Navigation positioning method and device based on high-throughput satellite communication phased array user terminal

Abstract

The application discloses a navigation positioning method and device based on a high-throughput satellite communication phased array user terminal, which comprises the following steps: taking an initial pointing direction as a reference system, controlling an antenna beam to scan a scanning area with a specified off-axis angle and a specified azimuth angle to obtain scanning signal feedback, processing the obtained scanning signal in real time to judge a satellite azimuth, and completing beam pointing to the satellite; obtaining an off-axis angle and an azimuth angle of the beam pointing to the satellite through the phased array beam, and collecting array surface attitude parameters of the phased array user terminal; calculating a beam vector of the beam pointing in an array coordinate system, converting the beam vector in the array coordinate system into a geographic coordinate system to obtain a beam vector in the geographic coordinate system; and obtaining positioning information of the user terminal through coordinate inversion and quadrant judgment by using the beam vector in the geographic coordinate system and target satellite position information. The application solves the problem that the GNSS of the satellite communication user terminal cannot work normally and cannot obtain geographic position information in real time.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of positioning, and particularly relates to a navigation positioning method and device based on a high-throughput satellite communication phased array user terminal. BACKGROUND

[0002] At present, in conventional satellite communication, a parabolic antenna or a phased array antenna is adopted, and the calculation of satellite antenna beam pointing is completed based on positioning and attitude sensor data such as GPS and gyroscopes. The electromagnetic interference noise near GNSS (Global Navigation Satellite System) equipment, transmitting radio base stations, special moments of GNSS interference / shielding and other reasons will all cause the GNSS positioning deviation to increase or the positioning to fail, thereby reducing the establishment speed of the communication link or interrupting the link, losing the geographic location information of the satellite communication user terminal and losing the ability to obtain geographic information.

[0003] The high-throughput satellite communication phased array user terminal is usually composed of a phased array antenna array, an up-down converter, a high-throughput wideband satellite modem, and a satellite tracking phased array antenna beam forming control unit (ACU), can complete a beam control within 500 microseconds, complete a full circle initial satellite tracking within 19 seconds, complete satellite signal lock loss recapture within 1 second, so that the antenna beam is always in the best direction and keeps tracking the satellite. When the GNSS of the satellite communication user terminal is affected by interference, shielding and other factors and cannot work normally, how to obtain the geographic location information of the high-throughput satellite communication phased array user terminal in real time has important research value. SUMMARY

[0004] To this end, the application provides a navigation positioning method and device based on a high-throughput satellite communication phased array user terminal, which solves the problem that the geographic location information cannot be obtained in real time when the GNSS of the satellite communication user terminal cannot work normally.

[0005] In order to achieve the above purpose, the application provides the following technical scheme: a navigation positioning method based on a high-throughput satellite communication phased array user terminal, comprising:

[0006] Taking the initial pointing as a reference system, a scanning region with a specified off-axis angle and a specified azimuth angle is scanned by controlling the antenna beam to obtain scanning signal feedback, and the obtained scanning signal is processed in real time to judge the satellite azimuth, so as to complete the beam satellite tracking;

[0007] The symmetric point signal level value centered on the satellite is collected, the level value is compared to judge the antenna moving direction, so as to control the antenna to track the satellite;

[0008] The off-axis angle and the azimuth angle of the satellite tracking beam are obtained by pointing the satellite through the phased array beam, and the array surface attitude parameters of the phased array user terminal are collected;

[0009] The beam vector in the array coordinate system is calculated, the beam vector in the array coordinate system is converted to the geographic coordinate system, and the beam vector in the geographic coordinate system is obtained.

[0010] The positioning information of the user terminal is obtained through coordinate inversion and quadrant judgment by using the beam vector in the geographic coordinate system and the position information of the target satellite.

[0011] As an optimal solution of the navigation positioning method based on the high-throughput satellite communication phased array user terminal, the scanning signal feedback is obtained by controlling the antenna beam to scan the scanning area with an off-axis angle of 0-75° and an azimuth angle of 0-360°. The array attitude parameters of the user terminal include the heading angle, the roll angle, and the pitch angle.

[0012] As an optimal solution of the navigation positioning method based on the high-throughput satellite communication phased array user terminal, the beam vector in the array coordinate system is:

[0013]

[0014] In the formula, FY b is the pitch angle of the beam pointing in the array coordinate system, and FW b is the azimuth angle of the beam pointing in the array coordinate system.

[0015] As an optimal solution of the navigation positioning method based on the high-throughput satellite communication phased array user terminal, the beam vector in the array coordinate system is converted to the geographic coordinate system, and the beam vector in the geographic coordinate system is obtained in the following manner:

[0016]

[0017] In the formula, M tb is the rotation matrix for converting the geographic coordinate system to the array coordinate system:

[0018]

[0019] In the formula, H is the heading angle, P is the pitch angle, and R is the roll angle.

[0020] As an optimal solution of the navigation positioning method based on the high-throughput satellite communication phased array user terminal, the pitch angle FY t and the azimuth angle FW t of the user terminal in the geographic coordinate system, and the relationship between the earth radius r, the satellite height L, and the zenith angle of the user terminal and the satellite to the center of the earth are:

[0021]

[0022]

[0023]

[0024]

[0025] In the formula, a is the longitude difference between the user terminal and the target satellite, is the latitude of the user terminal.

[0026] The application also provides a navigation positioning device based on a high-throughput satellite communication phased array user terminal, comprising:

[0027] A beam satellite module is configured to use an initial pointing direction as a reference system, control the antenna beam to scan a scanning region with a specified off-axis angle and a specified azimuth angle, obtain scanning signal feedback, and process the obtained scanning signal in real time to determine the satellite azimuth, so as to complete the beam satellite.

[0028] A satellite tracking module is configured to collect the signal level values of the symmetric points with the satellite as the center, compare the signal level values to determine the antenna moving direction, and control the antenna to track the satellite.

[0029] A parameter acquisition module is configured to obtain the off-axis angle and the azimuth angle of the satellite beam through the phased array beam pointing to the satellite, and collect the array attitude parameters of the phased array user terminal.

[0030] A beam vector processing module is configured to calculate the beam vector of the beam pointing in the array coordinate system, convert the beam vector in the array coordinate system to the geographic coordinate system, and obtain the beam vector in the geographic coordinate system.

[0031] A positioning judgment module is configured to use the beam vector in the geographic coordinate system and the target satellite position information, obtain the positioning information of the user terminal through coordinate inversion and quadrant judgment.

[0032] As a preferred scheme of the navigation positioning device based on the high-throughput satellite communication phased array user terminal, in the beam satellite module: the antenna beam is controlled to scan the scanning region with the off-axis angle of 0-75° and the azimuth angle of 0-360°, and obtain the scanning signal feedback.

[0033] In the parameter acquisition module, the array attitude parameters of the user terminal include the heading angle, the roll angle and the pitch angle.

[0034] As a preferred scheme of the navigation positioning device based on the high-throughput satellite communication phased array user terminal, in the beam vector processing module, the beam vector of the beam pointing in the array coordinate system is:

[0035]

[0036] In the formula, FY b is the pitch angle of the beam pointing in the array coordinate system, and FW b is the azimuth angle of the beam pointing in the array coordinate system.

[0037] As the preferred scheme of the navigation positioning device based on high flux satellite communication phased array user terminal, the beam vector processing module converts the beam vector in the array coordinate system to the geographic coordinate system, and the conversion mode of the beam vector in the geographic coordinate system is:

[0038]

[0039] In the formula, M tb is the rotation matrix of the conversion from the geographic coordinate system to the array coordinate system:

[0040]

[0041] In the formula, H is the heading angle, P is the pitch angle, and R is the roll angle.

[0042] As the preferred scheme of the navigation positioning device based on high flux satellite communication phased array user terminal, the positioning judgment module, the pitch angle FY t of the user terminal in the geographic coordinate system, t and the relationship between the earth radius r, the satellite height L and the user terminal and the satellite's zenith angle to the center of the earth is:

[0043]

[0044]

[0045]

[0046]

[0047] In the formula, alpha is the longitude difference between the user terminal and the target satellite, and beta is the latitude of the user terminal.

[0048] The beneficial effects of the present application are as follows: by taking the initial pointing direction as the reference system, the scanning signal feedback is obtained by controlling the antenna beam to scan the scanning area with the specified off-axis angle and the specified azimuth angle, the satellite azimuth is judged by real-time processing of the obtained scanning signal, and the beam-to-satellite is completed; the symmetric point signal level value centered on the satellite is collected, the antenna moving direction is judged by comparing the level value, and the antenna tracking the satellite is controlled; the off-axis angle and the azimuth angle of the beam-to-satellite beam are obtained by pointing the satellite through the phased array beam, and the array attitude parameters of the phased array user terminal are collected; the beam vector in the array coordinate system is calculated, the beam vector in the array coordinate system is converted to the geographic coordinate system, and the beam vector in the geographic coordinate system is obtained; the positioning information of the user terminal is obtained through coordinate inversion and quadrant judgment by using the beam vector in the geographic coordinate system and the target satellite position information. The present application can make the high flux phased array user terminal complete navigation positioning without relying on GNSS, thereby solving the problem that the satellite communication user terminal cannot obtain geographic position information when the GNSS cannot work normally, and the phased array user terminal and the high-precision attitude sensor can be installed on the mobile carrier to monitor the beam pointing and the corresponding attitude during the movement of the mobile carrier, so that the current position of the carrier can be calculated in real time. BRIEF DESCRIPTION OF DRAWINGS

[0049] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only exemplary, and those skilled in the art can also obtain other implementation drawings according to the provided drawings without creating any creative labor.

[0050] The structures, proportions, sizes, etc. shown in the present specification are only used to cooperate with the content disclosed in the specification, to be understood and read by those skilled in the art, and do not define the limiting conditions for the implementation of the present application, so they do not have technical significance. Any modification of the structure, change of the proportion relationship or adjustment of the size, without affecting the effects and purposes that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application.

[0051] Figure 1 The navigation positioning method flowchart based on the high flux satellite communication phased array user terminal provided in embodiment 1 of the present application is shown in the figure;

[0052] Figure 2 The beam-to-satellite diagram in the navigation positioning method based on the high flux satellite communication phased array user terminal provided in embodiment 1 of the present application is shown in the figure;

[0053] Figure 3A relationship diagram between a geographic coordinate system and a carrier coordinate system in a navigation positioning method based on a high-flux satellite communication phased array user terminal provided by the embodiment 1 of the present application;

[0054] Figure 4 A beam pointing information acquisition interface in the navigation positioning method based on the high-flux satellite communication phased array user terminal provided by the embodiment 1 of the present application;

[0055] Figure 5 A positioning error Matlab simulation diagram of the navigation positioning method based on the high-flux satellite communication phased array user terminal provided by the embodiment 1 of the present application;

[0056] Figure 6 A schematic diagram of a navigation positioning device based on a high-flux satellite communication phased array user terminal provided by the embodiment 2 of the present application. DETAILED DESCRIPTION

[0057] The embodiments of the present application will be described in detail by specific embodiments, and those skilled in the art can easily understand other advantages and effects of the present application from the disclosed content of the specification. Obviously, the described embodiments are part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0058] Embodiment 1

[0059] Reference Figure 1 , Figure 2 and Figure 3 , the embodiment 1 of the present application provides a navigation positioning method based on a high-flux satellite communication phased array user terminal, comprising the following steps:

[0060] S1, taking an initial pointing as a reference system, controlling an antenna beam to scan a scanning area with a specified off-axis angle and a specified azimuth angle to obtain scanning signal feedback, and processing the obtained scanning signal in real time to judge a satellite azimuth, so as to complete beam-to-satellite;

[0061] S2, collecting a symmetric point signal level value centered on a satellite, comparing the level value to judge an antenna moving direction, so as to control the antenna to track the satellite;

[0062] S3, obtaining an off-axis angle and an azimuth angle of a beam-to-satellite beam by a phased array beam pointing to a satellite, and collecting an array surface attitude parameter of the phased array user terminal;

[0063] S4, calculating a beam vector of the beam pointing in an array surface coordinate system, converting the beam vector in the array surface coordinate system to a geographic coordinate system, and obtaining a beam vector in the geographic coordinate system;

[0064] S5, using the beam vector under the geographic coordinate system and the target satellite position information, obtaining the positioning information of the user terminal through coordinate inversion and quadrant judgment.

[0065] In this embodiment, in step S1, the antenna beam scans the scanning area with an off-axis angle of 0-75° and an azimuth angle of 0-360° to obtain a scanning signal feedback.

[0066] Specifically, taking the initial pointing as the reference system, the user terminal beam control unit ACU controls the antenna beam to scan the entire area in the scanning area with an off-axis angle of 0-75° and an azimuth angle of 0-360°, and the beam control unit ACU processes the scanning signal in real time to determine the satellite azimuth and complete the beam-to-satellite.

[0067] In this embodiment, in step S2, the antenna beam makes a circular motion around the satellite in the signal radiation range, collects the signal level values of the symmetric points around the satellite, compares the level values to determine the antenna moving direction, and controls the antenna to track the satellite.

[0068] Specifically, the principle of controlling the antenna to track the satellite is existing, which is to make the feed horn make a circular motion around the antenna symmetry axis, or to rotate the negative surface to make the antenna beam rotate in a conical shape. When the antenna is aligned with the satellite, the beacon level received by the earth station is a constant value; when the antenna axis deviates from the satellite, a modulation signal related to the deviation direction of the antenna will be generated, and the pointing error of the antenna is determined according to the amplitude and phase of the modulation signal. The control system will adjust the antenna according to the pointing error value until the antenna is aligned with the satellite.

[0069] In this embodiment, in step S3, the array attitude parameters of the user terminal include the heading angle, the roll angle and the pitch angle, which are collected by the attitude sensor of the phased array user terminal.

[0070] Referring to Figure 3 and Figure 4 , in this embodiment, OP is the pointing of the antenna center, OX b Y b Z b is the array coordinate system, OX t Y t Z t is the geographic coordinate system, and according to the projection conversion, the beam pointing vector under the array coordinate system can be obtained as:

[0071]

[0072] In the formula, FY b is the pitch angle of the beam pointing under the array coordinate system, and FW b is the azimuth angle of the beam pointing under the array coordinate system.

[0073] In this embodiment, in step S4, the beam pointing is converted from the array coordinate system [X b Y b Z b ] T to the geographic coordinate system [X t Y t Z t ] T The conversion of the beam vector in the array coordinate system to the geographic coordinate system is as follows:

[0074]

[0075] In the formula, M tb is the rotation matrix of the conversion from the geographic coordinate system to the array coordinate system:

[0076]

[0077] In the formula, H is the heading angle, P is the pitch angle, and R is the roll angle.

[0078] In this embodiment, in step S5, the pitch angle FY t and the azimuth angle FW t of the user terminal in the geographic coordinate system are related to the earth radius r, the satellite height L, and the zenith angle of the user terminal and the satellite to the center of the earth as follows:

[0079]

[0080]

[0081] In the formula, α is the difference in longitude between the user terminal and the target satellite, and φ is the latitude of the user terminal. Further, the following can be solved:

[0082]

[0083]

[0084] Finally, the longitude and latitude coordinates of the user terminal, i.e., the positioning information, are obtained through quadrant determination. The determination of the longitude and latitude coordinates itself belongs to the prior art.

[0085] Referring to Figure 4 and Figure 5 , the method of this embodiment is simulated and verified by Matlab. The attitude change (pitch angle) error plays a key role in the positioning accuracy of the user terminal. Within the range of ±90° of the pitch angle, under the condition that the accuracy of the attitude sensor is 0.01°, the maximum positioning error obtained by simulation is 716.106 m in longitude and 1188.30 m in latitude. ​

[0086] During the test verification process, the high-throughput satellite communication phased array user terminal is installed and placed in the direction of the geosynchronous orbit communication satellite (Zhongxing 16), and the high-precision inertial navigation system is used to provide the attitude parameters (heading angle, roll angle, pitch angle) and positioning information of the array panel for comparison. The partial parameters of the inertial navigation system are as follows:

[0087] The pure inertial attitude measurement accuracy is:

[0088] Heading angle ≤ 0.02° (1h, cep50); roll angle 0.008° (1h, cep50); pitch angle 0.008° (1h, cep50)

[0089] Combined navigation position measurement accuracy:

[0090] RTK: 2 cm + 1 ppm (cep50 GNSS / BD signal good combined navigation); single point: ≤1.2 m (1σ combined navigation).

[0091] The inertial navigation device is rigidly connected with the satellite communication phased array user terminal device, so as to ensure that the inertial navigation coordinate system and the user terminal coordinate system are consistent. The attitude angle of the array panel is measured by the inertial navigation device, and static satellite pointing is carried out under this attitude. The static satellite pointing is completed through the satellite signal receiving locking indication and the signal-to-noise ratio strength.

[0092] The beam pointing configured by the phased array antenna beam forming control unit (ACU) is read, the latitude and longitude information of the user terminal is calculated through Matlab back derivation, and the positioning information measured by the inertial navigation device is compared. Through the turntable control of pitch and horizontal rotation, the attitude of the user terminal and the beam pointing of static satellite pointing are changed, and data statistics are completed, as shown in Table 1:

[0093] Table 1: Beam pointing, attitude, and positioning information data statistics

[0094]

[0095]

[0096] In summary, the application controls the antenna beam to scan the scanning area of the specified off-axis angle and the specified azimuth angle by taking the initial pointing direction as the reference system, obtains the scanning signal feedback, processes the obtained scanning signal in real time to judge the satellite azimuth, and completes the beam pointing to the satellite; collects the symmetric point signal level values centered on the satellite, compares the level values to judge the antenna moving direction, and controls the antenna to track the satellite; obtains the off-axis angle and the azimuth angle of the beam pointing to the satellite through the phased array beam, and collects the array attitude parameters of the phased array user terminal; calculates the beam vector of the beam pointing in the array coordinate system, converts the beam vector in the array coordinate system to the geographic coordinate system to obtain the beam vector in the geographic coordinate system; and obtains the positioning information of the user terminal through the coordinate inversion and quadrant judgment by using the beam vector in the geographic coordinate system and the target satellite position information. The application can make the high-throughput phased array user terminal complete the navigation positioning without relying on GNSS, thereby solving the problem that the satellite communication user terminal cannot obtain the geographic position information when the GNSS cannot normally work, and the phased array user terminal and the high-precision attitude sensor can be installed on the mobile carrier to monitor the beam pointing and the corresponding attitude in the moving process of the mobile carrier, so that the current position of the carrier can be calculated in real time. It can be concluded from the above test verification that the navigation information of the phased array user terminal can be inversely derived by using the known attitude information of the high-throughput satellite communication phased array user terminal, and the positioning of the phased array user terminal is completed. According to the data in the above table, the positioning accuracy is mainly affected by the beam pointing accuracy and the attitude sensor (pitch angle) in the process of inverse positioning, and the beam pointing is subjected to data processing such as filtering on the basis of the original pointing. In the actual test data, the maximum positioning error of the longitude is 3295.44 meters, and the maximum positioning error of the latitude is 2893.84 meters, which can meet the positioning requirements of the user terminal in the case that the GPS is affected or shielded and does not work normally.

[0097] It should be noted that the method of the embodiments of the present disclosure can be executed by a single device, such as a computer or a server. The method of the embodiments can also be applied to a distributed scenario, and be completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only execute one or more steps in the method of the embodiments of the present disclosure, and the multiple devices can interact with each other to complete the method.

[0098] It should be noted that some embodiments of the present disclosure have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than the order described above and still achieve desirable results. In addition, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order, to achieve the desired results. In some implementations, multitasking and parallel processing can be advantageous.

[0099] Embodiment 2

[0100] Referring to Figure 6 Embodiment 2 of the present application provides a navigation positioning device based on a high-flux satellite communication phased array user terminal, comprising:

[0101] a beam pair star module 1, configured to control the antenna beam to scan a scanning region with a specified off-axis angle and a specified azimuth angle, to obtain scanning signal feedback, and to process the obtained scanning signal in real time to determine the satellite azimuth, so as to complete the beam pair star;

[0102] a satellite tracking module 2, configured to collect the signal level values of the symmetric points centered on the satellite, to compare the signal level values to determine the antenna moving direction, and to control the antenna to track the satellite;

[0103] a parameter acquisition module 3, configured to obtain the off-axis angle and the azimuth angle of the star beam through the phased array beam pointing to the satellite, and to collect the array attitude parameters of the phased array user terminal;

[0104] a beam vector processing module 4, configured to calculate the beam vector of the beam pointing in the array coordinate system, to convert the beam vector in the array coordinate system to the geographic coordinate system, and to obtain the beam vector in the geographic coordinate system;

[0105] a positioning judgment module 5, configured to obtain the positioning information of the user terminal through coordinate inversion and quadrant judgment by using the beam vector in the geographic coordinate system and the target satellite position information.

[0106] In the beam pair star module 1 in the embodiment, the antenna beam is controlled to scan a scanning region with an off-axis angle of 0-75° and an azimuth angle of 0-360°, to obtain scanning signal feedback.

[0107] In the parameter acquisition module 3, the array attitude parameters of the user terminal include the heading angle, the roll angle and the pitch angle.

[0108] In the beam vector processing module 4 in the embodiment, the beam vector of the beam pointing in the array coordinate system is:

[0109]

[0110] In the formula, FY b is the pitch angle of the beam pointing in the array coordinate system, and FW b is the azimuth angle of the beam pointing in the array coordinate system.

[0111] In the beam vector processing module 4 in the embodiment, the beam vector in the array coordinate system is converted to the geographic coordinate system, and the beam vector in the geographic coordinate system is obtained in the following manner:

[0112]

[0113] In the formula, M tb is a rotation matrix of the conversion from the geographic coordinate system to the array coordinate system:

[0114]

[0115] In the formula, H is a heading angle, P is a pitch angle, and R is a roll angle.

[0116] In the embodiment, the pitch angle FY of the user terminal in the geographic coordinate system in the positioning judgment module 5 t , the azimuth angle FW t , and the relationship between the earth radius r, the satellite height L, and the zenith angle of the user terminal and the satellite to the center of the earth is:

[0117]

[0118]

[0119]

[0120]

[0121] In the formula, a is the difference in longitude between the user terminal and the target satellite, is the latitude of the user terminal.

[0122] It should be noted that the information interaction, execution process, and the like between the modules of the above apparatus are based on the same concept as the method embodiments in Embodiment 1 of the present application, and bring the same technical effects as the method embodiments of the present application. For specific content, refer to the description in the foregoing method embodiments of the present application, which will not be repeated here.

[0123] Embodiment 3

[0124] Embodiment 3 of the present application provides a non-transitory computer-readable storage medium, which stores program codes of a navigation positioning method based on a high-throughput satellite communication phased array user terminal, and the program codes include instructions for executing the navigation positioning method based on the high-throughput satellite communication phased array user terminal of Embodiment 1 or any possible implementation manner thereof.

[0125] The computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server, data center, and the like, which includes one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)), and the like.

[0126] Embodiment 4

[0127] Embodiment 4 of the present application provides an electronic device, comprising a memory and a processor;

[0128] The processor and the memory complete the communication between each other through a bus; the memory stores program instructions executable by the processor, and the processor calling the program instructions can execute the navigation positioning method based on the high flux satellite communication phased array user terminal of embodiment 1 or any possible implementation manner thereof.

[0129] Specifically, the processor can be implemented by hardware or software, when implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc.; when implemented by software, the processor can be a general-purpose processor, which is implemented by reading software codes stored in the memory, which can be integrated in the processor or exist independently outside the processor.

[0130] In the above embodiments, all or part of them can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of them can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable devices. The computer instructions can be stored in a computer readable storage medium or transferred from one computer readable storage medium to another, for example, the computer instructions can be transferred from one website, computer, server or data center to another through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) mode.

[0131] Obviously, those skilled in the art should understand that the above-mentioned modules or steps of the present application can be realized by general computing devices, which can be concentrated on a single computing device or distributed on a network composed of multiple computing devices, and optionally, they can be realized by program codes executable by computing devices, so that they can be stored in storage devices and executed by computing devices, and in some cases, the steps shown or described can be executed in different order, or they can be manufactured into individual integrated circuit modules, or multiple modules or steps among them can be manufactured into a single integrated circuit module. Therefore, the present application is not limited to any specific hardware and software combination.

[0132] Although the present application has been described in detail with general description and specific embodiments above, it is obvious to those skilled in the art that some modifications or improvements can be made on the basis of the present application. Therefore, these modifications or improvements made on the basis of not deviating from the spirit of the present application, all belong to the scope of protection claimed by the present application.

Claims

1. A navigation positioning method based on high-throughput satellite communication phased array user terminal, characterized in that, Comprising: With the initial pointing as the reference system, the antenna beam is controlled to scan the scanning area with a specified off-axis angle and a specified azimuth angle to obtain scanning signal feedback, and the obtained scanning signal is processed in real time to determine the satellite azimuth to complete the beam pointing to the satellite; Collect the signal level values of the symmetric points centered on the satellite, compare the level values to determine the antenna moving direction to control the antenna to track the satellite; The off-axis angle and the azimuth angle of the beam pointing to the satellite are obtained, and the array attitude parameters of the phased array user terminal are collected; The beam vector of the beam pointing in the array coordinate system is calculated, the beam vector in the array coordinate system is converted to the geographic coordinate system, and the beam vector in the geographic coordinate system is obtained; The positioning information of the user terminal is obtained by using the beam vector in the geographic coordinate system and the target satellite position information through coordinate inversion and quadrant judgment.

2. The method of claim 1, wherein the high flux user terminal is based on a satellite navigation system. The antenna beam is controlled to scan the scanning area with an off-axis angle of 0-75° and an azimuth angle of 0-360° to obtain scanning signal feedback; the array attitude parameters of the user terminal include the heading angle, the roll angle and the pitch angle.

3. The method of claim 1, wherein the high flux user terminal is based on a phased array of steerable antennas. The beam vector of the beam pointing in the array coordinate system is: In the formula, FY b is the elevation angle of the beam pointing in the array coordinate system, FW b is the azimuth angle of the beam pointing in the array coordinate system.

4. The method of claim 3, wherein the high flux user terminal is based on a phased array of steerable antennas. 5 The beam vector in the array coordinate system is converted to the geographic coordinate system, and the beam vector in the geographic coordinate system is obtained in the following manner: In the formula, M tb is the rotation matrix of the conversion from the geographic coordinate system to the array plane coordinate system: In the formula, H is the heading angle, P is the pitch angle, and R is the roll angle.

5. The method of claim 4, wherein the high flux user terminal is based on a phased array of steerable antennas. 5 the user terminal's elevation angle FY in the geographical coordinate system t the user terminal's azimuth angle FW t and the relationship between the earth radius r, the satellite altitude L and the user terminal's zenith angle with respect to the center of the earth is wherein a is the longitudinal difference between the user terminal and the target satellite, is the latitude of the user terminal.

6. A navigation positioning device based on high flux satellite communication phased array user terminal, characterized in that, Comprising: The beam pointing to the satellite module is used to control the antenna beam to scan the scanning area with a specified off-axis angle and a specified azimuth angle to obtain scanning signal feedback, and to process the obtained scanning signal in real time to determine the satellite azimuth to complete the beam pointing to the satellite; The satellite tracking module is used to collect the signal level values of the symmetric points centered on the satellite, compare the level values to determine the antenna moving direction, and control the antenna to track the satellite; The parameter acquisition module is used to obtain the off-axis angle and the azimuth angle of the beam pointing to the satellite, and to collect the array attitude parameters of the phased array user terminal; The beam vector processing module is used to calculate the beam vector of the beam pointing in the array coordinate system, convert the beam vector in the array coordinate system to the geographic coordinate system, and obtain the beam vector in the geographic coordinate system; The positioning judgment module is used to obtain the positioning information of the user terminal by using the beam vector in the geographic coordinate system and the target satellite position information through coordinate inversion and quadrant judgment.

7. The high flux SATCOM phased array user terminal based navigation positioning apparatus of claim 6, wherein, In the beam pointing to the satellite module: the antenna beam is controlled to scan the scanning area with an off-axis angle of 0-75° and an azimuth angle of 0-360° to obtain scanning signal feedback; In the parameter acquisition module, the array attitude parameters of the user terminal include the heading angle, the roll angle and the pitch angle.

8. The high flux SATCOM phased array user terminal based navigation positioning apparatus of claim 7, wherein, In the beam vector processing module, the beam vector of the beam pointing in the array coordinate system is: In the formula, FY b is the elevation angle of the beam pointing in the array coordinate system, FW b is the azimuth angle of the beam pointing in the array coordinate system.

9. The high flux SATCOM phased array user terminal based navigation positioning apparatus of claim 8, wherein, In the beam vector processing module, the beam vector in the array coordinate system is converted to the geographic coordinate system, and the beam vector in the geographic coordinate system is obtained in the following manner: In the formula, M tb is a rotation matrix for converting the geographic coordinate system to the array surface coordinate system: In the formula, H is the heading angle, P is the pitch angle, and R is the roll angle.

10. The high flux SATCOM phased array user terminal based navigation positioning apparatus of claim 9, wherein, The pitch angle FY of the user terminal in the geographic coordinate system t The azimuth angle FW t The relationship between the earth radius r, the satellite height L and the zenith angle of the user terminal and the satellite to the center of the earth is: wherein a is the longitudinal difference between the user terminal and the target satellite, is the latitude of the user terminal.

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