Ground tracking antenna star finding method, device and equipment for constellation Walker

Abstract

The present disclosure provides a Walker constellation ground tracking antenna star finding method, device, equipment and medium, the method comprises: acquiring satellite parameters in Walker constellation, antenna position parameters, setting satellite coordinate data in the initial orbit plane, calculating the tracking elevation angle corresponding to each satellite, comparing and determining the first tracking elevation angle and the corresponding first satellite; taking the first satellite as the first intersection, setting the same center orbit perpendicular to the initial orbit plane through the first intersection, the orbit intersects with the orbits of other satellites in Walker constellation to obtain each second intersection, determining the satellite closest to each second intersection as the near point satellite, and sequentially calculating the second tracking elevation angle of each near point satellite; comparing the first tracking elevation angle with each second tracking elevation angle, determining the maximum tracking elevation angle and the corresponding target satellite, to solve the problems of large calculation amount and long star finding time caused by the ground tracking antenna in the star finding process of the traversal method when tracking the low-orbit satellite constellation.

Description

Technical Field

[0001] This invention relates to the field of astronomical observation technology, and in particular to a method, apparatus, device, and computer-readable storage medium for finding stars using a ground-based tracking antenna for the Walker constellation. Background Technology

[0002] As satellite internet plays an increasingly important role in military communications and the popularization of civilian internet, low-Earth orbit satellite communication networks have great potential in global communications and internet access, 5G, the Internet of Things, and space military capabilities. They are a crucial battleground for commercial aerospace technology and major powers' space and military strategic competition, and the future market for small communication satellites is vast. Faced with thousands of satellites in large communication constellations, the rapid satellite-finding capability of ground tracking antennas becomes a key indicator for evaluating their tracking performance.

[0003] Traditional satellite telemetry, tracking, and command (TT&C) technologies typically employ a constellation-wide approach for orbit prediction, using methods such as calculating satellite three-point reports and detailed predictions for antenna positions. While this method offers high accuracy, it requires traversing all satellites, resulting in a large computational load and unsatisfactory results for large-scale constellation calculations. Another approach involves analytical methods that calculate the nadir points of the entire constellation. This method significantly improves computational efficiency, but it still essentially relies on a traversal approach, leading to a slight decrease in accuracy.

[0004] Therefore, there is an urgent need to provide a fast satellite-finding method for ground-based tracking antennas that can improve computational accuracy and reduce computational load. Summary of the Invention

[0005] To overcome the problems existing in the related technologies, this disclosure provides a method, apparatus, device and computer-readable storage medium for satellite finding using a ground tracking antenna for the Walker constellation, so as to solve the technical problems of large computational load and low accuracy when using a ground tracking antenna for satellite finding in the related technologies.

[0006] This specification provides one or more embodiments of a ground-based tracking antenna for the Walker constellation, including:

[0007] Obtain parameters of each satellite in the Walker constellation, antenna position parameters, and set the coordinate data of each satellite in the initial orbital plane;

[0008] Based on the parameters of each satellite in the Walker constellation and the antenna position parameters, the tracking elevation angle of each satellite in the initial orbital plane is calculated, and the largest tracking elevation angle is determined as the first tracking elevation angle, and the corresponding satellite is the first satellite.

[0009] Using the first satellite as the first intersection point, a concentric orbit is set that passes through the first intersection point and is perpendicular to the initial orbital plane. The orbit intersects with the orbits of other satellites in the Walker constellation to obtain each second intersection point. The satellites closest to each second intersection point are determined to be perigee satellites, and the second tracking elevation angle of each perigee satellite is calculated in sequence.

[0010] By comparing the first tracking elevation angle with each of the second tracking elevation angles, the largest tracking elevation angle is determined as the maximum tracking elevation angle, and the satellite corresponding to it is the target satellite.

[0011] Furthermore, the calculation of the tracking elevation angle of each satellite within the initial orbital plane specifically includes the following steps:

[0012] Taking any satellite as the first satellite, calculate the right ascension and angular distance of the ascending node of the first satellite, and calculate the longitude and latitude of the nadir point corresponding to the first satellite using the nadir point calculation method;

[0013] Calculate the tracking elevation angle of the first satellite based on the longitude, latitude, and orbital altitude of its nadir point, and then calculate the tracking elevation angles of the two adjacent satellites.

[0014] The maximum tracking elevation angle is obtained by comparison, and the direction of increase of the tracking elevation angle is determined.

[0015] Along the direction of increasing tracking elevation angle, the tracking elevation angle of each satellite in the initial orbital plane is calculated sequentially.

[0016] Further, the calculation of the second tracking elevation angle of each near-satellite includes:

[0017] The number of each perigee satellite is determined based on the parameters of each satellite within the Walker constellation;

[0018] Based on the number of each perigee satellite, calculate the right ascension and angular distance of the ascending node of each perigee satellite, and convert them into the longitude and latitude of the nadir point corresponding to each perigee satellite;

[0019] The tracking elevation angle of each near-satellite is calculated based on the longitude and latitude of the nadir point corresponding to each near-satellite.

[0020] Further, the step of comparing the first tracking elevation angle with each of the second tracking elevation angles to determine the largest tracking elevation angle as the maximum tracking elevation angle, and the satellite corresponding to it as the target satellite, includes:

[0021] Starting from the initial orbital plane, calculate the second tracking elevation angle for each perigee satellite on two adjacent orbital planes;

[0022] By comparing the first tracking elevation angle with the second tracking elevation angles of the perigee satellites on two adjacent orbital planes, the direction of increasing the tracking elevation angle is determined;

[0023] Calculate the tracking elevation angle of each near point satellite along the direction of increasing tracking elevation angle, and compare the tracking elevation angles of each near point satellite. The tracking elevation angle with the largest value among the tracking elevation angles of each near point satellite is the maximum tracking elevation angle, and the satellite corresponding to it is the target satellite.

[0024] Furthermore, it also includes:

[0025] Using the step time as the interval, calculate the maximum tracking elevation angle and azimuth angle of the tracked satellite at different angular distances;

[0026] When the time interval is less than the step time, the azimuth angle and the tracking elevation angle are sent to the antenna to guide the antenna to track the tracking satellite.

[0027] Furthermore, it also includes:

[0028] During tracking, if the real-time tracking elevation angle of the target satellite is lower than the minimum tracking elevation angle of the antenna, the maximum tracking elevation angle of the target satellite's orbital plane is recalculated, and the corresponding satellite is replaced with the first satellite, and the target satellite is re-determined.

[0029] This specification provides one or more embodiments of a ground-based tracking antenna for the Walker constellation, comprising:

[0030] The parameter acquisition and setting module is used to acquire parameters of each satellite in the Walker constellation, antenna position parameters, and set the coordinate data of each satellite in the initial orbital plane.

[0031] The first satellite confirmation module is used to calculate the tracking elevation angle of each satellite in the initial orbital plane based on the parameters of each satellite in the Walker constellation and the antenna position parameters. The tracking elevation angle with the maximum value is determined as the first tracking elevation angle, and the corresponding satellite is the first satellite.

[0032] The perigee satellite confirmation module is used to set a concentric orbit that passes through the first intersection point and is perpendicular to the initial orbital plane, with the first satellite as the first intersection point. The orbit intersects with the orbits of other satellites in the Walker constellation to obtain each second intersection point. The satellites closest to each second intersection point are identified as perigee satellites, and the second tracking elevation angle of each perigee satellite is calculated in sequence.

[0033] The target satellite confirmation module is used to compare the first tracking elevation angle with each of the second tracking elevation angles to determine the largest tracking elevation angle in the constellation as the maximum tracking elevation angle, and the corresponding satellite is the target satellite.

[0034] Specifically, the near-point satellite confirmation module is also used for:

[0035] The number of each perigee satellite is determined based on the parameters of each satellite within the Walker constellation;

[0036] Based on the number of each perigee satellite, calculate the right ascension and angular distance of the ascending node of each perigee satellite, and convert them into the longitude and latitude of the nadir point corresponding to each perigee satellite;

[0037] The tracking elevation angle of each near-satellite is calculated based on the longitude and latitude of the nadir point corresponding to each near-satellite.

[0038] This specification provides one or more embodiments of a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the above-described Walker constellation ground tracking antenna satellite acquisition method.

[0039] This specification provides one or more embodiments of a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of a ground-tracking antenna satellite-finding method for the Walker constellation.

[0040] The beneficial effects of this invention are as follows: By analyzing the model characteristics of the Walker satellite constellation, based on solving the first tracking elevation angle of the satellites relative to the ground antenna within the orbital plane, taking the satellite corresponding to this first tracking elevation angle as the starting point, a plane perpendicular to the initial orbital plane is set, and the intersection point with the orbits of other satellites in the Walker constellation is determined. The satellites on other orbital planes closest to the corresponding intersection point constitute the perigee satellites, and the second tracking elevation angle of each perigee satellite is calculated. Then, by comparing the first tracking elevation angle with each of the second tracking elevation angles, the optimal satellite observable by the current antenna is determined. This method utilizes the configuration characteristics of the Walker constellation, requiring only the calculation of the nadir point for some satellites within the constellation, to evaluate the antenna visibility and tracking effect of satellites within the constellation, and to find the satellite with the best tracking conditions at the current moment. This significantly shortens the satellite constellation's satellite search time, reducing the computational workload of the satellite search process for an N / M / F parameter Walker constellation from N*M to 1 / 2(N / M+M), greatly reducing the computational load and the performance requirements of the processor. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in one or more embodiments of this specification or in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1A flowchart illustrating a satellite-finding method for a ground-based tracking antenna of the Walker constellation, provided for one or more embodiments of this specification;

[0043] Figure 2 A calculation flowchart of a ground tracking antenna satellite finding method for the Walker constellation provided in one or more embodiments of this specification;

[0044] Figure 3 An initial satellite-finding flowchart of a ground tracking antenna satellite-finding method for the Walker constellation provided for one or more embodiments of this specification;

[0045] Figure 4 A continuous satellite-finding flowchart of a ground tracking antenna satellite-finding method for the Walker constellation provided for one or more embodiments of this specification;

[0046] Figure 5 A schematic diagram of the orbit tracking process of a ground tracking antenna satellite search method for the Walker constellation provided in one or more embodiments of this specification;

[0047] Figure 6 A schematic block diagram of a ground tracking antenna satellite-finding device for the Walker constellation provided for one or more embodiments of this specification;

[0048] Figure 7 This is a structural diagram of a computer device provided for one or more embodiments of this specification. Detailed Implementation

[0049] To enable those skilled in the art to better understand the technical solutions in one or more embodiments of this specification, the technical solutions in one or more embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of the embodiments. Based on one or more embodiments of this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this invention.

[0050] The present invention will now be described in detail with reference to specific embodiments and accompanying drawings.

[0051] Method Implementation Examples

[0052] This invention proposes a rapid satellite-finding method for ground-based antennas of the Low Earth Orbit (LEO) Walker constellation based on the maxima method. The maxima method is based on the principle that there is only one satellite with a maximum tracking elevation angle in each orbital plane, and only one satellite with a maximum tracking elevation angle across the entire constellation. According to this invention, a ground-based tracking antenna satellite-finding method for the Walker constellation is provided, such as... Figure 1As shown, the ground tracking antenna satellite finding method for the Walker constellation according to an embodiment of the present invention includes:

[0053] Step 11: Obtain the parameters of each satellite in the Walker constellation, the antenna position parameters, and set the coordinate data of each satellite in the initial orbital plane;

[0054] Step 12: Based on the parameters of each satellite in the Walker constellation and the antenna position parameters, calculate the tracking elevation angle of each satellite in the initial orbital plane, compare and determine the largest tracking elevation angle as the first tracking elevation angle, and the corresponding satellite is the first satellite;

[0055] Step 13: Using the first satellite as the first intersection point, set an orbit with the same center that passes through the first intersection point and is perpendicular to the initial orbital plane. The orbit intersects with the orbits of other satellites in the Walker constellation to obtain each second intersection point. Determine the satellite closest to each second intersection point as the perigee satellite, and calculate the second tracking elevation angle of each perigee satellite in sequence.

[0056] Step 14: Compare the first tracking elevation angle with each of the second tracking elevation angles, and determine the largest tracking elevation angle as the maximum tracking elevation angle, and the satellite corresponding to it as the target satellite.

[0057] The method provided in this embodiment analyzes the model characteristics of the Walker satellite constellation. Based on the parameters of the first satellite in the initial orbital plane and the known orbital information such as the right ascension λ0 of the ascending node and the orbital inclination i of all satellites in the initial orbital plane, it solves for the satellite with the maximum tracking elevation angle for the ground antenna in the initial orbital plane. Starting from this satellite, it searches for the group of satellites with the smallest distance to the intersection point of the perpendicular line in the vertical direction of the initial orbital plane to the adjacent orbital planes, determines the maximum tracking elevation angle on each orbital plane, compares these maximum tracking elevation angles, and determines the satellite corresponding to the maximum tracking elevation angle as the best satellite observable by the antenna. This method utilizes the configuration characteristics of the Walker constellation, requiring only the calculation of the nadir point of some satellites within the constellation, to evaluate the antenna visibility and tracking effect of satellites within the constellation, and find the satellite with the best tracking conditions at the current moment. This greatly shortens the satellite constellation's satellite search time, reducing the computational workload of the satellite search process for a Walker constellation with N / M / F parameters from N*M to (N / M+M) / 2, significantly reducing the computational load and the performance requirements of the processor.

[0058] In this embodiment, in step 11, the parameters of each satellite in the Walker constellation and the antenna position parameters are obtained, and the coordinate data of each satellite in the initial orbital plane are set.

[0059] like Figure 2The diagram shows the calculation flowchart of the ground tracking antenna satellite finding method of the present invention. In step 11, the Walker-Delta constellation parameter configuration is set to (N / M / F, h, i), where N is the total number of satellites in the constellation, M is the number of orbital planes in the constellation, F is the phase factor, ranging from [0, M-1), and the phase difference between adjacent orbital planes is... Let i be the orbital inclination of the satellite in the constellation, and h be the orbital altitude of the satellite in the constellation. Assume the current antenna position is... λ represents the latitude of the antenna. a Let S be the longitude of the antenna, and let S(m, s) be the coordinates of any satellite in the constellation, where m is the orbital number of the satellite and s is the satellite number. If any satellite is taken as the initial satellite, then the coordinates of the initial satellite are S(0, 0).

[0060] Table 1 shows the constellation parameter configurations.

[0061] 1 N / M / F 576 / 24 / 1 2 orbital inclination i 53° 3 track height h 520km

[0062] In step 12, based on the parameters of each satellite in the Walker constellation and the antenna position parameters, the tracking elevation angle of each satellite in the initial orbital plane is calculated, and the largest tracking elevation angle is determined as the first tracking elevation angle, and the corresponding satellite is the first satellite. The specific calculation of the satellite tracking elevation angle is as follows.

[0063] In one embodiment, for example, at the current time t0, the coordinates are S (m，s) The right ascension of the ascending node of the satellite is expressed as:

[0064] Ω (m,s)|t0 =Ω (0,0)|t0 +360*((m-1)) / M (m=1,2,…,M);

[0065] Among them, Ω (0,0)|t0 Let m be the right ascension of the ascending node of the first satellite, m be the orbital plane number, and M be the total number of orbital planes.

[0066] S (m，s) The angular distance of the ascending node of a satellite is expressed as:

[0067] θ (m,s)|t0 =Δu*(m-1)+360*((s-1)) / S (s=1,2,…,S);

[0068] Where Δu=360*F / N represents the phase difference between adjacent orbits, s is the satellite number in the orbital plane, and S=N / M is the number of satellites in a single orbital plane.

[0069] Based on the nadir point calculation model, calculate the longitude and latitude of the nadir point position of any satellite in the constellation at time t.

[0070] At time t, the coordinates are S (m，s) The angular distance of the ascending node of a satellite can be obtained from the angular distance of the ascending node at time t0. The specific conversion calculation is as follows:

[0071] θ (m,s)|t =θ (m,s)|t0 +(t-t0).ω s ;

[0072] Where, ω s denoted as angular velocity of the satellite.

[0073] The ascending node angular distance at time t is used to calculate the satellite's nadir latitude. The conversion of the ascending node angular distance to the satellite's nadir latitude is specifically calculated using the following formula:

[0074]

[0075] Then, the right ascension of the ascending node at time t is used to calculate the longitude of the satellite's nadir. The conversion of the right ascension of the ascending node to the longitude of the satellite's nadir is as follows:

[0076]

[0077] in, For the westward shift rate of the orbit, ω e This is the Earth's average angular rate of rotation. The rate of change of the right ascension of the orbit. a e denoted as Earth's radius, a as the semi-major axis of the satellite orbit, e as the orbital eccentricity, i as the orbital inclination, μ as the geocentric gravitational constant, and J2 as the Earth's second-order gravitational potential coefficient.

[0078] Finally, based on the longitude and latitude of the satellite's nadir point, the tracking elevation angle of the satellite is calculated. The formula for calculating the tracking elevation angle is as follows:

[0079]

[0080] Where R is the Earth's radius and h is the satellite's altitude. For satellite latitude, λ (m,s)|t E represents satellite longitude. L The tracking elevation angle is E. L It is a function of position on an orbital plane and has a unique maximum value within the orbital plane. Its range is [-90°, 90°]. It tracks the satellite with the largest elevation angle, which is the satellite closest to the tracking antenna.

[0081] Table 2 shows the location of the tracking antenna.

[0082] 1 XA01 106.8 34.6

[0083] In this embodiment, the derivative method is used to find the satellite with the largest tracking elevation angle on the initial orbital plane. Starting from the initial orbital plane and taking the initial satellite as the starting point, the tracking elevation angle E of the initial satellite relative to the antenna is calculated. L And move along the direction of increasing tracking elevation angle, and solve for the maximum tracking elevation angle of the orbital surface facing the antenna at time t. The tracking elevation angle is taken as the first tracking elevation angle, and the corresponding satellite is the first satellite.

[0084] The tracking elevation angle of the initial satellite is calculated based on the longitude and latitude of the nadir point corresponding to the initial satellite. The tracking elevation angle of the initial satellite S(0,0) is:

[0085]

[0086] In this embodiment, based on the selected initial satellite within the initial orbital plane, it is necessary to determine the subsequent traversal direction. To improve satellite acquisition efficiency, this embodiment uses E... L Calculate the tracking elevation angles of the initial satellite and the two adjacent satellites, determine the direction of the satellite with a tracking elevation angle greater than that of the initial satellite as the satellite traversal direction, determine the direction of increasing tracking elevation angle through the following situations, and calculate the tracking elevation angles of each satellite in the initial orbital plane sequentially along the direction of increasing tracking elevation angle.

[0087] Initial satellite tracking elevation angle E L _0 is set as the center satellite tracking elevation angle E in the orbital plane. L _c, obtain the tracking elevation angles of the two satellites adjacent to the initial satellite phase, where the tracking elevation angle of the satellite in the phase increase direction (next satellite) is E. L The tracking elevation angle of the previous satellite in the phase-decreasing direction is E. L _d, In the initial calculation, the initial satellite is taken as the central satellite, and the specific comparison is as follows:

[0088] (1) If E L _c>E L _u, E L _c>E L _d indicates that E L If _c is the first maximum tracking elevation angle, then the initial satellite is determined to be the first satellite, and the first tracking elevation angle E of the first satellite is... L _max1=E L _c;

[0089] (2) If E L _d <E L _c <E L _u indicates that the maximum tracking elevation angle has not been reached, so E L The satellite direction corresponding to _u is the direction in which the tracking elevation angle increases, and it moves forward to the next satellite s+1, executing E. LThe calculation continues until the maximum tracking elevation angle within the initial orbital plane is determined;

[0090] (3) If E L _d>E L _c>E L _u indicates that the maximum tracking elevation angle point has not been reached, so E is used. L The satellite direction corresponding to _d is the direction in which the tracking elevation angle increases, and it moves backward to the next satellite s-1, executing E. L The calculation continues until the maximum tracking elevation angle within the initial orbital plane is determined.

[0091] Based on the above, the maximum tracking elevation angle of the initial orbital plane and its corresponding satellite can be determined. This satellite is then designated as the first satellite, and its tracking elevation angle is defined as the first tracking elevation angle E. L _max1.

[0092] By selecting any satellite as the initial satellite and using it as the starting point for calculating the maximum tracking elevation angle of satellites within the orbital plane, the calculation process for the tracking elevation angle of satellites throughout the entire constellation is simplified. Utilizing the distribution characteristics of the tracking elevation angle, the derivative method is used to solve for the satellite with the maximum tracking elevation angle within the orbital plane. By comparing the tracking elevation angle of the initial satellite with the tracking elevation angles of satellites in adjacent phases, the direction of increase in the tracking elevation angle is determined, reducing the computational workload of calculating the tracking elevation angle of satellites within the orbital plane by at least half, thus improving the efficiency of obtaining the maximum tracking elevation angle within the orbit.

[0093] In this embodiment, in step 13, the first satellite is used as the first intersection point. A circular orbit with the same center that passes through the first intersection point and is perpendicular to the initial orbital plane is set. The orbit intersects with the orbits of other satellites in the Walker constellation to obtain each second intersection point. The satellites closest to each second intersection point are determined to be perigee satellites. The second tracking elevation angle of each perigee satellite is calculated in sequence. The specific implementation process is as follows.

[0094] In the Walker constellation, the satellites with the maximum tracking elevation angle in different orbital planes are closest to the tracking antenna. These satellites with the maximum tracking elevation angle in different orbital planes are basically on the same line, and the distance between the satellites with the maximum tracking elevation angle in different orbital planes is the smallest. Therefore, taking the first satellite as the first intersection point, a concentric orbit is set through the first intersection point and perpendicular to the initial orbital plane. The orbit intersects with the orbits of other satellites in the Walker constellation to obtain each second intersection point. The satellites closest to each second intersection point are determined to be the perigee satellites. The perigee satellite is the satellite with the maximum tracking elevation angle in its orbital plane. The satellites in other orbital planes are also determined to be perigee satellites. The satellite with the maximum tracking elevation angle in this group of perigee satellites is the satellite with the largest tracking elevation angle in the entire constellation.

[0095] First, starting from the first tracking elevation angle of the first satellite, find the satellite with the maximum tracking elevation angle on the two orbital planes adjacent to the initial orbital plane. Determine the number of each perigee satellite based on the parameters of each satellite within the Walker constellation. Within the Walker constellation, all orbits have the same orbital inclination. When the orbital inclination i < 90°, the satellite number with the maximum tracking elevation angle on the m-th orbital plane adjacent to the right is: n_r = [S0 max -m*σ / 360], the satellite with the maximum tracking elevation angle on the m-th orbital plane adjacent to the left is numbered as: n_l=[S0 max +m*σ / 360], when the orbital inclination i > 90° within the constellation, the satellite with the maximum tracking elevation angle on the m-th orbital plane to the right is numbered as: n_r = [S0 max +m*σ / 360], the satellite number n_l with the maximum tracking elevation angle on the m-th orbital plane adjacent to the left is [S0] max -m*σ / 360], where σ=arctan(tan(360 / M)*cos(i)), S0 max The number representing the first satellite.

[0096] Based on the calculated perigee satellite numbers, calculate the right ascension and angular distance of the ascending node of each perigee satellite at time t, and convert them into the longitude and latitude of the nadir point corresponding to each perigee satellite. Then, calculate the second tracking elevation angle of each perigee satellite based on the longitude and latitude of the nadir point, obtaining the tracking elevation angle E of the satellite numbered n_l. L The tracking elevation angle E of satellite n_l, numbered n_r L n_r.

[0097] In this embodiment, taking advantage of the fact that the satellite with the maximum tracking elevation angle is the satellite closest to the tracking antenna in the orbital plane, after determining the first satellite in the initial orbital plane, the perigee satellite number can be directly calculated based on the relationship between the perigee satellites in other orbital planes and the first satellite. The second tracking elevation angle of the perigee satellite can be calculated through the perigee satellite number, avoiding the problem of complex calculation method and huge amount of computation caused by the traversal method of calculating the tracking elevation angle in the prior art.

[0098] like Figure 3 The diagram shown is a flowchart of the satellite acquisition process in this embodiment. In this embodiment, in step 14, the first tracking elevation angle is compared with the tracking elevation angles of each near-point satellite to determine the maximum tracking elevation angle within the constellation as the maximum tracking elevation angle E. L _Max, whose corresponding satellite is the target satellite, with the first tracking elevation angle E L _max1 is the tracking elevation angle E of the center satellite within the constellation. L _sc, the tracking elevation angle E calculated in step 13 Ln_l、Tracking elevation angle E L n_r and E L By comparing _max1, the direction of increase in the tracking elevation angle is determined. The specific comparison is as follows:

[0099] (1) If the first tracking elevation angle E L _max1>E L _l, E L _max1>E L _r indicates E L _max1 is the maximum tracking elevation angle, and E L If _max1>minimum tracking elevation angle, then the first tracking elevation angle E L _max1 is the maximum tracking elevation angle within the constellation, and the corresponding satellite is the tracking satellite. This guides the generation of E... L _max=E L _max1, if E L If _max1 < minimum tracking elevation angle, then the tracking requirement is not met, and the process will exit.

[0100] (2) If E L _l <E L _max1 <E L If _r, it means the maximum value of the tracking elevation angle has not been reached, E L The direction of the orbital plane corresponding to the satellite is the direction of increasing tracking elevation angle. Moving it to the right by one orbital plane m+1, with E L _r represents the tracking elevation angle E of the center satellite within the constellation. L The _sc loop executes the calculation in step 14 until the satellite with the maximum tracking elevation angle within the constellation is determined;

[0101] (3) If E L _l>E L _max1>E L If _r, it means the maximum value of the tracking elevation angle has not been reached, E L The direction of the orbital plane corresponding to _l is the direction of increasing tracking elevation angle. Moving one orbital plane m-1 to the left, with E... L _l represents the tracking elevation angle E of the center satellite within the constellation. L The _sc loop executes the calculation in step 14 until the satellite with the maximum tracking elevation angle within the constellation is determined.

[0102] Based on the above, the maximum tracking elevation angle within the constellation and its corresponding satellite can be determined. This satellite is then designated as the target satellite, and the tracking elevation angle of the target satellite is the maximum tracking elevation angle E. L _Max.

[0103] In this embodiment, the tracking elevation angle of the nearest satellite is obtained by traversal method, and compared with the first tracking elevation angle of the initial orbital plane to obtain the maximum tracking elevation angle and the corresponding satellite in the constellation. This avoids the calculation process of the maximum tracking elevation angle of other orbital planes by traversal method, and reduces the amount of calculation in the satellite search process from N*M to (N / M+M) / 2.

[0104] In satellite communication satellite finding methods, the usual approach is to receive satellite signals and adjust the antenna's tracking elevation and azimuth angles to achieve optimal antenna positioning, thereby guiding the antenna to track the satellite. Since the satellite with the maximum tracking elevation angle is also constantly in motion, its tracking elevation angle value will continuously change during the tracking time. Therefore, after determining the maximum tracking elevation angle and its satellite in step 14, it is also necessary to determine the tracking elevation and azimuth angles of the maximum tracking elevation angle satellite at different times and angular distances during the tracking time to ensure the antenna's tracking efficiency.

[0105] In this embodiment, step 15 is also included: calculating the maximum tracking elevation angle and azimuth angle of the target satellite at different angular distances at step time intervals, sending the azimuth angle and the tracking elevation angle to the antenna to guide the antenna to track the target satellite.

[0106] Let time t be the starting time tin for antenna tracking. The current time is tˊ=t+n*Δt, where tout>tˊ>tin. Here, n is the number of calculations, ranging from [0, (tout-tin) / Δt], and Δt is the step time. Calculate the maximum tracking elevation and azimuth angles of the target satellite at the current time tˊ. The formula for calculating the azimuth angle Az is as follows:

[0107]

[0108] The calculated range of Az is (-180°, 180°). If 0 > Az > -180°, then Az = Az + 360°, where λ (m,s)|t The longitude representing the satellite λa represents the latitude of the satellite, and λa represents the longitude of the antenna. 'a' represents the latitude of the antenna.

[0109] The calculated maximum tracking elevation and azimuth angles of the target satellite at the current time tˊ are sent to the antenna to guide it to begin tracking the satellite.

[0110] By setting the step time to monitor the elevation and azimuth angles of the target satellite, the antenna can ensure that the tracking of the target satellite is stable and efficient.

[0111] Figure 4The continuous satellite search flowchart provided in this embodiment shows that when the calculated tracking elevation angle is lower than the minimum tracking elevation angle, the antenna stops tracking the target satellite, and the moment when the tracking elevation angle is lower than the minimum tracking elevation angle is taken as the departure time tout. The maximum tracking elevation angle of the current orbital plane and its satellite at the tout time are calculated, and the calculations in steps 12, 13 and 14 are executed cyclically.

[0112] Using the satellite with the maximum tracking elevation angle in the current orbital plane as the first satellite, recalculate the tracking elevation angle E of the satellites in the current orbital plane relative to the antenna. L The system moves along the direction of increasing tracking elevation angle, and solves for the maximum tracking elevation angle - the first tracking elevation angle and its corresponding first satellite at time tout. Taking the first satellite as the first intersection point, a concentric orbit passing through the first intersection point and perpendicular to the initial orbital plane is set. The orbit intersects with the orbits of other satellites in the Walker constellation to obtain each second intersection point. The satellite closest to each second intersection point is determined to be the nearest satellite, and the maximum tracking elevation angle in the constellation is determined by comparison to determine the maximum tracking elevation angle, and its corresponding satellite is the target satellite. Thus, the antenna continues to guide the tracking of the satellite corresponding to the maximum tracking elevation angle in the constellation. Figure 5 This is a schematic diagram of the track tracking process in this embodiment.

[0113] In this embodiment, when it is detected that the current maximum tracking elevation angle is less than the minimum tracking elevation angle of the antenna, the calculation process of the maximum tracking elevation angle within the constellation can be executed cyclically, thereby achieving uninterrupted tracking of the satellite by the antenna and improving communication efficiency.

[0114] Table 3 shows the continuous satellite acquisition calculation results starting at 8:00:00 on December 9, 2022, with a minimum tracking elevation angle of 20°.

[0115] Table 3

[0116]

[0117] Device Examples

[0118] According to an embodiment of the present invention, a ground tracking antenna satellite finding device for the Walker constellation is provided, such as... Figure 6 The diagram shown is of a ground tracking antenna satellite-finding device according to this embodiment, including:

[0119] The parameter acquisition and setting module 10 is used to acquire the parameters of each satellite in the Walker constellation, the antenna position parameters, and set the coordinate data of each satellite in the initial orbital plane.

[0120] In the parameter acquisition and setting module 10, the Walker-Delta constellation parameter configuration is set to (N / M / F, h, i), where N is the total number of satellites in the constellation, M is the number of orbital planes in the constellation, F is the phase factor, ranging from [0, M-1), and the phase difference between adjacent orbital planes is... Let i be the orbital inclination of the satellite in the constellation, and h be the orbital altitude of the satellite in the constellation. Assume the current antenna position is... λ represents the latitude of the antenna. a Let S be the longitude of the antenna, and let S(m, s) be the coordinates of any satellite in the constellation, where m is the orbital number of the satellite and s is the satellite number. If any satellite is taken as the initial satellite, then the coordinates of the initial satellite are S(0, 0).

[0121] The first satellite confirmation module 20 is used to calculate the tracking elevation angle of each satellite in the initial orbital plane based on the parameters of each satellite in the Walker constellation and the antenna position parameters. The tracking elevation angle with the maximum value is determined as the first tracking elevation angle, and the corresponding satellite is the first satellite. The specific calculation of the satellite tracking elevation angle is as follows.

[0122] In the first satellite confirmation module 20, for example, at the current time t0, the coordinates are S (m，s) The right ascension of the ascending node of the satellite is expressed as:

[0123] Ω (m,s)|t0 =Ω (0,0)|t0 +360*((m-1)) / M(m=1,2,…,M);

[0124] Among them, Ω (0,0)|t0 Let m be the right ascension of the ascending node of the first satellite, m be the orbital plane number, and M be the total number of orbital planes.

[0125] S (m，s) The angular distance of the ascending node of a satellite is expressed as:

[0126] θ (m,s)|t0 =Δu*(m-1)+360*((s-1)) / S(s=1,2,…,S);

[0127] Where Δu=360*F / N represents the phase difference between adjacent orbits, s is the satellite number in the orbital plane, and S=N / M is the number of satellites in a single orbital plane.

[0128] Based on the nadir point calculation model, calculate the longitude and latitude of the nadir point position of any satellite in the constellation at time t.

[0129] At time t, the coordinates are S. (m，s) The angular distance of the ascending node of a satellite can be obtained from the angular distance of the ascending node at time t0. The specific conversion calculation is as follows:

[0130] θ (m,s)|t =θ (m,s)|t0 +(t-t0).ω s ;

[0131] Where, ω s denoted as angular velocity of the satellite.

[0132] The ascending node angular distance at time t is used to calculate the satellite's nadir latitude. The conversion of the ascending node angular distance to the satellite's nadir latitude is specifically calculated using the following formula:

[0133]

[0134] Then, the right ascension of the ascending node at time t is used to calculate the longitude of the satellite's nadir. The conversion of the right ascension of the ascending node to the longitude of the satellite's nadir is as follows:

[0135]

[0136]

[0137] in, For the westward shift rate of the orbit, ω e This is the Earth's average angular rate of rotation. The rate of change of the right ascension of the orbit. a e denoted as Earth's radius, a as the semi-major axis of the satellite orbit, e as the orbital eccentricity, i as the orbital inclination, μ as the geocentric gravitational constant, and J2 as the Earth's second-order gravitational potential coefficient.

[0138] Finally, based on the longitude and latitude of the corresponding nadir point of the satellite, the tracking elevation angle of the satellite is calculated. The formula for calculating the tracking elevation angle is as follows:

[0139]

[0140] Where R is the Earth's radius and h is the satellite's altitude. For satellite latitude, λ (m,s)|t E represents satellite longitude. L The tracking elevation angle is E. L It is a function of position on an orbital plane and has a unique maximum value within the orbital plane. Its range is [-90°, 90°]. It tracks the satellite with the largest elevation angle, which is the satellite closest to the tracking antenna.

[0141] In this embodiment, the derivative method is used to find the satellite with the largest tracking elevation angle on the initial orbital plane. Starting from the initial orbital plane and taking the initial satellite as the starting point, the tracking elevation angle E of the initial satellite relative to the antenna is calculated. LAnd move along the direction of increasing tracking elevation angle, and solve for the maximum tracking elevation angle of the orbital surface facing the antenna at time t. The tracking elevation angle is taken as the first tracking elevation angle, and the corresponding satellite is the first satellite.

[0142] The tracking elevation angle of the initial satellite is calculated based on the longitude and latitude of the nadir point corresponding to the initial satellite. The tracking elevation angle of the initial satellite S(0,0) is:

[0143]

[0144] In this embodiment, based on the selected initial satellite within the initial orbital plane, it is necessary to determine the subsequent traversal direction. To improve satellite acquisition efficiency, this embodiment uses E... L Calculate the tracking elevation angles of the initial satellite and its two adjacent satellites. Determine the direction of the satellite with a tracking elevation angle greater than that of the initial satellite as the satellite traversal direction. The direction of increasing tracking elevation angle is determined through the following methods, and the tracking elevation angles of each satellite within the initial orbital plane are calculated sequentially along this increasing direction:

[0145] Initial satellite tracking elevation angle E L _0 is set as the center satellite tracking elevation angle E in the orbital plane. L _c, obtain the tracking elevation angles of the two satellites adjacent to the initial satellite phase, where the tracking elevation angle of the satellite in the phase increase direction (next satellite) is E. L The tracking elevation angle of the previous satellite in the phase-decreasing direction is E. L _d, In the initial calculation, the initial satellite is taken as the central satellite, and the specific comparison is as follows:

[0146] (3) If E L _c>E L _u, E L _c>E L _d indicates that E L If _c is the first maximum tracking elevation angle, then the initial satellite is determined to be the first satellite, and the first tracking elevation angle E of the first satellite is... L _max1=E L _c;

[0147] (4) If E L _d <E L _c <E L _u indicates that the maximum tracking elevation angle has not been reached, so E L The satellite direction corresponding to _u is the direction in which the tracking elevation angle increases, and it moves forward to the next satellite s+1, executing E. L The calculation continues until the maximum tracking elevation angle within the initial orbital plane is determined;

[0148] (3) If E L _d>EL _c>E L _u indicates that the maximum tracking elevation angle point has not been reached, so E is used. L The satellite direction corresponding to _d is the direction in which the tracking elevation angle increases, and it moves backward to the next satellite s-1, executing E. L The calculation continues until the maximum tracking elevation angle within the initial orbital plane is determined.

[0149] Based on the above, the maximum tracking elevation angle of the initial orbital plane and its corresponding satellite can be determined. This satellite is then designated as the first satellite, and its tracking elevation angle is defined as the first tracking elevation angle E. L _max1.

[0150] By selecting any satellite as the initial satellite and using it as the starting point for calculating the maximum tracking elevation angle of satellites within the orbital plane, the calculation process for the tracking elevation angle of satellites throughout the entire constellation is simplified. Utilizing the distribution characteristics of the tracking elevation angle, the derivative method is used to solve for the satellite with the maximum tracking elevation angle within the orbital plane. By comparing the tracking elevation angle of the initial satellite with the tracking elevation angles of satellites in adjacent phases, the direction of increase in the tracking elevation angle is determined, reducing the computational workload of calculating the tracking elevation angle of satellites within the orbital plane by at least half, thus improving the efficiency of obtaining the maximum tracking elevation angle within the orbit.

[0151] The perigee satellite confirmation module 30 is used to set a concentric orbit that passes through the first intersection point and is perpendicular to the initial orbital plane, with the first satellite as the first intersection point. The orbit intersects with the orbits of other satellites in the Walker constellation to obtain each second intersection point. The satellites closest to each second intersection point are determined to be perigee satellites, and the second tracking elevation angle of each perigee satellite is calculated in sequence.

[0152] In the Walker constellation, the satellites with the maximum tracking elevation angle in different orbital planes are closest to the tracking antenna. These satellites with the maximum tracking elevation angle in different orbital planes are basically on the same line, and the distance between the satellites with the maximum tracking elevation angle in different orbital planes is the smallest. Therefore, taking the first satellite as the first intersection point, a concentric orbit is set through the first intersection point and perpendicular to the initial orbital plane. The orbit intersects with the orbits of other satellites in the Walker constellation to obtain each second intersection point. The satellites closest to each second intersection point are determined to be the perigee satellites. The perigee satellite is the satellite with the maximum tracking elevation angle in its orbital plane. The satellites in other orbital planes are also determined to be perigee satellites. The satellite with the maximum tracking elevation angle in this group of perigee satellites is the satellite with the largest tracking elevation angle in the entire constellation.

[0153] First, starting from the first tracking elevation angle of the first satellite, find the satellite with the maximum tracking elevation angle on the two orbital planes adjacent to the initial orbital plane. Determine the number of each perigee satellite based on the parameters of each satellite within the Walker constellation. When the orbital inclination angle i of the constellation orbital plane is less than 90°, the satellite number with the maximum tracking elevation angle on the m-th orbital plane to the right is: n_r = [S0 max -m*σ / 360], the satellite with the maximum tracking elevation angle on the m-th orbital plane adjacent to the left is numbered as: n_l=[S0 max +m*σ / 360], when the orbital inclination i of the constellation orbital plane is greater than 90°, the satellite with the maximum tracking elevation angle on the m-th orbital plane to the right is numbered as: n_r=[S0 max +m*σ / 360], the satellite number n_l with the maximum tracking elevation angle on the m-th orbital plane adjacent to the left is [S0] max -m*σ / 360], where σ=arctan(tan(360 / M)*cos(i)), S0 max The number representing the first satellite.

[0154] Based on the calculated perigee satellite numbers, calculate the right ascension and angular distance of the ascending node of each perigee satellite at time t, and convert them into the longitude and latitude of the nadir point corresponding to each perigee satellite. Then, calculate the second tracking elevation angle of each perigee satellite based on the longitude and latitude of the nadir point, obtaining the tracking elevation angle E of the satellite numbered n_l. L The tracking elevation angle E of satellite n_l, numbered n_r L n_r.

[0155] In this embodiment, taking advantage of the fact that the satellite with the maximum tracking elevation angle is the satellite closest to the tracking antenna in the orbital plane, after determining the first satellite in the initial orbital plane, the perigee satellite number can be directly calculated based on the relationship between the perigee satellites in other orbital planes and the first satellite. The second tracking elevation angle of the perigee satellite can be calculated through the perigee satellite number, avoiding the problem of complex calculation method and huge amount of computation caused by the traversal method of calculating the tracking elevation angle in the prior art.

[0156] The target satellite confirmation module 40 is used to compare the first tracking elevation angle with the tracking elevation angles of each near point satellite, and determine the largest tracking elevation angle in the constellation as the maximum tracking elevation angle, and the corresponding satellite is the target satellite.

[0157] In the target satellite confirmation module 40, the first tracking elevation angle is compared with the tracking elevation angles of each near-point satellite to determine the maximum tracking elevation angle within the constellation as the maximum tracking elevation angle E. L _Max, whose corresponding satellite is the target satellite, with the first tracking elevation angle E L _max1 is the tracking elevation angle E of the center satellite within the constellation.L _sc, the tracking elevation angle E calculated in step 13 L n_l、Tracking elevation angle E L n_r and E L By comparing _max1, the direction of increase in the tracking elevation angle is determined. The specific comparison is as follows:

[0158] (1) If the first tracking elevation angle E L _max1>E L _l, E L _max1>E L _r indicates E L _max1 is the maximum tracking elevation angle, and E L If _max1>minimum tracking elevation angle, then the first tracking elevation angle E L _max1 is the maximum tracking elevation angle within the constellation, and the corresponding satellite is the tracking satellite. This guides the generation of E... L _max=E L _max1, if E L If _max1 < minimum tracking elevation angle, then the tracking requirement is not met, and the process will exit.

[0159] (2) If E L _l <E L _max1 <E L If _r, it means the maximum value of the tracking elevation angle has not yet been reached, E L The direction of the orbital plane corresponding to the satellite is the direction of increasing tracking elevation angle. Moving it to the right by one orbital plane m+1, with E L _r represents the tracking elevation angle E of the center satellite within the constellation. L The _sc loop executes the calculation in step 14 until the satellite with the maximum tracking elevation angle within the constellation is determined;

[0160] (3) If E L _l>E L _max1>E L If _r, it means the maximum value of the tracking elevation angle has not yet been reached, E L The direction of the orbital plane corresponding to _l is the direction of increasing tracking elevation angle. Moving one orbital plane m-1 to the left, with E... L _l represents the tracking elevation angle E of the center satellite within the constellation. L The _sc loop executes the calculation in step 14 until the satellite with the maximum tracking elevation angle within the constellation is determined.

[0161] Based on the above, the maximum tracking elevation angle within the constellation and its corresponding satellite can be determined. This satellite is then designated as the target satellite, and the tracking elevation angle of the target satellite is the maximum tracking elevation angle E. L _Max.

[0162] In this embodiment, the tracking elevation angle of the nearest satellite is obtained by traversal method, and compared with the first tracking elevation angle of the initial orbital plane to obtain the maximum tracking elevation angle and the corresponding satellite in the constellation. This avoids the calculation process of the maximum tracking elevation angle of other orbital planes by traversal method, and reduces the amount of calculation in the satellite search process from N*M to (N / M+M) / 2.

[0163] The target satellite confirmation module 40 is also used to determine the number of each near-point satellite based on the parameters of each satellite in the Walker constellation;

[0164] Based on the perigee satellite number, calculate the right ascension and angular distance of the ascending node of each perigee satellite, and convert them into the longitude and latitude of the nadir point corresponding to each perigee satellite;

[0165] The tracking elevation angle of each near-satellite is calculated based on the longitude and latitude of the nadir point corresponding to each near-satellite.

[0166] The present invention also provides a computer device, Figure 7 The structural diagram of the computer device provided in this embodiment includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the ground tracking antenna satellite finding method as described above.

[0167] The present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described ground tracking antenna satellite search method.

[0168] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0169] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for apparatus or system embodiments, since they are basically similar to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. The apparatus and system embodiments described above are merely illustrative. 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 modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0170] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and the contents not described in detail in the specification of the present invention are well known to those skilled in the art.

Claims

1. A method for satellite acquisition using a ground-based tracking antenna for the Walker constellation, characterized in that, include: Obtain parameters of each satellite in the Walker constellation, antenna position parameters, and set the coordinate data of each satellite in the initial orbital plane; Based on the parameters of each satellite in the Walker constellation and the antenna position parameters, the tracking elevation angle of each satellite in the initial orbital plane is calculated, and the largest tracking elevation angle is determined as the first tracking elevation angle, and the corresponding satellite is the first satellite. Using the first satellite as the first intersection point, a concentric orbit is set that passes through the first intersection point and is perpendicular to the initial orbital plane. The orbit intersects with the orbits of other satellites in the Walker constellation to obtain each second intersection point. The satellites closest to each second intersection point are determined to be perigee satellites, and the second tracking elevation angle of each perigee satellite is calculated in sequence. By comparing the first tracking elevation angle with each of the second tracking elevation angles, the largest tracking elevation angle is determined as the maximum tracking elevation angle, and the satellite corresponding to it is the target satellite, specifically including: Starting from the initial orbital plane, calculate the second tracking elevation angle for each perigee satellite on two adjacent orbital planes; By comparing the first tracking elevation angle with the second tracking elevation angles of the perigee satellites on two adjacent orbital planes, the direction in which the tracking elevation angle increases is determined; Calculate the second tracking elevation angle of each near-point satellite along the direction of increasing tracking elevation angle, and compare the tracking elevation angles of each near-point satellite. The tracking elevation angle with the largest value is the maximum tracking elevation angle, and the satellite corresponding to it is the target satellite.

2. The Walker constellation ground tracking antenna satellite finding method as described in claim 1, characterized in that, The calculation of the tracking elevation angle of each satellite within the initial orbital plane specifically includes the following steps: Taking any satellite as the first satellite, calculate the right ascension and angular distance of the ascending node of the first satellite, and calculate the longitude and latitude of the nadir point corresponding to the first satellite using the nadir point calculation method; The tracking elevation angle of the first satellite is calculated based on the longitude, latitude and orbital altitude of the nadir point corresponding to the first satellite. The tracking elevation angles of the two adjacent satellites are also calculated and compared to obtain the maximum tracking elevation angle, and the direction of increase of the tracking elevation angle is determined. Along the direction of increasing tracking elevation angle, the tracking elevation angle of each satellite in the initial orbital plane is calculated sequentially.

3. The Walker constellation ground tracking antenna satellite finding method as described in claim 1, characterized in that, The calculation of the second tracking elevation angle of each near-satellite includes: The number of each perigee satellite is determined based on the parameters of each satellite within the Walker constellation; Based on the number of each perigee satellite, calculate the right ascension and angular distance of the ascending node of each perigee satellite, and convert them into the longitude and latitude of the nadir point corresponding to each perigee satellite; The tracking elevation angle of each near-satellite is calculated based on the longitude and latitude of the nadir point corresponding to each near-satellite.

4. The Walker constellation ground tracking antenna satellite finding method as described in claim 1, characterized in that, Also includes: Using the step time as the interval, calculate the maximum tracking elevation angle and azimuth angle of the target satellite at different angular distances; When the time interval is less than the step time, the azimuth angle and the tracking elevation angle are sent to the antenna to guide the antenna to track the target satellite.

5. The ground tracking antenna satellite finding method for the Walker constellation as described in claim 1, characterized in that, Also includes: During the tracking process, when the real-time updated tracking elevation angle of the target satellite is lower than the minimum tracking elevation angle of the antenna, the maximum tracking elevation angle of the orbital plane where the target satellite is located is recalculated and the corresponding satellite is replaced with the first satellite, and the target satellite is re-determined.

6. A ground-based tracking antenna for the Walker constellation, characterized in that, include: The parameter acquisition and setting module is used to acquire parameters of each satellite in the Walker constellation, antenna position parameters, and set the coordinate data of each satellite in the initial orbital plane. The first satellite confirmation module is used to calculate the tracking elevation angle of each satellite in the initial orbital plane based on the parameters of each satellite in the Walker constellation and the antenna position parameters. The largest tracking elevation angle is determined as the first tracking elevation angle, and the corresponding satellite is the first satellite. The perigee satellite confirmation module is used to set a concentric orbit that passes through the first intersection point and is perpendicular to the initial orbital plane, with the first satellite as the first intersection point. The orbit intersects with the orbits of other satellites in the Walker constellation to obtain each second intersection point. The satellite closest to each second intersection point is determined to be the perigee satellite, and the second tracking elevation angle of each perigee satellite is calculated. The target satellite confirmation module is used to compare the first tracking elevation angle with each of the second tracking elevation angles, determine the largest tracking elevation angle as the maximum tracking elevation angle, and identify the corresponding satellite as the target satellite. Specifically, it includes: Starting from the initial orbital plane, calculate the second tracking elevation angle for each perigee satellite on two adjacent orbital planes; By comparing the first tracking elevation angle with the second tracking elevation angles of the perigee satellites on two adjacent orbital planes, the direction in which the tracking elevation angle increases is determined; Calculate the second tracking elevation angle of each near-point satellite along the direction of increasing tracking elevation angle, and compare the tracking elevation angles of each near-point satellite. The tracking elevation angle with the largest value is the maximum tracking elevation angle, and the satellite corresponding to it is the target satellite.

7. The Walker constellation ground tracking antenna satellite finding device as described in claim 6, characterized in that, The near-satellite confirmation module is also used for: The number of each perigee satellite is determined based on the parameters of each satellite within the Walker constellation; Based on the number of each perigee satellite, calculate the right ascension and angular distance of the ascending node of each perigee satellite, and convert them into the longitude and latitude of the nadir point corresponding to each perigee satellite; The tracking elevation angle of each near-satellite is calculated based on the longitude and latitude of the nadir point corresponding to each near-satellite.

8. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the ground tracking antenna satellite finding method for the Walker constellation as described in any one of claims 1 to 5.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the Walker constellation ground tracking antenna satellite finding method as described in any one of claims 1 to 5.

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