Phased array beam angle error extraction and tracking system, method and application

Abstract

The invention belongs to the technical field of inter-satellite measurement and communication, and particularly relates to a phased array beam angle error extraction and tracking system and method and application. According to the tracking method, based on the monopulse angle measurement basic principle, a simplified phased array beam angle error extraction mathematical model is provided for the actual engineering of phased array beam angle error extraction, an appropriate threshold value is set by combining antenna characteristics, a future wave signal is converted and synthesized into an azimuth angle error and a pitch angle error, and the tracking accuracy is improved. And finally, the wave control code is sent to the phased array antenna. According to the method, the complexity of hardware FPGA design is reduced, the beam angular width parameter of the phased-array antenna can be fully utilized, the beam updating frequency is reduced, the power of a communication link can be further stabilized, the dynamic adaptability to the attitude of the deep space probe can be realized, the accurate and stable pointing of the beam under the condition of spacecraft attitude change can be realized, and the reliability of the system is improved. The problem of continuous communication of a satellite-ground communication system during large attitude jitter and large-range orbit transfer of a deep space spacecraft is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of satellite inter-satellite measurement and communication, and in particular relates to a phased array beam angle error extraction and tracking system, method and application. Background Art

[0002] Future deep space exploration missions involve a variety of satellite-to-ground communication scenarios, including low-Earth orbit, transfer orbit, lunar landing, and lunar surface movement. Under extremely large fields of view and long distances, the two-way satellite-to-ground communication link must ensure reliable input of uplink commands and stable, high-quality transmission of downlink high-speed communication data. Spacecraft maneuvers during missions can cause the antenna's upward pointing angle to deflect, causing fluctuations in received power, which can lead to a decrease in information transmission quality or even communication interruption. Therefore, satellite-to-ground communication systems require adaptive antenna beam pointing capabilities.

[0003] In the prior art, the invention with patent application number "CN201210000444.6" and name "Adaptive sum-difference angle measurement method for planar phased array" discloses a planar phased array adaptive sum-difference angle measurement method based on single-pulse angle tracking technology of amplitude ratio measurement, which mainly solves the problem that the prior art cannot accurately estimate the target angle while suppressing main lobe interference; the present invention has the advantages of better suppression of main lobe interference and accurate sum-difference beam angle measurement, and can be used to estimate the target angle and achieve target tracking in the presence of main lobe interference; however, the technology has high computational complexity and relatively demanding requirements on hardware resources, and is therefore not suitable for application in deep space exploration missions.

[0004] In the existing technology, a paper entitled "A Single-Pulse Angle Tracking Method for Full-Airspace Electronically Scanned Spherical Phased Array" (Feng Lingao. "Telecommunication Technology 201959(11)") is based on a single-pulse angle tracking technology of phase comparison measurement. Aiming at the problem of the current full-airspace spherical phased array measurement and control system having a degradation in tracking performance during over-the-top tracking, the angle tracking system is modeled and analyzed, and the reasons for the degradation of the over-the-top performance of the conventional angle tracking system are obtained. A direction vector angle tracking method based on a three-dimensional rectangular coordinate system is proposed. This method optimizes the angle tracking system architecture to achieve stable tracking without blind spots in the entire airspace. This method mainly uses spherical phased array antennas, which themselves have the disadvantages of over-the-top tracking. At the same time, this method requires the calculation of a large number of trigonometric function conversions, and the computational complexity is very high, which is not suitable for low-performance FPGA implementation used in aerospace missions. Summary of the Invention

[0005] In order to overcome the shortcomings of the above-mentioned prior art, the purpose of the present invention is to propose a phased array beam angle error extraction and tracking system, method and application. Based on the basic principle of single-pulse angle measurement, a simplified phased array beam angle error extraction mathematical model is given for the actual engineering of phased array beam angle error extraction. By setting an appropriate threshold based on the antenna characteristics, accurate and stable beam pointing can be achieved when the spacecraft attitude changes, solving the problem of continuous communication of the satellite-to-ground communication system when deep space spacecraft has large attitude jitter and large-scale orbit transfer.

[0006] To achieve the above object, the technical solutions adopted by the present invention are as follows:

[0007] In a first aspect, a phased array beam angle error extraction and tracking system includes:

[0008] Phased array antenna module: receives incoming signals and forms sum beam, azimuth difference beam and elevation difference beam respectively;

[0009] Tracking loop module: modulates the sum beam with the azimuth difference beam and the elevation difference beam to form azimuth difference amplitude information and elevation difference amplitude information, and then synthesizes the azimuth difference amplitude information and the elevation difference amplitude information into azimuth angle error and elevation angle error respectively through a four-phase modulator;

[0010] Capture loop module: Updates and generates the azimuth and elevation angles in the measurement coordinate system based on the azimuth error and elevation error; converts the azimuth and elevation angles in the measurement coordinate system into the center angle and rotation angle in the antenna coordinate system; and then converts the center angle and rotation angle in the antenna coordinate system into the wave control code of the phased array antenna and sends it to the phased array antenna.

[0011] In a second aspect, a phased array beam angle error extraction and tracking method comprises the following steps:

[0012] S1. The phased array antenna in the phased array antenna module receives incoming signals and forms a sum beam, an azimuth difference beam, and an elevation difference beam;

[0013] S2. The four-phase modulator in the tracking loop module modulates the sum beam described in step S1 with the azimuth difference beam and the elevation difference beam to form azimuth difference amplitude information and elevation difference amplitude information. The azimuth difference amplitude information and the elevation difference amplitude information are then synthesized by the four-phase modulator to form an azimuth angle error and an elevation angle error, respectively.

[0014] S3 capture loop module according to step S2 of the azimuth error and pitch error, update and generate the azimuth and pitch angle of the measurement coordinate system;

[0015] S4. The capture loop module converts the azimuth angle and pitch angle in the measurement coordinate system in step S3 into the center angle and rotation angle in the antenna coordinate system, and then converts the center angle and rotation angle in the antenna coordinate system into the wave control code of the phased array antenna and sends it to the phased array antenna.

[0016] Furthermore, the synthesis formula of the azimuth angle error and the pitch angle error in step S2 is as follows:

[0017]

[0018] Where: ΔE N-1 ΔA is the pitch difference amplitude information output by the four-phase modulator of the angle tracking receiver at time N-1, the unit is "radian"; N-1 is the azimuth difference amplitude information output by the four-phase modulator of the angle tracking receiver at time N-1, the unit is "radian"; β N-1 and α N-1 are the elevation angle and azimuth angle of the phased array antenna beam pointing in the measurement coordinate system at time N-1; Δα N , Δβ N They are the calculated azimuth error and pitch angle error at time N, Δα N :-π / 2~π / 2, Δβ N :-π / 2~π / 2; N represents the measurement or data update time, N=1, 2, 3, 4…n.

[0019] Furthermore, the updating of the azimuth and elevation angles in the measurement coordinate system in step S3 satisfies the following condition: the difference before and after the updating of the azimuth or elevation angle, i.e., the threshold value, is ≥1°.

[0020] Furthermore, if |ΔE N-1 |≤0.1 and |ΔA N-1 |≤0.1, then the azimuth and elevation angle update formulas in the measurement coordinate system in step S3 are as follows:

[0021] α N =α N-1

[0022] β N =β N-1

[0023] Among them, α N , α N-1 are the azimuths at time N and N-1, β N , β N-1 They are the pitch angles at moments N and N-1 respectively;

[0024] If |ΔE N-1 |>0.1 or |ΔA N-1|>0.1, then the azimuth and elevation angles in the measurement coordinate system in step S3 are updated as follows:

[0025] α N =α N-1 +Δα N

[0026] β N =β N-1 +Δβ N

[0027] Furthermore, the azimuth angle and elevation angle in the measurement coordinate system in step S4 are converted into the central angle and rotation angle in the antenna coordinate system by the following formula:

[0028] θ=arccos(cosβcosα)

[0029]

[0030] Wherein, θ is the central angle in the antenna coordinate system, φ is the rotation angle in the antenna coordinate system, azimuth angle α is from -π / 2 to π / 2, and elevation angle β is from -π / 2 to π / 2.

[0031] Furthermore, the central angle and the rotation angle in the antenna coordinate system in step S4 satisfy the following conditions:

[0032] (1)θ: 0~π / 2, calculated according to the formula;

[0033] (2)φ: 0~2π, calculate according to the following judgment:

[0034] When α>0, β>0, φ:0~π / 2, the first quadrant,

[0035] When α>0,β<0,φ:3π / 2~2π, the fourth quadrant,

[0036] At that time, α<0,β>0, φ:π / 2~π, the second quadrant,

[0037] When α<0, β<0, φ:π~3π / 2, the third quadrant,

[0038] When α=0, β<0, φ=3π / 2,

[0039] When α=0, β>0, φ=π / 2,

[0040] When α>0, β=0, φ=0,

[0041] When α<0, β=0, φ=π,

[0042] When α=0, β=0, φ=0.

[0043] The third aspect is an application of the extraction and tracking method in the field of satellite communications, specifically including relay communication satellites, deep space tracking and control stations, and relay user terminals.

[0044] In a fourth aspect, an electronic device includes a memory and a processor:

[0045] Memory: used for storing a computer program for implementing the extraction and tracking method;

[0046] Processor: configured to implement the extraction and tracking method when executing the computer program.

[0047] In a fifth aspect, a computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the extraction and tracking method is implemented.

[0048] Compared with the prior art, the present invention has the following beneficial effects:

[0049] (1) Steps S1 to S3 in this method complete the phased array beam angle error extraction. By simplifying the phased array single pulse angle measurement mathematical model, the complexity of the hardware FPGA design is reduced, making it more suitable for deep space exploration mission applications.

[0050] (2) Steps S3 to S4 in this method complete the angle update and synthesis judgment, which can fully utilize the beam angle width parameter of the phased array antenna, reduce the frequency of beam update, further stabilize the power of the communication link, and achieve adaptability to the attitude dynamics of deep space probes.

[0051] (3) This method generally standardizes the coordinate system relationship and information transmission timing relationship between angle measurement and angle prediction, and provides a comprehensive and simplified mathematical model for engineering implementation.

[0052] In summary, by simplifying the mathematical model and system operation logic, the present invention has high dynamic adaptability of beam angle and certain pointing accuracy. It can be applied in communication-in-motion systems, phased array intersatellite link systems with relatively high pointing requirements, and phased array radar systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is a schematic diagram of the principles of incident angle capture, angle error extraction and angle tracking of the present invention.

[0054] Figure 2 It is a schematic diagram of the electrical coordinate system of the planar phased array antenna of the present invention.

[0055] Figure 3 It is a schematic diagram of the single pulse angular error measurement coordinate system of the present invention.

[0056] Figure 4It is a curve diagram of the two-axis turntable angle under high-speed angular dynamic conditions.

[0057] Figure 5 It is a curve diagram of the angular error measurement of the automatic tracking communication system under high-speed angular dynamic conditions.

[0058] Figure 6 It is the angle curve of the two-axis turntable under low-speed angular dynamic conditions.

[0059] Figure 7 It is a curve diagram of the angular error measurement of the automatic tracking communication system under low-speed angular dynamic conditions. DETAILED DESCRIPTION

[0060] The following is combined with Figure 1 To the attached Figure 7 The present invention is described in further detail:

[0061] Under the dual constraints of weight and power consumption of deep space communication systems, the present invention adopts a minimalist mathematical model to design a phased array beam angle error extraction and tracking system, method and application, to realize the function of automatic beam agility of satellite-to-ground communication systems, and solve the problem of continuous communication of satellite-to-ground communication systems when deep space spacecraft have large attitude jitter and large-scale orbit transfer.

[0062] First, the schematic diagram of the entire phased array beam angle error extraction and tracking system, i.e., the automatic tracking system, is as follows: Figure 1 As shown, it is divided into three core parts:

[0063] (1) Phased array antenna module: Based on the wave control code, the receiving antenna and the transmitting antenna complete the beam forming; the receiving antenna forms the sum beam, azimuth difference beam and elevation difference beam respectively based on the amplitude weighted network. The amplitude information of these beams is the key input for calculating the beam angle error.

[0064] (2) Capture loop module: Performs fast Fourier transform on the sum beam signal transmitted from the receiving antenna to extract energy and frequency. Based on the detection result, i.e., frequency deviation, it drives the antenna scanning angle to poll and traverse, thus achieving full coverage of the specified airspace. The judgment and update submodule is used to judge the signal energy detected under different pointing conditions. If the energy exceeds the threshold, it is considered that there is a signal. The pointing angle scanning submodule is used to poll the preset beam angle sequence, with the purpose of scanning and covering the specified airspace in sequence. The coordinate conversion submodule is used to convert the measurement coordinate system into the antenna electrical coordinate system. The function of the receiving antenna wave control code generation submodule is to convert the angle value in the electrical coordinate system into the wave control code of the phased array antenna. Based on the azimuth error and elevation error provided by the tracking loop module, combined with the parameters of the phased array antenna element distribution, the azimuth and elevation error are calculated, and then the pointing angle synthesis and update, coordinate conversion, and wave control code generation are completed in sequence, and then the transmitting antenna is driven to point to the target.

[0065] (3) Tracking Loop Module: This module performs vector synthesis of the azimuth and elevation error signals and assists the four-phase modulator and angle error extraction submodule based on the captured frequency offset. The angular error radians obtained from the angle error extraction are used to calculate the azimuth and elevation angle errors using the formula in step S2.

[0066] based on Figure 2 As shown in the figure, the azimuth difference beam, elevation difference beam and sum beam generated under the current phased array antenna pointing angle are used to calculate the azimuth error and elevation error using a mathematical model. The threshold value of the beam angle difference is updated for judgment. If the threshold value is exceeded, the current pointing angle and the angle deviation are combined into an angle value through vector synthesis to generate a composite angle value. Then, the composite coordinate system in the measurement coordinate system is transformed to calculate the following: Figure 2 The angle value of the antenna in the electrical coordinate system is shown, and finally the angle value in the electrical coordinate system is converted into the phased array.

[0067] In a tracking communication system based on a single pulse, the angular deviation error signal output by the angle tracking receiver is fed into the beam control system to drive the antenna beam to point in the direction where the angular error is reduced, thereby enabling the antenna beam to accurately point to the target and continuously track the target. Figure 3 As shown, based on the single-pulse measurement coordinate system of the planar phased array antenna, the entire plane is equally divided into four sub-arrays ABCD, which are suitable for generating sum and difference beams. Assume that the antenna aperture is located on the XOY plane, OZ is the antenna electric axis, the incident signal point is located on the sphere with the origin O, the angle between the target axis OP and the OZ axis is θ, and the angle range is -90° to 90°. The projection of the incident point on the XOY plane of the antenna aperture is point G, and the angle between the vector OP' and the OX axis is denoted as φ, and the angle range is -90° to 90°;

[0068] In the second aspect, a phased array beam angle error extraction and tracking method is provided, wherein the specific steps are as follows:

[0069] S1. The phased array antenna of the phased array antenna module in the deep space communication system receives an incoming signal and forms a sum beam, an azimuth difference beam, and an elevation difference beam based on the amplitude weighted network submodule;

[0070] S2. The four-phase modulator of the angle tracking receiver in the tracking loop module modulates the sum beam described in step S1 with the azimuth difference beam and the elevation difference beam to form azimuth difference amplitude information and pitch difference amplitude information. The azimuth difference amplitude information and the pitch difference amplitude information are then synthesized by the four-phase modulator to form azimuth angle error and pitch angle error, respectively.

[0071] Furthermore, the synthesis formula of the azimuth angle error and the pitch angle error in step S2 is as follows:

[0072]

[0073] Where: ΔE N-1 ΔA is the pitch difference amplitude information output by the four-phase modulator of the angle tracking receiver at time N-1, the unit is "radian"; N-1 is the azimuth difference amplitude information output by the four-phase modulator of the angle tracking receiver at time N-1, the unit is "radian"; β N-1 and α N-1 are the elevation angle and azimuth angle of the phased array antenna beam pointing in the measurement coordinate system at time N-1; Δα N , Δβ N They are the calculated azimuth error and pitch angle error at time N, Δα N :-π / 2~π / 2, Δβ N :-π / 2~π / 2; N represents the measurement or data update time, N=1, 2, 3, 4…n.

[0074] The coordinate system for angular error tracking measurement is as follows Figure 3 As shown, the azimuth angle α ranges from -π / 2 to π / 2, representing the angle between the incident beam's projection on the XOZ plane and the +Z axis. The azimuth angle is positive on the +X axis and negative on the -X axis. The actual azimuth angle is ±89.9°. The elevation angle β ranges from -π / 2 to π / 2, representing the angle between the incident beam and the XOZ plane. The elevation angle is positive on the +Y axis and negative on the -Y axis. The actual elevation angle is ±89.9°.

[0075] S3. The capture loop module updates and generates the azimuth and elevation angles in the measurement coordinate system based on the azimuth error and elevation error described in step S2.

[0076] Furthermore, in order to avoid frequent adjustment of the phased array antenna beam angle, the updating of the azimuth and elevation angles in the measurement coordinate system in step S3 satisfies the following condition: the difference before and after the update of the azimuth or elevation angle, i.e., the threshold value, is ≥1°.

[0077] Furthermore, when the antenna beam angle, i.e., the azimuth or elevation angle (α or β), changes by ≥1°, the corresponding ΔE N-1 and ΔA N-1 The actual value is 0.1: If |ΔE N-1 |≤0.1 and |ΔA N-1 |≤0.1, then the azimuth and elevation angle updating formulas in step S3 are as follows:

[0078] α N =α N-1

[0079] β N =β N-1

[0080] Among them, α N, α N-1 are the azimuths at time N and N-1, β N , β N-1 They are the pitch angles at moments N and N-1 respectively;

[0081] If |ΔE N-1 |>0.1 or |ΔA N-1 |>0.1, then the azimuth and elevation angles in the measurement coordinate system in step S3 are updated as follows:

[0082] α N =α N-1 +Δα N

[0083] β N =β N-1 +Δβ N

[0084] S4. The capture loop module converts the azimuth angle and pitch angle in the measurement coordinate system described in step S3 into the center angle and rotation angle in the antenna coordinate system, and then converts the center angle and rotation angle in the antenna coordinate system into the wave control code of the phased array antenna and sends it to the phased array antenna in the phased array antenna module.

[0085] Furthermore, the azimuth angle and elevation angle in the measurement coordinate system in step S4 are converted into the central angle and rotation angle in the antenna coordinate system by the following formula:

[0086] θ=arccos(cosβcosα)

[0087]

[0088] Wherein, θ is the central angle in the antenna coordinate system, φ is the rotation angle in the antenna coordinate system, azimuth angle α is from -π / 2 to π / 2, and elevation angle β is from -π / 2 to π / 2.

[0089] Furthermore, the central angle and the rotation angle in the antenna coordinate system in step S4 satisfy the following conditions:

[0090] (1) θ: 0 to π / 2, calculated according to the formula (under actual working conditions, the phased array antenna angle is limited to 0 to 65°);

[0091] (2)φ: 0~2π, calculate according to the following judgment:

[0092] When α>0, β>0, φ:0~π / 2 (the wave control machine calculates ), the first quadrant,

[0093] When α>0,β<0,φ:3π / 2~2π(the wave control machine calculates ), the fourth quadrant,

[0094] At that time, α<0,β>0, φ:π / 2~π(the wave control machine calculates ), the second quadrant,

[0095] When α<0,β<0,φ:π~3π / 2(the wave control machine calculates ), the third quadrant,

[0096] When α=0, β<0, φ=3π / 2,

[0097] When α=0, β>0, φ=π / 2,

[0098] When α>0, β=0, φ=0,

[0099] When α<0, β=0, φ=π,

[0100] When α=0, β=0, φ=0.

[0101] Conversion 2: Calculate the azimuth and elevation angles in the measurement coordinate system based on the center angle and rotation angle of the antenna coordinate system:

[0102]

[0103] The following is an example analysis of Example 1:

[0104] Assuming α0=0, β0=0, four sets of examples are given as follows:

[0105] 1) ΔA0 = 0, ΔE0 = -0.2, Δβ1 = -1.8°, Δα1 = 0°

[0106] 2) ΔA0 = 0, ΔE0 = 0.2, we can calculate Δβ1 = 1.8°, Δα1 = 0°

[0107] 3) ΔA0 = -0.2, ΔE0 = 0, Δβ1 = 0°, Δα1 = -1.8°

[0108] 4) ΔA0 = 0.2, ΔE0 = 0, Δβ1 = 0°, Δα1 = 1.8°

[0109] The following is a simulation analysis of Example 2:

[0110] An automatic tracking communication system using angular error extraction and tracking methods was placed in a darkroom environment. A signal simulator was used to establish two-way wireless communication with the automatic tracking communication system. A two-axis turntable was used to simulate the attitude changes of the automatic tracking communication system antenna, achieving simulation of different relative positions and incident angles of the incident beam to the automatic tracking communication system phased array antenna. Under these comprehensive conditions, automatic angle measurement and tracking communication performance tests were carried out:

[0111] (1) High-speed angular dynamic measurement example: Figure 4 As shown, the pitch axis of the two-axis turntable moves at an angular velocity of 10° / s, and the azimuth axis has a random disturbance of 2° / s. The azimuth error and pitch angle error curves obtained by the automatic tracking communication system are shown in Figure 5 As shown, the pitch angle tracking error is less than 0.65° (RMS angular error = 0.35°), and the azimuth angle tracking error is less than 0.15° (RMS angular error = 0.06°) throughout the entire process. The angular error is continuously output throughout the entire process, and the communication system continues to communicate without errors.

[0112] (2) Example of low-speed angle dynamic measurement: Figure 6 As shown, the azimuth axis of the two-axis turntable moves at an angular velocity of 2° / s, and the pitch axis is stationary. The azimuth error and pitch error curves obtained by the automatic tracking communication system are shown in Figure 7 As shown, the azimuth angle tracking error is less than 0.4° (RMS angular error = 0.07°), and the pitch angle tracking error is less than 0.08° (RMS angular error = 0.013°) throughout the entire process. Throughout the process, the angular error is continuously output, and the communication system continues to communicate without errors.

[0113] The third aspect is an application of the extraction and tracking method in the field of satellite communications, specifically including relay communication satellites, deep space tracking and control stations, and relay user terminals.

[0114] According to a fourth aspect, an electronic device includes a memory and a processor, wherein:

[0115] Memory: used for storing a computer program for implementing the extraction and tracking method;

[0116] Processor: configured to implement the extraction and tracking method when executing the computer program.

[0117] In the fifth aspect, a computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the extraction and tracking method is implemented; the computer-readable storage medium includes: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store program codes.

[0118] The working principle of the present invention is:

[0119] In this method, based on the basic principle of single-pulse angle measurement, a simplified mathematical model for phased array beam angle error extraction is given for the actual project of phased array beam angle error extraction. By setting an appropriate threshold based on the antenna characteristics, accurate and stable beam pointing can be achieved through a single-pulse tracking communication system when the spacecraft attitude changes. This method effectively solves the problem of continuous communication of the satellite-to-ground communication system when deep space spacecraft have large attitude jitter and large-scale orbit transfer.

Claims

1. A phased array beam angle error extraction and tracking system, characterized in that: include: Phased array antenna module: receives incoming signals and forms sum beam, azimuth difference beam and elevation difference beam respectively; Tracking loop module: modulates the sum beam with the azimuth difference beam and the elevation difference beam to form azimuth difference amplitude information and elevation difference amplitude information, and then synthesizes the azimuth difference amplitude information and the elevation difference amplitude information into azimuth angle error and elevation angle error respectively through a four-phase modulator; Capture loop module: Updates and generates the azimuth and elevation angles in the measurement coordinate system based on the azimuth error and elevation error; converts the azimuth and elevation angles in the measurement coordinate system into the center angle and rotation angle in the antenna coordinate system; and then converts the center angle and rotation angle in the antenna coordinate system into the wave control code of the phased array antenna and sends it to the phased array antenna.

2. A phased array beam angle error extraction and tracking method, characterized in that: The following steps are involved: S1. The phased array antenna in the phased array antenna module receives incoming signals and forms a sum beam, an azimuth difference beam, and an elevation difference beam; S2. The four-phase modulator in the tracking loop module modulates the sum beam described in step S1 with the azimuth difference beam and the elevation difference beam to form azimuth difference amplitude information and elevation difference amplitude information. The azimuth difference amplitude information and the elevation difference amplitude information are then synthesized by the four-phase modulator to form an azimuth angle error and an elevation angle error, respectively. S3 capture loop module according to step S2 of the azimuth error and pitch error, update and generate the azimuth and pitch angle of the measurement coordinate system; S4. The capture loop module converts the azimuth angle and pitch angle in the measurement coordinate system in step S3 into the center angle and rotation angle in the antenna coordinate system, and then converts the center angle and rotation angle in the antenna coordinate system into the wave control code of the phased array antenna and sends it to the phased array antenna.

3. The extraction and tracking method according to claim 2, wherein: The synthesis formula of the azimuth angle error and the pitch angle error in step S2 is as follows: Where: ΔE N-1 ΔA is the pitch difference amplitude information output by the four-phase modulator of the angle tracking receiver at time N-1, the unit is "radian"; N-1 is the azimuth difference amplitude information output by the four-phase modulator of the angle tracking receiver at time N-1, in radians; β N-1 and α N-1 are the elevation angle and azimuth angle of the phased array antenna beam pointing in the measurement coordinate system at time N-1; Δα N , Δβ N They are the calculated azimuth error and pitch angle error at time N, Δα N :-π / 2~π / 2, Δβ N :-π / 2~π / 2; N represents the measurement or data update time, N=1, 2, 3, 4…n.

4. The extraction and tracking method according to claim 2, wherein: In step S3, the updating of the azimuth and elevation angles in the measurement coordinate system satisfies the following condition: the difference before and after the updating of the azimuth or elevation angle, i.e., the threshold value, is ≥1°.

5. The extraction and tracking method according to claim 2, wherein: If |ΔE N-1 |≤0.1 and |ΔA N-1 |≤0.1, then the azimuth and elevation angle update formulas in the measurement coordinate system in step S3 are as follows: α N ＝α N-1 β N ＝β N-1 Among them, α N , α N-1 are the azimuths at time N and N-1, β N , β N-1 They are the pitch angles at moments N and N-1 respectively; If |ΔE N-1 |>0.1 or |ΔA N-1 |>0.1, then the azimuth and elevation angles in the measurement coordinate system in step S3 are updated as follows: a N =a N-1 +Da N b N =b N-1 +Δβ N 。 6. The extraction and tracking method according to claim 2, wherein: The azimuth angle and elevation angle in the measurement coordinate system in step S4 are converted into the central angle and rotation angle in the antenna coordinate system using the following formula: θ=arccos(cosβcosα) Wherein, θ is the central angle in the antenna coordinate system, φ is the rotation angle in the antenna coordinate system, azimuth angle α is from -π / 2 to π / 2, and elevation angle β is from -π / 2 to π / 2.

7. The extraction and tracking method according to claim 2, wherein: The central angle and rotation angle in the antenna coordinate system in step S4 meet the following conditions: (1)θ: 0~π / 2, calculated according to the formula; (2)φ: 0~2π, calculate according to the following judgment: When α>0, β>0, φ:0~π / 2, the first quadrant, When α>0,β<0,φ:3π / 2~2π, the fourth quadrant, At that time, α<0,β>0, φ:π / 2~π, the second quadrant, When α<0, β<0, φ:π~3π / 2, the third quadrant, When α=0, β<0, φ=3π / 2, When α=0, β>0, φ=π / 2, When α>0, β=0, φ=0, When α<0, β=0, φ=π, When α=0, β=0, φ=0.

8. An application of the extraction and tracking method in the field of satellite communications.

9. An electronic device comprising a memory and a processor: Memory: used for storing a computer program for implementing the extraction and tracking method; Processor: configured to implement the extraction and tracking method when executing the computer program.

10. A computer-readable storage medium storing a computer program, wherein the computer program implements the extraction and tracking method when executed by a processor.

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