An antenna tracking method, device, apparatus and storage medium

Abstract

The application provides an antenna tracking method, device, equipment and storage medium, and belongs to the technical field of satellite signal tracking. The method comprises the following steps: performing dynamic zero offset calibration on a gyroscope of a phased array antenna to obtain updated gyroscope zero offset data; determining time delay data of antenna tracking, the time delay data comprising at least one of the following: software system time delay, inertial navigation time delay and instruction time delay; predicting an antenna beam pointing direction according to the updated gyroscope zero offset data and the time delay data to obtain a prediction result; and compensating the antenna beam pointing direction according to the prediction result and performing antenna tracking according to the compensated antenna beam pointing direction. The application can realize tracking of a satellite through a compensation mode without additionally setting high-cost hardware equipment, thereby reducing the equipment cost and improving the tracking precision.

Description

Technical Field

[0001] This application relates to the field of satellite signal tracking technology, and more specifically, to an antenna tracking method, apparatus, device, and storage medium. Background Technology

[0002] In the field of satellite communications, to achieve 24 / 7 online communication, it is necessary to ensure that the phased array antenna dynamically tracks the satellite in real time.

[0003] To ensure that phased array antennas can dynamically track satellites in real time, the existing technologies mainly focus on improving the receiver performance of phased array antennas. This is usually achieved by using high-precision chips in conjunction with digital signal processing to enhance dynamic tracking capabilities.

[0004] However, using high-precision chips leads to higher production costs, increased hardware complexity, and more complex software processing. Furthermore, it requires improvements to the structure of the phased array antenna at the factory, making it impossible to enhance tracking capabilities for products already on the market. Summary of the Invention

[0005] The purpose of this application is to provide an antenna tracking method, apparatus, device, and storage medium that can track satellites through compensation without the need for additional high-cost hardware, thereby reducing equipment costs while improving tracking accuracy.

[0006] The embodiments of this application are implemented as follows:

[0007] One aspect of this application provides an antenna tracking method, the method comprising:

[0008] Dynamic zero-bias calibration is performed on the gyroscope of the phased array antenna to obtain updated gyroscope zero-bias data;

[0009] Determine the antenna tracking delay data, which includes at least one of the following: software system delay, inertial navigation delay, and command delay;

[0010] The antenna beam pointing is predicted based on the updated gyroscope zero-bias data and time delay data, and the prediction result is obtained.

[0011] Based on the prediction results, the antenna beam pointing is compensated, and the antenna is tracked according to the compensated antenna beam pointing.

[0012] Optionally, the antenna beam pointing is predicted based on the updated gyroscope zero-bias data and time delay data to obtain the prediction result, including:

[0013] Based on the updated gyroscope zero-bias data and time delay data, the angle change information of the phased array antenna is predicted, and the angle change information is used as the prediction result. The angle change information includes: heading angle change information, pitch angle change information, and roll angle change information.

[0014] Optionally, based on the prediction results, the antenna beam pointing is compensated, and antenna tracking is performed according to the compensated antenna beam pointing, including:

[0015] The antenna beam pointing is determined based on the angle change information. The antenna beam pointing includes the azimuth pointing and the elevation pointing.

[0016] Antenna tracking is performed according to the compensated antenna beam direction.

[0017] Optionally, the compensated antenna beam pointing is determined based on the angle change information, including:

[0018] The current attitude rotation matrix of the phased array antenna is determined based on the angle change information;

[0019] The compensated unit vectors for each direction are determined based on the current attitude rotation matrix and the current beam pointing unit vector.

[0020] The compensated antenna beam pointing is obtained based on the unit vectors in each direction after compensation.

[0021] Optionally, before determining the compensated unit vectors in each direction based on the current attitude rotation matrix and the current beam pointing unit vector, the method further includes:

[0022] The unit vector pointing to the current beam is determined based on the elevation and azimuth angles of the beam pointing in the geographic coordinate system at the current moment.

[0023] Optionally, the timing delay data for antenna tracking is determined, including:

[0024] In response to user input, antenna tracking delay data is obtained; or, antenna tracking delay data is generated based on historical antenna execution data.

[0025] Optionally, dynamic zero-bias calibration is performed on the gyroscope of the phased array antenna to obtain updated gyroscope zero-bias data, including:

[0026] When the phased array antenna is powered on, the gyroscope data of the phased array antenna is collected;

[0027] Calculate the average offset of the gyroscope data;

[0028] Determine whether the average offset value meets the preset working conditions;

[0029] If satisfied, the gyroscope data is updated based on the average offset value to obtain the updated gyroscope zero-bias data;

[0030] If the conditions are not met, the gyroscope data of the phased array antenna is reacquired, and the average offset value is recalculated. This process is repeated until the average offset value meets the preset operating conditions.

[0031] In another aspect of the embodiments of this application, an antenna tracking device is provided, the device including: a calibration module, a time delay module, a prediction module and a compensation module;

[0032] The calibration module is used to perform dynamic zero-bias calibration on the gyroscope of the phased array antenna to obtain updated gyroscope zero-bias data;

[0033] The delay module is used to determine the delay data for antenna tracking. The delay data includes at least one of the following: software system delay, inertial navigation delay, and command delay.

[0034] The prediction module is used to predict the antenna beam pointing based on the updated gyroscope zero-bias data and time delay data, and obtain the prediction result.

[0035] The compensation module is used to compensate the antenna beam pointing based on the prediction results, and to perform antenna tracking according to the compensated antenna beam pointing.

[0036] Optionally, the prediction module is specifically used to predict the angle change information of the phased array antenna based on the updated gyroscope zero-bias data and time delay data, and use the angle change information as the prediction result. The angle change information includes: heading angle change information, pitch angle change information and roll angle change information.

[0037] Optionally, the prediction module is specifically used to determine the compensated antenna beam pointing based on the angle change information. The antenna beam pointing includes the azimuth pointing and the elevation pointing; and to perform antenna tracking according to the compensated antenna beam pointing.

[0038] Optionally, the prediction module is specifically used to determine the current attitude rotation matrix of the phased array antenna based on the angle change information; determine the compensated unit vectors in each direction based on the current attitude rotation matrix and the current beam pointing unit vector; and obtain the compensated antenna beam pointing based on the compensated unit vectors in each direction.

[0039] Optionally, the prediction module is also used to determine the unit vector of the current beam pointing based on the elevation angle and azimuth angle of the beam pointing in the geographic coordinate system at the current time.

[0040] Optionally, the delay module is specifically used to obtain antenna tracking delay data in response to user input; or, based on historical execution data of the antenna, to generate antenna tracking delay data.

[0041] Optionally, the calibration module is specifically used to collect gyroscope data of the phased array antenna when the phased array antenna is powered on; calculate the average offset value of the gyroscope data; determine whether the average offset value meets the preset working conditions; if it meets the conditions, update the gyroscope data based on the average offset value to obtain the updated gyroscope zero-bias data; if it does not meet the conditions, re-collect the gyroscope data of the phased array antenna and recalculate the average offset value, and repeat the process until the average offset value meets the preset working conditions.

[0042] In another aspect of this application, a computer device is provided, including: a memory and a processor. The memory stores a computer program that can run on the processor. When the processor executes the computer program, it implements the steps of an antenna tracking method.

[0043] In another aspect of this application, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of an antenna tracking method.

[0044] The beneficial effects of the embodiments of this application include:

[0045] The antenna tracking method, apparatus, device, and storage medium provided in this application embodiment can perform dynamic zero-bias calibration on the gyroscope of a phased array antenna to obtain updated gyroscope zero-bias data; determine the antenna tracking delay data; predict the antenna beam pointing based on the updated gyroscope zero-bias data and the delay data to obtain a prediction result; compensate for the antenna beam pointing based on the prediction result, and perform antenna tracking according to the compensated antenna beam pointing. Specifically, the antenna beam pointing can be predicted more accurately based on the updated gyroscope zero-bias data and delay data, and corresponding compensation calculations can be performed based on the predicted trend. Antenna tracking according to the compensated antenna beam pointing can improve the antenna's dynamic tracking capability. Correspondingly, the above method does not require a dedicated high-precision chip; it can be achieved through compensation, saving costs, reducing hardware complexity, and is applicable to antennas already in use on the market without requiring structural modifications. Attached Figure Description

[0046] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram illustrating the application scenario of antenna tracking provided in the embodiments of this application;

[0048] Figure 2 A schematic flowchart illustrating the antenna tracking method provided in an embodiment of this application;

[0049] Figure 3 This is another schematic flowchart of the antenna tracking method provided in the embodiments of this application;

[0050] Figure 4 This is another schematic flowchart of the antenna tracking method provided in the embodiments of this application;

[0051] Figure 5 This is another schematic flowchart of the antenna tracking method provided in the embodiments of this application;

[0052] Figure 6 This is a schematic diagram of the antenna tracking device provided in the embodiments of this application;

[0053] Figure 7 A schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0055] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0056] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0057] In the description of this application, it should be noted that the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0058] In the field of satellite communications, the communication needs of production and daily life require 24 / 7 online connectivity. To achieve this, it is necessary to ensure that ground antennas are dynamically and continuously aligned with the satellite in real time.

[0059] The methods for achieving real-time dynamic satellite pointing vary depending on the type of antenna. For example, traditional parabolic antennas rely on mechanical servo control under the guidance of an attitude measurement module to achieve satellite pointing, while phased array antennas use electronic scanning technology to control beam pointing.

[0060] This application is mainly aimed at the real-time dynamic aiming of phased array antennas at satellites. To achieve this effect, it is usually necessary to improve the antenna's ability to receive satellite signals or improve the antenna's inertial navigation performance.

[0061] In existing technologies, to improve signal reception performance, high-precision working chips, data processing chips, etc., are usually used in conjunction with preset digital signal processing methods to improve reception accuracy, thereby improving signal reception performance.

[0062] To improve inertial navigation performance, higher-level inertial navigation devices are usually used to improve the measurement accuracy of attitude under dynamic conditions.

[0063] Regardless of which existing technology is used, hardware improvements are required, increasing hardware costs. Furthermore, these hardware improvements need to be configured during the production of the phased array antenna. For phased array antennas already in use on the market, it is difficult to improve tracking accuracy using this method, thus limiting its applicability.

[0064] The antenna tracking method provided in this application embodiment can improve tracking accuracy through compensation without hardware modifications, thereby enabling phased array antennas to dynamically point at satellites in real time.

[0065] To provide a more accurate description of the implementation scenarios of this application, the application scenarios of the antenna tracking method provided in the embodiments of this application will be explained in detail below.

[0066] Figure 1 This is a schematic diagram illustrating an application scenario of the antenna tracking method provided in the embodiments of this application. Please refer to... Figure 1 The scenario includes: phased array antenna 110 and satellite 120.

[0067] The phased array antenna 110 can be an antenna that changes the shape of the radiation pattern by controlling the feed phase of the radiating elements in the array antenna. The direction of the maximum value of the antenna radiation pattern can be changed by phase control in order to achieve the purpose of beam scanning.

[0068] Satellite 120 can be a communication satellite. When implementing antenna tracking, the phased array antenna 110 can track satellite 120 by controlling the orientation of the antenna beam.

[0069] The following explains the specific implementation process of the antenna tracking method provided in the embodiments of this application based on the above application scenarios.

[0070] Figure 2 Please refer to the flowchart of the antenna tracking method provided in the embodiments of this application. Figure 2 The method includes:

[0071] S210: Perform dynamic zero-bias calibration on the gyroscope of the phased array antenna to obtain updated gyroscope zero-bias data.

[0072] Optionally, the entity executing this method can be the antenna control device, which can be set in... Figure 1 The phased array antenna 110 shown can be used for communication with the phased array antenna 110. There are no specific structural restrictions here. The corresponding settings are based on the actual working antenna configuration.

[0073] A phased array antenna may include a gyroscope, which can be a device used to detect the angular motion of the phased array antenna.

[0074] When starting the antenna for satellite tracking, dynamic zero-bias calibration of the gyroscope can be performed first to eliminate errors in the gyroscope's operation. After the dynamic zero-bias calibration is completed, updated gyroscope zero-bias data can be obtained.

[0075] Specifically, the updated gyroscope zero-bias data can be the offset values ​​of the gyroscope in three directions in space.

[0076] S220: Determine the time delay data for antenna tracking.

[0077] The latency data includes at least one of the following: software system latency, inertial navigation latency, and command latency.

[0078] After the gyroscope zero-bias calibration is completed, the antenna tracking delay data can be determined. Specifically, the delay data refers to the time error caused by various factors during the antenna's operation.

[0079] Specifically, software system latency can be the latency caused by the time consumed by the antenna control device in executing code, the latency of loading content in the software system, etc.; inertial navigation latency can be the latency in executing inertial navigation calculation algorithms, the latency of inertial navigation attitude measurement, etc.; command latency can include: the latency of the time consumed in transmitting antenna pointing commands, the latency of the time consumed in executing antenna commands, etc.

[0080] The aforementioned latency can be obtained directly from historical data, or estimated and determined by staff based on historical experience.

[0081] S230: Predict the antenna beam pointing based on the updated gyroscope zero-bias data and time delay data, and obtain the prediction result.

[0082] Optionally, after obtaining the updated gyroscope zero-bias data and time delay data, the antenna beam pointing can be predicted, that is, the antenna's motion trend can be determined.

[0083] Specifically, during the movement of the antenna, it satisfies the principles of kinematics, and its changes per unit time are continuous. The direction of angular change can be predicted using angular velocity, and the direction of carrier position change can be predicted using linear velocity.

[0084] After predicting the antenna beam pointing, the corresponding prediction result can be calculated.

[0085] S240: Based on the prediction results, the antenna beam pointing is compensated, and the antenna is tracked according to the compensated antenna beam pointing.

[0086] Optionally, after obtaining the prediction results, the antenna beam pointing can be compensated by calculation to obtain the compensated antenna beam pointing. The phased array antenna can then track the antenna according to the compensated antenna beam pointing.

[0087] In an antenna tracking method provided in this application embodiment, dynamic zero-bias calibration of the gyroscope of a phased array antenna is performed to obtain updated gyroscope zero-bias data; antenna tracking delay data is determined; the antenna beam pointing is predicted based on the updated gyroscope zero-bias data and the delay data to obtain a prediction result; the antenna beam pointing is compensated based on the prediction result, and antenna tracking is performed according to the compensated antenna beam pointing. Specifically, the antenna beam pointing can be predicted more accurately based on the updated gyroscope zero-bias data and delay data, and corresponding compensation calculations can be performed based on the predicted trend. Antenna tracking according to the compensated antenna beam pointing improves the antenna's dynamic tracking capability. Correspondingly, the above method does not require a dedicated high-precision chip; it can be achieved through compensation, saving costs, reducing hardware complexity, and is applicable to antennas already in use on the market without requiring structural modifications.

[0088] It should be noted that the above method can be implemented by setting the antenna control device through software algorithms. For antennas already in use on the market, the above method can be achieved by configuring the corresponding software algorithm for the antenna control device, without the need for structural changes.

[0089] The following is a detailed explanation of another specific implementation process of the antenna tracking method provided in the embodiments of this application.

[0090] Figure 3 For another schematic flowchart of the antenna tracking method provided in the embodiments of this application, please refer to... Figure 3Based on the updated gyroscope zero-bias data and time delay data, the antenna beam pointing is predicted, and the prediction results are obtained, including:

[0091] S310: Based on the updated gyroscope zero-bias data and time delay data, predict the angle change information of the phased array antenna and use the angle change information as the prediction result.

[0092] The angle change information includes: heading angle change information, pitch angle change information, and roll angle change information.

[0093] Optionally, after obtaining the updated gyroscope zero-bias data and time delay data, the angle change information of the phased array antenna can be predicted, as shown in the following formula:

[0094] Heading angle: ψ new =ψ+(z t -gyro_bais_x)*(T+t);

[0095] Pitch angle: γ new =γ+(y t -gyro_bais_y)*(T+t);

[0096] Roll angle: θ new =θ+(x t -gyro_bais_z)*(T+t);

[0097] Where ψ is the initial heading angle, γ is the initial pitch angle, and θ is the initial roll angle; new γ is the predicted heading angle. new For the predicted pitch angle, θ new The predicted roll angle; gyro_bais_x is the gyroscope zero bias value on the x-axis, gyro_bais_y is the gyroscope zero bias value on the y-axis, gyro_bais_z is the gyroscope zero bias value on the z-axis; t is the unit time; x t The x-axis reading of the gyroscope per unit time, y t The z-axis reading of the gyroscope per unit time is... t The z-axis reading of the gyroscope is given per unit time; T is the total time delay.

[0098] It should be noted that the right, front, and top directions of an antenna are generally defined as a right-handed system. Rotation around the forward axis is the roll angle, rotation around the right axis is the pitch angle, and rotation around the upward axis is the yaw angle.

[0099] After obtaining the angle change information based on the above calculation method, the angle change information can be used as the prediction result.

[0100] Optionally, based on the prediction results, the antenna beam pointing is compensated, and antenna tracking is performed according to the compensated antenna beam pointing, including:

[0101] S320: Determines the direction of the compensated antenna beam based on the angle change information.

[0102] Among them, the antenna beam pointing includes: azimuth pointing and elevation pointing.

[0103] Optionally, after obtaining the angle change information, the antenna beam pointing can be compensated based on a pre-configured algorithm to obtain the compensated antenna beam pointing.

[0104] Among them, azimuth and elevation angles can be used to describe the position of the satellite relative to the antenna. The satellite position can be determined by determining the direction of the compensated azimuth and elevation angles.

[0105] S330: Track the antenna according to the compensated antenna beam direction.

[0106] Optionally, after obtaining the compensated antenna beam in the above manner, antenna tracking can be performed according to the direction of the compensated antenna beam.

[0107] In an antenna tracking method provided in this application, the angle change information of a phased array antenna can be predicted based on updated gyroscope zero-bias data and time delay data, and the angle change information is used as the prediction result; the compensated antenna beam pointing is determined according to the angle change information; and antenna tracking is performed according to the compensated antenna beam pointing. This method allows for a more accurate determination of the compensated antenna beam pointing, thereby improving the accuracy of antenna tracking.

[0108] The following is a detailed explanation of another specific implementation process of the antenna tracking method provided in the embodiments of this application.

[0109] Figure 4 For another schematic flowchart of the antenna tracking method provided in the embodiments of this application, please refer to... Figure 4 The compensated antenna beam pointing is determined based on the angle change information, including:

[0110] S410: Determine the current attitude rotation matrix of the phased array antenna based on the angle change information.

[0111] Optionally, the above-mentioned angle change information is obtained (that is, ψ is obtained). new γ new θ new The specific calculation method for the current attitude rotation matrix is ​​as follows:

[0112]

[0113] in, This is the rotation matrix of the current attitude. The other parameters in the matrix have been explained in the previous formula and will not be repeated here.

[0114] S420: Determine the compensated unit vectors for each direction based on the current attitude rotation matrix and the current beam pointing unit vector.

[0115] Optionally, the calculation process for the compensated unit vectors in each direction is as follows:

[0116]

[0117] in, That is, the unit vector in each direction after compensation. This is the unit vector to which the current beam is pointing.

[0118] S430: The compensated antenna beam pointing is obtained based on the unit vectors in each direction after compensation.

[0119] Optionally, the compensated antenna beam pointing is also the specific azimuth and elevation pointing, wherein the azimuth pointing is calculated as follows:

[0120]

[0121] Among them, AZ b This refers to the azimuth direction.

[0122] The elevation angle is calculated as follows:

[0123] EL b =90-arcsin(Z) b );

[0124] Among them, EL b That is, the direction of the elevation angle.

[0125] In an antenna tracking method provided in this application embodiment, the current attitude rotation matrix of the phased array antenna can be determined based on angle change information; the compensated unit vectors in each direction can be determined based on the current attitude rotation matrix and the current beam pointing unit vector; and the compensated antenna beam pointing can be obtained based on the compensated unit vectors in each direction. By calculating using the rotation matrix, more accurate compensated unit vectors in each direction can be obtained, leading to a more accurate compensated antenna beam pointing and improving antenna tracking accuracy.

[0126] Optionally, before determining the compensated unit vectors in each direction based on the current attitude rotation matrix and the current beam pointing unit vector, the method further includes: determining the current beam pointing unit vector based on the elevation angle and azimuth angle of the beam pointing in the geographic coordinate system at the current time.

[0127] The specific calculation formula is as follows:

[0128]

[0129] The unit vector pointing to the current beam can be obtained based on the above formula.

[0130] Optionally, determining the antenna tracking delay data includes: obtaining the antenna tracking delay data in response to user input; or generating the antenna tracking delay data based on historical execution data of the antenna.

[0131] It should be noted that different methods can be used to determine latency based on different types of latency data. For example, software system latency can be directly calculated and obtained based on the antenna control equipment; inertial navigation latency can be obtained by the user based on historical data or trends; and command latency can be estimated based on historical execution data of historical commands.

[0132] Optionally, after obtaining each type of delay data in different ways, the sum of all delay data can be calculated to obtain the total delay, which is T in the aforementioned calculation formula.

[0133] The following section will explain in detail the specific implementation process of dynamic zero-bias adjustment of the gyroscope in the antenna tracking method provided in the embodiments of this application.

[0134] Figure 5 For another schematic flowchart of the antenna tracking method provided in the embodiments of this application, please refer to... Figure 5 Dynamic zero-bias calibration is performed on the gyroscopes of the phased array antenna to obtain updated gyroscope zero-bias data, including:

[0135] S510: Collects gyroscope data from the phased array antenna when it is powered on.

[0136] Optionally, when the phased array antenna is powered on, N points of data from the three-axis gyroscope are collected in a static state, and the average value of each axis is calculated to obtain the gyroscope data gyro_bais_x, gyro_bais_y, and gyro_bais_z of the phased array antenna; where gyro_bais_x is the collected x-axis data of the gyroscope, gyro_bais_y is the collected y-axis data of the gyroscope, and gyro_bais_z is the collected z-axis data of the gyroscope.

[0137] S520: Calculates the average offset of the gyroscope data.

[0138] During the subsequent work, M data segments can be collected, each segment containing L data points, and the total number of gyroscope data points for the M segments is N = M * L.

[0139] When calculating the average offset of gyroscope data, each new data point is subtracted from the zero-bias baseline value and then fed into a median digital filter. The average offset of that data segment is then calculated using the following formula:

[0140] offset[0]+=(x-gyro_bais_x) / L;

[0141] offset[1]+=(y-gyro_bais_y) / L;

[0142] offset[2]+=(z-gyro_bais_z) / L;

[0143] Where x, y, and z are the values ​​of the new data collected each time, and offset[0], offset[1], and offset[2] are the average offset values ​​of each axis.

[0144] S530: Determine whether the average offset value meets the preset working conditions.

[0145] Optionally, after obtaining the average offset values ​​for each axis, the difference between the median filter and the average offset can be calculated:

[0146] xdiff=filter[0].median-offset[0];

[0147] ydiff=filter[1].median-offset[1];

[0148] zdiff=filter[2].median-offset[2];

[0149] Where xdiff is the difference in average offset of the x-axis, ydiff is the difference in average offset of the y-axis, zdiff is the difference in average offset of the z-axis, filter[0].median is the x-axis value in the median filter, filter[1].median is the y-axis value in the median filter, and filter[2].median is the z-axis value in the median filter.

[0150] After obtaining the above differences, it can be determined whether xdiff, ydiff, and zdiff are greater than the threshold. If they are, the preset working conditions are not met; if not, the preset working conditions are met.

[0151] If satisfied, S540: Update the gyroscope data based on the average offset value to obtain the updated gyroscope zero-bias data.

[0152] The update process is as follows:

[0153] gyro_bais_x_new[i]=offset[0], i∈[0,M];

[0154] gyro_bais_y_new[i]=offset[1], i∈[0,M];

[0155] gyro_bais_z_new[i]=offset[2], i∈[0,M];

[0156] The updated gyroscope bias data is as follows:

[0157]

[0158]

[0159]

[0160] The updated gyroscope bias data are gyro_bais_x, gyro_bais_y, and gyro_bais_z.

[0161] If the conditions are not met, S550: Reacquire the gyroscope data of the phased array antenna and recalculate the average offset value, repeating this process until the average offset value meets the preset operating conditions.

[0162] Optionally, if the working conditions are not met, the data segment can be re-acquired and the average offset value can be recalculated, and the process can be repeated until the average offset value meets the preset working conditions.

[0163] In an antenna tracking method provided in this application embodiment, gyroscope data of the phased array antenna can be collected when the phased array antenna is powered on; the average offset value of the gyroscope data is calculated; it is determined whether the average offset value meets preset operating conditions; if it does, the gyroscope data is updated based on the average offset value to obtain updated gyroscope zero-bias data; if it does not meet the conditions, the gyroscope data of the phased array antenna is collected again, and the average offset value is recalculated, and this process is repeated until the average offset value meets the preset operating conditions. By determining the average offset value, dynamic zero-bias calibration of the gyroscope can be achieved, thereby obtaining more accurate gyroscope zero-bias data.

[0164] The following describes the apparatus, device, and storage medium used to implement the antenna tracking method provided in this application. The specific implementation process and technical effects are described above and will not be repeated below.

[0165] Figure 6 Please refer to the schematic diagram of the antenna tracking device provided in the embodiments of this application. Figure 6 The device includes: a calibration module 610, a time delay module 620, a prediction module 630, and a compensation module 640;

[0166] The calibration module 610 is used to perform dynamic zero-bias calibration on the gyroscope of the phased array antenna to obtain updated gyroscope zero-bias data.

[0167] The delay module 620 is used to determine the delay data of antenna tracking. The delay data includes at least one of the following: software system delay, inertial navigation delay, and command delay.

[0168] Prediction module 630 is used to predict the antenna beam pointing based on the updated gyroscope zero-bias data and time delay data, and obtain the prediction result;

[0169] The compensation module 640 is used to compensate the antenna beam pointing according to the prediction results, and to perform antenna tracking according to the compensated antenna beam pointing.

[0170] Optionally, the prediction module 630 is specifically used to predict the angle change information of the phased array antenna based on the updated gyroscope zero-bias data and time delay data, and use the angle change information as the prediction result. The angle change information includes: heading angle change information, pitch angle change information and roll angle change information.

[0171] Optionally, the prediction module 630 is specifically used to determine the compensated antenna beam pointing based on the angle change information, the antenna beam pointing including: azimuth pointing and elevation pointing; and to perform antenna tracking according to the compensated antenna beam pointing.

[0172] Optionally, the prediction module 630 is specifically used to determine the current attitude rotation matrix of the phased array antenna based on the angle change information; determine the compensated unit vectors in each direction based on the current attitude rotation matrix and the current beam pointing unit vector; and obtain the compensated antenna beam pointing based on the compensated unit vectors in each direction.

[0173] Optionally, the prediction module 630 is also used to determine the unit vector of the current beam pointing based on the elevation angle and azimuth angle of the beam pointing in the geographic coordinate system at the current time.

[0174] Optionally, the delay module 620 is specifically used to obtain antenna tracking delay data in response to user input; or, to generate antenna tracking delay data based on historical execution data of the antenna.

[0175] Optionally, the calibration module 610 is specifically used to collect gyroscope data of the phased array antenna when the phased array antenna is powered on; calculate the average offset value of the gyroscope data; determine whether the average offset value meets the preset working conditions; if it meets the conditions, update the gyroscope data based on the average offset value to obtain the updated gyroscope zero-bias data; if it does not meet the conditions, re-collect the gyroscope data of the phased array antenna and recalculate the average offset value, and repeat the process until the average offset value meets the preset working conditions.

[0176] The above-described device is used to execute the method provided in the foregoing embodiments, and its implementation principle and technical effect are similar, so they will not be described again here.

[0177] These modules can be one or more integrated circuits configured to implement the above methods, such as one or more Application Specific Integrated Circuits (ASICs), one or more microprocessors, or one or more Field Programmable Gate Arrays (FPGAs). Alternatively, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together as a system-on-a-chip (SOC).

[0178] Figure 7 Please refer to the schematic diagram of the computer device provided in the embodiments of this application. Figure 7 The computer device includes: a memory 710 and a processor 720. The memory 710 stores a computer program that can be run on the processor 720. When the processor 720 executes the computer program, it implements the steps of the antenna tracking method.

[0179] Optionally, the computer device can be the aforementioned antenna control device, which can be a computer, a dedicated electronic device, or a controller integrated on the antenna, etc. There are no specific limitations on its form, as long as it can realize the execution process of the above method.

[0180] Another aspect of the embodiments of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of an antenna tracking method.

[0181] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0182] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0183] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0184] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute partial steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0185] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0186] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An antenna tracking method, characterized in that, The method, applied to a ground antenna for tracking satellites, includes: Dynamic zero-bias calibration is performed on the gyroscope of the phased array antenna to obtain updated gyroscope zero-bias data; Determine the antenna tracking delay data, which includes at least one of the following: software system delay, inertial navigation delay, and command delay; The antenna beam pointing is predicted based on the updated gyroscope zero-bias data and the time delay data, and the prediction result is obtained. Based on the prediction results, the antenna beam pointing is compensated, and antenna tracking is performed according to the compensated antenna beam pointing. The step of performing dynamic zero-bias calibration on the gyroscope of the phased array antenna to obtain updated gyroscope zero-bias data includes: When the phased array antenna is powered on, the gyroscope data of the phased array antenna is collected; Calculate the average offset value of the gyroscope data; Determine whether the average offset value meets the preset working conditions; If satisfied, the gyroscope data is updated based on the average offset value to obtain updated gyroscope zero-bias data; If the conditions are not met, the gyroscope data of the phased array antenna is reacquired, and the average offset value is recalculated. This process is repeated until the average offset value meets the preset operating conditions.

2. The method as described in claim 1, characterized in that, The step of predicting the antenna beam pointing based on the updated gyroscope zero-bias data and the time delay data, and obtaining the prediction result, includes: Based on the updated gyroscope zero-bias data and the time delay data, the angle change information of the phased array antenna is predicted, and the angle change information is used as the prediction result. The angle change information includes: heading angle change information, pitch angle change information, and roll angle change information.

3. The method as described in claim 2, characterized in that, The step of compensating for the antenna beam pointing based on the prediction result and performing antenna tracking according to the compensated antenna beam pointing includes: The compensated antenna beam pointing is determined based on the angle change information, and the antenna beam pointing includes: azimuth pointing and elevation pointing; Antenna tracking is performed according to the compensated antenna beam direction.

4. The method as described in claim 3, characterized in that, Determining the compensated antenna beam direction based on the angle change information includes: The current attitude rotation matrix of the phased array antenna is determined based on the angle change information; The compensated unit vectors for each direction are determined based on the current attitude rotation matrix and the current beam pointing unit vector. The compensated antenna beam pointing is obtained based on the unit vectors in each direction after compensation.

5. The method as described in claim 4, characterized in that, Before determining the compensated unit vectors for each direction based on the current attitude rotation matrix and the current beam pointing unit vector, the method further includes: The unit vector pointing to the current beam is determined based on the elevation and azimuth angles of the beam pointing in the geographic coordinate system at the current moment.

6. The method as described in claim 1, characterized in that, The time delay data for determining antenna tracking includes: In response to user input, the time delay data of the antenna tracking is obtained; or, Based on the antenna's historical execution data, the antenna tracking delay data is generated.

7. An antenna tracking device, characterized in that, The device includes: a calibration module, a time delay module, a prediction module, and a compensation module; The calibration module is used to perform dynamic zero-bias calibration on the gyroscope of the phased array antenna to obtain updated gyroscope zero-bias data. The delay module is used to determine the delay data of antenna tracking. The delay data includes at least one of the following: software system delay, inertial navigation delay, and command delay. The prediction module is used to predict the antenna beam pointing based on the updated gyroscope zero-bias data and the time delay data, and obtain the prediction result. The compensation module is used to compensate the antenna beam pointing according to the prediction result, and to perform antenna tracking according to the compensated antenna beam pointing. The calibration module is specifically used to: collect gyroscope data of the phased array antenna when the phased array antenna is powered on; calculate the average offset value of the gyroscope data; determine whether the average offset value meets preset operating conditions; if it does, update the gyroscope data based on the average offset value to obtain updated gyroscope zero-bias data; if it does not meet the conditions, re-collect the gyroscope data of the phased array antenna and recalculate the average offset value, and repeat the process until the average offset value meets the preset operating conditions.

8. A computer device, characterized in that, include: A memory and a processor, wherein the memory stores a computer program that can run on the processor, and when the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1 to 6.

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