Dual-feed configuration portable XY type terminal servo control method and device

Abstract

The present invention provides a dual-feed source configured portable XY type terminal servo control method and equipment, comprising: determining different preliminary pedestal azimuths and preliminary pedestal pitch angles for pointing and tracking of an antenna to different synchronous satellites; obtaining a corrected pedestal azimuth and pedestal pitch angle based on a least square method; converting a geographic coordinate system into an equipment coordinate system to obtain a pointing calculation of the antenna in the equipment coordinate system; determining an orbital sequence pair of an orbital satellite in the geographic coordinate system; and converting the corrected orbital sequence pair into a vector; bringing the pointing calculation of the antenna into the equipment coordinate system to determine a rotation angle of the antenna around a horizontal axis and a rotation angle around a vertical axis in the equipment coordinate system. After the preliminary pedestal azimuth and preliminary pedestal pitch angle are located by synchronous satellites, low-orbit satellites are tracked by coordinate conversion, thereby improving the accuracy of the dual-feed source configured portable XY type terminal servo control.

Description

Technical Field

[0001] The present invention relates to the field of satellite communication technology, and in particular to a dual-feed source configured portable XY type terminal servo control method and equipment. Background Art

[0002] With the development of satellite technology, a large number of satellites have been launched and put into use. These satellites are of various types and have different uses. According to orbit, they are divided into low, medium, high and synchronous satellites; according to payload, they are divided into optical, remote sensing, SAR, communication relay; according to purpose, they are divided into reconnaissance, meteorology, navigation, etc. All these satellites and ground stations form a comprehensive network with complete categories and rich functions. In order to fully utilize and integrate these satellite resources, the ground receiving equipment must also be matched and upgraded accordingly. The ground receiving equipment must be able to effectively receive and forward satellite data, reduce the delay of information at the forwarding node, and enable the data to be accurately and timely transmitted to the user unit. The real-time nature of data transmission is particularly important for military, emergency command and other units.

[0003] The dual-feed antenna is a type of improved ground antenna. Two feeds are installed on the same antenna surface, working in different modes and receiving satellite signals in different modes. The most common configuration is X-band and Ku or Ka-band, with X-band used to receive signals from low-orbit satellites and Ku or Ka used to transmit / receive signals from synchronous satellites. In this way, it only takes more than ten minutes to collect data from X-band satellites, receive it on the ground through X-band, and then forward it to the large communication network connected to Ka or Ku-band synchronous satellites by the same antenna. It is fast and efficient.

[0004] In the past, dual-feed receiving systems were only used for large antennas. With the development of technology, the size and weight of dual feeds have been reduced, the efficiency has been improved, and dual feed systems have gradually been applied to portable satellite communication equipment. Portable low-orbit satellite communication terminals are easy to carry, quick to deploy, and easy to operate. Using dual-feed portable terminals, users can receive and process satellite payload data in a short time, generate various information resources, and quickly forward these resources to large communication networks via synchronous satellites, and then transmit them to one or more data users through exchange, thereby improving the efficiency of data use and achieving good economic and social benefits.

[0005] The dual-feed portable satellite receiving system has the ability to receive both synchronous orbit satellites and low-orbit satellites. The XY-type antenna can achieve all azimuth pointing without obstacles, and can still maintain low-speed operation when the satellite passes overhead, and does not require a conductive ring. In order to make it easy to carry, unfold, and store, the portable satellite communication antenna adopts a lightweight, simple, and spliced ​​design in structure. However, the structural rigidity of the portable antenna is low, the large components are highly loose due to the splicing design, and the matching accuracy between the various components is poor. From the perspective of servo control, there is a big gap between the actual control model of the entire antenna and the actual control model of the entire antenna.

[0006] Therefore, how to improve the accuracy of servo control of a portable XY terminal with a dual-feed configuration has become a technical problem that technical personnel in this field need to solve urgently. Summary of the invention

[0007] The present invention provides a dual-feed source configured portable XY type terminal servo control method and device, which are used to solve the defect of poor accuracy of dual-feed source configured portable XY type terminal servo control in the prior art.

[0008] In a first aspect, the present invention provides a servo control method for a portable XY type terminal with a dual feed configuration, comprising:

[0009] Based on the dual positioning system or the maximum value tracking scanning mode, different preliminary base azimuth angles and preliminary base elevation angles for pointing and tracking the antenna to different synchronous satellites are determined;

[0010] Based on the least square method, error calculation is performed on all the preliminary base azimuth angles and preliminary base pitch angles to obtain corrected base azimuth angles and base pitch angles;

[0011] The corrected base azimuth angle and base elevation angle are converted from the geographic coordinate system to the device coordinate system to obtain a pointing calculation formula of the antenna in the device coordinate system;

[0012] Determine the orbital sequence pairs of orbiting satellites in the geographic coordinate system based on orbital elements and astrophysics;

[0013] Performing sag correction on the orbital sequence pair, and converting the corrected orbital sequence pair into a vector;

[0014] Input the vector into the pointing calculation formula of the antenna in the device coordinate system to obtain a rotation matrix;

[0015] Based on the rotation matrix, a rotation angle of the antenna around the horizontal axis and a rotation angle around the vertical axis in the device coordinate system are determined.

[0016] According to a dual-feed source configuration portable XY type terminal servo control method provided by the present invention, the method of determining different preliminary base azimuth angles for pointing and tracking of different synchronous satellites by the antenna based on the maximum value tracking scanning mode includes:

[0017] Through coarse scanning, the antenna beam angle range pointing from the antenna to the satellite is obtained;

[0018] Within the antenna beam angle range, obtain the horizontal beacon value corresponding to each scanning point through horizontal scanning, and determine the preliminary base azimuth based on the maximum horizontal beacon value;

[0019] The vertical beacon value corresponding to each scanning point is obtained through vertical scanning, and the preliminary base pitch angle is determined based on the maximum vertical beacon value.

[0020] According to a dual-feed source configuration portable XY type terminal servo control method provided by the present invention, the antenna beam angle range for obtaining the direction from the antenna to the satellite includes:

[0021] Determine an initial scanning starting point, and control the antenna to rotate from the initial scanning starting point to a scanning ending point at a preset rotation angle;

[0022] After the antenna rotates from the initial scanning start point to the scanning end point, the antenna is moved by the vertical offset in the geographic coordinate system, and then scanned from the initial scanning point to the scanning end point until a beacon signal greater than a preset threshold is scanned, and the scanning area corresponding to the beacon signal is taken as the antenna beam angle range.

[0023] According to a dual-feed source configuration portable XY type terminal servo control method provided by the present invention, the horizontal beacon value corresponding to each scanning point is obtained by horizontal scanning, and a preliminary base azimuth angle is determined based on the maximum horizontal beacon value, including:

[0024] Controlling the antenna to move and scan in the horizontal direction from the first position according to a preset offset to complete scanning of the current azimuth;

[0025] Move the antenna to a second position, perform mobile scanning according to a preset offset, complete the scanning of the current azimuth, and end the scanning;

[0026] Record the horizontal beacon value corresponding to each scanning point during the scanning process, and draw a horizontal scanning curve with the position of the scanning point as the horizontal coordinate and the corresponding horizontal beacon value as the vertical coordinate;

[0027] Take the maximum value of the beacon on the horizontal scanning curve, draw a straight line parallel to the horizontal axis, intersect the horizontal scanning curve at two points, and take the average value of the horizontal coordinates of the two points as the preliminary base azimuth.

[0028] According to a dual-feed source configuration portable XY type terminal servo control method provided by the present invention, the vertical beacon value corresponding to each scanning point is obtained by vertical scanning, and a preliminary base pitch angle is determined based on the maximum vertical beacon value, including:

[0029] Controlling the antenna to move and scan in the vertical direction from the first position according to a preset offset to complete scanning of the current pitch angle;

[0030] Move the antenna to a second position, perform mobile scanning according to a preset offset, and complete scanning at the current pitch angle until the scanning is completed;

[0031] Record the vertical beacon value corresponding to each scanning point during the scanning process, and draw a vertical scanning curve with the position of the scanning point as the horizontal coordinate and the corresponding vertical beacon value as the vertical coordinate;

[0032] Take the maximum value of the beacon on the vertical scanning curve, draw a straight line parallel to the horizontal axis, intersect the vertical scanning curve at two points, and take the average value of the horizontal coordinates of the two points as the preliminary base pitch angle.

[0033] According to a dual-feed configuration portable XY terminal servo control method provided by the present invention, the least square method is used to perform error calculation on all the preliminary base azimuth angles and preliminary base pitch angles to obtain the corrected base azimuth angles and base pitch angles, including:

[0034] Based on the azimuth calculation formula, the preliminary base azimuth is corrected to obtain a corrected base azimuth. The azimuth calculation formula is:

[0035] ;

[0036] in, yaw represents the corrected base azimuth, n is the number representing the preliminary base azimuth, represents the preliminary base azimuth;

[0037] Based on the pitch angle calculation formula, the preliminary pitch angle is corrected to obtain the corrected base pitch angle. The azimuth angle calculation formula is:

[0038] ;

[0039] Among them, the represents the corrected pitch angle, represents the preliminary base pitch angle, Indicates the actual pitch angle, n Amount indicating the preliminary pitch angle.

[0040] According to a dual-feed configuration portable XY type terminal servo control method provided by the present invention, the rotation matrix is:

[0041] ;

[0042] in, X_angle Indicates the rotation angle of the antenna around the horizontal axis in the device coordinate system. Y_angle Indicates the rotation angle of the antenna around the vertical axis in the device coordinate system.

[0043] According to a dual-feed configuration portable XY type terminal servo control method provided by the present invention, the rotation angle of the antenna around the horizontal axis and the rotation angle around the vertical axis in the device coordinate system are determined based on the rotation matrix, including:

[0044] determining a normal vector of the antenna in the device coordinate system;

[0045] Constructing a normal equation group based on the normal vector and the rotation matrix;

[0046] Based on the normal equation group and the solution formula, the rotation angle of the antenna around the horizontal axis and the rotation angle around the vertical axis in the device coordinate system are obtained.

[0047] According to a dual-feed configuration portable XY type terminal servo control method provided by the present invention, the solution formula is:

[0048] ;

[0049] in, Indicates the position of the antenna on the vertical axis of the device coordinate system. Indicates the position of the antenna on the vertical axis of the device coordinate system. Indicates the position of the antenna on the horizontal axis of the device coordinate system.

[0050] In a second aspect, the present invention further provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the servo control method for a portable XY terminal with a dual feed configuration as described in any one of the above is implemented.

[0051] In a third aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described dual-feed source configured portable XY type terminal servo control methods.

[0052] In a fourth aspect, the present invention further provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the above-mentioned dual-feed source configuration portable XY type terminal servo control methods.

[0053] The present invention provides a dual-feed source configuration portable XY type terminal servo control method and device, including: based on a dual positioning system or a maximum tracking scanning mode, determining different preliminary base azimuth angles and preliminary base pitch angles for pointing and tracking of different synchronous satellites by an antenna; based on a least square method, performing error calculation on all preliminary base azimuth angles and preliminary base pitch angles to obtain corrected base azimuth angles and base pitch angles; converting the corrected base azimuth angles and base pitch angles from a geographic coordinate system to a device coordinate system to obtain a pointing calculation formula for the antenna in the device coordinate system; based on orbital elements and astrophysics, determining the position of an orbiting satellite in a geographic coordinate system; Orbital sequence pairs in the reference system; perform droop correction on the orbital sequence pairs, and convert the corrected orbital sequence pairs into vectors; input the vectors into the pointing calculation formula of the antenna in the device coordinate system to obtain a rotation matrix; based on the rotation matrix, determine the rotation angle of the antenna around the horizontal axis and the rotation angle around the vertical axis in the device coordinate system. After the preliminary base azimuth angle and preliminary base pitch angle are located by synchronous satellite, the rotation angle of the antenna around the horizontal axis and the rotation angle around the vertical axis in the device coordinate system are controlled by coordinate conversion, so that low-orbit satellites can be effectively tracked, which improves the accuracy of the servo control of the portable XY terminal with dual feed configuration. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] 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.

[0055] Figure 1 This is a schematic diagram of a satellite antenna pointing to a synchronous satellite;

[0056] Figure 2 It is a flow chart of a servo control method of a portable XY-type terminal with dual feed configuration provided by an embodiment of the present invention;

[0057] Figure 3 A schematic diagram of the horizontal scanning principle provided for this embodiment;

[0058] Figure 4 It is a schematic diagram of the principle of vertical scanning provided by this embodiment;

[0059] Figure 5 It is a structural schematic diagram of a dual-feed configuration portable XY type terminal servo control method provided by an embodiment of the present invention;

[0060] Figure 6 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0061] 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.

[0062] XY type antenna structure, X axis (horizontal axis), Y axis (vertical axis), Z axis (vertical axis) are consistent with the output axis of the drive motor. X axis and Y axis are high-power motors, used to adjust the azimuth and pitch angle of the antenna; Z axis is a polarization motor, only used in synchronous satellite communication, and its power is much smaller than that of X and Y axis motors.

[0063] The antenna is made of carbon fiber. For ease of carrying, it is made into a melon-shaped structure. When in use, it is inserted into the mounting structure of the RF front end piece by piece, and then connected together with quick fasteners. There is a certain gap at the antenna connection, and the antenna is a split structure. The rigidity of the entire antenna body is very low. When subjected to force, it will deform and tilt downward as a whole. Below the antenna is the RF front end. In order to reduce insertion loss, all parts including the power amplifier are installed close to the antenna. All the components added up are very heavy, far greater than the weight of the antenna body.

[0064] The XY structure antenna is top-heavy. The antenna body and the RF front end are both on the side away from the rotation axis. There is no counterweight, and the eccentric torque generated can only be balanced by the servo system motor torque. The eccentric torque also causes elastic deformation of the reducer output shaft, and the antenna's pointing angle is lower than the theoretical value. The base of the antenna will also tilt in the direction the antenna is pointing. These must be compensated and corrected in the servo control, otherwise errors will occur and affect the pointing accuracy.

[0065] The hardware module of the present invention is a servo system hardware circuit, which is composed of some circuits and functional components. It provides physical platform support for servo algorithms and motor drives. It is divided into several parts according to functions: comprehensive management, data acquisition, attitude measurement, and motor drive. Motor drive module: driven by the antenna control unit to drive the motor to rotate to the specified position. Base inclinometer module: measures the pitch angle and roll angle of the antenna base. The antenna control module reads in and constructs the attitude matrix. Beacon: used to receive synchronous satellites. Each synchronous satellite has its own beacon. When the antenna is aimed at the satellite, the beacon output voltage is the largest, which is used for blind scanning to find stars. Dual positioning module, used to measure the azimuth of the base. Antenna control unit: generally an embedded MCU, used to run the servo system program and provide various interfaces for the communication module.

[0066] Figure 1 This is a diagram of a satellite antenna pointing to a synchronous satellite. Figure 2 It is a flow chart of a servo control method for a portable XY-type terminal with dual feed configuration provided by an embodiment of the present invention.

[0067] like Figure 1 As shown, the servo control method of the portable XY type terminal with dual feed configuration provided by the embodiment of the present invention mainly includes the following steps:

[0068] 101. Based on the dual positioning system or the maximum tracking scanning method, determine the different preliminary base azimuth angles and preliminary base pitch angles of the antenna for pointing and tracking different synchronous satellites.

[0069] In a specific implementation process, in the pointing diagram, the position of the synchronous satellite is known. The latitude of the synchronous satellite is 0, located above the equator, and the longitude is related to the specific satellite and obtained through public information or satellite operating units. The position of the antenna is obtained through the positioning system, and the direction from the antenna to the satellite is a directed line segment. .

[0070] Select the geographic coordinate system North (X) West (Y) Sky (Z), After normalization, the vector is expressed in the geographic system, and the pointing expression of the synchronous satellite in the geographic coordinate system is obtained (1):

[0071] (1)

[0072] Indicates the direction of the synchronous satellite. Represents the horizontal axis of the synchronous satellite in the geographic coordinate system. Represents the vertical axis of the synchronous satellite in the geographic coordinate system, Represents the vertical axis of the synchronous satellite in the geographic coordinate system.

[0073] Then, the azimuth matrix in the attitude conversion matrix is ​​calculated, where yaw is the azimuth angle of the base, pitch is the pitch angle of the base, and roll is the roll angle of the base. The azimuth conversion matrix of formula (2), the pitch conversion matrix of formula (3), and the roll conversion matrix of formula (4) are obtained.

[0074] (2)

[0075] (3)

[0076] (4)

[0077] Then the entire attitude transformation matrix is ​​transformed from the geographic coordinate system to the device coordinate system, as shown in formula (5):

[0078] (5)

[0079] The calculation formula for the antenna pointing vector in the device coordinate system is as follows:

[0080] (6)

[0081] Indicates the direction of the antenna pointing vector in the device coordinate system, Represents the horizontal axis of the synchronous satellite in the device coordinate system. Represents the vertical axis of the synchronous satellite in the device coordinate system. Represents the vertical axis of the synchronous satellite in the device coordinate system.

[0082] Each synchronous satellite has its own specific beacon signal. The beacon signal is an electromagnetic wave signal of a specific frequency. The beacon frequency is related to the satellite and polarization direction. Within a certain range, the beacon frequency is unique and is used to distinguish different satellites. The beacon signal can be received by a beacon receiver. Before receiving the synchronous satellite, the beacon frequency must first be set according to the satellite selection and the polarization mode of the satellite. The energy value of the beacon signal is an effective indicator of whether the antenna is aligned or not. The more accurate the beacon signal is used for the antenna, the higher the energy value of the beacon signal.

[0083] According to the data model of the synchronous satellite, after selecting a specific synchronous satellite: the antenna pointing vector in the geographic coordinate system is determined, the pitch angle and roll angle in the base attitude can be measured with high precision by the inclinometer sensor, and the output precision of the reducer of the motor drive system is also very high. The uncertain factors are the droop value of the antenna and the azimuth measurement in the base attitude. The attitude azimuth is considered according to two preconditions. One is that the device is equipped with a dual positioning and direction finding system, and the other is that the dual positioning and direction finding system is not equipped. When there is a dual positioning and direction finding system, the angle measured by the dual positioning and direction finding system is used as the base azimuth, and the target rotation angle is calculated. When there is a dual positioning measurement system, the base azimuth value takes the negative deviation of the positioning measurement value, generally taking the measured azimuth -3° and the end position 0 takes the positive deviation of the positioning measurement value, taking the measured azimuth +3°. When there is no dual positioning and direction finding, the default base azimuth is 0° (due north), the base azimuth at the start position 0 is -180°, and the positive deviation at the end position 0 is 180°.

[0084] In the absence of a dual positioning and direction-finding system, the different preliminary base azimuths of the antenna pointing to different synchronous satellites are determined based on the maximum tracking scanning method, including: obtaining the antenna beam angle range of the antenna pointing to the satellite through a rough scan; the antenna droop scanning interval is generally taken as half of the antenna beam angle, taking into account the reliability and efficiency of the scan. Including determining the initial scan start point, calculating the antenna position according to the azimuth of the start 0, and rotating the antenna to the calculated position, which is called the scan start point. Control the antenna to rotate from the initial scan start point to the scan end point at a preset rotation angle; when the antenna rotates from the initial scan start point to the scan end point, move the antenna by the vertical offset in the geographic coordinate system, and then scan from the initial scan point to the scan end point until a beacon signal greater than the preset threshold is scanned, and the scanning area corresponding to the beacon signal is the antenna beam angle range.

[0085] Specifically, when the antenna reaches the scanning start point, the base azimuth angle shifts toward the end point 0 at a certain speed v, and the offset of each control cycle (T) is: , calculate the target position according to the new base azimuth in each calculation cycle, and move the antenna to the new target position until the base azimuth is at the end position 0. When the antenna reaches the end position 0, add a vertical offset of the droop amount to the pointing azimuth in the geographic coordinate system, the base value remains unchanged, calculate the target value, and move the antenna to the target starting point 1. Use a scanning method similar to 0 to move the antenna to the end point 1. Repeat the above process, monitor the output of the beacon signal at any time during the scanning process, once the beacon signal is greater than the preset threshold, record the position that exceeds the preset threshold, terminate the rough scan, and enter the fine scan program.

[0086] During the coarse scanning process, when the beacon signal value is greater than the preset threshold, it means that the direction from the antenna to the satellite is within the range of the antenna beam angle. At this time, the current base azimuth should be recorded as: detail_yaw_record, and the antenna elevation angle in the geographic system should be: detail_el_record, exit the coarse scan and enter the fine scan.

[0087] Within the antenna beam angle range, the horizontal beacon value corresponding to each scanning point is obtained through horizontal scanning, and the preliminary base azimuth is determined based on the maximum horizontal beacon value, including: controlling the antenna to move and scan in the horizontal direction from the first position according to a preset offset to complete the scan of the current azimuth; moving the antenna to the second position, moving and scanning according to the preset offset to complete the scan of the current azimuth until the scan is completed; recording the horizontal beacon value corresponding to each scanning point during the scanning process, and drawing a horizontal scanning curve with the position of the scanning point as the horizontal coordinate and the corresponding horizontal beacon value as the vertical coordinate; taking the maximum value of the beacon on the horizontal scanning curve, making a straight line parallel to the horizontal axis, intersecting the horizontal scanning curve at two points, and taking the average value of the horizontal coordinates of the two points as the preliminary base azimuth.

[0088] Figure 3 A schematic diagram of the horizontal scanning principle provided in this embodiment.

[0089] like Figure 3 As shown in the figure, the horizontal scanning process: the base azimuth angle detail_yaw_record–4*att_beam_angle is used as the starting point of the horizontal fine scan, and the base azimuth angle detail_yaw_record+4*att_beam_angle is used as the ending point of the horizontal fine scan. First, the base azimuth angle is set as the starting point of the horizontal fine scan, and the elevation angle of the antenna in the geography is detail_el_record. The target value is calculated according to the mathematical model, and the antenna is turned to the target value. After the antenna reaches the target value, the base azimuth angle moves at a certain speed. Offset to the end point of horizontal fine scanning, the offset of each control cycle (T) is: In each calculation cycle, the target position is calculated according to the new base azimuth angle, and the antenna is moved to the new target position until the base azimuth angle reaches the end position of the horizontal fine scan.

[0090] During the horizontal scanning process, record the horizontal beacon value corresponding to each scanning point, and draw a horizontal scanning curve with the position of the scanning point as the horizontal coordinate and the corresponding beacon value as the vertical coordinate. Take the maximum value of the horizontal beacon on the curve, max beacon, and draw a straight line parallel to the horizontal axis with 70% of max beacon, which intersects the horizontal scanning curve at two points, -3db left and -3db right. Take the average value of the horizontal coordinates of these two points as the preliminary base azimuth, as shown in formula (7):

[0091] (7)

[0092] in, left_yaw is the horizontal coordinate of the -3db left point, right_yawIt is the horizontal coordinate of the +3db right point.

[0093] Figure 4 It is a schematic diagram of the principle of vertical scanning provided by this embodiment.

[0094] like Figure 4 As shown, the vertical beacon value corresponding to each scanning point is obtained through vertical scanning, and the preliminary base pitch angle is determined based on the maximum vertical beacon value, including: controlling the antenna to move and scan in the vertical direction from the first position according to a preset offset to complete the scan of the current pitch angle; moving the antenna to the second position, moving and scanning according to the preset offset to complete the scan of the current pitch angle until the scan is completed; recording the vertical beacon value corresponding to each scanning point during the scanning process, and drawing a vertical scanning curve with the position of the scanning point as the horizontal coordinate and the corresponding vertical beacon value as the vertical coordinate; taking the maximum value of the beacon on the vertical scanning curve, making a straight line parallel to the horizontal axis, intersecting the vertical scanning curve at two points, and taking the average value of the horizontal coordinates of the two points as the preliminary base pitch angle.

[0095] Specifically, the vertical scanning process is similar to the horizontal scanning process. The elevation angle of the geographic coordinate system is set to detail_el_record-4*att_beam_angle as the starting point of the vertical fine scanning, and the elevation angle of the geographic coordinate system is set to detail_el_record+4*att_beam_angle as the ending point of the vertical fine scanning.

[0096] First, set the target pitch angle to the starting point of the vertical fine scan, set the base azimuth angle to result_yaw, calculate the target value according to the mathematical model, and turn the antenna to the target value. After the antenna reaches the target value, the target pitch angle of the geographic system increases at a certain speed. Vertical fine scanning end point offset, the offset of each control cycle (T) is: In each calculation cycle, the target position is calculated according to the new target pitch angle, and the antenna is moved to the new target position until the target pitch angle reaches the end position of the vertical fine scan.

[0097] During the vertical fine scanning process, the vertical beacon value corresponding to each scanning point is recorded, and a vertical scanning curve is drawn with the position of the scanning point as the horizontal coordinate and the corresponding vertical beacon value as the vertical coordinate. On the vertical scanning curve, the maximum value of the vertical beacon, max beacon, is taken, and a straight line parallel to the horizontal axis is drawn with 70% of max beacon, which intersects the vertical scanning curve at two points, -3db down and -3db up. The average value of the horizontal coordinates of these two points is taken as the preliminary base pitch angle, as shown in formula (8):

[0098] (8)

[0099] in, down_el is the horizontal coordinate of the -3db down point, up_el is the horizontal coordinate of the +3db up point.

[0100] 102. Based on the least square method, all preliminary base azimuth angles and preliminary base pitch angles are subjected to error calculation to obtain corrected base azimuth angles and base pitch angles.

[0101] According to the current distribution density of synchronous satellites, one antenna should be able to receive beacons from multiple synchronous satellites. The antenna can then track the signals of multiple synchronous satellites in turn and measure multiple azimuths and droops. These measured azimuths and droops can be processed using the minimum method to reduce random errors in the measurement and obtain more accurate values.

[0102] For example, the antenna tracks n synchronous satellites and measures n base azimuths. , the target of the latest square method is yaw. Calculate the target expression of the least square method, as shown in formula (9):

[0103] (9)

[0104] in, Indicates the azimuth error.

[0105] Based on the azimuth calculation formula, the preliminary base azimuth is corrected to obtain the corrected base azimuth. The azimuth calculation formula is (10):

[0106] (10)

[0107] in, yaw represents the corrected base azimuth, n is the number representing the preliminary base azimuth, Indicates the preliminary base azimuth.

[0108] Due to the low structural stiffness of the overall components of the portable antenna and the eccentric structure of the XY antenna, the droop error is the main error of the portable satellite receiving device. The droop error is the elastic deformation of the structure caused by the eccentric moment and is proportional to the moment. The eccentric moment is related to the pitch angle of the antenna. The left pitch is 0. , then when the pitch angle is el, Similarly, if the pitch angle is 0°, the droop angle is , then when the pitch angle is el, the droop angle is .

[0109] The antenna tracks n synchronous satellites and measures the actual elevation angles of n geographic systems. . Subtract the calculated theoretical value The droop angle is obtained as shown in formula (11):

[0110] (11)

[0111] Among them, k=1…n.

[0112] Assume that the droop angle when the pitch angle is 0° is , calculate the least squares objective expression, as shown in formula (12):

[0113] (12)

[0114] Based on the pitch angle calculation formula, the preliminary pitch angle is corrected to obtain the corrected base pitch angle. The azimuth angle calculation formula is (13):

[0115] (13)

[0116] in, represents the corrected pitch angle, represents the preliminary base pitch angle, Indicates the actual pitch angle, n Amount indicating the preliminary pitch angle.

[0117] 103. Convert the corrected base azimuth angle and base elevation angle from the geographic coordinate system to the device coordinate system to obtain the antenna pointing calculation formula in the device coordinate system.

[0118] By using formula (6), the antenna can be effectively transformed from the geographic coordinate system to the device coordinate system.

[0119] 104. Based on orbital elements and astrophysics, determine the orbital sequence pairs of orbiting satellites in the geographic coordinate system.

[0120] Theoretical orbit calculation of low-orbit satellites is generally to use orbital elements and astrophysics to calculate its orbit, and express it as an orbital sequence pair with its azimuth and elevation angle sequence in the geographic coordinate system, such as { };

[0121] Considering the droop problem, the pitch angle of the sequence pair is added with the droop, which becomes: };

[0122] in: ; (i =1…n).

[0123] 105. Perform sag correction on the orbital sequence pair, and convert the corrected orbital sequence pair into a vector.

[0124] 106. Input the vector into the antenna pointing calculation formula in the device coordinate system to obtain the rotation matrix.

[0125] The rotation matrix is ​​formula (14):

[0126] (14) Among them, X_angle Indicates the rotation angle of the antenna around the horizontal axis in the device coordinate system. Y_angle Indicates the rotation angle of the antenna around the vertical axis in the device coordinate system.

[0127] 107. Based on the rotation matrix, determine the rotation angle of the antenna around the horizontal axis and the rotation angle around the vertical axis in the device coordinate system.

[0128] Determine the normal vector of the antenna in the device coordinate system, as shown in formula (15), and obtain the normal direction of the antenna:

[0129] (15)

[0130] Based on the normal vector and the rotation matrix, the normal equation group is constructed, formula (16):

[0131] (16)

[0132] By improving (16), we can obtain (17):

[0133] (17)

[0134] Based on the normal equations and the solution formula, the rotation angle of the antenna around the horizontal axis and the rotation angle around the vertical axis in the device coordinate system are obtained. The solution formula is (18):

[0135] (18)

[0136] in, Indicates the position of the antenna on the vertical axis of the device coordinate system. Indicates the position of the antenna on the vertical axis of the device coordinate system. Indicates the position of the antenna on the horizontal axis of the device coordinate system.

[0137] The base compensation algorithm is introduced into the mathematical model. The mathematical platform replaces the physical platform, and there is no need to perform tedious base leveling work before the satellite search process. The target guidance of the mathematical platform has a fairly accurate foresight and reduces the time of rough scanning. Due to the strict restrictions on its own weight, the portable satellite receiving system pursues lightweight bracket design and low bracket stiffness. During the satellite search process, due to the change of antenna azimuth, the bracket will deform and the posture of the base will become a time-varying system. The sensors in the mathematical platform can measure this change and compensate it in the algorithm, offsetting the adverse effects of the base change.

[0138] If there is dual positioning and direction finding, the starting position of the rough scan is accurate and the rough scan range is small, which reduces the time of the rough scan. If there is no dual positioning and direction finding, an omnidirectional blind scan is used. Regardless of whether there is dual positioning and direction finding, the scanning module can complete the pointing and tracking of the synchronous satellite. And reversely infer a high-precision base azimuth, and use this azimuth for the subsequent tracking of low-orbit satellites.

[0139] Precision scanning includes the design of horizontal scanning and vertical scanning processes: As can be seen from the precision scanning diagram, the top of the beacon curve is relatively flat. Since the beacon signal is affected by temperature, weather, and atmospheric turbulence, the measured beacon value is fluctuating, which cannot be eliminated even by smoothing. If only simple maximum value tracking is used, pointing deviation will occur. However, if the antenna is intentionally pointed at a beam angle, the beacon signal will drop rapidly, and the impact of the beacon's jumping will be relatively reduced. In the present invention, two wave velocity angle edges are obtained by full scanning in one direction and then averaged, so that the wave center position obtained has higher accuracy than the position obtained by maximum value tracking.

[0140] Without increasing any cost, the resources of the dual-feed XY portable antenna are fully integrated to correct the antenna base attitude measurement. An error model is established to correct the tracking model of low-orbit satellites, which improves the tracking accuracy of low-orbit satellites. Under certain extreme conditions, this invention can reversely calculate the azimuth of the antenna base without dual positioning and direction finding, and use this azimuth to complete the tracking task of low-orbit satellites. The accuracy is the same as that of the dual positioning and direction finding system.

[0141] Based on the same general inventive concept, the present invention also protects a dual-feed configured portable XY type terminal servo control device. The dual-feed configured portable XY type terminal servo control device provided by the present invention is described below. The dual-feed configured portable XY type terminal servo control device described below and the dual-feed configured portable XY type terminal servo control method described above can be referenced to each other.

[0142] Figure 5 It is a structural schematic diagram of a dual-feed source configured portable XY type terminal servo control method provided in an embodiment of the present invention.

[0143] like Figure 5 As shown, this embodiment provides a dual-feed configuration portable XY type terminal servo control method, including:

[0144] The synchronous satellite search module 501 is used to determine different preliminary base azimuths and preliminary base elevation angles for pointing and tracking of different synchronous satellites by the antenna based on a dual positioning system or a maximum tracking scanning method; perform error calculation on all the preliminary base azimuths and preliminary base elevation angles based on the least squares method to obtain corrected base azimuths and base elevation angles; convert the corrected base azimuths and base elevation angles from the geographic coordinate system to the device coordinate system to obtain a pointing calculation formula for the antenna in the device coordinate system;

[0145] The model correction module 502 is used to determine the orbital sequence pair of the orbiting satellite in the geographic coordinate system based on the orbital elements and astrophysics; perform droop correction on the orbital sequence pair and convert the corrected orbital sequence pair into a vector; input the vector into the pointing calculation formula of the antenna in the device coordinate system to obtain a rotation matrix;

[0146] The satellite tracking module 503 is used to determine the rotation angle of the antenna around the horizontal axis and the rotation angle around the vertical axis in the device coordinate system based on the rotation matrix.

[0147] Furthermore, the synchronous satellite search module 501 in this embodiment is specifically used for:

[0148] Through coarse scanning, the antenna beam angle range pointing from the antenna to the satellite is obtained;

[0149] Within the antenna beam angle range, obtain the horizontal beacon value corresponding to each scanning point through horizontal scanning, and determine the preliminary base azimuth based on the maximum horizontal beacon value;

[0150] The vertical beacon value corresponding to each scanning point is obtained through vertical scanning, and the preliminary base pitch angle is determined based on the maximum vertical beacon value.

[0151] Furthermore, the synchronous satellite search module 501 in this embodiment is specifically used for:

[0152] Determine an initial scanning starting point, and control the antenna to rotate from the initial scanning starting point to a scanning ending point at a preset rotation angle;

[0153] After the antenna rotates from the initial scanning start point to the scanning end point, the antenna is moved by the vertical offset in the geographic coordinate system, and then scanned from the initial scanning point to the scanning end point until a beacon signal greater than a preset threshold is scanned, and the scanning area corresponding to the beacon signal is taken as the antenna beam angle range.

[0154] Furthermore, the synchronous satellite search module 501 in this embodiment is specifically used for:

[0155] Controlling the antenna to move and scan in the horizontal direction from the first position according to a preset offset to complete scanning of the current azimuth;

[0156] Move the antenna to a second position, perform mobile scanning according to a preset offset, complete the scanning of the current azimuth, and end the scanning;

[0157] Record the horizontal beacon value corresponding to each scanning point during the scanning process, and draw a horizontal scanning curve with the position of the scanning point as the horizontal coordinate and the corresponding horizontal beacon value as the vertical coordinate;

[0158] Take the maximum value of the beacon on the horizontal scanning curve, draw a straight line parallel to the horizontal axis, intersect the horizontal scanning curve at two points, and take the average value of the horizontal coordinates of the two points as the preliminary base azimuth.

[0159] Furthermore, the synchronous satellite search module 501 in this embodiment is specifically used for:

[0160] Controlling the antenna to move and scan in the vertical direction from the first position according to a preset offset to complete scanning of the current pitch angle;

[0161] Move the antenna to a second position, perform mobile scanning according to a preset offset, and complete scanning at the current pitch angle until the scanning is completed;

[0162] Record the vertical beacon value corresponding to each scanning point during the scanning process, and draw a vertical scanning curve with the position of the scanning point as the horizontal coordinate and the corresponding vertical beacon value as the vertical coordinate;

[0163] Take the maximum value of the beacon on the vertical scanning curve, draw a straight line parallel to the horizontal axis, intersect the vertical scanning curve at two points, and take the average value of the horizontal coordinates of the two points as the preliminary base pitch angle.

[0164] Furthermore, the synchronous satellite search module 501 in this embodiment is specifically used for:

[0165] Based on the azimuth calculation formula, the preliminary base azimuth is corrected to obtain a corrected base azimuth. The azimuth calculation formula is:

[0166]

[0167] in, yaw represents the corrected base azimuth, n is the number representing the preliminary base azimuth, represents the preliminary base azimuth;

[0168] Based on the pitch angle calculation formula, the preliminary pitch angle is corrected to obtain the corrected base pitch angle. The azimuth angle calculation formula is:

[0169]

[0170] Among them, the represents the corrected pitch angle, represents the preliminary base pitch angle, Indicates the actual pitch angle, n Amount representing the preliminary pitch angle.

[0171] Furthermore, the rotation matrix in this embodiment is:

[0172] in, X_angle Indicates the rotation angle of the antenna around the horizontal axis in the device coordinate system. Y_angle Indicates the rotation angle of the antenna around the vertical axis in the device coordinate system.

[0173] Furthermore, the satellite tracking module 503 in this embodiment is specifically used for:

[0174] determining a normal vector of the antenna in the device coordinate system;

[0175] Constructing a normal equation group based on the normal vector and the rotation matrix;

[0176] Based on the normal equation group and the solution formula, the rotation angle of the antenna around the horizontal axis and the rotation angle around the vertical axis in the device coordinate system are obtained.

[0177] Furthermore, the solution formula in this embodiment is:

[0178]

[0179] in, Indicates the position of the antenna on the vertical axis of the device coordinate system. Indicates the position of the antenna on the vertical axis of the device coordinate system. Indicates the position of the antenna on the horizontal axis of the device coordinate system.

[0180] Figure 6 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0181] like Figure 6As shown, the electronic device may include: a processor (processor) 610, a communication interface (Communications Interface) 620, a memory (memory) 630 and a communication bus 640, wherein the processor 610, the communication interface 620, and the memory 630 communicate with each other through the communication bus 640. The processor 610 can call the logic instructions in the memory 630 to execute the dual-feed configuration portable XY terminal servo control method, which includes: based on a dual positioning system or a maximum tracking scanning method, determining different preliminary base azimuths and preliminary base pitch angles for the pointing tracking of the antenna to different synchronous satellites; based on the least squares method, performing error calculation on all the preliminary base azimuths and preliminary base pitch angles to obtain corrected base azimuths and base pitch angles; converting the corrected base azimuths and base pitch angles from the geographic coordinate system to the device coordinate system to obtain a pointing calculation formula for the antenna in the device coordinate system; based on orbital elements and astrophysics, determining the orbital sequence pairs of the orbiting satellite in the geographic coordinate system; performing droop correction on the orbital sequence pairs, and converting the corrected orbital sequence pairs into vectors; inputting the vector into the pointing calculation formula of the antenna in the device coordinate system to obtain a rotation matrix; based on the rotation matrix, determining the rotation angle of the antenna around the horizontal axis and the rotation angle around the vertical axis in the device coordinate system.

[0182] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0183] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the dual-feed source configuration portable XY terminal servo control method provided by the above methods, and the method includes: based on a dual positioning system or a maximum tracking scanning method, determining different preliminary base azimuth angles and preliminary base pitch angles of the antenna pointing to different synchronous satellites; based on the least squares method, performing error calculation on all the preliminary base azimuth angles and preliminary base pitch angles , obtain the corrected base azimuth and base pitch angle; convert the corrected base azimuth and base pitch angle from the geographic coordinate system to the device coordinate system, and obtain the pointing calculation formula of the antenna in the device coordinate system; determine the orbital sequence pair of the orbiting satellite in the geographic coordinate system based on the orbital elements and astrophysics; perform droop correction on the orbital sequence pair, and convert the corrected orbital sequence pair into a vector; input the vector into the pointing calculation formula of the antenna in the device coordinate system to obtain a rotation matrix; based on the rotation matrix, determine the rotation angle of the antenna around the horizontal axis and the rotation angle around the vertical axis in the device coordinate system.

[0184] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the processor executes the dual-feed source configuration portable XY terminal servo control method provided by the above methods, the method comprising: determining different preliminary base azimuth angles and preliminary base pitch angles for pointing and tracking of different synchronous satellites by the antenna based on a dual positioning system or a maximum tracking scanning method; performing error calculation on all the preliminary base azimuth angles and preliminary base pitch angles based on the least squares method to obtain corrected base azimuth angles and base pitch angles; pitch angle; convert the corrected base azimuth angle and base pitch angle from the geographic coordinate system to the device coordinate system to obtain the pointing calculation formula of the antenna in the device coordinate system; determine the orbital sequence pair of the orbiting satellite in the geographic coordinate system based on the orbital elements and astrophysics; perform droop correction on the orbital sequence pair, and convert the corrected orbital sequence pair into a vector; input the vector into the pointing calculation formula of the antenna in the device coordinate system to obtain a rotation matrix; based on the rotation matrix, determine the rotation angle of the antenna around the horizontal axis and the rotation angle around the vertical axis in the device coordinate system.

[0185] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0186] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0187] 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 dual-feed configuration portable XY type terminal servo control method, characterized in that: include: Based on the dual positioning system or the maximum value tracking scanning mode, different preliminary base azimuth angles and preliminary base elevation angles for pointing and tracking the antenna to different synchronous satellites are determined; Based on the least square method, error calculation is performed on all the preliminary base azimuth angles and preliminary base pitch angles to obtain corrected base azimuth angles and base pitch angles; The corrected base azimuth angle and base elevation angle are converted from the geographic coordinate system to the device coordinate system to obtain a pointing calculation formula of the antenna in the device coordinate system; Determine the orbital sequence pairs of orbiting satellites in the geographic coordinate system based on orbital elements and astrophysics; Performing sag correction on the orbital sequence pair, and converting the corrected orbital sequence pair into a vector; Input the vector into the pointing calculation formula of the antenna in the device coordinate system to obtain a rotation matrix; Based on the rotation matrix, a rotation angle of the antenna around the horizontal axis and a rotation angle around the vertical axis in the device coordinate system are determined.

2. The dual-feed configuration portable XY type terminal servo control method according to claim 1, characterized in that: When the maximum value tracking scanning mode is adopted, the determination of different preliminary base azimuths for pointing and tracking of the antenna to different synchronous satellites includes: Through coarse scanning, the antenna beam angle range pointing from the antenna to the satellite is obtained; Within the antenna beam angle range, obtain the horizontal beacon value corresponding to each scanning point through horizontal scanning, and determine the preliminary base azimuth based on the maximum horizontal beacon value; The vertical beacon value corresponding to each scanning point is obtained through vertical scanning, and the preliminary base pitch angle is determined based on the maximum vertical beacon value.

3. The dual-feed configuration portable XY type terminal servo control method according to claim 2, characterized in that: The obtaining of the antenna beam angle range pointing from the antenna to the satellite includes: Determine an initial scanning starting point, and control the antenna to rotate from the initial scanning starting point to a scanning ending point at a preset rotation angle; After the antenna rotates from the initial scanning start point to the scanning end point, the antenna is moved by the vertical offset in the geographic coordinate system, and then scanned from the initial scanning point to the scanning end point until a beacon signal greater than a preset threshold is scanned, and the scanning area corresponding to the beacon signal is taken as the antenna beam angle range.

4. The dual-feed configuration portable XY type terminal servo control method according to claim 2, characterized in that: The step of acquiring a horizontal beacon value corresponding to each scanning point through horizontal scanning, and determining a preliminary base azimuth based on the maximum horizontal beacon value, comprises: Controlling the antenna to move and scan in the horizontal direction from the first position according to a preset offset to complete scanning of the current azimuth; Move the antenna to a second position, perform mobile scanning according to a preset offset, complete the scanning of the current azimuth, and end the scanning; Record the horizontal beacon value corresponding to each scanning point during the scanning process, and draw a horizontal scanning curve with the position of the scanning point as the horizontal coordinate and the corresponding horizontal beacon value as the vertical coordinate; Take the maximum value of the beacon on the horizontal scanning curve, draw a straight line parallel to the horizontal axis, intersect the horizontal scanning curve at two points, and take the average value of the horizontal coordinates of the two points as the preliminary base azimuth.

5. The dual-feed configuration portable XY type terminal servo control method according to claim 2, characterized in that: The step of obtaining a vertical beacon value corresponding to each scanning point by vertical scanning and determining a preliminary base pitch angle based on the maximum vertical beacon value includes: Controlling the antenna to move and scan in the vertical direction from the first position according to a preset offset to complete scanning of the current pitch angle; Move the antenna to a second position, perform mobile scanning according to a preset offset, and complete scanning at the current pitch angle until the scanning is completed; Record the vertical beacon value corresponding to each scanning point during the scanning process, and draw a vertical scanning curve with the position of the scanning point as the horizontal coordinate and the corresponding vertical beacon value as the vertical coordinate; Take the maximum value of the beacon on the vertical scanning curve, draw a straight line parallel to the horizontal axis, intersect the vertical scanning curve at two points, and take the average value of the horizontal coordinates of the two points as the preliminary base pitch angle.

6. The dual-feed configuration portable XY type terminal servo control method according to claim 1, characterized in that: The method of performing error calculation on all the preliminary base azimuth angles and preliminary base pitch angles based on the least square method to obtain the corrected base azimuth angles and base pitch angles includes: Based on the azimuth calculation formula, the preliminary base azimuth is corrected to obtain a corrected base azimuth. The azimuth calculation formula is: ； in, yaw represents the corrected base azimuth, n is the number representing the preliminary base azimuth, represents the preliminary base azimuth; Based on the pitch angle calculation formula, the preliminary base pitch angle is corrected to obtain a corrected base pitch angle. The azimuth angle calculation formula is: ； Among them, the represents the corrected pitch angle, represents the preliminary base pitch angle, Indicates the actual pitch angle, n Amount representing the preliminary base pitch angle.

7. The servo control method for a portable XY terminal with dual feed configuration according to any one of claims 1 to 6, characterized in that: The rotation matrix is: ; in, X_ angle Indicates the rotation angle of the antenna around the horizontal axis in the device coordinate system. Y_angle Indicates the rotation angle of the antenna around the vertical axis in the device coordinate system.

8. The dual-feed configuration portable XY type terminal servo control method according to claim 7, characterized in that: The step of determining a rotation angle of the antenna around a horizontal axis and a rotation angle around a vertical axis in a device coordinate system based on the rotation matrix includes: determining a normal vector of the antenna in the device coordinate system; Constructing a normal equation group based on the normal vector and the rotation matrix; Based on the normal equation group and the solution formula, the rotation angle of the antenna around the horizontal axis and the rotation angle around the vertical axis in the device coordinate system are obtained.

9. The dual-feed configuration portable XY type terminal servo control method according to claim 8, characterized in that: The solution formula is: ； in, Indicates the position of the antenna on the vertical axis of the device coordinate system. Indicates the position of the antenna on the vertical axis of the device coordinate system. Indicates the position of the antenna on the horizontal axis of the device coordinate system.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the servo control method for a portable XY type terminal with dual feed configuration as claimed in any one of claims 1 to 9 is implemented.

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