Multifunction modular antenna pointing controller

Abstract

This invention provides a multifunctional modular antenna pointing controller. Its power module converts the satellite bus voltage into a secondary voltage; the control module receives antenna pointing control commands from the upper-level device via a first bus; each motor drive module independently drives the two-dimensional pointing mechanism of one antenna; a temperature acquisition and star sensor control module connects to the star sensor to obtain quaternion attitude information and collects antenna temperature telemetry information; and a thermal control drive module controls the heater's on / off state. Based on the antenna pointing control commands, the control module sends drive commands to the motor drive module via a second bus to control the deployment and positioning of each antenna in a time-division multiplexing manner; and calculates and drives the elimination of antenna pointing angle changes caused by changes in the overall satellite attitude based on the satellite orbit information, absolute star time, and quaternion attitude information. Thus, this invention achieves high-precision star sensor calibration for the first time, reducing cost and weight; it also boasts high integration and modular, customizable design.

Description

Technical Field

[0001] This invention relates to the field of satellite antenna technology, and specifically to a multifunctional modular antenna pointing controller. Background Technology

[0002] With the rapid growth of user communication demands, traditional communication satellites can no longer meet the needs, leading to the emergence of high-throughput satellites. High-throughput communication satellites offer tens or even hundreds of times greater communication capacity than conventional satellites, enabling users to enjoy high-speed satellite information services anytime, anywhere, and significantly reducing the cost per unit of communication capacity. Therefore, they have become a hot technology in the international development of communication satellites. A typical high-throughput communication satellite antenna—the multi-beam antenna—not only employs multiple reflector antennas, but also, as the number of reflectors increases, the beamwidth of the user's multi-beam becomes narrower. This necessitates a new, higher-precision on-orbit beam calibration technology (calibration accuracy reaching 1 / 10 of the beamwidth) to reduce performance degradation caused by beam pointing errors.

[0003] As a crucial component of the antenna subsystem, the antenna pointing controller's functional requirements have become increasingly complex and diverse with the development of antenna technology. First, the antenna pointing controller must be capable of controlling multiple antennas to accommodate the increasing number of reflectors in multi-beam antennas and the demands of on-orbit control. Considering the actual design of overlapping antennas on the east and west sides of geostationary communication satellites, the antenna pointing controller typically needs to include multiple motor drive modules to drive and control multiple antennas, and the number of modules should be adjustable according to the actual configuration of the entire satellite's antennas. Second, the antenna pointing controller must have on-orbit beam pointing calibration capabilities. Besides the differential-mode tracking method based on a receiver, which is commonly used both domestically and internationally, it also needs to support higher-precision on-orbit pointing calibration methods, such as star sensor-based calibration. Finally, to improve the functional integration within the subsystem, the antenna pointing controller also needs to have temperature measurement and heater drive control functions for the antenna subsystem.

[0004] In summary, to meet the control requirements of multi-beam antennas, the antenna pointing controller needs to integrate multiple functions such as time-division multiplexing antenna positioning, high-precision on-orbit beam calibration, and antenna temperature measurement and thermal control. Summary of the Invention

[0005] The purpose of this invention is to provide a multifunctional modular antenna pointing controller, which has multiple functions such as multi-antenna time-division deployment positioning, beam on-orbit calibration based on star sensor, beam on-orbit calibration based on tracking receiver, and antenna temperature measurement and thermal control.

[0006] To achieve the above technical effects, the present invention provides a multifunctional modular antenna pointing controller, comprising: The power module is used to receive the satellite bus voltage and convert it into secondary voltage, as well as to perform relay switching functions; The control module is used to interact with the upper-level device via the first bus and to receive antenna pointing control commands. Multiple motor drive modules, each of which is used to independently drive the rotation of the two-dimensional pointing mechanism of an antenna; Temperature acquisition and star sensor control module, used to connect to and receive quaternion attitude information of at least one star sensor, as well as acquire temperature telemetry information from the antenna; The thermal control drive module is used to control the on / off state of the heater; The control module is further configured to send drive commands to the motor drive module via a second bus according to the received antenna pointing control commands, so as to control the deployment and positioning of each sub-antenna in a time-division manner; and to calculate the change in antenna pointing angle caused by the change in the overall satellite attitude according to the received overall satellite orbit information, overall satellite absolute time and the quaternion attitude information, and send calibration commands to the corresponding motor drive module via the second bus to drive the antenna two-dimensional pointing mechanism to rotate to eliminate the change in antenna pointing angle.

[0007] Furthermore, the number of motor drive modules is determined based on the actual number of antenna reflectors configured on the satellite, and each motor drive module has a corresponding communication address.

[0008] The control module controls the antenna rotation in either closed-loop or open-loop mode; the closed-loop control accuracy is less than or equal to 0.025°, and the open-loop control accuracy is less than or equal to 0.06°.

[0009] The control module calculates the change in the antenna pointing angle, including: Calculate the difference between the X-axis motor angle information and the Y-axis motor angle information in the two-dimensional pointing mechanism coordinate system of the antenna at the current time and the reference time, and use the difference as the change in antenna pointing angle.

[0010] Furthermore, the calculation of the difference between the X-axis motor angle information and the Y-axis motor angle information in the antenna two-dimensional pointing mechanism coordinate system at the current time and the reference time specifically includes: At the reference time, the transformation matrix of the star sensor relative to the inertial space is calculated based on the quaternion attitude information fed back by the star sensor, and the transformation matrix from the inertial coordinate system to the orbital coordinate system is calculated based on the whole satellite orbit information. Then, combined with the installation matrix of the star sensor on the antenna reflector and the installation matrix of the antenna two-dimensional pointing mechanism on the satellite body, the X-axis motor angle information and Y-axis motor angle information in the coordinate system of the antenna two-dimensional pointing mechanism at the reference time are calculated. At the current moment, repeat the above steps to calculate the X-axis motor angle information and Y-axis motor angle information in the coordinate system of the antenna two-dimensional pointing mechanism at the current moment; The difference between the X-axis motor angle information at the current time and the reference time is used as the X-axis mechanism compensation angle, and the difference between the Y-axis motor angle information at the current time and the reference time is used as the Y-axis mechanism compensation angle. The X-axis mechanism compensation angle and the Y-axis mechanism compensation angle constitute the antenna pointing angle change.

[0011] The temperature acquisition and star sensor control module supports the simultaneous acquisition of temperature telemetry information from at least 60 antennas and is compatible with one or more thermistors of MF501, B4, A2, and MF51.

[0012] The thermal control drive module is used to simultaneously control at least 20 antenna heaters for passive temperature control, wherein the single-channel load current is less than or equal to 1A and the single-channel heater power consumption is less than or equal to 30W.

[0013] The functions and interfaces of the power supply module, the control module, the multiple motor drive modules, the temperature acquisition and star sensor control module, and the thermal control drive module are independent of each other.

[0014] Furthermore, the control module communicates with the tracking receiver via a second bus to receive automatic gain control data, azimuth and pitch difference data provided by the tracking receiver; wherein, when the automatic gain control data is greater than a preset locking threshold, the control module automatically tracks the ground target based on the azimuth and pitch difference data.

[0015] The control module interacts with the upper-level device via a 1553B bus and communicates with the motor drive module and the tracking receiver via an RS422 bus; the temperature acquisition and star sensor control module communicates with the star sensor via an RS422 bus.

[0016] The multifunctional modular antenna pointing controller described in this invention proposes for the first time an on-orbit antenna calibration scheme based on star sensors, which significantly reduces the cost of the calibration subsystem. The product has a high degree of functional integration, with multiple functions such as antenna deployment pointing, beam calibration, temperature measurement and heating control. Each module is independent and customizable, effectively reducing the load weight of the subsystem. It has practicality and promotional value, and can be productized and standardized, shortening the processing cycle. Attached Figure Description

[0017] Figure 1 This is a structural block diagram of the multifunctional modular antenna pointing controller provided in an embodiment of the present invention; Figure 2This is a schematic diagram of the bus connection of the multifunctional modular antenna pointing controller provided in an embodiment of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0019] It should be noted that references to "an embodiment," "embodiment," "example embodiment," etc., in this specification refer to the described embodiment including specific features, structures, or characteristics, but not every embodiment must include these specific features, structures, or characteristics. Furthermore, such expressions do not refer to the same embodiment. Moreover, when describing specific features, structures, or characteristics in conjunction with embodiments, whether or not explicitly described, it is indicated that incorporating such features, structures, or characteristics into other embodiments is within the knowledge of those skilled in the art.

[0020] Furthermore, certain terms are used in the specification and subsequent claims to refer to specific components or parts. Those skilled in the art will understand that manufacturers may use different names or terms to refer to the same component or part. This specification and subsequent claims do not distinguish components or parts by differences in name, but rather by differences in function.

[0021] Figures 1-2 This invention illustrates a multifunctional modular antenna pointing controller 100 provided in an embodiment of the present invention, comprising a power supply module 10, a control module 20, four motor drive modules (a first motor drive module 30, a second motor drive module 40, a third motor drive module 50, and a fourth motor drive module 60), a temperature acquisition and star sensor control module 70, and a thermal control drive module 80. The functions and interfaces of these modules are independent of each other; wherein: The power module 10 is used to receive the satellite bus voltage and convert it into secondary voltage, as well as to perform relay switching functions. Specifically, the power module 10 is responsible for receiving the +100V bus voltage provided by the satellite and converting it into secondary voltages of +5V, ±12V, and +15V via DC / DC converter to supply other downstream modules. Simultaneously, the power module 10 receives matrix commands from the satellite to perform relay switching functions such as power-on, power-off, and master / backup switching. It also feeds back the relay switching status of the controller (power-on, power-off, master / backup switching, etc.) to the satellite for interpretation through analog telemetry and matrix telemetry.

[0022] The control module 20 is used to interact with the upper-level device via the first bus and receive antenna pointing control commands; each motor drive module is used to independently drive the rotation of the two-dimensional pointing mechanism of one antenna; the temperature acquisition and star sensor control module 70 is used to connect to and receive the quaternion attitude information of at least one star sensor (the quaternion reflects the attitude of the reflector in the inertial frame) and to acquire the temperature telemetry information of the antenna; the thermal control drive module 80 is used to control the on / off state of the heater; the control module 20 is also used to send drive commands to the motor drive module via the second bus according to the received antenna pointing control commands, so as to control the deployment and positioning of each antenna in a time-division manner; and to calculate the change in antenna pointing angle caused by the change in the attitude of the whole satellite according to the received whole satellite orbit information, the absolute star time of the whole satellite and the quaternion attitude information, and send calibration commands to the corresponding motor drive module via the second bus to drive the rotation of the two-dimensional pointing mechanism of the antenna to eliminate the change in antenna pointing angle.

[0023] In this embodiment, the control module 20 interacts with the upper-level device via a 1553B bus to achieve data communication with the entire satellite. After receiving the antenna control commands from the entire satellite, it analyzes and processes them before sending them to the backend motor drive modules (first motor drive module 30, second motor drive module 40, third motor drive module 50, and fourth motor drive module 60) via an internal RS422 bus. Each of the four motor drive modules has a different communication address. Upon receiving the RS422 command information, the motor drive module generates a motor driver program to drive the motor rotation and simultaneously transmits telemetry information back; thus, the time-division multiplexing control of the four antennas by the antenna pointing controller is completed. In other examples, the number of motor drive modules is determined based on the actual number of antenna reflectors configured on the satellite, and each motor drive module has a corresponding communication address. Specifically, the number of motor drive modules is positively correlated with the number of antenna reflectors configured on the satellite, increasing as the number of antenna reflectors increases and decreasing as the number of antenna reflectors decreases.

[0024] The control module 20 controls the antenna rotation in either closed-loop or open-loop mode. That is, based on received commands, the control module 20 drives the antenna to rotate to a specified position at a predetermined speed, using either closed-loop or open-loop mode to achieve time-division multiplexing and positioning of the four satellite-borne antennas. The closed-loop control accuracy is ≤0.025°, and the open-loop control accuracy is ≤0.06°. Under normal circumstances, closed-loop mode is used to control the antenna rotation; when an abnormality occurs in the rotation angle, open-loop mode is used to control the rotation of the movable antenna, and the speed can be set.

[0025] The star sensor calibration function of the multi-functional modular antenna pointing controller 100 is described below: The temperature acquisition and star sensor control module 70 periodically receives the absolute star time of the entire satellite from the control module 20 and forwards it to the star sensor installed on the back ring of the antenna reflector. It also receives the quaternion data corresponding to the dynamic star map within the field of view of the star sensor after time calibration. In addition, the control module 20 receives orbital position and velocity information and absolute star time data from the entire satellite's 1553B bus, as well as quaternion attitude information from the star sensor control module. Using this data, along with the installation parameters of the antenna mechanism and the star sensor, it calculates and identifies the angular change in the projection of the entire satellite's attitude change onto the antenna system. This angular change is then used as input to drive the antenna's two-dimensional pointing mechanism. The control module 20 sends the resolved angular data to the back-end motor drive module via the internal RS422 bus. The latter drives the antenna's two-dimensional pointing mechanism to rotate, eliminating the angular change in the antenna system, thus ensuring that the reflector always points to the same position in inertial space.

[0026] In this embodiment, the control module 20 calculates the change in the antenna pointing angle, including: calculating the difference between the X-axis motor angle information and the Y-axis motor angle information in the two-dimensional pointing mechanism coordinate system of the antenna at the current time and the reference time, and using the difference as the change in the antenna pointing angle.

[0027] Furthermore, the calculation of the difference between the X-axis motor angle information and the Y-axis motor angle information in the antenna two-dimensional pointing mechanism coordinate system at the current time and the reference time specifically includes: At the reference time, the transformation matrix of the star sensor relative to the inertial space is calculated based on the quaternion attitude information fed back by the star sensor, and the transformation matrix from the inertial coordinate system to the orbital coordinate system is calculated based on the whole satellite orbit information. Then, combined with the installation matrix of the star sensor on the antenna reflector and the installation matrix of the antenna two-dimensional pointing mechanism on the satellite body, the X-axis motor angle information and Y-axis motor angle information in the coordinate system of the antenna two-dimensional pointing mechanism at the reference time are calculated. At the current moment, repeat the above steps to calculate the X-axis motor angle information and Y-axis motor angle information in the coordinate system of the antenna two-dimensional pointing mechanism at the current moment; The difference between the X-axis motor angle information at the current time and the reference time is used as the X-axis mechanism compensation angle, and the difference between the Y-axis motor angle information at the current time and the reference time is used as the Y-axis mechanism compensation angle. The X-axis mechanism compensation angle and the Y-axis mechanism compensation angle constitute the antenna pointing angle change. The multi-functional modular antenna pointing controller 100 drives the antenna mechanism to rotate accordingly to eliminate this angle increment, thereby ensuring that the antenna reflector always points to the same position in inertial space, eliminating the overall satellite attitude and orbit control error. Through real-time on-orbit calibration, the antenna pointing error can be guaranteed to be ≤0.08°, thus meeting the high-precision on-orbit pointing calibration requirements of high-throughput satellites.

[0028] In practical implementation, based on the premise that the orbital system coincides with the geostationary satellite's own system, the calculation methods for the angle changes Δx and Δy projected onto the antenna system at different times by the relative changes in the overall satellite attitude are as follows: 1) At time t0, the antenna pointing controller 100 calculates the transformation matrix R of the star sensor relative to the inertial space using the quaternion attitude information obtained by the star sensor. im The attitude transfer matrix R from the inertial coordinate system to the orbital coordinate system is calculated using inertial space orbital information. io ; 2) The mounting matrix R of the antenna reflector using a star sensor tm The transformation matrix R of the star sensor relative to inertial space im Calculate the transfer matrix R from the inertial coordinate system to the servo antenna coordinate system. it = R tm T ·R im ; 3) The installation matrix R on the satellite body via the antenna two-dimensional pointing mechanism bj The attitude transfer matrix R from the inertial coordinate system to the orbital coordinate system io The transformation matrix R from the inertial frame to the coordinate system of the antenna's two-dimensional pointing mechanism is calculated. ij = R bj ·R io Finally, the transformation matrix R from the two-dimensional pointing mechanism coordinate system to the servo antenna coordinate system is obtained. jt = R it ·R ij T ; 4) Using the Euler angle formula of the direction cosine matrix 123 rotation sequence, calculate the X, Y, and Z angles in the coordinate system of the antenna two-dimensional pointing mechanism, where the X and Y angles are the X and Y motor angle information at time t0; 5) At time t, repeat the above steps to calculate the X and Y motor angle information at time t; the mechanism compensation angle is the difference between the X and Y motor angle information at time t and the X and Y motor angle information at time t0; this difference is the required change in antenna pointing angle.

[0029] The multi-functional modular antenna pointing controller 100 drives the two-dimensional pointing mechanism of the antenna to rotate, eliminating the angular changes in the antenna mechanism system, so as to achieve the purpose of the reflector always pointing to the same position in inertial space.

[0030] The temperature acquisition and star sensor controller 70 of this embodiment has 8 externally connected star sensors, providing +5V power to the 8 star sensors and communicating with them via RS422 to obtain star sensor quaternions. The temperature acquisition and star sensor control module 70 supports simultaneous acquisition of temperature telemetry information from at least 60 antennas and is compatible with one or more common thermistor models such as MF501, B4, A2, and MF51. The thermal control drive module 80 is used to simultaneously control at least 20 antenna heaters for passive temperature control, wherein the single-channel load current is less than or equal to 1A and the single-channel heater power consumption is less than or equal to 30W. That is, the antenna pointing controller 100 has the function of simultaneously acquiring 60 channels of antenna temperature telemetry information (supporting multiple common thermistor models such as MF501, B4, A2, and MF51); the temperature measurement accuracy meets the requirement of ±0.5℃ in the range of -20℃ to +20℃, the temperature measurement accuracy meets the requirement of ±1.0℃ in the range of -50℃ to +50℃, and the temperature measurement accuracy meets ±2.0℃ outside this range. It can also receive bus commands via the bus to control the on / off state of 20 heaters (only passive temperature control function is implemented); it can simultaneously control the temperature of at least 20 antenna heaters, with a single-channel load current ≤1A and a single-channel heater power consumption ≤30W.

[0031] Furthermore, the control module 20 communicates with the tracking receiver via a second bus to receive automatic gain control (AGC) data, azimuth and elevation difference data provided by the tracking receiver. When the AGC data exceeds a preset locking threshold, the control module automatically tracks the ground target based on the azimuth and elevation difference data. Specifically, the control module 20 communicates with the tracking receiver via an RS422 bus.

[0032] The self-tracking function of the multi-functional modular antenna pointing controller 100 in this embodiment can be implemented in two ways: by a tracking receiver and a star sensor.

[0033] The self-tracking function implemented by the tracking receiver is as follows: the antenna pointing controller receives the AGC, azimuth and elevation difference data from the tracking receiver. If the AGC is greater than the locking threshold, the antenna controller automatically tracks the ground target based on the azimuth difference and elevation difference data.

[0034] The self-tracking function achieved by the star sensor is implemented as follows: The antenna pointing controller 100 receives orbital position and velocity information and absolute star time data from the satellite's 1553B bus, as well as star sensor quaternion attitude information from the temperature acquisition and star sensor control module 70. Based on the above data and the installation parameters of the antenna mechanism and the star sensor, the angular change of the satellite's attitude change projected onto the antenna mechanism system is calculated and identified, and this is used as the input to drive the antenna's two-dimensional pointing mechanism.

[0035] During on-orbit antenna calibration, the antenna pointing is typically calibrated first through ground testing. Then, the star sensor corresponding to the calibrated antenna is powered on, and the calibration threshold is set. After binding the correspondence between the antenna and the star sensor, the angle values ​​mapped in the mechanism system are calculated. Next, an "antenna star sensor reference setting command" is sent. The controller marks the theoretical X and Y angles in this attitude as the target angles. At this time, the mechanism compensation angles fed back by the star sensor on the antenna reflector's extended arm are (X0, Y0, Z0). When the overall satellite attitude is offset, the mechanism compensation angles fed back by the star sensor become (X1, Y1, Z1). When the difference in mechanism compensation angles between previous and subsequent moments exceeds a threshold (this threshold can be specified via command), the antenna pointing controller initiates star sensor calibration, driving the antenna's two-dimensional pointing mechanism to eliminate the mechanism compensation angle difference below the threshold, thus completing one star sensor calibration function.

[0036] The temperature acquisition and star sensor control module 70 communicates with the star sensor via an RS422 bus. The temperature acquisition and star sensor control module 70 sends reset, self-test and other related commands to the star sensor. The 8-channel star sensor RS422 bus can communicate in a time-division manner.

[0037] The control module 20 communicates with the entire satellite via the 1553B bus, receives antenna control commands from the entire satellite, and sends antenna controller telemetry information, star sensor telemetry information, temperature telemetry, and tracking receiver information to the entire satellite. The telemetry frame contains antenna angle and status information, tracking receiver azimuth and elevation difference data, star sensor feedback data, temperature-related information, etc.

[0038] Preferably, the multifunctional modular antenna pointing controller 100 in this embodiment is made of aerospace-grade aluminum alloy 2A12-H112, using a lap joint design and screw connections to form a complete housing, which reduces contact resistance and facilitates good shielding. The front and rear cover plates are 3.5mm thick, and a reinforcing rib structure is used to increase the rigidity of the parts. Sharp corners are avoided in the design to prevent stress concentration and improve the strength of the parts. Reinforcing ribs are also designed in each module to enhance the shock resistance of individual modules. The motor drive module, temperature acquisition and star sensor control module 70, and thermal control drive module 80 are functionally independent and can be customized according to actual functional requirements. The antenna pointing controller receives orbital position and velocity information and absolute satellite time data from the satellite's 1553B bus, as well as star sensor quaternion attitude information from the temperature acquisition and star sensor control module 70. Using this data, along with the installation parameters of the antenna mechanism and the star sensor, it calculates and identifies the angle change projected onto the antenna mechanism system by the relative change in the satellite's attitude at different times, using this as the input to drive the two-dimensional pointing mechanism of the antenna.

[0039] In summary, in response to the control requirements of multi-beam antennas, the multifunctional modular antenna pointing controller provided by this invention completes multiple functions such as multi-band antenna time-division deployment positioning, beam on-orbit calibration based on star sensors, beam on-orbit calibration based on tracking receivers, and antenna temperature measurement and thermal control.

[0040] Compared with the prior art, the present invention has the following beneficial effects: First, this invention proposes for the first time an on-orbit calibration theory for antennas based on star sensors and implements a specific hardware solution. Compared to traditional calibration schemes based on tracking receivers, this invention eliminates the need for a separate tracking receiver and achieves high-precision pointing calibration using only the existing star sensors on the satellite platform, significantly reducing the R&D and hardware costs of the calibration subsystem.

[0041] Secondly, the product of this invention has a high degree of functional integration, integrating the time-division deployment positioning function of multiple antennas, the dual-mode beam calibration function based on star sensors and tracking receivers, the antenna temperature measurement function, and the heater drive control function into one unit. At the same time, the functions and interfaces of each module are independent of each other, possessing customizability and can be flexibly configured according to the actual needs of the satellite. Compared to multiple discrete devices required to achieve the same function, this invention effectively reduces the number of subsystem devices and the total weight.

[0042] Third, this invention has good practicality and promotional value. The modular design enables the on-orbit deployment and calibration function of the antenna to be productized and standardized, which can significantly shorten the product development cycle, reduce manufacturing costs, and can be applied to other satellite models that require on-orbit antenna calibration.

[0043] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0044] It should be noted that the scope of the methods and apparatus in the embodiments of the present invention is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.

[0045] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. A multifunctional modular antenna pointing controller, characterized in that, Including: The power module is used to receive the satellite bus voltage and convert it into secondary voltage, as well as to perform relay switching functions; The control module is used to interact with the upper-level device via the first bus and to receive antenna pointing control commands. Multiple motor drive modules, each of which is used to independently drive the rotation of the two-dimensional pointing mechanism of an antenna; Temperature acquisition and star sensor control module, used to connect to and receive quaternion attitude information of at least one star sensor, as well as acquire temperature telemetry information from the antenna; The thermal control drive module is used to control the on / off state of the heater; The control module is further configured to send drive commands to the motor drive module via a second bus according to the received antenna pointing control commands, so as to control the deployment and positioning of each sub-antenna in a time-division manner; and to calculate the change in antenna pointing angle caused by the change in the overall satellite attitude according to the received overall satellite orbit information, overall satellite absolute time and the quaternion attitude information, and send calibration commands to the corresponding motor drive module via the second bus to drive the antenna two-dimensional pointing mechanism to rotate to eliminate the change in antenna pointing angle.

2. The multifunctional modular antenna pointing controller according to claim 1, characterized in that, The number of motor drive modules is determined based on the actual number of antenna reflectors configured on the satellite, and each motor drive module has a corresponding communication address.

3. The multifunctional modular antenna pointing controller according to claim 1, characterized in that, The control module controls the antenna rotation in either a closed-loop or open-loop mode; wherein the closed-loop control accuracy is less than or equal to 0.025°, and the open-loop control accuracy is less than or equal to 0.06°.

4. The multifunctional modular antenna pointing controller according to claim 1, characterized in that, The control module calculates the change in the antenna pointing angle, including: Calculate the difference between the X-axis motor angle information and the Y-axis motor angle information in the two-dimensional pointing mechanism coordinate system of the antenna at the current time and the reference time, and use the difference as the change in antenna pointing angle.

5. The multifunctional modular antenna pointing controller according to claim 4, characterized in that, The calculation of the difference between the X-axis motor angle information and the Y-axis motor angle information in the antenna two-dimensional pointing mechanism coordinate system at the current time and the reference time specifically includes: At the reference time, the transformation matrix of the star sensor relative to the inertial space is calculated based on the quaternion attitude information fed back by the star sensor, and the transformation matrix from the inertial coordinate system to the orbital coordinate system is calculated based on the whole satellite orbit information. Then, combined with the installation matrix of the star sensor on the antenna reflector and the installation matrix of the antenna two-dimensional pointing mechanism on the satellite body, the X-axis motor angle information and Y-axis motor angle information in the coordinate system of the antenna two-dimensional pointing mechanism at the reference time are calculated. At the current moment, repeat the above steps to calculate the X-axis motor angle information and Y-axis motor angle information in the coordinate system of the antenna two-dimensional pointing mechanism at the current moment; The difference between the X-axis motor angle information at the current time and the reference time is used as the X-axis mechanism compensation angle, and the difference between the Y-axis motor angle information at the current time and the reference time is used as the Y-axis mechanism compensation angle. The X-axis mechanism compensation angle and the Y-axis mechanism compensation angle constitute the antenna pointing angle change.

6. The multifunctional modular antenna pointing controller according to claim 1, characterized in that, The temperature acquisition and star sensor control module supports the simultaneous acquisition of temperature telemetry information from at least 60 antennas and is compatible with one or more thermistors of MF501, B4, A2, and MF51.

7. The multifunctional modular antenna pointing controller according to claim 1, characterized in that, The thermal control drive module is used to simultaneously control at least 20 antenna heaters for passive temperature control, wherein the single-channel load current is less than or equal to 1A and the single-channel heater power consumption is less than or equal to 30W.

8. The multifunctional modular antenna pointing controller according to claim 1, characterized in that, The functions and interfaces of the power supply module, the control module, the multiple motor drive modules, the temperature acquisition and star sensor control module, and the thermal control drive module are independent of each other.

9. The multifunctional modular antenna pointing controller according to claim 1, characterized in that, The control module communicates with the tracking receiver via a second bus to receive automatic gain control data, azimuth and pitch difference data provided by the tracking receiver; wherein, when the automatic gain control data is greater than a preset locking threshold, the control module automatically tracks the ground target based on the azimuth and pitch difference data.

10. The multifunctional modular antenna pointing controller according to claim 1, characterized in that, The control module interacts with the upper-level device via a 1553B bus and communicates with the motor drive module and the tracking receiver via an RS422 bus; the temperature acquisition and star sensor control module communicates with the star sensor via an RS422 bus.

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