Low-orbit satellite vehicle-mounted tracking control method, device and system

Abstract

The invention discloses a low-orbit satellite vehicle-mounted tracking control method, device and system. The low-orbit satellite vehicle-mounted tracking control method comprises the steps that the longitude and latitude and the altitude of a vehicle-mounted antenna, the forward included angle between the axial direction of a vehicle-mounted platform and the due north direction and the TLE orbit parameters of a target satellite are obtained; calculating coordinates of the vehicle-mounted platform in an earth coordinate system according to the latitude and longitude of the vehicle-mounted platform and the altitude; calculating the coordinates of the target satellite in an earth coordinate system based on the SGP4 / SDP4 model and the TLE orbit parameters of the target satellite; calculating the coordinate of the target satellite in the station center coordinate system according to the coordinate of the vehicle-mounted platform in the earth coordinate system and the coordinate of the target satellite in the earth coordinate system by taking the vehicle-mounted antenna as a coordinate origin; target satellite tracking control parameters are calculated according to the coordinates of the target satellite in the station center coordinate system; and sending the target satellite tracking control parameters to a vehicle-mounted antenna control unit. According to the invention, after the vehicle carrying platform reaches the target position, the azimuth pitch angle of the low-orbit satellite can be quickly tracked.

Description

Technical Field

[0001] This invention relates to the field of satellite positioning technology, and in particular to a low-orbit satellite vehicle-mounted tracking and control method, device, and system. Background Technology

[0002] As a flexible and versatile ground equipment, geostationary satellite ground vehicle systems have been widely used in the observation and communication fields of various geostationary satellites. However, with the continuous development of satellite technology, the number of low-Earth orbit satellites is also increasing. Moreover, since the window periods and orbital parameters of various types of low-Earth orbit satellites are not completely consistent, traditional low-Earth orbit satellite fixed stations cannot meet the ever-increasing usage requirements.

[0003] Therefore, a low-orbit satellite vehicle-mounted tracking and control method, device, and system were developed to solve the above problems. Summary of the Invention

[0004] This invention proposes a vehicle-mounted tracking and control method, device, and system for low-Earth orbit satellites to solve the problems of low adaptability and narrow applicability of existing traditional low-Earth orbit satellite tracking platforms.

[0005] The present invention achieves the above objectives through the following technical solutions:

[0006] This invention provides a low-orbit satellite vehicle-mounted tracking and control method, comprising:

[0007] Obtain the latitude, longitude, and altitude of the vehicle-mounted antenna, the positive angle between the axis of the vehicle-mounted platform and the due north direction, and the TLE orbit parameters of the target satellite;

[0008] Calculate the coordinates of the vehicle platform in the Earth coordinate system based on its latitude, longitude, and altitude.

[0009] The coordinates of the target satellite in the Earth coordinate system are calculated based on the SGP4 / SDP4 model and the TLE orbital parameters of the target satellite.

[0010] Using the vehicle-mounted antenna as the origin, the coordinates of the target satellite in the station center coordinate system are calculated based on the coordinates of the vehicle-mounted platform in the Earth coordinate system and the coordinates of the target satellite in the Earth coordinate system.

[0011] The target satellite tracking and control parameters are calculated based on the coordinates of the target satellite in the station center coordinate system. The target satellite tracking and control parameters include the straight-line distance from the vehicle-mounted antenna to the target satellite, the real-time pitch angle required for the vehicle-mounted antenna to track the target satellite, and the horizontal angle between the target satellite and the axis in the polar coordinate system.

[0012] The target satellite tracking control parameters are sent to the vehicle-mounted antenna control unit.

[0013] Furthermore, the latitude, longitude, and altitude of the vehicle-mounted antenna, the angle between the axis of the vehicle-mounted platform and the positive north direction, and the TLE orbit parameters of the target satellite are obtained, including:

[0014] The longitude, latitude, and altitude of the vehicle platform are determined by the timing and positioning system based on BeiDou satellite information;

[0015] The positive angle ΔA between the axis of the vehicle platform and the due north direction is determined based on the signal information from the dual antennas of the timing and positioning system.

[0016] Obtain the two rows of TLE elements of the satellite and extract the six elements of the satellite orbit. The six elements include: orbital major axis radius a, eccentricity e, right ascension of ascending node Ω, perigee sub-angle ω, orbital inclination i, and perigee time tp.

[0017] Furthermore, the coordinates (x, y, y) of the vehicle platform in the Earth coordinate system are calculated based on the latitude, longitude, and altitude of the vehicle platform. r ,y r ,z r The calculation expression is as follows:

[0018]

[0019] In the formula, N is the radius of curvature of the latitude, h is the altitude of the vehicle platform, and ø and λ are the latitude and longitude of the vehicle platform.

[0020] Furthermore, based on the SGP4 / SDP4 model and the TLE orbital parameters of the target satellite, the coordinates (x, y, y) of the target satellite in the Earth coordinate system are calculated. s ,y s ,z s The calculation expression is as follows:

[0021]

[0022]

[0023]

[0024] In the formula, r is the radius vector length of the satellite orbit, n is the average angular velocity of the satellite orbit, μ is the angular velocity of the Earth's rotation, and M... n and M n+1 Here, M is the iterative value of the near-point angle, which satisfies the accuracy requirement. ΔM n Let E be the iteration step size, E be the true anterior angle, and Δt be the iteration time difference.

[0025] Furthermore, using the vehicle-mounted antenna as the origin, the coordinates (X, Y) of the target satellite in the station-centered coordinate system are calculated based on the coordinates of the vehicle-mounted platform in the Earth coordinate system and the coordinates of the target satellite in the Earth coordinate system. e ,Y n Z u The calculation expression is as follows:

[0026]

[0027] In the formula, X e Let Y be the coordinate parameter of the target satellite in the east direction in the station center coordinate system. n Let Z be the coordinate parameters of the target satellite in the north direction in the station-centered coordinate system. u The coordinate parameters of the normal direction of the target satellite in the station-centered coordinate system.

[0028] Furthermore, the target satellite tracking and control parameters are calculated based on the target satellite's coordinates in the station-centered coordinate system. The calculation expression is as follows:

[0029]

[0030] In the formula, R a E represents the straight-line distance from the vehicle-mounted antenna to the satellite. h To provide the real-time pitch angle required for the antenna to track the satellite, A p This is the horizontal angle between the satellite and the axis in polar coordinates.

[0031] Furthermore, based on the horizontal angle, the positive angle, and the positive angle between the initial position of the antenna and the platform axis, the real-time correction angle required for the vehicle-mounted antenna to track the target satellite is calculated. The calculation expression is as follows:

[0032] ;

[0033] In the formula, A is the real-time rotation angle required for the antenna to track the satellite, and Ae is the positive angle between the initial position of the antenna and the platform axis. Ae is determined by measuring the physical relationship between the antenna's installation position and the platform axis, and is a preset fixed value.

[0034] Furthermore, after sending the target satellite tracking control parameters to the vehicle-mounted antenna control unit, the process also includes:

[0035] The accuracy of the vehicle-mounted antenna in tracking the target satellite is determined by the strength of the feedback signal from the step tracking receiver.

[0036] If not, the target satellite tracking control parameters are compensated and corrected and then re-sent to the vehicle-mounted antenna control unit, which then executes the target satellite tracking control based on the compensated and corrected parameters.

[0037] If so, determine whether the window period has been exceeded. If the window period has been exceeded, control the vehicle-mounted antenna to return to initialization. If the window period has not been exceeded, repeat the previous steps and recalculate the new target satellite tracking control parameters.

[0038] The present invention also provides a low-orbit satellite vehicle-mounted tracking and control device, comprising:

[0039] The acquisition module is used to acquire the latitude and longitude and altitude of the vehicle-mounted antenna, the positive angle between the axis of the vehicle-mounted platform and the due north direction, and the TLE orbit parameters of the target satellite.

[0040] The first calculation module is used to calculate the coordinates of the vehicle platform in the Earth coordinate system based on the latitude, longitude and altitude of the vehicle platform.

[0041] The second calculation module is used to calculate the coordinates of the target satellite in the Earth coordinate system based on the SGP4 / SDP4 model and the TLE orbital parameters of the target satellite;

[0042] The third calculation module is used to calculate the coordinates of the target satellite in the station center coordinate system, with the vehicle-mounted antenna as the coordinate origin, based on the coordinates of the vehicle-mounted platform in the Earth coordinate system and the coordinates of the target satellite in the Earth coordinate system.

[0043] The fourth calculation module is used to calculate the target satellite tracking control parameters based on the target satellite's coordinates in the station center coordinate system. The target satellite tracking control parameters include the straight-line distance from the vehicle-mounted antenna to the target satellite, the real-time pitch angle required for the vehicle-mounted antenna to track the target satellite, and the horizontal angle between the target satellite and the axis in the polar coordinate system.

[0044] The transmitting module is used to send the target satellite tracking control parameters to the vehicle-mounted antenna control unit.

[0045] The present invention also provides a low-orbit satellite vehicle-mounted tracking and control system, comprising:

[0046] The control system includes a readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the low-orbit satellite vehicle-mounted tracking control method.

[0047] The vehicle-mounted antenna and control system are connected to the vehicle-mounted antenna control system.

[0048] The timing and positioning system is connected to the control system.

[0049] The vehicle platform, control system, vehicle antenna, and timing and positioning system are all located on the vehicle platform.

[0050] The beneficial effects of this invention are as follows:

[0051] This invention proposes a low-orbit satellite vehicle-mounted tracking control method, device, and system that solves the control algorithm for target satellite tracking and the compensation control for step tracking, achieving both speed and accuracy in target satellite tracking. Based on the SGP4 / SDP4 model and the satellite's TLE orbital parameters, the geographical coordinates of the longest observation window can be calculated, achieving optimal selection of the vehicle-mounted platform's observation location. Employing rapid calculation logic such as one-click deployment, one-click satellite alignment, and one-click retraction, the system enables rapid deployment and application with minimal human intervention. Attached Figure Description

[0052] Figure 1 This is a flowchart of a low-orbit satellite vehicle-mounted tracking and control method according to this application;

[0053] Figure 2 This is a schematic diagram of the structural composition of a low-orbit satellite vehicle-mounted tracking and control system according to this application;

[0054] Figure 3 This is an operation flowchart of a low-orbit satellite vehicle-mounted tracking and control system according to this application. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0056] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0057] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0058] In the description of this invention, it should be understood that the terms "upper," "lower," "inner," "outer," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only used to facilitate the description of this invention and to simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0059] Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0060] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, terms such as "set" and "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0061] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0062] like Figure 1 As shown, the present invention provides a low-orbit satellite vehicle-mounted tracking control method, comprising:

[0063] Obtain the latitude, longitude, and altitude of the vehicle-mounted antenna, the positive angle between the axis of the vehicle-mounted platform and the due north direction, and the TLE orbit parameters of the target satellite;

[0064] Calculate the coordinates of the vehicle platform in the Earth coordinate system based on its latitude, longitude, and altitude.

[0065] The coordinates of the target satellite in the Earth coordinate system are calculated based on the SGP4 / SDP4 model and the TLE orbital parameters of the target satellite.

[0066] Using the vehicle-mounted antenna as the origin, the coordinates of the target satellite in the station center coordinate system are calculated based on the coordinates of the vehicle-mounted platform in the Earth coordinate system and the coordinates of the target satellite in the Earth coordinate system.

[0067] The target satellite tracking and control parameters are calculated based on the coordinates of the target satellite in the station center coordinate system. The target satellite tracking and control parameters include the straight-line distance from the vehicle-mounted antenna to the target satellite, the real-time pitch angle required for the vehicle-mounted antenna to track the target satellite, and the horizontal angle between the target satellite and the axis in the polar coordinate system.

[0068] The target satellite tracking control parameters are sent to the vehicle-mounted antenna control unit.

[0069] In one embodiment, obtaining the latitude, longitude, and altitude of the vehicle-mounted antenna, the angle between the axis of the vehicle-mounted platform and the positive north direction, and the TLE orbit parameters of the target satellite includes:

[0070] The longitude, latitude, and altitude of the vehicle platform are determined by the timing and positioning system based on BeiDou satellite information;

[0071] The positive angle ΔA between the axis of the vehicle platform and the due north direction is determined based on the signal information from the dual antennas of the timing and positioning system.

[0072] Obtain the two rows of TLE elements of the satellite and extract the six elements of the satellite orbit. The six elements include: orbital major axis radius a, eccentricity e, right ascension of ascending node Ω, perigee sub-angle ω, orbital inclination i, and perigee time tp.

[0073] In one embodiment, the coordinates (x, y, y) of the vehicle platform in the Earth coordinate system are calculated based on the latitude, longitude, and altitude of the vehicle platform. r ,y r ,z r The calculation expression is as follows:

[0074]

[0075] In the formula, h is the altitude of the vehicle platform, ø and λ are the latitude and longitude of the vehicle platform, and N is the radius of curvature of the latitude.

[0076] In one embodiment, the coordinates (x, y) of the target satellite in the Earth coordinate system are calculated based on the SGP4 / SDP4 model and the TLE orbital parameters of the target satellite. s ,y s ,z s The calculation expression is as follows:

[0077]

[0078]

[0079]

[0080] In the formula, r is the radius vector length of the satellite orbit, n is the average angular velocity of the satellite orbit, μ is the angular velocity of the Earth's rotation, and M... n and M n+1 Here, M is the iterative value of the near-point angle, which satisfies the accuracy requirement. ΔM n Let E be the iteration step size, E be the true anterior angle, and Δt be the iteration time difference.

[0081] In one embodiment, using the vehicle-mounted antenna as the origin, the coordinates (X, Y) of the target satellite in the station-centered coordinate system are calculated based on the coordinates of the vehicle-mounted platform in the Earth coordinate system and the coordinates of the target satellite in the Earth coordinate system. e ,Y n Z u The calculation expression is as follows:

[0082]

[0083] In the formula, X e Let Y be the coordinate parameter of the target satellite in the east direction in the station center coordinate system. n Let Z be the coordinate parameters of the target satellite in the north direction in the station-centered coordinate system. u The coordinate parameters of the normal direction of the target satellite in the station-centered coordinate system.

[0084] In one embodiment, the target satellite tracking control parameters are calculated based on the target satellite's coordinates in the station-centered coordinate system. The calculation expression is as follows:

[0085]

[0086] In the formula, R a E represents the straight-line distance from the vehicle-mounted antenna to the satellite. h To provide the real-time pitch angle required for the antenna to track the satellite, A p This is the horizontal angle between the satellite and the axis in polar coordinates.

[0087] In one embodiment, the real-time correction angle required for the vehicle-mounted antenna to track the target satellite is calculated based on the horizontal angle, the positive angle, and the positive angle between the initial position of the antenna and the platform axis. The calculation expression is as follows:

[0088] ;

[0089] In the formula, A is the real-time angle of rotation required for the antenna to track the satellite, and Ae is the positive angle between the initial position of the antenna and the platform axis. Ae is a fixed value determined by measuring the physical relationship between the antenna's installation position and the platform axis.

[0090] In one embodiment, after sending the target satellite tracking control parameters to the vehicle-mounted antenna control unit, the method further includes:

[0091] The accuracy of the vehicle-mounted antenna in tracking the target satellite is determined by the strength of the feedback signal from the step tracking receiver.

[0092] If not, the target satellite tracking control parameters are compensated and corrected and then re-sent to the vehicle-mounted antenna control unit, which then executes the target satellite tracking control based on the compensated and corrected parameters.

[0093] If so, determine whether the window period has been exceeded. If the window period has been exceeded, control the vehicle-mounted antenna to return to initialization. If the window period has not been exceeded, repeat the previous steps and recalculate the new target satellite tracking control parameters.

[0094] The present invention also provides a low-orbit satellite vehicle-mounted tracking and control device, comprising:

[0095] The acquisition module is used to acquire the latitude and longitude and altitude of the vehicle-mounted antenna, the positive angle between the axis of the vehicle-mounted platform and the due north direction, and the TLE orbit parameters of the target satellite.

[0096] The first calculation module is used to calculate the coordinates of the vehicle platform in the Earth coordinate system based on the latitude, longitude and altitude of the vehicle platform.

[0097] The second calculation module is used to calculate the coordinates of the target satellite in the Earth coordinate system based on the SGP4 / SDP4 model and the TLE orbital parameters of the target satellite;

[0098] The third calculation module is used to calculate the coordinates of the target satellite in the station center coordinate system, with the vehicle-mounted antenna as the coordinate origin, based on the coordinates of the vehicle-mounted platform in the Earth coordinate system and the coordinates of the target satellite in the Earth coordinate system.

[0099] The fourth calculation module is used to calculate the target satellite tracking control parameters based on the target satellite's coordinates in the station center coordinate system. The target satellite tracking control parameters include the straight-line distance from the vehicle-mounted antenna to the target satellite, the real-time pitch angle required for the vehicle-mounted antenna to track the target satellite, and the horizontal angle between the target satellite and the axis in the polar coordinate system.

[0100] The transmitting module is used to send the target satellite tracking control parameters to the vehicle-mounted antenna control unit.

[0101] The present invention also provides a low-orbit satellite vehicle-mounted tracking and control system, comprising:

[0102] The control system includes a readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the steps of the low-orbit satellite vehicle-mounted tracking and control method. The computer program is set in the control system in the form of control software. The control system includes a control host for controlling the vehicle-mounted antenna and the timing and positioning system.

[0103] The vehicle-mounted antenna is connected to the control system. The vehicle-mounted antenna includes a step tracking module, a signal receiving module, a transmitting device, and an umbrella-shaped antenna.

[0104] The timing and positioning system is connected to the control system and includes a positioning and orientation module, an inverted antenna, a network timing module, and a clock synchronization module.

[0105] The vehicle platform, control system, vehicle antenna, and timing and positioning system are all located on the vehicle platform. The vehicle platform includes an electric leveling device, vehicle camouflage, lifting mast, and vehicle power supply.

[0106] This patented invention provides a highly integrated, flexible, and widely adaptable vehicle-mounted tracking and control system for low-Earth orbit satellites. This system is applicable to one-click satellite pairing and automatic tracking of various low-Earth orbit satellites, and can also quickly adjust the target satellite to be tracked.

[0107] like Figure 2 As shown, the antenna subsystem mainly realizes the transmission and reception of low-orbit satellite signals, the tracking of target satellites, the deployment and reception control of the umbrella antenna, and the identification and feedback of tracking accuracy. The vehicle platform serves as the installation carrier for other subsystems, and also realizes the provision of matching power to all vehicle-mounted subsystems, the leveling of the platform reference plane, and the execution of camouflage deployment and reception actions during the mission. The timing and positioning subsystem realizes the multi-mode clock synchronization alignment of the system, the identification of geographical coordinates and platform orientation, the determination of altitude, the time reference synchronization control of all devices in the system, and the generation of output pulse signals. The control system mainly realizes the coordinated operation control of all subsystems and devices, the automated tracking control of target satellites, and the one-click deployment and reception and one-click satellite pairing of the platform.

[0108] Combination Figure 1 and Figure 3 As shown, the steps of the low-orbit satellite vehicle-mounted tracking control system of the present invention for performing low-orbit satellite tracking control are as follows:

[0109] After the S1 vehicle platform arrives at the target location, it provides power input to the entire platform through local mains power or by starting a diesel generator;

[0110] S2 activates the vehicle-mounted integrated power supply system to provide a matching power supply voltage to all mission equipment.

[0111] S3 opens the control host within the system and runs the system control software.

[0112] The S4 control software performs a self-test and status initialization of the entire vehicle system before operation and acquires the status parameters of all devices.

[0113] S5 Start the vehicle platform with one click; click the one-click expand button on the software homepage.

[0114] The S6's onboard camouflage device retracts automatically;

[0115] The S7 vehicle platform is equipped with leveling outriggers that work together to keep the reference plane of the vehicle platform level in real time.

[0116] S8 lifting mast rises to its highest position, the inverted whip antenna is fully raised, and the umbrella antenna moves to its initial position;

[0117] The S9 weather instrument acquires real-time meteorological parameters such as temperature, humidity, air pressure, wind speed, wind direction, rainfall, and sunlight at the location of the vehicle platform.

[0118] The S10 timing and positioning system selects an appropriate time synchronization mode to synchronize with satellites such as BeiDou, GPS, and GLONASS, and obtains the current latitude, longitude, altitude, and axle orientation of the vehicle platform.

[0119] S11 One-click deployment steps completed. Check if the camouflage device is in place, if the platform is leveled, if the lifting rod is in place, if the umbrella antenna is in its initial position, and if the whip antenna is erected. If all are completed, the platform is in the mission preparation completed state.

[0120] Once the S12 platform is ready, the system obtains the TLE (Transmission Element) information of the target low-Earth orbit satellite, either manually entered by the user or selected from the local satellite list.

[0121] Once the system obtains clear target low-Earth orbit satellite information, it can initiate one-click satellite matching.

[0122] After the S14 is activated with one click, the system calculates the real-time position of the target satellite in Earth coordinates (ECEF) based on the two lines of TLE root information and the latitude, longitude, altitude, and orientation information.

[0123] S15 adjusts the azimuth and elevation angles of the antenna based on the relative operational relationship between the satellite and the vehicle platform, so that the system is in the optimal tracking mode for the satellite signal.

[0124] S16 uses a control system to ensure that other supporting equipment operates in the appropriate state according to mission requirements, thereby helping to improve the tracking accuracy and stability of low-Earth orbit satellites.

[0125] The S17 has completed the one-click satellite pairing task, and the antenna is in real-time tracking of the target satellite.

[0126] S18 After the target satellite tracking task is completed or the target satellite moves out of the tracking window, the vehicle platform will return to the task preparation completed state.

[0127] S19 At this point, the entire vehicle platform can track the next target satellite or perform a one-click withdrawal task;

[0128] S20 When you need to cancel a task with one click, click the one-click cancellation button on the homepage of the system control software.

[0129] The S21 vehicle platform's leveling outriggers were retracted and returned to their original positions, the lifting rod was lowered into place, all the inverted whip antennas were lowered and retracted, and the umbrella antenna was folded up and lowered to the support column.

[0130] The S22's vehicle-mounted camouflage device is deployed and can be retracted with a single click.

[0131] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A low-orbit satellite vehicle-mounted tracking and control method, characterized in that, include: Obtain the latitude, longitude, and altitude of the vehicle-mounted antenna, the positive angle between the axis of the vehicle-mounted platform and the due north direction, and the TLE orbit parameters of the target satellite; Calculate the coordinates of the vehicle platform in the Earth coordinate system based on its latitude, longitude, and altitude. The coordinates of the target satellite in the Earth coordinate system are calculated based on the SGP4 / SDP4 model and the TLE orbital parameters of the target satellite. Using the vehicle-mounted antenna as the origin, the coordinates of the target satellite in the station center coordinate system are calculated based on the coordinates of the vehicle-mounted platform in the Earth coordinate system and the coordinates of the target satellite in the Earth coordinate system. The target satellite tracking and control parameters are calculated based on the coordinates of the target satellite in the station center coordinate system. The target satellite tracking and control parameters include the straight-line distance from the vehicle-mounted antenna to the target satellite, the real-time pitch angle required for the vehicle-mounted antenna to track the target satellite, and the horizontal angle between the target satellite and the axis in the polar coordinate system. The target satellite tracking control parameters are sent to the vehicle-mounted antenna control unit.

2. The low-orbit satellite vehicle-mounted tracking and control method according to claim 1, characterized in that, Obtain the latitude, longitude, and altitude of the vehicle-mounted antenna, the angle between the vehicle platform's axis and true north, and the TLE orbital parameters of the target satellite, including: The longitude, latitude, and altitude of the vehicle platform are determined by the timing and positioning system based on BeiDou satellite information; The positive angle ΔA between the axis of the vehicle platform and the due north direction is determined based on the signal information from the dual antennas of the timing and positioning system. Obtain the two rows of TLE elements of the satellite and extract the six elements of the satellite orbit. The six elements include: orbital major axis radius a, eccentricity e, right ascension of ascending node Ω, perigee sub-angle ω, orbital inclination i, and perigee time tp.

3. The low-orbit satellite vehicle-mounted tracking and control method according to claim 2, characterized in that, Calculate the coordinates (x, y) of the vehicle platform in the Earth coordinate system based on its latitude, longitude, and altitude. r ,y r ,z r The calculation expression is as follows: ， In the formula, N is the radius of curvature of the latitude, h is the altitude of the vehicle platform, and ø and λ are the latitude and longitude of the vehicle platform.

4. The low-orbit satellite vehicle-mounted tracking and control method according to claim 3, characterized in that, Calculate the coordinates (x, y) of the target satellite in the Earth coordinate system based on the SGP4 / SDP4 model and the TLE orbital parameters of the target satellite. s ,y s ,z s The calculation expression is as follows: ， ， ， In the formula, r is the radius vector length of the satellite orbit, n is the average angular velocity of the satellite orbit, μ is the angular velocity of the Earth's rotation, and M... n and M n+1 Here, M is the iterative value of the near-point angle, which satisfies the accuracy requirement. ΔM n Let E be the iteration step size, E be the true anterior angle, and Δt be the iteration time difference.

5. The low-orbit satellite vehicle-mounted tracking and control method according to claim 4, characterized in that, Using the vehicle-mounted antenna as the origin, the coordinates (X, Y) of the target satellite in the station-centered coordinate system are calculated based on the coordinates of the vehicle-mounted platform in the Earth coordinate system and the coordinates of the target satellite in the Earth coordinate system. e ,Y n Z u The calculation expression is as follows: ， In the formula, X e Let Y be the coordinate parameter of the target satellite in the east direction in the station center coordinate system. n Let Z be the coordinate parameters of the target satellite in the north direction in the station-centered coordinate system. u The coordinate parameters of the normal direction of the target satellite in the station-centered coordinate system.

6. The low-orbit satellite vehicle-mounted tracking and control method according to claim 5, characterized in that, The target satellite tracking and control parameters are calculated based on the target satellite's coordinates in the station-centered coordinate system. The calculation expression is as follows: ， In the formula, R a E represents the straight-line distance from the vehicle-mounted antenna to the satellite. h To provide the real-time pitch angle required for the antenna to track the satellite, A p This is the horizontal angle between the satellite and the axis in polar coordinates.

7. The low-orbit satellite vehicle-mounted tracking and control method according to claim 6, characterized in that, The real-time correction angle required for the vehicle-mounted antenna to track the target satellite is calculated based on the horizontal angle, the positive angle, and the positive angle between the initial antenna position and the platform axis. The calculation expression is as follows: ； In the formula, A is the real-time angle of rotation required for the antenna to track the satellite, and Ae is the positive angle between the initial position of the antenna and the platform axis. Ae is determined by measuring the physical relationship between the installation position of the antenna and the platform axis and is a preset fixed value.

8. The low-orbit satellite vehicle-mounted tracking and control method according to claim 7, characterized in that, After sending the target satellite tracking control parameters to the vehicle-mounted antenna control unit, the following is also included: The accuracy of the vehicle-mounted antenna in tracking the target satellite is determined by the strength of the feedback signal from the step tracking receiver. If not, the target satellite tracking control parameters are compensated and corrected and then re-sent to the vehicle-mounted antenna control unit, which then executes the target satellite tracking control based on the compensated and corrected parameters. If so, determine whether the window period has been exceeded. If the window period has been exceeded, control the vehicle-mounted antenna to return to initialization. If the window period has not been exceeded, repeat the previous steps and recalculate the new target satellite tracking control parameters.

9. A low-orbit satellite vehicle-mounted tracking and control device, characterized in that, include: The acquisition module is used to acquire the latitude and longitude and altitude of the vehicle-mounted antenna, the positive angle between the axis of the vehicle-mounted platform and the due north direction, and the TLE orbit parameters of the target satellite. The first calculation module is used to calculate the coordinates of the vehicle platform in the Earth coordinate system based on the latitude, longitude and altitude of the vehicle platform. The second calculation module is used to calculate the coordinates of the target satellite in the Earth coordinate system based on the SGP4 / SDP4 model and the TLE orbital parameters of the target satellite; The third calculation module is used to calculate the coordinates of the target satellite in the station center coordinate system, with the vehicle-mounted antenna as the coordinate origin, based on the coordinates of the vehicle-mounted platform in the Earth coordinate system and the coordinates of the target satellite in the Earth coordinate system. The fourth calculation module is used to calculate the target satellite tracking control parameters based on the target satellite's coordinates in the station center coordinate system. The target satellite tracking control parameters include the straight-line distance from the vehicle-mounted antenna to the target satellite, the real-time pitch angle required for the vehicle-mounted antenna to track the target satellite, and the horizontal angle between the target satellite and the axis in the polar coordinate system. The transmitting module is used to send the target satellite tracking control parameters to the vehicle-mounted antenna control unit.

10. A low-orbit satellite vehicle-mounted tracking and control system, characterized in that, include: The control system includes a readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the low-orbit satellite vehicle-mounted tracking control method as described in any one of claims 1 to 8. The vehicle-mounted antenna and control system are connected to the vehicle-mounted antenna control system. The timing and positioning system is connected to the control system. The vehicle platform, control system, vehicle antenna, and timing and positioning system are all located on the vehicle platform.

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