Antenna-to-satellite control method and apparatus, and antenna device

Abstract

This application provides an antenna alignment control method, apparatus, and antenna device. By utilizing the existing carrier wave detector in the antenna and the signal strength of the target satellite captured by the carrier wave detector, true north is determined, and the azimuth angle of the antenna during alignment is adjusted. A dual-axis accelerometer is also installed to determine the initial elevation angle, thereby enabling the antenna controller to control the antenna alignment. Therefore, since a carrier wave detector is already required in the antenna to adjust the azimuth angle using the signal strength of the target satellite captured by the carrier wave detector, only a dual-axis accelerometer needs to be installed in the antenna to adjust the elevation angle. This achieves antenna alignment while reducing the antenna's size and weight, making it more portable. The use of only an accelerometer also reduces antenna cost. Furthermore, the dual-axis accelerometer is not affected by the alternating electromagnetic field generated by the motor rotation, improving alignment accuracy.

Description

Technical Field

[0001] This application relates to the field of antenna technology, and in particular to an antenna satellite control method, apparatus, and antenna device. Background Technology

[0002] Currently, most satellite antennas with static positioning (hereinafter referred to as "antennas") use a two-axis stabilization and three-axis control method. Based on the antenna's geographical location and parameters such as the longitude of the target satellite, the antenna's azimuth, elevation, and polarization angles are controlled and adjusted to bring the antenna surface attitude to the theoretical value, aligning the antenna's main beam center with the target satellite, establishing a communication path, and completing satellite alignment.

[0003] Currently, in China, GPS is generally used to obtain the geographical coordinates (latitude and longitude) of the antenna's location. Then, the theoretical angles of the antenna's azimuth and elevation relative to the star are calculated based on celestial theory formulas. Inertial navigation or electronic compass is then used as the antenna surface attitude feedback system to obtain the current angles of the antenna, namely the antenna surface azimuth and elevation angles. The theoretical angles are compared with the current angles, and the antenna surface attitude is continuously adjusted to make its azimuth and elevation angles equal to the calculated theoretical angles, so that the antenna is aligned with the target satellite.

[0004] The use of inertial navigation systems (INS) is problematic for several reasons. First, INS devices are generally expensive. Second, when aligning a stationary satellite antenna, the antenna base is stationary, rendering the gyroscopes in the INS almost unused, resulting in low cost-effectiveness and unnecessary cost increases. Third, as autonomous navigation devices, INS typically have a separate casing, leading to disadvantages in size and weight. Portable satellite antennas are trending towards miniaturization, lightweight design, and high integration, making INS unsuitable for this trend. Furthermore, electronic compasses are highly sensitive to magnetic fields and have strict requirements for the surrounding electromagnetic environment. Since motors are essential for adjusting the antenna surface attitude of stationary satellite antennas, their rotation generates alternating electromagnetic fields that can affect the electronic compass's operation and cause inaccurate satellite alignment. Summary of the Invention

[0005] This application provides an antenna satellite control method, apparatus, and antenna device, which solves the problems of large antenna size, heavy weight, and high cost when using inertial navigation as an antenna surface attitude feedback system.

[0006] In a first aspect, embodiments of this application provide an antenna satellite control method, characterized in that it is applied to an antenna controller, the method comprising:

[0007] During the process of adjusting the azimuth angle of the antenna panel by controlling the rotation of the antenna mounting base, at N first time sampling points, the azimuth angle of the antenna panel and the acceleration components of the X-axis and Y-axis of the dual-axis acceleration mounted in the antenna mounting base are detected respectively to obtain N azimuth angles and N sets of X-axis and Y-axis acceleration components. The X-axis is kept perpendicular to the antenna panel during the satellite alignment process, and the Y-axis is kept parallel to the antenna panel during the satellite alignment process.

[0008] For each set of X-axis and Y-axis acceleration components, the target roll angle and target pitch angle are obtained based on the X-axis and Y-axis acceleration components and the theoretical roll angle and theoretical pitch angle of the antenna panel. After the antenna panel is aligned with the satellite according to the target roll angle and target pitch angle, the signal of the target satellite is acquired through the carrier wave receiver. The theoretical roll angle and theoretical pitch angle are calculated using celestial theory formulas.

[0009] Based on the signal strength of N signals from the target satellite, the desired azimuth angle, desired roll angle, and desired pitch angle are determined from the N azimuth angles, N sets of target roll angles, and target pitch angles.

[0010] The antenna panel is controlled to align with the satellite based on the desired azimuth angle, desired roll angle, and desired pitch angle.

[0011] Optionally, determining the desired azimuth angle, desired roll angle, and desired pitch angle from the N azimuth angles, N sets of target roll angles, and target pitch angles based on the signal strength of the N signals from the target satellite includes:

[0012] Based on the signal strength of N signals from the target satellite, determine the desired azimuth angle from the N azimuth angles;

[0013] From the N sets of target roll angles and target pitch angles, the target roll angle and target pitch angle obtained by the expected acceleration components through the X-axis and Y-axis are determined as the expected roll angle and expected pitch angle, respectively. The expected acceleration components of the X-axis and Y-axis are obtained by sampling at the same time as the expected azimuth angle.

[0014] Optionally, determining the desired azimuth angle from the N azimuth angles based on the strength of the N signals from the target satellite includes:

[0015] Determine the maximum signal strength from the signal strengths of the N signals from the target satellite;

[0016] From the N azimuth angles, the azimuth angle of the antenna panel is determined to be the desired azimuth angle when the signal of the target satellite with the maximum signal strength is obtained through the carrier wave receiver.

[0017] Optionally, obtaining the target roll angle and target pitch angle based on the acceleration components of the X-axis and Y-axis, and the theoretical roll angle and theoretical pitch angle of the antenna panel, includes:

[0018] A reference pitch angle is obtained based on the acceleration component of the X-axis, and a reference roll angle is obtained based on the acceleration component of the Y-axis.

[0019] The target roll angle is obtained by compensating the theoretical roll angle with the reference roll angle, and the target pitch angle is obtained by compensating the theoretical pitch angle with the reference pitch angle.

[0020] Optionally, after controlling the antenna panel to align with the satellite based on the desired azimuth angle, the desired roll angle, and the desired pitch angle, the method further includes:

[0021] In the process of adjusting the azimuth angle of the antenna panel by controlling the rotation of the antenna mounting base within a preset rotation angle range, the azimuth angle of the antenna panel is detected at M second time sampling points, and the signal of the target satellite is obtained through the carrier wave receiver. The center angle within the preset rotation angle range is the desired azimuth angle, and the azimuth angle of the antenna panel rotation between adjacent first time sampling points is greater than the azimuth angle of the antenna panel rotation between adjacent second time sampling points.

[0022] Based on the signal strength of the M signals from the target satellite, determine the azimuth angle of the satellite from the M azimuth angles;

[0023] The antenna panel is controlled to align with the satellite at the desired azimuth angle, the desired roll angle, and the desired pitch angle.

[0024] Optionally, based on the signal strength of the M signals from the target satellite, the azimuth angle for the satellite is determined from the M azimuth angles, including:

[0025] The maximum signal strength is determined from the signal strengths of the M signals from the target satellite;

[0026] From the M azimuth angles, the azimuth angle of the antenna panel is determined as the satellite azimuth angle when the signal of the target satellite with the maximum signal strength is obtained through the carrier wave machine.

[0027] Optionally, controlling the rotation of the antenna mounting base to adjust the azimuth angle of the antenna panel includes:

[0028] The azimuth angle of the antenna panel is adjusted by controlling the antenna mounting base to rotate at a constant speed.

[0029] Secondly, embodiments of this application provide an antenna-to-satellite control device, characterized in that the device comprises:

[0030] The detection module is used to detect the azimuth angle of the antenna panel and the acceleration components of the X-axis and Y-axis of the dual-axis acceleration system installed in the antenna mounting base at N first-time sampling points during the process of adjusting the azimuth angle of the antenna panel by controlling the rotation of the antenna mounting base, so as to obtain N azimuth angles and N sets of X-axis and Y-axis acceleration components. The X-axis is kept perpendicular to the antenna panel during the satellite alignment process, and the Y-axis is kept parallel to the antenna panel during the satellite alignment process.

[0031] The acquisition module is used to obtain the target roll angle and target pitch angle based on the acceleration components of each X-axis and Y-axis, as well as the theoretical roll angle and theoretical pitch angle of the antenna panel. After the antenna panel is aligned with the satellite according to the target roll angle and target pitch angle, the signal of the target satellite is acquired through the carrier wave receiver. The theoretical roll angle and theoretical pitch angle are calculated by celestial theory formulas.

[0032] The determination module is used to determine the desired azimuth angle, desired roll angle, and desired pitch angle from the N azimuth angles, N sets of target roll angles, and target pitch angles based on the signal strength of N signals of the target satellite.

[0033] The satellite alignment module is used to control the antenna panel to align with the satellite based on the desired azimuth angle, desired roll angle, and desired pitch angle.

[0034] Optionally, when the determining module determines the desired azimuth angle, desired roll angle, and desired pitch angle from the N azimuth angles, N sets of target roll angles, and target pitch angles based on the signal strength of the N signals of the target satellite, it is specifically used for:

[0035] Based on the signal strength of N signals from the target satellite, determine the desired azimuth angle from the N azimuth angles;

[0036] From the N sets of target roll angles and target pitch angles, the target roll angle and target pitch angle obtained by the expected acceleration components through the X-axis and Y-axis are determined as the expected roll angle and expected pitch angle, respectively. The expected acceleration components of the X-axis and Y-axis are obtained by sampling at the same time as the expected azimuth angle.

[0037] Optionally, when the determining module determines the desired azimuth angle from the N azimuth angles based on the strength of the N signals of the target satellite, it is specifically used for:

[0038] Determine the maximum signal strength from the signal strengths of the N signals from the target satellite;

[0039] From the N azimuth angles, the azimuth angle of the antenna panel is determined to be the desired azimuth angle when the signal of the target satellite with the maximum signal strength is obtained through the carrier wave receiver.

[0040] Optionally, the acquisition module obtains the target roll angle and target pitch angle based on the acceleration components of the X-axis and Y-axis, as well as the theoretical roll angle and theoretical pitch angle of the antenna panel, specifically for:

[0041] A reference pitch angle is obtained based on the acceleration component of the X-axis, and a reference roll angle is obtained based on the acceleration component of the Y-axis.

[0042] The target roll angle is obtained by compensating the theoretical roll angle with the reference roll angle, and the target pitch angle is obtained by compensating the theoretical pitch angle with the reference pitch angle.

[0043] Optionally, after the satellite alignment module controls the antenna panel to align with the satellite based on the desired azimuth angle, the desired roll angle, and the desired pitch angle, the detection module is further configured to:

[0044] In the process of adjusting the azimuth angle of the antenna panel by controlling the rotation of the antenna mounting base within a preset rotation angle range, the azimuth angle of the antenna panel is detected at M second time sampling points respectively. The center angle within the preset rotation angle range is the desired azimuth angle. The azimuth angle of the antenna panel rotation between adjacent first time sampling points is greater than the azimuth angle of the antenna panel rotation between adjacent second time sampling points.

[0045] The acquisition module is further configured to acquire the signal of the target satellite through the carrier wave receiver;

[0046] The determining module is further configured to determine the azimuth angle of the target satellite from the M azimuth angles based on the signal strength of the M signals of the target satellite;

[0047] The satellite alignment module is also used to control the antenna panel to align with the satellite at the azimuth angle, the desired roll angle, and the desired pitch angle.

[0048] Optionally, when the determining module determines the azimuth angle from the M azimuth angles based on the signal strengths of the M signals of the target satellite, it is specifically used for:

[0049] The maximum signal strength is determined from the signal strengths of the M signals from the target satellite;

[0050] From the M azimuth angles, the azimuth angle of the antenna panel is determined as the satellite azimuth angle when the signal of the target satellite with the maximum signal strength is obtained through the carrier wave machine.

[0051] Optionally, when the satellite alignment module controls the rotation of the antenna mounting base to adjust the azimuth angle of the antenna panel, it is specifically used for:

[0052] The azimuth angle of the antenna panel is adjusted by controlling the antenna mounting base to rotate at a constant speed.

[0053] Thirdly, embodiments of this application provide an antenna device, including: a dual-axis accelerometer, a carrier generator, and an antenna controller;

[0054] The dual-axis accelerometer, the carrier generator, and the antenna controller are connected. The dual-axis accelerometer is installed in the antenna mounting base of the antenna. The antenna panel is connected to the antenna mounting base. The X-axis remains perpendicular to the antenna panel during satellite alignment, and the Y-axis remains parallel to the antenna panel during satellite alignment. The carrier generator and the antenna controller are both installed on the main control board of the antenna, which is located on the back of the antenna panel.

[0055] The dual-axis accelerometer is used to acquire the acceleration components of the X-axis and Y-axis of the dual-axis acceleration, and send the acceleration components of the X-axis and Y-axis to the antenna controller;

[0056] The carrier wave receiver is used to acquire the signal from the target satellite and send the signal from the target satellite to the antenna controller;

[0057] The antenna controller is configured to control the antenna panel to focus on the satellite according to the method described in any one of the first aspects.

[0058] Fourthly, embodiments of this application provide a readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the method described in any of the first aspects.

[0059] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the method described in any of the first aspects.

[0060] Sixthly, embodiments of this application provide a chip system, the chip system comprising: a processor and a memory;

[0061] The memory stores the instructions that the computer executes;

[0062] The processor executes computer execution instructions stored in memory, causing the processor to perform the method as described in any of the first aspects.

[0063] This application provides an antenna alignment control method, device, and antenna equipment. During the process of adjusting the azimuth angle of the antenna panel by rotating the antenna mounting base, the azimuth angle and the X-axis and Y-axis acceleration components of the dual-axis acceleration are detected at N first-time sampling points to obtain N reference azimuth angles and N sets of X-axis and Y-axis acceleration components. Based on each set of X-axis and Y-axis acceleration components, and the theoretical roll angle and theoretical elevation angle of the antenna panel, the target roll angle and target elevation angle are obtained. After controlling the antenna panel to align with the satellite based on each set of target roll angles and target elevation angles, the signal of the target satellite is acquired through a carrier wave receiver. Based on the signal strength of the N signals from the target satellite, the desired azimuth angle, desired roll angle, and desired elevation angle are determined from the N azimuth angles, N sets of target roll angles, and target elevation angles. Based on the desired azimuth angle and the desired roll angle and desired elevation angle, the antenna panel is controlled to align with the satellite. This invention enables the determination of the desired azimuth angle of the antenna panel when aligned with the target satellite by acquiring the signal strength of the target satellite through a carrier wave receiver. This eliminates the need for an electronic compass and inertial navigation system to determine the desired azimuth angle of the antenna panel when aligned with the satellite. As a result, only a dual-axis accelerometer needs to be installed in the antenna, thereby reducing the size, weight, and cost of the antenna and making it more portable. Furthermore, it avoids the influence of the electromagnetic field generated by the motor rotation on the electronic compass, thus improving the accuracy of satellite alignment. Attached Figure Description

[0064] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0065] Figure 1 A flowchart of an antenna-to-satellite control method provided in an embodiment of this application;

[0066] Figure 2 This is a schematic diagram of an antenna placed on a plane for satellite observation, provided in one embodiment of this application.

[0067] Figure 3 A schematic diagram of an antenna placed on a slope for satellite observation, provided in one embodiment of this application;

[0068] Figure 4 A flowchart illustrating a precise satellite alignment method provided in an embodiment of this application;

[0069] Figure 5 This is a schematic diagram of the structure of an antenna device provided in an embodiment of this application;

[0070] Figure 6 This is a structural block diagram of an antenna device provided in an embodiment of this application;

[0071] Figure 7 This is a schematic diagram of the structure of an antenna-to-satellite control device provided in an embodiment of this application;

[0072] Figure 8 This is a schematic diagram of the antenna-to-satellite control device provided in another embodiment of this application. Detailed Implementation

[0073] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0074] Figure 1 This is a flowchart illustrating an antenna-to-satellite control method according to an embodiment of this application. In this embodiment, the method is executed by an antenna controller, such as... Figure 1 As shown, the method illustrated in this embodiment includes:

[0075] S101. During the process of adjusting the azimuth angle of the antenna panel by controlling the rotation of the antenna mounting base, at N first time sampling points, the azimuth angle of the antenna panel and the acceleration components of the X-axis and Y-axis of the dual-axis acceleration mounted in the antenna mounting base are detected respectively, so as to obtain N azimuth angles and N sets of X-axis and Y-axis acceleration components.

[0076] The X-axis remains perpendicular to the antenna panel during the satellite alignment process, while the Y-axis remains parallel to the antenna panel.

[0077] Specifically, a dual-axis accelerometer is installed inside the antenna mounting base, and the plane formed by the X-axis and Y-axis of the dual-axis accelerometer remains perpendicular to the antenna panel during satellite alignment. Specifically, the X-axis remains perpendicular to the antenna panel during satellite alignment, and the acceleration component of the X-axis changes when the azimuth angle of the antenna panel changes. Thus, the reference elevation angle when the antenna panel is located at different azimuth angles can be detected by the acceleration component of the X-axis. The Y-axis remains parallel to the antenna panel during satellite alignment, and the acceleration component of the Y-axis changes when the azimuth angle of the antenna panel changes. Thus, the reference roll angle when the antenna panel is located at different azimuth angles can be detected by the acceleration component of the Y-axis.

[0078] This is because the antenna mounting bracket may not be placed on an uneven surface, meaning it's not level, resulting in the antenna panel having a certain pitch and / or roll angle. Taking the pitch angle as an example... Figure 2 As shown, when the ground is horizontal, and the antenna panel is at an azimuth angle, the target satellite is at 140 degrees. Figure 2 At the position shown, the theoretical elevation angle of the antenna panel to the star is α. However, as... Figure 3 As shown, when the ground where the antenna is placed has a certain slope, the antenna panel will have a certain elevation angle β due to the slope, which is the reference elevation angle. Therefore, when the antenna panel is aligned with a star at this azimuth angle, the elevation angle can be adjusted by α-β. This reference elevation angle reflects the inherent elevation angle of the antenna panel at a given azimuth angle due to the slope of the ground. This reference elevation angle changes as the azimuth angle changes.

[0079] The antenna controller controls the azimuth driver, which in turn controls the azimuth motor to rotate at a constant speed, thereby rotating the antenna mounting base and adjusting the azimuth angle of the antenna panel. Specifically, the azimuth motor drives the azimuth angle of the antenna panel to rotate at a constant speed from 0° to the maximum azimuth angle reading. For example, in this embodiment, the azimuth angle rotates at a constant speed of 10° / s within the range of 0-270°.

[0080] When the antenna mounting base rotates at a constant speed, when the antenna panel is in the initial position (i.e., the azimuth angle is 0°), and every time the azimuth angle rotates for a first preset time period, or every time the azimuth angle rotates for a first preset angle, the azimuth angle and the acceleration components of the X-axis and Y-axis of the dual-axis acceleration are detected once, thus obtaining N first time sampling points.

[0081] Taking the example of obtaining N first-time sampling points after each preset azimuth angle rotation, where the first preset azimuth angle is 100ms, there are 270 first-time sampling points when the azimuth angle rotates within the range of 0-270°.

[0082] When the antenna panel begins to rotate at a constant speed of 10° / s within the 0-270° range, the timer is started. The antenna panel starts to rotate at a constant speed of 10° / s within the 0-270° range. After the timer records and displays that the antenna panel has rotated for 100ms, the antenna controller controls the antenna mounting base to stop rotating. At this time, the antenna controller obtains the azimuth angle of the antenna panel through the antenna azimuth angle encoder and acquires the acceleration components of the X-axis and Y-axis of the dual-axis accelerometer. Then, it executes the star alignment process at that azimuth angle.

[0083] Then, the antenna controller continues to control the rotation of the antenna mounting base, the timer starts counting, and the timer records that after the antenna panel rotates for 100ms, the antenna controller controls the antenna mounting base to stop rotating. At this time, the antenna controller obtains the azimuth angle of the antenna panel through the antenna azimuth encoder and obtains the acceleration components of the X-axis and Y-axis of the dual-axis accelerometer, and then executes the star alignment process at that azimuth angle.

[0084] This process is repeated, and at each first time sampling point (i.e., after the azimuth angle rotates for 100ms), an azimuth angle and a set of X-axis and Y-axis acceleration components are obtained, thus obtaining 270 azimuth angles and 270 sets of X-axis and Y-axis acceleration components.

[0085] S102. For each set of X-axis and Y-axis acceleration components, based on the acceleration components of each set of X-axis and Y-axis, and the theoretical roll angle and theoretical pitch angle of the antenna panel, obtain the target roll angle and target pitch angle. After the antenna panel is aligned with the satellite according to each set of target roll angle and target pitch angle, the signal of the target satellite is obtained through the carrier wave receiver.

[0086] The theoretical roll angle and theoretical pitch angle are calculated using celestial theory formulas.

[0087] Specifically, when a first sampling point is reached, the azimuth angle of the antenna panel is already determined. The antenna controller compensates for the theoretical roll angle and theoretical elevation angle of the antenna panel based on the acceleration components of the X-axis and Y-axis obtained at the first sampling point, respectively, to obtain the target roll angle and target elevation angle at that sampling point. Then, keeping the azimuth angle unchanged, the elevation angle of the antenna panel is adjusted to the target elevation angle, and the roll angle is adjusted to the target roll angle, thereby achieving satellite alignment. After satellite alignment is completed, the signal of the target satellite 140 is obtained through the carrier wave receiver.

[0088] When the next time sampling point is reached, the azimuth angle of the antenna panel has also been determined. The antenna controller compensates for the theoretical roll angle and theoretical elevation angle of the antenna panel according to the acceleration components of the X-axis and Y-axis obtained at the next time sampling point, and obtains the target roll angle and target elevation angle at the next time sampling point. Then, keeping the azimuth angle unchanged, the elevation angle of the antenna panel is adjusted to the target elevation angle and the roll angle is adjusted to the target roll angle, thereby achieving satellite alignment. After satellite alignment is completed, the signal of the target satellite 140 is obtained through the carrier wave receiver.

[0089] This process is repeated, with one satellite alignment performed at each sampling point and one signal from target satellite 140 obtained. In this way, a total of 270 satellite alignments are completed, obtaining signals from 270 target satellites 140.

[0090] In S102, one possible implementation of "obtaining the target roll angle and target pitch angle based on the acceleration components of the X-axis and Y-axis, and the theoretical roll angle and theoretical pitch angle of the antenna panel" is as follows:

[0091] S1021. Obtain the reference pitch angle based on the acceleration component of the X-axis, and obtain the reference roll angle based on the acceleration component of the Y-axis.

[0092] The method by which the antenna controller obtains the reference elevation angle and reference roll angle based on the acceleration components of the X-axis and Y-axis can be found in existing technologies and will not be elaborated here.

[0093] S1022. Using the reference roll angle to compensate for the theoretical roll angle, obtain the target roll angle; using the reference pitch angle to compensate for the theoretical pitch angle, obtain the target pitch angle.

[0094] It should be noted that when a dual-axis accelerometer measures acceleration components along the X and Y axes, the measured acceleration components are directional vectors. Therefore, the reference pitch and roll angles obtained from these acceleration components are also directional angles. Consequently, the reference roll and reference pitch angles change as the azimuth angle is adjusted. Therefore, when compensating for the theoretical roll angle using the reference roll angle to obtain the target roll angle, the direction of the reference roll angle must be considered. Similarly, when using the reference pitch angle to compensate for the theoretical pitch angle to obtain the target pitch angle, the direction of the reference pitch angle must be taken into account.

[0095] S103. Based on the signal strength of the N signals of the target satellite, determine the desired azimuth angle, desired roll angle, and desired pitch angle from the N azimuth angles, the N sets of target roll angles, and the target pitch angles.

[0096] Specifically, after each first sampling point sequentially aligns with and acquires the signal of the target satellite 140, the antenna controller determines the signal strength of one target satellite 140 based on the signal strength of the 270 target satellites 140. Then, it determines the azimuth angle, roll angle, and elevation angle when the signal of that target satellite 140 is received. In this way, the desired azimuth angle, roll angle, and elevation angle are determined.

[0097] Alternatively, one possible implementation of S103 is:

[0098] S1031. Determine the desired azimuth angle from the N azimuth angles based on the signal strength of the N signals of the target satellite.

[0099] Alternatively, one possible implementation of S1031 is as follows:

[0100] S10311. Determine the maximum signal strength from the signal strengths of the N signals from the target satellite.

[0101] Specifically, the signal strength of the target satellite 140 with the highest signal strength is found among the 270 target satellites 140. If multiple target satellites 140 have the same signal strength, the signal strength of one target satellite 140 can be randomly selected as the signal strength of the target satellite 140 with the highest signal strength.

[0102] S10312. From N azimuth angles, determine the desired azimuth angle of the antenna panel when acquiring the signal of the target satellite with the maximum signal strength through the carrier wave machine.

[0103] Specifically, 270 azimuth angles were obtained through 270 first-time sampling points. At each azimuth angle, a signal from a target satellite 140 was obtained. This means that the azimuth angle corresponds one-to-one with the signal from the target satellite 140. Therefore, when the carrier receiver receives the signal from the target satellite 140 with the maximum signal strength, the azimuth angle of the antenna panel is the desired azimuth angle.

[0104] S1032. From N sets of target roll angles and target pitch angles, determine the target roll angle and target pitch angle obtained by the desired acceleration components through the X-axis and Y-axis as the desired roll angle and desired pitch angle.

[0105] Among them, the expected acceleration components of the X-axis and Y-axis are obtained from the sampling points at the same time as the expected azimuth angle.

[0106] Specifically, at 270 first-time sampling points, 270 azimuth angles and 270 sets of X-axis and Y-axis acceleration components were acquired. It can be said that the azimuth angle and the X-axis and Y-axis acceleration components obtained at each first-time sampling point correspond one-to-one. After the desired azimuth angle is determined, the acceleration components corresponding to the X-axis and Y-axis obtained when the desired azimuth angle is acquired are determined. Thus, the target roll angle and target pitch angle obtained from the 270 sets of target roll angles and target pitch angles are calculated based on the acceleration components corresponding to the X-axis and Y-axis of that set. Therefore, the target roll angle and target pitch angle obtained through the acceleration components of the X-axis and Y-axis of that set are determined as the desired roll angle and desired pitch angle.

[0107] S104. Control the antenna panel to align with the satellite based on the desired azimuth angle, desired roll angle, and desired elevation angle.

[0108] Specifically, the antenna controller controls the azimuth driver, which in turn controls the azimuth motor to rotate, adjusting the azimuth angle of the antenna panel to the desired azimuth angle. Then, it controls the elevation angle and roll angle to be adjusted to the desired elevation angle and roll angle respectively, thus achieving satellite alignment.

[0109] In this embodiment, during the process of adjusting the azimuth angle of the antenna panel by rotating the antenna mounting base, the azimuth angle and the acceleration components of the X-axis and Y-axis of the dual-axis acceleration are detected at N first-time sampling points to obtain N azimuth angles and N sets of X-axis and Y-axis acceleration components. Based on each set of X-axis and Y-axis acceleration components, as well as the theoretical roll angle and theoretical elevation angle of the antenna panel, the target roll angle and target elevation angle are obtained. After the antenna panel is aligned with the satellite according to each set of target roll angles and target elevation angles, the signal of the target satellite is acquired through a carrier wave receiver. Based on the signal strength of the N signals of the target satellite, the desired azimuth angle, desired roll angle, and desired elevation angle are determined from the N azimuth angles, N sets of target roll angles, and target elevation angles. Based on the desired azimuth angle and the desired roll angle and desired elevation angle, the antenna panel is aligned with the satellite. This invention enables the determination of the desired azimuth angle of the antenna panel when aligned with the target satellite by acquiring the signal strength of the target satellite through a carrier wave receiver. This eliminates the need for an electronic compass and inertial navigation system to determine the desired azimuth angle of the antenna panel when aligned with the satellite. As a result, only a dual-axis accelerometer needs to be installed in the antenna, thereby reducing the size, weight, and cost of the antenna and making it more portable. Furthermore, it avoids the influence of the electromagnetic field generated by the motor rotation on the electronic compass, thus improving the accuracy of satellite alignment.

[0110] In one possible embodiment, after S104, precise star alignment can be performed to further improve the alignment accuracy. For example, Figure 4 As shown, methods for precise star alignment include:

[0111] S401. During the process of adjusting the azimuth angle of the antenna panel by controlling the rotation of the antenna mounting base within a preset rotation angle range, the azimuth angle of the antenna panel is detected at M second time sampling points, and the signal of the target satellite is obtained through the carrier wave receiver.

[0112] Among them, the center angle within the preset rotation angle range is the desired azimuth angle, and the azimuth angle of the antenna panel rotation between adjacent first time sampling points is greater than the azimuth angle of the antenna panel rotation between adjacent second time sampling points.

[0113] Specifically, after the antenna panel is aligned with the satellite according to the desired azimuth, desired roll angle, and desired elevation angle, the roll angle and elevation angle of the antenna panel are kept constant at the desired roll angle and desired elevation angle, and the desired azimuth angle is used as the center to set a preset rotation angle range for the azimuth angle. Within the preset rotation angle range, the antenna panel is controlled to rotate at a constant speed.

[0114] For example, since the antenna panel rotates at a constant speed of 10° / s within the range of 0-270°, and the azimuth angle is collected every 100ms, the azimuth angle between two adjacent first time sampling points is 1°. Thus, the preset rotation angle range is set to be within 5° to the left and right of the desired azimuth angle.

[0115] Within a preset rotation angle range, the antenna mounting base is controlled to adjust the azimuth angle of the antenna panel at a rotation speed of 5° / s. While the antenna mounting base rotates at a constant speed, the azimuth angle of the antenna panel is detected once when the antenna panel is in its initial position (i.e., the azimuth angle is 5° to the right of the desired azimuth angle), and every second preset time interval or every second preset angle interval. This yields M second time sampling points. The second preset angle is less than the first preset angle.

[0116] Similarly, when the azimuth angle is detected once every second preset time interval, the second preset time interval is equal to the first preset time interval. However, since the azimuth angle rotates at a constant speed of 10° / s within the range of 0-270°, while the antenna mount adjusts the azimuth angle of the antenna panel at a speed of 5° / s during precise satellite alignment, the azimuth angle of the antenna panel rotation between adjacent first time sampling points is greater than the azimuth angle of the antenna panel rotation between adjacent second time sampling points.

[0117] Taking the example of obtaining M second time sampling points by rotating the azimuth angle for a preset time period of 100ms, we can illustrate this further. Thus, there are 20 first time sampling points:

[0118] When the antenna panel starts to rotate at a constant speed of 5° / s within a preset rotation angle range, the antenna controller obtains the azimuth angle of the antenna panel through the antenna azimuth angle encoder, and obtains the signal of the target satellite 140 at that azimuth angle through the carrier wave receiver.

[0119] Then, the timer is started, and the antenna panel begins to rotate at a constant speed of 5° / s within the preset rotation angle range. After the timer records and displays that the antenna panel rotates for 100ms, the antenna controller controls the antenna mounting base to stop rotating. At this time, the antenna controller obtains the azimuth angle of the antenna panel through the antenna azimuth encoder and obtains the signal of the target satellite 140 at that azimuth angle through the carrier wave receiver.

[0120] Then, the antenna controller continues to control the rotation of the antenna mounting base, the timer starts counting, and the timer records and displays that after the antenna panel rotates for 100ms, the antenna controller controls the antenna mounting base to stop rotating. At this time, the antenna controller obtains the azimuth angle of the antenna panel through the antenna azimuth encoder, and obtains the signal of the target satellite 140 at that azimuth angle through the carrier wave receiver.

[0121] This process is repeated, and an azimuth angle is obtained at each second time sampling point (i.e., after the azimuth angle rotates for 100ms), thus obtaining 20 azimuth angles and 20 signals from the target satellite at 140°.

[0122] S402. Based on the signal strength of the M signals of the target satellite, determine the azimuth angle of the satellite from the M azimuth angles.

[0123] Specifically, one possible implementation of S402 is as follows:

[0124] S4021. Determine the maximum signal strength from the M signals of the target satellite.

[0125] Specifically, the signal strength of the target satellite 140 with the highest signal strength is selected from the signal strength of the 20 target satellites 140. If multiple target satellites 140 have the same signal strength, the signal strength of one target satellite 140 can be randomly selected as the signal strength of the target satellite 140 with the highest signal strength.

[0126] S4022. From M azimuth angles, determine the azimuth angle of the antenna panel as the azimuth angle for satellite alignment when acquiring the signal of the target satellite with the maximum signal strength through the carrier wave receiver.

[0127] Specifically, 20 azimuth angles were obtained through 20 second time sampling points. At each azimuth angle, a signal from a target satellite 140 was obtained. This means that the azimuth angle corresponds one-to-one with the signal from the target satellite 140. Therefore, when the carrier receiver receives the signal from the target satellite 140 with the maximum signal strength, the azimuth angle of the antenna panel is the azimuth angle of the satellite.

[0128] S403, control the antenna panel to align with the satellite at the desired azimuth, roll, and elevation angles.

[0129] Specifically, the azimuth driver is controlled to rotate the azimuth motor, adjusting the azimuth angle of the antenna panel to the azimuth angle for satellite alignment. Since the desired roll angle and desired pitch angle remain unchanged, satellite alignment is completed.

[0130] In this embodiment, after the antenna panel is aligned with the satellite according to the desired azimuth angle, desired roll angle, and desired elevation angle, the antenna mounting base is rotated within a preset angle range with the desired azimuth angle as the center to adjust the azimuth angle of the antenna panel. Every second preset time interval, the signal of the target satellite is acquired through the carrier wave receiver to reduce the angle difference between two adjacent azimuth angles. Based on the signal strength of the target satellite acquired every second preset time interval, the alignment azimuth angle is determined, and the antenna panel is controlled to align with the satellite with the alignment azimuth angle, desired roll angle, and desired elevation angle to perform precise alignment of the antenna panel with the satellite, further improving the alignment accuracy of the antenna panel.

[0131] In some embodiments, after S403, the azimuth angle of the antenna panel can be controlled to be the satellite azimuth angle, and the roll angle can be controlled to be the desired roll angle. The pitch angle of the antenna panel can be adjusted within a preset rotation angle range to achieve further accurate satellite alignment. The specific implementation process can be referred to in S401-S403, which will not be repeated here.

[0132] It should be noted that the preset rotation angle range can be 10° to the left and right of the desired pitch angle, or 5° to the left and right of the desired pitch angle. This embodiment does not limit this.

[0133] Optionally, the pitch motor can be a stepper motor with a brake. In this way, after determining the pitch angle with the satellite, the azimuth angle of the antenna panel is adjusted to the azimuth angle with the satellite. After the pitch angle is adjusted to the pitch angle with the satellite, the pitch motor can be powered off to reduce power consumption.

[0134] In some embodiments, when the azimuth angle of the antenna panel is the azimuth angle for satellite alignment and the elevation angle is the elevation angle for satellite alignment, the roll angle of the antenna panel can also be adjusted within a preset rotation angle range to achieve further precise satellite alignment. The specific implementation process can be referred to in S401-S403, which will not be elaborated here.

[0135] It should be noted that the preset rotation angle range can be 10° to the left and right of the desired roll angle, or 5° to the left and right of the desired roll angle. This embodiment does not limit this.

[0136] In some embodiments, after the azimuth, pitch, and roll angles have been precisely adjusted according to the steps shown in S401-S403, the azimuth angle can also be precisely adjusted again with reference to S401-S403, which will not be repeated here.

[0137] It should be noted that when the azimuth angle is precisely adjusted, the angle of rotation of the azimuth angle between two adjacent third time sampling points is less than the angle of rotation of the azimuth angle between two adjacent second time sampling points. For example, when the azimuth angle is precisely adjusted, the sampling period is still 100ms, but the rotation speed of the azimuth angle within the preset rotation angle range is 4° / s.

[0138] Figure 5 This is a schematic diagram of the structure of an antenna device provided in one embodiment of this application. Figure 6 This is a structural block diagram of an antenna device provided in one embodiment of this application, such as... Figure 5 and Figure 6As shown, the antenna equipment includes: a dual-axis accelerometer 110, a carrier generator 150, and an antenna controller 160. The dual-axis accelerometer 110, the carrier generator, and the antenna controller 160 are connected. The dual-axis accelerometer 110 is installed in the antenna mounting base 120 of the antenna. The antenna panel 130 is connected to the antenna mounting base 120. The plane formed by the X-axis and Y-axis of the dual-axis accelerometer 110 remains perpendicular to the antenna panel 130 during the satellite alignment process. The X-axis remains perpendicular to the antenna panel 130 during the satellite alignment process, and the Y-axis remains parallel to the antenna panel 130 during the satellite alignment process. The carrier generator 150 and the antenna controller 160 are both installed on the antenna panel 130.

[0139] The dual-axis accelerometer 110 is used to acquire the acceleration components of the X-axis and Y-axis on the dual-axis accelerometer 110 and send the acceleration components of the X-axis and Y-axis to the antenna controller 160.

[0140] The carrier wave unit 150 is used to acquire the signal from the target satellite 140 and send the signal from the target satellite 140 to the antenna controller 160.

[0141] Antenna controller 160 is used to control antenna panel 130 to target a satellite according to any one of the method embodiments.

[0142] Specifically, when aligning with a satellite, the antenna can quickly determine true north using an electronic compass, facilitating azimuth adjustment. In this embodiment, the higher the accuracy of the antenna's main beam center alignment with the target satellite 140, the stronger the signal received from the target satellite 140. Therefore, by detecting changes in the signal strength received from the target satellite 140, it can be determined whether the antenna has reached the target position, thereby adjusting the azimuth. The carrier wave receiver 150 in the antenna can capture the signal transmitted by the target satellite 140. Therefore, even without knowing true north, the accuracy of the antenna's main beam center alignment with the target satellite 140 can be determined using the signal strength received by the carrier wave receiver 150, thereby adjusting the azimuth.

[0143] A dual-axis accelerometer 110 is installed in the antenna. The plane formed by the X-axis and Y-axis of the dual-axis accelerometer 110 remains perpendicular to the antenna panel 130 during the satellite alignment process. The X-axis remains perpendicular to the antenna panel 130 during the satellite alignment process, so as to determine the reference elevation angle through the acceleration component on the X-axis. The Y-axis remains perpendicular to the antenna panel 130 during the satellite alignment process, so as to determine the reference roll angle through the acceleration component on the Y-axis.

[0144] The dual-axis accelerometer 110 detects the acceleration components of the X and Y axes and sends them to the antenna controller 160, so that the antenna controller 160 can calculate the reference elevation angle and reference roll angle of the antenna panel 130 based on the acceleration components of the X and Y axes.

[0145] The dual-axis accelerometer 110 used in this embodiment may be, for example, a dual-axis MEMS accelerometer.

[0146] The process of the antenna controller 160 controlling the antenna panel to align with the star can be referred to in the method embodiment, and will not be repeated here.

[0147] In this embodiment, when the antenna panel is aligned with a satellite, the true north is determined by the signal strength of the target satellite 140 captured by the carrier wave detector 150 already installed in the antenna. The azimuth angle of the antenna during alignment is then adjusted. Only a dual-axis accelerometer 110 is used to determine the reference elevation and roll angles, thereby enabling the antenna controller 160 to control the antenna alignment. Therefore, since the carrier wave detector 150 is already required in the antenna to adjust the azimuth angle using the signal strength of the target satellite 140, only the dual-axis accelerometer 110 needs to be installed in the antenna to adjust the elevation angle. This achieves satellite alignment while reducing the size and weight of the antenna, making it more portable. The use of only an accelerometer also reduces the cost of the antenna. Furthermore, the dual-axis accelerometer 110 is not affected by the alternating electromagnetic field generated by the motor rotation, improving alignment accuracy.

[0148] Optionally, the dual-axis accelerometer 110 is located at the center of the horizontal cross-section of the antenna mount 120. Mounting the dual-axis accelerometer 110 at the center of the horizontal cross-section of the antenna mount 120 ensures that the acceleration components on the X and Y axes accurately reflect the reference elevation and reference roll angles of the antenna panel, thereby improving satellite alignment accuracy.

[0149] Figure 7 This is a schematic diagram of the antenna-to-satellite control device provided in one embodiment of this application. Figure 7 As shown, the antenna-to-satellite control device provided in this embodiment includes: a detection module 701, an acquisition module 702, a determination module 703, and a satellite-to-satellite module 704.

[0150] The detection module 701 is used to detect the azimuth angle of the antenna panel and the acceleration components of the X-axis and Y-axis of the dual-axis acceleration mounted in the antenna mounting base at N first time sampling points during the process of adjusting the azimuth angle of the antenna panel by controlling the rotation of the antenna mounting base, so as to obtain N azimuth angles and N sets of X-axis and Y-axis acceleration components. The X-axis is kept perpendicular to the antenna panel during the satellite alignment process, and the Y-axis is kept parallel to the antenna panel during the satellite alignment process.

[0151] The acquisition module 702 is used to obtain the target roll angle and target pitch angle based on the acceleration components of each X-axis and Y-axis, as well as the theoretical roll angle and theoretical pitch angle of the antenna panel. After the antenna panel is aligned with the satellite according to the target roll angle and target pitch angle, the signal of the target satellite is acquired through the carrier wave receiver. The theoretical roll angle and theoretical pitch angle are calculated by celestial theory formulas.

[0152] The determination module 703 is used to determine the desired azimuth angle, desired roll angle, and desired pitch angle from the N azimuth angles, the N sets of target roll angles, and the target pitch angles based on the signal strength of the N signals of the target satellite.

[0153] The satellite alignment module 704 is used to control the antenna panel to align with the satellite based on the desired azimuth angle, desired roll angle, and desired pitch angle.

[0154] Optionally, when the determining module 703 determines the desired azimuth angle, desired roll angle, and desired pitch angle from the N azimuth angles, N sets of target roll angles, and target pitch angles based on the signal strength of the N signals of the target satellite, it is specifically used for:

[0155] Based on the signal strength of N signals from the target satellite, determine the desired azimuth angle from the N azimuth angles;

[0156] From the N sets of target roll angles and target pitch angles, the target roll angle and target pitch angle obtained by the expected acceleration components through the X-axis and Y-axis are determined as the expected roll angle and expected pitch angle, respectively. The expected acceleration components of the X-axis and Y-axis are obtained by sampling at the same time as the expected azimuth angle.

[0157] Optionally, when the determining module 703 determines the desired azimuth angle from the N azimuth angles based on the strength of the N signals of the target satellite, it is specifically used for:

[0158] Determine the maximum signal strength from the signal strengths of the N signals from the target satellite;

[0159] From the N azimuth angles, the azimuth angle of the antenna panel is determined to be the desired azimuth angle when the signal of the target satellite with the maximum signal strength is obtained through the carrier wave receiver.

[0160] Optionally, the acquisition module 702 obtains the target roll angle and target pitch angle based on the acceleration components of the X-axis and Y-axis, as well as the theoretical roll angle and theoretical pitch angle of the antenna panel, specifically for:

[0161] A reference pitch angle is obtained based on the acceleration component of the X-axis, and a reference roll angle is obtained based on the acceleration component of the Y-axis.

[0162] The target roll angle is obtained by compensating the theoretical roll angle with the reference roll angle, and the target pitch angle is obtained by compensating the theoretical pitch angle with the reference pitch angle.

[0163] Optionally, after the satellite alignment module 704 controls the antenna panel to align with the satellite based on the desired azimuth angle, the desired roll angle, and the desired pitch angle, the detection module 701 is further configured to:

[0164] In the process of adjusting the azimuth angle of the antenna panel by controlling the rotation of the antenna mounting base within a preset rotation angle range, the azimuth angle of the antenna panel is detected at M second time sampling points respectively. The center angle within the preset rotation angle range is the desired azimuth angle. The azimuth angle of the antenna panel rotation between adjacent first time sampling points is greater than the azimuth angle of the antenna panel rotation between adjacent second time sampling points.

[0165] The acquisition module 702 is further configured to acquire the signal of the target satellite through the carrier wave receiver;

[0166] The determining module 703 is further configured to determine the azimuth angle of the target satellite from the M azimuth angles based on the signal strength of the M signals of the target satellite;

[0167] The satellite alignment module 704 is also used to control the antenna panel to align with the satellite at the azimuth angle, the desired roll angle, and the desired pitch angle.

[0168] Optionally, when the determining module 703 determines the azimuth angle from the M azimuth angles based on the signal strengths of the M signals of the target satellite, it is specifically used for:

[0169] The maximum signal strength is determined from the signal strengths of the M signals from the target satellite;

[0170] From the M azimuth angles, the azimuth angle of the antenna panel is determined as the satellite azimuth angle when the signal of the target satellite with the maximum signal strength is obtained through the carrier wave machine.

[0171] Optionally, when the satellite alignment module 704 controls the rotation of the antenna mounting base to adjust the azimuth angle of the antenna panel, it is specifically used for:

[0172] The azimuth angle of the antenna panel is adjusted by controlling the antenna mounting base to rotate at a constant speed.

[0173] The antenna-to-satellite control device provided in this application embodiment can execute the technical solution shown in the above method embodiment. Its implementation principle and beneficial effects are similar, and will not be described again here.

[0174] Figure 8 This is a schematic diagram of the antenna-to-satellite control device provided in another embodiment of this application, as shown below. Figure 8 As shown, the antenna-to-satellite control device includes a processor 810 and a memory 820, wherein the processor 810 and the memory 820 are connected via a bus 830.

[0175] In the specific implementation process, the processor 810 executes the computer execution instructions stored in the memory 820, causing the processor 810 to execute the antenna-to-satellite control method as described above.

[0176] The specific implementation process of processor 810 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0177] In the above Figure 8 In the illustrated embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0178] The memory may include high-speed RAM, or it may also include non-volatile memory (NVM), such as disk storage.

[0179] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0180] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described antenna-to-satellite control method.

[0181] The aforementioned computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0182] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0183] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the antenna-to-satellite control method described above.

[0184] This application provides a chip system including a processor and a memory. The memory stores computer-executable instructions, and the processor executes the computer-executable instructions stored in the memory, causing the processor to perform the antenna-to-satellite control method described above.

[0185] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0186] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. An antenna beam steering control method, characterized by, include: During the process of adjusting the azimuth angle of the antenna panel by controlling the rotation of the antenna mounting base, at N first time sampling points, the azimuth angle of the antenna panel and the acceleration components of the X-axis and Y-axis of the dual-axis acceleration mounted in the antenna mounting base are detected respectively to obtain N azimuth angles and N sets of X-axis and Y-axis acceleration components. The X-axis is kept perpendicular to the antenna panel during the satellite alignment process, and the Y-axis is kept parallel to the antenna panel during the satellite alignment process. For each set of X-axis and Y-axis acceleration components, the target roll angle and target pitch angle are obtained based on the X-axis and Y-axis acceleration components and the theoretical roll angle and theoretical pitch angle of the antenna panel. After the antenna panel is aligned with the satellite according to the target roll angle and target pitch angle, the signal of the target satellite is acquired through the carrier wave receiver. The theoretical roll angle and theoretical pitch angle are calculated using celestial theory formulas. Based on the signal strength of N signals from the target satellite, the desired azimuth angle, desired roll angle, and desired pitch angle are determined from the N azimuth angles, N sets of target roll angles, and target pitch angles. The antenna panel is controlled to align with the satellite based on the desired azimuth angle, desired roll angle, and desired pitch angle. After controlling the antenna panel to align with the satellite based on the desired azimuth angle, desired roll angle, and desired pitch angle, the method further includes: In the process of adjusting the azimuth angle of the antenna panel by controlling the rotation of the antenna mounting base within a preset rotation angle range, the azimuth angle of the antenna panel is detected at M second time sampling points, and the signal of the target satellite is obtained through the carrier wave receiver. The center angle within the preset rotation angle range is the desired azimuth angle, and the azimuth angle of the antenna panel rotation between adjacent first time sampling points is greater than the azimuth angle of the antenna panel rotation between adjacent second time sampling points. Based on the signal strength of the M signals from the target satellite, determine the azimuth angle of the satellite from the M azimuth angles; The antenna panel is controlled to align with the satellite at the desired azimuth angle, the desired roll angle, and the desired pitch angle.

2. The method of claim 1, wherein, The step of determining the desired azimuth angle, desired roll angle, and desired elevation angle from the N azimuth angles, N sets of target roll angles, and target elevation angles based on the signal strength of the N signals from the target satellite includes: Based on the signal strength of N signals from the target satellite, determine the desired azimuth angle from the N azimuth angles; From the N sets of target roll angles and target pitch angles, the target roll angle and target pitch angle obtained by the expected acceleration components through the X-axis and Y-axis are determined as the expected roll angle and expected pitch angle, respectively. The expected acceleration components of the X-axis and Y-axis are obtained by sampling at the same time point as the expected azimuth angle.

3. The method of claim 2, wherein, The step of determining the desired azimuth angle from the N azimuth angles based on the strength of the N signals from the target satellite includes: Determine the maximum signal strength from the signal strengths of the N signals from the target satellite; From the N azimuth angles, the azimuth angle of the antenna panel is determined to be the desired azimuth angle when the signal of the target satellite with the maximum signal strength is obtained through the carrier wave receiver.

4. The method of claim 1, wherein, The step of obtaining the target roll angle and target pitch angle based on the acceleration components of the X-axis and Y-axis, and the theoretical roll angle and theoretical pitch angle of the antenna panel, includes: A reference pitch angle is obtained based on the acceleration component of the X-axis, and a reference roll angle is obtained based on the acceleration component of the Y-axis. The target roll angle is obtained by compensating the theoretical roll angle with the reference roll angle, and the target pitch angle is obtained by compensating the theoretical pitch angle with the reference pitch angle.

5. The method of claim 1, wherein, Based on the signal strengths of the M signals from the target satellite, the azimuth angle for the satellite is determined from the M azimuth angles, including: The maximum signal strength is determined from the signal strengths of the M signals from the target satellite; From the M azimuth angles, the azimuth angle of the antenna panel is determined as the satellite azimuth angle when the signal of the target satellite with the maximum signal strength is obtained through the carrier wave machine.

6. The method according to any one of claims 1 to 5, characterized in that, The method of controlling the rotation of the antenna mounting base to adjust the azimuth angle of the antenna panel includes: The azimuth angle of the antenna panel is adjusted by controlling the antenna mounting base to rotate at a constant speed.

7. An antenna pointing control apparatus, characterized by comprising: include: The detection module is used to detect the azimuth angle of the antenna panel and the acceleration components of the X-axis and Y-axis of the dual-axis acceleration system installed in the antenna mounting base at N first-time sampling points during the process of adjusting the azimuth angle of the antenna panel by controlling the rotation of the antenna mounting base, so as to obtain N azimuth angles and N sets of X-axis and Y-axis acceleration components. The X-axis is kept perpendicular to the antenna panel during the satellite alignment process, and the Y-axis is kept parallel to the antenna panel during the satellite alignment process. The acquisition module is used to obtain the target roll angle and target pitch angle based on the acceleration components of each X-axis and Y-axis, as well as the theoretical roll angle and theoretical pitch angle of the antenna panel. After the antenna panel is aligned with the satellite according to the target roll angle and target pitch angle, the signal of the target satellite is acquired through the carrier wave receiver. The theoretical roll angle and theoretical pitch angle are calculated by celestial theory formulas. The determination module is used to determine the desired azimuth angle, desired roll angle, and desired pitch angle from the N azimuth angles, N sets of target roll angles, and target pitch angles based on the signal strength of N signals of the target satellite. The satellite alignment module is used to control the antenna panel to align with the satellite based on the desired azimuth angle, desired roll angle, and desired pitch angle. After the satellite alignment module controls the antenna panel to align with the satellite based on the desired azimuth angle, desired roll angle, and desired pitch angle, the detection module is further used for: In the process of adjusting the azimuth angle of the antenna panel by controlling the rotation of the antenna mounting base within a preset rotation angle range, the azimuth angle of the antenna panel is detected at M second time sampling points respectively. The center angle within the preset rotation angle range is the desired azimuth angle. The azimuth angle of the antenna panel rotation between adjacent first time sampling points is greater than the azimuth angle of the antenna panel rotation between adjacent second time sampling points. The acquisition module is further configured to acquire the signal of the target satellite through the carrier wave receiver; The determining module is further configured to determine the azimuth angle of the target satellite from the M azimuth angles based on the signal strength of the M signals of the target satellite; The satellite alignment module is also used to control the antenna panel to align with the satellite at the azimuth angle, the desired roll angle, and the desired pitch angle.

8. An antenna device, characterized by include: Dual-axis accelerometer, carrier wave receiver, antenna controller; The dual-axis accelerometer, the carrier generator, and the antenna controller are connected. The dual-axis accelerometer is installed in the antenna mounting base of the antenna. The antenna panel is connected to the antenna mounting base. The X-axis remains perpendicular to the antenna panel during satellite alignment, and the Y-axis remains parallel to the antenna panel during satellite alignment. The carrier generator and the antenna controller are both installed on the main control board of the antenna, which is located on the back of the antenna panel. The dual-axis accelerometer is used to acquire the acceleration components of the X-axis and Y-axis of the dual-axis acceleration, and send the acceleration components of the X-axis and Y-axis to the antenna controller; The carrier wave receiver is used to acquire the signal from the target satellite and send the signal from the target satellite to the antenna controller; The antenna controller is used to control the antenna panel to focus on the satellite according to the method of any one of claims 1-6.

9. A readable storage medium, characterized by, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement the method as described in any one of claims 1-6.

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