Antenna self-tracking system, control method, computer equipment and readable storage medium

Abstract

The invention relates to the technical field of antenna tracking, and particularly discloses an antenna self-tracking system, a control method, computer equipment and a readable storage medium. The method comprises the following steps: controlling an antenna to track satellites according to a forecast program, and continuously detecting centimeter-wave satellite signals and millimeter-wave satellite signals; when the centimeter-wave satellite signal is detected, determining whether the centimeter-wave satellite signal meets a tracking condition, and if yes, controlling the antenna to perform satellite tracking according to the centimeter-wave satellite signal; and when the millimeter wave satellite signal is detected, determining whether the millimeter wave satellite signal satisfies a tracking condition, and if so, controlling the antenna to perform satellite tracking according to the millimeter wave satellite signal. Therefore, the signal tracking mode can be intelligently switched according to the actual situation and the priority while continuous satellite tracking is ensured.

Description

Technical Field

[0001] The present application relates to the field of antenna tracking technology, and in particular to an antenna self-tracking system, a control method, a computer device and a readable storage medium. Background Art

[0002] In the process of satellite measurement and control, the antenna of the large-aperture relay satellite ground station needs to realize continuous and uninterrupted automatic tracking of satellite signals. Traditional antenna tracking systems can usually only use one signal tracking mode for tracking. Switching the tracking mode requires reloading the software or manual operation to achieve mode switching. It is unable to adapt to the intelligent conversion in the environment where multiple signal tracking modes coexist. Summary of the invention

[0003] Based on this, it is necessary to provide an antenna self-tracking control method, an antenna self-tracking system, a computer device and a computer-readable storage medium to address the above problems.

[0004] According to a first aspect of an embodiment of the present application, there is provided an antenna self-tracking control method, comprising: Control the antenna to track satellites according to the forecast program and continuously detect centimeter-wave satellite signals and millimeter-wave satellite signals; When the centimeter-wave satellite signal is detected, determining whether the centimeter-wave satellite signal satisfies a tracking condition, and if so, controlling the antenna to perform satellite tracking according to the centimeter-wave satellite signal; When the millimeter wave satellite signal is detected, it is determined whether the millimeter wave satellite signal meets the tracking condition. If so, the antenna is controlled to perform satellite tracking according to the millimeter wave satellite signal.

[0005] In one embodiment, the antenna self-tracking control method further includes: If it is determined that the centimeter-wave satellite signal does not meet the tracking condition, the antenna is controlled to continue satellite tracking according to the prediction program, and the centimeter-wave satellite signal is dynamically phased until the centimeter-wave satellite signal meets the tracking condition.

[0006] In one embodiment, the antenna self-tracking control method further includes: If it is determined that the millimeter wave satellite signal does not meet the tracking condition, the antenna is controlled to keep tracking the satellite according to the centimeter wave satellite signal, and the millimeter wave satellite signal is dynamically phased until the millimeter wave satellite signal meets the tracking condition.

[0007] In one of the embodiments, the centimeter wave satellite signal and the millimeter wave satellite signal both include at least one of a tracking error signal, an AGC level signal, and a signal lock indication obtained through demodulation; In the step of determining whether the centimeter-wave satellite signal or the millimeter-wave satellite signal satisfies the tracking condition, if any one of the following conditions is not met, it is determined that the centimeter-wave satellite signal or the millimeter-wave satellite signal does not satisfy the tracking condition: (1) The signal lock indicates the locked state; (2) The AGC level is greater than or equal to the set value; (3) The tracking error is less than or equal to the allowable error value; (4) Voltage polarization: positive biased negative voltage, negative biased positive voltage.

[0008] In one embodiment, the tracking error signal includes an azimuth error voltage and a pitch error voltage; the tracking error is less than or equal to the allowable error value, including that the azimuth error voltage jitter and the pitch error voltage jitter are both less than or equal to the first allowable error value, and the azimuth error voltage slope and the pitch error voltage slope are both less than or equal to the second allowable error value.

[0009] In one of the embodiments, in the step of controlling the antenna to track satellites according to centimeter-wave satellite signals, the signal quality of the centimeter-wave satellite signals is detected in real time. If the signal quality of the centimeter-wave satellite signals is abnormal, the process returns to the step of controlling the antenna to track satellites according to a prediction procedure.

[0010] In one of the embodiments, in the step of controlling the antenna to track satellites according to millimeter-wave satellite signals, the signal quality of the millimeter-wave satellite signals is detected in real time. If the signal quality of the millimeter-wave satellite signals is abnormal, the process returns to the step of controlling the antenna to track satellites according to centimeter-wave satellite signals.

[0011] According to a second aspect of an embodiment of the present application, there is provided an antenna self-tracking system, comprising: antenna; A dual-band feed source, connected to the antenna, for receiving centimeter-wave satellite signals and millimeter-wave satellite signals tracked by the antenna; A first tracking channel and a first tracking receiver, wherein the first tracking receiver is connected to the dual-band feed source via the first tracking channel and is used to process the centimeter-wave satellite signal; A second tracking channel and a second tracking receiver, wherein the second tracking receiver is connected to the dual-band feed via the second tracking channel and is used to process the millimeter wave satellite signal; The control unit is respectively connected to the antenna, the first tracking receiver and the second tracking receiver, and is configured to execute the above antenna self-tracking control method.

[0012] According to a third aspect of an embodiment of the present application, a computer device is provided, comprising a memory, a processor, a communication board and a timing board connected via a system bus, wherein the memory stores a computer program, and the processor implements the above-mentioned antenna self-tracking control method when executing the computer program.

[0013] According to a third aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned antenna self-tracking control method is implemented.

[0014] The antenna self-tracking control method provided in the embodiment of the present application can first control the antenna to track the satellite according to the forecast program, and at the same time continuously detect the centimeter wave satellite signal and the millimeter wave satellite signal. When the centimeter wave satellite signal is detected, it is determined whether the centimeter wave satellite signal meets the tracking condition. If the tracking condition is met, the antenna is controlled to track the satellite according to the centimeter wave satellite signal. At the same time, the millimeter wave satellite signal is continuously detected. When the millimeter wave satellite signal is detected, it is determined whether the millimeter wave satellite signal meets the tracking condition. If the tracking condition is met, the antenna is controlled to track the satellite according to the millimeter wave satellite signal. Through the above method, centimeter wave satellite signals and millimeter wave satellite signals can be continuously detected. Usually, the centimeter wave satellite signal is often detected first, and then the millimeter wave satellite signal is detected. In this embodiment, before the centimeter wave satellite signal is detected, the antenna is controlled to track the satellite according to the forecast program. When the centimeter wave satellite signal is detected and it meets the tracking condition, it is switched to the centimeter wave satellite signal with a high priority to track the satellite. When the millimeter wave satellite signal is detected and it meets the tracking condition, it is switched to the millimeter wave satellite signal with a higher priority to track the satellite. Thus, while ensuring continuous tracking of the satellite, the signal tracking mode can be intelligently switched according to the actual situation and the priority level. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A flowchart of an antenna self-tracking control method provided in an embodiment of the present application; Figure 2 A schematic diagram of the structure of an antenna self-tracking system provided in one embodiment of the present application; Figure 3 A schematic diagram of the structure of a computer device provided in one embodiment of the present application.

[0016] Description of reference numerals: 100, antenna; 200, dual-band feed; 310, first tracking channel; 320, first tracking receiver; 330, second tracking channel; 340, second tracking receiver; 400, control unit; 500, driving unit. DETAILED DESCRIPTION

[0017] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present application are given in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to understand the disclosure of the present application more thoroughly and comprehensively.

[0018] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0019] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0021] In the process of satellite measurement and control, the antenna of the large-aperture relay satellite ground station needs to realize continuous and uninterrupted automatic tracking of satellite signals. Traditional antenna tracking systems can usually only use one signal tracking mode for tracking. Switching the tracking mode requires reloading the software or manual operation to achieve mode switching. It is unable to adapt to the intelligent conversion in the environment where multiple signal tracking modes coexist.

[0022] Due to the large antenna aperture and narrow beam, the program guidance is based on the TLE or instantaneous root orbit prediction obtained by the current orbit determination accuracy. The prediction error is generally around 0.1°~0.2°, which makes it extremely difficult to directly capture the self-tracking millimeter wave satellite signal. The usual method is to first track with centimeter waves (X band), then guide millimeter waves (Q band) to capture and then switch to automatic tracking. However, the existing antenna tracking system often lacks an intelligent switching mechanism and basically relies on manual judgment to switch modes. It is impossible to automatically select the optimal tracking mode based on signal quality, tracking effect and frequency band priority.

[0023] In order to solve the above problems, the embodiments of the present application provide an antenna self-tracking control method, an antenna self-tracking system, a computer device and a computer-readable storage medium.

[0024] In one embodiment, a method for controlling antenna self-tracking is provided, by which the tracking mode of the antenna can be intelligently switched and the tracking effect can be ensured.

[0025] Reference Figure 1 The antenna self-tracking control method provided in this embodiment includes the following steps: Step S200: Control the antenna to track satellites according to the prediction program and continuously detect centimeter-wave satellite signals and millimeter-wave satellite signals.

[0026] The prediction program refers to the orbit prediction calculation based on the instantaneous number of satellite orbit elements or two-line elements sent by the center side. Generally, the satellite antenna pointing prediction of 20 points / second is calculated from the inbound antenna elevation angle of 3 degrees to the outbound antenna elevation angle of 3 degrees. The format is: time, azimuth, and pitch angle, and it is saved on the local side. When the control antenna works in the program-guided tracking mode (that is, the control antenna tracks the satellite according to the prediction program), the locally stored prediction can be called, and the prediction value can be loaded point by point in a time-matching manner. The control antenna points to the satellite according to the prediction value. The above process is the program-guided tracking mode.

[0027] In this embodiment, when the local side receives the satellite tracking plan time and orbital elements sent by the central side monitoring, the program is initialized, the macro command parameters of the corresponding satellite code are loaded, and the satellite orbit prediction is calculated. Then, the antenna is first controlled to track the satellite according to the prediction program, that is, according to the satellite orbit prediction time, azimuth, and pitch angle, the antenna is controlled to rotate in a time-matching manner, that is, entering the program tracking mode.

[0028] While entering the program tracking mode, centimeter wave (X-band) satellite signals and millimeter wave (Q-band) satellite signals are continuously detected. Before a centimeter wave satellite signal or a millimeter wave satellite signal is detected, the program tracking mode is maintained. Once a centimeter wave satellite signal or a millimeter wave satellite signal is detected, the subsequent intelligent judgment and mode switching links can be entered. Generally speaking, centimeter wave satellite signals will be received before millimeter wave satellite signals.

[0029] Step S400: When the centimeter-wave satellite signal is detected, it is determined whether the centimeter-wave satellite signal meets the tracking condition. If so, the antenna is controlled to perform satellite tracking according to the centimeter-wave satellite signal.

[0030] When a centimeter-wave satellite signal is detected, it is first determined whether the currently received centimeter-wave satellite signal meets the tracking conditions. If the tracking conditions are met, the antenna can be controlled to track the satellite according to the centimeter-wave satellite signal, that is, the program tracking mode is switched to the centimeter-wave satellite signal tracking mode.

[0031] In this embodiment, when in the centimeter wave satellite signal tracking mode, the millimeter wave satellite signal is continuously detected.

[0032] Step S600: When the millimeter wave satellite signal is detected, it is determined whether the millimeter wave satellite signal meets the tracking condition. If so, the antenna is controlled to perform satellite tracking according to the millimeter wave satellite signal.

[0033] When a millimeter-wave satellite signal is detected, similarly, it is first determined whether the currently received millimeter-wave satellite signal meets the tracking conditions. If the tracking conditions are met, the antenna can be controlled to track the satellite according to the millimeter-wave satellite signal, that is, the centimeter-wave satellite signal tracking mode is switched to the millimeter-wave satellite signal tracking mode.

[0034] The antenna self-tracking control method provided in the embodiment of the present application can first control the antenna to track the satellite according to the forecast program, and at the same time continuously detect the centimeter wave satellite signal and the millimeter wave satellite signal. When the centimeter wave satellite signal is detected, it is determined whether the centimeter wave satellite signal meets the tracking condition. If the tracking condition is met, the antenna is controlled to track the satellite according to the centimeter wave satellite signal. At the same time, the millimeter wave satellite signal is continuously detected. When the millimeter wave satellite signal is detected, it is determined whether the millimeter wave satellite signal meets the tracking condition. If the tracking condition is met, the antenna is controlled to track the satellite according to the millimeter wave satellite signal. Through the above method, centimeter wave satellite signals and millimeter wave satellite signals can be continuously detected. Usually, the centimeter wave satellite signal is often detected first, and then the millimeter wave satellite signal is detected. In this embodiment, before the centimeter wave satellite signal is detected, the antenna is controlled to track the satellite according to the forecast program. When the centimeter wave satellite signal is detected and it meets the tracking condition, it is switched to the centimeter wave satellite signal with a high priority to track the satellite. When the millimeter wave satellite signal is detected and it meets the tracking condition, it is switched to the millimeter wave satellite signal with a higher priority to track the satellite. Thus, while ensuring continuous tracking of the satellite, the signal tracking mode can be intelligently switched according to the actual situation and the priority level, and the tracking effect can be guaranteed.

[0035] In one of the embodiments, step S400 may also include the following steps: if it is determined that the centimeter-wave satellite signal does not meet the tracking conditions, controlling the antenna to continue satellite tracking according to the prediction procedure, and dynamically calibrating the centimeter-wave satellite signal until the centimeter-wave satellite signal meets the tracking conditions.

[0036] When a centimeter-wave satellite signal is detected but does not meet the tracking conditions, the antenna's working mode is not switched, that is, the antenna continues to be controlled to track the satellite according to the forecast program, and the centimeter-wave satellite signal is dynamically phased to make the centimeter-wave satellite signal meet the tracking conditions. Specifically, in the program tracking mode, the receiver can be automatically pulled to a small angle, and the error voltage output by the receiver can be read to achieve fast phase calibration. Generally, the number of phase calibrations is 1 to 3 times to ensure stable antenna tracking.

[0037] Similarly, step S600 may also include the following steps: if it is determined that the millimeter wave satellite signal does not meet the tracking conditions, controlling the antenna to keep tracking the satellite according to the centimeter wave satellite signal, and dynamically calibrating the millimeter wave satellite signal until the millimeter wave satellite signal meets the tracking conditions.

[0038] When a millimeter-wave satellite signal is detected but does not meet the tracking conditions, the working mode of the antenna is not switched at this time, that is, the antenna continues to be controlled to track the satellite according to the centimeter-wave satellite signal, and the millimeter-wave satellite signal is dynamically phase-corrected so that the millimeter-wave satellite signal meets the tracking conditions. Specifically, in the centimeter-wave satellite signal tracking mode, the receiver can be automatically pulled to a small angle to read the error voltage output by the receiver to achieve rapid phase correction. Generally, the number of phase corrections is 1 to 3 times to ensure stable tracking of the antenna. When the millimeter-wave satellite signal meets the tracking conditions, the centimeter-wave satellite signal tracking mode is switched to the millimeter-wave satellite signal tracking mode, that is, the antenna is controlled to track the satellite according to the millimeter-wave satellite signal.

[0039] In one of the embodiments, the centimeter-wave satellite signal and the millimeter-wave satellite signal both include at least one of a demodulated tracking error signal, an AGC level signal, and a signal lock indication.

[0040] After the ground antenna tracking system receives the centimeter-wave satellite signal or the millimeter-wave satellite signal, it first performs signal processing such as amplification, frequency conversion, and demodulation on the satellite signal, and then obtains at least one of the demodulated tracking error signal, AGC level signal, and signal lock indication.

[0041] In step S400 or step S600, i.e., the step of determining whether the centimeter-wave satellite signal or the millimeter-wave satellite signal satisfies the tracking condition, if any one of the following conditions is not met, it is determined that the centimeter-wave satellite signal or the millimeter-wave satellite signal does not satisfy the tracking condition: (1) The signal lock indicates the locked state; (2) The AGC level is greater than or equal to the set value; (3) The tracking error is less than or equal to the allowable error value; (4) Voltage polarization: positive biased negative voltage, negative biased positive voltage.

[0042] In one embodiment, the tracking error signal may include an azimuth error voltage and a pitch error voltage. The tracking error in the above tracking condition is less than or equal to the error allowable value, which may include that the azimuth error voltage jitter and the pitch error voltage jitter are both less than or equal to the first error allowable value, and the azimuth error voltage slope and the pitch error voltage slope are both less than or equal to the second error allowable value. For example, the azimuth / pitch error voltage jitter may be set to be less than or equal to 1.5 volts, and the azimuth / pitch error voltage may be set to be less than or equal to 5 volts / mil.

[0043] In addition, during the tracking process, special situations may occur, such as signal loss (loss of lock), excessive level fluctuation, decreased tracking accuracy, etc. In order to deal with the above special situations and ensure the tracking effect, in one embodiment, in step S400, i.e., the step of controlling the antenna to track the satellite according to the centimeter wave satellite signal, the signal quality of the centimeter wave satellite signal is detected in real time. If the signal quality of the centimeter wave satellite signal is abnormal, the process returns to the step of controlling the antenna to track the satellite according to the forecast program.

[0044] In one of the embodiments, in step S600, i.e., in the step of controlling the antenna to track satellites according to millimeter-wave satellite signals, the signal quality of the millimeter-wave satellite signals is detected in real time. If the signal quality of the millimeter-wave satellite signals is abnormal, the method returns to the step of controlling the antenna to track satellites according to centimeter-wave satellite signals.

[0045] That is, in both centimeter-wave satellite signal tracking mode and millimeter-wave satellite signal tracking mode, it is possible to monitor signal quality in real time and dynamically adjust tracking parameters to ensure optimal tracking effect.

[0046] Specifically, the signal quality detection criteria are consistent with the tracking condition detection criteria mentioned above, that is, whether the current satellite signal meets the above four conditions. If any of the conditions is not met, it is determined that the signal quality of the current satellite signal is abnormal. Assuming that the current mode is in millimeter wave satellite signal tracking mode, if the signal quality of the millimeter wave satellite signal is detected to be abnormal, the centimeter wave satellite signal tracking mode is returned. If the current mode is in centimeter wave satellite signal tracking mode, if the signal quality of the centimeter wave satellite signal is detected to be abnormal, the program tracking mode is returned.

[0047] Through the real-time detection results of the signal quality of the satellite signal, the antenna can be controlled to automatically switch to the optimal tracking mode to ensure the signal reception quality and uninterrupted tracking of the antenna.

[0048] In this embodiment, during the above tracking process, when it is detected that the tracking time reaches a preset time, the antenna is controlled to stop satellite tracking and enter a standby state to wait for the next task.

[0049] Reference Figure 2In one embodiment, an antenna self-tracking system is provided, comprising an antenna 100, a dual-band feed 200, a first tracking channel 310, a first tracking receiver 320, a second tracking channel 330, a second tracking receiver 340, and a control unit 400. The dual-band feed 200 is connected to the antenna 100 to receive centimeter-wave satellite signals and millimeter-wave satellite signals tracked by the antenna 100. The first tracking receiver 320 is connected to the dual-band feed 200 via the first tracking channel 310 to process the centimeter-wave satellite signals. The second tracking receiver 340 is connected to the dual-band feed 200 via the second tracking channel 330 to process the millimeter-wave satellite signals. The control unit 400 is respectively connected to the antenna 100, the first tracking receiver 320, and the second tracking receiver 340, wherein the control unit 400 can be connected to the antenna 100 via the driving unit 500. The control unit 400 is configured to execute the antenna self-tracking control method provided in the above embodiment.

[0050] Specifically, for medium-orbit relay satellite ground stations, a large-aperture X / Q dual-band antenna can be selected. The half-power beamwidth of the X-band antenna is approximately 0.2°, and the half-power beamwidth of the Q-band antenna is approximately 0.043°.

[0051] For X-band tracking of measurement and control signals, a single-channel single-pulse tracking method can be adopted, and for Q-band digital transmission signal tracking, a dual-channel single-pulse tracking method can be adopted. When the satellite enters the coverage area of ​​the ground station antenna, the antenna can first guide the antenna to track the satellite according to the center plan and orbital root number program. The X-band measurement and control sum and difference RF signals output by the antenna feed are amplified by their respective low-noise fields, synthesized into single-channel signals in the first tracking channel, and then frequency-converted to 70MHz intermediate frequency, and sent to the spread spectrum tracking receiver (i.e., the first tracking receiver). After the receiver demodulates the tracking error signal, AGC level, and lock indication, it is sent to the control unit. At the same time, the Q-band digital transmission sum and difference RF signals output by the antenna feed are amplified by their respective low-noise fields, converted to 70MHz intermediate frequency, and sent to the digital transmission tracking receiver (i.e., the second tracking receiver) through the second tracking channel. After the receiver demodulates the tracking error signal, AGC level, and lock indication, it is sent to the control unit. When the control unit receives the satellite signals of each band, it can execute the corresponding self-tracking control method.

[0052] Regarding the antenna self-tracking control method executed by the control unit, reference may be made to the specific contents of the antenna self-tracking control method provided in the aforementioned embodiment, which will not be described in detail here.

[0053] In one embodiment, a computer device is provided, including a memory, a processor, a communication board, and a time code board. The memory stores a computer program. When the processor executes the computer program, it cooperates with the communication board and the time code board to implement the steps in the above-mentioned method embodiments.

[0054] Figure 3 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present application. The computer device may be a server, and its internal structure diagram may be as follows: Figure 3 As shown. The computer device includes a processor, a memory, a communication board and a time code board connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store various types of data involved in the antenna self-tracking control method. The communication board of the computer device can be connected and communicated with an external antenna feed extension device through a 422 / 485 interface. The time code board is used to ensure the accurate consistency of the computer time stamp with the external time system. When the computer program is executed by the processor, an antenna self-tracking control method is implemented.

[0055] Those skilled in the art will understand that Figure 3 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0056] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0057] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0058] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0059] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0060] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. An antenna self-tracking control method, characterized in that: include: Control the antenna to track satellites according to the forecast program and continuously detect centimeter-wave satellite signals and millimeter-wave satellite signals; When the centimeter-wave satellite signal is detected, determining whether the centimeter-wave satellite signal satisfies a tracking condition, and if so, controlling the antenna to perform satellite tracking according to the centimeter-wave satellite signal; When the millimeter wave satellite signal is detected, it is determined whether the millimeter wave satellite signal meets the tracking condition. If so, the antenna is controlled to perform satellite tracking according to the millimeter wave satellite signal.

2. The antenna self-tracking control method according to claim 1, characterized in that: The antenna self-tracking control method also includes: If it is determined that the centimeter-wave satellite signal does not meet the tracking condition, the antenna is controlled to continue satellite tracking according to the prediction program, and the centimeter-wave satellite signal is dynamically phased until the centimeter-wave satellite signal meets the tracking condition.

3. The antenna self-tracking control method according to claim 1, characterized in that: The antenna self-tracking control method also includes: If it is determined that the millimeter wave satellite signal does not meet the tracking condition, the antenna is controlled to keep tracking the satellite according to the centimeter wave satellite signal, and the millimeter wave satellite signal is dynamically phased until the millimeter wave satellite signal meets the tracking condition.

4. The antenna self-tracking control method according to claim 1, characterized in that: The centimeter-wave satellite signal and the millimeter-wave satellite signal both include at least one of a tracking error signal, an AGC level signal, and a signal lock indication obtained through demodulation; In the step of determining whether the centimeter-wave satellite signal or the millimeter-wave satellite signal satisfies the tracking condition, if any one of the following conditions is not met, it is determined that the centimeter-wave satellite signal or the millimeter-wave satellite signal does not satisfy the tracking condition: (1) The signal lock indicates the locked state; (2) The AGC level is greater than or equal to the set value; (3) The tracking error is less than or equal to the allowable error value; (4) Voltage polarization: positive biased negative voltage, negative biased positive voltage.

5. The antenna self-tracking control method according to claim 4, characterized in that: The tracking error signal includes an azimuth error voltage and a pitch error voltage; the tracking error is less than or equal to the allowable error value, including that the azimuth error voltage jitter and the pitch error voltage jitter are both less than or equal to the first allowable error value, and the azimuth error voltage slope and the pitch error voltage slope are both less than or equal to the second allowable error value.

6. The antenna self-tracking control method according to claim 1, characterized in that: In the step of controlling the antenna to track satellites according to centimeter-wave satellite signals, the signal quality of the centimeter-wave satellite signals is detected in real time. If the signal quality of the centimeter-wave satellite signals is abnormal, the method returns to the step of controlling the antenna to track satellites according to a prediction procedure.

7. The antenna self-tracking control method according to claim 1, characterized in that: In the step of controlling the antenna to track satellites according to millimeter-wave satellite signals, the signal quality of the millimeter-wave satellite signals is detected in real time. If the signal quality of the millimeter-wave satellite signals is abnormal, the method returns to the step of controlling the antenna to track satellites according to centimeter-wave satellite signals.

8. An antenna self-tracking system, characterized in that: include: antenna; A dual-band feed source, connected to the antenna, for receiving centimeter-wave satellite signals and millimeter-wave satellite signals tracked by the antenna; A first tracking channel and a first tracking receiver, wherein the first tracking receiver is connected to the dual-band feed source via the first tracking channel and is used to process the centimeter-wave satellite signal; A second tracking channel and a second tracking receiver, wherein the second tracking receiver is connected to the dual-band feed via the second tracking channel and is used to process the millimeter wave satellite signal; A control unit is respectively connected to the antenna, the first tracking receiver and the second tracking receiver, and is configured to execute the antenna self-tracking control method according to any one of claims 1 to 7.

9. A computer device, characterized in that: The invention comprises a memory, a processor, a communication board and a time code board connected through a system bus, the memory stores a computer program, and the processor implements the antenna self-tracking control method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the antenna self-tracking control method according to any one of claims 1 to 7 is implemented.

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