Method, system, storage medium and device for self-tracking using satellite telemetry

Abstract

The application provides a method, a system, a storage medium and equipment for self-tracking by satellite telemetry, relates to the technical field of spacecraft control, and comprises the following steps: receiving baseband return target spacecraft running track point position data; obtaining target spacecraft predicted track data by calculating the two-line element of the target spacecraft and the running track point position data; calculating the relative azimuth and the relative elevation of the target spacecraft at each time point relative to the current measurement and control station by combining the two-line element of the target spacecraft; adjusting the antenna pointing direction of the radar in the current measurement and control station according to the relative azimuth and the relative elevation of the target spacecraft at the current time point, tracking the target spacecraft by the radar to obtain telemetry data of the target spacecraft; demodulating the telemetry data to obtain the current position of the target spacecraft, and guiding the radar to track the target spacecraft. Flash locking or loss of tracking of the target spacecraft does not occur.

Description

Technical Field

[0001] This invention relates to the field of spacecraft control technology, and in particular to a method, system, storage medium, and device for self-tracking using satellite telemetry. Background Technology

[0002] The task of the tracking and control station is to receive measurement and telemetry information from the spacecraft. The tracking process uses two lines of roots to generate the azimuth and pitch axes to accurately obtain the actual direction—this is theoretical data. However, in actual tracking, after tracking the target spacecraft and receiving the telemetry signal, uncertainties such as slight deviations between the satellite's orbit and actual position, time and azimuth, and atmospheric effects can cause the target tracking to momentarily lock or be lost. Alternatively, because the user satellite's orbital altitude is low, the signal may pass through the top layer of the atmosphere when acquisition begins at the Earth's edge, and the resulting signal fading will adversely affect the acquisition and tracking function. During the tracking process, if the location coordinates of the local portable station are fixed, the file data for calculating the orbit is fixed orbit data, which may cause the target to momentarily lock or be lost during tracking. Summary of the Invention

[0003] This invention provides a method, system, storage medium, and device for self-tracking using satellite telemetry, which can solve the problems in the prior art.

[0004] To achieve the above objectives, the first aspect of the present invention provides a method for self-tracking using satellite telemetry, comprising:

[0005] Receive baseband return data on the target spacecraft's orbital position;

[0006] The predicted orbit data of the target spacecraft is obtained by calculating the two rows of roots of the target spacecraft and the orbital point data.

[0007] The relative azimuth and relative elevation angles of the target spacecraft relative to the current tracking and control station at each time point are calculated based on the two rows of roots of the target spacecraft and the predicted orbit data.

[0008] Based on the relative azimuth and relative elevation angles of the target spacecraft at the current time, adjust the antenna pointing of the radar in the current telemetry and control station, and obtain telemetry data of the target spacecraft by tracking the target spacecraft through the radar;

[0009] The current position of the target spacecraft is obtained by demodulating the telemetry data, and the radar is guided to track the target spacecraft based on the current position of the target spacecraft obtained by demodulation.

[0010] As a second aspect of the present invention, the present invention provides a system for self-tracking using satellite telemetry, comprising:

[0011] The first calculation unit is used to receive the operational orbit position data of the target spacecraft returning from baseband; and to calculate the predicted orbit data of the target spacecraft by using the two rows of roots of the target spacecraft and the operational orbit position data.

[0012] The second calculation unit is used to calculate the relative azimuth and relative elevation angles of the target spacecraft relative to the current telemetry and control station at each time point based on the two rows of roots of the target spacecraft and the predicted orbit data.

[0013] The initial tracking unit is used to adjust the antenna pointing of the radar in the current telemetry and control station according to the relative azimuth and relative elevation angle of the target spacecraft at the current time point, and to track the target spacecraft through the radar to obtain telemetry data of the target spacecraft;

[0014] The tracking and adjustment unit is used to demodulate the telemetry data to obtain the current position of the target spacecraft, and guide the radar to track the target spacecraft based on the current position of the target spacecraft obtained by demodulation.

[0015] As a third aspect of the invention, the invention provides a computer-readable storage medium storing one or more programs that, when executed by a computer device, cause the computer device to perform the self-tracking method using satellite telemetry.

[0016] As a fourth aspect of the present invention, the present invention provides a computer device comprising:

[0017] A processor; and a memory arranged to store computer-executable instructions, which, when executed, cause the processor to perform the self-tracking method using satellite telemetry.

[0018] The advantages and effects of this invention are as follows: It receives the orbital position data of the target spacecraft returned from baseband; it calculates the predicted orbital data of the target spacecraft by combining the two rows of root numbers and the orbital position data; it calculates the relative azimuth and relative elevation angles of the target spacecraft relative to the current tracking and control station at each time point based on the two rows of root numbers and the predicted orbital data; it adjusts the antenna pointing of the radar in the current tracking and control station according to the relative azimuth and relative elevation angles of the target spacecraft at the current time point, and obtains telemetry data of the target spacecraft by tracking the target spacecraft through the radar; it then demodulates the telemetry data to obtain the current position of the target spacecraft; at each time point, it guides the radar to track the target spacecraft based on the demodulated current position of the target spacecraft; it dynamically judges whether the current reception status is good by receiving the baseband signal; and it performs real-time calculation and real-time tracking during the tracking process, automatically adjusting to the optimal azimuth and elevation position for the signal, thereby improving the accuracy of tracking the target spacecraft. Therefore, even if there are some uncertainties such as slight deviations between the satellite's orbit and actual position, time and azimuth, and atmospheric effects, the tracking of the target spacecraft will not experience flash lock or loss. It will also not be adversely affected by the signal fading when the signal passes through the top layer of the atmosphere at the low altitude of the satellite's orbit and when the acquisition begins at the edge of the Earth. This avoids the possibility of flash lock or loss of the target caused by using fixed orbit data with two lines of roots during the tracking process. Attached Figure Description

[0019] The above and other objects, features, and advantages of this application will become more apparent from the detailed description of exemplary embodiments with reference to the accompanying drawings. The drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0020] Figure 1 The flowchart illustrating the self-tracking method using satellite telemetry according to an embodiment of the present invention is shown in the schematic diagram.

[0021] Figure 2 A flowchart illustrating another embodiment of the present invention for self-tracking using satellite telemetry is shown.

[0022] Figure 3 The schematic illustration shows a track position list file according to an embodiment of the present invention;

[0023] Figure 4 This illustration schematically shows the data distribution process within the orbital position list according to an embodiment of the present invention;

[0024] Figure 5 The illustration shows the predicted orbit data and relative pitch angle represented in coordinate form in an embodiment of the present invention.

[0025] Figure 6 This illustration schematically shows a structural diagram of a system for self-tracking using satellite telemetry, according to an embodiment of the present invention.

[0026] Figure 7 The schematic diagram illustrates a structural schematic of a computer device according to an embodiment of the present invention;

[0027] Figure 8 The diagram illustrates a comparison between demodulated data and theoretical orbital data from an embodiment of the present invention. Detailed Implementation

[0028] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this application will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0029] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0030] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0031] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0032] It should be understood that although the terms first, second, third, etc., may be used herein to describe various components, these components should not be limited by these terms. These terms are used to distinguish one component from another. Therefore, the first component discussed below may be referred to as the second component without departing from the teachings of this application. As used herein, the term "and / or" includes all combinations of any one and more of the associated listed items.

[0033] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of exemplary embodiments, and the modules or processes in the drawings are not necessarily essential for implementing this application, and therefore cannot be used to limit the scope of protection of this application.

[0034] like Figure 1 As shown, in conjunction with embodiments of the present invention, a method for self-tracking using satellite telemetry is provided, comprising:

[0035] S101: Receive the target spacecraft's orbital position data returned from the baseband; calculate the predicted orbital data of the target spacecraft by combining the two rows of roots of the target spacecraft with the orbital position data;

[0036] S102: Calculate the relative azimuth and relative elevation angles of the target spacecraft relative to the current tracking and control station at each time point based on the two rows of roots of the target spacecraft and the predicted orbit data;

[0037] S103: Based on the relative azimuth and relative elevation angles of the target spacecraft at the current time, adjust the antenna pointing of the radar in the current telemetry and control station, and obtain telemetry data of the target spacecraft by tracking the target spacecraft through the radar;

[0038] S104: Demodulate the telemetry data to obtain the current position of the target spacecraft, and guide the radar to track the target spacecraft based on the current position of the target spacecraft obtained by demodulation.

[0039] Preferably, the method for self-tracking using satellite telemetry further includes:

[0040] S105: Save the relative azimuth and relative elevation angles of the target spacecraft relative to the current telemetry and control station at each time point in the target spacecraft's orbital position list file;

[0041] S103: Based on the relative azimuth and relative elevation angles of the target spacecraft at the current time, adjust the antenna pointing of the radar within the current telemetry and control station, specifically including:

[0042] S1031: According to the orbital position list file, when the target spacecraft arrives at the current time point, the relative azimuth angle and the relative elevation angle at the current time point are sent to the radar in the current telemetry and control station. The radar adjusts the antenna pointing according to the relative azimuth angle and the relative elevation angle.

[0043] Preferably, the method for self-tracking using satellite telemetry further includes step S106:

[0044] S106-1: After sending the relative azimuth and relative elevation angles at the current time point to the radar, determine the relationship between the next time point in the orbital position list file and the current real time.

[0045] S106-2: If the next time point is not earlier than the current real time, the corresponding relative azimuth and relative elevation angles will be sent to the radar at the next time point;

[0046] S106-3: If the next time point is earlier than the current real time, frame skipping is used to update the next time point, and the relative azimuth and relative elevation angles corresponding to the updated next time point are sent to the radar; the method of using frame skipping to update the next time point is as follows:

[0047] S106-4: Calculate the time difference between the current real time and the next time point; calculate the quotient of the time difference and the interval between two adjacent frames, and take the rounded-up result of the quotient as the number of frame skips; wherein, each frame corresponds to one time point;

[0048] S106-5: Starting from the next time point, skip frames according to the number of skipped frames, and use the time point skipped to the next time point after the update.

[0049] Preferably, S104: Demodulating the telemetry data to obtain the current position of the target spacecraft specifically includes:

[0050] S1041: Demodulate the GNSS navigation measurement data of the target spacecraft from the telemetry data.

[0051] S1042: Analyze the GNSS navigation measurement data to determine the current position of the target spacecraft. The position of the target spacecraft includes longitude, latitude, and altitude. The position parameters of the target spacecraft also include: the X-axis of the coordinate system constructed by the relative azimuth and pitch axes, the Y-axis of the coordinate system constructed by the relative azimuth and pitch axes, the motor protocol data source code value located on the X-axis, and the motor protocol data source code value located on the Y-axis.

[0052] Preferably, it further includes:

[0053] S107: Based on the predicted orbit data of the target spacecraft, determine the first point of the orbit that the radar needs to track;

[0054] S108: After calculating the relative azimuth and relative elevation angles corresponding to the first point of the orbit, and before the target spacecraft has reached the first point of the orbit, adjust the antenna pointing of the radar in the current telemetry and control station according to the relative azimuth and relative elevation angles corresponding to the first point of the orbit, so that the radar antenna points to the first point of the orbit.

[0055] Preferably, S104: The step of guiding the radar to track the target spacecraft based on the current position of the target spacecraft obtained through demodulation specifically includes:

[0056] S1043: After obtaining the current position of the target spacecraft, automatically switch to the guidance program for tracking the target spacecraft, and guide the antenna to point to the current position of the target spacecraft through the guidance program.

[0057] Preferably, the method for self-tracking using satellite telemetry further includes:

[0058] S109: Set the contents required for calculating relative azimuth and relative pitch angles: (1) Set the Earth as a rotating ellipsoid with its rotation axis as the rotation axis, and the Earth's center as the midpoint of the two foci of the rotating ellipsoid. The distance from the Earth's center to the sea level is calculated using the Earth's conversion radius, which is obtained by calculating the equatorial radius and the polar radius; Set the distance from the current position of the target spacecraft to the Earth's center to be independent of longitude and only related to latitude; Set the distance from the current telemetry and control station to the Earth's center to be independent of longitude and only related to latitude; Set the designated location; Construct a plane rectangular coordinate system on the longitude line passing through the designated location and the plane where the Earth's center is located, and take the Earth's center as the origin of the coordinate system;

[0059] (2) In the Cartesian coordinate system, the sum of the altitude of the target spacecraft and the converted radius of the Earth is taken as the first side, which starts from the origin in the Cartesian coordinate system and ends at the projection of the target spacecraft in the Cartesian coordinate system; and

[0060] The sum of the current altitude of the telemetry and control station and the Earth's converted radius is taken as the second side. The second side starts from the origin in the plane rectangular coordinate system and ends at the projection of the current telemetry and control station in the plane rectangular coordinate system.

[0061] The distance between the projection of the target spacecraft into the Cartesian coordinate system and the projection of the current telemetry and control station into the Cartesian coordinate system is taken as the third side;

[0062] (3) The angle between the first side and the second side is taken as the relative azimuth angle of the target spacecraft relative to the current telemetry and control station;

[0063] (4) Take the angle between the first side and the third side as the complementary angle of the relative pitch angle of the target spacecraft relative to the current telemetry and control station, and obtain the relative pitch angle of the target spacecraft relative to the current telemetry and control station based on the complementary angle;

[0064] S102: The calculation based on the two rows of roots of the target spacecraft and the predicted orbit data to obtain the relative azimuth and relative elevation angles of the target spacecraft relative to the current tracking and control station at each time point specifically includes:

[0065] For each time point, the latitude of the target spacecraft is obtained from the two rows of roots of the target spacecraft and the predicted orbit data. Using the latitude of the target spacecraft, the latitude of the current tracking and control station, the equatorial radius, and the polar radius as known data, the required information is calculated based on the relative azimuth and relative elevation angles to obtain the relative azimuth and relative elevation angles of the target spacecraft relative to the current tracking and control station for each time point.

[0066] In summary, the detailed flowchart of this invention is as follows: Figure 2 As shown, the steps of the self-tracking method using satellite telemetry include:

[0067] 1. Monitor the orbital position data of the baseband return spacecraft in real time, analyze the returned position data, and obtain the orbital position data of the target spacecraft.

[0068] II. Theoretical Orbit Data Generation Process

[0069] Two-line data (TLE) is a set of data created by the North American Aerospace Defense Command (NORAD) to describe the state of satellite orbits in space and their positional parameters.

[0070] SGP4, or Simplified Conventional Perturbation Model, was developed by Ken Cranford in 1970 for near-Earth satellite state prediction. These models take into account the effects of perturbations such as Earth's non-spherical gravity, lunar and solar gravitational pull, solar radiation pressure, and atmospheric drag. It can be applied to near-Earth objects with orbital periods less than 225 minutes. SDP4, or Simplified Deep Space Perturbation Model, is applied to the state prediction of objects far from Earth or with orbital periods greater than 225 minutes. By substituting TLE orbital data into the SGP4 / SDP4 models, space targets can be successfully predicted, and their position and velocity at any given time can be determined.

[0071] Based on the two rows of roots and the orbital point data, the predicted orbital data of the target spacecraft is obtained through conversion and calculation. Then, based on the two rows of roots of the target spacecraft and the predicted orbital data, the relative azimuth and relative elevation angles of the target spacecraft relative to the current tracking and control station at each time point are calculated. The obtained data are as follows: Figure 3As shown, the first column is the time point, in day-month-year "T" format (hour:minute:second:millisecond). The second column is the relative azimuth axis angle at the current time point. The third column is the relative pitch axis angle at the current time point. The fourth column is the X-axis of the coordinate system containing the relative azimuth and pitch axis angles. The fifth column is the Y-axis of the coordinate system containing the relative azimuth and pitch axis angles. The sixth column is the X-axis motor protocol data source code value. The seventh column is the Y-axis motor protocol data source code value.

[0072] The calculation process for relative azimuth and relative elevation angles includes: First, given the latitude and longitude coordinates of two points, convert these coordinates from a geodetic coordinate system to a rectangular coordinate system. Then, transform these coordinates back to the station-centered rectangular coordinate system. Next, establish a new station-centered spherical coordinate system with the station location as the center and place the target spacecraft within this system. This yields the specific position of the target spacecraft: its relative azimuth and relative elevation angles. Here, the two points represent the current tracking and control station and the target spacecraft; the station center and station location are both relative to the current tracking and control station.

[0073] After obtaining the relative elevation angle of the target spacecraft's azimuth, the motor antenna is pointed at the target's relative azimuth elevation angle. The current tracking station's latitude, longitude, and altitude are: Longitude: 116.303423; Latitude: 40.053825; Altitude: 49.756. (The remaining text appears to be incomplete and requires further context.) Figure 8 As shown, the relative azimuth and relative pitch angles in the actual demodulated data almost coincide with the theoretical azimuth and theoretical pitch angles, respectively, proving that the decoupled orbit data has a very small deviation from the actual orbit, and also proving that the demodulated data is very stable and similar to the theoretical orbit.

[0074] At each point in time, the radar's motor antenna is pointed at the target position based on the relative azimuth and elevation angle of the target spacecraft.

[0075] III. Aim in advance

[0076] Based on the predicted orbit data of the target spacecraft, the first point of the orbit to be tracked by the radar is determined. After calculating the relative azimuth and relative elevation angles corresponding to the first point of the orbit, and before the target spacecraft reaches the first point of the orbit, the antenna pointing of the radar in the current telemetry and control station is adjusted according to the relative azimuth and relative elevation angles corresponding to the first point of the orbit, so that the radar antenna is pointed towards the first point of the orbit. The first point corresponds to the first record in the orbit list file, and each record corresponds to a specific time point, i.e., the start time point. Before the start time of the first record, there is a waiting alignment time. The advance alignment time is obtained by subtracting 60 seconds from the pause time. At that moment, the advance alignment command is issued.

[0077] In other words, the motor aligns the antenna with the first point on the track in advance, so that the antenna does not need to be aligned again during the start of the mission. Doing so would be less efficient and slower in receiving data than aligning in advance.

[0078] IV. Motor Tracking Algorithm Principle

[0079] After generating the orbital position list file corresponding to the relative azimuth and relative elevation axes at the time points of the orbit, the data is pushed sequentially according to the order of the data within the orbital position list file. When each time point is reached, the relative azimuth and relative elevation angles of the target spacecraft at the current time point are sent to the motor of the radar in the current telemetry and control station. The radar adjusts the antenna pointing according to the relative azimuth and relative elevation angles, and the motor drives the antenna to move along the corresponding orbit.

[0080] like Figure 4 As shown, data reading is performed sequentially. After each data transmission, the time of the next data is determined. After sending the relative azimuth and relative elevation angles of the current time point to the radar, the relationship between the next time point in the orbital position list file and the current real time is determined. If the next time point is not earlier than the current real time, the corresponding relative azimuth and relative elevation angles are sent to the radar at the next time point. If the next time point is earlier than the current real time, frame skipping is used to update the next time point, and the updated relative azimuth and relative elevation angles corresponding to the next time point are sent to the radar. The method of updating the next time point by skipping frames is as follows: calculate the time difference between the current real time and the next time point; calculate the quotient of the time difference and the interval between two adjacent frames, and round up the quotient as the number of skipped frames; where each frame corresponds to a time point; starting from the next time point, skip frames according to the number of skipped frames, and the time point reached is the updated next time point.

[0081] In other words, if the time of the next data item is earlier, then we need to wait until the time of the next data item to send it; if the time of the next data item is later (data transmission is delayed and later than the current real time), then we need to fast forward the current data frame number to skip it and try to catch up with the frame. The algorithm for catching up with the frame is: the time of the current data item (time of the next data item) - the current real time (current time) = remaining time. When the time of the next data item is delayed, then: the time of the current data item (time of the next data item) - the current real time (current time) = delay time (in milliseconds); we check if the delay time is greater than 100 milliseconds corresponding to one frame. If it is greater than 100 milliseconds corresponding to one frame, then the data is delayed, indicating that the current time of the data is slow; fast forward the delayed time, and the data will catch up with the current time; since the interval between two adjacent data frames is 100 milliseconds, the difference in frames from the current real time is calculated as delay time / 100; the frame number to be reached is calculated as current frame number (frame number of the next data item) + the difference in frames from the current real time.

[0082] 5. Based on the relative azimuth and relative elevation angles of the target spacecraft at the current time, adjust the antenna pointing of the radar in the current telemetry and control station, and acquire telemetry data of the target spacecraft by tracking the target spacecraft through the radar.

[0083] like Figure 5 As shown, during the process of controlling the motor antenna to point towards the orbit, the Y-axis represents the predicted orbit data set, and the X-axis represents time, relative azimuth, and relative elevation, which can provide feedback on data strength. The higher the relative elevation, the closer the distance, and the stronger the signal. Based on this, the X-axis arc represents the current satellite orbit, and the dashed line represents the data point that the motor antenna is pointing to at the current moment.

[0084] When the motor controls the antenna to rotate, telemetry data will be returned via TCP baseband connection, in the following format:

[0085] 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0000 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0000 0100 00 00 00 00 00 00 92 FF FF FF 00 00 00 00 00 00 00 00 00 00 00 00 0000 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0000 00 00 00 20 C1 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0200 00 00 03 00 00 00 00 00 00 00 00 00 00 00 00 68 A7 04 00 AA 02 00 00 D7 00 0000 8B00 00 00 27 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0000 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0000 0000 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0000 00 00 00 0000 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0000 0000 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0000 00 00 00 00 00 00 00 00 20 C2 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0000 0000 00 00 01 00 00 00 00 00 00 00 00 00 00 00 D2 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0000 00 0000 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 0000 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0000 00 0000 00 00 00 00 00 00 00 00 00 80 00 00 00 5500 00 00 80 00 00 00 01 00 00 00 00 00 00 00 AA 00 00 00 01 00 00 00 01 00 0000 E8 0300 00 9A E1 00 00 00 00 00 00 10 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 08 40 00 00 00 00 00 00 10 00 0000 00 0000 10 73 4000 00 00 00 00 00 00 00 00 00 38 00 00 00 00 00 01 00 0000 01 00 00 00 8B 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 0000 00 0000 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0000 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0000 00 0000 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0000 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 CB 00 FD48 00 0000 00 DB 71 2C 42 51 9A DF 40 00 00 00 00 00 10 00 00 00 00 00 00 0000 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 02 00 00 00 00 00 0000 5F 0000 00 FF 00 00 00 00 02 00 00 02 00 00 00 1D FC CF 1A 0A 00 00 00 0000 00 00 00 00 00 00 02 00 00 00 01 00 00 00 01 00 00 00 03 00 00 00 00 00 0000 00 0000 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0000 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0000 00 0000 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0000 00 00 01 00 00 00 01 0000 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0000 00 0000 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 F0 41 00 00 00 00 0000 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0000 00 0000 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0000 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 32 00 00 00 00 00 00 10 0000 00 0000 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 0000 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 02 00 00 02 00 00 00 1D FC CF1A 00 0000 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0000 00 00 00 00 00 00 00 00 00 00 00 00 00 00 03 00 00 00 03 00 00 00 98 D5 1200 00 0001 00 6C 61 74 6E 2C 42 51 9A DF 40 00 00 00 00 00 10 00 00 00 00 0000 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 02 00 00 00 0000 00 005F 00 00 00 FF 00 00 00 00 02 00 00 02 00 00 00 1D FC CF 1A 0A 00 0000 00 00 00 00 00 00 00 00 02 00 00 00 01 00 00 00 01 00 00 00 03 00 00 00 0000 00 6466 6C 74 00 00 00 000016 50 D8 49 00 00 00 00 BF FA 50 60 00 00 0000 47 BF 3B 80 01 00 00 0000 00 00 00

[0086] Parsing the data transmitted over the baseband TCP connection yielded the following data:

[0087] After obtaining the current frame and parsing it, the longitude is obtained: 16 50 D8 49 00 00 00 00

[0088] Obtain the current frame and parse it to get the dimensions: BF FA 50 60 00 00 00 00

[0089] After obtaining the current frame and parsing it, the height is: 47 BF 3B 80 01 00 00 00

[0090] Detailed explanation and examples of the decoding process:

[0091] (1) Longitude: The message obtained by parsing is as follows: 16 50 D8 49 00 00 00 00; the message is concatenated into hexadecimal and then flipped to get: 49 D850 16; the space is removed to get: 49D85016; after converting to decimal, it is: 1238913046; according to the specified precision formula = X / 10000, the value that meets the precision is obtained, thus corresponding to the specific location: 123.8913046.

[0092] (2) Latitude: The parsed message is: BF FA 50 60 00 00 00 00 ; the message is concatenated into hexadecimal and then flipped to get: 60 50 FA BF; the space is removed to get: 6050FABF; after converting to decimal, it is: 1615919807.

[0093] According to the specified precision formula = X / 100000, the value that meets the precision is obtained, which corresponds to the specific location: 16159.19807.

[0094] (3) Height: The parsed message is as follows: 47 BF 3B 80 01 00 00 00; the message is concatenated into hexadecimal and then flipped to get: 01 80 3B BF 47; the space is removed to get: 0001803BBF47; after converting to decimal, it is: 6446366535; according to the specified precision formula = X / 10000, the value that meets the precision is obtained, thus corresponding to the specific position: 644636.6535.

[0095] The resulting structured data is as follows: {"basebandData":{"Common element - Working mode":3, "Common element - Baseband equipment overall status":1, "Common element - External frequency standard status":0, "Satellite identifier":"1234", "Common element - Mission code":"00,00,00,00,00,00,00,", "Common element - Monitoring mode":1, "Common element - External time code status":0, "Common element - Mission status":0, "Common element - Remote control command reception count":0, "Racing unit - Satellite pseudocode lock indication":0, "Racing unit - Satellite carrier lock indication":0, "Telemetry unit - Telemetry carrier lock indication":0, "Telemetry unit - Telemetry pseudocode lock indication":0, "Telemetry unit - Telemetry bit synchronization lock indication":0, "Telemetry unit - Telemetry frame synchronization lock indication":0, "Common element - Telemetry data forwarding count":0, "Telemetry unit "AGC Voltage": 0, "Telemetry Unit - cb / N0": 43.111187, "Telemetry Unit - Eb / N0": 6.9875875, "Remote Control Unit - Small Loop Receiver Carrier Lock Indicator": 0, "Remote Control Unit - Small Loop Receiver Pseudo-Code Lock Indicator": 0, "Remote Control Unit - Small Loop Receiver Position Loop Lock Indicator": 0, "Remote Control Unit - Idle Indicator": 0, "Remote Control Unit - Number of Command Messages": 0, "Remote Control Unit - Number of Correct Messages": 0, "Remote Control Unit - Number of Small Loop Comparison Messages": 0, "Unit - Number of Correct Messages": 0, "Time Statistics Unit - Target Longitude": 123.8913046, "Time Statistics Unit - Target Latitude": 16.15919807, "Time Statistics Unit - Target Altitude": 644636.6535}, "deviceCode": "5", "messageType": "Parameter Monitoring Information", "type": "Baseband"}

[0096] This includes the following data: Time System Unit - Target Latitude, Latitude, Altitude: "Time System Unit - Target Longitude": 123.8913046; "Time System Unit - Target Latitude": 16.15919807; "Time System Unit - Target Altitude": 644636.6535.

[0097] VI. Demodulate the telemetry data to obtain the current position of the target spacecraft, and guide the radar to track the target spacecraft based on the demodulated current position. Specifically, demodulating the telemetry data to obtain the current position of the target spacecraft includes: demodulating the GNSS navigation measurement data of the target spacecraft from the telemetry data; analyzing the GNSS navigation measurement data; and resolving the current position of the target spacecraft from the GNSS navigation measurement data. The position of the target spacecraft includes longitude, latitude, and altitude. After obtaining the current position of the target spacecraft, the system automatically initiates a guidance program to track the target spacecraft, guiding the antenna to point towards the current position of the target spacecraft. In other words, the system uses program guidance, acquiring the longitude, latitude, and altitude of the target spacecraft in real time during the tracking process, and then automatically initiating the process of guiding the radar's motor-controlled antenna to point, achieving the goal of accurately tracking the target spacecraft with radar.

[0098] Table 1 shows the demodulated data generated according to the method of this embodiment of the invention. Analysis shows that the relative azimuth and relative elevation angles obtained from the demodulated orbital position data (current latitude, longitude, and altitude) are no different from the theoretical orbit, thus verifying that the azimuth and relative elevation angles are effective and stable. The process of demodulating spacecraft, such as satellite longitude, latitude, and altitude, using telemetry signals, and then automatically tracking them based on secondary analysis data (longitude, latitude, and altitude) is entirely feasible.

[0099] Table 1

[0100]

[0101]

[0102]

[0103]

[0104] like Figure 6 As shown, in conjunction with embodiments of the present invention, a system for self-tracking using satellite telemetry is also provided, comprising:

[0105] The first calculation unit 21 is used to receive the operational orbit position data of the target spacecraft returning from baseband; and to calculate the predicted orbit data of the target spacecraft by calculating the two rows of roots of the target spacecraft and the operational orbit position data.

[0106] The second calculation unit 22 is used to calculate the relative azimuth and relative elevation angles of the target spacecraft relative to the current telemetry and control station at each time point based on the two rows of roots of the target spacecraft and the predicted orbit data.

[0107] The initial tracking unit 23 is used to adjust the antenna pointing of the radar in the current telemetry and control station according to the relative azimuth and relative elevation angle of the target spacecraft at the current time point, and to track the target spacecraft through the radar to obtain telemetry data of the target spacecraft;

[0108] The tracking and adjustment unit 24 is used to demodulate the telemetry data to obtain the current position of the target spacecraft, and guide the radar to track the target spacecraft based on the current position of the target spacecraft obtained by demodulation.

[0109] Preferably, the system for self-tracking using satellite telemetry further includes an orbital position list file unit, wherein:

[0110] The orbital position list file unit is used to store the relative azimuth and relative elevation angles of the target spacecraft relative to the current telemetry and control station at each time point in the target spacecraft's orbital position list file;

[0111] The initial tracking unit 23 is specifically used to: according to the orbital position list file, when the target spacecraft arrives at the current time point, send the relative azimuth angle and the relative elevation angle of the target spacecraft at the current time point to the radar in the current telemetry and control station, and the radar adjusts the antenna pointing according to the relative azimuth angle and the relative elevation angle.

[0112] Preferably, the system for self-tracking using satellite telemetry further includes a frame tracking unit, specifically used to: after sending the relative azimuth and relative elevation angles at the current time point to the radar, determine the relationship between the next time point in the orbital position list file and the current real time;

[0113] If the next time point is not earlier than the current real time, the corresponding relative azimuth and relative elevation angles will be sent to the radar at the next time point.

[0114] If the next time point is earlier than the current real time, a frame skipping method is used to update the next time point, and the relative azimuth and relative elevation angles corresponding to the updated next time point are sent to the radar; the method of using frame skipping to update the next time point is as follows:

[0115] Calculate the time difference between the current real time and the next time point; calculate the quotient of the time difference and the interval between two adjacent frames, and take the rounded-up result of the quotient as the number of frame skips; wherein, each frame corresponds to one time point;

[0116] Starting from the next time point, skip frames according to the number of skipped frames, and use the time point skipped to the next time point as the updated time point.

[0117] Preferably, the tracking and adjustment unit 24 includes a demodulation subunit, which is specifically used for: demodulating the GNSS navigation measurement data of the target spacecraft from the telemetry data; analyzing the GNSS navigation measurement data and determining the current position of the target spacecraft from the GNSS navigation measurement data, wherein the position of the target spacecraft includes longitude, latitude and altitude.

[0118] Preferably, the system for self-tracking using satellite telemetry further includes a pre-preparation unit, specifically used for: determining the first point of the orbit to be tracked by the radar based on the predicted orbit data of the target spacecraft; after calculating the relative azimuth and relative elevation angles corresponding to the first point of the orbit, and before the target spacecraft has reached the first point of the orbit, adjusting the antenna pointing of the radar in the current telemetry and control station according to the relative azimuth and relative elevation angles corresponding to the first point of the orbit, so that the radar antenna points to the first point of the orbit.

[0119] Preferably, in the system for self-tracking using satellite telemetry, the tracking adjustment unit 24 includes a guidance subunit, which is used to: automatically switch to the guidance program for tracking the target spacecraft after obtaining the current position of the target spacecraft, and guide the antenna to point to the current position of the target spacecraft through the guidance program.

[0120] Preferably, the system for self-tracking using satellite telemetry further includes:

[0121] The following are the contents required for calculating the relative azimuth and relative pitch angles: (1) Set the Earth as a rotating ellipsoid with its rotation axis as the rotation axis, and the Earth's center as the midpoint of the two foci of the rotating ellipsoid. The distance from the Earth's center to the sea level is calculated using the Earth's converted radius, which is obtained by calculating the equatorial radius and the polar radius; Set the distance from the current position of the target spacecraft to the Earth's center to be independent of longitude and only related to latitude; Set the distance from the current tracking station to the Earth's center to be independent of longitude and only related to latitude; Set the designated location; Construct a plane rectangular coordinate system on the longitude line passing through the designated location and the plane where the Earth's center is located, with the Earth's center as the origin of the coordinate system; (2) On the plane rectangular coordinate system, take the sum of the altitude of the target spacecraft and the Earth's converted radius as the first side, and the first side is on the plane Starting from the origin in the Cartesian coordinate system, the projection of the target spacecraft in the Cartesian coordinate system ends; and, the sum of the altitude of the current telemetry and control station and the Earth's conversion radius is taken as the second side, starting from the origin in the Cartesian coordinate system and ending at the projection of the current telemetry and control station in the Cartesian coordinate system; the distance between the projection of the target spacecraft in the Cartesian coordinate system and the projection of the current telemetry and control station in the Cartesian coordinate system is taken as the third side; (3) the angle between the first side and the second side is taken as the relative azimuth angle of the target spacecraft relative to the current telemetry and control station; (4) the angle between the first side and the third side is taken as the complementary angle of the relative pitch angle of the target spacecraft relative to the current telemetry and control station, and the relative pitch angle of the target spacecraft relative to the current telemetry and control station is obtained based on the complementary angle;

[0122] The second calculation unit 22 is specifically used for:

[0123] For each time point, the latitude of the target spacecraft is obtained from the two rows of roots of the target spacecraft and the predicted orbit data. Using the latitude of the target spacecraft, the latitude of the current tracking and control station, the equatorial radius, and the polar radius as known data, the required information is calculated based on the relative azimuth and relative elevation angles to obtain the relative azimuth and relative elevation angles of the target spacecraft relative to the current tracking and control station for each time point.

[0124] In conjunction with embodiments of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium storing one or more programs, which, when executed by a computer device, cause the computer device to perform any of the aforementioned methods for self-tracking using satellite telemetry.

[0125] like Figure 7 As shown, in conjunction with embodiments of the present invention, a computer device is also provided, including: a processor; and a memory arranged to store computer-executable instructions, which, when executed, cause the processor to perform any of the aforementioned methods for self-tracking using satellite telemetry.

[0126] The beneficial technical effects achieved by the embodiments of the present invention are as follows:

[0127] 1. Receive the target spacecraft's orbital position data returned from baseband; calculate the predicted orbital data of the target spacecraft by combining the two rows of root numbers and the orbital position data; calculate the relative azimuth and relative elevation angles of the target spacecraft relative to the current tracking and control station at each time point based on the two rows of root numbers and the predicted orbital data; adjust the antenna pointing of the radar in the current tracking and control station according to the relative azimuth and relative elevation angles of the target spacecraft at the current time point, and acquire telemetry data of the target spacecraft by tracking the target spacecraft through the radar; then demodulate the telemetry data to obtain the current position of the target spacecraft; at each time point, guide the radar to track the target spacecraft based on the demodulated current position of the target spacecraft, dynamically judge the current reception status of the received baseband signal, and perform real-time calculation and real-time tracking during the tracking process to automatically adjust to the optimal azimuth and elevation position of the signal, thereby improving the accuracy of tracking the target spacecraft. Therefore, even if there are some uncertainties such as slight deviations between the satellite's orbit and actual position, time and azimuth, and atmospheric effects, the tracking of the target spacecraft will not experience flash lock or loss. It will also not be adversely affected by the signal fading when the signal passes through the top layer of the atmosphere at the low altitude of the satellite's orbit and when the acquisition begins at the edge of the Earth. This avoids the possibility of flash lock or loss of the target caused by using fixed orbit data with two lines of roots during the tracking process.

[0128] 2. It avoids the need for manual searching of the target spacecraft in the event of loss or lock-up, thus improving efficiency and saving time and effort.

[0129] 3. It compensates for the shortcomings of program guidance and tracing in two-line root numbers.

[0130] 4. During real-time track tracking, the system can dynamically adjust scheduling and fast-forward time to track frames.

[0131] Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware.

[0132] The software product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0133] The computer-readable storage medium may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, capable of transmitting, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0134] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0135] Those skilled in the art will understand that the above modules can be distributed in the device as described in the embodiments, or they can be modified accordingly and placed in one or more devices that are unique to this embodiment. The modules in the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0136] Through the description of the above embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions of the embodiments of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, portable hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, mobile terminal, or network device, etc.) to execute the methods according to the embodiments of the present invention.

[0137] Exemplary embodiments of the present invention have been specifically shown and described above. It should be understood that the present invention is not limited to the detailed structures, arrangements, or implementations described herein; rather, the present invention is intended to cover various modifications and equivalent arrangements contained within the spirit and scope of the appended claims.

Claims

1. A method for self-tracking using satellite telemetry, characterized in that, include: Receive baseband return data on the target spacecraft's orbital position; The predicted orbit data of the target spacecraft is obtained by calculating the two rows of roots of the target spacecraft and the orbital point data. The relative azimuth and relative elevation angles of the target spacecraft relative to the current tracking and control station at each time point are calculated based on the two rows of roots of the target spacecraft and the predicted orbit data. Based on the relative azimuth and relative elevation angles of the target spacecraft at the current time, adjust the antenna pointing of the radar in the current telemetry and control station, and obtain telemetry data of the target spacecraft by tracking the target spacecraft through the radar; The current position of the target spacecraft is obtained by demodulating the telemetry data, and the radar is guided to track the target spacecraft based on the demodulated current position. The relative azimuth and relative elevation angles of the target spacecraft relative to the current telemetry and control station at each time point are saved in the target spacecraft's orbital position list file; The step of adjusting the antenna pointing of the radar within the current telemetry and control station based on the relative azimuth and relative elevation angles of the target spacecraft at the current time point specifically includes: According to the orbital position list file, when the target spacecraft arrives at the current time point, the relative azimuth and relative elevation angles of the target spacecraft at the current time point are sent to the radar in the current telemetry and control station. The radar adjusts the antenna pointing according to the relative azimuth and relative elevation angles. Also includes: After sending the relative azimuth and relative elevation angles at the current time point to the radar, the relationship between the next time point in the orbital position list file and the current real time is determined. If the next time point is not earlier than the current real time, the corresponding relative azimuth and relative elevation angles will be sent to the radar at the next time point. If the next time point is earlier than the current real time, a frame skipping method is used to update the next time point, and the relative azimuth and relative elevation angles corresponding to the updated next time point are sent to the radar; the method of using frame skipping to update the next time point is as follows: Calculate the time difference between the current real time and the next time point; calculate the quotient of the time difference and the interval between two adjacent frames, and take the rounded-up result of the quotient as the number of frame skips; wherein, each frame corresponds to one time point; Starting from the next time point, skip frames according to the number of skipped frames, and use the time point skipped to the next time point as the updated next time point.

2. The method for self-tracking using satellite telemetry according to claim 1, characterized in that, The process of demodulating the telemetry data to obtain the current position of the target spacecraft specifically includes: The GNSS navigation measurement data of the target spacecraft is demodulated from the telemetry data. The current position of the target spacecraft is determined by analyzing the GNSS navigation measurement data, which includes longitude, latitude, and altitude.

3. The method for self-tracking using satellite telemetry according to claim 1, characterized in that, Also includes: Based on the predicted orbit data of the target spacecraft, determine the first point of the orbit that the radar needs to track; After calculating the relative azimuth and relative elevation angles corresponding to the first point of the orbit, and before the target spacecraft has reached the first point of the orbit, the antenna pointing of the radar in the current telemetry and control station is adjusted according to the relative azimuth and relative elevation angles corresponding to the first point of the orbit, so that the radar antenna points to the first point of the orbit.

4. The method for self-tracking using satellite telemetry according to claim 1, characterized in that, The step of guiding the radar to track the target spacecraft based on the current position of the target spacecraft obtained through demodulation specifically includes: After obtaining the current position of the target spacecraft, the system automatically initiates a guidance program to track the target spacecraft, which guides the antenna to point at the target spacecraft's current position.

5. A system for self-tracking using satellite telemetry, characterized in that, include: The first computing unit is used to receive the orbital position data of the target spacecraft returning via baseband. The predicted orbit data of the target spacecraft is obtained by calculating the two rows of roots of the target spacecraft and the orbital point data. The second calculation unit is used to calculate the relative azimuth and relative elevation angles of the target spacecraft relative to the current telemetry and control station at each time point based on the two rows of roots of the target spacecraft and the predicted orbit data. The initial tracking unit is used to adjust the antenna pointing of the radar in the current telemetry and control station according to the relative azimuth and relative elevation angle of the target spacecraft at the current time point, and to track the target spacecraft through the radar to obtain telemetry data of the target spacecraft; The tracking and adjustment unit is used to demodulate the telemetry data to obtain the current position of the target spacecraft, and guide the radar to track the target spacecraft based on the demodulated current position of the target spacecraft; It also includes track position list file units and frame tracking units, wherein: The orbital position list file unit is used to store the relative azimuth and relative elevation angles of the target spacecraft relative to the current telemetry and control station at each time point in the target spacecraft's orbital position list file; The initial tracking unit is specifically used to: according to the orbital position list file, when the target spacecraft arrives at the current time point, send the relative azimuth angle and the relative elevation angle of the target spacecraft at the current time point to the radar in the current telemetry and control station, and the radar adjusts the antenna pointing according to the relative azimuth angle and the relative elevation angle; The frame tracking unit is specifically used to: after sending the relative azimuth and relative elevation angles at the current time point to the radar, determine the relationship between the next time point in the orbital position list file and the current real time. If the next time point is not earlier than the current real time, the corresponding relative azimuth and relative elevation angles will be sent to the radar at the next time point. If the next time point is earlier than the current real time, a frame skipping method is used to update the next time point, and the relative azimuth and relative elevation angles corresponding to the updated next time point are sent to the radar; the method of using frame skipping to update the next time point is as follows: Calculate the time difference between the current real time and the next time point; calculate the quotient of the time difference and the interval between two adjacent frames, and take the rounded-up result of the quotient as the number of frame skips; wherein, each frame corresponds to one time point; Starting from the next time point, skip frames according to the number of skipped frames, and use the time point skipped to the next time point as the updated time point.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores one or more programs, which, when executed by a computer device, cause the computer device to perform the self-tracking method using satellite telemetry as described in any one of claims 1-4.

7. A computer device, characterized in that, include: processor; And a memory configured to store computer-executable instructions, which, when executed, cause the processor to perform the self-tracking method using satellite telemetry as described in any one of claims 1-4.

Images