A satellite antenna control method, system, computer device and storage medium

Abstract

The application provides a satellite antenna control method and system, computer equipment and a storage medium, wherein the initial subsatellite point coordinates of a target observation satellite are subjected to coordinate conversion to obtain candidate subsatellite point coordinates, and the initial observation point coordinates are subjected to conversion to obtain candidate observation point coordinates; the target position coordinates of the target satellite antenna in a geographical coordinate system are determined according to the candidate subsatellite point coordinates and the candidate observation point coordinates; the first elevation angle, the first azimuth angle and the first polarization angle and the second elevation angle, the second azimuth angle and the second polarization angle that need to be met by the antenna beam of the target satellite antenna when pointing to the target observation satellite are determined according to the target position coordinates; the angular velocity compensation amount of the target satellite antenna is determined according to the second elevation angle, the second azimuth angle and the second polarization angle at each detection time point; and the angular velocity of the target satellite antenna is controlled according to the angular velocity compensation amount. The above method is used to realize accurate control of the satellite antenna.

Description

Technical Field

[0001] This invention relates to the field of automatic equipment control, and more specifically, to a satellite antenna control method, system, computer equipment, and storage medium. Background Technology

[0002] With the development of satellite technology, satellites are playing an increasingly important role in human communication, navigation, and data transmission. In the daily monitoring and control of satellite operations, satellite antennas installed at ground-based or maritime observation stations are used to track and monitor the satellite's position. When tracking and monitoring a satellite using satellite antennas, it is essential to ensure that the antenna beam is pointed towards the satellite to achieve real-time position monitoring. Typically, the direction of the antenna beam is controlled by adjusting the rotational angular velocity of the satellite antenna. This rotational angular velocity control is usually calculated and determined based on the satellite's real-time position.

[0003] In existing technologies, the angular velocity control value for a satellite antenna is determined by using the satellite's orbital altitude as a fixed value (e.g., 36,000 km). This altitude, along with other satellite parameters, is then used to determine the angular velocity control value for the antenna. However, the inventors discovered that multiple satellites may exist at the same orbital position with varying orbital altitudes. Using only a fixed orbital altitude value to determine the angular velocity control value leads to a deviation between the obtained value and the actual required control value, resulting in inaccurate antenna control. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a satellite antenna control method, system, computer equipment and storage medium to achieve accurate control of satellite antennas.

[0005] In a first aspect, embodiments of this application provide a satellite antenna control method, the method comprising:

[0006] The initial nadir coordinates of the target observation satellite at each of the at least two detection time points are transformed using a coordinate system transformation model to obtain candidate nadir coordinates for each detection time point. Similarly, the initial observation point coordinates of the target satellite antenna at each detection time point are transformed using the same model to obtain candidate observation point coordinates. The initial nadir coordinates are the latitude and longitude coordinates of the nadir point of the target observation satellite in the geodetic coordinate system, the candidate nadir coordinates are the position coordinates of the nadir point of the target observation satellite in the geocentric coordinate system, the initial observation point coordinates are the latitude and longitude coordinates of the observation point of the target satellite antenna in the geodetic coordinate system, and the candidate observation point coordinates are the position coordinates of the observation point of the target satellite antenna in the geocentric coordinate system.

[0007] For each detection time point, the target position coordinates of the target observation satellite in the geographic coordinate system where the target satellite antenna is located are determined based on the candidate satellite ground point coordinates and the candidate observation point coordinates at that detection time point.

[0008] Based on the target location coordinates in the geographic coordinate system at the detection time point, the first elevation angle, first azimuth angle, and first polarization angle that the antenna beam of the target satellite antenna must satisfy when pointing towards the target observation satellite at the detection time point are determined. The first elevation angle is the elevation angle in the geographic coordinate system at the location of the target satellite antenna, the first azimuth angle is the azimuth angle in the geographic coordinate system at the location of the target satellite antenna, and the first polarization angle is the polarization angle in the geographic coordinate system at the location of the target satellite antenna.

[0009] Based on the first elevation angle, first azimuth angle, and first polarization angle of the target satellite antenna at the detection time point, determine the second elevation angle, second azimuth angle, and second polarization angle that the antenna beam of the target satellite antenna in the antenna base coordinate system must satisfy when pointing to the target observation satellite at the detection time point;

[0010] For each pair of adjacent detection time points among the at least two detection time points, the angular velocity compensation amount of the target satellite antenna at the later detection time point is determined based on the second elevation angle, the second azimuth angle, and the second polarization angle at the earlier detection time point, the second elevation angle, the second azimuth angle, and the second polarization angle at the later detection time point, and the time interval between the earlier and later detection time points. The earlier detection time point is the detection time point that occurs earlier in each pair of adjacent detection time points, and the later detection time point is the detection time point that occurs later in each pair of adjacent detection time points.

[0011] The angular velocity of the target satellite antenna at the subsequent detection time point is controlled based on the angular velocity compensation amount of the target satellite antenna at the subsequent detection time point.

[0012] Optionally, the step of using a coordinate system transformation model to perform coordinate transformation on the initial nadir point coordinates of the target observation satellite at each of the at least two detection time points to obtain candidate nadir point coordinates at each detection time point, and using the coordinate system transformation model to perform coordinate transformation on the initial observation point coordinates of the target satellite antenna at each detection time point to obtain candidate observation point coordinates at each detection time point, includes:

[0013] For each of the at least two detection time points, based on the initial nadir coordinates (λ) of the target observation satellite at that detection time point... a L a H a Using the following coordinate system transformation model, the coordinates of the candidate satellite's nadir (X) at the detection time point are obtained through coordinate transformation. a Y a Z a ):

[0014]

[0015] Where, λ a L represents the longitude value of the initial nadir point coordinates. a H represents the latitude value of the initial nadir point coordinates. a X represents the initial altitude value of the nadir point. a The coordinates of the candidate star's nadir point on the X-axis, Y... a Z represents the Y-axis coordinates of the candidate star's nadir point. a These are the coordinates of the candidate star's nadir point on the Z-axis. R e Let e ​​be the Earth's semi-major radius and e be the Earth's first eccentricity.

[0016] For each of the at least two detection time points, based on the initial observation point coordinates (λ) of the target satellite antenna at that detection time point... s L s H s Using the following coordinate system transformation model, the coordinates of the candidate observation point (X) of the target satellite antenna at the detection time point are obtained through coordinate transformation. s Y s Z s ):

[0017]

[0018] Where, λ s L represents the longitude value of the initial observation point coordinates. s H represents the latitude value of the initial observation point coordinates. s X represents the height value of the initial observation point coordinates. s The values ​​of the candidate observation point coordinates on the X-axis and Y-axis are given. s Z represents the Y-axis coordinates of the candidate observation point. s These are the coordinates of the candidate observation points on the Z-axis. R e Let e ​​be the Earth's semi-major radius and e be the Earth's first eccentricity.

[0019] Optionally, for each detection time point, determining the target position coordinates of the target observation satellite in the geographic coordinate system at the location of the target satellite antenna at that detection time point, based on the candidate sub-satellite point coordinates and the candidate observation point coordinates at that detection time point, includes:

[0020] For each detection time point, based on the candidate star nadir coordinates (X) at that detection time point... a Y a Z a ) and the position coordinates (X) of the candidate observation point at that detection time point s Y s Z s The target location coordinates (X, X) of the target satellite antenna at the detection time point in the geographic coordinate system are determined using the following formula. ta Y ta Z ta ):

[0021]

[0022] Among them, X ta The target position coordinates are the values ​​on the X-axis and Y-axis. taZt represents the target position coordinates on the Y-axis. a λ is the value of the target position coordinates on the Z-axis. a L represents the longitude value of the initial nadir point coordinates. a X represents the latitude value of the initial nadir point coordinates. a The coordinates of the candidate star's nadir point on the X-axis, Y... a Z represents the Y-axis coordinates of the candidate star's nadir point. a λ represents the coordinates of the candidate star's nadir point on the Z-axis. s L represents the longitude value of the initial observation point coordinates. s X represents the latitude value of the initial observation point coordinates. s The values ​​of the candidate observation point coordinates on the X-axis and Y-axis are given. s Z represents the Y-axis coordinates of the candidate observation point. s The coordinates of the candidate observation point are the values ​​on the Z-axis.

[0023] Optionally, determining the first elevation angle, first azimuth angle, and first polarization angle that the antenna beam of the target satellite antenna must satisfy when pointing towards the target observation satellite, based on the target location coordinates of the target satellite antenna in the geographic coordinate system at the detection time point, includes:

[0024] Based on the target satellite antenna's location coordinates (X) in the geographic coordinate system at that detection time point. ta Y ta Z ta The first elevation angle θ that the antenna beam of the target satellite antenna must satisfy when pointing towards the target observation satellite at the detection time point is determined using the following formula. t First azimuth and the first polarization angle γ t :

[0025]

[0026] Among them, X ta The target position coordinates are the values ​​on the X-axis and Y-axis. ta The Z value represents the target position coordinates on the Y-axis. ta tg represents the target position coordinates on the Z-axis. -1 λ is the symbol for the arctangent function. a L represents the longitude value of the initial nadir point coordinates. a The latitude value is the initial coordinate of the nadir point.

[0027] Optionally, determining the second elevation angle, second azimuth angle, and second polarization angle that the antenna beam of the target satellite antenna must satisfy when pointing towards the target observation satellite in the antenna base coordinate system at the detection time point, based on the first elevation angle, first azimuth angle, and first polarization angle of the target satellite antenna at the detection time point, includes:

[0028] Based on the geographic coordinate system and the antenna coordinate system of the target satellite antenna location, a first rotation matrix is ​​determined for the antenna beam of the target satellite antenna at the detection time point when it points to the target observation satellite, transforming it from the geographic coordinate system of the target satellite antenna location to the antenna coordinate system;

[0029] Based on the antenna base coordinate system and the geographic coordinate system of the target satellite antenna location, a second rotation matrix is ​​determined for the antenna beam of the target satellite antenna at the detection time point when it points to the target observation satellite, transforming it from the antenna base coordinate system to the geographic coordinate system of the target satellite antenna location;

[0030] Based on the first rotation matrix and the second rotation matrix, a third rotation matrix is ​​determined to transform the antenna beam of the target satellite antenna at the detection time point from the antenna base coordinate system to the antenna coordinate system when it points to the target observation satellite;

[0031] The second elevation angle, second azimuth angle, and second polarization angle that the target observation satellite must satisfy when determined according to the third rotation matrix are used.

[0032] Optionally, the step of determining the first rotation matrix from the geographical coordinate system of the target satellite antenna location to the antenna coordinate system when the antenna beam of the target satellite antenna is pointing towards the target observation satellite at the detection time point, based on the geographical coordinate system of the target satellite antenna location and the antenna coordinate system, includes:

[0033] The first rotation matrix C1 is determined according to the following formula:

[0034]

[0035] Where, θ t The first pitch angle, γ is the first azimuth angle. t This is the first polarization angle;

[0036] The step of determining the second rotation matrix, which transforms the antenna beam of the target satellite antenna to the geographical coordinate system of the target satellite antenna at the detection time point when the antenna base coordinate system and the geographical coordinate system of the target satellite antenna location are used to determine the target observation satellite, includes:

[0037] The second rotation matrix C2 is determined according to the following formula:

[0038]

[0039] Where, θ b This refers to the elevation angle that the antenna beam of the target satellite antenna must satisfy when pointing towards the target observation satellite in the antenna base coordinate system at the detection time point. γ is the azimuth angle that the antenna beam of the target satellite antenna in the antenna base coordinate system must satisfy when pointing towards the target observation satellite at the detection time point. b Let θ be the polarization angle that the antenna beam of the target satellite antenna in the antenna base coordinate system must satisfy when pointing towards the target observation satellite at the detection time point. b , and γ b All are known quantities;

[0040] The step of determining the third rotation matrix, based on the first and second rotation matrices, to transform the antenna beam of the target satellite antenna at the detection time point from the antenna base coordinate system to the antenna coordinate system when pointing towards the target observation satellite includes:

[0041] The third rotation matrix C3 is determined according to the following formula:

[0042]

[0043] Where C1 is the first rotation matrix, C2 is the second rotation matrix, and C... 11 Let C be the value of the element located in the first row and first column of the third rotation matrix C3. 12 Let C be the value of the element located in the first row and second column of the third rotation matrix C3. 13 Let C be the value of the element located in the first row and third column of the third rotation matrix C3. 21 Let C be the value of the element located in the second row and first column of the third rotation matrix C3. 22 Let C be the value of the element located in the second row and second column of the third rotation matrix C3. 23 Let C be the value of the element located in the second row and third column of the third rotation matrix C3. 31 Let C be the value of the element located in the third row and first column of the third rotation matrix C3. 32 Let C be the value of the element located in the third row and second column of the third rotation matrix C3. 33 This is the value of the element located in the third row and third column of the third rotation matrix C3;

[0044] The second elevation angle, second azimuth angle, and second polarization angle that must be satisfied when determining the target observation satellite based on the third rotation matrix include:

[0045] The second pitch angle θ is determined using the following formula. p Second azimuth angle Second polarization angle γ p :

[0046]

[0047] Among them, C 32 Let C be the value of the element located in the third row and second column of the third rotation matrix C3. 12 Let C be the value of the element located in the first row and second column of the third rotation matrix C3. 22 Let C be the value of the element located in the second row and second column of the third rotation matrix C3. 31 Let C be the value of the element located in the third row and first column of the third rotation matrix C3. 33 tg is the value of the element located in the third row and third column of the third rotation matrix C3. -1 This is the symbol for the arctangent function.

[0048] Optionally, the angular velocity compensation amount includes pitch angular velocity compensation amount, azimuth angular velocity compensation amount, and polarization angular velocity compensation amount. For each two adjacent detection time points among the at least two detection time points, the angular velocity compensation amount of the target satellite antenna at the later detection time point is determined based on the second pitch angle, the second azimuth angle, and the second polarization angle at the earlier detection time point, the second pitch angle, the second azimuth angle, and the second polarization angle at the later detection time point, and the time interval between the earlier and later detection time points. This includes:

[0049] The pitch angular velocity compensation amount is determined according to the following formula. The azimuth angular velocity compensation amount and the polarization angular velocity compensation amount

[0050]

[0051] Where, θ p ′ is the second pitch angle at the later detection time point, θ p γ is the second pitch angle at the initial detection time point. p ′ represents the second azimuth angle at the later detection time point, γ p The second azimuth angle at the initial detection time point. The second polarization angle at the later detection time point. The second polarization angle at the initial detection time point. This is the time interval between the earlier time point and the later detection time point.

[0052] Secondly, embodiments of this application provide a satellite antenna control device, the device comprising:

[0053] The candidate coordinate determination module is used to perform coordinate transformation on the initial nadir coordinates of the target observation satellite at each of the at least two detection time points using a coordinate system transformation model to obtain the candidate nadir coordinates at each detection time point, and to perform coordinate transformation on the initial observation point coordinates of the target satellite antenna at each detection time point using the coordinate system transformation model to obtain the candidate observation point coordinates at each detection time point. The initial nadir coordinates are the latitude and longitude coordinates of the nadir point of the target observation satellite in the geodetic coordinate system, the candidate nadir coordinates are the position coordinates of the nadir point of the target observation satellite in the geocentric coordinate system, the initial observation point coordinates are the latitude and longitude coordinates of the observation point of the target satellite antenna in the geodetic coordinate system, and the candidate observation point coordinates are the position coordinates of the observation point of the target satellite antenna in the geocentric coordinate system.

[0054] The target position coordinate determination module is used to determine, for each detection time point, the target position coordinates of the target observation satellite in the geographic coordinate system where the target satellite antenna is located at the detection time point, based on the candidate satellite sub-point coordinates and the candidate observation point coordinates at the detection time point.

[0055] The first angle determination module is used to determine, based on the target location coordinates of the target satellite antenna at the detection time point in the geographic coordinate system, the first elevation angle, the first azimuth angle, and the first polarization angle that the antenna beam of the target satellite antenna must satisfy when pointing to the target observation satellite at the detection time point. The first elevation angle is the elevation angle in the geographic coordinate system where the target satellite antenna is located, the first azimuth angle is the azimuth angle in the geographic coordinate system where the target satellite antenna is located, and the first polarization angle is the polarization angle in the geographic coordinate system where the target satellite antenna is located.

[0056] The second angle determination module is used to determine, based on the first elevation angle, the first azimuth angle and the first polarization angle of the target satellite antenna at the detection time point, the second elevation angle, the second azimuth angle and the second polarization angle that the antenna beam of the target satellite antenna in the antenna base coordinate system at the detection time point must satisfy when pointing to the target observation satellite.

[0057] An angular velocity compensation determination module is used to determine, for each pair of adjacent detection time points among the at least two detection time points, the angular velocity compensation amount of the target satellite antenna at the later detection time point based on the second elevation angle, the second azimuth angle, and the second polarization angle at the earlier detection time point, the second elevation angle, the second azimuth angle, and the second polarization angle at the later detection time point, and the time interval between the earlier and later detection time points. The earlier detection time point is the detection time point that occurs first among the two adjacent detection time points, and the later detection time point is the detection time point that occurs later among the two adjacent detection time points.

[0058] The satellite antenna control module is used to control the angular velocity of the target satellite antenna at the subsequent detection time point based on the angular velocity compensation amount of the target satellite antenna at the subsequent detection time point.

[0059] Optionally, the candidate coordinate determination module, when performing coordinate transformation on the initial nadir coordinates of the target observation satellite at each of the at least two detection time points using a coordinate system transformation model to obtain candidate nadir coordinates at each detection time point, and when performing coordinate transformation on the initial observation point coordinates of the target satellite antenna at each detection time point using a coordinate system transformation model to obtain candidate observation point coordinates at each detection time point, specifically performs the following:

[0060] For each of the at least two detection time points, based on the initial nadir coordinates (λ) of the target observation satellite at that detection time point... a L a H a Using the following coordinate system transformation model, the coordinates of the candidate satellite's nadir (X) at the detection time point are obtained through coordinate transformation. a Y a Z a ):

[0061]

[0062] Where, λ a L represents the longitude value of the initial nadir point coordinates. a H represents the latitude value of the initial nadir point coordinates. a X represents the initial altitude value of the nadir point. a The coordinates of the candidate star's nadir point on the X-axis, Y... a Z represents the Y-axis coordinates of the candidate star's nadir point. a These are the coordinates of the candidate star's nadir point on the Z-axis. R e Let e ​​be the Earth's semi-major radius and e be the Earth's first eccentricity.

[0063] For each of the at least two detection time points, based on the initial observation point coordinates (λ) of the target satellite antenna at that detection time point... s L s H s Using the following coordinate system transformation model, the coordinates of the candidate observation point (X) of the target satellite antenna at the detection time point are obtained through coordinate transformation. s Y s Z s ):

[0064]

[0065] Where, λ s L represents the longitude value of the initial observation point coordinates. s H represents the latitude value of the initial observation point coordinates. s X represents the height value of the initial observation point coordinates. s The values ​​of the candidate observation point coordinates on the X-axis and Y-axis are given. s Z represents the Y-axis coordinates of the candidate observation point. s These are the coordinates of the candidate observation points on the Z-axis. R e Let e ​​be the Earth's semi-major radius and e be the Earth's first eccentricity.

[0066] Optionally, when the target position coordinate determination module determines the target position coordinates of the target observation satellite in the geographic coordinate system at the location of the target satellite antenna at each detection time point, based on the candidate satellite sub-point coordinates and the candidate observation point coordinates at that detection time point, it is specifically used for:

[0067] For each detection time point, based on the candidate star nadir coordinates (X) at that detection time point... a Y a Z a ) and the position coordinates (X) of the candidate observation point at that detection time point s Y s Z s The target location coordinates (X, X) of the target satellite antenna at the detection time point in the geographic coordinate system are determined using the following formula. ta Y ta Z ta ):

[0068]

[0069] Among them, Xta The target position coordinates are the values ​​on the X-axis and Y-axis. ta The Z value represents the target position coordinates on the Y-axis. ta λ is the value of the target position coordinates on the Z-axis. a L represents the longitude value of the initial nadir point coordinates. a X represents the latitude value of the initial nadir point coordinates. a The coordinates of the candidate star's nadir point on the X-axis, Y... a Z represents the Y-axis coordinates of the candidate star's nadir point. a λ represents the coordinates of the candidate star's nadir point on the Z-axis. s L represents the longitude value of the initial observation point coordinates. s X represents the latitude value of the initial observation point coordinates. s The values ​​of the candidate observation point coordinates on the X-axis and Y-axis are given. s Z represents the Y-axis coordinates of the candidate observation point. s The coordinates of the candidate observation point are the values ​​on the Z-axis.

[0070] Optionally, when the first angle determination module is used to determine the first elevation angle, first azimuth angle, and first polarization angle that the antenna beam of the target satellite antenna must satisfy when pointing to the target observation satellite at the detection time point, based on the target position coordinates of the target satellite antenna location in the geographic coordinate system at the detection time point, it is specifically used for:

[0071] Based on the target satellite antenna's location coordinates (X) in the geographic coordinate system at that detection time point. ta Y ta Z ta The first elevation angle θ that the antenna beam of the target satellite antenna must satisfy when pointing towards the target observation satellite at the detection time point is determined using the following formula. t First azimuth and the first polarization angle γ t :

[0072]

[0073] Among them, X ta The target position coordinates are the values ​​on the X-axis and Y-axis. ta The Z value represents the target position coordinates on the Y-axis. ta tg represents the target position coordinates on the Z-axis. -1 λ is the symbol for the arctangent function. a L represents the longitude value of the initial nadir point coordinates. a The latitude value is the initial coordinate of the nadir point.

[0074] Optionally, when the second angle determination module determines the second elevation angle, second azimuth angle, and second polarization angle that the antenna beam of the target satellite antenna must satisfy when pointing towards the target observation satellite in the antenna base coordinate system at the detection time point, based on the first elevation angle, first azimuth angle, and first polarization angle of the target satellite antenna at the detection time point, it is specifically used for:

[0075] Based on the geographic coordinate system and the antenna coordinate system of the target satellite antenna location, a first rotation matrix is ​​determined for the antenna beam of the target satellite antenna at the detection time point when it points to the target observation satellite, transforming it from the geographic coordinate system of the target satellite antenna location to the antenna coordinate system;

[0076] Based on the antenna base coordinate system and the geographic coordinate system of the target satellite antenna location, a second rotation matrix is ​​determined for the antenna beam of the target satellite antenna at the detection time point when it points to the target observation satellite, transforming it from the antenna base coordinate system to the geographic coordinate system of the target satellite antenna location;

[0077] Based on the first rotation matrix and the second rotation matrix, a third rotation matrix is ​​determined to transform the antenna beam of the target satellite antenna at the detection time point from the antenna base coordinate system to the antenna coordinate system when it points to the target observation satellite;

[0078] The second elevation angle, second azimuth angle, and second polarization angle that the target observation satellite must satisfy when determined according to the third rotation matrix are used.

[0079] Optionally, when the second angle determination module determines the first rotation matrix from the geographical coordinate system of the target satellite antenna to the antenna coordinate system at the detection time point when the antenna beam of the target satellite antenna is pointing towards the target observation satellite, based on the geographical coordinate system and the antenna coordinate system of the target satellite antenna location, it is specifically used for:

[0080] The first rotation matrix C1 is determined according to the following formula:

[0081]

[0082] Where, θ t The first pitch angle, γ is the first azimuth angle. t This is the first polarization angle;

[0083] The second angle determination module, when determining the second rotation matrix (from the antenna base coordinate system to the geographic coordinate system of the target satellite antenna location) for the antenna beam of the target satellite antenna pointing towards the target observation satellite at the detection time point, based on the antenna base coordinate system and the geographic coordinate system of the target satellite antenna location, is specifically used for:

[0084] The second rotation matrix C2 is determined according to the following formula:

[0085]

[0086] Where, θ b This refers to the elevation angle that the antenna beam of the target satellite antenna must satisfy when pointing towards the target observation satellite in the antenna base coordinate system at the detection time point. γ is the azimuth angle that the antenna beam of the target satellite antenna in the antenna base coordinate system must satisfy when pointing towards the target observation satellite at the detection time point. b Let θ be the polarization angle that the antenna beam of the target satellite antenna in the antenna base coordinate system must satisfy when pointing towards the target observation satellite at the detection time point. b , and γ b All are known quantities;

[0087] The second angle determination module, when determining the third rotation matrix (from the antenna base coordinate system to the antenna coordinate system) for the antenna beam of the target satellite antenna pointing towards the target observation satellite at the detection time point based on the first rotation matrix and the second rotation matrix, is specifically used for:

[0088] The third rotation matrix C3 is determined according to the following formula:

[0089]

[0090] Where C1 is the first rotation matrix, C2 is the second rotation matrix, and C... 11 Let C be the value of the element located in the first row and first column of the third rotation matrix C3. 12 Let C be the value of the element located in the first row and second column of the third rotation matrix C3. 13 Let C be the value of the element located in the first row and third column of the third rotation matrix C3. 21 Let C be the value of the element located in the second row and first column of the third rotation matrix C3. 22 Let C be the value of the element located in the second row and second column of the third rotation matrix C3. 23 Let C be the value of the element located in the second row and third column of the third rotation matrix C3. 31Let C be the value of the element located in the third row and first column of the third rotation matrix C3. 32 Let C be the value of the element located in the third row and second column of the third rotation matrix C3. 33 This is the value of the element located in the third row and third column of the third rotation matrix C3;

[0091] The second angle determination module, when used to determine the second elevation angle, second azimuth angle, and second polarization angle that the target observation satellite needs to satisfy based on the third rotation matrix, is specifically used for:

[0092] The second pitch angle θ is determined using the following formula. p Second azimuth angle Second polarization angle γ p :

[0093]

[0094] Among them, C 32 Let C be the value of the element located in the third row and second column of the third rotation matrix C3. 12 Let C be the value of the element located in the first row and second column of the third rotation matrix C3. 22 Let C be the value of the element located in the second row and second column of the third rotation matrix C3. 31 Let C be the value of the element located in the third row and first column of the third rotation matrix C3. 33 tg is the value of the element located in the third row and third column of the third rotation matrix C3. -1 This is the symbol for the arctangent function.

[0095] Optionally, the angular velocity compensation amount includes pitch angular velocity compensation amount, azimuth angular velocity compensation amount, and polarization angular velocity compensation amount. The angular velocity compensation amount determination module, when determining the angular velocity compensation amount of the target satellite antenna at the later detection time point for each of the at least two adjacent detection time points, based on the second pitch angle, the second azimuth angle, and the second polarization angle at the earlier detection time point, and the second pitch angle, the second azimuth angle, and the second polarization angle at the later detection time point, and the time interval between the earlier and later detection time points, specifically uses the following methods:

[0096] The pitch angular velocity compensation amount is determined according to the following formula. The azimuth angular velocity compensation amount and the polarization angular velocity compensation amount

[0097]

[0098] Where, θ p ′ is the second pitch angle at the later detection time point, θ p γ is the second pitch angle at the initial detection time point. p ′ represents the second azimuth angle at the later detection time point, γ p The second azimuth angle at the initial detection time point. The second polarization angle at the later detection time point. The second polarization angle at the initial detection time point. This is the time interval between the earlier time point and the later detection time point.

[0099] Thirdly, embodiments of this application provide a computer device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the computer device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, they perform the steps of the satellite antenna control method described in any of the optional embodiments of the first aspect above.

[0100] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps of the satellite antenna control method described in any of the optional embodiments of the first aspect.

[0101] The technical solution provided in this application includes, but is not limited to, the following beneficial effects:

[0102] A coordinate transformation model is used to perform coordinate transformation on the initial nadir coordinates of the target observation satellite at each of at least two detection time points to obtain candidate nadir coordinates for each detection time point. Similarly, the coordinate transformation model is used to perform coordinate transformation on the initial observation point coordinates of the target satellite antenna at each detection time point to obtain candidate observation point coordinates for each detection time point. The initial nadir coordinates are the latitude and longitude coordinates of the target observation satellite's nadir point in the geodetic coordinate system, and the candidate nadir coordinates are the position coordinates of the target observation satellite's nadir point in the geocentric coordinate system. The initial observation point coordinates are the position coordinates of the target satellite antenna's observation point in the geocentric coordinate system. The coordinates in the coordinate system are latitude and longitude coordinates, and the coordinates of the candidate observation point are the position coordinates of the observation point of the target satellite antenna in the geocentric coordinate system. For each detection time point, the target position coordinates of the target observation satellite in the geographic coordinate system where the target satellite antenna is located are determined based on the candidate satellite sub-point coordinates and the candidate observation point coordinates at that detection time point. Through the above steps, the target position coordinates of the target observation satellite in the geographic coordinate system where the target satellite antenna is located can be determined based on the positional relationship and coordinate relationship between the target observation satellite and the target satellite antenna, providing a coordinate reference basis for the subsequent determination of the control quantities of the target satellite antenna.

[0103] Based on the target location coordinates of the target satellite antenna in the geographic coordinate system at the detection time point, the first elevation angle, first azimuth angle, and first polarization angle that the antenna beam of the target satellite antenna must satisfy when pointing towards the target observation satellite at the detection time point are determined. The first elevation angle is the elevation angle in the geographic coordinate system where the target satellite antenna is located, the first azimuth angle is the azimuth angle in the geographic coordinate system where the target satellite antenna is located, and the first polarization angle is the polarization angle in the geographic coordinate system where the target satellite antenna is located. Based on the first elevation angle, first azimuth angle, and first polarization angle of the target satellite antenna at the detection time point, the second elevation angle, second azimuth angle, and second polarization angle that the antenna beam of the target satellite antenna must satisfy when pointing towards the target observation satellite in the antenna base coordinate system at the detection time point are determined. Through the above steps, the second elevation angle that the antenna beam of the target satellite antenna must satisfy when pointing towards the target observation satellite can be determined.

[0104] For each pair of adjacent detection time points among the at least two detection time points, the angular velocity compensation amount of the target satellite antenna at the later detection time point is determined based on the second elevation angle, the second azimuth angle, and the second polarization angle at the earlier detection time point, the second elevation angle, the second azimuth angle, and the second polarization angle at the later detection time point, and the time interval between the earlier and later detection time points. The earlier detection time point is the detection time point that occurs first among the two adjacent detection time points, and the later detection time point is the detection time point that occurs later among the two adjacent detection time points. Through the above steps, the angular velocity compensation amount of the target satellite antenna at each moment can be determined based on the position coordinates of the target observation satellite at different times during the real-time motion of the target observation satellite.

[0105] The angular velocity of the target satellite antenna at the subsequent detection time point is controlled based on the angular velocity compensation amount of the target satellite antenna at the subsequent detection time point. Through the above steps, the angular velocity of the target satellite antenna can be controlled based on the angular velocity compensation amount of the target satellite antenna at each moment, so that the antenna beam of the target satellite antenna is pointed to the target observation satellite in real time.

[0106] Using the above method, the required angle information for the antenna beam of the target satellite to point to the target satellite is determined by the relationship between the position coordinates of the target satellite at different detection time points and the position coordinates of the target satellite antenna. Then, the angular velocity compensation amount of the target satellite at each moment is determined based on the time interval between different detection time points and the angular deviation value. The target satellite is then controlled according to the angular velocity compensation amount of the target satellite at each moment so that the antenna beam of the target satellite antenna points to the target satellite in real time, thereby achieving accurate control of the satellite antenna.

[0107] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0108] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0109] Figure 1A flowchart of a satellite antenna control method provided in Embodiment 1 of the present invention is shown;

[0110] Figure 2 A flowchart of a second angle determination method provided in Embodiment 1 of the present invention is shown;

[0111] Figure 3 This diagram illustrates a satellite orbit type provided in Embodiment 1 of the present invention;

[0112] Figure 4 A schematic diagram of a medium-low orbit satellite provided in Embodiment 1 of the present invention is shown;

[0113] Figure 5 This diagram illustrates various physical quantities in a satellite orbit as provided in Embodiment 1 of the present invention.

[0114] Figure 6 This diagram illustrates the structure of a tracking and pointing system for a fully pointing orbit satellite provided in Embodiment 1 of the present invention.

[0115] Figure 7 This diagram illustrates the structure of a satellite antenna control device provided in Embodiment 2 of the present invention.

[0116] Figure 8 A schematic diagram of the structure of a computer device provided in Embodiment 3 of the present invention is shown. Detailed Implementation

[0117] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0118] Example 1

[0119] To facilitate understanding of this application, the following is combined with... Figure 1 The flowchart of the satellite antenna control method provided in Embodiment 1 of the present invention illustrates the content of Embodiment 1 in detail.

[0120] See Figure 1 As shown, Figure 1The flowchart of a satellite antenna control method according to Embodiment 1 of the present invention is shown, wherein the method includes steps S101 to S105:

[0121] S101: Using a coordinate system transformation model, the initial nadir coordinates of the target observation satellite at each of the at least two detection time points are transformed to obtain the candidate nadir coordinates at each detection time point. Similarly, the initial observation point coordinates of the target satellite antenna at each detection time point are transformed using the same coordinate system transformation model to obtain the candidate observation point coordinates at each detection time point. The initial nadir coordinates are the latitude and longitude coordinates of the nadir point of the target observation satellite in the geodetic coordinate system, the candidate nadir coordinates are the position coordinates of the nadir point of the target observation satellite in the geocentric coordinate system, the initial observation point coordinates are the latitude and longitude coordinates of the observation point of the target satellite antenna in the geodetic coordinate system, and the candidate observation point coordinates are the position coordinates of the observation point of the target satellite antenna in the geocentric coordinate system.

[0122] Specifically, the geodetic coordinate system is a coordinate system established in geodesy with a reference ellipsoid as the reference surface. The position of a ground point is represented by geodetic longitude, geodetic latitude, and geodetic height. The initial nadir coordinates are the latitude and longitude coordinates of the nadir point of the target observation satellite in the geodetic coordinate system, and the initial observation point coordinates are the latitude and longitude coordinates of the observation point of the target satellite antenna in the geodetic coordinate system. The initial nadir coordinates and the initial observation point coordinates can be obtained by measuring with third-party equipment or by directly calling and obtaining them through a third-party system (such as a mobile communication system).

[0123] The geocentric coordinate system is a spatial rectangular coordinate system established with the Earth's center of mass as the origin. For each of the at least two detection time points, the latitude and longitude coordinates in the geodetic coordinate system at that detection time point can be converted into rectangular position coordinates in the geocentric coordinate system according to the coordinate system transformation model between the geodetic coordinate system and the geocentric coordinate system. That is, the coordinates of the candidate nadir point and the candidate observation point at that time point.

[0124] S102: For each detection time point, based on the candidate satellite ground point coordinates and the candidate observation point coordinates at that detection time point, determine the target position coordinates of the target observation satellite in the geographic coordinate system where the target satellite antenna is located at that detection time point.

[0125] Specifically, the nadir position and the position of the target observation satellite are obtained after observation at the observation point of the target satellite antenna. Therefore, based on the coordinates of the candidate nadir point and the coordinates of the candidate observation point at the detection time, the target position coordinates of the target observation satellite in the geographic coordinate system of the location of the target satellite antenna at the detection time can be calculated.

[0126] S103: Based on the target location coordinates of the target satellite antenna at the detection time point in the geographic coordinate system, determine the first elevation angle, the first azimuth angle, and the first polarization angle that the antenna beam of the target satellite antenna must satisfy when pointing to the target observation satellite at the detection time point, wherein the first elevation angle is the elevation angle in the geographic coordinate system of the target satellite antenna location, the first azimuth angle is the azimuth angle in the geographic coordinate system of the target satellite antenna location, and the first polarization angle is the polarization angle in the geographic coordinate system of the target satellite antenna location.

[0127] Specifically, the antenna beam transmission direction of the target satellite antenna can change according to the target observation satellite, mainly through the movement and rotation of the antenna base and antenna panel. When the satellite antenna is tracking the satellite, it is necessary to ensure that the antenna beam transmission direction remains in the direction of the target observation satellite. Therefore, it is necessary to calculate the first elevation angle, the first azimuth angle, and the first polarization angle that the antenna beam of the target satellite antenna must satisfy when pointing to the target observation satellite.

[0128] S104: Based on the first elevation angle, first azimuth angle, and first polarization angle of the target satellite antenna at the detection time point, determine the second elevation angle, second azimuth angle, and second polarization angle that the antenna beam of the target satellite antenna in the antenna base coordinate system must satisfy when pointing to the target observation satellite at the detection time point.

[0129] Specifically, based on the coordinate transformation relationship between the geographic coordinate system of the target satellite antenna location and the antenna base coordinate system, the first elevation angle, the first azimuth angle, and the first polarization angle in the geographic coordinate system of the target satellite antenna location are converted into the second elevation angle, the second azimuth angle, and the second polarization angle in the antenna base coordinate system. This enables the antenna base control system to control the antenna base based on the second elevation angle, the second azimuth angle, and the second polarization angle in the antenna base coordinate system, thereby causing the transmission direction of the antenna beam to deflect.

[0130] S105: For each pair of adjacent detection time points among the at least two detection time points, the angular velocity compensation amount of the target satellite antenna at the later detection time point is determined based on the second elevation angle, the second azimuth angle, and the second polarization angle at the earlier detection time point, the second elevation angle, the second azimuth angle, and the second polarization angle at the later detection time point, and the time interval between the earlier and later detection time points. The earlier detection time point is the detection time point that occurs earlier in time among the two adjacent detection time points, and the later detection time point is the detection time point that occurs later in time among the two adjacent detection time points.

[0131] Specifically, the angular velocity compensation amount of the target satellite antenna is determined based on the difference between the angular velocities of the satellite antenna between two consecutive adjacent detection time points and the time interval between the two detection time points.

[0132] S106: Control the angular velocity of the target satellite antenna at the subsequent detection time point based on the angular velocity compensation amount of the target satellite antenna at the subsequent detection time point.

[0133] Specifically, after obtaining the angular velocity compensation amount at each detection time point, the angular velocity of the target satellite antenna is controlled according to the angular velocity compensation amount of the target satellite antenna at each detection time point, or the angular velocity compensation amount can be substituted into the servo stabilization algorithm to achieve satellite pointing tracking.

[0134] In a feasible implementation, the step of using a coordinate system transformation model to perform coordinate transformation on the initial nadir point coordinates of the target observation satellite at each of at least two detection time points to obtain candidate nadir point coordinates at each detection time point, and using the coordinate system transformation model to perform coordinate transformation on the initial observation point coordinates of the target satellite antenna at each detection time point to obtain candidate observation point coordinates at each detection time point, includes:

[0135] For each of the at least two detection time points, based on the initial nadir coordinates (λ) of the target observation satellite at that detection time point... a L a H a Using the following coordinate system transformation model, the coordinates of the candidate satellite's nadir (X) at the detection time point are obtained through coordinate transformation. a Y a Z a ):

[0136]

[0137] Where, λ a L represents the longitude value of the initial nadir point coordinates. a H represents the latitude value of the initial nadir point coordinates. a X represents the initial altitude value of the nadir point. a The coordinates of the candidate star's nadir point on the X-axis, Y... a Z represents the Y-axis coordinates of the candidate star's nadir point. a These are the coordinates of the candidate star's nadir point on the Z-axis. R e Let e ​​be the Earth's semi-major radius and e be the Earth's first eccentricity.

[0138] For each of the at least two detection time points, based on the initial observation point coordinates (λ) of the target satellite antenna at that detection time point... s L s H s Using the following coordinate system transformation model, the coordinates of the candidate observation point (X) of the target satellite antenna at the detection time point are obtained through coordinate transformation. s Y s Z s ):

[0139]

[0140] Where, λ s L represents the longitude value of the initial observation point coordinates. s H represents the latitude value of the initial observation point coordinates. s X represents the height value of the initial observation point coordinates. s The values ​​of the candidate observation point coordinates on the X-axis and Y-axis are given. s Z represents the Y-axis coordinates of the candidate observation point. s These are the coordinates of the candidate observation points on the Z-axis. R e Let e ​​be the Earth's semi-major radius and e be the Earth's first eccentricity.

[0141] In a feasible implementation, for each detection time point, determining the target position coordinates of the target observation satellite in the geographic coordinate system of the target satellite antenna location at that detection time point, based on the candidate nadir point coordinates and the candidate observation point coordinates at that detection time point, includes:

[0142] For each detection time point, based on the candidate star nadir coordinates (X) at that detection time point... a Y a Z a ) and the position coordinates (X) of the candidate observation point at that detection time point s Ys Z s The target location coordinates (X, X) of the target satellite antenna at the detection time point in the geographic coordinate system are determined using the following formula. ta Y ta Z ta ):

[0143]

[0144] Among them, X ta The target position coordinates are the values ​​on the X-axis and Y-axis. ta The Z value represents the target position coordinates on the Y-axis. ta λ is the value of the target position coordinates on the Z-axis. a L represents the longitude value of the initial nadir point coordinates. a X represents the latitude value of the initial nadir point coordinates. a The coordinates of the candidate star's nadir point on the X-axis, Y... a Z represents the Y-axis coordinates of the candidate star's nadir point. a λ represents the coordinates of the candidate star's nadir point on the Z-axis. s L represents the longitude value of the initial observation point coordinates. s X represents the latitude value of the initial observation point coordinates. s The values ​​of the candidate observation point coordinates on the X-axis and Y-axis are given. s Z represents the Y-axis coordinates of the candidate observation point. s The coordinates of the candidate observation point are the values ​​on the Z-axis.

[0145] In a feasible implementation, determining the first elevation angle, first azimuth angle, and first polarization angle that the antenna beam of the target satellite antenna must satisfy when pointing towards the target observation satellite, based on the target location coordinates in the geographic coordinate system at the detection time point, includes:

[0146] Based on the target satellite antenna's location coordinates (X) in the geographic coordinate system at that detection time point. ta Y ta Z ta The first elevation angle θ that the antenna beam of the target satellite antenna must satisfy when pointing towards the target observation satellite at the detection time point is determined using the following formula. t First azimuth and the first polarization angle γ t :

[0147]

[0148] Among them, X ta The target position coordinates are the values ​​on the X-axis and Y-axis.ta The Z value represents the target position coordinates on the Y-axis. ta tg represents the target position coordinates on the Z-axis. -1 λ is the symbol for the arctangent function. a L represents the longitude value of the initial nadir point coordinates. a The latitude value is the initial coordinate of the nadir point.

[0149] In one feasible implementation plan, see Figure 2 As shown, Figure 2 The flowchart illustrates a second angle determination method provided in Embodiment 1 of the present invention. The method involves determining, based on the first elevation angle, first azimuth angle, and first polarization angle of the target satellite antenna at the detection time point, the second elevation angle, second azimuth angle, and second polarization angle that the antenna beam of the target satellite antenna must satisfy when pointing towards the target observation satellite in the antenna base coordinate system at the detection time point. This includes steps S201 to S204.

[0150] S201 determines, based on the geographic coordinate system and the antenna coordinate system of the target satellite antenna location, the first rotation matrix for transforming the antenna beam of the target satellite antenna from the geographic coordinate system of the target satellite antenna location to the antenna coordinate system when the antenna beam is pointing towards the target observation satellite at the detection time point.

[0151] S202: Based on the antenna base coordinate system and the geographic coordinate system of the target satellite antenna location, determine the second rotation matrix that transforms the antenna beam of the target satellite antenna from the antenna base coordinate system to the geographic coordinate system of the target satellite antenna location when the antenna beam is pointing towards the target observation satellite at the detection time point.

[0152] S203: Based on the first rotation matrix and the second rotation matrix, determine the third rotation matrix that transforms the antenna beam of the target satellite antenna at the detection time point from the antenna base coordinate system to the antenna coordinate system when it is pointing towards the target observation satellite.

[0153] S204: When determining the target observation satellite based on the third rotation matrix, the second elevation angle, the second azimuth angle, and the second polarization angle must be satisfied.

[0154] In one feasible implementation, determining the first rotation matrix from the geographical coordinate system of the target satellite antenna location to the antenna coordinate system when the antenna beam of the target satellite antenna is pointing towards the target observation satellite at the detection time point, based on the geographical coordinate system of the target satellite antenna location and the antenna coordinate system, includes:

[0155] The first rotation matrix C1 is determined according to the following formula:

[0156]

[0157] Where, θ t The first pitch angle, γ is the first azimuth angle. t This is the first polarization angle.

[0158] The step of determining the second rotation matrix, which transforms the antenna beam of the target satellite antenna to the geographical coordinate system of the target satellite antenna at the detection time point when the antenna base coordinate system and the geographical coordinate system of the target satellite antenna location are used to determine the target observation satellite, includes:

[0159] The second rotation matrix C2 is determined according to the following formula:

[0160]

[0161] Where, θ b This refers to the elevation angle that the antenna beam of the target satellite antenna must satisfy when pointing towards the target observation satellite in the antenna base coordinate system at the detection time point. γ is the azimuth angle that the antenna beam of the target satellite antenna in the antenna base coordinate system must satisfy when pointing towards the target observation satellite at the detection time point. b Let θ be the polarization angle that the antenna beam of the target satellite antenna in the antenna base coordinate system must satisfy when pointing towards the target observation satellite at the detection time point. b , and γ b All of these are known quantities.

[0162] The step of determining the third rotation matrix, based on the first and second rotation matrices, to transform the antenna beam of the target satellite antenna at the detection time point from the antenna base coordinate system to the antenna coordinate system when pointing towards the target observation satellite includes:

[0163] The third rotation matrix C3 is determined according to the following formula:

[0164]

[0165] Where C1 is the first rotation matrix, C2 is the second rotation matrix, and C... 11 Let C be the value of the element located in the first row and first column of the third rotation matrix C3. 12 Let C be the value of the element located in the first row and second column of the third rotation matrix C3. 13 Let C be the value of the element located in the first row and third column of the third rotation matrix C3. 21Let C be the value of the element located in the second row and first column of the third rotation matrix C3. 22 Let C be the value of the element located in the second row and second column of the third rotation matrix C3. 23 Let C be the value of the element located in the second row and third column of the third rotation matrix C3. 31 Let C be the value of the element located in the third row and first column of the third rotation matrix C3. 32 Let C be the value of the element located in the third row and second column of the third rotation matrix C3. 33 The value of the element located in the third row and third column of the third rotation matrix C3.

[0166] The second elevation angle, second azimuth angle, and second polarization angle that must be satisfied when determining the target observation satellite based on the third rotation matrix include:

[0167] The second pitch angle θ is determined using the following formula. p Second azimuth angle Second polarization angle γ p :

[0168]

[0169] Among them, C 32 Let C be the value of the element located in the third row and second column of the third rotation matrix C3. 12 Let C be the value of the element located in the first row and second column of the third rotation matrix C3. 22 Let C be the value of the element located in the second row and second column of the third rotation matrix C3. 31 Let C be the value of the element located in the third row and first column of the third rotation matrix C3. 33 tg is the value of the element located in the third row and third column of the third rotation matrix C3. -1 This is the symbol for the arctangent function.

[0170] Specifically, after obtaining the second pitch angle θ p Second azimuth angle Second polarization angle γ p Afterwards, the servo stabilization service can be invoked, and satellite velocity information (V) can be incorporated. sx V sy V sz From this, the actual control position coordinates (X) of the target detection satellite can be obtained. s1 Y s1 Z s1 );

[0171]

[0172] Among them, X s1To detect the component of the target detection satellite's actual control position coordinates in the geocentric coordinate system along the X-axis, Y... s1 To detect the component of the target detection satellite's actual control position coordinates in the geocentric coordinate system along the Y-axis, Z s1 To detect the component of the actual control position coordinates of the target detection satellite in the geocentric coordinate system along the Z-axis, X s The values ​​of the candidate observation point coordinates on the X-axis and Y-axis are given. s Z represents the Y-axis coordinates of the candidate observation point. s V represents the coordinates of the candidate observation point on the Z-axis. sx V represents the component of the satellite's velocity along the X-axis. sy V represents the component of the satellite's velocity along the Y-axis. sz The component of the satellite's velocity along the Z-axis. This is the time interval between any two adjacent detection time points.

[0173] In a feasible implementation, the angular velocity compensation amount includes an elevation angular velocity compensation amount, an azimuth angular velocity compensation amount, and a polarization angular velocity compensation amount. For each two adjacent detection time points among the at least two detection time points, the angular velocity compensation amount of the target satellite antenna at the later detection time point is determined based on the second elevation angle, the second azimuth angle, and the second polarization angle at the earlier detection time point, the second elevation angle, the second azimuth angle, and the second polarization angle at the later detection time point, and the time interval between the earlier and later detection time points. This includes:

[0174] The pitch angular velocity compensation amount is determined according to the following formula. The azimuth angular velocity compensation amount and the polarization angular velocity compensation amount

[0175]

[0176] Where, θ p ′ is the second pitch angle at the later detection time point, θ p γ is the second pitch angle at the initial detection time point. p ′ represents the second azimuth angle at the later detection time point, γ p The second azimuth angle at the initial detection time point. The second polarization angle at the later detection time point. The second polarization angle at the initial detection time point. This is the time interval between the earlier time point and the later detection time point.

[0177] The application scenarios and principles of the satellite antenna control method described above are explained here:

[0178] See Figure 3 As shown, Figure 3 The diagram illustrates a satellite orbit type provided in Embodiment 1 of the present invention. Artificial satellites can be classified into equatorial orbit satellites, inclined orbit satellites, and polar orbit satellites according to their orbit types. Geostationary orbit satellites are a special case of equatorial orbit satellites. The satellite's orbital speed is the same as the Earth's rotation speed. Therefore, the satellite's position is stationary relative to the ground, while the Earth rotates around its rotation axis.

[0179] See Figure 4 As shown, Figure 4 The diagram illustrates a low-Earth orbit satellite according to Embodiment 1 of the present invention. Based on different orbital altitudes, artificial satellites can be classified as low-Earth orbit satellites, medium-Earth orbit satellites, and high-Earth orbit satellites, with geostationary orbit satellites belonging to the high-Earth orbit category. The distance from the Earth's surface to the Earth's surface is 2000 km for low-Earth orbit satellites, 20000 km for medium-Earth orbit satellites, 35786 km for geostationary orbit satellites, and 40000 km for high-Earth orbit satellites.

[0180] See Figure 5 As shown, Figure 5 This diagram illustrates various physical quantities in a satellite orbit provided in Embodiment 1 of the present invention. Except for geostationary satellites, the sub-satellite point positions of other equatorial orbit satellites change continuously over time; that is, the satellite may be observable from some locations and not from others within a single day. Furthermore, all satellites except those in equatorial orbits have a certain angle with the equatorial plane, and their orbital positions do not repeat periodically due to Earth's rotation and other perturbations. The diagram also shows the geocenter, perigee, vernal equinox, equator, ascending node, orbit, and the X, Y, and Z axes of the geocentric coordinate system. The angle between the line connecting the satellite to the geocenter and the line connecting the geocenter to the perigee is V; the angle between the line connecting the geocenter to the perigee and the line connecting the geocenter to the ascending node is ω; the angle between the line connecting the geocenter to the ascending node and the Y-axis is Ω; and the angle between the satellite orbit and the equator is i.

[0181] See Figure 6 As shown, Figure 6The diagram illustrates the structure of a tracking and pointing system for a fully oriented orbit satellite according to Embodiment 1 of the present invention. This system comprises an antenna controller, a combined navigation system, an azimuth transmission mechanism, a pitch transmission mechanism, an antenna feed system, a beacon receiver, and a control computer. The antenna controller provides satellite parameter input; the combined navigation system provides local heading, attitude, and position information; the azimuth transmission mechanism adjusts the azimuth of the antenna feed system; the pitch transmission mechanism adjusts the pitch and polarization of the antenna feed system; the antenna feed system receives satellite signals; the beacon receiver receives satellite information and feeds back signal strength information; and the control computer integrates the satellite information provided by the antenna controller and the local heading and position information provided by the combined navigation system to generate the satellite's azimuth, pitch, and polarization angles in the Earth's coordinate system. It then controls the azimuth and pitch transmission mechanisms to perform corresponding angle operations. By receiving satellite signal strength information from the beacon receiver, it performs a conical scan and calculates the pointing angle error. By correcting the control angle, it achieves precise pointing of the satellite.

[0182] First, the satellite type is selected via the antenna controller. If a geostationary orbit satellite is selected, the satellite longitude and beacon frequency information must be input. The satellite position P1 is determined based on the satellite longitude. Simultaneously, the position P0 of the mobile communication antenna is determined based on the heading, attitude, and position information provided by the integrated navigation system. A geometric model is established based on the positions of P0 and P1 to calculate the azimuth and elevation angles in the geographic coordinate system. The azimuth, elevation, and polarization angles in the antenna coordinate system are obtained using Euler transformation. Combining the PID (Proportional Integral Derivative) control algorithm and conical scanning technology, the control angle error is calculated, and the precise satellite orbital altitude is solved. Substituting the orbital altitude into the calculation improves the model accuracy, thereby achieving the goal of precise pointing.

[0183] Secondly, if other orbital satellites need to be selected, the antenna controller selects other orbital satellites, inputs the satellite orbital elements, calculates the satellite position and velocity information at the current moment according to the ephemeris calculation algorithm, obtains the satellite position information at the moment of control completion based on the satellite velocity information and system delay, and solves the antenna pointing angle in the geographic frame at the current moment by combining the position information provided by the integrated navigation system. The azimuth, elevation, and polarization angles in the antenna coordinate system are obtained by Euler transformation; the azimuth and elevation transmission mechanisms are controlled to achieve precise system pointing.

[0184] Example 2

[0185] See Figure 7 As shown, Figure 7 A schematic diagram of a satellite antenna control device according to Embodiment 2 of the present invention is shown, wherein the device includes:

[0186] The candidate coordinate determination module 701 is used to perform coordinate transformation on the initial nadir coordinates of the target observation satellite at each of the at least two detection time points using a coordinate system transformation model to obtain the candidate nadir coordinates at each detection time point, and to perform coordinate transformation on the initial observation point coordinates of the target satellite antenna at each detection time point using a coordinate system transformation model to obtain the candidate observation point coordinates at each detection time point. The initial nadir coordinates are the latitude and longitude coordinates of the nadir point of the target observation satellite in the geodetic coordinate system, the candidate nadir coordinates are the position coordinates of the nadir point of the target observation satellite in the geocentric coordinate system, the initial observation point coordinates are the latitude and longitude coordinates of the observation point of the target satellite antenna in the geodetic coordinate system, and the candidate observation point coordinates are the position coordinates of the observation point of the target satellite antenna in the geocentric coordinate system.

[0187] The target location coordinate determination module 702 is used to determine the target location coordinates of the target satellite antenna in the geographic coordinate system at each detection time point, based on the candidate satellite sub-point coordinates and the candidate observation point coordinates at the detection time point.

[0188] The first angle determination module 703 is used to determine, based on the target location coordinates of the target satellite antenna at the detection time point in the geographic coordinate system, the first elevation angle, the first azimuth angle, and the first polarization angle that the antenna beam of the target satellite antenna must satisfy when pointing to the target observation satellite at the detection time point. The first elevation angle is the elevation angle in the geographic coordinate system where the target satellite antenna is located, the first azimuth angle is the azimuth angle in the geographic coordinate system where the target satellite antenna is located, and the first polarization angle is the polarization angle in the geographic coordinate system where the target satellite antenna is located.

[0189] The second angle determination module 704 is used to determine, based on the first elevation angle, the first azimuth angle and the first polarization angle of the target satellite antenna at the detection time point, the second elevation angle, the second azimuth angle and the second polarization angle that the antenna beam of the target satellite antenna in the antenna base coordinate system at the detection time point must satisfy when pointing to the target observation satellite.

[0190] The angular velocity compensation determination module 705 is used to determine the angular velocity compensation amount of the target satellite antenna at the later detection time point for each of the at least two adjacent detection time points, based on the second elevation angle, the second azimuth angle, and the second polarization angle at the earlier detection time point, the second elevation angle, the second azimuth angle, and the second polarization angle at the later detection time point, and the time interval between the earlier detection time point and the later detection time point. The earlier detection time point is the detection time point that occurs earlier in each of the two adjacent detection time points, and the later detection time point is the detection time point that occurs later in each of the two adjacent detection time points.

[0191] The satellite antenna control module 706 is used to control the angular velocity of the target satellite antenna at the subsequent detection time point based on the angular velocity compensation amount of the target satellite antenna at the subsequent detection time point.

[0192] In a feasible implementation, the candidate coordinate determination module, when performing coordinate transformation on the initial nadir point coordinates of the target observation satellite at each of at least two detection time points using a coordinate system transformation model to obtain candidate nadir point coordinates at each detection time point, and when performing coordinate transformation on the initial observation point coordinates of the target satellite antenna at each detection time point using a coordinate system transformation model to obtain candidate observation point coordinates at each detection time point, specifically performs the following:

[0193] For each of the at least two detection time points, based on the initial nadir coordinates (λ) of the target observation satellite at that detection time point... a ,L a H a Using the coordinate system transformation model described below, the coordinates of the candidate satellite's nadir (X) at the detection time point are obtained through coordinate transformation. a ,Y a Z a ):

[0194]

[0195] Where, λ a L represents the longitude value of the initial sub-satellite point coordinates. a H represents the latitude value of the initial nadir point coordinates. a X represents the initial altitude value of the nadir point. a The coordinates of the candidate star's nadir point on the X-axis, Y... a Z represents the Y-axis coordinates of the candidate star's nadir point. aThese are the coordinates of the candidate star's nadir point on the Z-axis. R e Let e ​​be the Earth's semi-major radius and e be the Earth's first eccentricity.

[0196] For each of the at least two detection time points, based on the initial observation point coordinates (λ) of the target satellite antenna at that detection time point... s L s H s Using the following coordinate system transformation model, the coordinates of the candidate observation point (X) of the target satellite antenna at the detection time point are obtained through coordinate transformation. s Y s Z s ):

[0197]

[0198] Where, λ s L represents the longitude value of the initial observation point coordinates. s H represents the latitude value of the initial observation point coordinates. s X represents the height value of the initial observation point coordinates. s The values ​​of the candidate observation point coordinates on the X-axis and Y-axis are given. s Z represents the Y-axis coordinates of the candidate observation point. s These are the coordinates of the candidate observation points on the Z-axis. R e Let e ​​be the Earth's semi-major radius and e be the Earth's first eccentricity.

[0199] In a feasible implementation, the target location coordinate determination module, when determining the target location coordinates of the target satellite antenna in the geographic coordinate system at each detection time point based on the candidate nadir point coordinates and the candidate observation point location coordinates at that detection time point, specifically performs the following:

[0200] For each detection time point, based on the candidate star nadir coordinates (X) at that detection time point... a Y a Z a ) and the position coordinates (X) of the candidate observation point at that detection time point s Y s Z s The target location coordinates (X, X) of the target satellite antenna at the detection time point in the geographic coordinate system are determined using the following formula. ta Y ta Z ta ):

[0201]

[0202] Among them, X ta The target position coordinates are the values ​​on the X-axis and Y-axis. ta The Z value represents the target position coordinates on the Y-axis. ta λ is the value of the target position coordinates on the Z-axis. a L represents the longitude value of the initial sub-satellite point coordinates. a X represents the latitude value of the initial nadir point coordinates. a The coordinates of the candidate star's nadir point on the X-axis, Y... a Z represents the Y-axis coordinates of the candidate star's nadir point. a λ represents the coordinates of the candidate star's nadir point on the Z-axis. s L represents the longitude value of the initial observation point coordinates. s X represents the latitude value of the initial observation point coordinates. s The values ​​of the candidate observation point coordinates on the X-axis and Y-axis are given. s Z represents the Y-axis coordinates of the candidate observation point. s The coordinates of the candidate observation point are the values ​​on the Z-axis.

[0203] In one feasible implementation, the first angle determination module, when determining the first elevation angle, first azimuth angle, and first polarization angle that the antenna beam of the target satellite antenna must satisfy when pointing towards the target observation satellite at the detection time point, based on the target location coordinates in the geographic coordinate system at the location of the target satellite antenna at the detection time point, is specifically used for:

[0204] Based on the target satellite antenna's location coordinates (X) in the geographic coordinate system at that detection time point. ta Y ta Z ta The first elevation angle θ that the antenna beam of the target satellite antenna must satisfy when pointing towards the target observation satellite at the detection time point is determined using the following formula. t First azimuth and the first polarization angle γ t :

[0205]

[0206] Among them, X ta The target position coordinates are the values ​​on the X-axis and Y-axis. ta The Z value represents the target position coordinates on the Y-axis. ta tg represents the target position coordinates on the Z-axis. -1 λ is the symbol for the arctangent function. a L represents the longitude value of the initial sub-satellite point coordinates. a The latitude value is the initial coordinate of the nadir point.

[0207] In one feasible implementation, the second angle determination module, when determining the second elevation angle, second azimuth angle, and second polarization angle that the antenna beam of the target satellite antenna must satisfy when pointing towards the target observation satellite in the antenna base coordinate system at the detection time point, based on the first elevation angle, first azimuth angle, and first polarization angle of the target satellite antenna at the detection time point, is specifically used for:

[0208] Based on the geographic coordinate system and the antenna coordinate system of the target satellite antenna location, a first rotation matrix is ​​determined for the antenna beam of the target satellite antenna at the detection time point when it points to the target observation satellite, transforming it from the geographic coordinate system of the target satellite antenna location to the antenna coordinate system;

[0209] Based on the antenna base coordinate system and the geographic coordinate system of the target satellite antenna location, a second rotation matrix is ​​determined for the antenna beam of the target satellite antenna at the detection time point when it points to the target observation satellite, transforming it from the antenna base coordinate system to the geographic coordinate system of the target satellite antenna location;

[0210] Based on the first rotation matrix and the second rotation matrix, a third rotation matrix is ​​determined to transform the antenna beam of the target satellite antenna at the detection time point from the antenna base coordinate system to the antenna coordinate system when it points to the target observation satellite;

[0211] The second elevation angle, second azimuth angle, and second polarization angle that the target observation satellite must satisfy when determined according to the third rotation matrix are used.

[0212] In one feasible implementation, the second angle determination module, when determining the first rotation matrix from the geographical coordinate system of the target satellite antenna to the antenna coordinate system at the detection time point when the antenna beam of the target satellite antenna is pointing towards the target observation satellite, based on the geographical coordinate system and the antenna coordinate system of the target satellite antenna location, is specifically used for:

[0213] The first rotation matrix C1 is determined according to the following formula:

[0214]

[0215] Where, θ t The first pitch angle, γ is the first azimuth angle. t This is the first polarization angle;

[0216] The second angle determination module, when determining the second rotation matrix (from the antenna base coordinate system to the geographic coordinate system of the target satellite antenna location) for the antenna beam of the target satellite antenna pointing towards the target observation satellite at the detection time point, based on the antenna base coordinate system and the geographic coordinate system of the target satellite antenna location, is specifically used for:

[0217] The second rotation matrix C2 is determined according to the following formula:

[0218]

[0219] Where, θ b This refers to the elevation angle that the antenna beam of the target satellite antenna must satisfy when pointing towards the target observation satellite in the antenna base coordinate system at the detection time point. γ is the azimuth angle that the antenna beam of the target satellite antenna in the antenna base coordinate system must satisfy when pointing towards the target observation satellite at the detection time point. b Let θ be the polarization angle that the antenna beam of the target satellite antenna in the antenna base coordinate system must satisfy when pointing towards the target observation satellite at the detection time point. b , and γ b All are known quantities;

[0220] The second angle determination module, when determining the third rotation matrix (from the antenna base coordinate system to the antenna coordinate system) for the antenna beam of the target satellite antenna pointing towards the target observation satellite at the detection time point based on the first rotation matrix and the second rotation matrix, is specifically used for:

[0221] The third rotation matrix C3 is determined according to the following formula:

[0222]

[0223] Where C1 is the first rotation matrix, C2 is the second rotation matrix, and C... 11 Let C be the value of the element located in the first row and first column of the third rotation matrix C3. 12 Let C be the value of the element located in the first row and second column of the third rotation matrix C3. 13 Let C be the value of the element located in the first row and third column of the third rotation matrix C3. 21 Let C be the value of the element located in the second row and first column of the third rotation matrix C3. 22 Let C be the value of the element located in the second row and second column of the third rotation matrix C3. 23 Let C be the value of the element located in the second row and third column of the third rotation matrix C3. 31Let C be the value of the element located in the third row and first column of the third rotation matrix C3. 32 Let C be the value of the element located in the third row and second column of the third rotation matrix C3. 33 This is the value of the element located in the third row and third column of the third rotation matrix C3;

[0224] The second angle determination module, when used to determine the second elevation angle, second azimuth angle, and second polarization angle that the target observation satellite needs to satisfy based on the third rotation matrix, is specifically used for:

[0225] The second pitch angle θ is determined using the following formula. p Second azimuth angle Second polarization angle γ p :

[0226]

[0227] Among them, C 32 Let C be the value of the element located in the third row and second column of the third rotation matrix C3. 12 Let C be the value of the element located in the first row and second column of the third rotation matrix C3. 22 Let C be the value of the element located in the second row and second column of the third rotation matrix C3. 31 Let C be the value of the element located in the third row and first column of the third rotation matrix C3. 33 tg is the value of the element located in the third row and third column of the third rotation matrix C3. -1 This is the symbol for the arctangent function.

[0228] In one feasible implementation, the angular velocity compensation amount includes pitch angular velocity compensation, azimuth angular velocity compensation, and polarization angular velocity compensation. The angular velocity compensation determination module, when determining the angular velocity compensation amount of the target satellite antenna at the later detection time point for each two adjacent detection time points among the at least two detection time points, based on the second pitch angle, the second azimuth angle, and the second polarization angle at the earlier detection time point, and the second pitch angle, the second azimuth angle, and the second polarization angle at the later detection time point, and the time interval between the earlier and later detection time points, specifically uses the following methods:

[0229] The pitch angular velocity compensation amount is determined according to the following formula. The azimuth angular velocity compensation amount and the polarization angular velocity compensation amount

[0230]

[0231] Where, θ p ′ is the second pitch angle at the later detection time point, θ p γ is the second pitch angle at the initial detection time point. p ′ represents the second azimuth angle at the later detection time point, γ p The second azimuth angle at the initial detection time point. The second polarization angle at the later detection time point. The second polarization angle at the initial detection time point. This is the time interval between the earlier time point and the later detection time point.

[0232] Example 3

[0233] Based on the same application concept, see [link / reference] Figure 8 As shown, Figure 8 A schematic diagram of the structure of a computer device provided in Embodiment 3 of the present invention is shown, wherein, as Figure 8 As shown, the computer device 800 provided in Embodiment 3 of this application includes:

[0234] The computer device 800 includes a processor 801, a memory 802, and a bus 803. The memory 802 stores machine-readable instructions that can be executed by the processor 801. When the computer device 800 is running, the processor 801 communicates with the memory 802 through the bus 803. When the machine-readable instructions are executed by the processor 801, they perform the steps of the satellite antenna control method shown in Embodiment 1 above.

[0235] Example 4

[0236] Based on the same concept, embodiments of the present invention also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the satellite antenna control method described in any one of the above embodiments.

[0237] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system and apparatus described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0238] The computer program product for satellite antenna control provided in this embodiment of the invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the preceding method embodiments. For specific implementation details, please refer to the method embodiments, which will not be repeated here.

[0239] The satellite antenna control device provided in this embodiment of the invention can be specific hardware on a device or software or firmware installed on the device. The implementation principle and technical effects of the device provided in this embodiment of the invention are the same as those in the foregoing method embodiments. For the sake of brevity, any parts not mentioned in the device embodiments can be referred to the corresponding content in the foregoing method embodiments. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can all be referred to the corresponding processes in the above method embodiments, and will not be repeated here.

[0240] In the embodiments provided by this invention, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0241] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0242] In addition, the functional units in the embodiments provided by the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0243] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0244] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0245] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention. All should be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A satellite antenna control method, characterized in that, The method includes: The initial nadir coordinates of the target observation satellite at each of the at least two detection time points are transformed using a coordinate system transformation model to obtain candidate nadir coordinates for each detection time point. Similarly, the initial observation point coordinates of the target satellite antenna at each detection time point are transformed using the same model to obtain candidate observation point coordinates. The initial nadir coordinates are the latitude and longitude coordinates of the nadir point of the target observation satellite in the geodetic coordinate system, the candidate nadir coordinates are the position coordinates of the nadir point of the target observation satellite in the geocentric coordinate system, the initial observation point coordinates are the latitude and longitude coordinates of the observation point of the target satellite antenna in the geodetic coordinate system, and the candidate observation point coordinates are the position coordinates of the observation point of the target satellite antenna in the geocentric coordinate system. For each detection time point, the target position coordinates of the target observation satellite in the geographic coordinate system where the target satellite antenna is located are determined based on the candidate satellite ground point coordinates and the candidate observation point coordinates at that detection time point. Based on the target location coordinates in the geographic coordinate system at the detection time point, the first elevation angle, the first azimuth angle, and the first polarization angle that the antenna beam of the target satellite antenna must satisfy when pointing to the target observation satellite at the detection time point are determined. The first elevation angle is the elevation angle in the geographic coordinate system at the location of the target satellite antenna, the first azimuth angle is the azimuth angle in the geographic coordinate system at the location of the target satellite antenna, and the first polarization angle is the polarization angle in the geographic coordinate system at the location of the target satellite antenna. Based on the first elevation angle, first azimuth angle, and first polarization angle of the target satellite antenna at the detection time point, determine the second elevation angle, second azimuth angle, and second polarization angle that the antenna beam of the target satellite antenna in the antenna base coordinate system must satisfy when pointing to the target observation satellite at the detection time point; For each pair of adjacent detection time points among the at least two detection time points, the angular velocity compensation amount of the target satellite antenna at the later detection time point is determined based on the second elevation angle, the second azimuth angle, and the second polarization angle at the earlier detection time point, the second elevation angle, the second azimuth angle, and the second polarization angle at the later detection time point, and the time interval between the earlier detection time point and the later detection time point. The earlier detection time point is the detection time point that occurs earlier in each pair of adjacent detection time points, and the later detection time point is the detection time point that occurs later in each pair of adjacent detection time points. The angular velocity of the target satellite antenna at the subsequent detection time point is controlled based on the angular velocity compensation amount of the target satellite antenna at the subsequent detection time point; For each detection time point, the target position coordinates of the target observation satellite in the geographic coordinate system of the target satellite antenna location at that detection time point are determined based on the candidate satellite nadir coordinates and the candidate observation point coordinates at that detection time point, including: For each detection time point, based on the coordinates of the candidate satellite sub-point at that detection time point... and the coordinates of the candidate observation points at that detection time point The target location coordinates in the geographic coordinate system at the detection time point are determined using the following formula. : ； in, The target position coordinates are in Values ​​on the axis The target position coordinates are in Values ​​on the axis The target position coordinates are in Values ​​on the axis The longitude value of the initial sub-satellite point coordinates. The latitude value of the initial nadir point coordinates. The coordinates of the candidate star's lower point are in Values ​​on the axis The coordinates of the candidate star's lower point are in Values ​​on the axis The coordinates of the candidate star's lower point are in Values ​​on the axis The longitude value of the initial observation point coordinates. The latitude value of the initial observation point coordinates. The coordinates of the candidate observation points are in Values ​​on the axis The coordinates of the candidate observation points are in Values ​​on the axis The coordinates of the candidate observation points are in Values ​​on the axis; The angular velocity compensation amount includes elevation angular velocity compensation, azimuth angular velocity compensation, and polarization angular velocity compensation. For each pair of adjacent detection time points among the at least two detection time points, based on the second elevation angle, the second azimuth angle, and the second polarization angle at the earlier detection time point, and the second elevation angle, the second azimuth angle, and the second polarization angle at the later detection time point, and the time interval between the earlier and later detection time points, the angular velocity compensation amount of the target satellite antenna at the later detection time point is determined, including: The pitch angular velocity compensation amount is determined according to the following formula. The azimuth angular velocity compensation amount and the polarization angular velocity compensation amount : ； in, The second pitch angle at the later detection time point. The second pitch angle at the initial detection time point. The second azimuth angle at the later detection time point. The second azimuth angle at the initial detection time point. The second polarization angle at the later detection time point. The second polarization angle at the initial detection time point. This is the time interval between the earlier time point and the later detection time point.

2. The method according to claim 1, characterized in that, The process of using a coordinate system transformation model to perform coordinate transformation on the initial nadir point coordinates of the target observation satellite at each of at least two detection time points to obtain candidate nadir point coordinates at each detection time point, and using the coordinate system transformation model to perform coordinate transformation on the initial observation point coordinates of the target satellite antenna at each detection time point to obtain candidate observation point coordinates at each detection time point, includes: For each of the at least two detection time points, based on the initial nadir coordinates of the target observation satellite at that detection time point... The coordinates of the candidate satellite's nadir point at the detection time point are obtained by performing coordinate transformation using the following coordinate system transformation model. : ； in, The longitude value of the initial sub-satellite point coordinates. The latitude value of the initial nadir point coordinates. The initial altitude value of the nadir point. The coordinates of the candidate star's lower point are in Values ​​on the axis The coordinates of the candidate star's lower point are in Values ​​on the axis The coordinates of the candidate star's lower point are in Values ​​on the axis , For the Earth's long radius, It has the highest eccentricity on Earth; For each of the at least two detection time points, based on the initial observation point coordinates of the target satellite antenna at that detection time point. The coordinates of the candidate observation points of the target satellite antenna at the detection time point are obtained by performing coordinate transformation using the following coordinate system transformation model. : ； in, The longitude value of the initial observation point coordinates. The latitude value of the initial observation point coordinates. The height value is the initial observation point coordinate. The coordinates of the candidate observation points are in Values ​​on the axis The coordinates of the candidate observation points are in Values ​​on the axis The coordinates of the candidate observation points are in Values ​​on the axis , For the Earth's long radius, It has the highest eccentricity on Earth.

3. The method according to claim 1, characterized in that, The step of determining the first elevation angle, first azimuth angle, and first polarization angle that the antenna beam of the target satellite antenna must satisfy when pointing towards the target observation satellite at the detection time point, based on the target location coordinates of the target satellite antenna in the geographic coordinate system at the detection time point, includes: Based on the target satellite antenna's location coordinates in the geographic coordinate system at that detection time point. The first elevation angle that the antenna beam of the target satellite antenna must satisfy when pointing towards the target observation satellite at the detection time point is determined using the following formula. First azimuth and the first polarization angle : ； in, The target position coordinates are in Values ​​on the axis The target position coordinates are in Values ​​on the axis The target position coordinates are in Values ​​on the axis This is the symbol for the arctangent function. The longitude value of the initial sub-satellite point coordinates. The latitude value is the initial coordinate of the nadir point.

4. The method according to claim 1, characterized in that, The step of determining, based on the first elevation angle, first azimuth angle, and first polarization angle of the target satellite antenna at the detection time point, the second elevation angle, second azimuth angle, and second polarization angle that the antenna beam of the target satellite antenna in the antenna base coordinate system must satisfy when pointing towards the target observation satellite at the detection time point includes: Based on the geographic coordinate system and the antenna coordinate system of the target satellite antenna location, a first rotation matrix is ​​determined for the antenna beam of the target satellite antenna at the detection time point when it points to the target observation satellite, transforming it from the geographic coordinate system of the target satellite antenna location to the antenna coordinate system; Based on the antenna base coordinate system and the geographic coordinate system of the target satellite antenna location, a second rotation matrix is ​​determined for the antenna beam of the target satellite antenna at the detection time point when it points to the target observation satellite, transforming it from the antenna base coordinate system to the geographic coordinate system of the target satellite antenna location; Based on the first rotation matrix and the second rotation matrix, a third rotation matrix is ​​determined to transform the antenna beam of the target satellite antenna at the detection time point from the antenna base coordinate system to the antenna coordinate system when it points to the target observation satellite; The second elevation angle, second azimuth angle, and second polarization angle that the target observation satellite must satisfy when determined according to the third rotation matrix are used.

5. The method according to claim 4, characterized in that, The step of determining the first rotation matrix from the geographical coordinate system of the target satellite antenna location to the antenna coordinate system when the antenna beam of the target satellite antenna is pointing towards the target observation satellite at the detection time point, based on the geographical coordinate system of the target satellite antenna location and the antenna coordinate system, includes: The first rotation matrix is ​​determined according to the following formula. : ； in, The first pitch angle, The first azimuth angle, This is the first polarization angle; The step of determining the second rotation matrix, which transforms the antenna beam of the target satellite antenna to the geographical coordinate system of the target satellite antenna at the detection time point when the antenna base coordinate system and the geographical coordinate system of the target satellite antenna location are used to determine the target observation satellite, includes: The second rotation matrix is ​​determined according to the following formula. : ； in, This refers to the elevation angle that the antenna beam of the target satellite antenna must satisfy when pointing towards the target observation satellite in the antenna base coordinate system at the detection time point. This refers to the azimuth angle that the antenna beam of the target satellite antenna must satisfy when pointing towards the target observation satellite in the antenna base coordinate system at the detection time point. This refers to the polarization angle that the antenna beam of the target satellite antenna must satisfy in the antenna base coordinate system at this detection time point when pointing towards the target observation satellite. , and All are known quantities; The step of determining the third rotation matrix, based on the first and second rotation matrices, to transform the antenna beam of the target satellite antenna at the detection time point from the antenna base coordinate system to the antenna coordinate system when pointing towards the target observation satellite includes: The third rotation matrix is ​​determined according to the following formula. : ； in, Let be the first rotation matrix. This is the second rotation matrix. For the third rotation matrix The value of the element located in the first row and first column of the array. For the third rotation matrix The value of the element located in the first row and second column. For the third rotation matrix The value of the element located in the first row and third column. For the third rotation matrix The value of the element located in the second row and first column. For the third rotation matrix The value of the element located in the second row and second column. For the third rotation matrix The value of the element located in the second row and third column. For the third rotation matrix The value of the element located in the third row and first column. For the third rotation matrix The value of the element located in the third row and second column. For the third rotation matrix The value of the element located in the third row and third column; The second elevation angle, second azimuth angle, and second polarization angle that must be satisfied when determining the target observation satellite based on the third rotation matrix include: The second pitch angle is determined using the following formula. Second azimuth angle Second polarization angle : ； in, For the third rotation matrix The value of the element located in the third row and second column. For the third rotation matrix The value of the element located in the first row and second column. For the third rotation matrix The value of the element located in the second row and second column. For the third rotation matrix The value of the element located in the third row and first column. For the third rotation matrix The value of the element located in the third row and third column. This is the symbol for the arctangent function.

6. A satellite antenna control device, characterized in that, The device includes: The candidate coordinate determination module is used to perform coordinate transformation on the initial nadir coordinates of the target observation satellite at each of the at least two detection time points using a coordinate system transformation model to obtain the candidate nadir coordinates at each detection time point, and to perform coordinate transformation on the initial observation point coordinates of the target satellite antenna at each detection time point using the coordinate system transformation model to obtain the candidate observation point coordinates at each detection time point. The initial nadir coordinates are the latitude and longitude coordinates of the nadir point of the target observation satellite in the geodetic coordinate system, the candidate nadir coordinates are the position coordinates of the nadir point of the target observation satellite in the geocentric coordinate system, the initial observation point coordinates are the latitude and longitude coordinates of the observation point of the target satellite antenna in the geodetic coordinate system, and the candidate observation point coordinates are the position coordinates of the observation point of the target satellite antenna in the geocentric coordinate system. The target position coordinate determination module is used to determine, for each detection time point, the target position coordinates of the target observation satellite in the geographic coordinate system where the target satellite antenna is located at the detection time point, based on the candidate satellite sub-point coordinates and the candidate observation point coordinates at the detection time point. The first angle determination module is used to determine, based on the target location coordinates of the target satellite antenna at the detection time point in the geographic coordinate system, the first elevation angle, the first azimuth angle, and the first polarization angle that the antenna beam of the target satellite antenna must satisfy when pointing to the target observation satellite at the detection time point. The first elevation angle is the elevation angle in the geographic coordinate system where the target satellite antenna is located, the first azimuth angle is the azimuth angle in the geographic coordinate system where the target satellite antenna is located, and the first polarization angle is the polarization angle in the geographic coordinate system where the target satellite antenna is located. The second angle determination module is used to determine, based on the first elevation angle, the first azimuth angle and the first polarization angle of the target satellite antenna at the detection time point, the second elevation angle, the second azimuth angle and the second polarization angle that the antenna beam of the target satellite antenna in the antenna base coordinate system at the detection time point must satisfy when pointing to the target observation satellite. An angular velocity compensation determination module is used to determine, for each pair of adjacent detection time points among the at least two detection time points, the angular velocity compensation amount of the target satellite antenna at the later detection time point based on the second elevation angle, the second azimuth angle, and the second polarization angle at the earlier detection time point, the second elevation angle, the second azimuth angle, and the second polarization angle at the later detection time point, and the time interval between the earlier and later detection time points. The earlier detection time point is the detection time point that occurs first among the two adjacent detection time points, and the later detection time point is the detection time point that occurs later among the two adjacent detection time points. A satellite antenna control module is used to control the angular velocity of the target satellite antenna at the subsequent detection time point based on the angular velocity compensation amount of the target satellite antenna at the subsequent detection time point; For each detection time point, the target position coordinates of the target observation satellite in the geographic coordinate system of the target satellite antenna location at that detection time point are determined based on the candidate satellite nadir coordinates and the candidate observation point coordinates at that detection time point, including: For each detection time point, based on the coordinates of the candidate satellite sub-point at that detection time point... and the coordinates of the candidate observation points at that detection time point The target location coordinates in the geographic coordinate system at the detection time point are determined using the following formula. : ； in, The target position coordinates are in Values ​​on the axis The target position coordinates are in Values ​​on the axis The target position coordinates are in Values ​​on the axis The longitude value of the initial sub-satellite point coordinates. The latitude value of the initial nadir point coordinates. The coordinates of the candidate star's lower point are in Values ​​on the axis The coordinates of the candidate star's lower point are in Values ​​on the axis The coordinates of the candidate star's lower point are in Values ​​on the axis The longitude value of the initial observation point coordinates. The latitude value of the initial observation point coordinates. The coordinates of the candidate observation points are in Values ​​on the axis The coordinates of the candidate observation points are in Values ​​on the axis The coordinates of the candidate observation points are in Values ​​on the axis; The angular velocity compensation amount includes elevation angular velocity compensation, azimuth angular velocity compensation, and polarization angular velocity compensation. For each pair of adjacent detection time points among the at least two detection time points, based on the second elevation angle, the second azimuth angle, and the second polarization angle at the earlier detection time point, and the second elevation angle, the second azimuth angle, and the second polarization angle at the later detection time point, and the time interval between the earlier and later detection time points, the angular velocity compensation amount of the target satellite antenna at the later detection time point is determined, including: The pitch angular velocity compensation amount is determined according to the following formula. The azimuth angular velocity compensation amount and the polarization angular velocity compensation amount : ； in, The second pitch angle at the later detection time point. The second pitch angle at the initial detection time point. The second azimuth angle at the later detection time point. The second azimuth angle at the initial detection time point. The second polarization angle at the later detection time point. The second polarization angle at the initial detection time point. This is the time interval between the earlier time point and the later detection time point.

7. A computer device, characterized in that, include: The system includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the computer device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, they perform the steps of the satellite antenna control method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the satellite antenna control method as described in any one of claims 1 to 5.

Images