CN209001138U - The tracking device of low orbit satellite earth station antenna - Google Patents
The tracking device of low orbit satellite earth station antenna Download PDFInfo
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- CN209001138U CN209001138U CN201822224539.1U CN201822224539U CN209001138U CN 209001138 U CN209001138 U CN 209001138U CN 201822224539 U CN201822224539 U CN 201822224539U CN 209001138 U CN209001138 U CN 209001138U
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Abstract
The utility model discloses a kind of tracking devices of low orbit satellite earth station antenna, comprising: ephemeris forecast unit is connected with is connect with multimedia LEO satellite communications to receive the ephemeris receiver of ephemeris thereon；With the tracing control unit of ephemeris forecast unit communication connection, it is connected with GPS and/or Beidou positioning unit and Inertial Measurement Unit thereon；The servo control unit connecting with tracing control unit communication is provided with the antenna driving assembly and frame assembly matched with earth station antenna；Wherein, the bindiny mechanism that the frame assembly is configured to include pedestal and matches with antenna, the pedestal are configured as tapered double-layer hollow structure, and top, the bottom of the pedestal are respectively arranged with note husky mouth, sand outlet.The utility model is by designing the structure of pedestal in antenna driving assembly, so that its structure is while guaranteeing that stability is good, structure is reliable, and volume mass is lighter, and stability is good.
Description
Technical field
The utility model relates to a kind of tracking of low orbit satellite earth station antenna used in satellite communication.
Background technique
Mobile communication system based on low orbit satellite has communication delay short, and propagation loss is small, and transmission quality reliably waits spies
Point can form Global coverage by multi-satellite networking, and power system capacity and ground fixed communication network can be at identical number
Magnitude can easily be got a promotion by increasing number of satellite.
With the reduction of the high speed development of China's present mobile communication technology and the maturation of Small Satellite Technology and cost, low rail
Road satellite mobile communication system has become the emphasis direction of China's satellite communication development.With pushing away for the Belt and Road national strategy
Out, communication network and the regional spatial information corridor for building China's Global coverage, solve to lead in real time in remote and global range
Letter demand, will become that economic construction of China is harmonious, important leverage of Efficient Operation, and develop low cost, high-speed, miniaturization,
Automatically, domestic autonomous multimedia LEO satellite communications terminal has a vast market foreground.
But earth station antenna in the prior art, it is simple in order to pursue structure, therefore frame structure is generallyd use, although
So that its structure is simple, but when being assembled from other different operating condition installation positions, simple structure tends not to meet peace
Fixed needs are filled, and after ensure that mounting surface, volume mass just weighs, when transporting and being installed in the equipment such as automobile,
Situation is complicated, and installation effect is not good enough.
Utility model content
One purpose of the utility model is to solve at least the above problems and/or defect, and provide and at least will be described later
The advantages of.
The utility model can lead to there are one the tracking device that purpose is to provide a kind of low orbit satellite earth station antenna
It crosses and is designed the structure of pedestal in antenna driving assembly, so that its structure is while guaranteeing that stability is good, structure is reliable,
Volume mass is lighter, is readily transported, and the stability after installation is good.
In order to realize these purposes and other advantages according to the present utility model, a kind of low orbit satellite earth station day is provided
The tracking device of line, comprising:
Ephemeris forecast unit is connected with is connect with multimedia LEO satellite communications to receive the ephemeris receiver of ephemeris thereon；
With the tracing control unit of ephemeris forecast unit communication connection, be connected with thereon GPS and/or Beidou positioning unit and
Inertial Measurement Unit；
The servo control unit connecting with tracing control unit communication is provided with the day matched with earth station antenna
Line driving assembly and frame assembly；
Wherein, the bindiny mechanism that the frame assembly is configured to include pedestal and matches with antenna, the pedestal
It is configured as tapered double-layer hollow structure, top, the bottom of the pedestal are respectively arranged with note husky mouth, sand outlet.
Preferably, wherein further include:
The subcarrier tracking unit connecting with tracing control unit communication, communication link are connected to carrier wave or letter wave receiver；
With the position detection unit of servo control unit communication connection.
Preferably, wherein the ephemeris forecast unit, subcarrier tracking unit are respectively arranged on servo control unit
The first CPU, the 2nd CPU, the 3rd CPU matched with tracking cell；
MCU and controller are provided on the tracing control unit.
Preferably, wherein the antenna driving assembly includes the azimuth-drive motor, pitching motor and cross matched with antenna
Roll motor；
The frame assembly further includes the A/E/R axis frame mechanism of the two axis A/E or three axis that match with antenna；
Wherein, the azimuth-drive motor, pitching motor, roll motor and angle-measuring equipment are configured in mechanism shaft；
The pedestal is configured as in inverted cone-shaped structure, and the installation matched with bottom surface is provided at the top of the pedestal
Face, and pass through a plurality of rib of interval pre-determined distance between bottom surface and mounting surface.
Preferably, wherein the pedestal is configured as rectangular configuration, and its each edge is articulated with consolidating of matching respectively
Determine portion；
Wherein, at least one mounting hole is provided on the fixed part, what setting was matched therewith on the mounting hole determines
Position pin strip or screw；
The fixed part is provided with flexible cushion on the position matched with installation position.
The utility model is include at least the following beneficial effects: first, the utility model is by by antenna driving assembly indsole
The structure design of seat, so that its structure is while guaranteeing that stability is good, structure is reliable, and volume mass is lighter, and stability is good.
Second, the utility model proposes a kind of tracking device of low orbit satellite earth station antenna, the tracking control of the device
Unit processed can be based on planet according to the location information of satellite moment (or initial time) by access ephemeris forecast unit
The Kepler's law of movement predicts track location information of the satellite within subsequent a period of time, and then for guiding earth station
Antenna realizes the capture, tracking, alignment (ATP) to satellite, which turns automatic satellite antenna product from high rail to low rail
Type transition shortens the satellite antenna product transformation lead time with positive impetus.
Third, the tracking device of the utility model uses high-speed computation processor and the module-integrated design of high speed detection,
Stable communication link channel is set up between earth station and satellite, it can be achieved that earth station accesses interconnection by low orbit satellite
Net realizes the high band wide data transmissions demands such as video conference, voice call, fax, file transmission.
The further advantage, target and feature of the utility model will be partially reflected by the following instructions, and part will also pass through
Research and practice to the utility model and be understood by the person skilled in the art.
Detailed description of the invention
Fig. 1 is the composition signal of the tracking device of one embodiment medium and low earth orbit satellites earth station antenna of the utility model
Figure；
Fig. 2 is the structural schematic diagram of pedestal in another embodiment of the utility model；
Fig. 3 is the modified algorithm schematic diagram of carrier wave in another embodiment of the utility model；
Fig. 4 is the algorithm schematic diagram of trace routine in another embodiment of the utility model；
Fig. 5 is beacon following principle block diagram in another embodiment of the utility model；
Fig. 6 is control principle block diagram in another embodiment of the utility model；
Fig. 7 is ephemeris forecast principle procedural block diagram in another embodiment of the utility model.
Specific embodiment
The following describes the utility model in further detail with reference to the accompanying drawings, to enable those skilled in the art referring to explanation
Book text can be implemented accordingly.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of a other elements or combinations thereof.
Fig. 1-2 shows a kind of realization shape of the tracking device of low orbit satellite earth station antenna according to the present utility model
Formula, including:
Ephemeris forecast unit 1 is connected with is connect with multimedia LEO satellite communications to receive the ephemeris receiver 2 of ephemeris thereon,
For receiving the ephemeris data of satellite transmission, specifically it is made of, receives external ephemeris forecast unit ephemeris forecast module and CPU
The satellite almanac data periodically injected can be predicted in conjunction with satellite relevant parameter and moving law by specific prediction algorithm
It is real-time with respect to earth station to resolve satellite for tracing control unit for track location information of the satellite within subsequent a period of time out
Coordinate parameters, the core of the formal utility model device of this part；
It is mainly soft by MCU control processor and tracing control with the tracing control unit 3 of ephemeris forecast unit communication connection
Part composition, MCU can be according to ephemeris forecast data, satellite beacon information, antenna GPS/BD location information, inertance element of input
The posture information etc. of detection calculates the direction angle of antenna relative satellite, seeks, with star for guide antenna, is connected with GPS thereon
And/or Beidou positioning unit 4 and Inertial Measurement Unit 5, it is used to carry out satellite by GPS and/or Beidou positioning unit real
When positioning to antenna itself, the inertia in antenna operation process is obtained by Inertial Measurement Unit；
The servo control unit 6 being connect with tracing control unit communication, by controlling CPU, driver, motor, antenna frame
The composition such as mechanism, position detection unit, the direction angle information that CPU is exported according to tracing control unit, driving antenna mechanism rotation,
It realizes the real-time control that antenna is directed toward, is provided with the antenna driving assembly 8 and frame assembly matched with earth station antenna 7
(not shown) is formed using A/E/R (orientation+pitching+roll) the axis frame mechanism of two axis A/E (orientation+pitching) or three axis, electricity
Machine, angle-measuring equipment etc. are mounted in mechanism shaft, load of the radio frequency components such as antenna feed as antenna mechanism；
The signal that servo control unit is issued according to tracing control unit, antenna driving assembly makees corresponding alignment, so that day
Line can be aligned in real time；
Wherein, the frame assembly is configured to include the pedestal 9 matched with antenna, is used to prop up antenna
Support, and provides installation position, and the pedestal is configured as the double-layer hollow structure in cone cylinder shape, be used for the installation position of antenna into
Row control, so that its structure, volume and quality controllable, top, the bottom of the pedestal are respectively arranged with note husky mouth 10, sand outlet
11, by infusing the structure setting of husky mouth, sand outlet, so that it is outer in the quality for guaranteeing to install, in transportational process, moreover it is possible to logical
Suitable injection loose sand is crossed, so that its quality increases, the stability after installation is more preferable.Mainly include using the device of this scheme
The composition such as tracing control unit, ephemeris forecast unit, subcarrier tracking unit, antenna servo control unit, inertial navigation unit, passes through
Ephemeris forecast unit is added on device, with adapt to low orbit satellite to star requirement, designed by the structure to pedestal so that its
It is simple with structure, it is easy for installation, it is readily transported, the controllable benefit of volume mass.Also, this mode be it is a kind of compared with
The explanation of good example, however, it is not limited to this.When implementing the utility model, appropriate replace can be carried out according to user's demand
It changes and/or modifies.
As shown in Figure 1, in another example, further includes:
The subcarrier tracking unit 12 connecting with tracing control unit communication, communication link are connected to carrier wave or letter wave receiver 13
(i.e. beacon or beacon receiver) is formed by receiving satellite beacon signals or beacon signal by beacon or beacon receiver
Space closed loop, to complete high precision tracking；
With the position detection unit 14 of servo control unit communication connection.Device using this scheme passes through carrier track
The cooperation of unit and position detection unit is accurately positioned the movement angle of antenna, position, has implementable effect good,
Strong operability, adaptability is good, the strong benefit of stability.Also, this mode is a kind of explanation of preferred embodiments, but
It is not limited thereto.When implementing the utility model, replacement and/or modification appropriate can be carried out according to user's demand.
As shown in Figure 1, in another example, the ephemeris forecast unit, subcarrier tracking unit, on servo control unit
It is respectively arranged with the first CPU 15, the 2nd CPU 16, the 3rd CPU 17 matched with tracing control unit；
Specific tracing control unit is mainly made of MCU control processor and Tracking Control Software, main control unit according to
Current satellite-orbit information, carrier information, antenna location information, posture information etc., control antenna to satellite carry out precisely with
Track；
Specific servo control unit is made of control CPU, driver, position detection unit and angular encoder, according to
The control information of tracing control unit drives antenna platform, completes the control of position and speed；
Specific carrier track is made of beacon receiver and carrier track CPU, is completed by tracking satellite signal high-precision
Degree tracking；
Specific ephemeris forecast unit is made of ephemeris forecast module and CPU, calculates antenna according to antenna attitude information
Attitude data in geographic coordinate system, is converted by coordinate, and resolving obtains the low rail of antenna axis alignment target in antenna coordinate system
The orientation of satellite, pitching, roll angle-data；
MCU 18 and controller (not shown) are provided on the tracing control unit.Using this scheme device to ephemeris
Forecast, carrier track, SERVO CONTROL are all made of the single-chip microcontroller of operation independent, effectively alleviate the operation pressure of master cpu, have
For body, the present apparatus use high-speed computation processor and the module-integrated design of high speed detection, can according to the satellite moment (or
Person's initial time) location information, the Kepler's law based on planetary motion predicts rail of the satellite within subsequent a period of time
Road location information, and then for guiding earth station antenna to realize capture, tracking, alignment (ATP) to satellite, for earth station and defend
Stable communication link channel is set up between star, it can be achieved that earth station accesses internet, realization video council by low orbit satellite
The high band wide data transmissions demands such as view, voice call, fax, file transmission, have implementable effect good, and strong operability is fitted
Answering property is good, the benefit of high reliablity.Also, this mode is a kind of explanation of preferred embodiments, and however, it is not limited to this.
When implementing the utility model, replacement and/or modification appropriate can be carried out according to user's demand.
As shown in Figs. 1-2, in another example, the antenna driving assembly includes the azimuth-drive motor matched with antenna
19, pitching motor 20 and roll motor 21 are used for antenna and convert into three axis orientation, so that its angle can match with low orbit satellite
It closes；
The frame assembly further includes that the A/E/R axis frame mechanism of the two axis A/E or three axis that match with antenna (do not show
Out), it is formed using A/E/R (orientation+pitching+roll) the axis frame mechanism of two axis A/E (orientation+pitching) or three axis, motor, survey
Angle apparatus etc. is mounted in mechanism shaft, load of the radio frequency components such as antenna feed as antenna mechanism；
Wherein, the azimuth-drive motor, pitching motor, roll motor and angle-measuring equipment are configured in mechanism shaft；
The pedestal is configured as in inverted cone-shaped structure, so that the area of bottom installation position is controllable, and the pedestal
Top is provided with the mounting surface 22 matched with bottom surface, is used to match with the axis frame mechanism of antenna, realizes antenna electrical
Deng installation, and between bottom surface and the edge of mounting surface by be spaced pre-determined distance a plurality of rib 23 connection, be used for
Guarantee structural stability between the two, so that its installation for adapting to different occasions and stability needs.Using this
Scheme has implementable effect good, and adaptability is good, strong operability, the strong benefit of stability.Also, this mode is only
It is a kind of explanation of preferred embodiments, however, it is not limited to this.When implementing the utility model, can be carried out according to user's demand
Replacement and/or modification appropriate.
As shown in Fig. 2, the pedestal is configured as rectangular configuration, and its each edge is pivotally connected respectively in another example
There is the fixed part 24 matched, is used to its bottom area can be made to be reduced significantly when not using or transporting, while being suitable for pacifying
The lesser installation scenario of holding position, it is only necessary to which the peace matched is set on the position that mounting surface is matched with fixed part mounting hole
Dress uses through-hole；
Wherein, at least one mounting hole (not shown) is provided on the fixed part, setting and its phase on the mounting hole
The positioning pin strip or screw (not shown) of cooperation, it is dismountable fixed its role is to carry out quickly pedestal and installation position；
The fixed part is provided with flexible cushion 25 on the position matched with installation position, is used for antenna rotation and outer
Vibration under power effect is removed, so that it adapts to different working environments, more excellent is in being arranged in bed course
Empty shape is attached between top and bottom sidewall by flexible connection column or the protrusion matched, is effectively removed with shaking to it,
Also there is the control surplus of offset vibration, and then guarantee that antenna has metastable operating condition.Being had using this scheme can be real
Apply that effect is good, the benefit of strong operability.Also, this mode is a kind of explanation of preferred embodiments, but is not limited to
In this.When implementing the utility model, replacement and/or modification appropriate can be carried out according to user's demand.
A kind of method of application tracking device, comprising:
Step 1, ephemeris forecast unit is according to initial T0The satellite orbit parameter data at moment, when by being calculated through t
The satellite orbit coordinate of track after quarter is resolved through coordinate conversion to obtain satellite location parameter in terrestrial coordinate system, and low rail is defended
Star is different from high rail satellite, and numerous parameters such as longitude, latitude, speed, the eccentricity at each of which moment are a variable, we
Variable cannot be directlyed adopt and carry out tracking resolving, and satellite orbit parameter is needed to be converted into ground WGS-84 coordinate system parameters,
The information such as the position time of ephemeris module combination antenna extrapolate satellite in the location information of future time, and ephemeris module needs to locate
Reason and operation orbital data, and constantly correct and guarantee forecast precision, ephemeris forecast precision be the key that tracking and capture satellite,
Its workflow is specific as follows:
After system boot, progress initial configuration is received by GPS positioning self-position and is manually entered or is broadcasted first
Satellite information, obtain the initial T of satellite0The orbit parameter data at moment, and execute the initialization flyback action of frame mechanism；
It is forecast by ephemeris, obtains the satellite orbit parameter of real time of day, in order to be directed toward angle for calculating earth station antenna,
It also needs satellite orbit parameter to be converted into indicating in terrestrial coordinates by the definition in orbital plane；Successively by track system coordinate to ground
Ball inertial coodinate system (ECI), ECEF coordinate system (ECEF), then terrestrial coordinate system is arrived, finally, output satellite is in terrestrial coordinates
High (LBH) information of longitude and latitude in system, for calculating the real-time direction angle of antenna relative satellite, the handling principle of this and high rail satellite
It is consistent with process, it is no longer described in detail herein,
Step 2, the current posture of location parameter and antenna of the tracing control unit based on earth station and satellite t moment
Parsing information is iterated operation, and to obtain the real-time direction angle of antenna relative satellite, tracing control unit is tracked by program
It is this automatically to the common method of star, system utilizes Inertial Measurement Unit to gyro, accelerometer and GPS data real-time sampling
Internal three add table, three gyro datas to carry out the alignment in certain times and the parsing of real-time posture, are combined resolving,
Obtain the posture informations such as orientation, pitching, the roll angle of carrier.The wider satellite letter of and wave beam of less demanding for tracking accuracy
Number, program tracking velocity is very fast, and system realizes simple, the quick initial acquisition easy to accomplish to satellite, but for low orbit satellite
For, single program tracking can not be completed precisely to track, and ephemeris forecasts the retardance of accuracy and antenna servo system
Tracking accuracy will be seriously affected.Therefore the tracking alignment of earth station antenna relative satellite is realized using this scheme, it needs first
It is to be understood that geographical coordinate position of the satellite with respect to earth station, and low orbit satellite is different from high rail satellite, the position on opposite ground
Change at any time, the parameters such as longitude, latitude, height of satellite are all variables；For this purpose, in the finger for calculating earth station's relative satellite
When to angle, need to calculate satellite first in the geographical coordinate and operating parameter at moment at that time, such as warp, height (LBH), is transported latitude
The parameters such as row velocity vector, this is also a core key technology of low orbit satellite tracking, and ephemeris forecast unit is based on the received
Initial satellite orbit parameter, Kepler's law and dynamics of orbits model based on planetary motion calculate, and predict satellite rear
Continue certain moment or the track location information of certain a period of time, and converted by coordinate system, derives satellite in terrestrial coordinate system
In position coordinate parameters, and then realize ephemeris forecast；This automatic antenna system takes offset correction technique forward, according to
Ephemeris forecast input quantity and posture parsing information are iterated operation, so that antenna is obtained high-precision and precisely align index.With can
Implementation result is good, and precision is high, and adaptability is good, the benefit of high reliablity.Also, this mode is a kind of preferred embodiments
Explanation, however, it is not limited to this.When implementing the utility model, can according to user's demand carry out it is appropriate replacement and/
Or modification.
In another example, in step 1, the satellite orbit parameter is received wide by GPS positioning self-position
The satellite information broadcast or mode in being manually entered are held to obtain, and after obtaining the orbit parameter data of satellite initial time
The corresponding axis frame mechanism of row initializes flyback action；
The satellite orbit parameter includes: the semi-major axis a, orbital eccentricity e, orbit inclination angle, track of elliptical orbit
The flat perigee angle M of right ascension of ascending node i, argument of perigee ω, satellite, this 6 parameters jointly define position of the satellite with respect to the earth
It sets；Wherein: a, e, Ω, i define the running track plane of satellite, and ω defines elliptical orientation in orbit plane, and M is provided
The position in satellite relative proximity place
Wherein, due in a short time, running track plane, keplerian cllipse orientation and the argument of perigee variation of satellite compared with
It is small, it determines the real-time angle in satellite relative proximity place in orbit plane, has also determined that the real time position of satellite, therefore, into
Planet goes through forecast, that is, to flat perigee angle MtCalculating, and in real time flat perigee angle MtCalculation formula it is as follows:
In above formula, μ=3.986005 × 1014m3/s2For Gravitational coefficient of the Earth, fix indicates rounding operation, Mt value range
For [0 °, 360 °).Using this scheme in engineering design application, using the pre- push technology of satellite orbit, (referred to as: ephemeris is pre- for we
Report), using the position and speed information at satellite initial time (or certain moment), the Kepler's law based on planetary motion, in advance
Orbital position and velocity vector information of the satellite within subsequent a period of time are measured, principle process is as shown in fig. 7, have implementable
Effect is good, strong operability, the good benefit of adaptability.Also, this mode is a kind of explanation of preferred embodiments, but simultaneously
It is not limited to this.When implementing the utility model, replacement and/or modification appropriate can be carried out according to user's demand.
In another example, in step 2, the tracing control unit be based on ephemeris forecast unit will be real-time when
The longitude and latitude parameter for carving satellite and earth station, the cartesian coordinate being converted into terrestrial coordinate system respectively indicates, then passes through following
Calculating process step a~d seek the guidance with star for earth station to calculate the real-time direction angle of antenna；
A, the geodetic coordinates of earth station and satellite is converted into ECEF coordinate system coordinate [X respectivelys,Ys,Zs] and
[Xu,Yu,Zu] indicate:
Wherein, N is radius of curvature in prime vertical, and a is the major semiaxis of ellipsoid；B is the semi-minor axis of ellipsoid,The warp of λ, h satellite
Latitude is high；
B, the vector s that subscriber station is directed toward satellite is indicated in ECEF coordinate system are as follows:
S=[Xs-Xu,Ys-Yu,Zs-Zu]
C, the vector s of calculating subscriber station direction satellite vector l=[X, Y, Z] in geographic coordinate system；
D, the antenna directional angle of subscriber station straight line satellite can be calculated:
Azimuth ψ=arctan2 (z, x)
Pitching angle theta=arc sin (y/n)
Modularized design is used using the tracking device software of this scheme, passes through the algorithm of such as Fig. 4 and the principle frame of Fig. 6
Shown in figure, realize obtain satellite orbit parameter, in conjunction with pedestal can effectively realize line automatic star-seeking and with
Track function has implementable effect good, strong operability, the good benefit of adaptability.Also, this mode be it is a kind of compared with
The explanation of good example, however, it is not limited to this.When implementing the utility model, appropriate replace can be carried out according to user's demand
It changes and/or modifies.
In another example, in step 2, the carrier track of subcarrier tracking unit is configured as using conical scanning
With real-time semaphore value feedback modifiers technology, the stable feedback parameter of high speed is provided a system to；
The carrier wave or letter wave receiver of subcarrier tracking unit carry out real-time reception and tracking to the carrier signal of satellite, former
Reason as shown in figure 5, use FPGA with channelizing FFT reception technique and technology of frequency tracking, carrier signal is scanned and
Tracking, and carrier amplitude is acquired to and then is exported corresponding beacon voltage value AGC；
Tracing control unit is according to the angle of the AGC signal detection satellite drift main beam received, and and inertia measurement
The Real-time Feedback of angle measurement encoder corrects the close loop control circuit to form high stable in unit, to overcome signals transmission how general
Strangle the influence of frequency shift effect, tracing control unit according to satellite trajectory, satellite main website, earth station location and relative motion relation,
Pre- calculating antenna keeps antenna beam smart always with satellite Doppler shift value as the frequency compensation to carrier track receiver
Really alignment and tracking satellite.Tracking for low orbit satellite, we cannot fully rely on program tracking, and time precision calculates essence
Degree and mechanical response feedback time can all influence high precision tracking and capture satellite.Carrier track is built upon the base of program tracking
On plinth, it is a kind of efficient antenna tracking technology that it, which can quickly judge offset direction of the antenna beam with target source,.It adopts
Have implementable effect good with this scheme, strong operability, adaptability is good, is directed at the benefit of high reliablity.Also, this
Kind mode is a kind of explanation of preferred embodiments, and however, it is not limited to this.It, can be according to user when implementing the utility model
Demand carries out replacement and/or modification appropriate.
In another example, the algorithm flow of real-time semaphore value feedback modifiers technology includes:
S1, the CPU of subcarrier tracking unit for the present beacon voltage value V1 that is received from carrier wave or letter wave receiver,
Compared with preceding beacon voltage value V0 carries out first time, if its difference is greater than or equal to predetermined value, amendment terminates, otherwise holds
Row S2~S4；
The value of V1 is given to V0 by S2；
S3 acquires beacon voltage value V2 in real time；
S4 compared with carrying out the value of the value of V2 and V0 for the second time, if its difference is greater than or equal to 0, carries out S3, otherwise into
Row S5~S7；
S5, by the output that subtracts 0.4 ° of the position of orientation of V0；
S6 acquires beacon voltage value V3 in real time；
S7, if its difference is greater than or equal to 0, the value of V3 is assigned by the value of V3 compared with the value of V0 carries out third time
To V0, and S5~S7 is executed, otherwise executes S8；
The position of orientation of V3 is added 0.2 ° of output by S8, and amendment terminates.Using this scheme algorithm flow as shown in figure 3,
So that its later period computational accuracy is higher, have implementable effect good, stability is good, the benefit of high reliablity.Also, this
Kind mode is a kind of explanation of preferred embodiments, and however, it is not limited to this.It, can be according to user when implementing the utility model
Demand carries out replacement and/or modification appropriate.
In another example, further includes:
Step 3, tracing control unit control itself by servo control unit and complete according to target direction is calculated
The direction of antenna tracks；
Step 4 starts link setup after tracking device locking satellite, initiates access request, and by self-identity information and position
Information is sent to satellite main website；Antenna enters the capture rate in airspace to satellite, determines the success rate of antenna automatic tracking, system
Single capture rate can't be very high, and to improve capture rate for the first time, system is while improving ephemeris forecast parameter precision, in satellite
The initial airspace flown into, increases low elevation angle conical scanning range and scanning speed, and direction along ng a path constantly generates the different elevations angle
Time deviation be modified, can be improved and initially seek the acquisition probability of star, device obtains target satellite track operation information first,
By geographical location information and target satellite ephemeris information, current time calculate the theoretical orientation of low orbit satellite, pitch angle with
And its variation track, device control antenna and carry out track adjustment according to the time at theoretical pitch angle, then control antenna and carry out entirely
Bearing search judges signal strength by carrier receiver and signal trace, realizes the process of automatic star-seeking；
Step 5 after main website receives access request, calculates the connection sequence of user's following a period of time, distribution IP address and
Channel resource, and tracking device and satellite connected sequence are issued into tracking device；
Step 6, the success of tracking device link setup, and calculate future antenna direction in advance according to connected sequence, lead into continuous
Letter state；
Step 7, satellite main station side application software generate business datum, are sent to terminal by WIFI or lan protocol and use
Family, terminal user complete the reception and processing of signal and information, implement service communication.It is realized using this scheme by the present apparatus
Satellite to star and connection so that its ground-plane antenna station may be directly applied to low orbit satellite, realize data communication, having can be real
Apply the good strong operability of effect, the good benefit of adaptability.Also, this mode is a kind of explanation of preferred embodiments, but
It is not limited thereto.When implementing the utility model, replacement and/or modification appropriate can be carried out according to user's demand.
Number of devices and treatment scale described herein are the explanations for simplifying the utility model.To the utility model
The application of tracking device and its application method of low orbit satellite earth station antenna, modifications and variations are to those skilled in the art
For be obvious.
It is not only in the description and the implementation although the embodiments of the present invention have been disclosed as above
Listed utilization.It can be applied to various fields suitable for the present invention completely.For those skilled in the art,
Other modifications may be easily implemented.Therefore without departing from the general concept defined in the claims and the equivalent scope, this reality
It is not limited to specific details and legend shown and described herein with novel.
Claims (5)
1. a kind of tracking device of low orbit satellite earth station antenna characterized by comprising
Ephemeris forecast unit is connected with is connect with multimedia LEO satellite communications to receive the ephemeris receiver of ephemeris thereon；
With the tracing control unit of ephemeris forecast unit communication connection, it is connected with GPS and/or Beidou positioning unit and inertia thereon
Measuring unit；
The servo control unit connecting with tracing control unit communication is provided with the antenna matched with earth station antenna and drives
Dynamic component and frame assembly；
Wherein, the bindiny mechanism that the frame assembly is configured to include pedestal and matches with antenna, the pedestal are matched
It is set to tapered double-layer hollow structure, top, the bottom of the pedestal are respectively arranged with note husky mouth, sand outlet.
2. the tracking device of low orbit satellite earth station antenna as described in claim 1, which is characterized in that further include:
The subcarrier tracking unit connecting with tracing control unit communication, communication link are connected to carrier wave or letter wave receiver；
With the position detection unit of servo control unit communication connection.
3. the tracking device of low orbit satellite earth station antenna as claimed in claim 2, which is characterized in that the pre- declaration form of ephemeris
Member, subcarrier tracking unit are respectively arranged with the first CPU matched with tracking cell, the 2nd CPU, on servo control unit
Three CPU；
MCU and controller are provided on the tracing control unit.
4. the tracking device of low orbit satellite earth station antenna as described in claim 1, which is characterized in that the antenna driving group
Part includes the azimuth-drive motor matched with antenna, pitching motor and roll motor；
The frame assembly further includes the A/E/R axis frame mechanism of the two axis A/E or three axis that match with antenna；
Wherein, the azimuth-drive motor, pitching motor, roll motor and angle-measuring equipment are configured in mechanism shaft；
The pedestal is configured as in inverted cone-shaped structure, and the mounting surface matched with bottom surface is provided at the top of the pedestal,
And pass through a plurality of rib of interval pre-determined distance between bottom surface and mounting surface.
5. the tracking device of low orbit satellite earth station antenna as described in claim 1, which is characterized in that the pedestal is configured
For rectangular configuration, and its each edge is articulated with the fixed part matched respectively；
Wherein, it is provided at least one mounting hole on the fixed part, the positioning pin being matched therewith is set on the mounting hole
Item or screw；
The fixed part is provided with flexible cushion on the position matched with installation position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822224539.1U CN209001138U (en) | 2018-12-28 | 2018-12-28 | The tracking device of low orbit satellite earth station antenna |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822224539.1U CN209001138U (en) | 2018-12-28 | 2018-12-28 | The tracking device of low orbit satellite earth station antenna |
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ID=66808478
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110808768A (en) * | 2019-10-22 | 2020-02-18 | 中山赛思普电子科技有限公司 | Low earth orbit satellite ground station |
| CN111427003A (en) * | 2020-03-19 | 2020-07-17 | 上海卫星工程研究所 | Pointing guidance system of ground survey station antenna to satellite |
| CN111427001A (en) * | 2020-03-19 | 2020-07-17 | 上海卫星工程研究所 | Target positioning method suitable for pointing satellite by ground survey station antenna |
| CN113131991A (en) * | 2021-04-06 | 2021-07-16 | 航天科工空间工程发展有限公司 | High-low rail compatible communication-in-motion method based on single positioning antenna |
-
2018
- 2018-12-28 CN CN201822224539.1U patent/CN209001138U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110808768A (en) * | 2019-10-22 | 2020-02-18 | 中山赛思普电子科技有限公司 | Low earth orbit satellite ground station |
| CN111427003A (en) * | 2020-03-19 | 2020-07-17 | 上海卫星工程研究所 | Pointing guidance system of ground survey station antenna to satellite |
| CN111427001A (en) * | 2020-03-19 | 2020-07-17 | 上海卫星工程研究所 | Target positioning method suitable for pointing satellite by ground survey station antenna |
| CN113131991A (en) * | 2021-04-06 | 2021-07-16 | 航天科工空间工程发展有限公司 | High-low rail compatible communication-in-motion method based on single positioning antenna |
| CN113131991B (en) * | 2021-04-06 | 2022-09-23 | 航天科工空间工程发展有限公司 | High-low rail compatible communication-in-motion method based on single positioning antenna |
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