for medium-orbit satellite communication.
In order to further describe the method for tracking the communication antenna in motion, which is suitable for medium-orbit satellite communication, the following description will be made with reference to fig. 1.
In an exemplary embodiment of the present invention, as can be seen in fig. 1, a method for tracking an antenna in motion suitable for medium-orbit satellite communication may include steps 110 to 130, and each step will be described below.
In step 110, during the open loop acquisition of the on-the-fly antenna, the pointing angle of the antenna beam of the on-the-fly antenna at the target specified time is determined.
In one embodiment, during the open loop capturing process of the in-motion antenna, the pointing angle of the antenna beam of the in-motion antenna at the target designated time may be determined, where the target designated time may be determined according to the scan period of the in-motion antenna for cone scanning. In an example, the time of one circle of circular motion of the antenna beam is T, where t=0, T/4, T/2, and 3T/4, which can be the target specified time. In the application process, the pointing angle of the target at the designated moment can be determined, wherein the pointing angle can represent the angle formed by the antenna beam pointing to the middle orbit satellite.
In step 120, coarse alignment processing is performed on the on-the-fly antenna at the pointing angle of the target specified time, and the target beacon signal at the target specified time is acquired during the closed-loop tracking process of the on-the-fly antenna.
In yet another embodiment, the rough alignment process may be performed on the on-the-fly antenna at the pointing angle acquired at the target specified time, and the target beacon signal at the target specified time may be synchronously acquired during the closed loop tracking process of the on-the-fly antenna. Wherein the target beacon signal may be characterized as a beacon signal derived in azimuth and pitch directions based on cone scanning.
Because the open loop capturing pointing error of the medium orbit satellite in-motion communication antenna is at the time t=0, t/4, t/2 and 3t/4, and is the time with the minimum open loop pointing error, then the closed loop cone scanning tracking is carried out at the time t=0, t/4, t/2 and 3t/4, and the process of acquiring the beacon signal receiving intensity at 4 points in the azimuth angle and pitch angle directions can avoid the position error caused by the medium orbit satellite moving on the orbit, thereby the advantages of the cone scanning tracking algorithm in the aspects of correcting the drift of inertial devices and servo systems and other errors of the system are reserved, and the low-cost medium orbit satellite in-motion communication antenna tracking method is realized.
In step 130, the angle of the communication-in-motion antenna is adjusted based on the target beacon signal to achieve tracking alignment of the communication-in-motion antenna.
In yet another embodiment, the angle of the communication-in-motion antenna may be adjusted according to the signal strength of the target beacon signal to achieve tracking alignment of the communication-in-motion antenna. Because the obtained target beacon signal can avoid the position error caused by the movement of the middle orbit satellite on the orbit, the tracking alignment of the communication-in-motion antenna can be realized more accurately based on the signal intensity of the target beacon signal.
The invention provides a method for tracking a communication-in-motion antenna suitable for communication of a medium orbit satellite, which comprises the steps of determining the pointing angle of an antenna beam of the communication-in-motion antenna at a target appointed moment in an open loop capturing process of the communication-in-motion antenna, performing rough alignment processing on the communication-in-motion antenna according to the pointing angle of the target appointed moment, acquiring a target beacon signal at the target appointed moment in a closed loop tracking process of the communication-in-motion antenna, and adjusting the angle of the communication-in-motion antenna based on the target beacon signal so as to realize tracking alignment of the communication-in-motion antenna. The method reduces the alignment cost on the premise of ensuring the accurate alignment of the communication-in-motion antenna and the middle orbit satellite.
Fig. 2 is a schematic flow chart of adjusting the angle of the communication-in-motion antenna based on the target beacon signal.
In order to further describe the method for tracking the communication antenna in motion, which is suitable for the communication of the medium-orbit satellite, the following description will be made with reference to fig. 2.
In an exemplary embodiment of the invention, the target beacon signal comprises a set of beacon signals derived in an azimuth direction and a set of beacon signals derived in a pitch direction. As can be seen in conjunction with fig. 4, in one example, the target beacon signal includes a beacon signal acquired at a time instant corresponding to 0.25 times the scanning period obtained in the azimuth direction (which may correspond to point 1 in fig. 4), and includes a beacon signal acquired at a time instant corresponding to 0.75 times the scanning period obtained in the azimuth direction (which may correspond to point 3 in fig. 4). In yet another example, the target beacon signal includes a beacon signal acquired at a start time of a cone scan of the in-motion antenna (which may correspond to point 0 in fig. 4) obtained in a pitch angle direction, and includes a beacon signal acquired at a time corresponding to a scan period of 0.5 times (which may correspond to point 2 in fig. 4) obtained in an azimuth angle direction.
As can be seen in conjunction with fig. 2, adjusting the angle of the mobile communication antenna based on the target beacon signal may include step 210 and step 220, each of which will be described separately below.
In step 210, adjusting an angle of the communication-in-motion antenna in an azimuth direction based on signal strengths of a set of beacon signals obtained in the azimuth direction;
in step 220, the angle of the in-motion antenna in the pitch direction is adjusted based on the signal strengths of the set of beacon signals obtained in the pitch direction.
In one embodiment, continuing with the previous embodiment, the signal strength of the beacon signal received at point 0 and point 2 in the pitch direction may be compared, and if R0> R2, i.e., the signal strength of the target beacon signal received at point 0 is greater than the signal strength of the target beacon signal received at point 2, the in-motion antenna servo moves the control beam in the pitch direction by a certain angle toward point 0. If R0> R2, then move a certain angle towards point 2. If r0=r2, then hold.
In yet another example, based on the same principle, the signal strengths R1, R3 of the beacon signals received at the points 1,3 in the azimuth direction may be compared, so that the adjustment angle of the communication-in-motion antenna in the azimuth direction may be obtained. Based on the continuous scanning and tracking, the gesture of the antenna can be continuously adjusted, so that the beam direction of the antenna in motion is always aligned with the GEO satellite.
In still another exemplary embodiment of the present invention, the target specifying time may include a first target time, a second target time, a third target time, and a fourth target time, wherein the first target time may be a start time of conical scanning by the in-motion antenna, the second target time may be a time corresponding to 0.25 times of the scanning period, the third target time may be a time corresponding to 0.5 times of the scanning period, and the fourth target time may be a time corresponding to 0.75 times of the scanning period.
Continuing with the example of the embodiment depicted in fig. 4, the target beacon signal acquired at the first target time may correspond to the beacon signal obtained at point 0 on the conical scan slice; the target beacon signal acquired at the second target time may correspond to the beacon signal obtained at point 1 on the conical scan section; the target beacon signal acquired at the third target time may correspond to the beacon signal obtained at point 2 on the conical scan section; the target beacon signal acquired at the fourth target time may correspond to the beacon signal obtained at point 3 on the conical scan slice.
In this embodiment, after the open-loop beam pointing of the ground-to-satellite communication-in-motion antenna of the middle orbit satellite at the designated time is deduced, in combination with the cone scanning period T of the closed-loop tracking process, it is ensured that the target designated time is synchronized with the beacon signal acquisition time of the cone scanning at t=0, T/4, T/2,3T/4, in other words, the target beacon signal is acquired at the target designated time. Therefore, an open-loop beam pointing error caused by the mobility of the middle orbit satellite to the traditional cone scanning tracking algorithm is avoided, and the effectiveness of the cone scanning tracking algorithm in tracking the middle orbit satellite moving communication antenna beam is ensured.
Fig. 3 is a schematic flow chart of determining the pointing angle of an antenna beam of the active communication antenna at a target designated moment.
In yet another exemplary embodiment of the present invention, as can be seen in conjunction with fig. 3, determining the pointing angle of the antenna beam of the in-motion antenna at the target specified time may include steps 310 to 330, and each step will be described separately.
In step 310, target position information of the middle orbit satellite at a target specified time is predicted.
In still another exemplary embodiment of the present invention, predicting target location information of a mid-orbit satellite at a target-designated time may be implemented in the following manner:
acquiring two rows of orbit data of a middle orbit satellite;
and predicting and obtaining the target position information of the middle orbit satellite at the target appointed moment based on the two lines of orbit data and the satellite orbit prediction model.
In one embodiment, two lines of orbit data may be input to the satellite orbit prediction model, so that prediction data of real-time speed and position change conditions of the middle orbit satellite may be obtained, in other words, target position information of the middle orbit satellite at a target designated time may be obtained, that is, target position information corresponding to the middle orbit satellite at 0, 0.25T, 0.5T and 0.75T times may be predicted.
The satellite orbit prediction model may be a simplified general perturbation model 4 (SGP 4: simplified General Perturbations No. 4), and the satellite orbit prediction model may also be another prediction model, and in this embodiment, the method is not particularly limited.
In step 320, geographical location information of an antenna carrier of the in-motion antenna and an attitude angle of the antenna carrier are obtained.
In step 330, the pointing angle of the antenna beam of the in-motion antenna at the target specified time is calculated based on the target position information, the geographical position information, and the attitude angle.
In yet another embodiment, the geographic position information and attitude information of azimuth, elevation, etc. of the antenna carrier may be obtained based on Global Navigation Satellite Systems (GNSS) in a ground-based communication-in-motion antenna receiver (which may correspond to the antenna carrier), and low-cost strapdown inertial navigation. Further, based on the target position information, the geographic position information and the attitude angle, the pointing angle of the antenna beam of the communication-in-motion antenna at the target appointed moment can be obtained through calculation, so that a foundation is laid for accurately tracking the communication-in-motion antenna.
In order to further describe the method for tracking the communication antenna in motion, which is suitable for the communication of the medium-orbit satellite, the following description will be made with reference to fig. 5.
Fig. 5 is a schematic diagram of an application scenario of the method for tracking a communication-in-motion antenna suitable for medium-orbit satellite communication.
In one embodiment, as can be seen in conjunction with FIG. 5, a cone scan period T may be determined, wherein the cone scan period T may determine the target designation instant. In an example, the target-specified times may include a first target time, a second target time, a third target time, and a fourth target time. As can be seen in conjunction with fig. 4, the target beacon signal acquired at the first target time may correspond to the beacon signal obtained at point 0 on the conical scan section; the target beacon signal acquired at the second target time may correspond to the beacon signal obtained at point 1 on the conical scan section; the target beacon signal acquired at the third target time may correspond to the beacon signal obtained at point 2 on the conical scan section; the target beacon signal acquired at the fourth target time may correspond to the beacon signal obtained at point 3 on the conical scan slice.
Further, the positions of the medium-orbit satellites (corresponding to the target position information of the foregoing) at times 0, 0.25T, 0.5T, and 0.75T can be predicted based on the two-line orbit data (TLE data). And the GNSS can be read to obtain the longitude and latitude of the antenna carrier, and the inertial navigation can be read to obtain the attitude angle of the antenna carrier. And further, the pointing angles at the time points 0, 0.25T, 0.5T, and 0.75T can be obtained by calculation based on the target position information, longitude and latitude, and attitude angle.
Further, coordinate transformation is performed, and coarse alignment of the mobile communication antennas is performed at the time points 0, 0.25T, 0.5T and 0.75T, respectively, so as to realize the process of open loop acquisition.
In the process of closed loop tracking, target beacon signals are acquired at the moments 0, 0.25T, 0.5T and 0.75T respectively, wherein the target beacon signals are beacon signals obtained in the azimuth direction and the pitch direction based on cone scanning. And based on the target beacon signal, the angle of the communication-in-motion antenna is adjusted to realize tracking alignment of the communication-in-motion antenna.
In the foregoing embodiment, under the support of accurate prediction of the orbital position of the middle-orbit satellite and with the support of the mobile communication antenna carrier GNSS and strapdown inertial navigation data, in the open loop capturing process, the mobile communication antenna of the middle-orbit satellite can complete the satellite pointing of the beam at the times t=0, t/4, t/2,3 t/4; and the time t=0, t/4, t/2,3t/4 are also 4 points 0,1,2,3 (corresponding to 4 points in fig. 4) of the signal receiving intensity obtained by cone scanning in the azimuth and pitch directions in the closed loop tracking process.
Because the open loop capturing pointing error of the medium orbit satellite in motion is at the time t=0, T/4, T/2 and 3T/4 and is the time with the minimum open loop pointing error, the process of acquiring the beacon signal receiving intensity at 4 points 0,1,2 and 3 in azimuth angle and pitch angle directions by closed loop cone scanning tracking is carried out at the time t=0, T/4, T/2 and 3T/4, so that the position error caused by the medium orbit satellite moving on the orbit can be avoided, the advantages of a cone scanning tracking algorithm in the aspects of correcting the drift of an inertial device and a servo system and other errors of a system are reserved, and the low-cost medium orbit satellite in motion tracking method is realized.
According to the description, the method for tracking the communication-in-motion antenna suitable for communication of the medium-orbit satellite uniformly considers the open loop capturing and closed loop tracking processes of the communication-in-motion antenna beam pointing, and predicts the real-time speed and position change condition of the medium-orbit satellite by using the simplified general perturbation model 4 (SGP 4) and two-line report (TLE) data; and the method is combined with Global Navigation Satellite System (GNSS) in a ground communication-in-motion receiver and carrier geographical position information, azimuth, pitching and other attitude information obtained by low-cost strapdown inertial navigation, and is used for calculating the open loop beam pointing of a ground communication-in-motion antenna of a middle orbit satellite at a specified moment, and then combining with a cone scanning period T of a closed loop tracking process, so as to ensure that the specified moment is synchronous with the beacon signal acquisition moment of the cone scanning at t=0, T/4, T/2 and 3T/4. Therefore, an open-loop beam pointing error caused by the mobility of the middle orbit satellite to the traditional cone scanning tracking algorithm is avoided, and the effectiveness of the cone scanning tracking algorithm in tracking the middle orbit satellite moving communication antenna beam is ensured.
According to the communication-in-motion antenna tracking method suitable for the communication of the medium-orbit satellite, under the condition that the medium-orbit satellite moves in real time, the open loop capturing and closed loop tracking processes of the communication-in-motion antenna beam on the ground of the medium-orbit satellite are comprehensively considered, and the open loop capturing time point and the conical scanning beacon signal acquisition time point of the communication-in-motion antenna beam tracking are synchronously processed, so that the alignment cost is reduced on the premise of ensuring the accurate alignment of the communication-in-motion antenna and the medium-orbit satellite.
Based on the same conception, the invention also provides a communication-in-motion antenna tracking device suitable for medium-orbit satellite communication.
The communication-in-motion antenna tracking device suitable for communication of the middle-orbit satellite provided by the invention is described below, and the communication-in-motion antenna tracking device suitable for communication of the middle-orbit satellite described below and the communication-in-motion antenna tracking method suitable for communication of the middle-orbit satellite described above can be correspondingly referred to each other.
Fig. 6 is a schematic structural diagram of a communication-in-motion antenna tracking device suitable for medium-orbit satellite communication.
In an exemplary embodiment of the present invention, as can be seen in conjunction with fig. 6, a communication-in-motion antenna tracking device suitable for medium-orbit satellite communication may include a determining module 610, a processing module 620, and a tracking module 630, and each module will be described below.
The determining module 610 may be configured to determine, during an open loop capturing process of the communication-in-motion antenna, a pointing angle of an antenna beam of the communication-in-motion antenna at a target specified time, where the target specified time is determined according to a scan period of the communication-in-motion antenna for cone scanning; the pointing angle is an angle formed by the antenna beam pointing to the middle orbit satellite;
the processing module 620 may be configured to perform coarse alignment processing on the in-motion antenna at a pointing angle of a target specified time, and obtain a target beacon signal at the target specified time in a closed loop tracking process of the in-motion antenna, where the target beacon signal is a beacon signal obtained in an azimuth direction and a pitch angle direction based on cone scanning;
the tracking module 630 may be configured to adjust an angle of the communication-in-motion antenna based on the target beacon signal to achieve tracking alignment of the communication-in-motion antenna.
In an exemplary embodiment of the present invention, the target beacon signal may include a set of beacon signals obtained in an azimuth direction and a set of beacon signals obtained in a pitch direction; the tracking module 630 may implement adjusting the angle of the communication-in-motion antenna based on the target beacon signal in the following manner:
adjusting an angle of the communication-in-motion antenna in the azimuth direction based on signal strengths of a set of beacon signals obtained in the azimuth direction;
the angle of the in-motion communication antenna in the pitch angle direction is adjusted based on the signal strengths of a set of beacon signals obtained in the pitch angle direction.
In an exemplary embodiment of the present invention, the target specifying time may include a first target time, a second target time, a third target time, and a fourth target time, where the first target time is a starting time of the on-the-fly antenna for cone scanning, the second target time is a time corresponding to 0.25 times of the scanning period, the third target time is a time corresponding to 0.5 times of the scanning period, and the fourth target time is a time corresponding to 0.75 times of the scanning period.
In an exemplary embodiment of the present invention, the determining module 610 may implement the pointing angle of the antenna beam of the in-motion antenna at the target specified time in the following manner:
predicting target position information of a medium orbit satellite at a target-specifying time
Acquiring geographic position information of an antenna carrier of the communication-in-motion antenna and an attitude angle of the antenna carrier;
and calculating the pointing angle of the antenna beam of the communication-in-motion antenna at the target appointed moment based on the target position information, the geographic position information and the attitude angle.
In an exemplary embodiment of the present invention, the determining module 610 may implement predicting the target location information of the middle orbit satellite at the target specified time in the following manner:
acquiring two rows of orbit data of a middle orbit satellite;
and predicting and obtaining the target position information of the middle orbit satellite at the target appointed moment based on the two lines of orbit data and the satellite orbit prediction model.
Fig. 7 illustrates a physical schematic diagram of an electronic device, as shown in fig. 7, which may include: processor 710, communication interface (Communications Interface) 720, memory 730, and communication bus 740, wherein processor 710, communication interface 720, memory 730 communicate with each other via communication bus 740. Processor 710 may invoke logic instructions in memory 730 to perform a method of communication-in-motion antenna tracking suitable for medium-orbit satellite communications, the method comprising: in the open loop capturing process of the communication-in-motion antenna, determining the pointing angle of an antenna beam of the communication-in-motion antenna at a target appointed moment, wherein the target appointed moment is determined according to the scanning period of conical scanning of the communication-in-motion antenna; the pointing angle is an angle formed by the antenna beam pointing to the middle orbit satellite; performing coarse alignment processing on the communication-in-motion antenna according to the pointing angle of the target appointed moment, and acquiring a target beacon signal at the target appointed moment in the closed loop tracking process of the communication-in-motion antenna, wherein the target beacon signal is a beacon signal obtained in the azimuth angle direction and the pitch angle direction based on the conical scanning; and adjusting the angle of the communication-in-motion antenna based on the target beacon signal so as to realize tracking alignment of the communication-in-motion antenna.
Further, the logic instructions in the memory 730 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, the computer program product including a computer program, the computer program being storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, being capable of executing the method for tracking a communication-in-motion antenna applicable to medium-orbit satellite communication provided by the above methods, the method comprising: in the open loop capturing process of the communication-in-motion antenna, determining the pointing angle of an antenna beam of the communication-in-motion antenna at a target appointed moment, wherein the target appointed moment is determined according to the scanning period of conical scanning of the communication-in-motion antenna; the pointing angle is an angle formed by the antenna beam pointing to the middle orbit satellite; performing coarse alignment processing on the communication-in-motion antenna according to the pointing angle of the target appointed moment, and acquiring a target beacon signal at the target appointed moment in the closed loop tracking process of the communication-in-motion antenna, wherein the target beacon signal is a beacon signal obtained in the azimuth angle direction and the pitch angle direction based on the conical scanning; and adjusting the angle of the communication-in-motion antenna based on the target beacon signal so as to realize tracking alignment of the communication-in-motion antenna.
In yet another aspect, the present invention further provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform a method for tracking a communication-in-motion antenna applicable to medium-orbit satellite provided by the above methods, the method comprising: in the open loop capturing process of the communication-in-motion antenna, determining the pointing angle of an antenna beam of the communication-in-motion antenna at a target appointed moment, wherein the target appointed moment is determined according to the scanning period of conical scanning of the communication-in-motion antenna; the pointing angle is an angle formed by the antenna beam pointing to the middle orbit satellite; performing coarse alignment processing on the communication-in-motion antenna according to the pointing angle of the target appointed moment, and acquiring a target beacon signal at the target appointed moment in the closed loop tracking process of the communication-in-motion antenna, wherein the target beacon signal is a beacon signal obtained in the azimuth angle direction and the pitch angle direction based on the conical scanning; and adjusting the angle of the communication-in-motion antenna based on the target beacon signal so as to realize tracking alignment of the communication-in-motion antenna.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
It will further be appreciated that although operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing may be advantageous.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. A method for tracking a communication-in-motion antenna suitable for medium-orbit satellite communication, the method comprising:
in the open loop capturing process of the communication-in-motion antenna, determining the pointing angle of an antenna beam of the communication-in-motion antenna at a target appointed moment, wherein the target appointed moment is determined according to the scanning period of conical scanning of the communication-in-motion antenna; the pointing angle is an angle formed by the antenna beam pointing to the middle orbit satellite;
performing coarse alignment processing on the communication-in-motion antenna according to the pointing angle of the target appointed moment, and acquiring a target beacon signal at the target appointed moment in the closed loop tracking process of the communication-in-motion antenna, wherein the target beacon signal is a beacon signal obtained in the azimuth angle direction and the pitch angle direction based on the conical scanning;
and adjusting the angle of the communication-in-motion antenna based on the target beacon signal so as to realize tracking alignment of the communication-in-motion antenna.
2. The method of tracking a communication antenna in motion suitable for use in medium orbit satellite communication according to claim 1, wherein the target beacon signal comprises a set of beacon signals derived in the azimuth direction and a set of beacon signals derived in the pitch direction;
the adjusting the angle of the communication-in-motion antenna based on the target beacon signal specifically includes:
adjusting an angle of the on-the-fly antenna in the azimuth direction based on signal strengths of a set of beacon signals obtained in the azimuth direction;
and adjusting the angle of the communication-in-motion antenna in the pitch angle direction based on the signal strength of a set of beacon signals obtained in the pitch angle direction.
3. The method for tracking a communication-in-motion antenna suitable for use in medium-orbit satellite communication according to claim 1 or 2, wherein the target specified time includes a first target time, a second target time, a third target time and a fourth target time, wherein the first target time is a start time of conical scanning by the communication-in-motion antenna, the second target time is a time corresponding to 0.25 times the scanning period, the third target time is a time corresponding to 0.5 times the scanning period, and the fourth target time is a time corresponding to 0.75 times the scanning period.
4. The method for tracking a communication-in-motion antenna suitable for communication of a medium orbit satellite according to claim 1, wherein the pointing angle of the antenna beam of the communication-in-motion antenna at the target specified time is determined by:
predicting target position information of the medium-orbit satellite at the target-designated time, and
obtaining the geographic position information of an antenna carrier of the in-motion antenna and the attitude angle of the antenna carrier;
and calculating to obtain the pointing angle of the antenna beam of the communication-in-motion antenna at the target appointed moment based on the target position information, the geographic position information and the attitude angle.
5. The method for tracking a communication-in-motion antenna suitable for communication with a medium-orbit satellite according to claim 4, wherein the predicting the target position information of the medium-orbit satellite at the target designated time is implemented by:
acquiring two rows of orbit data of the middle orbit satellite;
and predicting and obtaining the target position information of the middle orbit satellite at the target appointed moment based on the two lines of orbit data and a satellite orbit prediction model.
6. A communication-in-motion antenna tracking device suitable for medium-orbit satellite communication, the device comprising:
the determining module is used for determining the pointing angle of the antenna beam of the communication-in-motion antenna at the target appointed moment in the open loop capturing process of the communication-in-motion antenna, wherein the target appointed moment is determined according to the scanning period of conical scanning of the communication-in-motion antenna; the pointing angle is an angle formed by the antenna beam pointing to the middle orbit satellite;
the processing module is used for carrying out rough alignment processing on the communication-in-motion antenna according to the pointing angle of the target appointed moment, and acquiring a target beacon signal at the target appointed moment in the closed loop tracking process of the communication-in-motion antenna, wherein the target beacon signal is a beacon signal obtained in the azimuth angle direction and the pitch angle direction based on the conical scanning;
and the tracking module is used for adjusting the angle of the communication-in-motion antenna based on the target beacon signal so as to realize tracking alignment of the communication-in-motion antenna.
7. The communication-in-motion antenna tracking device adapted for use in medium orbit satellite communication according to claim 6, wherein the target beacon signal comprises a set of beacon signals derived in the azimuth direction and a set of beacon signals derived in the pitch direction;
the tracking module is used for adjusting the angle of the communication-in-motion antenna based on the target beacon signal in the following mode:
adjusting an angle of the on-the-fly antenna in the azimuth direction based on a signal magnitude of a set of beacon signals obtained in the azimuth direction;
and adjusting the angle of the communication-in-motion antenna in the pitch angle direction based on the signal magnitude of a group of beacon signals obtained in the pitch angle direction.
8. The communication-in-motion antenna tracking device suitable for use in medium orbit satellite communication according to claim 6 or 7, wherein the target specified time includes a first target time, a second target time, a third target time and a fourth target time, wherein the first target time is a start time of conical scanning by the communication-in-motion antenna, the second target time is a time corresponding to 0.25 times the scanning period, the third target time is a time corresponding to 0.5 times the scanning period, and the fourth target time is a time corresponding to 0.75 times the scanning period.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of tracking a communication-in-motion antenna suitable for use in medium-earth satellite communications as claimed in any one of claims 1 to 5 when the program is executed by the processor.
10. A non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor implements a method of communication-in-motion antenna tracking suitable for medium-orbit satellite communications according to any one of claims 1 to 5.
CN202311593434.2A 2023-11-27 2023-11-27 Method and device for tracking communication-in-motion antenna suitable for medium-orbit satellite communication Pending CN117878598A (en)

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CN202311593434.2A CN117878598A (en) 2023-11-27 2023-11-27 Method and device for tracking communication-in-motion antenna suitable for medium-orbit satellite communication

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