Satellite positioning methods and systems

Abstract

This invention discloses a satellite positioning method and system. The method includes: determining the transmitted signals corresponding to multiple regions of a coarsely adjusted planar array antenna; acquiring the received signals corresponding to the multiple regions, wherein the received signals are obtained by the target satellite responding to the transmitted signals corresponding to the multiple regions; and, if the signal difference between any two received signals from the multiple regions is greater than a preset signal difference threshold, performing a first adjustment on the planar array antenna until the signal difference between any two received signals from the multiple regions is less than or equal to the signal difference threshold, thus obtaining a target adjustment state, enabling the planar array antenna to complete the positioning process for the target satellite. This invention solves the technical problem in related technologies where interference from neighboring satellites leads to low satellite positioning accuracy and efficiency.

Description

Technical Field

[0001] This invention relates to the field of satellite communication technology, and more specifically, to a satellite positioning method and system. Background Technology

[0002] Currently, due to the dense deployment of satellites, some satellites operate in similar frequency bands and modes. Furthermore, ground terminal antenna beamwidths are limited. In certain communication applications, technologies relying solely on beacons for satellite alignment lack precision in azimuth angle accuracy and are susceptible to interference from neighboring satellites, thus affecting communication quality. Additionally, traditional manual mechanical antenna alignment methods suffer from high operational requirements, long alignment times, and frequent alignment failures, especially under conditions of interference from neighboring satellites, resulting in low alignment efficiency for ground equipment.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a satellite positioning method and system to at least solve the technical problems of low satellite positioning accuracy and low satellite positioning efficiency caused by interference from neighboring satellites in related technologies.

[0005] According to one aspect of the present invention, a satellite positioning method is provided, comprising: determining transmitted signals corresponding to multiple regions of a coarsely adjusted planar array antenna, wherein the coarse adjustment is a positioning process based on satellite coordinates corresponding to a target satellite, and the transmitted signals corresponding to the multiple regions are different signals transmitted by the multiple regions of the coarsely adjusted planar array antenna to the target satellite; acquiring received signals corresponding to the multiple regions, wherein the received signals corresponding to the multiple regions are obtained by the target satellite in response to the transmitted signals corresponding to the multiple regions; and performing a first adjustment on the planar array antenna when the signal difference between any two received signals corresponding to the multiple regions is greater than a preset signal difference threshold, until the signal difference between any two received signals corresponding to the multiple regions is less than or equal to the signal difference threshold, thereby obtaining a target adjustment state, so that the planar array antenna completes the positioning process for the target satellite.

[0006] According to another aspect of the present invention, a satellite positioning device is provided, comprising: a controller, configured to determine the transmitted signals corresponding to multiple regions of a coarsely adjusted planar array antenna, wherein the coarse adjustment is a positioning process based on the satellite coordinates corresponding to a target satellite, and the transmitted signals corresponding to the multiple regions are different signals transmitted by the multiple regions of the coarsely adjusted planar array antenna to the target satellite; a radio frequency unit, connected to the controller, configured to acquire the received signals corresponding to the multiple regions, wherein the received signals corresponding to the multiple regions are obtained by the target satellite in response to the transmitted signals corresponding to the multiple regions; and a servo motor, connected to the controller, configured to perform a first adjustment on the planar array antenna when the signal difference between any two received signals corresponding to the multiple regions is greater than a preset signal difference threshold, until the signal difference between any two received signals corresponding to the multiple regions is less than or equal to the signal difference threshold, thereby obtaining a target adjustment state, so that the planar array antenna completes the positioning process for the target satellite.

[0007] In this embodiment of the invention, the transmitted signals corresponding to multiple regions of the coarsely adjusted planar array antenna are determined. The coarse adjustment is a positioning process based on the satellite coordinates of the target satellite. The transmitted signals corresponding to the multiple regions are different signals transmitted by the multiple regions of the coarsely adjusted planar array antenna to the target satellite. The received signals corresponding to the multiple regions are obtained, where the received signals are obtained by the target satellite responding to the transmitted signals corresponding to the multiple regions. If the signal difference between any two received signals from the multiple regions is greater than a preset signal difference threshold, the planar array antenna is first adjusted until the signal difference between any two received signals from the multiple regions is less than or equal to the signal difference threshold, thus obtaining a target adjustment state. This allows the planar array antenna to complete the positioning process for the target satellite. This achieves the goal of improving beacon alignment accuracy using a multi-channel, multi-region planar array antenna, realizing the technical effects of improved alignment accuracy and efficiency. It also solves the technical problem in related technologies where interference from neighboring satellites causes low alignment accuracy and efficiency. Attached Figure Description

[0008] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0009] Figure 1 This is a flowchart of an optional satellite positioning method provided according to an embodiment of the present invention;

[0010] Figure 2 This is a schematic diagram of a ground-based mobile terminal for an optional satellite positioning method provided according to an embodiment of the present invention;

[0011] Figure 3 This is a flowchart illustrating an optional satellite positioning method provided according to an embodiment of the present invention;

[0012] Figure 4 This is a schematic diagram of a satellite positioning method according to an embodiment of the present invention.

[0013] Figure 5 This is a communication diagram illustrating an optional satellite positioning method provided according to an embodiment of the present invention;

[0014] Figure 6 This is a schematic diagram of an optional satellite positioning device provided according to an embodiment of the present invention;

[0015] Figure 7 This is a schematic diagram of an optional satellite positioning system according to an embodiment of the present invention. Detailed Implementation

[0016] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0017] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0018] For ease of description, the following explains some of the nouns or terms used in the embodiments of this application:

[0019] A planar array antenna refers to an antenna system that propagates in only one specific direction, consisting of many identical individual antennas arranged in a certain pattern.

[0020] GPS (Global Positioning System) is a positioning system based on artificial Earth satellites, providing accurate geographical location anywhere in the world and in near-Earth space.

[0021] Currently, with the rapid development of satellite technology, satellite orbital resources are being heavily occupied. Taking geostationary orbit satellites as an example, these resources are extremely valuable. Due to the advantages of geostationary orbit satellites, such as wide coverage of ground-to-satellite communication, no need for real-time tracking, and continuous 24-hour communication, they are widely used in fields such as real-time communication, television broadcasting, weather forecasting, and national defense. However, due to the scarcity of geostationary orbit resources, the longitude intervals between geostationary orbit satellite deployments are decreasing (minimum 0.1 degrees). Some satellites operate in similar frequency bands and modes, and ground terminal antenna beams have a certain width. In some communication applications, the accuracy of beacon alignment for satellite time and azimuth angle is not high, and interference from adjacent satellites can occur, affecting communication quality. Furthermore, traditional manual mechanical antenna alignment methods have disadvantages such as high operational requirements, long alignment times, and the possibility of unsuccessful alignment. Therefore, how to achieve high-precision automatic satellite alignment under conditions of interference from neighboring satellites to ensure communication quality is a pressing technical problem that needs to be solved.

[0022] To address the aforementioned problems, this invention provides a satellite positioning method embodiment. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0023] Figure 1 This is a flowchart of a satellite positioning method according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0024] Step S102: Determine the transmission signals corresponding to the multiple regions of the coarse-tuned planar array antenna, wherein the coarse-tuning is a positioning process based on the satellite coordinates of the target satellite, and the transmission signals corresponding to the multiple regions are different signals transmitted by the multiple regions of the coarse-tuned planar array antenna to the target satellite.

[0025] It's understandable that the coarsely adjusted planar array antenna is divided into zones, with each zone corresponding to a different transmission signal. Each zone transmits a different signal to the target satellite. It's important to note that the accuracy of coarse adjustment based on the target satellite's coordinates is limited; further positioning processing is needed for preliminary alignment. Using regional and satellite coordinates to determine angle adjustment information is a simple method that can quickly assist the planar array antenna in initial alignment during coarse adjustment. However, it's crucial to understand that during coarse adjustment, the antenna is not directly aligned with the target satellite; it's only used to determine a general azimuth.

[0026] It should be noted that the multiple regions of a planar array antenna correspond to different signal transmission channels, such as radio frequency channels.

[0027] In one optional embodiment, determining the transmission signals corresponding to the multiple regions of the coarsely tuned planar array antenna includes: determining the spreading code sequences corresponding to the multiple regions, wherein the spreading code sequences corresponding to the multiple regions are different; and generating the transmission signals corresponding to the multiple regions of the coarsely tuned planar array antenna based on a preset calibration signal and using the spreading code sequences corresponding to the multiple regions.

[0028] It is understandable that in order to perform fine-tuning of satellite alignment using multiple zones of a planar array antenna, it is necessary to determine the spreading code sequences corresponding to multiple zones. These spreading code sequences are different for each zone, and different sequences are used to generate different transmitted signals. Based on a preset calibration signal, the spreading code sequences corresponding to each zone are used to generate the transmitted signals corresponding to the multiple zones of the planar array antenna after coarse-tuning. Through this process, spread spectrum communication technology is introduced into the satellite alignment operation. Because spread spectrum communication has excellent characteristics such as wide bandwidth and strong anti-interference capabilities, it does not affect normal communication during satellite alignment, thus improving alignment efficiency and ensuring communication efficiency.

[0029] Optionally, the spreading code sequences corresponding to the aforementioned multiple regions have the same sequence length. Spreading code sequences with the same sequence length have the same spreading gain and the same computational complexity. In order to compare the received signals corresponding to the multiple regions while controlling the variables, it is necessary to use different spreading code sequences with the same sequence length.

[0030] Step S104: Obtain the received signals corresponding to the above-mentioned multiple regions respectively, wherein the received signals corresponding to the above-mentioned multiple regions are obtained by the target satellite responding to the transmitted signals corresponding to the above-mentioned multiple regions respectively.

[0031] It is understandable that the target satellite responds to the transmitted signals corresponding to multiple regions, and can obtain the received signals corresponding to multiple regions.

[0032] Step S106: If the signal difference between any two received signals in the above-mentioned multiple regions is greater than a preset signal difference threshold, the planar array antenna is first adjusted until the signal difference between any two received signals in the above-mentioned multiple regions is less than or equal to the above-mentioned signal difference threshold, thereby obtaining the target adjustment state so that the planar array antenna can complete the positioning processing of the target satellite.

[0033] It is understandable that the received signals from multiple regions can be used to determine the state of the planar array antenna. If the signal difference between any two regions is greater than a preset signal difference threshold, the antenna is considered not aligned with the target satellite. The planar array antenna undergoes initial adjustment until the signal difference between any two regions is less than or equal to the signal difference threshold. At this point, alignment is considered complete, and the target adjustment state is obtained. Through this process, satellite alignment based on signal differences in different regions is performed quickly, and the transmission, reception, and comparison of signals are automated. Fine-tuning the alignment automatically improves alignment accuracy and efficiency on top of the initial coarse adjustment.

[0034] In an optional embodiment, the signal difference includes a signal peak difference, and the signal difference threshold includes a peak difference threshold. When the signal difference between any two received signals from the plurality of regions is greater than a preset signal difference threshold, the planar array antenna is first adjusted until the signal difference between any two received signals from the plurality of regions is less than or equal to the signal difference threshold, thus obtaining a target adjustment state. This allows the planar array antenna to complete the positioning process for the target satellite. The adjustment includes: when the peak difference between any two received signals from the plurality of regions is greater than the peak difference threshold, determining the target region with the strongest received signal peak from the plurality of regions; and controlling the planar array antenna to adjust its orientation towards the target region until the peak difference between any two received signals from the plurality of regions is less than or equal to the peak difference threshold, thus obtaining the target adjustment state.

[0035] It is understandable that signal differences can be described in various ways. When signal differences include peak signal differences and signal difference thresholds include a peak difference threshold, if the peak difference between the received signals of any two regions exceeds the peak difference threshold, it is considered that the peak signals of the received signals from the multiple regions are different. This is because the planar array antenna is not aligned with the target satellite. When aligned, the received signal in each of the multiple regions should have the same peak intensity. In the case of misalignment, the region with the stronger peak received signal is more accurate in locating the target satellite than the region with the weaker peak received signal. Therefore, the target region with the strongest peak received signal is identified. The planar array antenna is adjusted towards the target region until the peak difference between any two regions is less than or equal to the peak difference threshold. At this point, alignment is considered complete, and the target adjustment state is obtained.

[0036] It should be noted that, based on the coarse adjustment, the fine adjustment is guided by the comparison between signal peaks. The combination of coarse and fine adjustments reduces the demand on computing hardware while reducing the consumption of computing resources. The fine adjustment ensures the adjustment accuracy and improves the efficiency of satellite alignment.

[0037] To facilitate understanding, a concrete example is given: A coarse-tuned planar magnetic antenna array has two zones, a left zone and a right zone. If the difference between the peak values ​​of the received signals in the left and right zones exceeds a threshold, the coarse adjustment is considered to have failed to achieve alignment directly. The target area with the highest peak value in the left and right zones is then identified. If the target area is the left zone, meaning the peak value of the received signal in the left zone is considered the best signal strength, the orientation of the left zone guides the adjustment of the planar magnetic antenna array. The orientation of the left zone is determined to be to the left, and the corresponding adjustment direction is to the left. This process continues until the peak value difference between any two of the received signals in the multiple zones is less than or equal to the peak value difference threshold. This achieves the target adjustment state, enabling the planar magnetic antenna array to complete the positioning of the target satellite.

[0038] In an optional embodiment, the signal difference includes a peak position difference, and the signal difference threshold includes a position difference threshold. Before determining the target region with the strongest received signal peak among the plurality of regions when the peak difference of the received signals corresponding to any two regions is greater than the peak difference threshold, the method further includes: determining whether the peak difference of the received signals corresponding to any two regions is greater than the peak difference threshold when the peak position difference of the received signals corresponding to any two regions is less than or equal to the position difference threshold.

[0039] It is understandable that signal differences can be described in multiple ways. When signal differences include peak position differences, and the aforementioned signal difference thresholds include position difference thresholds, peak position differences can describe the distance differences between multiple regions and the target satellite. Since the speed of electromagnetic wave propagation is constant (i.e., the speed of light), the peak value of the received signal closer to the target satellite appears earlier, and the peak value of the received signal farther from the target satellite appears later. In other words, the distances between multiple regions and the target satellite can be represented by peak positions. If the peak position difference of the received signals corresponding to any two regions is less than or equal to the position difference threshold, it is considered that the distance between each region and the target satellite is the same, which can be used to assist in satellite positioning. Then, peak differences are considered to determine whether the peak difference of the received signals corresponding to any two regions is greater than the peak difference threshold. Through the above processing, incorporating peak positions into fine-tuning satellite alignment helps to further improve alignment accuracy.

[0040] It should be noted that the peak position can be understood as the round-trip distance from the panel of the flat panel antenna to the target satellite divided by the speed of light. It is a time-related concept, and different azimuth angles will affect the distance to the target satellite. Specifically, when not aligned, the distance from different zones to the target satellite will be different, meaning that the peak position of the received signal will be different in different zones. Therefore, the peak position can be used as a basis for fine-tuning.

[0041] In an optional embodiment, the method further includes: when the difference in the peak position of the received signal corresponding to any two regions is greater than the position difference threshold, performing a new coarse adjustment on the planar array antenna to obtain a new coarsely adjusted planar array antenna.

[0042] It is understandable that if the peak position difference of the received signals in any two regions exceeds the aforementioned position difference threshold, it is considered that the distances to the target satellite in multiple regions are not equal, requiring a new coarse adjustment of the planar array antenna to obtain a new coarse-adjusted planar array antenna. It should be noted that the positioning of the target satellite may involve multiple initial adjustments based on the received signals after the first coarse adjustment. Since the relative position of the satellite to the Earth changes, the peak position difference is used to determine whether a new coarse adjustment is needed.

[0043] In an optional embodiment, the target satellite communicates with the planar array antenna using linear polarization. When the signal difference between any two received signals from the plurality of regions exceeds a preset signal difference threshold, the planar array antenna is adjusted until the signal difference between any two received signals from the plurality of regions is less than or equal to the signal difference threshold, thus obtaining a target adjustment state. This includes: performing a second adjustment on the planar array antenna until the signal difference between the received signals from the plurality of regions is less than or equal to the signal difference threshold, thereby obtaining multiple adjustment states corresponding to the planar array antenna. The second adjustment affects the planar array antenna... The current polarization angle corresponding to the line is adjusted; a region is determined from the multiple regions; the test signals transmitted by the region under the multiple adjustment states are determined, wherein the test signals transmitted under the multiple adjustment states are the same signals transmitted by the region to the target satellite under the multiple adjustment states; the feedback signals received by the region under the multiple adjustment states are obtained, wherein the feedback signals received under the multiple adjustment states are obtained by the target satellite in response to the test signals corresponding to the region under the multiple adjustment states; the first adjustment state with the strongest feedback signal under the multiple adjustment states is determined; and the first adjustment state is taken as the target adjustment state.

[0044] It is understandable that, when the target satellite communicates with the planar array antenna using linear polarization, polarization angle adjustment is required until the signal difference between the received signals in multiple regions is less than or equal to a signal difference threshold. A second adjustment is then performed on the planar array antenna, resulting in multiple adjustment states. This second adjustment adjusts the current polarization angle of the planar array antenna. One region is selected from the multiple regions. Since the signal difference between the received signals in the multiple regions is less than or equal to the signal difference threshold, the adjustment is completed so that the received signals in each of the multiple regions are identical. Then, one region is randomly selected from the multiple regions for subsequent polarization angle adjustments. Test signals transmitted by this region in each of the multiple adjustment states are determined. These test signals are the same signals transmitted by this region to the target satellite in each of the multiple adjustment states. Feedback signals received by this region in each of the multiple adjustment states are obtained. These feedback signals are the responses of the target satellite to the test signals corresponding to each region in each of the multiple adjustment states. These feedback signals can be used to describe the impact of each adjustment state on the planar array antenna. The first adjustment state, which provides the strongest feedback signal across multiple adjustment states in a given area, is considered the optimal polarization angle adjustment for the planar array antenna under this state. This first adjustment state is then taken as the target adjustment state. When the target satellite employs linear polarization, the polarization angle significantly impacts signal strength. The above processing ensures that the polarization angle adjustment maximizes the received signal from the planar array antenna, thereby improving communication quality.

[0045] It should be noted that the second adjustment is performed within the plane of the panel of the planar array antenna, that is, without changing the azimuth and elevation angles of the planar array antenna.

[0046] In an optional embodiment, before determining the transmission signals corresponding to the multiple regions of the coarsely tuned planar array antenna, the method further includes: obtaining the regional coordinates corresponding to the planar array antenna and the satellite coordinates corresponding to the target satellite; determining the adjustment azimuth angle and the adjustment elevation angle for adjusting the planar array antenna to the target direction based on the regional coordinates and the satellite coordinates; and performing the coarse adjustment on the planar array antenna using the adjustment azimuth angle and the adjustment elevation angle to obtain the coarsely tuned planar array antenna.

[0047] The process involves obtaining the regional coordinates of the flat panel array antenna and the satellite coordinates of the target satellite. Using the Earth-satellite coordinates directly facilitates initial positioning adjustments. Based on the regional and satellite coordinates, the azimuth and elevation angles for adjusting the flat panel array antenna to the target direction are determined. These adjustments are then used to perform coarse adjustment of the flat panel array antenna, resulting in the coarsely adjusted antenna. It should be noted that during coarse adjustment, the antenna is not directly aligned with the target satellite; it is only used to determine a general orientation.

[0048] In one optional embodiment, the target satellite communicates with the planar array antenna using linear polarization; the coarse adjustment of the planar array antenna by adjusting the azimuth angle and the elevation angle includes: determining the adjustment polarization angle corresponding to the planar array antenna based on the polarization direction of the target satellite; and performing the coarse adjustment of the planar array antenna by adjusting the azimuth angle, the elevation angle, and the polarization angle.

[0049] It is understandable that when the target satellite communicates with the planar magnetic array antenna using linear polarization, the polarization angle will affect the communication quality. Therefore, it is necessary to adjust the polarization angle of the planar magnetic array antenna. Based on the polarization direction of the target satellite, the corresponding adjustable polarization angle for the planar magnetic array antenna is determined. Coarse adjustment of the planar magnetic array antenna is performed by adjusting the azimuth angle, elevation angle, and polarization angle. This process avoids communication quality degradation due to the polarization direction not meeting requirements.

[0050] Optionally, there can be multiple polarization directions. For example, under line polarization, there are two directions: horizontal polarization and vertical polarization.

[0051] In an optional embodiment, the coarse adjustment of the planar array antenna using the aforementioned azimuth and elevation angles to obtain the coarsely adjusted planar array antenna includes: adjusting the azimuth angle of the planar array antenna to obtain a feedback azimuth angle corresponding to the planar array antenna; adjusting the elevation angle of the planar array antenna to obtain a feedback elevation angle corresponding to the planar array antenna when the error between the adjusted azimuth angle and the feedback azimuth angle is less than a preset first threshold; and obtaining the coarsely adjusted planar array antenna when the error between the adjusted elevation angle and the feedback elevation angle is less than a preset second threshold.

[0052] It is understandable that during coarse adjustment, there may be instances where adjustment commands are not fully executed, rendering subsequent adjustments meaningless. Therefore, the azimuth angle is adjusted to obtain the corresponding feedback azimuth angle for the flat panel array antenna. If the error between the adjusted azimuth angle and the feedback azimuth angle is less than a preset first threshold, it is considered that the adjustment has been completed according to the adjusted azimuth angle. The elevation angle is then adjusted to obtain the corresponding feedback elevation angle for the flat panel array antenna. If the error between the adjusted elevation angle and the feedback elevation angle is less than a preset second threshold, it is considered that the adjustment has been completed according to the adjusted elevation angle, resulting in the coarsely adjusted flat panel array antenna. This process prevents deviations between the adjustment and angle adjustment commands due to equipment malfunctions or significant errors in the actual operation. The feedback azimuth and elevation angles are used to check and confirm that the flat panel array antenna adjustment has been successfully completed, thus ensuring improved satellite focusing efficiency and the smooth progress of the satellite focusing process.

[0053] Optionally, a servo motor is used to adjust the planar array antenna, and an attitude sensor is used to provide feedback on the adjustment status of the planar array antenna.

[0054] Through the above steps S102 to S106, the purpose of improving the beacon alignment accuracy can be achieved by using a multi-channel, multi-zone planar array antenna. This achieves the technical effect of improving alignment accuracy and efficiency, and solves the technical problem of low alignment accuracy and efficiency caused by interference from neighboring stars in related technologies.

[0055] Based on the above embodiments and optional embodiments, the present invention proposes an optional implementation method. Figure 2 This is a schematic diagram of a ground-based mobile terminal for an optional satellite positioning method provided by an embodiment of the present invention, as shown below. Figure 2 As shown, a ground-based mobile terminal is used for satellite alignment. This ground-based mobile terminal includes at least: a controller, a flat panel array antenna, a 9-axis attitude sensor, a GPS positioning unit, a servo system, a radio frequency unit, and a baseband processing module. Satellite alignment is performed using this ground-based mobile terminal, with the controller controlling each functional module. The main methods are as follows:

[0056] The planar array antenna in the ground mobile terminal is divided into two identical array surfaces, A and B. A and B are located on the left and right sides respectively, and the antennas in A and B are connected to the two radio frequency transceiver channels respectively.

[0057] The ground-based mobile terminal first obtains its current GPS geographic location information, i.e., its own coordinates (latitude and longitude), and the target satellite beacon it needs to align with, i.e., the satellite's coordinates (latitude and longitude). It then calculates the azimuth, elevation, and polarization angles that the antenna panel needs to be adjusted to. If the satellite uses linear polarization for the flat panel array antenna, there are two polarization directions: horizontal or vertical. Based on the polarization mode and direction of the flat panel array antenna, the first polarization angle is determined.

[0058] The servo motors in the ground-based mobile terminal are used to perform adjustment operations, and the 9-axis attitude sensor is used to provide feedback on whether the position adjustment has been completed correctly, so as to ensure adjustment accuracy.

[0059] First, coarsely adjust the initial azimuth angle of the planar array antenna to the calculated adjustment azimuth angle. Then, adjust the initial elevation angle of the planar array antenna to the calculated adjustment elevation angle. Finally, coarsely adjust the polarization angle of the planar array antenna to the calculated first polarization angle. Since there is interference from neighboring satellites in the airspace covered by the planar array antenna, the antenna is initially oriented using coarse adjustment to ensure it is pointing towards the target satellite.

[0060] The baseband processing module of the ground-based mobile terminal is used to transmit broadband spread spectrum signals with different spreading codes to areas A and B of the planar array antenna. The broadband spread spectrum signals with different spreading codes serve as the corresponding transmission signals for areas A and B of the planar array antenna, respectively. The transmission signals from the planar array antenna are then transmitted to the target satellite, which responds to the transmitted signals.

[0061] After being relayed by the target satellite's transponder, areas A and B of the planar magnetic antenna receive signals from the satellite. The baseband processing module despreads the received signals from areas A and B to obtain the position and magnitude of the relevant peak values ​​for each area. The difference in the magnitude and position of the relevant peak values ​​represents the azimuth angle deviation. When the peak positions and magnitudes of the relevant peak values ​​corresponding to areas A and B of the planar magnetic antenna are the same, it is considered that the antenna is aligned with the target satellite.

[0062] In the case of misalignment, the azimuth angle is continuously finely adjusted by the servo motor until the relevant peak positions of area A and area B in the planar array antenna are the same.

[0063] When the satellite uses linear polarization for the flat panel array antenna, a servo motor drives the antenna to rotate within the plane of its panel. The polarization angle is adjusted within a 90-degree range. Within this range, the received signals corresponding to different second polarization angles are recorded, along with the magnitude of the corresponding peak values. The angle with the largest peak value within the polarization angle adjustment range is determined, and the flat panel array antenna is adjusted accordingly, considered to be aligned with the target satellite.

[0064] Figure 3 This is a flowchart illustrating an optional satellite positioning method provided according to an embodiment of the present invention, such as... Figure 3 As shown, if the satellite to be aligned is a geostationary orbit satellite, the specific steps are as follows:

[0065] Step S1: After the ground mobile terminal is powered on, it automatically obtains the current GPS location information. The current coordinate longitude is recorded as N and the coordinate latitude as L. The geostationary orbit satellite that needs to be connected is selected, and the longitude of the target satellite is recorded as S. Since the latitudes of the geostationary orbit satellites are the same, only the longitude interval needs to be determined.

[0066] Step S2: Using the latitude and longitude coordinates (N, L, S) obtained in step S1, calculate the relative position between the target satellite and the ground mobile terminal to obtain the coarse angle adjustment information required for the flat panel array antenna of the ground mobile terminal. The angle adjustment information includes: azimuth adjustment denoted as A, elevation adjustment denoted as E, and first polarization angle denoted as θ.

[0067] In step S3, the ground-based mobile terminal controller first drives the servo motor to adjust the azimuth angle of the flat panel array antenna until the feedback azimuth angle returned by the 9-axis attitude sensor is close to the adjusted azimuth angle A. If the error between the feedback azimuth angle and the adjusted azimuth angle is less than a preset first threshold, the adjustment operation is considered correctly completed. Similarly, the servo motor is driven to adjust the elevation angle of the flat panel array antenna until the feedback elevation angle returned by the 9-axis attitude sensor is close to the adjusted elevation angle E. If the error between the adjusted elevation angle and the feedback elevation angle is less than a preset second threshold, the adjustment operation is considered correctly completed. The satellite uses horizontal polarization in the linear polarization mode for the flat panel array antenna. The servo motor is driven to adjust the flat panel array antenna in the plane of its panel, and the adjustment is denoted as the first polarization angle θ.

[0068] Step S4, Figure 4 This is a schematic diagram of an optional satellite positioning method provided by an embodiment of the present invention, such as... Figure 4As shown, the planar array antenna radiates signals with a certain beamwidth, and in this case, the beam may be directed at multiple satellites. The baseband processing module of the ground mobile terminal uses a spreading sequence of the same length, denoted as SN, and a spreading sequence, denoted as KN, to generate a self-looping spread spectrum signal data stream, which is sent to the A-area RF channel and the B-area RF channel respectively. After modulation and frequency conversion by the RF channels, it is radiated through the panel of the planar array antenna. When the target satellite receives the spread spectrum signal sent by the ground mobile terminal, the onboard transponder sends the frequency-converted spread spectrum signal back to the ground mobile terminal.

[0069] The radio frequency channels corresponding to areas A and B respectively send the down-converted, sampled digital streams of the signals received from areas A and B to the baseband processing module. The baseband processing module performs correlation operations on the received signals from areas A and B with their respective spreading sequences, obtaining the correlation peak value of area A, denoted as . The peak position is recorded as The magnitude of the relevant peak value in region B is denoted as The peak position is recorded as The baseband processing module sends the relevant peak magnitude and peak location information to the controller.

[0070] Step S5: The controller of the ground mobile terminal determines whether the relevant peak values ​​corresponding to areas A and B are the same. and Whether they are the same, and whether the peak positions corresponding to areas A and B are the same, i.e. and Are they the same? Figure 5 This is a communication diagram illustrating an optional satellite positioning method provided according to an embodiment of the present invention, such as... Figure 5 As shown, the path lengths for signals received from the onboard transponders in areas A and B are different. Therefore, when not aligned with the satellite, the peak positions in different areas will also be different. and If the values ​​are not the same, then the flat panel array antenna panel is not perfectly aligned with the satellite. The controller drives the servo motor to finely adjust the azimuth angle towards the side with the larger peak value in the smallest step, and repeats step S4 until... and same, and same.

[0071] Step S6: The target satellite uses horizontal polarization for the antenna. A servo motor drives the planar array antenna to rotate within the plane of its panel. The polarization angle is adjusted within a 90-degree range. Within this range, the received signals corresponding to different second polarization angles are recorded, along with the magnitude of the corresponding peak values. The angle with the largest peak value within the polarization angle adjustment range is determined, and the planar array antenna is adjusted accordingly, considered to be aligned with the target satellite.

[0072] The above optional implementation methods achieve at least the following effects: 1. This invention addresses the problem of neighboring satellite interference in geostationary orbit satellite-to-ground communication by using dual-channel, dual-zone planar array antenna technology. The planar array antenna synchronizes with the satellite via a self-loop to precisely adjust the position state of the planar array antenna during satellite alignment, overcoming the problem of low azimuth accuracy during passive alignment using satellite beacons. Simultaneously, a controller is used for automated processing and adjustment, resulting in a high degree of automation and simplified alignment procedures. 2. For the transponder characteristics of on-orbit geostationary satellites, spread spectrum communication is used. Due to the wide bandwidth of spread spectrum communication, the real-time services of the transponder are not affected during alignment, and satellite communication is not interfered with. 3. The two identical radio frequency transceiver channels of the ground mobile terminal can be flexibly configured after alignment, providing greater communication bandwidth and thus efficiently utilizing hardware system resources.

[0073] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0074] This embodiment also provides a satellite positioning device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the terms "module" and "device" can refer to a combination of software and / or hardware that performs a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, hardware implementations, or a combination of software and hardware, are also possible and contemplated.

[0075] According to embodiments of the present invention, an embodiment of an apparatus for implementing a satellite positioning method is also provided. Figure 6 This is a schematic diagram of an optional satellite positioning device according to an embodiment of the present invention, such as... Figure 6 As shown, the above-mentioned satellite positioning device includes: a determining module 602, an acquiring module 604, and an adjusting module 606. The device will be described below.

[0076] The determining module 602 is used to determine the transmission signals corresponding to the multiple regions of the coarse-tuned planar array antenna, wherein the coarse-tuning is a positioning process based on the satellite coordinates of the target satellite, and the transmission signals corresponding to the multiple regions are different signals transmitted to the target satellite by the multiple regions of the coarse-tuned planar array antenna.

[0077] The acquisition module 604, connected to the determination module 602, is used to acquire the received signals corresponding to the above-mentioned multiple regions respectively, wherein the received signals corresponding to the above-mentioned multiple regions are obtained by the target satellite responding to the transmitted signals corresponding to the above-mentioned multiple regions respectively;

[0078] The adjustment module 606, connected to the acquisition module 604, is used to perform a first adjustment on the planar array antenna when the signal difference between any two received signals in the multiple regions is greater than a preset signal difference threshold, until the signal difference between any two received signals in the multiple regions is less than or equal to the signal difference threshold, thereby obtaining a target adjustment state so that the planar array antenna can complete the positioning process of the target satellite.

[0079] In a satellite positioning device provided by this embodiment of the invention, a determining module 602 is set up to determine the transmitted signals corresponding to multiple regions of the coarsely adjusted planar array antenna, wherein the coarse adjustment is a positioning process based on the satellite coordinates corresponding to the target satellite, and the transmitted signals corresponding to the multiple regions are different signals transmitted by the multiple regions of the coarsely adjusted planar array antenna to the target satellite; an acquiring module 604, connected to the determining module 602, is used to acquire the received signals corresponding to the multiple regions, wherein the received signals corresponding to the multiple regions are obtained by the target satellite in response to the transmitted signals corresponding to the multiple regions; an adjusting module 606, connected to the acquiring module 604, is used to perform a first adjustment on the planar array antenna when the signal difference between any two received signals corresponding to the multiple regions is greater than a preset signal difference threshold, until the signal difference between any two received signals corresponding to the multiple regions is less than or equal to the signal difference threshold, thereby obtaining a target adjustment state, so that the planar array antenna completes the positioning process of the target satellite. This technology achieves the goal of improving beacon alignment accuracy by utilizing multi-channel, multi-zone planar array antennas, thereby improving alignment accuracy and efficiency. It also solves the technical problem of low alignment accuracy and efficiency caused by interference from neighboring satellites in related technologies.

[0080] It should be noted that the above modules can be implemented by software or hardware. For example, for the latter, it can be implemented in the following ways: the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0081] It should be noted that the determining module 602, the acquiring module 604, and the adjusting module 606 mentioned above correspond to steps S102 to S106 in the embodiments. The instances and application scenarios implemented by the above modules and their corresponding steps are the same, but they are not limited to the content disclosed in the above embodiments. It should also be noted that the above modules, as part of the device, can run in a computer terminal.

[0082] It should be noted that the optional or preferred implementation methods of this embodiment can be found in the relevant descriptions in the embodiments, and will not be repeated here.

[0083] The aforementioned satellite positioning device may also include a processor and a memory. The determining module 602, the acquiring module 604, the adjusting module 606, etc., are all stored as program units in the memory, and the processor executes the aforementioned program units stored in the memory to realize the corresponding functions.

[0084] The processor contains a core that retrieves the corresponding program unit from memory. One or more cores may be configured. Memory may include non-persistent memory in computer-readable media, random access memory (RAM), and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory includes at least one memory chip.

[0085] According to embodiments of the present invention, a system embodiment for implementing a satellite positioning method is also provided. Figure 7 This is a schematic diagram of an optional satellite positioning system according to an embodiment of the present invention, such as... Figure 7 As shown, the above-mentioned satellite positioning system includes: a controller 702, a radio frequency unit 704, and a servo motor 706. The system is described below.

[0086] The controller 702 is used to determine the transmission signals corresponding to multiple regions of the coarse-tuned planar array antenna, wherein the coarse-tuning is a positioning process based on the satellite coordinates of the target satellite, and the transmission signals corresponding to the multiple regions are different signals transmitted to the target satellite by the multiple regions of the coarse-tuned planar array antenna.

[0087] The radio frequency unit 704 is connected to the controller 702 and is used to acquire the received signals corresponding to the plurality of regions respectively, wherein the received signals corresponding to the plurality of regions are obtained by the target satellite in response to the transmitted signals corresponding to the plurality of regions respectively.

[0088] The servo motor 706, connected to the controller 702, is used to perform a first adjustment on the planar array antenna when the signal difference between any two of the received signals in the multiple regions is greater than a preset signal difference threshold, until the signal difference between any two of the received signals in the multiple regions is less than or equal to the signal difference threshold, thereby obtaining a target adjustment state so that the planar array antenna can complete the positioning process of the target satellite.

[0089] In a satellite positioning system provided by this invention, a controller 702 is used to determine the transmitted signals corresponding to multiple regions of a coarsely adjusted planar array antenna. The coarse adjustment is a positioning process based on the satellite coordinates of the target satellite, and the transmitted signals corresponding to the multiple regions are different signals transmitted from the multiple regions of the coarsely adjusted planar array antenna to the target satellite. A radio frequency unit 704, connected to the controller 702, is used to acquire the received signals corresponding to the multiple regions. These received signals are obtained by the target satellite in response to the transmitted signals corresponding to the multiple regions. A servo motor 706, connected to the controller 702, is used to perform a first adjustment on the planar array antenna when the signal difference between any two received signals from the multiple regions exceeds a preset signal difference threshold. This adjustment continues until the signal difference between any two received signals from the multiple regions is less than or equal to the signal difference threshold, thus achieving a target adjustment state and enabling the planar array antenna to complete the positioning process for the target satellite. This technology achieves the goal of improving beacon alignment accuracy by utilizing multi-channel, multi-zone planar array antennas, thereby improving alignment accuracy and efficiency. It also solves the technical problem of low alignment accuracy and efficiency caused by interference from neighboring satellites in related technologies.

[0090] This invention provides a non-volatile storage medium storing a program that, when executed by a processor, implements a satellite positioning method.

[0091] This invention provides an electronic device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps: determining the transmitted signals corresponding to multiple regions of a coarsely adjusted planar array antenna, wherein the coarse adjustment is a positioning process based on the satellite coordinates of a target satellite, and the transmitted signals corresponding to the multiple regions are different signals transmitted by the multiple regions of the coarsely adjusted planar array antenna to the target satellite; acquiring the received signals corresponding to the multiple regions, wherein the received signals corresponding to the multiple regions are obtained by the target satellite responding to the transmitted signals corresponding to the multiple regions; and, if the signal difference between any two received signals corresponding to the multiple regions is greater than a preset signal difference threshold, performing a first adjustment on the planar array antenna until the signal difference between any two received signals corresponding to the multiple regions is less than or equal to the signal difference threshold, thereby obtaining a target adjustment state, so that the planar array antenna completes the positioning process for the target satellite. The device in this document can be a server, PC, etc.

[0092] This invention also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program with the following method steps: determining the transmitted signals corresponding to multiple regions of a coarsely adjusted planar array antenna, wherein the coarse adjustment is a positioning process based on the satellite coordinates corresponding to the target satellite, and the transmitted signals corresponding to the multiple regions are different signals transmitted by the multiple regions of the coarsely adjusted planar array antenna to the target satellite; acquiring the received signals corresponding to the multiple regions, wherein the received signals corresponding to the multiple regions are obtained by the target satellite in response to the transmitted signals corresponding to the multiple regions; and, if the signal difference between any two received signals corresponding to the multiple regions is greater than a preset signal difference threshold, performing a first adjustment on the planar array antenna until the signal difference between any two received signals corresponding to the multiple regions is less than or equal to the signal difference threshold, thereby obtaining a target adjustment state, so that the planar array antenna completes the positioning process for the target satellite.

[0093] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0094] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0095] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0096] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0097] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0098] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0099] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0100] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0101] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0102] The above are merely embodiments of the present invention and are not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A satellite positioning method, characterized in that, include: The transmit signals corresponding to multiple regions of the coarse-tuned planar array antenna are determined respectively. The coarse-tuning process is a positioning process based on the satellite coordinates of the target satellite. The transmit signals corresponding to the multiple regions are different signals transmitted to the target satellite by the multiple regions of the coarse-tuned planar array antenna respectively. The received signals corresponding to the plurality of regions are obtained respectively, wherein the received signals corresponding to the plurality of regions are obtained by the target satellite in response to the transmitted signals corresponding to the plurality of regions respectively; If the signal difference between any two received signals from the multiple regions is greater than a preset signal difference threshold, the planar array antenna is first adjusted until the signal difference between any two received signals from the multiple regions is less than or equal to the signal difference threshold, thus obtaining a target adjustment state, so that the planar array antenna can complete the positioning process of the target satellite. The step of determining the transmission signals corresponding to the multiple regions of the coarsely tuned planar array antenna includes: determining the spreading code sequences corresponding to the multiple regions, wherein the spreading code sequences corresponding to the multiple regions are different; and generating the transmission signals corresponding to the multiple regions of the coarsely tuned planar array antenna based on a preset calibration signal and using the spreading code sequences corresponding to the multiple regions.

2. The method according to claim 1, characterized in that, The signal difference includes a signal peak difference, and the signal difference threshold includes a peak difference threshold. When the signal difference between any two received signals from the plurality of regions is greater than a preset signal difference threshold, the planar array antenna is first adjusted until the signal difference between any two received signals from the plurality of regions is less than or equal to the signal difference threshold, thus obtaining a target adjustment state, so that the planar array antenna completes the positioning processing of the target satellite, including: If the peak difference between the received signals corresponding to any two regions is greater than the peak difference threshold, the target region with the strongest received signal peak among the plurality of regions is determined. The planar array antenna is controlled to adjust its orientation toward the target area until the peak difference between any two of the received signals corresponding to the multiple areas is less than or equal to the peak difference threshold, thus obtaining the target adjustment state.

3. The method according to claim 2, characterized in that, The signal difference further includes: peak position difference, and the signal difference threshold further includes a position difference threshold; before determining the target region with the strongest received signal peak among the plurality of regions when the peak difference of the received signals corresponding to any two regions is greater than the peak difference threshold, the method further includes: If the peak position difference of the received signals corresponding to any two regions is less than or equal to the position difference threshold, determine whether the peak difference of the received signals corresponding to any two regions is greater than the peak difference threshold.

4. The method according to claim 3, characterized in that, The method further includes: If the difference in the peak position of the received signal corresponding to any two regions is greater than the position difference threshold, a new coarse adjustment process is performed on the planar array antenna to obtain a new coarsely adjusted planar array antenna.

5. The method according to claim 1, characterized in that, The target satellite communicates with the planar array antenna using linear polarization. When the signal difference between any two received signals from the multiple regions exceeds a preset signal difference threshold, the planar array antenna is adjusted until the signal difference between any two received signals from the multiple regions is less than or equal to the signal difference threshold, thus achieving a target adjustment state. This allows the planar array antenna to complete the positioning process for the target satellite, including: Until the signal difference of the received signals corresponding to the multiple regions is less than or equal to the signal difference threshold, the planar array antenna is adjusted in the second way to obtain multiple adjustment states corresponding to the planar array antenna, wherein the second adjustment adjusts the current polarization angle corresponding to the planar array antenna; Determine one region from the plurality of regions; The test signals transmitted by the region under the multiple adjustment states are determined, wherein the test signals transmitted under the multiple adjustment states are the same signals transmitted by the region to the target satellite under the multiple adjustment states. The feedback signals received by the region under multiple adjustment states are obtained, wherein the feedback signals received under the multiple adjustment states are obtained by the target satellite responding to the test signals corresponding to the region under the multiple adjustment states. Determine the first adjustment state in which the feedback signal of the region is strongest among the multiple adjustment states; The first adjustment state is taken as the target adjustment state.

6. The method according to claim 1, characterized in that, Before determining the transmitted signals corresponding to the multiple regions of the coarse-tuned planar array antenna, the method further includes: Obtain the regional coordinates corresponding to the flat panel array antenna and the satellite coordinates corresponding to the target satellite; Based on the regional coordinates and the satellite coordinates, determine the adjustment azimuth angle and adjust the elevation angle of the planar array antenna to the target direction; The coarse adjustment process is performed on the planar array antenna by adjusting the azimuth angle and the elevation angle to obtain the coarsely adjusted planar array antenna.

7. The method according to claim 6, characterized in that, The target satellite communicates with the planar array antenna using linear polarization; the coarse adjustment of the planar array antenna by adjusting the azimuth angle and the elevation angle includes: Based on the polarization direction of the target satellite, the corresponding adjustable polarization angle of the planar array antenna is determined; the adjustable azimuth angle, the adjustable elevation angle, and the adjustable polarization angle are used to perform the coarse adjustment process on the planar array antenna.

8. The method according to claim 6, characterized in that, The process of coarsely adjusting the planar array antenna by adjusting the azimuth angle and the elevation angle to obtain the coarsely adjusted planar array antenna includes: By using the aforementioned azimuth adjustment, the azimuth angle of the planar array antenna is adjusted to obtain the corresponding feedback azimuth angle of the planar array antenna; If the error between the adjusted azimuth angle and the feedback azimuth angle is less than a preset first threshold, the adjusted elevation angle is used to adjust the elevation angle of the planar array antenna to obtain the feedback elevation angle corresponding to the planar array antenna. When the error between the adjusted pitch angle and the feedback pitch angle is less than a preset second threshold, the coarse-tuned planar array antenna is obtained.

9. A satellite positioning system, characterized in that, include: The controller is used to determine the transmission signals corresponding to multiple regions of the coarse-tuned planar array antenna, wherein the coarse-tuning is a positioning process based on the satellite coordinates of the target satellite, and the transmission signals corresponding to the multiple regions are different signals transmitted to the target satellite by the multiple regions of the coarse-tuned planar array antenna. A radio frequency unit, connected to the controller, is used to acquire the received signals corresponding to the plurality of regions respectively, wherein the received signals corresponding to the plurality of regions are obtained by the target satellite in response to the transmitted signals corresponding to the plurality of regions respectively; A servo motor, connected to the controller, is used to perform a first adjustment on the planar array antenna when the signal difference between any two received signals in the multiple regions is greater than a preset signal difference threshold, until the signal difference between any two received signals in the multiple regions is less than or equal to the signal difference threshold, thereby obtaining a target adjustment state so that the planar array antenna can complete the positioning processing of the target satellite. The controller is further configured to determine the spreading code sequences corresponding to the plurality of regions respectively, wherein the spreading code sequences corresponding to the plurality of regions are different; based on a preset calibration signal, the controller uses the spreading code sequences corresponding to the plurality of regions respectively to generate the transmission signals corresponding to the plurality of regions of the coarsely tuned planar array antenna.

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