KR102499690B1 - Low earth orbit satellite tracking control apparatus and method using hemisphere type antenna array - Google Patents

Abstract

A low-orbit satellite tracking control apparatus using a hemispherical antenna array and a tracking control method thereof are disclosed. The low-orbit satellite tracking control apparatus according to the present invention comprises: an antenna array composed of a plurality of antennas arranged on a surface of a hemisphere, each of which is arranged in a direction of a normal line passing through the surface of the hemisphere from the center point of the hemisphere; a directional angle storage unit storing a directional angle of each antenna; a signal strength comparison unit comparing the strength of a satellite signal received by each antenna; an antenna search unit searching for an antenna with a greatest satellite signal strength among the plurality of antennas; an antenna selection unit selecting an antenna within a set range based on the antenna searched by the antenna search unit; and a directional angle control unit controlling the directional angle of the antenna selected by the antenna selection unit. Accordingly, high-quality satellite communication is possible.

Description

Low-orbit satellite tracking control device using a hemispherical antenna array and its tracking control method

The present invention relates to an apparatus for tracking and controlling a low-orbit satellite and a method for tracking and controlling the same, and more particularly, tracks a low-orbit satellite using a hemispherical antenna array, and directs the antenna to the current location of the low-orbit satellite according to the tracking result. It relates to a low-orbit satellite tracking control device using a hemispherical antenna array and a tracking control method thereof, enabling high-quality satellite communication by matching.

Low-orbit satellites generally refer to satellites located between 200 and 1,500 km above the ground, and in the case of these satellites, the orbital period of the satellite with respect to the earth is between tens of minutes and several hours, which is much shorter than 24 hours in geostationary orbit.

The advantage of low-orbit satellites is that the size of the antenna of the terminal can be reduced because the radio wave attenuation is small due to the close distance from the earth, and the delay between the satellite and the earth station is much shorter than that of geostationary satellites. am.

However, since the low-orbit satellite moves at a very high speed, it is necessary to track the low-orbit satellite and adjust the direction of the antenna beam for high-quality satellite communication.

Registered Patent Publication No. 10-2184290 (registration date: 2020.11.24)

The present invention was devised to meet the above-mentioned needs, and high-quality satellite communication is achieved by tracking low-orbit satellites using a hemispherical antenna array and matching the direction of the antenna to the current location of the low-orbit satellite according to the tracking result. It is an object of the present invention to provide a low-orbit satellite tracking control device using a hemispherical antenna array and a tracking control method thereof.

A plurality of low-orbit satellite tracking control devices according to an aspect of the present invention for achieving the above object are disposed on the surface of a hemisphere, each of which is disposed in the direction of a normal line passing through the surface of the hemisphere from the center point of the hemisphere an antenna array consisting of a plurality of antennas; a beam angle storage unit for storing beam angles of each of the antennas; a signal strength comparator comparing strengths of satellite signals received by each of the antennas; an antenna search unit for searching for an antenna having the greatest strength of a satellite signal among the plurality of antennas; an antenna selection unit selecting an antenna within a set range based on the antenna searched by the antenna search unit; a beam angle control unit controlling a beam angle of the antenna selected by the antenna selection unit; and a difference calculation unit for calculating a difference between the directivity angle of the antenna searched by the antenna search unit and the directivity angle of the antenna selected by the antenna selector, wherein the antenna selector includes the antenna search unit. Based on the antennas searched for, an antenna having a directivity angle of 90° or less is selected. It is characterized in that the directing angle is controlled.

The aforementioned low-orbit satellite tracking control device controls a phase shift for an antenna searched by the antenna search unit and an antenna whose beam angle is controlled by the beam angle controller when the beam angle is controlled by the beam angle controller. It may further include a; phase shift control unit.

Here, the beam angle control unit controls the beam angle of the antenna selected by the antenna selection unit to be controlled by the difference between the beam angle of the antenna searched by the antenna search unit and the beam angle of the antenna selected by the antenna selection unit. can

In order to achieve the above object, a low-orbit satellite tracking control method according to an aspect of the present invention includes a plurality of antennas disposed on the surface of a hemisphere, each in the direction of a normal line passing through the surface of the hemisphere from the center point of the hemisphere. preparing an antenna array to be disposed; storing the directivity angle of each of the antennas; comparing the strength of satellite signals received by each of the antennas; searching for an antenna having the greatest strength of a satellite signal among the plurality of antennas; selecting an antenna within a set range based on the searched antenna; calculating a difference between the beam angle of the searched antenna and the beam angle of the selected antenna; controlling a beam angle of the selected antenna; and controlling a phase shift of the searched antenna and the controlled antenna. In this case, the antenna selection step selects an antenna having a directivity angle of less than 90 ° based on the antenna searched by the antenna search step, and the directivity angle control step is based on the calculated beam angle difference value, Preferably, the beam angle of the selected antenna is controlled.

In addition, the beam angle controlling step controls the beam angle of the antenna selected by the antenna selection step by the difference between the beam angle of the antenna searched by the antenna search step and the beam angle of the antenna selected by the antenna selection step. can do.

According to the present invention, a low-orbit satellite is tracked using a hemispherical antenna array, and high-quality satellite communication is possible by matching the orientation direction of the antenna to the current location of the low-orbit satellite according to the tracking result.

1 is a diagram schematically showing the configuration of a low-orbit satellite tracking and control device according to an embodiment of the present invention.
FIG. 2 is a diagram showing an example of an antenna array applied to FIG. 1 .
FIG. 3 is a diagram showing an example in which each antenna shown in FIG. 2 receives a satellite signal from a low earth orbit satellite.
FIG. 4 is a diagram for explaining an example of controlling the beam angle of each antenna of the antenna array shown in FIG. 1;
5 is a diagram for explaining the concept of low earth orbit satellite tracking using a frequency scanning effect.
6 is a flowchart illustrating a low earth orbit satellite tracking control method using a hemispherical antenna array according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described through exemplary drawings. In describing the reference numerals for the components of each drawing, the same numerals indicate the same components as much as possible, even if they are displayed on different drawings. In addition, in describing an embodiment of the present invention, if it is determined that a detailed description of a related known configuration or function hinders understanding of the embodiment of the present invention, the detailed description will be omitted.

Also, terms such as first, second, A, B, (a), and (b) may be used to describe components of an embodiment of the present invention. These terms are only used to distinguish the component from other components, and the nature, order, or order of the corresponding component is not limited by the term. When an element is described as being “connected,” “coupled to,” or “connected” to another element, the element may be directly connected, coupled, or connected to the other element, but not between the element and the other element. It should be understood that another component may be “connected”, “coupled” or “connected” between elements.

1 is a diagram schematically showing the configuration of a low-orbit satellite tracking and control device according to an embodiment of the present invention.

Referring to FIG. 1, the low-orbit satellite tracking control device 100 includes an antenna array 102, an orientation angle storage unit 104, a signal strength comparison unit 106, an antenna search unit 108, and an antenna selection unit 110. , a directivity angle controller 112, a difference value calculator 114, and a phase shift controller 116.

As shown in FIG. 2, the antenna array 102 is formed by disposing a plurality of antennas 10 on the surface of a hemisphere. At this time, each antenna 10 is arranged to direct the direction of a normal line penetrating the surface of the hemisphere from the center point of the hemisphere. That is, since the directions of the normal lines passing through the surface of the hemisphere from the center point of the hemisphere are all different, the orientation directions of the respective antennas 10 constituting the antenna array 102 are all different.

The directivity angle storage unit 104 stores the directivity angle of each antenna 10 . That is, the beam angle storage unit 104 stores beam angles of directions directed by each antenna 10 . At this time, the directivity angle storage unit 104 stores two or more values of the angle with respect to the XY plane, the angle with respect to the YZ plane, and the angle with respect to the ZX plane of the specific antenna based on the three-dimensional XYZ coordinate system as the directivity angle of the corresponding antenna. can However, the beam angle storage unit 104 may store angles of each antenna 10 in various three-dimensional coordinate systems other than the XYZ coordinate system as beam angles.

The signal strength comparator 106 compares the strength of satellite signals received by each antenna 10 . At this time, since the distance between each antenna 10 is extremely small compared to the distance between the antenna array 102 and the low orbit satellite, it can be assumed that the satellite signals for each antenna 10 are parallel to each other. In addition, when the orientation direction of the antenna 10 coincides with the direction of the low-orbit satellite, the strength of the received satellite signal is greatest, and the intensity of the received satellite signal decreases as the orientation direction is further away from the direction of the satellite signal. . In this case, the signal strength comparator 106 compares the strengths of satellite signals received by each antenna 10 with each other.

The antenna search unit 108 searches for an antenna having the greatest strength of a satellite signal among a plurality of antennas 10 . That is, the antenna search unit 108 searches for an antenna having the largest satellite signal strength compared by the signal strength comparison unit 106 among the antennas 10 constituting the antenna array 102 .

The antenna selection unit 110 selects an antenna within a set range based on the antenna searched by the antenna search unit 108. At this time, since the antenna having a difference of 90° or more in the directivity angle based on the antenna having the largest strength of the received satellite signal cannot receive the satellite signal, the antenna selection unit 110 uses the antenna search unit 108 to Based on the searched antennas, an antenna having a directivity angle of less than 90° may be selected. In this case, the antenna selector 110 extracts the directivity angle of the antenna having the greatest strength of the received satellite signal based on the directivity angle of each antenna 10 stored in the directivity angle storage unit 104, and extracts the It is possible to select an antenna whose beam angle is within a range of 90° from the beam angle.

The beam angle controller 112 controls the beam angle of the antenna 10 selected by the antenna selector 110 . At this time, the beam angle control unit 112 can control the rotation angle in the up, down, left and right directions within a range of 90 ° for each antenna 10, as well as in the left-up or right-up direction of 45 ° above each in the left-right direction, or The rotation angle can be controlled in the left-down or right-down direction, each 45° below the left-right direction.

The difference calculation unit 114 calculates a difference between the directivity angle of the antenna searched by the antenna search unit 108 and the directivity angle of the antenna selected by the antenna selection unit 110 . That is, the difference value calculation unit 114 calculates a difference value between the beam angle of the antenna having the largest strength of the received satellite signal and the beam angle between the antenna selected by the antenna selector 110 . In this case, the beam angle control unit 112 may control the beam angle of each antenna based on the difference value calculated by the difference value calculation unit 114 . That is, the directivity angle of the antenna having the greatest intensity of the received satellite signal is opposite to the direction of the satellite signal, and the difference between the directivity angle of an arbitrary antenna and the antenna having the greatest intensity of the satellite signal can be calculated. As shown in FIG. 4, the beam angle control unit 112 controls the control angle by the difference between the beam angles of each antenna so that the selected antenna is directed in the same direction as the antenna having the largest satellite signal strength. there is.

When the directivity angle of each antenna is controlled by the directivity controller 112, the phase shift control unit 116 controls the antenna searched by the antenna search unit 108 and the directivity angle controlled by the directivity angle controller 110. Control the phase shift for the antenna. At this time, the phase shift control unit 116 determines the antenna searched by the antenna search unit 108 and the antenna selector 110 after all control of the beam angle for the antenna selected by the antenna selector 110 is completed. It is assumed that the selected antenna is an antenna whose direction is fixed mechanically, and the antenna beam can be scanned by electrically changing the phase of radio waves using a phase shifter for the corresponding antennas. Such a phase shift method may use a phase shift method of a phased array antenna, and a detailed description thereof is omitted here.

Meanwhile, since the low orbit phase continuously shifts, the antenna 10 having the largest satellite signal strength within the antenna array 102 is also changed accordingly. In this case, the phase shift control unit 116 periodically performs a phase shift until the difference between the directivity angle of the antenna having the greatest intensity of the previous phase signal and the directivity angle of the antenna having the greatest intensity of the current satellite signal is less than or equal to the set angle. You can control it.

In addition, in the low-orbit satellite tracking control apparatus 100 according to an embodiment of the present invention, after the control of the directing angle for the antenna selected by the antenna selection unit 110 is primarily completed, the antenna search unit 108 searches for it. With respect to the antenna for which the control of the beam angle has been completed by the antenna and the beam angle control unit 112, the low-orbit satellite can be continuously tracked by secondarily controlling the direction of the beam angle to the left or right or up and down using the frequency scanning effect. . In this case, it is preferable that the low earth orbit satellite tracking control device 100 equally adjusts the direction of the beam angle of each antenna.

5 is a diagram for explaining the concept of low earth orbit satellite tracking using a frequency scanning effect. Here, the frequency scanning effect refers to the property that the orientation direction of the antenna changes when the frequency changes in the original phased array antenna, and the signal strength of the two outputs that have passed through filters with one output but different frequencies is compared to the satellite. As a result, it is a new type of satellite tracking method that can be used as satellite tracking because it is possible to distinguish which direction it is in. Here, the difference in height of each antenna 10 constituting the antenna array 102 relative to the distance between the low-orbit satellite and the antenna array 102 is negligible, and therefore each antenna 10 is placed on a plane. can be assumed to be

In order to theoretically explain the satellite tracking method using the frequency scanning effect, it can be described by dividing into two antennas, that is, antenna 1 and antenna 2, as shown in FIG. At this time, when each antenna is combined to form one antenna, the transmission line is configured such that the distances between each antenna and the power combiner of the antenna output unit have lengths a and b, respectively.

If the frequency changes, the wavelength also changes, and if the repeater frequencies of the satellite are f0, f1, f2,..,fn, the distance difference between a and b is designed to be nλ0 (λ0: wavelength of frequency f0, n: integer). Here, λ0 is the wavelength of frequency f0, and n is an integer. in other words,

[Equation 1]

b a = nλ0 (λ0: wavelength at frequency f0, n: integer)

Since the phases of the frequencies passing through the two feed lines a and b of the antenna designed as described above are in phase when the frequency is f0, the antenna beam is formed in a vertical direction.

However, when the frequency is fn, the wavelength is λn, so the two feed lines a and b do not have the same phase. If f0 < fn, since λ0 > λn, when the frequency of the satellite signal is fn, the phase of the second antenna is delayed by Δl, and thus the antenna beam is tilted toward the second antenna by ΔΦ.

The phase difference between the first antenna and the second antenna at this time is calculated as follows.

[Equation 2]

Here, ΔΦ is calculated by the trigonometric formula,

[Equation 3]

is, and therefore

[Equation 4]

am. Here, by changing the constants n and d, the inclination angle ΔΦ of the antenna beam according to the change in frequency can be adjusted.

As described above, the low-orbit satellite tracking control device according to an embodiment of the present invention can enable high-quality satellite communication by accurately tracking the movement of the satellite with respect to the low-orbit satellite.

6 is a flowchart illustrating a low earth orbit satellite tracking control method using a hemispherical antenna array according to an embodiment of the present invention. The antenna control method according to an embodiment of the present invention may be performed by the low earth orbit satellite tracking control device 100 shown in FIG. 1 .

1 to 5, the low-orbit satellite tracking control device 100 prepares a hemispherical antenna array 102 (S102). At this time, the antenna array 102 is formed by disposing a plurality of antennas 10 on the surface of the hemisphere. Here, each antenna 10 is arranged so as to direct the direction of the normal passing through the surface of the hemisphere from the center point of the hemisphere. That is, since the directions of the normal lines passing through the surface of the hemisphere from the center point of the hemisphere are all different, the orientation directions of the respective antennas 10 constituting the antenna array 102 are all different.

The low-orbit satellite tracking control device 100 stores the directing angle of each antenna 10 (S104). That is, the low-orbit satellite tracking control device 100 stores the orientation angle of the direction in which each antenna 10 is directed. At this time, the low-orbit satellite tracking control device 100 converts two or more values of an angle with respect to the XY plane, an angle with respect to the YZ plane, and an angle with respect to the ZX plane of a specific antenna based on the three-dimensional XYZ coordinate system into the orientation angle of the corresponding antenna. can be saved However, the low-orbit satellite tracking control apparatus 100 may store the angles of each antenna 10 with respect to various three-dimensional coordinate systems other than the XYZ coordinate system as the directing angle.

The low earth orbit satellite tracking control device 100 compares the strength of the satellite signal received by each antenna 10 (S106). At this time, since the distance between each antenna 10 is extremely small compared to the distance between the antenna array 102 and the low orbit satellite, it can be assumed that the satellite signals for each antenna 10 are parallel to each other. In addition, when the orientation direction of the antenna 10 coincides with the direction of the low-orbit satellite, the strength of the received satellite signal is greatest, and the intensity of the received satellite signal decreases as the orientation direction is further away from the direction of the satellite signal. . In this case, the low-orbit satellite tracking control device 100 compares the intensities of the satellite signals received by the respective antennas 10 with each other.

The low-orbit satellite tracking control device 100 searches for an antenna having the greatest strength of a satellite signal among a plurality of antennas 10 (S108). That is, the low-orbit satellite tracking control apparatus 100 searches for an antenna having the largest strength of a satellite signal to be compared with respect to the antenna 10 constituting the antenna array 102 .

The low-orbit satellite tracking control device 100 selects an antenna within a set range based on the searched antenna (S110). At this time, since the antenna whose directing angle differs by more than 90 ° from the antenna having the largest strength of the received satellite signal cannot receive the satellite signal, the low-orbit satellite tracking control device 100 determines the strength of the received satellite signal. An antenna whose directivity angle is within 90° can be selected based on the antenna with the largest . In this case, the low-orbit satellite tracking control apparatus 100 extracts the directivity angle of the antenna having the greatest intensity of the received satellite signal based on the directivity angle of each antenna 10 stored, and extracts the directivity angle from the extracted directivity angle. An antenna with an angle within the range of 90° can be selected.

The low-orbit satellite tracking control apparatus 100 calculates a difference value between the directivity angle of the searched antenna and the directivity angle of the antenna selected by the antenna selector 110 (S112). That is, the low-orbit satellite tracking control apparatus 100 calculates a difference between the directivity angle of the antenna having the greatest intensity of the received satellite signal and the directivity angle between the selected antennas.

The low-orbit satellite tracking control device 100 controls the directing angle of the selected antenna 10 (S114). At this time, the low-orbit satellite tracking control device 100 can control the rotation angle in the up, down, left, and right directions within a range of 90 ° for each antenna 10, as well as in the left-up or right-up direction of 45 ° above the left and right directions, respectively. , or the rotation angle can be controlled in the left-down or right-down direction, each 45° below the left-right direction. In this case, the low-orbit satellite tracking control apparatus 100 may control the orientation angle of each antenna based on the calculated difference value. That is, the directivity angle of the antenna having the greatest intensity of the received satellite signal is opposite to the direction of the satellite signal, and the difference between the directivity angle of an arbitrary antenna and the antenna having the greatest intensity of the satellite signal can be calculated. , The low-orbit satellite tracking control apparatus 100 can control the control angle by the difference in the directivity angle of each antenna so that the selected antenna is directed in the same direction as the antenna having the largest satellite signal strength.

When the directional angle of each antenna is controlled, the low-orbit satellite tracking control apparatus 100 controls the phase shift of the searched antenna and the antenna whose directional angle is controlled (S116). At this time, the low-orbit satellite tracking control apparatus 100 assumes that the searched antenna and the selected antenna are antennas whose directions are mechanically fixed after all the control of the beam angle for the selected antenna is completed, and for the corresponding antennas An antenna beam may be scanned by electrically changing the phase of radio waves using a phase shifter. Such a phase shift method may use a phase shift method of a phased array antenna, and a detailed description thereof is omitted here.

Meanwhile, since the low orbit phase continuously shifts, the antenna 10 having the largest satellite signal strength within the antenna array 102 is also changed accordingly. In this case, the low-orbit satellite tracking control device 100 periodically phases until the difference between the orientation angle of the antenna having the greatest intensity of the previous phase signal and the orientation angle of the antenna having the greatest intensity of the current satellite signal is equal to or less than the set angle. Variation can be controlled.

In addition, the low-orbit satellite tracking control apparatus 100 according to an embodiment of the present invention has a frequency scanning effect for the searched antenna and the antenna for which the control of the directing angle is completed after the control of the beam angle for the selected antenna is primarily completed. It is possible to continuously track low-orbit satellites by secondarily controlling the direction of the orientation angle to the left or right or up and down using . In this case, it is preferable that the low earth orbit satellite tracking control device 100 equally adjusts the direction of the beam angle of each antenna.

Here, the frequency scanning effect refers to the property that the orientation direction of the antenna changes when the frequency changes in the original phased array antenna, and the signal strength of the two outputs that have passed through filters with one output but different frequencies is compared to the satellite. As a result, it is a new type of satellite tracking method that can be used as satellite tracking because it is possible to distinguish which direction it is in. Here, the difference in height of each antenna 10 constituting the antenna array 102 relative to the distance between the low-orbit satellite and the antenna array 102 is negligible, and therefore each antenna 10 is placed on a plane. can be assumed to be

In order to theoretically explain the satellite tracking method using the frequency scanning effect, as described above (see FIG. 5), it can be divided into two antennas, that is, antenna 1 and antenna 2. At this time, when each antenna is combined to form one antenna, the transmission line is configured such that the distances between each antenna and the power combiner of the antenna output unit have lengths a and b, respectively.

If the frequency changes, the wavelength also changes, and if the repeater frequencies of the satellite are f0, f1, f2,..,fn, the distance difference between a and b is designed to be nλ0 (λ0: wavelength of frequency f0, n: integer). Here, λ0 is the wavelength of frequency f0, and n is an integer. in other words,

[Equation 1]

b a = nλ0 (λ0: wavelength at frequency f0, n: integer)

Since the phases of the frequencies passing through the two feed lines a and b of the antenna designed as described above are in phase when the frequency is f0, the antenna beam is formed in a vertical direction.

However, when the frequency is fn, the wavelength is λn, so the two feed lines a and b do not have the same phase. If f0 < fn, since λ0 > λn, when the frequency of the satellite signal is fn, the phase of the second antenna is delayed by Δl, and thus the antenna beam is tilted toward the second antenna by ΔΦ.

The phase difference between the first antenna and the second antenna at this time is calculated as follows.

[Equation 2]

Here, ΔΦ is calculated by the trigonometric formula,

[Equation 3]

is, and therefore

[Equation 4]

am. Here, by changing the constants n and d, the inclination angle ΔΦ of the antenna beam according to the change in frequency can be adjusted.

The low-orbit satellite tracking control apparatus according to an embodiment of the present invention may enable high-quality satellite communication by simultaneously using a mechanical method and a phase shift method for low-orbit satellites.

Embodiments according to the present invention have been described above, but these are merely examples, and those skilled in the art will understand that various modifications and embodiments of equivalent range are possible therefrom. Therefore, the protection scope of the present invention should be defined by the following claims as well as those equivalent thereto.

Claims (5)

an antenna array composed of a plurality of antennas disposed on the surface of the hemisphere in a plurality, each of which is disposed in a direction of a normal line penetrating the surface of the hemisphere from the center point of the hemisphere;
a beam angle storage unit for storing beam angles of each of the antennas;
a signal strength comparator comparing strengths of satellite signals received by each of the antennas;
an antenna search unit for searching for an antenna having the greatest strength of a satellite signal among the plurality of antennas;
an antenna selection unit selecting an antenna within a set range based on the antenna searched by the antenna search unit;
a beam angle control unit controlling a beam angle of the antenna selected by the antenna selection unit; and
a difference calculation unit for calculating a difference between the directivity angle of the antenna searched by the antenna search unit and the directivity angle of the antenna selected by the antenna selection unit;
Including,
The antenna selection unit selects an antenna having an orientation angle of 90° or less based on the antenna searched by the antenna search unit;
Characterized in that the beam angle control unit controls the beam angle of the antenna selected by the antenna selection unit based on the difference value calculated by the difference value calculation unit, and low-orbit satellite tracking control using a hemispherical antenna array. Device. According to claim 1,
a phase shift controller for controlling a phase shift of the antenna searched by the antenna search unit and the antenna whose beam angle is controlled by the beam angle controller when the beam angle is controlled by the beam angle controller;
Characterized in that it further comprises, a low-orbit satellite tracking control device using a hemispherical antenna array. According to claim 1,
The beam angle control unit controls the beam angle of the antenna selected by the antenna selection unit by a difference between the beam angle of the antenna searched by the antenna search unit and the beam angle of the antenna selected by the antenna selection unit. A low-orbit satellite tracking control device using a hemispherical antenna array. preparing an antenna array in which a plurality of antennas are disposed on the surface of the hemisphere, each of which is disposed in a direction of a normal line passing through the surface of the hemisphere from a center point of the hemisphere;
storing the directivity angle of each of the antennas;
comparing the strength of satellite signals received by each of the antennas;
searching for an antenna having the greatest strength of a satellite signal among the plurality of antennas;
selecting an antenna within a set range based on the searched antenna;
calculating a difference between the beam angle of the searched antenna and the beam angle of the selected antenna;
controlling a beam angle of the selected antenna; and
controlling a phase shift of the searched antenna and the controlled antenna;
Including,
The antenna selection step selects an antenna whose directivity angle is within 90 ° based on the antenna searched by the antenna search step;
The low-orbit satellite tracking control method using a hemispherical antenna array, characterized in that, in the directing angle controlling step, based on the calculated beaming angle difference, the directing angle of the selected antenna is controlled. According to claim 4,
The directing angle control step controls controlling the directing angle of the antenna selected by the antenna selection step by the difference between the directing angle of the antenna searched by the antenna search step and the directing angle of the antenna selected by the antenna selection step. Characterized in, a low-orbit satellite tracking control method using a hemispherical antenna array.

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