A target antenna pointing control system, method, device and storage medium

Abstract

The present invention discloses a pointing control system, method, device and storage medium of a target antenna. The system comprises: a reference antenna, a posture determination module, a controller and a servo module; the posture determination module is used to determine the first posture information of the reference antenna and the second posture information of the target antenna, and send the first posture information and the second posture information to the controller; the controller is used to determine the reference pointing angle of the reference antenna pointing to a reference satellite according to the first posture information, determine the target pointing angle of the target antenna pointing to the target satellite according to the reference pointing angle and the second posture information, generate a second control instruction for controlling the target antenna to turn to the target pointing angle, and send the second control instruction to the servo module; wherein the reference satellite is a satellite with a global beam, and the relative positions of the reference satellite and the target satellite are known; the servo module is used to respond to the second control instruction to control the target antenna to turn to the target pointing angle.

Description

Technical Field

[0001] The present invention relates to the field of satellite communication technology, and in particular to a pointing control system, method, device and storage medium of a target antenna. Background Art

[0002] The existing mature satellite antennas for moving communication are mostly used for communicating with geosynchronous orbit satellites. Their characteristics are that the pointing angle of the ground relative to the satellite is fixed. When the carrier on which the antenna is located moves, it is only necessary to isolate the movement of the carrier to keep the antenna pointing from deviating from the target satellite as the carrier moves, thereby achieving the purpose of real-time communication. Most of the existing antennas for moving communication are based on traditional global beam satellites, based on inertial navigation and servo control, to achieve stable tracking, analyze the satellite's beacon for closed-loop control, and thus achieve stable communication with the satellite.

[0003] Traditional satellites mostly use global beams to cover the entire area, which has disadvantages such as low received power spectrum density and low system capacity, and can no longer meet the current diversified service needs of satellite communications. In this case, multi-beam broadband satellite communication systems are proposed. Now, more and more newly launched geosynchronous satellites use multi-beam methods, which can generate multiple isolated beams within their coverage area.

[0004] When communicating with multi-beam satellites, for traditional moving antennas, when communicating across beams, the antenna will lose feedback signals such as beacons, resulting in the loss of feedback signals of traditional moving antennas, causing problems such as pointing angle deviation and communication interruption. Summary of the invention

[0005] The present invention provides a pointing control system, method, device and storage medium of a target antenna to solve the problem of communication interruption when the antenna and a multi-beam satellite communicate across beams.

[0006] According to one aspect of the present invention, there is provided a pointing control system for a target antenna, comprising:

[0007] Reference antenna, posture determination module, controller and servo module;

[0008] The posture determination module is used to determine the first posture information of the reference antenna and the second posture information of the target antenna, and send the first posture information and the second posture information to the controller;

[0009] The controller is used to determine a reference pointing angle of the reference antenna pointing to a reference satellite according to the first posture information, determine a target pointing angle of the target antenna pointing to a target satellite according to the reference pointing angle and the second posture information, and generate a second control instruction for controlling the target antenna to turn to the target pointing angle, and send the second control instruction to the servo module; wherein the reference satellite is a satellite with a global beam, and the relative position of the reference satellite and the target satellite is known;

[0010] The servo module is used to control the target antenna to turn to the target pointing angle in response to the second control instruction.

[0011] Optionally, the controller is specifically used for:

[0012] Determining the theoretical position of the reference satellite;

[0013] Determine the reference pointing angle according to the first posture information and the theoretical position of the reference satellite, and generate a first control instruction to control the reference antenna to turn to the reference pointing angle;

[0014] Correspondingly, the servo module is further used to respond to the first control instruction and control the reference antenna to turn to the reference pointing angle.

[0015] Optionally, the reference antenna is used to search for the satellite signal of the reference satellite after turning to the reference pointing angle, align with the reference satellite according to the satellite signal, and feed back the actual pointing angle of the reference antenna to the controller.

[0016] Optionally, the reference antenna is specifically used for:

[0017] Performing conical scanning on the reference satellite to determine the pointing angle corresponding to the maximum intensity of the satellite signal;

[0018] The reference satellite is aligned in real time according to the pointing angle corresponding to the maximum intensity of the satellite signal.

[0019] Optionally, the controller is further used for:

[0020] Correcting the posture determination module according to the actual pointing angle and the reference pointing angle;

[0021] Correspondingly, the posture determination module is also used to determine the corrected first posture information and the corrected second posture information, and send the corrected first posture information and the corrected second posture information to the controller.

[0022] Optionally, the controller is specifically used for:

[0023] The target pointing angle is determined according to the corrected first posture information and the corrected second posture information.

[0024] Optionally, the system also includes an initialization module for determining the initial postures corresponding to the reference antenna and the target antenna respectively before the posture determination module determines the first posture information of the reference antenna and the second posture information of the target antenna.

[0025] According to another aspect of the present invention, a method for controlling a pointing direction of a target antenna is provided. The method is applied to the pointing direction control system of the target antenna according to any embodiment of the present invention, and comprises:

[0026] Determine the first pose information of the reference antenna and the second pose information of the target antenna by using the pose determination module, and send the first pose information and the second pose information to the controller;

[0027] The controller is used to determine a reference pointing angle of the reference antenna pointing to a reference satellite according to the first posture information, and a target pointing angle of the target antenna pointing to a target satellite according to the reference pointing angle and the second posture information, and a second control instruction is generated to control the target antenna to turn to the target pointing angle, and the second control instruction is sent to the servo module; wherein the reference satellite is a satellite with a global beam, and the relative positions of the reference satellite and the target satellite are known;

[0028] The servo module is utilized to respond to the second control instruction to control the target antenna to turn to the target pointing angle.

[0029] Further, using the controller to determine a reference pointing angle of the reference antenna pointing to a reference satellite according to the first posture information includes:

[0030] Determining a theoretical position of the reference satellite using the controller;

[0031] Determine the reference pointing angle according to the first posture information and the theoretical position of the reference satellite, and generate a first control instruction to control the reference antenna to turn to the reference pointing angle;

[0032] Accordingly, the method further includes:

[0033] The servo module is utilized to respond to the first control instruction to control the reference antenna to turn to the reference pointing angle.

[0034] Furthermore, the method further comprises:

[0035] After the reference antenna is turned to the reference pointing angle, the reference antenna is used to search for the satellite signal of the reference satellite, the reference satellite is aligned according to the satellite signal, and the actual pointing angle of the reference antenna is fed back to the controller.

[0036] Further, searching for a satellite signal of the reference satellite using the reference antenna and aligning the reference satellite according to the satellite signal includes:

[0037] Using the reference antenna to perform conical scanning on the reference satellite to determine the pointing angle corresponding to the maximum intensity of the satellite signal;

[0038] The reference satellite is aligned in real time according to the pointing angle corresponding to the maximum intensity of the satellite signal.

[0039] Furthermore, the method further comprises:

[0040] Utilizing the controller to correct the posture determination module according to the actual pointing angle and the reference pointing angle;

[0041] Accordingly, the method further includes:

[0042] The posture determination module is used to determine the corrected first posture information and the corrected second posture information, and the corrected first posture information and the corrected second posture information are sent to the controller.

[0043] Furthermore, the method further comprises:

[0044] The controller is used to determine the target pointing angle according to the corrected first posture information and the corrected second posture information.

[0045] Furthermore, the method further comprises:

[0046] Before the posture determination module determines the first posture information of the reference antenna and the second posture information of the target antenna, an initialization module is used to determine the initial postures corresponding to the reference antenna and the target antenna respectively.

[0047] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0048] at least one processor; and

[0049] a memory communicatively connected to the at least one processor; wherein,

[0050] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the pointing control method of the target antenna described in any embodiment of the present invention.

[0051] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for controlling the pointing direction of a target antenna described in any embodiment of the present invention when executed.

[0052] The pointing control system of the target antenna disclosed in the embodiment of the present invention calculates the pointing angle of the target antenna according to the pointing angle of the reference antenna by setting a reference antenna. When the carrier on which the antenna is located undergoes cross-beam motion, since the reference satellite is a global beam, the reference antenna does not experience cross-beam motion and is always aligned with the satellite. Therefore, the attitude of the target satellite calculated on this basis is always accurate, thereby ensuring that the target antenna is always aligned with the target satellite and the communication of the target antenna is not affected by cross-beam motion.

[0053] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0055] Figure 1 is a structural schematic diagram of a pointing control system of a target antenna provided according to Embodiment 1 of the present invention;

[0056] Figure 2 is a schematic diagram of a method for calculating a theoretical position of a reference satellite provided according to Embodiment 1 of the present invention;

[0057] Figure 3 is a schematic diagram of the working process of a pointing control system of a target antenna provided according to Embodiment 1 of the present invention;

[0058] Figure 4 is a flow chart of a method for controlling the pointing direction of a target antenna provided according to Embodiment 2 of the present invention;

[0059] Figure 5It is a structural schematic diagram of an electronic device for implementing the target antenna pointing control method of the third embodiment of the present invention. DETAILED DESCRIPTION

[0060] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0061] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0062] Embodiment 1

[0063] Figure 1 This is a schematic diagram of the structure of a pointing control system of a target antenna provided in the first embodiment of the present invention. This embodiment is applicable to the case where a satellite antenna in motion is used to communicate with a multi-beam satellite. The pointing control system of the target antenna can be implemented in the form of hardware and / or software. Figure 1 As shown, the system includes: a reference antenna 110, a posture determination module 120, a controller 130 and a servo module 140.

[0064] The reference antenna is another antenna different from the target antenna. The difference between the reference antenna and the target antenna is that the target antenna is used to communicate with the target satellite, has complete communication functions, and is also a communication carrier for user data; the reference antenna is used to receive signals from the reference satellite and does not bear the communication of user data. The target satellite is a communication satellite for user data and is a multi-beam satellite. The reference satellite is a satellite with a global beam, and the relative position of the reference satellite and the target satellite is known.

[0065] Optionally, the antenna can be an antenna feed system that radiates electromagnetic waves toward the surrounding space, the target antenna is the main antenna feed system, and the reference antenna is the auxiliary antenna feed system. Preferably, the main antenna feed system uses a horn array antenna, which has complete transceiver communication functions and is used to communicate with multi-beam satellites; the auxiliary antenna feed system uses a horn array antenna, which is lighter and more compact, and only has a receiving function, and is used to receive beacon signals from reference satellites.

[0066] The posture determination module 120 is used to determine the first posture information of the reference antenna 110 and the second posture information of the target antenna, and send the first posture information and the second posture information to the controller 130 .

[0067] Among them, the posture determination module 120 is a module for determining the posture of the target antenna and the reference antenna. The posture of the antenna includes the position and pointing angle of the antenna. In the pointing control of the antenna, the current posture of the antenna and the target pointing angle are determined to determine how to rotate the control antenna and adjust the posture of the antenna to point to the target pointing angle.

[0068] In this embodiment, the posture determination module 120 can respectively collect the postures of the target antenna and the reference antenna, and then send the collected data to the controller 130 for controlling the pointing directions of the target antenna and the reference antenna.

[0069] Optionally, the position and posture determination module 120 may include an inertial navigation system 121. The inertial navigation system 121 (INS) is a navigation parameter calculation system using a gyroscope and an accelerometer as sensitive devices. The system establishes a navigation coordinate system based on the output of the gyroscope, calculates the speed and position of the carrier in the navigation coordinate system based on the output of the accelerometer, and can provide the pointing control system of the target antenna with data such as the position, speed, heading, and attitude angle of the carrier where the antenna is located.

[0070] Optionally, the two antenna feed systems corresponding to the target antenna and the reference antenna respectively have an azimuth-pitch-polarization three-axis motion structure, and each axis is driven by a DC motor. The posture determination module 120 can also include an encoder 122, which can convert information such as angular displacement or linear displacement into an electrical signal, thereby outputting the three-axis real-time angle to the controller 130.

[0071] The controller 130 is used to determine a reference pointing angle of the reference antenna 110 pointing to the reference satellite based on the first posture information, determine a target pointing angle of the target antenna pointing to the target satellite based on the reference pointing angle and the second posture information, and generate a second control instruction to control the target antenna to turn to the target pointing angle, and send the second control instruction to the servo module 140.

[0072] The servo module 140 is used to respond to the second control instruction and control the target antenna to turn to the target pointing angle.

[0073] In this embodiment, the position of the reference satellite is known, and the controller 130 can calculate the reference pointing angle for pointing the reference antenna 110 to the reference satellite according to the current position of the reference antenna 110. Furthermore, since the relative position of the target satellite and the reference satellite is known, after the reference antenna points to the reference satellite, the target pointing angle for pointing the target antenna to the target satellite can be determined according to the reference pointing angle of the reference satellite and the current position of the target satellite. After determining the target pointing angle, the controller 130 can generate a corresponding control instruction to instruct the servo module 140 to generate a control action to adjust the position of the target antenna to the target pointing angle.

[0074] Optionally, the servo module 140 may include a servo motor, wherein a servo motor refers to an engine that controls the operation of mechanical components in a servo system, and is an auxiliary motor indirect speed change device.

[0075] Optionally, the controller 130 is specifically configured to:

[0076] Determine the theoretical position of the reference satellite; determine the reference pointing angle according to the first pose information and the theoretical position of the reference satellite, and generate a first control instruction for controlling the reference antenna 110 to turn to the reference pointing angle. Correspondingly, the servo module 140 is also used to respond to the first control instruction and control the reference antenna 110 to turn to the reference pointing angle.

[0077] Specifically, Figure 2 A schematic diagram of a method for calculating the theoretical position of a reference satellite provided in the first embodiment of the present invention is shown in the figure. Assume that the carrier where the reference antenna is located is located at point K on the equator, and the reference satellite is located at point B outside the earth. The carrier geographic coordinate system is established with point K as the origin, and one coordinate axis points to the east, and the other coordinate axis is perpendicular to the ground and points to the sky. Let point A be the center of the earth, the longitude of point K be L2, R represents the radius of the earth, H represents the height of the reference satellite, and L1 is the longitude of the reference satellite. Then the distance between the reference satellite and the center of the earth is: AB = R + H; the projection of the reference satellite in the east direction of the carrier geographic coordinate system is: BB1 = -(R + H) sin (L2-L1); the projection of the reference satellite in the sky direction of the carrier geographic coordinate system is: AB1 = (R + H) cos (L2-L1).

[0078] Then move the carrier north to point P, whose latitude is α and longitude is still L2. Establish a coordinate system with point P as the origin, with one coordinate axis pointing to the north and the other perpendicular to the ground pointing to the sky. Then the projection of B1 in the north direction of the coordinate system is: B1B2 = AB1 × sinα = -(R+H)cos(L2-L1) × sinα; the projection of B1 in the sky direction of the coordinate system is: AB2 = AB1 × cosα = (R+H)cos(L2-L1)cosα.

[0079] Therefore, the coordinates of the satellite in the carrier's geographic coordinate system can be obtained as:

[0080]

[0081] After determining the theoretical coordinates of the reference satellite, the reference pointing angle of the reference antenna pointing to the reference satellite can be determined according to the current first position information of the reference satellite. Then the controller 130 can generate a first control instruction to control the reference antenna 110 to turn to the reference pointing angle, so that the servo module 140 generates a corresponding action to drive the reference antenna 110 to reach the reference pointing angle.

[0082] Optionally, after the reference antenna 110 is turned to a reference pointing angle, it searches for a satellite signal of a reference satellite, aligns with the reference satellite according to the satellite signal, and feeds back an actual pointing angle of the reference antenna 110 to the controller 130 .

[0083] In practical applications, since inertial navigation systems all have certain errors, especially MENS inertial navigation systems, factors such as temperature and electromagnetic interference will interfere with them, and as the working time accumulates, the errors will continue to accumulate. Therefore, the theoretical coordinates of the reference satellite calculated based on the posture data provided by the posture determination module 120 may have certain errors. To overcome the errors, when the reference antenna 110 reaches the reference pointing angle, it can search for and receive the satellite signal of the reference satellite, and then make small angle adjustments when the signal is found, so that the reference antenna 110 is aligned with the reference satellite.

[0084] Furthermore, after the reference antenna 110 is aligned with the reference satellite, the actual pointing angle may be fed back to the controller 130 .

[0085] Optionally, the reference antenna 110 is specifically used for:

[0086] A conical scan is performed on the reference satellite to determine the pointing angle corresponding to the maximum intensity of the satellite signal; the reference satellite is aligned in real time according to the pointing angle corresponding to the maximum intensity of the satellite signal.

[0087] The conical scanning is a sequential scanning method of a cone whose apex angle in the direction of maximum radiation of the beam is approximately the half-power beam width of the antenna. In this embodiment, the reference antenna 110 can find the maximum value of the satellite signal by the conical scanning method when the satellite signal of the reference satellite is found, so that the reference antenna 110 is aligned with the direction corresponding to the maximum signal strength.

[0088] Preferably, the reference antenna 110 may include a beacon receiving module 111, which can receive the beacon signal of the reference satellite, determine the pointing angle corresponding to the maximum intensity of the beacon signal, align the reference antenna 110 with the reference satellite at the angle, and feed back the angle to the controller 130.

[0089] Optionally, the controller 130 is further configured to:

[0090] The posture determination module 120 is corrected according to the actual pointing angle and the reference pointing angle. Accordingly, the posture determination module 120 is also used to determine the corrected first posture information and the corrected second posture information, and send the corrected first posture information and the corrected second posture information to the controller 130.

[0091] In this embodiment, the controller 130 can correct the posture determination module 120 according to the received actual pointing angle and the calculated reference pointing angle, so that the posture determination module 120 determines the corrected first posture information and the corrected second posture information and sends them to the controller 130.

[0092] Optionally, the controller 130 is specifically configured to:

[0093] The target pointing angle is determined according to the corrected first pose information and the corrected second pose information.

[0094] Specifically, in this system, after the reference antenna 110 finds the reference satellite according to the calculated reference pointing angle, it can continuously perform conical scanning, and then determine the actual pointing angle aligned with the reference satellite through the satellite signal of the reference satellite. The controller 130 can infer the position and attitude of the carrier where the reference antenna is located according to the actual pointing angle, and calibrate the posture determination module 120 according to the error between the actual pointing angle and the reference pointing angle, and then calculate the theoretical position of the target satellite through the calibrated posture determination module 120, and then determine the target pointing angle of the target antenna. Preferably, the reference antenna 110 and the target antenna are on the same carrier platform, and the posture determination module 120 is almost error-free through continuous calibration, so the theoretical position of the target satellite calculated by the posture data collected by the posture determination module 120 is consistent with the actual position, so that the target antenna and the target satellite can be aligned in real time.

[0095] Optionally, the system also includes an initialization module 150, which is used to determine the initial postures corresponding to the reference antenna 110 and the target antenna respectively before the posture determination module 120 determines the first posture information of the reference antenna 110 and the second posture information of the target antenna.

[0096] In this embodiment, after being powered on, the pointing control system of the target antenna may first perform a zeroing operation of the reference antenna 110 and the target antenna to determine the initial postures of the reference antenna 110 and the target antenna.

[0097] Optionally, the initialization module 150 includes a high-precision zero position switch, and the initial postures of the reference antenna 110 and the target antenna can be determined by the high-precision zero position switch.

[0098] Figure 3 A schematic diagram of the working process of a pointing control system of a target antenna provided in the first embodiment of the present invention is shown in the figure. The servo module 140 can be divided into a main servo module 141 and a sub-servo module 142, which are respectively used to drive the steering action of the target antenna and the reference antenna 110. After the system is powered on, a zeroing action is first performed to obtain the initial posture of the reference antenna 110 and the target antenna. The controller 130 obtains the current posture information and three-axis real-time angle of the antenna through the inertial navigation system 121 and the encoder 122, and calculates the reference pointing angle of the reference antenna 110 in the geographic coordinate system through these data, and then controls the sub-servo module 142 through the PID controller to drive the reference antenna 110 to find the beacon signal of the reference satellite. After the reference antenna 110 finds the reference satellite, it performs a conical scan through the beacon receiving module 111 to keep the antenna aligned with the reference star, and feeds back the actual pointing angle to the controller 130 for correcting the inertial navigation system 121. According to the attitude of the reference antenna 110 toward the reference satellite, the controller 130 can calculate the position of the target satellite and the target pointing angle of the target antenna through coordinate transformation, and then control the main servo module 141 through the PID controller to drive the target antenna to change its attitude so as to align with the target satellite.

[0099] The pointing control system of the target antenna disclosed in the embodiment of the present invention calculates the pointing angle of the target antenna according to the pointing angle of the reference antenna by setting a reference antenna. When the carrier on which the antenna is located undergoes cross-beam motion, since the reference satellite is a global beam, the reference antenna does not experience cross-beam motion and is always aligned with the satellite. Therefore, the attitude of the target satellite calculated on this basis is always accurate, thereby ensuring that the target antenna is always aligned with the target satellite and the communication of the target antenna is not affected by cross-beam motion.

[0100] Embodiment 2

[0101] Figure 4 A flowchart of a method for controlling the pointing direction of a target antenna is provided for the second embodiment of the present invention. The method can be executed by the pointing direction control system of the target antenna described in any embodiment of the present invention. Figure 4 As shown, the method includes:

[0102] S210, using a posture determination module to determine the first posture information of the reference antenna and the second posture information of the target antenna, and sending the first posture information and the second posture information to a controller.

[0103] In this embodiment, the posture determination module can respectively collect the postures of the target antenna and the reference antenna, and then send the collected data to the controller for controlling the pointing directions of the target antenna and the reference antenna.

[0104] Optionally, the posture determination module may include an inertial navigation system. An inertial navigation system (INS) is a navigation parameter calculation system using a gyroscope and an accelerometer as sensitive devices. The system establishes a navigation coordinate system based on the output of the gyroscope, and calculates the speed and position of the carrier in the navigation coordinate system based on the output of the accelerometer. The system can provide the pointing control system of the target antenna with data such as the position, speed, heading, and attitude angle of the carrier where the antenna is located.

[0105] Optionally, the two antenna feed systems corresponding to the target antenna and the reference antenna respectively have an azimuth-pitch-polarization three-axis motion structure, and each axis is driven by a DC motor. The posture determination module may also include an encoder, which can convert information such as angular displacement or linear displacement into an electrical signal, thereby outputting the three-axis real-time angle to the controller.

[0106] S220, using the controller to determine a reference pointing angle of the reference antenna pointing to the reference satellite according to the first posture information, determine a target pointing angle of the target antenna pointing to the target satellite according to the reference pointing angle and the second posture information, and generate a second control instruction to control the target antenna to turn to the target pointing angle, and send the second control instruction to the servo module.

[0107] The reference satellite is a satellite with a global beam, and the relative position of the reference satellite and the target satellite is known.

[0108] In this embodiment, the position of the reference satellite is known, and the controller can calculate the reference pointing angle for pointing the reference antenna to the reference satellite according to the current position of the reference antenna. Furthermore, since the relative position of the target satellite and the reference satellite is known, after the reference antenna points to the reference satellite, the target pointing angle for pointing the target antenna to the target satellite can be determined according to the reference pointing angle of the reference satellite and the current position of the target satellite. After determining the target pointing angle, the controller can generate a corresponding control instruction to instruct the servo module to generate a control action to adjust the position of the target antenna to the target pointing angle.

[0109] Optionally, the method of using a controller to determine the reference pointing angle of the reference antenna pointing to the reference satellite based on the first posture information can be: using the controller to determine the theoretical position of the reference satellite; determining the reference pointing angle based on the first posture information and the theoretical position of the reference satellite, and generating a first control instruction to control the reference antenna to turn to the reference pointing angle.

[0110] Accordingly, the method further includes:

[0111] The servo module is used to respond to the first control instruction to control the reference antenna to turn to a reference pointing angle.

[0112] Specifically, the controller can calculate the theoretical coordinates of the reference satellite, and the specific calculation method is as described in the previous embodiment. After determining the theoretical coordinates of the reference satellite, the reference pointing angle of the reference antenna pointing to the reference satellite can be determined according to the current first position information of the reference satellite. Then the controller can generate a first control instruction to control the reference antenna to turn to the reference pointing angle, so that the servo module generates a corresponding action to drive the reference antenna to reach the reference pointing angle.

[0113] S230, utilizing the servo module to respond to the second control instruction and control the target antenna to turn to the target pointing angle.

[0114] Furthermore, the method further comprises:

[0115] After the reference antenna is turned to the reference pointing angle, the reference antenna is used to search for the satellite signal of the reference satellite, the reference satellite is aligned according to the satellite signal, and the actual pointing angle of the reference antenna is fed back to the controller.

[0116] In this embodiment, since the posture determination module may have certain errors, the theoretical coordinates of the reference satellite calculated based on the posture data provided by the posture determination module may have certain errors. To overcome the errors, when the reference antenna reaches the reference pointing angle, it can search for and receive the satellite signal of the reference satellite, and then perform small angle fine-tuning when the signal is found, so that the reference antenna is aligned with the reference satellite.

[0117] Optionally, the reference antenna is used to search for the satellite signal of the reference satellite, and the method for aligning the reference satellite according to the satellite signal can be: using the reference antenna to perform a conical scan of the reference satellite to determine the pointing angle corresponding to the maximum intensity of the satellite signal; and aligning the reference satellite in real time according to the pointing angle corresponding to the maximum intensity of the satellite signal.

[0118] Specifically, the reference antenna can find the maximum value of the satellite signal by conical scanning when the satellite signal of the reference satellite is found, so that the reference antenna is aligned with the direction corresponding to the maximum signal strength. Preferably, the reference antenna can include a beacon receiving module, which can receive the beacon signal of the reference satellite, determine the pointing angle corresponding to the maximum strength of the beacon signal, align the reference antenna with the reference satellite at the angle, and feed the angle back to the controller.

[0119] Furthermore, the method further comprises:

[0120] The controller is used to correct the posture determination module according to the actual pointing angle and the reference pointing angle.

[0121] Accordingly, the method further includes:

[0122] The corrected first pose information and the corrected second pose information are determined by using a pose determination module, and the corrected first pose information and the corrected second pose information are sent to a controller.

[0123] In this embodiment, the controller can correct the posture determination module according to the received actual pointing angle and the calculated reference pointing angle, so that the posture determination module determines the corrected first posture information and the corrected second posture information and sends them to the controller.

[0124] Furthermore, the method further comprises:

[0125] The controller is used to determine the target pointing angle according to the corrected first posture information and the corrected second posture information.

[0126] In this embodiment, the posture determination module is almost error-free through continuous calibration, so the theoretical position of the target satellite calculated by the controller based on the corrected data is consistent with the actual position, and the target straight line angle calculated is accurate, thereby achieving real-time alignment of the target antenna and the target satellite.

[0127] Furthermore, the method further comprises:

[0128] Before the posture determination module determines the first posture information of the reference antenna and the second posture information of the target antenna, the initialization module is used to determine the initial postures corresponding to the reference antenna and the target antenna respectively.

[0129] In this embodiment, after being powered on, the pointing control system of the target antenna may first perform a zeroing operation of the reference antenna and the target antenna to determine the initial postures of the reference antenna and the target antenna.

[0130] The target antenna pointing control method provided in the embodiment of the present invention can be executed by the target antenna pointing control system provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the target antenna pointing control system.

[0131] Embodiment 3

[0132] Figure 5 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0133] like Figure 5 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0134] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0135] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a pointing control method for a target antenna.

[0136] In some embodiments, the pointing control method of the target antenna may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the pointing control of the target antenna described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the pointing control method of the target antenna in any other appropriate manner (e.g., by means of firmware).

[0137] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0138] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0139] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0140] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0141] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0142] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0143] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0144] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A pointing control system for a target antenna, characterized in that: The system comprises: a reference antenna, a posture determination module, a controller and a servo module; The posture determination module is used to determine the first posture information of the reference antenna and the second posture information of the target antenna, and send the first posture information and the second posture information to the controller; The controller is used to determine a reference pointing angle of the reference antenna pointing to a reference satellite according to the first posture information, determine a target pointing angle of the target antenna pointing to a target satellite according to the reference pointing angle and the second posture information, and generate a second control instruction for controlling the target antenna to turn to the target pointing angle, and send the second control instruction to the servo module; wherein the reference satellite is a satellite with a global beam, and the relative position of the reference satellite and the target satellite is known; The servo module is used to control the target antenna to turn to the target pointing angle in response to the second control instruction.

2. The system according to claim 1, characterized in that The controller is specifically used for: Determining the theoretical position of the reference satellite; Determine the reference pointing angle according to the first posture information and the theoretical position of the reference satellite, and generate a first control instruction to control the reference antenna to turn to the reference pointing angle; Correspondingly, the servo module is further used to respond to the first control instruction and control the reference antenna to turn to the reference pointing angle.

3. The system according to claim 1, characterized in that The reference antenna is used to search for the satellite signal of the reference satellite after turning to the reference pointing angle, align the reference satellite according to the satellite signal, and feed back the actual pointing angle of the reference antenna to the controller.

4. The system according to claim 3, characterized in that The reference antenna is specifically used for: Performing conical scanning on the reference satellite to determine the pointing angle corresponding to the maximum intensity of the satellite signal; The reference satellite is aligned in real time according to the pointing angle corresponding to the maximum intensity of the satellite signal.

5. The system according to claim 3, characterized in that The controller is also used for: Correcting the posture determination module according to the actual pointing angle and the reference pointing angle; Correspondingly, the posture determination module is also used to determine the corrected first posture information and the corrected second posture information, and send the corrected first posture information and the corrected second posture information to the controller.

6. The system according to claim 5, characterized in that The controller is specifically used for: The target pointing angle is determined according to the corrected first posture information and the corrected second posture information.

7. The system according to claim 1, characterized in that The system also includes an initialization module for determining the initial postures corresponding to the reference antenna and the target antenna respectively before the posture determination module determines the first posture information of the reference antenna and the second posture information of the target antenna.

8. A method for controlling the direction of a target antenna, characterized in that: The method is applied to the system according to any one of claims 1 to 7, comprising: Determine the first pose information of the reference antenna and the second pose information of the target antenna by using the pose determination module, and send the first pose information and the second pose information to the controller; The controller is used to determine a reference pointing angle of the reference antenna pointing to a reference satellite according to the first posture information, and a target pointing angle of the target antenna pointing to a target satellite according to the reference pointing angle and the second posture information, and a second control instruction is generated to control the target antenna to turn to the target pointing angle, and the second control instruction is sent to the servo module; wherein the reference satellite is a satellite with a global beam, and the relative positions of the reference satellite and the target satellite are known; The servo module is utilized to respond to the second control instruction to control the target antenna to turn to the target pointing angle.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the pointing control method of the target antenna described in claim 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the target antenna pointing control method described in claim 8 when executed.

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