Satellite target self-tracking method, device, equipment and medium based on step-by-step deviation

Abstract

The present disclosure provides a method, device, equipment and storage medium for self-tracking of satellite targets based on step-by-step deviation. The method includes: calculating the interpolation position of the satellite orbit at the current moment according to the current moment to obtain the orbit reference value; judging whether the target signal meets the self-tracking condition, and if the self-tracking condition is met, starting the self-tracking; calculating the cumulative amount of step-by-step deviation according to the self-tracking parameter; obtaining the control amount according to the cumulative amount of step-by-step deviation combined with the orbit reference value; and controlling the axis system according to the control amount to control the antenna to point to the satellite target. This solution can eliminate the situation where the antenna oscillates due to improper output of the antenna controller when the error voltage is used to directly drive the self-tracking, and optimize the tracking performance of the antenna.

Description

Technical Field

[0001] The present invention relates to the field of aerospace measurement and control technology, and in particular to a satellite target self-tracking method, device, equipment and storage medium based on step-by-step deviation. Background Art

[0002] Usually, when the ground station antenna used for satellite communication tracks the satellite, the program-guided tracking direction cannot be completely accurate due to mechanical errors in the structure of the ground station antenna itself, sparse sampling errors in the satellite orbit guidance file, and errors in the time between the ground station antenna system and the satellite. Therefore, it is necessary to use single pulse self-tracking to obtain the strongest point of the satellite signal and control the ground station antenna to align with the target, so as to improve the communication signal strength and thus improve the communication quality.

[0003] In the existing method, after capturing the satellite signal, the antenna servo system will determine whether to start self-tracking based on the phase correction effect and the locking status of the automatic gain control (AGC) of the tracking receiver. After determining to start self-tracking, the current orbit information is often not referenced, and the error voltage feedback is directly fed into the control loop. The azimuth and pitch error voltages generated by the tracking receiver drive the corresponding axis of the antenna for motion control. First, during the tracking process after the ground station antenna is aligned with the target, the system will oscillate due to frequent reversal of the controller output, causing the antenna tracking effect to decrease. In severe cases, it will cause the antenna to overshoot and fail to complete the satellite target tracking task. Furthermore, orbit information is not used to protect against deviations from the satellite target.

[0004] The above-mentioned deficiencies are what those skilled in the art expect to overcome. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] In order to solve the above-mentioned problems in the prior art, the present disclosure provides a satellite target self-tracking method, device, equipment and storage medium based on step-by-step deviation, which solves the problem of system oscillation caused by frequent reversal of the control system output when the prior art is completely driven by an error voltage.

[0007] (II) Technical solution

[0008] In order to achieve the above objectives, the main technical solutions adopted by this disclosure include:

[0009] In a first aspect, the present disclosure provides a satellite target self-tracking method based on step-by-step deviation, comprising:

[0010] Calculate the interpolated position of the satellite orbit at the current time according to the current time to obtain the orbit reference value;

[0011] Determine whether the target signal meets the self-tracking condition. If so, start self-tracking.

[0012] The accumulated amount of stepping deviation is calculated based on the self-tracking parameters;

[0013] The control value is obtained based on the cumulative amount of stepping deviation and the track reference value;

[0014] The antenna is directed toward the satellite target by controlling the axis system according to the control quantity.

[0015] In an exemplary embodiment of the present disclosure, calculating the interpolated position of the satellite orbit at the current moment according to the current moment to obtain the orbit reference value includes:

[0016] In program-guided mode, the interpolation algorithm is used to interpolate the sparse sampling points near the current moment to calculate the interpolation position of the satellite orbit at the current moment.

[0017] In an exemplary embodiment of the present disclosure, the self-tracking condition includes:

[0018] Whether the preset intensity threshold required for phase calibration is met and whether the phase meets the self-tracking threshold.

[0019] In an exemplary embodiment of the present disclosure, determining whether the target signal satisfies the self-tracking condition includes:

[0020] Determine in real time whether the AGC strength of the target signal reaches the preset strength threshold, and start phase calibration if it reaches it;

[0021] During the phase calibration process, determine whether the phase meets the self-tracking threshold.

[0022] In an exemplary embodiment of the present disclosure, starting self-tracking includes:

[0023] The initialization of self-tracking parameters is completed, and the self-tracking parameters include: error voltage, maximum error voltage, directional sensitivity coefficient and control period.

[0024] In an exemplary embodiment of the present disclosure, calculating the stepping deviation accumulation amount according to the self-tracking parameter includes:

[0025] The accumulated amount of pull-off with the accumulated direction of pull-off is calculated by the formula according to the error voltage, the maximum error voltage, the directional sensitivity coefficient and the control period. The formula is:

[0026]

[0027] in It is the accumulated amount of pull-off, and its positive and negative values ​​indicate the accumulated direction of pull-off. is the error voltage, is the maximum error voltage, To control the cycle, is the directional sensitivity coefficient.

[0028] In an exemplary embodiment of the present disclosure, obtaining the control amount according to the stepping deviation accumulation amount and combining the track reference value includes:

[0029] Determine whether the self-tracking is in a lost-lock state. When the self-tracking is temporarily lost, determine the calculation method of the control amount according to the length of the lost-lock time;

[0030] If the unlocking time is less than the preset time, the last step deviation accumulation before the unlocking state is obtained, and the last step deviation accumulation before the unlocking state is added to the track reference value to obtain the control value;

[0031] If the unlocking time is greater than or equal to the preset time, the last step deviation cumulative track reference value before falling into the unlocking state is used as the control amount until the self-tracking is locked again;

[0032] When the self-tracking is in the locked state, according to the calculation formula of the deviation accumulation α, the current cycle step deviation accumulation is obtained from the error voltage, the maximum error voltage, the directional sensitivity coefficient, and the control period, and superimposed on the deviation accumulation α to form the step deviation accumulation. The control amount is obtained by adding the step deviation accumulation to the track reference value.

[0033] In a second aspect, the present disclosure further provides a satellite target self-tracking device based on step-by-step deviation, comprising:

[0034] A reference value acquisition module is used to calculate the interpolation position of the satellite orbit at the current moment according to the current moment to obtain the orbit reference value;

[0035] The self-tracking start module is used to determine whether the target signal meets the self-tracking conditions. If the self-tracking conditions are met, the self-tracking is started;

[0036] The pull deviation accumulation module is used to calculate the step pull deviation accumulation according to the self-tracking parameters;

[0037] The control amount calculation module is used to obtain the control amount based on the cumulative amount of stepping deviation and the track reference value;

[0038] The tracking control module is used to control the axis system according to the control quantity to control the antenna to point to the satellite target.

[0039] In a third aspect, the present disclosure further provides an electronic device, characterized in that it includes:

[0040] one or more processors;

[0041] A storage device for storing one or more programs;

[0042] When the one or more programs are executed by the one or more processors, the one or more processors implement any of the above methods.

[0043] In a fourth aspect, the present disclosure further provides a computer-readable medium having a computer program stored thereon, wherein the program implements any of the above methods when executed by a processor.

[0044] (III) Beneficial effects

[0045] The beneficial effect of the disclosed embodiments is to provide a method, device, equipment and storage medium for satellite target self-tracking based on step-by-step deviation, by calculating the cumulative amount of step-by-step deviation and adding it to the control amount before the axis control amount takes effect, so that the antenna gradually and accurately points to the satellite target. This solution adopts the step-by-step deviation method to replace the traditional error voltage direct drive self-tracking method, which solves the problem that the error voltage is directly fed into the servo controller, causing the control amount to commutate and causing the servo system to oscillate, and the satellite target cannot be tracked normally, significantly improving the effect of satellite target self-tracking, and improving the stability and reliability of the antenna servo control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A schematic diagram of the satellite signal strength received on the ground and the change trend of a certain axis error voltage after self-tracking is turned on using a traditional self-tracking method provided in a related embodiment of the present disclosure;

[0047] Figure 2 A schematic diagram of a conventional self-tracking method provided in a related embodiment of the present disclosure causing a self-tracking control amount to fluctuate around 0 after self-tracking is turned on;

[0048] Figure 3 A flowchart of a method for self-tracking a satellite target based on step-by-step deviation provided in one embodiment of the present disclosure;

[0049] Figure 4 For the embodiment of the present disclosure Figure 3 The step flow chart of step S120;

[0050] Figure 5 A flowchart of a specific embodiment of the method provided by the present disclosure;

[0051] Figure 6 It is a schematic diagram of a self-tracking control quantity directly driven by an error voltage in a related embodiment of the present disclosure;

[0052] Figure 7 It is a schematic diagram of the self-tracking control amount using the stepping deviation method in the embodiment of the present disclosure;

[0053] Figure 8 A schematic diagram of the composition of a satellite target self-tracking device based on step-by-step deviation provided in another embodiment is disclosed;

[0054] Fig. 9 Still another embodiment of the present disclosure provides a schematic diagram of the internal structure of a computer system of an electronic device. DETAILED DESCRIPTION

[0055] In order to better explain the present disclosure and facilitate understanding, the present disclosure is described in detail below through specific implementation methods in conjunction with the accompanying drawings.

[0056] All technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present disclosure. The terms used herein in the specification of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0057] In the relevant embodiments of the present disclosure, during the self-tracking control process, when the antenna is tracking the target after self-tracking is turned on, the error voltage feedback amount will switch between positive and negative near 0, thereby causing the feedback amount input to the servo system controller to fluctuate between positive and negative, resulting in frequent reversal of the servo control system speed output, which can easily cause the servo system to oscillate, causing the received target signal to fluctuate.

[0058] Figure 1 This is a schematic diagram of the satellite signal strength received on the ground and the change trend of the error voltage of a certain axis system after the self-tracking is turned on using the traditional self-tracking method provided in the relevant embodiments of the present disclosure. Figure 2 FIG. 1 is a schematic diagram of a conventional self-tracking method provided in a related embodiment of the present disclosure causing the self-tracking control amount to fluctuate around 0 after self-tracking is turned on. Figure 1 As shown, the error voltage directly drives the self-tracking control method to start self-tracking, which causes the control system to oscillate. The two curves from top to bottom are curve 1 and curve 2, where curve 1 represents the satellite signal strength received on the ground, the horizontal axis represents time in seconds, and the vertical axis represents the satellite signal AGC voltage received on the ground in volts. Curve 2 represents the error voltage of a certain axis system received on the ground, the horizontal axis represents time in seconds, and the vertical axis represents the satellite signal error voltage received on the ground in volts. Figure 2Curve 3 is shown, Curve 3 represents the axis control amount corresponding to the error voltage, the horizontal axis represents time, the unit is second, and the vertical axis represents the axis control amount after the traditional self-tracking method is turned on, the unit is degree. It can be seen that when the traditional self-tracking method tracks the satellite, the error voltage is directly fed into the control loop, and the error voltage of a certain axis may change positively or negatively near 0, causing the control amount to change positively or negatively, resulting in oscillation of the axis system and reducing the control accuracy.

[0059] Secondly, according to the above method, if the tracking process is interfered by other signals or the feedback signal from the tracking receiver is incorrect, or the on-board signal is interrupted, the antenna will deviate from the actual orbit of the satellite at a higher speed. On the one hand, it will affect the measurement and control mission. On the other hand, if the antenna collides with the hard limit, it may cause damage to the mechanical structure of the antenna itself.

[0060] In response to the above-mentioned defects, the present invention provides a satellite target self-tracking method, device, equipment and storage medium based on step-by-step deviation, which can solve the system oscillation problem caused by frequent reversal of the control system output when the error voltage directly drives the single pulse self-tracking control method without utilizing orbit prior knowledge and is completely driven by the error voltage.

[0061] The method provided by the embodiment of the present disclosure uses a self-tracking method based on the prior knowledge of the program-guided orbit to perform step-by-step deviation in each cycle, so that each axis system of the antenna moves step by step together in the trend of reducing the error voltage, that is, to perform step-by-step deviation, so that the control system output caused by the positive and negative conversion of the error voltage in the error voltage direct drive control method changes from a change in direction sign to a change in speed magnitude in the same direction, thereby improving system stability. At the same time, orbit information is used to detect the deviation threshold, and when the deviation from the program-guided orbit is too large, the antenna is decelerated and stopped to ensure safety. In the case of other interference signals, the program-guided orbit can be returned to when the self-tracking loses lock, and the signal can be attempted to be captured again to reduce the failure of the tracking task.

[0062] Figure 3 FIG. 1 is a flowchart of a method for self-tracking a satellite target based on step-by-step deviation provided in an embodiment of the present disclosure. Figure 3 As shown, the method comprises the following steps:

[0063] Step S110, calculating the interpolated position of the satellite orbit at the current moment according to the current moment, and obtaining the orbit reference value;

[0064] Step S120, determining whether the target signal meets the self-tracking condition, and if so, starting the self-tracking;

[0065] Step S130, calculating the cumulative amount of step deviation according to the self-tracking parameters;

[0066] Step S140, obtaining a control value according to the cumulative amount of stepping deviation and the track reference value;

[0067] Step S150: Control the axis system according to the control amount to control the antenna to point to the satellite target.

[0068] Based on the method provided by the above steps S110 to S150, the method provided by the embodiment of the present disclosure calculates the cumulative amount of stepwise deviation and adds it to the control amount before the axis control amount takes effect, so that the antenna gradually and accurately points to the satellite target. The stability of the antenna servo system in the single pulse self-tracking mode can be improved, especially eliminating the situation where the antenna oscillates due to improper output of the antenna controller when the error voltage is used to directly drive the self-tracking, and optimizing the tracking performance of the antenna.

[0069] The specific steps of the satellite target self-tracking method based on step-by-step deviation are introduced below in conjunction with an embodiment.

[0070] like Figure 3 As shown, in step S110, the interpolated position of the satellite orbit at the current moment is calculated according to the current moment to obtain the orbit reference value.

[0071] In this step, in the program-guided mode, the interpolation algorithm is used to interpolate the sparse sampling points near the current time to calculate the interpolation position of the satellite orbit at the current time. The interpolation algorithm is used to determine the position and speed of the satellite at any time. The interpolation algorithm can be Lagrange interpolation algorithm, Newton interpolation algorithm, linear interpolation algorithm, polynomial fitting interpolation algorithm, etc.

[0072] like Figure 3 As shown, in step S120, it is determined whether the target signal meets the self-tracking condition. If the self-tracking condition is met, self-tracking is started.

[0073] The self-tracking conditions in this step include: whether the preset intensity threshold required for phase calibration is met and whether the phase meets the self-tracking threshold.

[0074] Figure 4 Embodiments provided for the present disclosure Figure 3 The step flow chart of step S120 in FIG. Figure 4 As shown, step S120 determines whether the target signal meets the self-tracking condition, including the following steps:

[0075] like Figure 4 As shown, in step S121, it is determined in real time whether the AGC strength of the target signal reaches a preset strength threshold, and if so, phase calibration is started;

[0076] like Figure 4 As shown, in step S122, during the phase calibration process, it is determined whether the phase satisfies the self-tracking threshold.

[0077] Furthermore, starting self-tracking in step S120 includes:

[0078] Complete the initialization of self-tracking parameters, which include but are not limited to: error voltage, maximum error voltage, directional sensitivity coefficient and control period.

[0079] Error voltage It is a signal used in the radar servo control system to adjust the antenna pointing direction. It is proportional to the target position error and is used to drive the antenna motor to reduce the error.

[0080] Maximum error voltage It is the maximum allowable value of the error voltage, which is used to limit the adjustment range of the servo system to prevent system overshoot and oscillation;

[0081] Directional sensitivity coefficient It is an important parameter of the radar tracking system, and it also affects the adjustment rate and accuracy of the antenna pointing. The value of will be optimized according to the target's motion characteristics and the radar's operating mode;

[0082] Control cycle It is the time interval used to update tracking parameters in the radar self-tracking system. A shorter control cycle can improve the tracking response speed.

[0083] Self-tracking parameters can also include the maximum range of pull-off , refers to the maximum angle range that the antenna can deviate from the target during self-tracking. This parameter needs to be set according to the dynamic characteristics of the target and the working distance of the radar to ensure that tracking is not lost when the target is maneuvering.

[0084] like Figure 3 As shown, in step S130, the step deviation accumulation amount is calculated based on the self-tracking parameters.

[0085] In this step, the accumulated amount of pull-off with the accumulated direction of pull-off is calculated by using the formula according to the error voltage, the maximum value of the error voltage, the directional sensitivity coefficient and the control period. The formula is:

[0086]

[0087] in is the accumulated amount of pull-off, and its positive and negative values ​​indicate the accumulated direction of pull-off, as mentioned above. is the error voltage, is the maximum error voltage, To control the cycle, is the directional sensitivity coefficient.

[0088] like Figure 3As shown, in step S140, the control amount is obtained according to the cumulative amount of stepping deviation combined with the track reference value.

[0089] In this step, it is determined whether the self-tracking is in a lost-lock state. When the self-tracking is temporarily lost, the calculation method of the control amount is determined according to the length of the lost-lock time.

[0090] If the unlocking time is less than the preset time, the last step deviation accumulation before the unlocking state is obtained, and the last step deviation accumulation before the unlocking state is added to the track reference value to obtain the control value;

[0091] If the unlocking time is greater than or equal to the preset time, the last step deviation cumulative track reference value before falling into the unlocking state is used as the control amount until the self-tracking is locked again;

[0092] When the self-tracking is in a locked state (i.e., not in an unlocked state), the step deviation cumulative amount of the current cycle is obtained from the error voltage, the maximum error voltage, the directional sensitivity coefficient, and the control period according to the calculation formula of the deviation cumulative amount α, and is superimposed on the deviation cumulative amount α to form the step deviation cumulative amount, and the control amount is obtained by adding the step deviation cumulative amount to the track reference value.

[0093] like Figure 3 As shown, in step S150, control is performed in the axis system according to the control amount to control the antenna to point to the satellite target.

[0094] In this step, the satellite signal is tried to be found by maintaining the deviation. If no satellite signal is found, the reference orbit is returned to continue tracking.

[0095] Figure 5 A flowchart of a specific embodiment of the method provided by the present disclosure, specifically, includes the following steps:

[0096] Step S501: After entering the program boot mode, according to the current time T current , calculate the orbit interpolation position at the current moment by interpolation method ( P ), that is, the formula:

[0097]

[0098] in represents the interpolation method, which uses the sparse sampling points near the corresponding time to interpolate and calculate the orbit reference value P.

[0099] Step S502: Determine in real time whether the target signal AGC (Automatic Gain Control) strength meets the phase calibration and self-tracking thresholds. If it meets the requirements, start phase calibration, and when the phase meets the self-tracking requirements, try to start self-tracking.

[0100] Step S503: When starting self-tracking, the following parameters are initialized, including the directional sensitivity coefficient ( )、Control cycle( )、Error voltage( )、Maximum error voltage( ) and the maximum pull range . Through parameter initialization, the accumulated amount of pull deviation can be determined according to the preset value and the control process status.

[0101] Step S504, calculating the cumulative amount of step deviation in each cycle.

[0102] According to the parameters obtained in step S503, the current deviation amount per cycle is determined according to the error voltage and the sensitivity coefficient, and then the deviation amount is accumulated to obtain the final output deviation amount. At this time, the error voltage ( ) represents a numerical value with a positive or negative sign, which indicates the direction of the accumulated pull:

[0103]

[0104] Step S505: Input the control amount per cycle of the antenna servo system , calculated according to the following formula:

[0105]

[0106] When external interference occurs during the control process and causes the self-tracking to lose lock temporarily, the system records the last accumulated deviation before the lock is lost. ,use The track change characteristics are memorized and tracked in this way. The short-term lock loss time refers to a time less than the preset time (such as 5s), and the preset time can be adjusted as needed.

[0107] When the unlocking time is long, the track position P (ie, the track reference value P in step S401 ) is used for tracking.

[0108] When self-tracking is locked, use way to track.

[0109] Step S506: determine whether the current guidance position continues to exceed the envelope threshold of the program guidance sequence. The conditions for triggering the envelope warning are as follows:

[0110]

[0111] Where L represents whether the envelope warning is triggered. When L triggers the envelope warning, L is set to 1. When the antenna servo system recognizes that L is 1, it will slow down and stop to ensure system safety. The condition for triggering the envelope warning is the accumulated amount of pull deviation. The absolute value of is greater than the maximum deviation range, that is, when the cumulative amount of step deviation is greater than the absolute value of the maximum deviation range, it is determined to trigger the envelope warning, and it is necessary to slow down and stop to ensure safety. Emax represents the set upper limit of the axis deviation (defined as the upper limit of the difference between the pre-set control amount per cycle β and the track position (that is, the track reference value) P).

[0112] Step S507: input the control amount β into the corresponding axis system for control so that the antenna gradually points to the satellite target.

[0113] After completing step S507, the next cycle can be continued.

[0114] It can be seen that the embodiment of the present disclosure uses a single pulse self-tracking method based on program-guided track deviation, which can achieve the following technical effects:

[0115] (1) It can solve the problem that the error voltage directly drives the self-tracking and easily causes the control system to oscillate when using the error voltage drive control.

[0116] (2) When interfered with, the program guides the control input reference value, and attempts to find satellite signals by maintaining the deviation value. If no satellite signal is found, it returns to the reference orbit and continues tracking.

[0117] (3) The program-guided track is used as a reference. When the servo system detects that the deviation from the track exceeds the threshold after self-tracking is turned on, the system slows down and stops to avoid structural damage caused by antenna collision.

[0118] Figure 6 It is a schematic diagram of the self-tracking control quantity directly driven by the error voltage in the relevant embodiments of the present disclosure, which includes 4 curves from top to bottom, respectively representing the AGC voltage, the single-axis error voltage, the single-axis position, and the single-axis self-tracking control quantity. The horizontal axis represents time in seconds, and the vertical axis represents the AGC voltage, the single-axis error voltage, the single-axis position, and the single-axis self-tracking control quantity, and the units are volts, volts, degrees, and degrees, respectively.

[0119] Figure 7 Schematic diagram of the self-tracking control quantity using the stepping pull-bias method in the embodiment of the present disclosure, which also includes 4 curves from top to bottom, representing the AGC voltage, the single-axis error voltage, the single-axis position, and the single-axis self-tracking control quantity, respectively. The parameters and units represented by the horizontal and vertical coordinates are the same as Figure 6 , which will not be elaborated here. Figure 6 and Figure 7 It can be seen that the oscillation problem of the single-axis self-tracking control quantity shown in the last curve has been well improved, which can ensure the stability of the control system and a good self-tracking effect. Since multi-axis self-tracking is usually controlled by decoupling each axis, this control method is also applicable to the working conditions of multi-axis antennas.

[0120] The present invention adopts the stepping deflection method to replace the error voltage direct driving self-tracking method, which solves the problem that the error voltage is directly fed into the servo controller, causing the control quantity to be commutated and the servo system to oscillate, and the satellite target cannot be tracked normally. The effect of satellite target self-tracking is significantly improved, and the stability and reliability of the antenna servo control system are improved.

[0121] Step tracking usually moves the antenna once in the axis direction, and adjusts the antenna step direction according to the feedback signal strength change to find the strongest point. Single pulse self-tracking controls the antenna movement based on error voltage feedback to obtain higher signal strength.

[0122] Through the above, the satellite target self-tracking method based on step-by-step deflection provided by the present disclosure has the following effects: by calculating the deflection amount of the azimuth and pitch error voltage in each cycle, and accumulating the deflection amount, and accumulating it to the control amount before the axis control amount takes effect, the antenna is gradually and accurately pointed to the satellite target. This technical solution aims to improve the stability of the antenna servo system in the single pulse self-tracking mode, especially to eliminate the situation where the antenna oscillates due to improper output of the antenna controller when the error voltage is used to directly drive the self-tracking, and optimize the tracking performance of the antenna.

[0123] The present disclosure also provides a satellite target self-tracking device based on step-by-step deviation. Figure 8 FIG. 1 is a schematic diagram of the composition of a satellite target self-tracking device based on step-by-step deviation provided in another embodiment of the present disclosure. Figure 8 As shown, the device 600 includes: a reference value acquisition module 610 , a self-tracking start module 620 , a pull deviation accumulation module 630 , a control amount calculation module 640 and a tracking control module 650 .

[0124] The reference value acquisition module 610 is used to calculate the interpolated position of the satellite orbit at the current moment according to the current moment to obtain the orbit reference value; the self-tracking start module 620 is used to determine whether the target signal meets the self-tracking conditions. If the self-tracking conditions are met, self-tracking is started; the deviation accumulation module 630 is used to calculate the step deviation accumulation amount according to the self-tracking parameters; the control amount calculation module 640 is used to obtain the control amount based on the step deviation accumulation amount and the orbit reference value; the tracking control module 650 is used to control the axis system according to the control amount to control the antenna to point to the satellite target.

[0125] Reference below Fig. 9 , which shows a schematic diagram of the structure of a computer system 400 suitable for implementing an electronic device of an embodiment of the present application. Fig. 9 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0126] like Fig. 9 As shown, the computer system 400 includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage part 407 to a random access memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the system 400 are also stored. The CPU 401, the ROM 402, and the RAM 403 are connected to each other through a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0127] The following components are connected to the I / O interface 405: an input section 406 including a keyboard, a mouse, etc.; an output section 407 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN card, a modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as needed. A removable medium 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 410 as needed, so that a computer program read therefrom is installed into the storage section 408 as needed.

[0128] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication part 409, and / or installed from a removable medium 411. When the computer program is executed by the central processing unit (CPU) 401, the above-mentioned functions defined in the system of the present application are executed.

[0129] It should be noted that the storage medium shown in the present application may be a computer-readable signal medium or a computer-readable medium or any combination of the above two. The computer-readable medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium may also be any computer-readable medium other than a computer-readable medium that can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0130] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the above-mentioned module, program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0131] The units involved in the embodiments described in this application may be implemented by software or hardware. The units described may also be arranged in a processor, wherein the names of these units do not constitute limitations on the units themselves in certain circumstances.

[0132] On the other hand, the present disclosure further provides a storage medium, which may be included in the electronic device described in the above embodiment; or may exist independently without being assembled into the electronic device. The above storage medium carries one or more programs, and when the above one or more programs are executed by an electronic device, the electronic device includes the following method steps:

[0133] Calculate the interpolated position of the satellite orbit at the current time according to the current time to obtain the orbit reference value;

[0134] Determine whether the target signal meets the self-tracking condition. If so, start self-tracking.

[0135] The accumulated amount of stepping deviation is calculated based on the self-tracking parameters;

[0136] The control value is obtained based on the cumulative amount of stepping deviation and the track reference value;

[0137] The antenna is directed toward the satellite target by controlling the axis system according to the control quantity.

[0138] It should be understood that the above description of the specific embodiments of the present disclosure is only for the purpose of illustrating the technical route and features of the present disclosure, and its purpose is to enable those skilled in the art to understand the content of the present disclosure and implement it accordingly, but the present disclosure is not limited to the above specific implementation methods. Any changes or modifications made within the scope of the claims of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A satellite target self-tracking method based on step-by-step deviation, characterized in that: include: Calculate the interpolated position of the satellite orbit at the current time according to the current time to obtain the orbit reference value; Determine whether the target signal meets the self-tracking condition. If so, start self-tracking. The accumulated amount of stepping deviation is calculated based on the self-tracking parameters; The control value is obtained based on the cumulative amount of stepping deviation and the track reference value; Control the antenna to point to the satellite target by controlling the axis system according to the control quantity; Enabling self-tracking includes: Initializing the self-tracking parameters, including error voltage, maximum error voltage, directional sensitivity coefficient, and control period; The stepping deviation accumulation amount calculated according to the self-tracking parameters comprises: The accumulated amount of pull-off with the accumulated direction of pull-off is calculated by the formula according to the error voltage, the maximum error voltage, the directional sensitivity coefficient and the control period. The formula is: ； in It is the accumulated amount of pull-off, and its positive and negative values ​​indicate the accumulated direction of pull-off. is the error voltage, is the maximum error voltage, To control the cycle, is the directional sensitivity coefficient.

2. The satellite target self-tracking method based on step-by-step deviation as claimed in claim 1, characterized in that: The interpolated position of the satellite orbit at the current time is calculated according to the current time to obtain the orbit reference value, including: In program-guided mode, the interpolation algorithm is used to interpolate the sparse sampling points near the current moment to calculate the interpolation position of the satellite orbit at the current moment.

3. The satellite target self-tracking method based on step-by-step deviation as claimed in claim 1, characterized in that: Self-tracking conditions include: Whether the preset intensity threshold required for phase calibration is met and whether the phase meets the self-tracking threshold.

4. The satellite target self-tracking method based on step-by-step deviation as claimed in claim 3, characterized in that: Judging whether the target signal meets the self-tracking conditions includes: Determine in real time whether the AGC strength of the target signal reaches the preset strength threshold, and start phase calibration if it reaches it; During the phase calibration process, determine whether the phase meets the self-tracking threshold.

5. The satellite target self-tracking method based on step-by-step deviation according to any one of claims 1 to 4, characterized in that: According to the cumulative amount of stepping deviation, combined with the track reference value, the control amount includes: Determine whether the self-tracking is in a lost-lock state. When the self-tracking is temporarily lost, determine the calculation method of the control amount according to the length of the lost-lock time; If the unlocking time is less than the preset time, the last step deviation accumulation before the unlocking state is obtained, and the last step deviation accumulation before the unlocking state is added to the track reference value to obtain the control value; If the unlocking time is greater than or equal to the preset time, the orbit reference value is used as the control variable until the self-tracking is locked again; When the self-tracking is in the locked state, according to the calculation formula of the deviation accumulation α, the current cycle step deviation accumulation is obtained from the error voltage, the maximum error voltage, the directional sensitivity coefficient, and the control period, and superimposed on the deviation accumulation α to form the step deviation accumulation. The control amount is obtained by adding the step deviation accumulation to the track reference value.

6. A satellite target self-tracking device based on step-by-step deviation, characterized in that: include: A reference value acquisition module is used to calculate the interpolation position of the satellite orbit at the current moment according to the current moment to obtain the orbit reference value; The self-tracking start module is used to determine whether the target signal meets the self-tracking conditions. If the self-tracking conditions are met, the self-tracking is started; The pull deviation accumulation module is used to calculate the step pull deviation accumulation according to the self-tracking parameters; The control amount calculation module is used to obtain the control amount based on the cumulative amount of stepping deviation and the track reference value; The tracking control module is used to control the axis system according to the control amount to control the antenna to point to the satellite target; The self-tracking start module starts self-tracking including: Initializing the self-tracking parameters, including error voltage, maximum error voltage, directional sensitivity coefficient, and control period; The pull deviation accumulation module calculates the step pull deviation accumulation according to the self-tracking parameters, including: The accumulated amount of pull-off with the accumulated direction of pull-off is calculated by the formula according to the error voltage, the maximum error voltage, the directional sensitivity coefficient and the control period. The formula is: ； in It is the accumulated amount of pull-off, and its positive and negative values ​​indicate the accumulated direction of pull-off. is the error voltage, is the maximum error voltage, To control the cycle, is the directional sensitivity coefficient.

7. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 5.

8. A computer readable medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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