IGSO satellite tracking method and device of automatic satellite tracking antenna, and medium

Abstract

The invention provides an IGSO satellite tracking method and device of an automatic satellite tracking antenna and a medium. The method comprises the steps that orbit parameters and epochs of a target IGSO satellite are acquired; extrapolating the orbit from the orbit epoch moment, setting the extrapolation time as an orbit period T and calculating the step length S; converting the orbit data into earth-fixed system coordinate system coordinates and sub-satellite point data at corresponding moments; and calculating the direction vector of the antenna pointing to the satellite according to the latitude and longitude of the tracking antenna and the earth-fixed system coordinate data at the corresponding moment, and converting the direction vector into an azimuth angle and a pitch angle, thereby generating an antenna guide data file. And then calculating a guide data sequence number at the current moment through a date difference value between the current system time and the track epoch moment. And finally, the antenna orientation and the pitching motor are controlled to move to the target position corresponding to the guide data serial number, and the technical scheme provided by the invention can realize the tracking of the traditional automatic satellite tracking antenna on the IGSO satellite on the premise of not changing the antenna form.

Description

Technical Field

[0001] This document relates to the field of IGSO satellite tracking technology, and in particular to an IGSO satellite tracking method, device and medium for an automatic satellite tracking antenna. Background Art

[0002] Inclined geosynchronous orbit (IGSO) satellites operate in geosynchronous orbits, synchronized with Earth's rotation period. However, their orbital plane is angled relative to the equatorial plane, resulting in a figure-eight-shaped subsatellite trajectory. These satellites can continuously cover specific areas, enhancing regional satellite coverage signal performance. This addresses issues such as low tracking elevation angles and susceptibility to obstruction (the "north slope effect") experienced by geosynchronous (GEO) satellites in high-latitude regions. Furthermore, they collaborate with GEO satellites to optimize global service capabilities, playing an irreplaceable role in navigation and communications.

[0003] In the BeiDou-3 global constellation, IGSO, geosynchronous satellites (GEO) and medium earth orbit (MEO) satellites form a hybrid constellation to make up for the limitations of single orbit type satellites.

[0004] The orbital characteristics of IGSO satellites cause their sub-satellite points to appear in the shape of an "8" on Earth, that is, the satellite is constantly moving relative to the Earth. The orbital parameters of IGSO satellites are the orbital elements at a certain epoch time t. They can be Kepler parameters, including semi-major axis a, eccentricity e, orbital inclination i, right ascension Ω, argument of perigee ω, and mean anomaly M. They can also be described in other ways, such as two-line elements (TLE). The "8" shape is approximately as high as H = 2i (rad), wide as Since the position of the sub-satellite point changes over time, the azimuth and elevation angles of the automatic satellite tracking antenna should also change accordingly. Furthermore, due to the influence of various perturbations in space, the satellite's orbital parameters will change accordingly after a period of time.

[0005] Traditional GEO satellite tracking antennas are unable to adapt to the dynamic tracking requirements of IGSO satellites. Therefore, it is urgent to optimize the control algorithm of automatic satellite tracking antennas so that they can calculate and adjust their pointing direction in real time to cope with the orbital characteristics and perturbations of IGSO satellites, ensuring stable and high-precision signal reception. Summary of the Invention

[0006] According to an embodiment of the present invention, an IGSO satellite tracking method, device, and medium for an automatic satellite tracking antenna are provided, which can effectively solve the problem of IGSO satellite tracking by a portable automatic satellite tracking antenna.

[0007] According to an embodiment of the present invention, a method for tracking an IGSO satellite using an automatic satellite tracking antenna is provided, comprising:

[0008] S1. Obtain the orbital parameters and epochs of the target IGSO satellite;

[0009] S2. Extrapolate the orbit from the orbit epoch, setting the extrapolation time to one orbit period T and the calculation step size S;

[0010] S3: Extrapolate the IGSO orbit from the epoch time and convert it into Earth-fixed coordinates and sub-satellite points to generate orbit data;

[0011] S4. Calculate the direction vector of the antenna pointing to the satellite based on the latitude and longitude position information and orbit data obtained by the Beidou positioning antenna, convert the direction vector into azimuth and elevation angles, and generate an antenna guidance data file;

[0012] S5. Calculate the current time's guide data sequence number based on the date difference between the current system time and the orbital epoch time;

[0013] S6. Control the satellite tracking antenna azimuth and pitch motor to move to the target position indicated by the guidance data sequence number at the current moment, so as to achieve continuous tracking of the IGSO satellite.

[0014] According to an embodiment of the present invention, there is provided an electronic device, including:

[0015] processor; and,

[0016] a memory arranged to store computer executable instructions which, when executed, cause the processor to perform the steps of the IGSO satellite tracking method for an automatic satellite tracking antenna as described above;

[0017] According to an embodiment of the present invention, there is provided a storage medium for storing computer-executable instructions, which, when executed, implement the steps of the IGSO satellite tracking method of the automatic satellite tracking antenna as described above;

[0018] The embodiments of this invention offer excellent compatibility, enabling conventional automatic satellite tracking antennas to track IGSO satellites without requiring antenna modifications, thus improving the utilization of existing equipment. The computational complexity is minimal, requiring minimal processor performance, making it suitable for resource-constrained portable devices and reducing costs and energy consumption. By regularly acquiring parameters and performing time compensation, satellite positions and antenna tracking angles can be accurately calculated, meeting high-precision requirements for communications and other applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate one or more embodiments of this specification or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 Flowchart of an IGSO satellite tracking method of an automatic satellite tracking antenna according to an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of a portable automatic satellite tracking antenna used in an embodiment of the present invention;

[0022] Figure 3 Schematic diagram of the sub-satellite point trajectory for IGSO satellite orbit calculation according to an embodiment of the present invention;

[0023] Figure 4 The calculation result of the azimuth guidance angle for the station location in City A in the embodiment of the present invention;

[0024] Figure 5 The calculation result of the pitch guidance angle for the station located in City A according to the embodiment of the present invention is shown below:

[0025] Figure 6 This is a guidance data trajectory diagram after the site is completed in City A according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the technical solutions in one or more embodiments of this specification, the technical solutions in one or more embodiments of this specification will be clearly and completely described below in conjunction with the drawings in one or more embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on one or more embodiments of this specification, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this document.

[0027] Method Example

[0028] According to an embodiment of the present invention, a method for tracking IGSO satellites using an automatic satellite tracking antenna is provided. Figure 1 Flow chart of the IGSO satellite tracking method of the automatic satellite tracking antenna according to an embodiment of the present invention. Figure 1 As shown, the IGSO satellite tracking method of the automatic satellite tracking antenna according to the embodiment of the present invention specifically includes:

[0029] S1. Obtain the orbital parameters and epochs of the target IGSO satellite;

[0030] The orbital parameters in the embodiment of the present invention include but are not limited to Kepler orbital parameters or the form of two-row roots. The Kepler orbital parameters are expressed as K_t0(a, e, i, Ω, ω, M), where a is the semi-major axis, e is the eccentricity, i is the orbital inclination, Ω is the right ascension of the ascending node, ω is the argument of perigee, and M is the mean anomaly.

[0031] S2. Extrapolate the orbit from the orbit epoch, setting the extrapolation time to one orbit period T and the calculation step size S;

[0032] The calculation step size S is dynamically adjusted according to the tracking accuracy requirements, and the orbit period a is the semi-major axis of the orbit, μ is the Earth's gravitational constant, which is equal to 3.986*10 14 .

[0033] S3: Extrapolate the IGSO orbit from the epoch time and convert it into Earth-fixed coordinates and sub-satellite points to generate orbit data;

[0034] The ground-fixed coordinates and sub-satellite points are expressed as P_sat0(X_0, Y_0, Z_0, Long_0, Lat_0), P_sat1(X_1, Y_1, Z_1, Long_1, Lat_1), ..., P_sat N-1 (X_N-1, Y_N-1, Z_N-1, Long_N-1, Lat_N-1);

[0035] The number of ground-fixed coordinates and sub-satellite points is N, N = T / S-1;

[0036] Among them, X, Y, and Z represent the three-axis coordinate components in the earth-fixed coordinate system, Long represents the longitude value of the satellite sub-satellite point on the earth's surface, and Lat represents the latitude value of the satellite sub-satellite point on the earth's surface.

[0037] S4. Calculate the direction vector of the antenna pointing to the satellite based on the latitude and longitude position information of the satellite tracking antenna obtained by the positioning antenna and the ground-fixed coordinates in the orbit data, convert the direction vector into the antenna tracking azimuth and elevation angle, and generate an antenna guidance data file;

[0038] Obtain the longitude and latitude position information Ant (long, lat) of the timing antenna from the BeiDou receiver and convert it into the ground-fixed coordinate Pant (x, y, z). n = P_sat0-Pant to obtain the direction vector S of N satellite antennas pointing to the satellite n (S E , S N , S z ), use the following formula to convert the direction vector into tracking azimuth and pitch angle:

[0039]

[0040] Save data G_t0(A_t0, E_t0), G_t1(A_t1, E_t1), ..., G_t N-1 (A_t N-1 、E_t N-1 ) and guide data files for antennas;

[0041] Among them, S E_n 、S N_n 、S z_n Represents the three components of the direction vector on the E, N, and Z axes. A_t0 represents the tracking azimuth angle of the satellite tracking antenna at time t0, and E_t0 represents the tracking elevation angle of the satellite tracking antenna at time t0.

[0042] S5. Calculate the current time's guide data sequence number based on the date difference between the current system time and the orbital epoch time;

[0043] The calculation of the guide data sequence number at the current moment in S5 is achieved by the following formula:

[0044]

[0045] Where △D is the Julian day difference between the orbital epoch time and the current date; T is the motion period of IGSO, and S is the step size in seconds.

[0046] S6. Control the antenna azimuth and pitch motors to move to the target position indicated by the guidance data sequence number at the current moment, so as to achieve continuous tracking of the IGSO satellite.

[0047] The specific implementation of the continuous tracking of the IGSO satellite in S6 includes:

[0048] By updating the guidance data sequence number n=n+1 at intervals of S seconds and cyclically reading the azimuth and elevation angle data in the antenna guidance data file, continuous tracking of the IGSO satellite is achieved;

[0049] The method further includes: after being synchronized with the Beidou timing, regularly controlling the azimuth and pitch motor movements according to guidance data, and completing IGSO satellite locking in combination with beacon receiver feedback information.

[0050] In a specific implementation of an embodiment of the present invention, the orbit data and epoch time of the target test satellite are obtained as follows: Figure 2 Schematic diagram of a portable automatic satellite tracking antenna used in an embodiment of the present invention:

[0051] The epoch time is 8:0:0.0 on September 12, 2024, city A time. The orbit semi-major axis is 42164.826 km, the eccentricity is 0.00004433, the orbit inclination i is 2.837299, the right ascension of the ascending node Ω is 278.002064, the argument of perigee ω is 283.840776, and the mean anomaly M is 267.539481.

[0052] The orbital period T is calculated to be 86164 seconds, and the calculation step is 1 hour, so N is 24.

[0053] Figure 3 This is a schematic diagram of the sub-satellite point trajectory calculated for one orbital period starting from 8:00 on September 12. Specific data are shown in Table 1.

[0054] Table 1 Sub-satellite point trajectory data of orbital period

[0055] Serial number time X Y Z longitude latitude 1 08 00 00.00 -19914935.659 37162856.417 -443594.282 118.1861 -0.6034 2 09 00 00.000 -19900039.640 37159836.462 -984221.707 118.1702 -1.3389 3 10 00 00.000 -19888643.932 37149691.276 -1457403.931 118.1630 -1.9828 4 11 00 00.000 -19883819.737 37135013.637 -1830711.048 118.1667 -2.4911 5 12 00 00.000 -19886923.851 37119580.086 -2078554.771 118.1803 -2.8286 6 13 00 00.000 -19897238.228 37107340.936 -2183943.336 118.2005 -2.9722 7 14 00 00.000 -19912164.297 37101365.451 -2139647.741 118.2223 -2.9119 8 15 00 00.000 -19927919.685 37103025.764 -1948698.905 118.2401 -2.6519 9 16 00 00.000 -19940549.908 37111638.702 -1624181.216 118.2497 -2.2100 10 17 00 00.000 -19946982.938 37124661.295 -1188336.265 118.2490 -1.6168 11 18 00 00.000 -19945843.185 37138386.549 -671038.085 118.2388 -0.9129 12 19 00 00.000 -19937806.515 37148951.243 -107744.509 118.2224 -0.1466 13 20 00 00.000 -19925401.673 37153383.584 462934.592 118.2047 0.6298 14 21 00 00.000 -19912312.761 37150407.927 1001885.059 118.1909 1.3630 15 22 00 00.000 -19902371.887 37140789.440 1472170.258 118.1852 2.0030 16 23 00 00.000 -19898514.445 37127125.829 1841562.820 118.1894 2.5058 17 00 00 00.000 -19901979.338 37113142.437 2084752.691 118.2025 2.8369 18 01 00 00.000 -19911970.236 37102681.025 2185080.322 118.2212 2.9735 19 02 00 00.000 -19925869.399 37098655.217 2135676.579 118.2405 2.9062 20 03 00 00.000 -19939946.427 37102254.668 1939931.734 118.2550 2.6396 21 04 00 00.000 -19950370.764 37112613.031 1611261.883 118.2608 2.1922 22 05 00 30.000 -19954254.664 37127029.917 1172189.114 118.2562 1.5946 23 06 00 00.000 -19950444.927 37141687.823 652798.590 118.2422 0.8880 24 07 00 00.000 -19939849.237 37152671.603 88678.118 118.2225 0.1206

[0056] Take the longitude and latitude information of City A as (116.28, 39.83), and calculate the tracking azimuth and pitch angle guidance files from the epoch time of September 12, 2024:

[0057] Table 2 Tracking azimuth and elevation angle data

[0058]

[0059]

[0060] From September 12, 2024 to March 19, 2025, according to △N = 183*236 / 3600 = 11.99, the boot data is offset by 12 hours after compensation. The boot file for March 19, 2025 is as follows, see the attached Figure 4 , 5, 6.

[0061] By adopting the embodiments of the present invention, the following beneficial effects are achieved:

[0062] The IGSO satellite tracking method of the present invention can realize the tracking of IGSO satellites by a traditional automatic satellite tracking antenna without changing the antenna form. The implementation method is simple, the calculation complexity is low, and the tracking accuracy is high.

[0063] Device Example 1

[0064] According to an embodiment of the present invention, there is provided an electronic device, including:

[0065] processor; and,

[0066] A memory arranged to store computer executable instructions which, when executed, cause the processor to perform the steps of the IGSO satellite tracking method of the automatic satellite tracking antenna as described above.

[0067] Device Example 2

[0068] According to an embodiment of the present invention, a storage medium is provided for storing computer-executable instructions, which, when executed, implement the steps of the IGSO satellite tracking method of the automatic satellite tracking antenna as described above.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An IGSO satellite tracking method using an automatic satellite tracking antenna, characterized in that include: S1. Obtain the orbital parameters and epochs of the target IGSO satellite; S2. Extrapolate the orbit from the orbit epoch, setting the extrapolation time to one orbit period T and the calculation step size S; S3: Extrapolate the IGSO orbit from the epoch time and convert it into Earth-fixed coordinates and sub-satellite points to generate orbit data; S4. Calculate the direction vector of the antenna pointing to the satellite based on the latitude and longitude position information of the satellite tracking antenna obtained by the positioning antenna and the ground-fixed coordinates in the orbit data, convert the direction vector into the antenna tracking azimuth and elevation angle, and generate an antenna guidance data file; S5. Calculate the current time's guide data sequence number based on the date difference between the current system time and the orbital epoch time; S6. Control the antenna azimuth and pitch motors to move to the target position indicated by the guidance data sequence number at the current moment, so as to achieve continuous tracking of the IGSO satellite.

2. The method according to claim 1, characterized in that The orbital parameters include but are not limited to Kepler orbital parameters or two-row roots, and the Kepler orbital parameters include: semi-major axis a, eccentricity e, orbital inclination i, ascending node right ascension Ω, perigee argument ω and mean anomaly M.

3. The method according to claim 1, characterized in that The calculation step S is dynamically adjusted according to the tracking accuracy requirement, and the number of guiding data N=T / S-1.

4. The method according to claim 3, characterized in that The ground-fixed coordinates and sub-satellite points are expressed as P_sat0(X_0, Y_0, Z_0, Long_0, Lat_0), P_sat1(X_1, Y_1, Z_1, Long_1, Lat_1), ..., P_sat N-1 (X_N-1, Y_N-1, Z_N-1, Long_N-1, Lat_N-1); Among them, X, Y, and Z represent the three-axis coordinate components in the earth-fixed coordinate system, Long represents the longitude value of the satellite sub-satellite point on the earth's surface, and Lat represents the latitude value of the satellite sub-satellite point on the earth's surface.

5. The method according to claim 4, characterized in that The S4 specifically includes: Get the current longitude and latitude position information of the antenna from the BeiDou receiver, Ant (long, lat), and convert it into the ground-fixed coordinate Pant (x, y, z). n = P_sat0-Pant to obtain the direction vector S of N satellite antennas pointing to the satellite n (S E ,S N ,S z ), use the following formula to convert the direction vector into the tracking azimuth and elevation angle of the automatic tracking antenna: Save data G_t0(A_t0, E_t0), G_t1(A_t1, E_t1), ..., G_t N-1 (A_t N-1 、E_t N-1 ) and guide data files for antennas; Among them, S E_n 、S N_n 、S z_n They are the E, N, and Z axis components of the direction vector respectively. A_t represents the tracking azimuth angle of the satellite tracking antenna at time t0, and E_t0 represents the tracking elevation angle of the satellite tracking antenna at time t0.

6. The method according to claim 1, characterized in that The calculation of the guide data sequence number at the current moment in S5 is achieved by the following formula: Where △D is the Julian day difference between the orbital epoch time and the current date, T is the motion period of IGSO, and S is the step size in seconds.

7. The method according to claim 1, characterized in that The specific implementation of the continuous tracking of the IGSO satellite in S6 includes: By updating the guidance data sequence number n=n+1 at intervals of S seconds and cyclically reading the azimuth and elevation angle data in the antenna guidance data file, continuous tracking of the IGSO satellite is achieved.

8. The method according to claim 1, characterized in that The method further includes: after being synchronized with the Beidou timing, regularly controlling the azimuth and pitch motor movements according to guidance data, and completing IGSO satellite locking in combination with beacon receiver feedback information.

9. An electronic device comprising: processor; as well as, A memory arranged to store computer executable instructions which, when executed, cause the processor to perform the steps of the IGSO satellite tracking method of the automatic satellite tracking antenna according to any one of claims 1 to 8.

10. A storage medium for storing computer-executable instructions, wherein the computer-executable instructions, when executed, implement the steps of the IGSO satellite tracking method of the automatic satellite tracking antenna according to any one of claims 1 to 8.

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