KR100392250B1 - Satellite Tracking Controller System and Control Method of Mobile Tracking Antenna for Low Cost Multi-Satellite Reception - Google Patents

Abstract

TECHNICAL FIELD The present invention belongs to the field of antennas and in particular relates to a controller and control algorithm of a tracking antenna for mobile satellite reception. The present invention provides a dual polarization multi-satellite receiving antenna device, a tracking beam generator, a tracking signal detector, and an elevation control motor to receive a desired satellite signal while moving in an environment where multiple polarized satellite signals or multiple satellite signals of the same satellite exist. A tracking signal selection function for tracking multiple satellites by applying a satellite tracking controller consisting of a main processor, a dual port memory, a tracking beam controller, and a motor controller to a tracking antenna with an azimuth control motor, a software flexible threshold setting method, Provided are a satellite tracking control apparatus and a control method of a multi-satellite mobile receiving active antenna, which utilize a parallel interrupt routine. As a result, unlike the conventional satellite tracking antenna, the present invention enables a high-performance tracking antenna that can receive a desired satellite signal while moving in an environment where satellite signals of different polarizations or multiple satellite signals of the same satellite exist. Do it.

Description

Satellite tracking controller system and control method of mobile tracking antenna for low cost multi-satellite reception

The present invention relates to a multi-satellite mobile receiving tracking antenna, and more particularly, to a satellite tracking control apparatus and method for a mobile receiving satellite antenna.

In order to receive satellite broadcasting or satellite communication signals in a moving vehicle, an active antenna having a satellite tracking function is required. The tracking antenna for receiving satellite signals during the conventional movement was mainly capable of receiving one desired satellite signal or only a predetermined polarized signal.

The satellite tracking method of an active antenna according to the prior art generally uses an open loop method using a sensor, a closed loop method using a signal received from a satellite, and a hybrid in which the two methods are appropriately combined. They are classified by the hybrid method.

The closed loop method uses a signal from a satellite to find and maintain the satellite. There are a step tracking method and a mono pulse method. The open loop method uses only sensors, such as geometric compasses and rate sensors. Aircraft and ships have their own navigation systems, such as the Navy Navigation Satellite System (NNSS) and Inertial Navigation System (INSSS), so this open-loop method is usually used.However, in land mobile vehicles, obstacles such as tunnels and buildings are used. Considering the signal interruption, a hybrid method using a step tracking or monopulse method and an angle sensor is usually used.

On the other hand, the conventional automatic satellite tracking method in the land mobile vehicle is composed of the initial satellite search mode, tracking mode, and blocking processing mode. The initial satellite search mode finds the direction in which the signal level is maximized while rotating the antenna or the beam in all directions, and the tracking mode detects the signal level, the mono pulse phase signal, or the rotation angle data of the vehicle when the signal level is above a predetermined value. The satellite tracks continuously, and in the blocking processing mode, the antenna can be maintained in the satellite direction by using the data of the rotation angle sensor of the vehicle when the moving object cannot receive the satellite signal due to an obstacle. .

The satellite automatic tracking method of the conventional active antenna system described above is a patent application No. 92-10206 filed by Uemasu Masairo, 'Antenna device and its attitude control method and device', U.S. Patent registered by Uemasu Masairo No. 5,166,693 'Mobile Antenna System', IEEE Society Inter. Symp. Vol. Published in the paper 'Development and Field Experiments of Phased Array Antenna for Land Vehicle Satellite Communications' and IEEE Vehicular Technology Society, 42nd VTS Conference e Vol. This article is described in detail in the article `` Antenna and Tracking System for Land Vehicles on Satellite Communications ''.

The tracking antenna for receiving such a conventional satellite signal mainly has only a single desired satellite signal or only a predetermined polarized signal, and thus cannot be used in an environment in which a plurality of satellite signals exist. In addition, since the conventional mobile receiving antenna performs mechanical tracking, the tracking speed is very slow, and the electronic tracking by the phased array antenna has a high speed but is very expensive.

An object of the present invention for solving the problems of the prior art as described above, to provide a satellite tracking control apparatus and method for implementing a tracking antenna that maintains high performance at low cost in an environment where a plurality of satellite signals exist. There is this.

1 is a block diagram of a low-cost multi-satellite mobile receiving tracking antenna to which the present invention is applied,

2 is an internal configuration diagram of a satellite tracking control device for a multi-satellite mobile receiving tracking antenna according to an embodiment of the present invention;

3 is a flowchart illustrating a satellite tracking control method of a multi-satellite mobile receiving tracking antenna according to an embodiment of the present invention;

4 is a detailed operation flowchart of a channel selection initialization process according to an embodiment of the present invention;

5 is a detailed operation flowchart of an initial tracking process according to an embodiment of the present invention;

6 is a detailed operation flowchart of an automatic tracking process according to an embodiment of the present invention;

7 is a detailed operation flowchart of an iterative tracking process according to an embodiment of the present invention;

8 is a detailed operation flowchart of a motor control process according to an embodiment of the present invention.

※ Explanation of code about main part of drawing ※

1: Dual polarization multi-satellite receiving antenna device

2: tracking beam generator 3: tracking signal detector

4: satellite tracking controller 5: elevation control motor

6: azimuth control motor

A multi-satellite mobile receiving tracking antenna system according to the present invention for achieving the above object is composed of a flat panel array antenna for receiving satellite signals from a plurality of satellites, and receives a polarization control signal from a tracking beam generator to receive the polarization control signal. A dual polarization multi-satellite reception antenna for receiving the satellite signal and outputting the satellite signal to the tracking beam generator;

The satellite received signal inputted from the dual polarized multi-satellite reception antenna is converted into a satellite tracking signal for determining the direction of elevation and azimuth, and output to a tracking signal detector. When the polarization selection signal is input from the satellite tracking controller, the dual signal is input. A tracking beam generator for outputting a polarization control signal to a polarization multi-satellite reception antenna;

The tracking signal detector for receiving a satellite tracking signal from the tracking beam generator and receiving a tracking frequency selection signal from the satellite tracking controller and supplying a desired satellite tracking signal to the satellite tracking controller;

Outputting a polarization selection signal and a tracking beam control signal to the tracking beam generator, and outputting a tracking frequency selection signal to the tracking signal detector, receiving a tracking signal voltage from the tracking signal detector and receiving an elevation angle of the dual polarization multi-satellite reception antenna; A satellite tracking controller for adjusting an elevation control motor for controlling an azimuth angle and an azimuth control motor;

An elevation control motor for controlling an elevation angle of the dual polarized multiple satellite reception antenna under the control of the satellite tracking controller;

Azimuth control motor for controlling the azimuth angle of the dual polarization multi-satellite receiving antenna under the control of the satellite tracking controller.

In addition, the satellite tracking control of a multi-satellite mobile receiving tracking antenna comprising a central processing unit and a beam controller according to the present invention, and to adjust the elevation control motor and the azimuth control motor to control the elevation angle and azimuth angle of the dual polarization multi-satellite reception antenna Way,

An initializing step of, when the power is initially turned on, the central processing unit selects a desired satellite channel among a plurality of satellites, sets a threshold value, and transmits a channel flag to the beam controller;

When the beam controller sets an initial tracking mode (AIS) flag, the central processing unit operates the azimuth control motor and elevation control motor until the satellite signal received from the beam controller is greater than or equal to a threshold value, thereby providing the desired satellite channel. An initial tracking (AIS) mode process for tracking the data;

When the AIS mode process is completed and the beam controller sets the automatic tracking mode (AAT) flag, the azimuth control motor and elevation control to continuously capture and maintain the satellite channel tracked in the AIS mode process. An AAT mode process of automatically tracking the desired satellite channel by operating a motor;

When the satellite signal is blocked during the AAT mode process and the beam controller sets the ARS flag, the CPU processes the tracking satellite channel by repeatedly operating the azimuth control motor and the elevation control motor. It is characterized by including the ARS mode process.

Hereinafter, with reference to the accompanying drawings will be described in more detail "satellite tracking control device and control method of a low-cost multi-satellite mobile reception tracking antenna" according to an embodiment of the present invention.

1 is a block diagram of a multi-satellite mobile receiving tracking antenna to which the present invention is applied.

This includes a dual polarized multi-satellite mobile receiving tracking antenna (1), a tracking beam generator (2), a tracking signal detector (3), a satellite tracking controller (4), an elevation control motor (5), and an azimuth control motor (6). Include.

The dual polarized multi-satellite mobile receiving tracking antenna (1) is a planar array antenna capable of receiving satellite signals from a plurality of satellites, and receives satellite signals of a desired polarization according to a polarization control signal input through the tracking beam generator (2). To the tracking beam generator 2. The tracking beam generator 2 determines the directing direction of the elevation angle and the azimuth direction according to the tracking beam control signal from the satellite tracking controller 4 for the satellite received signal input from the dual polarized multi-satellite mobile receiving tracking antenna 1. The signal is converted into a tracking signal and supplied to the tracking signal detector 3. In addition, the tracking beam generator 2 receives a polarization selection signal from the satellite tracking controller 4 to receive a signal of a desired polarization from the dual polarization multi-satellite mobile receiving tracking antenna 1 and the dual polarization multi-satellite mobile receiving tracking antenna The polarization control signal is supplied to (1). The tracking signal detector 3 receives the satellite tracking signal from the tracking beam generator 2 and the tracking frequency selection signal from the satellite tracking controller 4, converts the power of the desired tracking signal into a voltage, and then the satellite tracking controller 4. Supplies). The elevation control motor 5 and the azimuth control motor 6 mechanically move the beam direction of the dual polarized multi-satellite mobile reception tracking antenna 1 according to a control signal input from the satellite tracking controller 4 to thereby control the desired satellite during the movement. Allows you to track the signal.

2 is an internal configuration diagram of a satellite tracking controller 4 according to an embodiment of the present invention.

It is a CPU 100, a dip switch 101, a ROM (ROM: 102), a RAM (RAM: 103), a beam controller 200, a ROM (ROM: 201), a dual port memory 202, a signal data latch Unit 203, signal driver 204, data latch unit 205, relay driver 206, AD converter 302, AZ motor controller 400, AZ motor driver 401, EL motor controller 403 And an EL motor driver 404.

ROM (ROM) 102 stores CPU command codes and beam control and motor control programs, and CPU 100 stores address, beam control and motor control programs in RAM 103, and then beam control and motor control. Perform the algorithm. BEAM CONTROLLER 200 is a signal data latching unit (SIGNAL DATA LATCH: 203) and PCC data latching unit (address) and beam control data and PCC data stored in the ROM 201 through an address bus and a data bus. Latch to PCC DATA LATCH: 205 and control the beam beam generator (BFB: BEAM FORMING BLOCK) 300 through the signal driver (SIGNAL DRIVER: 204) and the relay driver (RELAY DRIVER: 206). .

In other words, the beam controller 200 generates the polarization control signal and the tracking beam control signal and outputs the polarization control signal and the tracking beam generator 300 to the tracking beam generator 300 through the signal driver and the relay driver. In addition, the beam controller 200 sends channel data to a tracking signal detector (TSC) 301 and transmits received information data from the tracking signal detector 301 to an AD converter 302. Input via

That is, the beam controller 200 receives beam control signal data through the input of the tracking beam generator 300 to generate and control the beam freely, so that the main beam of the fixed satellite is always fixed despite the movement of the moving object. The tracking beam is directed toward the tracking beam generated by the satellite tracking system attached to the moving object. The tracking beam signal, which is an analog signal, is converted into a digital signal through an AD converter, and the beam is directed toward the satellite main beam by comparing the POWER of the tracking beam generated by the current BFB with the power when the tracking beam is toward the satellite main beam. It is used as data for

The CPU 100 performs a beam controller 200 through a dual port memory 202 composed of static RAM having two independent data I / O ports while executing a program. ) And parallel communication between AZ MOTOR CONTROLLER 400 and BEAM CONTROLLER 200 and EL MOTOR CONTROLLER 403. When the WRITE and READ signals from the CPU 100 enable the dual port memory, an interrupt is automatically generated inside the dual port memory to transfer the data stored in the SRAM in one direction. Output In order to select a desired one of several satellites, one bit (1 or 0) of the limit switch (LIMIT SWITCH) 104 and one bit (1 or 0) of the dip switch (DIP SWITCH) 101 are stored in the CPU 100. It receives the input and outputs the combination to the beam controller 200, the beam controller selects the satellite.

The AZ MOTOR CONTROLLER 400 receives parallel data from the CPU 100 and controls the elevation motor AZIMUTHMOTOR 402 through the AZ MOTOR DRIVER 401. The EL MOTOR CONTROLLER 403 receives parallel data from the CPU 100 to control the ELVATION MOTOR 405 through the EL motor driver 404. The motor controller is used for mechanical control, and if the electronic control is performed using the beam controller, the motor controller controls the system itself in the elevation and azimuth directions so that the tracking beam is directed to the satellite main beam.

3 is a flowchart illustrating an overall operation of a method for controlling satellite tracking of a multi-satellite mobile receiving tracking antenna in a satellite tracking controller according to an embodiment of the present invention.

This includes the motor and BSC initialization (channel selection) step (S001), AIS mode (initial tracking) (S003), AAT mode (automatic tracking) (S004), ARS mode (repeating tracking) (S005), and parallel interrupt routines ( PIR) (S006).

When the power is "on" and the tracking algorithm is started (S000), the motor and BSC are initialized (S001), and the beam controller, AZ motor controller, and EL motor controller are reset to select the desired satellite channel among the multi-satellites (S002). ). The CPU S008 receives data from the dip switches / limit switches 101 and 104, transmits channel flag data to the beam controller 200, and selects a channel that becomes a satellite tracking beam signal.

Next, the AIS mode S003 is performed. The AIS mode transmits an AIS flag indicating the initial tracking mode to the CPU 100, and the CPU 100 sends motor status data to the AZ and EL motor controllers to control the AZ and EL motors. At this time, if the satellite signal S (T) input from the beam controller is equal to or greater than the threshold value, the AAT mode (automatic tracking) S004 is performed. Otherwise, the AIS mode S003 is continued. In the AAT mode (S004) and the ARS mode (repetitive tracking) (S005), the satellite signals S (t) are compared with the threshold value to control the azimuth and elevation direction motors, and satellite tracking is performed.

In the AIS mode (S003) and the ARS mode (S005), a flag is sent to the CPU 100, and the CPU 100 determines the motor state according to each mode, and transmits the motor state data to the AZ and EL motor controllers 400 and 403. To control the AZ and EL motors. On the other hand, in the AAT mode (S004), when the AAT status is sent to the CPU 100, first, an AAT flag 1 byte indicating the auto tracking mode is sent to the CPU 100, and then the CPU 100 sends the azimuth flag 1 byte and the azimuth angle. It receives 4 bytes of satellite signal data and transmits the difference of azimuth satellite signal data to AZ motor controller as motor status data so that AZ motor controller can control azimuth. ) Receives the elevation flag 1 byte and the elevation satellite signal data 4 bytes, and transmits the difference of the elevation satellite signal data as motor state data to the EL motor controller to perform mechanical tracking in the elevation and azimuth directions.

Independent of the flow of the entire algorithm, one interrupt operates, which sends a channel flag to the parallel interrupt routine (PARALLEL INTERRUPT ROUTINE) (S006), which operates when parallel communication using dual port memory occurs, and receives an AIS flag. Automatically set when AAT status data is received and ARS flags are received.

4 is a flowchart of a channel selection initialization algorithm S100 according to the present invention.

BSC_INIT (Channel Selection Initialization) is started, and the CPU 100 receives data from the dip / limit switches 101 and 104 to set up channel flag data, and if the channel is 2 (S101), the satellite tracking beam signal is used. If (S102) is selected, and if the channel is not number 2 but is number 5 (S103), the Japanese BS satellite tracking beam signal S104 is selected. Then, the elevation motor is controlled to rotate the elevation angle of the antenna by 90 degrees (S105), the reception intensity is measured at this time, the threshold value is set (S106), and the algorithm is terminated (S107).

5 is a flowchart of an initial tracking (AIS mode) algorithm S200 according to the present invention.

First, the AIS flags S_flag and M_flag indicating that the AIS mode is started in the beam controller 200 are all set to 0 (S201), and the polarization control signal PCC of the antenna is set up (S202). When the AIS flag indicating that the initial tracking mode is transmitted (S203), the CPU 100 outputs motor state data to the AZ and EL motor controllers 400 and 403 to control the elevation angle motor and the azimuth motor. That is, the CPU 100 sets the motor flag M_flag to 1 (S208), and the motor control state data (2 bytes) is utilized as data for controlling the antenna through speed control and repetitive control, and speed in elevation direction. It is used as data (VEL._ACT) to continue forward or negative rotation at a constant speed, and it is used as repetition data (REPT._ACT) in azimuth direction, and it is generated from the antenna through up and down repetitive movement at regular time intervals. The tracking beam allows mechanical tracking of the motor as if it were electronic tracking.

If the satellite signal S (T) received from the beam controller 200 is greater than or equal to the threshold (S204, S205) while satellite tracking is performed in the elevation and azimuth directions of the motor, the S_flag is received by the CPU 100 because the satellite is captured. And M_flag are both set to 2 (S206) and the program ends (S207). Otherwise, the process proceeds to step S204 to continue the AIS mode.

6 is a flowchart of an automatic tracking (AAT mode) algorithm S300 according to the present invention.

When both AAT flags S_flag and M_flag indicating that the AAT mode is started are set to 2 in the beam controller 200 (S301), the polarization control signal PCC of the antenna is set up (S302). When the AAT flag indicating that the automatic tracking (AAT) mode is input (S303), the CPU 100 sends motor state data to the AZ and EL motor controllers 400 and 403 to control the motor. In the automatic tracking mode, the strength of the signal is stored while moving the position of the tracking beam, and the motor is controlled using the difference in the strength of the signal.

Meanwhile, in the case of AAT status data, the AAT flag 1 byte indicating the auto tracking mode is first sent from the beam controller 200 to the CPU 100, and the CPU 100 reads the input AAT flag and sets S_flag to 2. After (S308), the azimuth flag and the azimuth satellite signal data are input from the beam controller 200 (S304) so that the AZ motor controller performs the azimuth control with the difference (dAZ) of the azimuth satellite signal data as a variable AZ_VEL. The motor control is performed by transmitting the state data AZ_flag and AZ_VEL S309 to the AZ motor controller. At this time, the value of the variable AZ_VEL corresponds to the azimuth direction speed control variable VEL._ACT (S312).

In addition, the CPU 100 receives the elevation flag and the elevation satellite signal data (S305), and converts the difference dEL of the elevation satellite signal data into the variable EL_VEL so that the EL motor controller can control the elevation angle from the beam controller 200. By transmitting the motor state data (EL_flag and EL_VEL) (S310) to the EL motor controller to perform mechanical tracking in the elevation and azimuth directions using the difference in the intensity of the received signal. At this time, the value of the variable EL_VEL corresponds to the elevation angle speed control variable VEL._ACT (S313).

The AZ and EL motor controllers 400 and 403 perform a biaxial drive of the motor at the speeds of dAZ and dEL, and the satellite signal S (T) obtained by the AD converter through the beam controller 200 is below the threshold (S306, S307). ) Means that the satellite is missed, and the CPU 100 locks the antenna direction to a position at a moment below a threshold for a delay time dT (S311), and then ends the program (S314), otherwise proceeds to step S304. The satellite tracking is then performed by performing the AAT mode.

7 is a flowchart of an iterative tracking (ARS mode) algorithm S400 according to the present invention.

After performing the AAT mode, the CPU 100 maintains both S_flag and M_flag at 2 (S401), and the ARS mode is performed, and the beam controller 200 sets up the polarization control signal PCC of the antenna (S403). The CPU 100 receives the ARS flag indicating the repetitive tracking mode from the beam controller 200 (S403), and sends motor state data to the AZ and EL motor controllers 400 and 403 to control the elevation angle motor and the azimuth motor. That is, the CPU 100 sets the motor flags M_flag and S_flag to 3, and if the satellite signal is not detected due to blocking, etc., moves the motor for a predetermined time and tracks the satellite (S409). The output motor control data (2 bytes) of the CPU 100 is input to the elevation motor controller 403 and used as the velocity data (VEL._ACT) S410 in the elevation direction, and is also input to the azimuth motor controller 400. In the azimuth direction, it is used as the repetition data (REPT._ACT) S411 to perform mechanical tracking of the motor.

If the satellite signal S (T) received from the beam controller 200 is greater than or equal to the threshold value while performing satellite tracking in the elevation and azimuth directions of the motor (S404 and S405), the CPU 100 captures satellites and thus AAT. Mode, otherwise iteratively tracks the azimuth direction, moving the motor operating range further x left and right in the elevation direction to capture the satellite, and if it still fails to capture the satellite, expanding the operating range up to y seconds. To track. However, if the satellite cannot be captured even after y seconds (S413), the mode returns to AIS mode, and both S_flag and M_flag are set to 0 (S407), and the program ends (S408). Of course, if the satellite is captured within y seconds, it will return to AAT mode.

8 is a flowchart illustrating a motor control operation according to the present invention (S500).

When the power is 'on' or the hardware is reset, the motor controller is initialized (MOT_INIT) (S501) and the motor operation starts. The command code and data 2 bytes are read from the CPU (S502), and if the command code is * 0FH (S503), the motor performs the speed control (VEL. ACT) (S507) operation and otherwise analyzes the next command code. If the command code is * 0EH (S504), the motor performs a PULSE control (POS. _ ACT) operation (S508) otherwise the next command code is analyzed. If the command code is * 0DH (S505), the motor performs the repeat control (REPT._ACT) operation (S509), otherwise it reads the table data (DEG / SEC) and performs the speed control (VEL.TABLE_ACT) ( In step S510, the motor repeatedly reads the command code and data every time until the hardware is reset and the program ends (S506).

While the invention has been described above based on the preferred embodiments thereof, these embodiments are intended to illustrate rather than limit the invention. It will be apparent to those skilled in the art that various changes, modifications, or adjustments to the above embodiments can be made without departing from the spirit of the invention. Therefore, the protection scope of the present invention will be limited only by the appended claims, and should be construed as including all such changes, modifications or adjustments.

As described above, according to the present invention, a high performance tracking antenna capable of receiving a desired satellite signal while moving in an environment in which satellite signals of different polarizations or multiple satellite signals of the same satellite are present can be implemented at low cost.

Claims (8)

A dual polarization multi-satellite reception antenna comprising a planar array antenna for receiving satellite signals from a plurality of satellites, receiving a polarization control signal from a tracking beam generator, receiving a satellite signal according to the polarization control signal, and outputting the satellite signal to the tracking beam generator; ; The satellite received signal inputted from the dual polarized multi-satellite reception antenna is converted into a satellite tracking signal for determining the direction of elevation and azimuth, and output to a tracking signal detector. When the polarization selection signal is input from the satellite tracking controller, the dual signal is input. A tracking beam generator for outputting a polarization control signal to a polarization multi-satellite reception antenna; The tracking signal detector for receiving a satellite tracking signal from the tracking beam generator and receiving a tracking frequency selection signal from the satellite tracking controller and supplying a desired satellite tracking signal to the satellite tracking controller; Outputting a polarization selection signal and a tracking beam control signal to the tracking beam generator, and outputting a tracking frequency selection signal to the tracking signal detector, receiving a tracking signal voltage from the tracking signal detector and receiving an elevation angle of the dual polarization multi-satellite reception antenna; A satellite tracking controller for adjusting an elevation control motor for controlling an azimuth angle and an azimuth control motor; An elevation control motor for controlling an elevation angle of the dual polarized multiple satellite reception antenna under the control of the satellite tracking controller; And an azimuth control motor for controlling the azimuth angle of the dual polarization multi-satellite receiving antenna under the control of the satellite tracking controller. The method of claim 1, The satellite tracking controller, Storage means for storing CPU command codes, beam control and PCC data, and beam control and motor control programs; Switching means for selecting any satellite channel among said plurality of satellites; Receiving a satellite channel selection signal from the switching means, executing the beam control and motor control program to perform a beam control and motor control algorithm, and receiving the motor control signal of the beam controller to the elevation control motor and the azimuth control motor. A central processing unit for outputting a control signal; The control unit generates a tracking beam under the control of the central processing unit, and outputs a control signal to the elevation control motor and the azimuth control motor through the central processing unit to control the generated tracking beam toward the main beam of the stationary satellite. A multi-satellite mobile receiver tracking antenna system comprising a beam controller. In the satellite tracking control method of a multi-satellite mobile receiving tracking antenna comprising a central processing unit and a beam controller, and adjusting the elevation control motor and the azimuth control motor to control the elevation angle and azimuth angle of the dual polarized multi-satellite reception antenna, An initializing step of, when the power is initially turned on, the central processing unit selects a desired satellite channel among a plurality of satellites, sets a threshold value, and transmits a channel flag to the beam controller; When the beam controller sets an initial tracking mode (AIS) flag, the central processing unit operates the azimuth control motor and elevation control motor until the satellite signal received from the beam controller is greater than or equal to a threshold value, thereby providing the desired satellite channel. An initial tracking (AIS) mode process for tracking the data; When the AIS mode process is completed and the beam controller sets the automatic tracking mode (AAT) flag, the azimuth control motor and elevation control to continuously capture and maintain the satellite channel tracked in the AIS mode process. An AAT mode process of automatically tracking the desired satellite channel by operating a motor; When the satellite signal is blocked during the AAT mode process and the beam controller sets the ARS flag, the CPU processes the tracking satellite channel by repeatedly operating the azimuth control motor and the elevation control motor. A satellite tracking control method for a multi-satellite mobile receiving antenna, comprising an ARS mode process. The method of claim 3, wherein When the CPU transmits a channel flag to the beam controller in the initialization process, or in the AIS mode process, the AAT mode process, and the ARS mode process, the beam controller sends an AIS flag, an AAT flag, and an ARS to the CPU. An interrupt routine is set when transmitting a flag, wherein the satellite tracking control method of the multi-satellite mobile receiving tracking antenna. The method according to claim 3 or 4, In the initialization process, when the satellite channel selection signal is input from the outside, the central processing unit transmits channel flag data to the beam controller, and the beam controller sets the tracking satellite channel and the threshold value using the channel flag data. Satellite tracking control method of a multi-satellite mobile receiving tracking antenna, characterized in that. The method of claim 3 or 4, wherein the AIS mode process comprises: Setting and transmitting an AIS flag indicating that the beam controller is in an initial tracking mode by the beam controller; Speeding the azimuth control motor and repeatedly controlling the elevation control motor by the central processing unit to mechanically track satellites in the azimuth direction; And comparing the satellite signal inputted from the beam controller with a threshold value, and terminating when the input satellite signal is greater than or equal to a threshold value. The method of claim 3 or 4, wherein the AAT mode process comprises: Setting and transmitting, by the beam controller, an AAT flag indicating that the CPU is in the automatic tracking mode and outputting a phase shift beam as a tracking beam; The central processing unit speed-controls the elevation control motor using the difference in the elevation satellite reception level input from the beam controller, and the satellite is mechanically controlled by the speed control of the azimuth control motor using the difference in the azimuth direction satellite reception level. Tracking; And fixing the position of the dual polarized multi-satellite reception antenna and performing the ARS mode process when the satellite signal input from the beam controller falls below a threshold. Control method. The method of claim 3 or 4, wherein the ARS mode process, Setting and transmitting, by the beam controller, an ARS flag indicating that the CPU is in repetitive tracking mode; Comparing, by the central processing unit, the satellite signal input from the beam controller with a threshold while controlling the azimuth control motor and repeatedly controlling the elevation control motor; If the satellite signal is less than the threshold value, and repeat the control operation of the elevation control motor, and the multi-satellite mobile reception characterized in that it searches for the satellite while increasing the operation time of the azimuth control motor by a certain time from side to side Satellite tracking control method of tracking antenna.