A real-time satellite antenna calibration device

Abstract

The present invention provides a real-time satellite antenna calibration device, belonging to the field of communication calibration technology; the device includes: a configuration module: based on the configuration environment requirements of the receiving device of the communication satellite, the installation target location is determined, and the receiving device of the communication satellite is installed and configured at the installation target location based on the manual standard; a signal module: based on the installed receiving device, the first original signal sent by the satellite antenna is received, and the first original signal is processed to obtain a first mixed signal; a data processing module: the first mixed signal is processed to obtain inertial navigation information and satellite data information, and the satellite position information is captured according to the ratio of the ground to the satellite; an adjustment module: according to the inertial navigation information and the satellite position information, and the feedback control model is used to determine the attitude adjustment parameters corresponding to the satellite antenna, so as to realize automatic alignment. The present invention improves the accuracy of the calibration of the satellite antenna and maintains the stable connection of the satellite communication signal.

Description

Technical Field

[0001] The present invention relates to the technical field of communication calibration, and in particular to a real-time satellite antenna calibration device. Background Art

[0002] At present, in the process of satellite communication, antennas are usually fixed on the ground, and satellite search and communication can only be achieved by aiming at the satellite at a fixed angle. Once the satellite terminal is used on a moving object (vehicle, ship, aircraft), the antenna will deviate from the satellite due to movement, resulting in communication interruption. The satellite needs to be realigned to continue communication.

[0003] Therefore, the present invention proposes a real-time satellite antenna calibration device. Summary of the invention

[0004] The present invention provides a real-time satellite antenna calibration device, which is used to obtain satellite signals by using sensors, analyze the signals to obtain the real-time position and motion state of the satellite, and realize automatic alignment of the antenna and the satellite according to a feedback control algorithm, thereby improving the calibration accuracy of the satellite antenna and maintaining a stable connection of the satellite's communication signal.

[0005] In one aspect, the present invention provides a real-time satellite antenna calibration device, comprising:

[0006] Configuration module: Determine the target installation location based on the configuration environment requirements of the communication satellite receiving device, and install and configure the communication satellite receiving device at the target installation location based on the manual standards;

[0007] Signal module: receiving a first original signal sent by a satellite antenna based on an installed receiving device, and processing the first original signal to obtain a first mixed signal;

[0008] Data processing module: performs data processing on the first mixed signal to obtain inertial navigation information and satellite data information, and completes the capture of satellite position information according to the ratio of the ground to the satellite;

[0009] Adjustment module: Based on the inertial navigation information and satellite position information, the feedback control model is used to determine the attitude adjustment parameters corresponding to the satellite antenna to achieve automatic alignment of the satellite antenna.

[0010] On the other hand, the configuration module includes:

[0011] Environmental parameter measurement equipment: used to measure the parameters of the surrounding environment of the receiving device.

[0012] Obtain environmental parameters of the surrounding environment;

[0013] Matching environment unit: compares the environmental parameters of the surrounding environment with the standard environmental parameters of the configuration manual of the receiving device to determine the installation target location that meets the configuration environment requirements.

[0014] On the other hand, the configuration module further includes:

[0015] Related configuration unit: During the installation and configuration process at the target installation site, the communication equipment and power supply equipment of the communication satellite receiving device are configured and tested according to the manual standards;

[0016] Equipment configuration unit: According to the environmental parameters and in combination with the environmental parameter-configuration parameter mapping table, the basic configuration parameters of the antenna of the receiving device of the communication satellite are obtained, and the configuration of the receiving device is completed based on the basic configuration parameters.

[0017] On the other hand, the signal module comprises:

[0018] Signal receiving unit: The receiving device acquires the corresponding first scattered initial signal and second scattered initial signal respectively based on the first preset elevation angle and the second preset elevation angle;

[0019] Signal synthesis unit: based on the arrangement tracks corresponding to the first scattered initial signal and the second scattered initial signal, the first scattered initial signal and the second scattered initial signal are de-pointed and normalized, and then synthesized into an original signal track as a sample signal.

[0020] On the other hand, the signal module further includes:

[0021] Original signal acquisition unit: The receiving device acquires the first original signal sent by the satellite in real time;

[0022] A node similarity calculation unit: standardizes the first original signal according to the standard interval of the sample signal to obtain a first standard signal, and compares the first standard signal with the sample signal for similarity at the same node to obtain a similarity value for each node;

[0023] Total similarity calculation unit: obtains the total similarity value of the first standard signal according to the similarity value of each node;

[0024] Similarity comparison unit: compare the total similarity value with the similarity value of each node under the first standard signal respectively, regard nodes lower than the total similarity value as unqualified points, and regard nodes not lower than the total similarity value as qualified points;

[0025] The first sub-standard signals of all qualified points are obtained to form a first mixed signal.

[0026] On the other hand, the data processing module includes:

[0027] A data splitting and processing unit: performing discrete phase modulation on the first mixed signal to obtain a signal strength distribution image, and restoring the signal strength distribution image into inertial navigation information of the first mixed signal in combination with a communication protocol;

[0028] Satellite data information acquisition unit: Based on the inertial analysis system, the inertial navigation information is decomposed into specific satellite attitude information, and the satellite data information is acquired by combining the satellite attitude information with the satellite motion parameter-attitude mapping table.

[0029] On the other hand, the data processing module further includes:

[0030] The satellite data information is proportionally adjusted according to a preset ratio of the ground to the satellite and placed in a satellite motion state parameter mapping relationship, an arbitrary fixed point moment is obtained as a key attitude moment, and a first attitude of each previous moment and a second attitude of each subsequent moment of the fixed point moment are obtained;

[0031] Construct a posture difference matrix based on all first postures, postures at fixed points, and second postures ,in, A vector representing the position difference between the posture at the fixed point and each first posture; A vector representing the position difference between the posture at the fixed point and each second posture; A vector representing the angle difference between the posture at the fixed point and each first posture; A vector representing the angle difference between the posture at the fixed point and each second posture;

[0032] Calculated based on , , as well as The first difference ratio , the second difference ratio , the third difference ratio And the fourth difference ratio , and comprehensively obtain the attitude angle difference ;

[0033] ;

[0034] ;

[0035] ;

[0036] ;

[0037] ;

[0038] ;

[0039] in, ,and represents the displacement difference between the first position at the i1th previous moment and the position at the fixed point moment, and n1 represents the number of previous moments; Indicates the estimated movement displacement at adjacent moments; ,and represents the displacement difference between the second position at the i2th subsequent moment and the position at the fixed point moment, and n2 represents the number of subsequent moments; ,and represents the angle difference between the first angle at the i1th previous moment and the angle at the fixed point moment; ,and represents the angle difference between the second angle at the moment after the i2th moment and the angle at the fixed point moment; Indicates the estimated angle change at adjacent moments; represents the correction function for the angle; Indicates from all The original angle change corresponding to the minimum value obtained in ; Indicates from all The original angle change corresponding to the minimum value obtained in ; represents the total satellite trajectory length obtained based on the previous time, the fixed time and the time after i; Indicates that based on all The variance of Indicates that based on all The variance of represents the angle adjustment variable under unit displacement;

[0040] The satellite data information is mapped to the geocentric inertial coordinate system using the running attitude angle difference to obtain the satellite position information.

[0041] On the other hand, the adjustment module includes:

[0042] Feedback control model unit: obtains the deviation error degree of the antenna of the receiving device according to the inertial navigation information and the satellite position information;

[0043] ;

[0044] in, Indicates the degree of deviation error of the antenna of the receiving device, It means that there are a total of r standard time intervals from the current time to the start of receiving satellite data. represents the angle of the receiving device's antenna to the satellite at the m+1th moment, represents the initial elevation angle of the receiving device antenna, represents the time integral of the error, represents the error signal function at the m+1th moment, and is defined by the inertial navigation information and the satellite position information; is the preset earth-to-satellite ratio;

[0045] Determine the antenna angle adjustment parameters based on the degree of deviation error:

[0046] ;

[0047] in, Indicates the angle adjustment parameter, Indicates the antenna elevation angle at the current moment;

[0048] Control device: used for the receiving device antenna to make real-time adjustments after obtaining the angle adjustment parameters, so as to realize automatic calibration of the antenna.

[0049] The present invention provides a real-time satellite antenna calibration device, which is used to obtain satellite signals by using sensors, analyze the signals to obtain the real-time position and motion state of the satellite, and realize automatic alignment of the antenna and the satellite according to a feedback control algorithm, thereby improving the calibration accuracy of the satellite antenna and maintaining a stable connection of the satellite's communication signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0051] Figure 1 It is a structural schematic diagram of a real-time satellite antenna calibration device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] Embodiment 1:

[0054] like Figure 1 As shown, an embodiment of the present invention provides a real-time satellite antenna calibration device, comprising:

[0055] Configuration module: Determine the target installation location based on the configuration environment requirements of the communication satellite receiving device, and install and configure the communication satellite receiving device at the target installation location based on the manual standards;

[0056] Signal module: receiving a first original signal sent by a satellite antenna based on an installed receiving device, and processing the first original signal to obtain a first mixed signal;

[0057] Data processing module: performs data processing on the first mixed signal to obtain inertial navigation information and satellite data information, and completes the capture of satellite position information according to the ratio of the ground to the satellite;

[0058] Adjustment module: Based on the inertial navigation information and satellite position information, the feedback control model is used to determine the attitude adjustment parameters corresponding to the satellite antenna to achieve automatic alignment of the satellite antenna.

[0059] In this embodiment, a communication satellite is an artificial satellite used for communication transmission, usually located in the earth orbit, and used to provide various communication services, including telephone, Internet, television broadcasting, etc.

[0060] In this embodiment, the receiving device is a device for receiving signals sent by a communication satellite and converting them into usable data, including: an antenna system, a receiver, a processor, a control module, a data interface and other devices.

[0061] In this embodiment, the configuration environment requirements include: location selection, power supply, ground infrastructure, environmental conditions, safety considerations, electromagnetic interference and other environmental requirements.

[0062] In this embodiment, the installation target location is the installation location selected for the receiving device, and should have the following characteristics: within the coverage of the communication satellite signal, open, unobstructed, convenient for equipment installation and maintenance, and a stable ground foundation.

[0063] In this embodiment, the manual standard is a technical specification, operation guide or user manual issued by relevant industry organizations, standardization organizations or equipment manufacturers, including: installation guide, configuration environment requirements, safety precautions, performance specifications and other contents.

[0064] In this embodiment, the satellite antenna is a device for receiving satellite signals, and its main functions include: receiving satellite signals, converting signals, adjusting directions, and providing antenna gain.

[0065] In this embodiment, the first original signal generally refers to a signal received from a satellite antenna without any processing, and the content information includes: communication data, navigation data, other control information, etc.

[0066] In this embodiment, the first mixed signal refers to a signal obtained after a certain degree of processing is performed on the received first original signal in the signal module, and the data processing steps include: filtering, amplification, modulation and demodulation, frequency conversion, other processing, etc.

[0067] In this embodiment, the inertial navigation information refers to navigation-related data extracted from the received signal, including: position information, speed information, acceleration information and other information.

[0068] In this embodiment, the satellite data information refers to data extracted from received satellite signals, including satellite status information, signal parameter information, communication data information, system status information, and the like.

[0069] In this embodiment, the ratio of the earth to the satellite is used to measure the ratio of the distance and relative position between the receiving device and each satellite.

[0070] In this embodiment, the satellite position information is the specific position navigation data of the satellite, including information such as the satellite's position, speed and time.

[0071] In this embodiment, the feedback control model is a control method for adjusting the system state to achieve a desired goal, and reduces or eliminates errors by applying adjustment measures to the system.

[0072] In this embodiment, attitude refers to the spatial pointing motion state of the satellite in orbit.

[0073] In this embodiment, the attitude adjustment parameters are parameters used to control the attitude of the satellite antenna, and mainly include: azimuth and pitch angle adjustment, dynamic adjustment parameters and other parameters.

[0074] The working principle and beneficial effects of the above technical solution are: through configuration, signal processing, data processing and automatic adjustment modules, the installation, signal processing and automatic alignment functions of the satellite receiving device are realized, thereby improving communication stability and accuracy.

[0075] Embodiment 2:

[0076] Based on the above embodiment 1, the configuration module includes:

[0077] Environmental parameter measurement equipment: used to measure the parameters of the surrounding environment of the receiving device.

[0078] Obtain environmental parameters of the surrounding environment;

[0079] Matching environment unit: compares the environmental parameters of the surrounding environment with the standard environmental parameters of the configuration manual of the receiving device to determine the installation target location that meets the configuration environment requirements.

[0080] In this embodiment, parameter measurement refers to the use of various measuring devices and methods to quantitatively detect and record various parameters in a specific environment to obtain characteristics and state information of the environment, including temperature, humidity, pressure, light intensity, gas concentration, etc.

[0081] In this embodiment, the environmental parameters are various quantitative indicators that describe specific environmental conditions, such as temperature, humidity, air pressure, wind speed, light intensity, noise level, etc.

[0082] In this embodiment, the configuration specification is a file used to describe in detail the configuration requirements and technical specifications of the device.

[0083] In this embodiment, the ideal standard environmental conditions listed in the standard environmental parameter configuration specification include standard parameters such as temperature, humidity, pressure, light intensity, and gas concentration.

[0084] The working principle and beneficial effects of the above technical solution are: real-time monitoring of the surrounding environment through environmental parameter measurement equipment, matching the appropriate environment, ensuring that the receiving device operates under optimal conditions, improving performance and reliability, and enhancing data collection accuracy and stability.

[0085] Embodiment 3:

[0086] Based on the above embodiment 2, the configuration module further includes:

[0087] Related configuration unit: During the installation and configuration process at the target installation site, the communication equipment and power supply equipment of the communication satellite receiving device are configured and tested according to the manual standards;

[0088] Equipment configuration unit: According to the environmental parameters and in combination with the environmental parameter-configuration parameter mapping table, the basic configuration parameters of the antenna of the receiving device of the communication satellite are obtained, and the configuration of the receiving device is completed based on the basic configuration parameters.

[0089] In this embodiment, the communication device refers to a device used to implement information transmission and communication, including antennas, modems, routers, switches and other devices.

[0090] In this embodiment, the power supply device refers to a device used to provide power support to ensure that other devices such as communication devices can operate normally, including: power adapters, transformers, batteries, uninterruptible power supplies (UPS), generators and other devices.

[0091] In this embodiment, the environment parameter-configuration parameter mapping table is a mapping table that represents the relationship between the environment parameter and the configuration parameter mapping table.

[0092] In this embodiment, the basic configuration parameters refer to some basic setting parameters of the antenna of the communication satellite receiving device, including: antenna direction, receiving frequency, antenna polarization, antenna beam width and other parameters.

[0093] The working principle and beneficial effects of the above technical solution are: by configuring the communication and power supply equipment of the communication satellite receiving device, configuring the basic parameters of the antenna in combination with environmental parameters, ensuring installation efficiency and signal reception quality, and improving the efficiency of the communication system.

[0094] Embodiment 4:

[0095] Based on the above embodiment 1, the signal module includes:

[0096] Signal receiving unit: The receiving device acquires the corresponding first scattered initial signal and second scattered initial signal respectively based on the first preset elevation angle and the second preset elevation angle;

[0097] Signal synthesis unit: based on the arrangement tracks corresponding to the first scattered initial signal and the second scattered initial signal, the first scattered initial signal and the second scattered initial signal are de-pointed and normalized, and then synthesized into an original signal track as a sample signal.

[0098] In this embodiment, the first preset elevation angle refers to the elevation angle of the antenna pre-set in the communication satellite receiving device for receiving signals.

[0099] In this embodiment, the second preset elevation angle refers to another preset elevation angle of the antenna, which is used to receive signals.

[0100] In this embodiment, the first scattered initial signal refers to an initial signal acquired according to a first preset elevation angle.

[0101] In this embodiment, the second scattered initial signal refers to an initial signal acquired according to a second preset elevation angle.

[0102] In this embodiment, the distribution and path of the signals received by the arrangement track in space.

[0103] In this embodiment, de-pointing and normalization are used to eliminate or reduce interference or noise in the signal, making the signal clearer and more reliable, including processing and adjusting the delay, amplitude, phase, etc. of the signal.

[0104] In this embodiment, the original signal trajectory is a signal trajectory synthesized from the first scattered initial signal and the second scattered initial signal.

[0105] In this embodiment, the sample signal is synthesized by synthesizing the original signal trajectory obtained by the first scattered initial signal and the second scattered initial signal to obtain a consistent reference available signal.

[0106] The working principle and beneficial effects of the above technical solution are: obtaining the scattered initial signal through the receiving device, and synthesizing the original signal trajectory in the signal synthesis unit, thereby improving the signal quality, enhancing the characteristics, and enhancing the system robustness.

[0107] Embodiment 5:

[0108] Based on the above embodiment 4, the signal module further includes:

[0109] Original signal acquisition unit: The receiving device acquires the first original signal sent by the satellite in real time;

[0110] A node similarity calculation unit: standardizes the first original signal according to the standard interval of the sample signal to obtain a first standard signal, and compares the first standard signal with the sample signal for similarity at the same node to obtain a similarity value for each node;

[0111] Total similarity calculation unit: obtains the total similarity value of the first standard signal according to the similarity value of each node;

[0112] Similarity comparison unit: compare the total similarity value with the similarity value of each node under the first standard signal respectively, regard nodes lower than the total similarity value as unqualified points, and regard nodes not lower than the total similarity value as qualified points;

[0113] The first sub-standard signals of all qualified points are obtained to form a first mixed signal.

[0114] In this embodiment, the standard interval refers to a fixed interval within a certain time range.

[0115] In this embodiment, the standardization process refers to adjusting the data according to standard rules to ensure that the time scale of the signal is consistent during similar comparison processes.

[0116] In this embodiment, the first standard signal refers to the first original signal after standardization processing.

[0117] In this embodiment, a node refers to a specific time feature point in a signal, and this part of feature points is called a node.

[0118] In this embodiment, the similarity value refers to a value used to measure the similarity between signals. Then the similarity value is:

[0119] ;

[0120] in, represents the similarity value of the kth node, represents the i-th signal value in the first substandard signal under the k-th node, Represents the i-th signal value in the sub-sample signal under the k-th node; It represents the number of signal values ​​existing in the kth node, wherein the first substandard signals under all nodes constitute the first standard signal, and the sub-sample signals under all nodes constitute the sample signal.

[0121] In this embodiment, the total similarity value is a value used to measure the overall similarity between the entire first standard signal and the sample signal.

[0122] ;

[0123] in, It means that the first standard signal and the sample signal have n corresponding nodes in total. Represents the node weight coefficient of the kth node.

[0124] In this embodiment, the first sub-standard signal refers to a signal formed by nodes identified as qualified points in the similarity comparison unit.

[0125] In this embodiment, the first mixed signal refers to a signal composed of all first sub-standard signals.

[0126] The working principle and beneficial effects of the above technical solution are: by acquiring satellite signals in real time, standardizing the processing and comparing them with sample signals, generating qualified signal nodes, improving signal processing accuracy and ensuring data quality.

[0127] Embodiment 6:

[0128] Based on the above embodiment 1, the data processing module includes:

[0129] A data splitting and processing unit: performing discrete phase modulation on the first mixed signal to obtain a signal strength distribution image, and restoring the signal strength distribution image into inertial navigation information of the first mixed signal in combination with a communication protocol;

[0130] Satellite data information acquisition unit: Based on the inertial analysis system, the inertial navigation information is decomposed into specific satellite attitude information, and the satellite data information is acquired by combining the satellite attitude information with the satellite motion parameter-attitude mapping table.

[0131] In this embodiment, discrete phase modulation is a modulation technology commonly used in digital communications, which is used in the process of converting digital data into analog signals. The digital data is divided into a number of symbols, each symbol corresponding to a specific phase value.

[0132] In this embodiment, the signal strength distribution image refers to an image showing the change of signal strength over space or time.

[0133] In this embodiment, the communication protocol refers to a set of rules and standards agreed upon during the communication process, which are used for data exchange and communication methods, and stipulates details such as the format of data transmission, transmission rate, error detection and correction methods, etc.

[0134] In this embodiment, satellite attitude information refers to data describing the position and attitude of the satellite in space, including the position, speed, acceleration, attitude angle, etc. of the satellite.

[0135] In this embodiment, the satellite motion parameter-attitude mapping table is a mapping table representing the relationship between satellite motion parameters and satellite attitude, and is set in advance by an expert.

[0136] The working principle and beneficial effects of the above technical solution are: through discrete phase modulation and communication protocol, the mixed signal is converted into navigation information, and then the satellite data is obtained through attitude decomposition and mapping table, thereby improving the accuracy and reliability of the navigation system.

[0137] Embodiment 7:

[0138] Based on the above embodiment 6, the data processing module further includes:

[0139] The satellite data information is proportionally adjusted according to a preset ratio of the ground to the satellite and placed in a satellite motion state parameter mapping relationship, an arbitrary fixed point moment is obtained as a key attitude moment, and a first attitude of each previous moment and a second attitude of each subsequent moment of the fixed point moment are obtained;

[0140] Construct a posture difference matrix based on all first postures, postures at fixed points, and second postures ,in, A vector representing the position difference between the posture at the fixed point and each first posture; A vector representing the position difference between the posture at the fixed point and each second posture; A vector representing the angle difference between the posture at the fixed point and each first posture; A vector representing the angle difference between the posture at the fixed point and each second posture;

[0141] Calculated based on , , as well as The first difference ratio , the second difference ratio , the third difference ratio And the fourth difference ratio , and comprehensively obtain the attitude angle difference ;

[0142] ;

[0143] ;

[0144] ;

[0145] ;

[0146] ;

[0147] ;

[0148] in, ,and represents the displacement difference between the first position at the i1th previous moment and the position at the fixed point moment, and n1 represents the number of previous moments; Indicates the estimated movement displacement at adjacent moments; ,and represents the displacement difference between the second position at the i2th subsequent moment and the position at the fixed point moment, and n2 represents the number of subsequent moments; ,and represents the angle difference between the first angle at the i1th previous moment and the angle at the fixed point moment; ,and represents the angle difference between the second angle at the moment after the i2th moment and the angle at the fixed point moment; Indicates the estimated angle change at adjacent moments; represents the correction function for the angle; Indicates from all The original angle change corresponding to the minimum value obtained in ; Indicates from all The original angle change corresponding to the minimum value obtained in ; represents the total satellite trajectory length obtained based on the previous time, the fixed time and the time after i; Indicates that based on all The variance of Indicates that based on all The variance of represents the angle adjustment variable under unit displacement;

[0149] The satellite data information is mapped to the geocentric inertial coordinate system using the running attitude angle difference to obtain the satellite position information.

[0150] In this embodiment, the proportional adjustment is to adjust the satellite data according to a preset proportion, which refers to a preset proportional coefficient.

[0151] In this embodiment, the mapping relationship is a corresponding relationship established between the proportionally adjusted satellite data information and the satellite motion state parameters.

[0152] In this embodiment, the key attitude moment is a specific moment of particular concern in satellite attitude analysis and is used to determine a reference point for subsequent and previous attitude data.

[0153] In this embodiment, the first attitude is attitude data of the satellite acquired at a time before the fixed point time.

[0154] In this embodiment, the second attitude is attitude data of the satellite acquired at a time after the fixed point time.

[0155] In this embodiment, the attitude difference matrix is ​​a matrix used to record changes in satellite attitude, wherein each vector is composed of different difference vectors.

[0156] In this embodiment, the fixed time refers to selecting a fixed time point on the satellite orbit as a key observation time for analyzing the satellite's attitude, position and other relevant parameters.

[0157] In this embodiment, the position difference refers to the position change between a fixed point time and other times during the satellite movement.

[0158] In this embodiment, the angle difference refers to the change in attitude angle of the satellite at different times.

[0159] In this embodiment, the first angle refers to a vector formed by the angle difference between the posture at the fixed point moment and each first posture.

[0160] In this embodiment, the second angle refers to a vector formed by the angle difference between the posture at the fixed point moment and each second posture.

[0161] In this embodiment, the first difference ratio is the ratio of the difference between the fixed point moment and the first posture position.

[0162] In this embodiment, the second difference ratio is the ratio of the difference between the fixed point time and the second posture position.

[0163] In this embodiment, the third difference ratio is the ratio of the difference between the fixed point moment and the first posture angle.

[0164] In this embodiment, the fourth difference ratio is the ratio of the difference between the fixed point time and the second posture angle.

[0165] In this embodiment, the attitude angle difference refers to the attitude angle deviation obtained by comprehensively obtaining the first difference ratio, the second difference ratio, the third difference ratio, and the fourth difference ratio during the movement of the satellite.

[0166] In this embodiment, the estimated movement displacement refers to the expected displacement between the posture at a fixed point moment and the posture at an adjacent moment.

[0167] In this embodiment, the first position corresponds to the position at the i1th previous moment.

[0168] In this embodiment, the second position corresponds to the position at the i2th previous moment.

[0169] In this embodiment, the correction function represents a function for correcting and adjusting the angle.

[0170] In this embodiment, the estimated angle change amount is the amount of posture angle change estimated during the prediction process.

[0171] In this embodiment, the total satellite trajectory length is the total length of the satellite running on the satellite trajectory orbit.

[0172] In this embodiment, the angle adjustment variable is a parameter used to adjust the attitude angle. The attitude angle is corrected according to the attitude information of the satellite at different times and the estimated attitude change, so that it can be more accurately mapped to the geocentric inertial coordinate system.

[0173] In this embodiment, the geocentric inertial coordinate system is a right-handed Cartesian coordinate system with the center of mass of the earth as the origin and the axis of rotation of the earth as the Z axis, and is used to describe the motion state of the earth and objects around it.

[0174] In this embodiment, the operating attitude angle difference refers to the change in attitude angle between adjacent moments during the operation of the satellite.

[0175] The working principle and beneficial effects of the above technical solution are: by adjusting the ratio, constructing the attitude difference matrix and calculating the difference ratio, the position and angle differences are comprehensively considered and mapped to the geocentric inertial coordinate system to obtain the satellite position information. This improves the accuracy of the satellite position and attitude, and provides important support for navigation and positioning applications.

[0176] Embodiment 8:

[0177] Based on the above embodiment 7, the adjustment module includes:

[0178] Feedback control model unit: obtains the deviation error degree of the antenna of the receiving device according to the inertial navigation information and the satellite position information;

[0179] ;

[0180] in, Indicates the degree of deviation error of the antenna of the receiving device, It means that there are a total of r standard time intervals from the current time to the start of receiving satellite data. represents the angle of the receiving device's antenna to the satellite at the m+1th moment, represents the initial elevation angle of the receiving device antenna, represents the time integral of the error, represents the error signal function at the m+1th moment, and is defined by the inertial navigation information and the satellite position information; is the preset earth-to-satellite ratio;

[0181] Determine the antenna angle adjustment parameters based on the degree of deviation error:

[0182] ;

[0183] in, Indicates the angle adjustment parameter, Indicates the antenna elevation angle at the current moment;

[0184] Control device: used for the receiving device antenna to make real-time adjustments after obtaining the angle adjustment parameters, so as to realize automatic calibration of the antenna.

[0185] In this embodiment, the deviation error degree refers to the difference between the angle of the antenna of the receiving device and the ideal angle when receiving satellite data.

[0186] In this embodiment, the standard time interval is the time period from the current time to the start of receiving satellite data, which is divided into r equal standard intervals.

[0187] In this embodiment, the time integration of the error refers to integrating the degree of deviation error over time, taking into account the cumulative effect of the error.

[0188] In this embodiment, the angle adjustment parameter is a parameter for adjusting the antenna angle calculated according to the deviation error degree of the antenna of the receiving device.

[0189] The working principle and beneficial effects of the above technical solution are: using feedback control to realize automatic calibration of the antenna of the receiving device based on inertial navigation and satellite position information, thereby improving the receiving performance and ensuring stable data transmission.

[0190] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A real-time satellite antenna calibration device, characterized in that: include: Configuration module: Determine the target installation location based on the configuration environment requirements of the communication satellite receiving device, and install and configure the communication satellite receiving device at the target installation location based on the manual standards; Signal module: receiving a first original signal sent by a satellite antenna based on an installed receiving device, and processing the first original signal to obtain a first mixed signal; Data processing module: performs data processing on the first mixed signal to obtain inertial navigation information and satellite data information, and completes the capture of satellite position information according to the ratio of ground to satellite, wherein the ratio of ground to satellite is used to measure the distance and relative position ratio between the receiving device and each satellite; Adjustment module: According to the inertial navigation information and the satellite position information, the attitude adjustment parameters corresponding to the antenna of the receiving device are determined by using the feedback control model to realize the automatic alignment of the antenna of the receiving device, wherein the feedback control model is a control method for adjusting the system state to achieve the desired goal; Wherein, the signal module is also used for: The receiving device acquires the first original signal sent by the satellite in real time; Standardize the first original signal according to the standard interval of the sample signal to obtain a first standard signal, and compare the first standard signal with the sample signal for similarity at the same node to obtain a similarity value for each node; Obtaining a total similarity value of the first standard signal according to the similarity value of each node; Compare the total similarity value with the similarity value of each node under the first standard signal respectively, regard nodes with a value lower than the total similarity value as unqualified points, and regard nodes with a value not lower than the total similarity value as qualified points; Acquire the first standard signals of all qualified points to form a first mixed signal; Wherein, the data processing module is also used for: The satellite data information is proportionally adjusted according to the ratio of the ground to the satellite and placed in the satellite motion state parameter mapping relationship, and any fixed point moment is obtained as the key attitude moment, and the first attitude of each previous moment and the second attitude of each subsequent moment of the fixed point moment are obtained; Construct a posture difference matrix based on all first postures, postures at fixed points, and second postures ,in, A vector representing the position difference between the posture at the fixed point and each first posture; A vector representing the position difference between the posture at the fixed point and each second posture; A vector representing the angle difference between the posture at the fixed point and each first posture; A vector representing the angle difference between the posture at the fixed point and each second posture; Calculated based on , , as well as The first difference ratio , the second difference ratio , the third difference ratio And the fourth difference ratio , and comprehensively obtain the attitude angle difference ; ； ； ； ； ； ； in, ,and represents the displacement difference between the first position at the i1th previous moment and the position at the fixed point moment, and n1 represents the number of previous moments; Indicates the estimated movement displacement at adjacent moments; ,and represents the displacement difference between the second position at the i2th subsequent moment and the position at the fixed point moment, and n2 represents the number of subsequent moments; ,and represents the angle difference between the first angle at the i1th previous moment and the angle at the fixed point moment; ,and represents the angle difference between the second angle at the moment after the i2th moment and the angle at the fixed point moment; Indicates the estimated angle change at adjacent moments; represents the correction function for the angle; Indicates from all The original angle change corresponding to the minimum value obtained in ; Indicates from all The original angle change corresponding to the minimum value obtained in ; Indicates the total satellite trajectory length based on the previous time, the fixed time, and the time after i1; Indicates that based on all The variance of Indicates that based on all The variance of represents the angle adjustment variable under unit displacement; The satellite data information is converted into the attitude angle difference value Map it into the geocentric inertial coordinate system to get the satellite position information.

2. A real-time satellite antenna calibration device according to claim 1, characterized in that: The configuration module includes: Environmental parameter measuring equipment: used to measure the parameters of the surrounding environment of the receiving device and obtain the environmental parameters of the surrounding environment; Matching environment unit: compares the environmental parameters of the surrounding environment with the standard environmental parameters of the configuration manual of the receiving device to determine the installation target location that meets the configuration environment requirements.

3. A real-time satellite antenna calibration device according to claim 2, characterized in that: The configuration module further includes: Related configuration unit: During the installation and configuration process at the target installation site, the communication equipment and power supply equipment of the communication satellite receiving device are configured and tested according to the manual standards; Equipment configuration unit: According to the environmental parameters and in combination with the environmental parameter-configuration parameter mapping table, the basic configuration parameters of the antenna of the receiving device of the communication satellite are obtained, and the configuration of the receiving device is completed based on the basic configuration parameters.

4. The real-time satellite antenna calibration device according to claim 1, characterized in that: The signal module comprises: Signal receiving unit: The receiving device acquires the corresponding first scattered initial signal and second scattered initial signal respectively based on the first preset elevation angle and the second preset elevation angle; Signal synthesis unit: based on the arrangement tracks corresponding to the first scattered initial signal and the second scattered initial signal, the first scattered initial signal and the second scattered initial signal are de-pointed and normalized, and then synthesized into an original signal track as a sample signal.

5. The real-time satellite antenna calibration device according to claim 1, characterized in that: The data processing module comprises: A data splitting and processing unit: performing discrete phase modulation on the first mixed signal to obtain a signal strength distribution image, and restoring the signal strength distribution image into inertial navigation information of the first mixed signal in combination with a communication protocol; Satellite data information acquisition unit: Based on the inertial analysis system, the inertial navigation information is decomposed into specific satellite attitude information, and the satellite data information is acquired by combining the satellite attitude information with the satellite motion parameter-attitude mapping table.

6. The real-time satellite antenna calibration device according to claim 1, characterized in that: The adjustment module comprises: Feedback control model unit: obtains the deviation error degree of the antenna of the receiving device according to the inertial navigation information and satellite position information; ； in, Indicates the degree of deviation error of the antenna of the receiving device. It means that there are a total of r standard time intervals from the current time to the start of receiving satellite data. represents the angle of the receiving device's antenna to the satellite at the m+1th moment, represents the initial elevation angle of the receiving device’s antenna, represents the time integral of the error, represents the error signal function at the m+1th moment, and is defined by the inertial navigation information and the satellite position information; is the ratio of the Earth to the satellite; Control device: used to determine the antenna angle adjustment parameter according to the degree of deviation error. After the antenna of the receiving device obtains the angle adjustment parameter, it adjusts it in real time to realize automatic calibration of the antenna; ； in, Indicates the angle adjustment parameter, Indicates the antenna elevation angle at the current moment.

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