Satellite base station and method for automatic tilt detection and calibration

Abstract

The invention provides a satellite base station and method for automatic inclination detection and calibration. The lower end face of a base of the satellite base station is used for being fixed to the ground. The connecting seat is fixed on the upper surface of the base; the mounting seat is rotationally connected to the upper end of the connecting seat; the rotating motor is used for driving the mounting base to rotate; the mounting base is of a U-shaped structure with an upward opening, the main control single module, the GPS module, the encoder module and the inertial navigation module are all fixed to the mounting base, the two ends of the rotating shaft are rotationally connected to the two sides of the opening end of the mounting base respectively, and the back face of the satellite antenna is fixed to the rotating shaft to achieve pitch angle adjustment; the stepping motor is used for driving the rotating shaft to rotate; the rotating motor, the GPS module, the encoder module, the inertial navigation module, the stepping motor and the satellite antenna are all electrically connected with the main control single module, and the main control single module is in communication connection with the remote control center; according to the method, the satellite can be accurately aligned and calibrated, the signal can be kept stable when the ground collapses, the early warning effect is achieved, and troubleshooting is facilitated.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a satellite base station and method for automatic tilt detection and calibration. Background Art

[0002] Satellite antennas are generally divided into three categories: ground fixed station antennas, static communication antennas, and moving communication antennas. Ground fixed station antennas are suitable for scenarios where the posture remains unchanged for a long time, static communication antennas are suitable for scenarios where it is necessary to move within a range but remain stationary during communication, and moving communication antennas are suitable for scenarios where full-range mobile communication is required. Among them, ground fixed station antennas have the widest application range.

[0003] In some places with poor geological conditions but need to maintain fixed communications, the use of ground fixed station antennas is simple and effective, but it also has some disadvantages. For example, precise alignment and calibration are required during initial installation or regular maintenance to ensure signal stability, which is cumbersome and inefficient to operate. Secondly, the collapse of the foundation may cause the angle of the antenna to the satellite to shift, affecting the reception and transmission of signals, reducing the quality of communications, and even causing signal interruptions. It is often difficult for staff to find out the specific reasons, making troubleshooting difficult. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a satellite base station and method for automatic tilt detection and calibration, which can accurately align with the satellite and calibrate, and can also maintain signal stability when the foundation is cracked, the ground is sinking or there is a chronic landslide, and play an early warning role to facilitate investigation.

[0005] The present invention provides a satellite base station for automatic tilt detection and calibration, comprising a base, a connecting seat, a rotating motor, a mounting seat, a main control module, a GPS module, an encoder module, an inertial navigation module, a stepping motor, a satellite antenna, a rotating shaft and a remote control center;

[0006] The lower end surface of the base is used to be fixed on the ground; the connecting seat is fixed on the upper surface of the base, and the mounting seat is rotatably connected to the upper end of the connecting seat; the rotating motor is fixed on the mounting seat to drive the mounting seat to rotate; the mounting seat is a U-shaped structure with the opening facing upward, the main control single module, the GPS module, the encoder module and the inertial navigation module are all fixed on the mounting seat, the two ends of the rotating shaft are respectively rotatably connected to the two sides of the opening end of the mounting seat, and the back of the satellite antenna is fixed on the rotating shaft to achieve pitch angle adjustment; the stepping motor is horizontally arranged and fixed on the mounting seat to drive the rotating shaft to rotate;

[0007] The rotating motor, GPS module, encoder module, inertial navigation module, stepper motor and satellite antenna are all electrically connected to the main control single module, and the main control single module is communicatively connected to the remote control center.

[0008] Compared with the prior art, the present application has the following advantages: when the rotary motor rotates, the satellite antenna can rotate 360° around the vertical direction, and when the stepper motor rotates, the satellite antenna can be adjusted in pitch angle; the current longitude and latitude of the satellite antenna can be obtained through the GPS module, and the theoretical attitude of the satellite antenna can be calculated according to different geographical locations, and the satellite antenna can be adjusted to the theoretical attitude through the action of the rotary motor and the stepper motor, so as to accurately align with the satellite and calibrate; the encoder module and the inertial navigation module can effectively collect the current attitude of the satellite antenna, and when the foundation cracks, the ground sinks or chronic landslides occur, an early warning can be issued to facilitate investigation, and when the foundation cracks, the ground sinks or the chronic landslides are not serious, the corresponding theoretical attitude of the satellite antenna can still be calculated, so that the satellite antenna can maintain a stable signal.

[0009] In a possible implementation, the inertial navigation module is a six-axis inertial measurement module.

[0010] Compared with the prior art, the six-axis inertial measurement module of the above technical solution has a high-precision gyro accelerometer, which can accurately measure three-axis acceleration and three-axis angular velocity, and then calculate high-precision attitude information through an algorithm, and can effectively reduce measurement noise and improve measurement accuracy, so that the attitude measurement stability reaches 0.01 degrees, even better than some professional inclinometers; the six-axis inertial measurement module can maintain stable performance in a variety of environments, including accurately outputting the current attitude in a dynamic environment. It integrates a motion engine DMP and an attitude solver, which can process measurement data in real time and provide stable attitude information; and it supports a variety of communication protocols and interfaces, such as UART, I2C, SPI, etc., to facilitate system integration and communication.

[0011] The present invention also provides a method for automatic tilt detection and calibration, which is applied to the above-mentioned satellite base station for automatic tilt detection and calibration, and comprises the following steps:

[0012] S1. Configure satellite information parameters of the main control module;

[0013] S2, determine whether the satellite antenna detects a satellite signal, if yes, go to step S5, if no, go to step S3;

[0014] S3, obtain geographic location information through the GPS module, and calculate the theoretical attitude of the satellite antenna according to the geographic location information and satellite information parameters through the main control module;

[0015] S4, adjusting the satellite antenna to a theoretical attitude by rotating the motor and the stepping motor, and performing satellite search until the satellite signal is locked;

[0016] S5, tracking the maximum value of the satellite signal by the satellite antenna through conical scanning, so that the pointing error of the satellite antenna is continuously smaller than the threshold;

[0017] S6. Fix the current attitude of the satellite antenna and record the current calibration angle of the satellite antenna;

[0018] S7, calculating the inclination of the base according to the acceleration of the inertial navigation module and the pitch angle of the satellite antenna, and determining whether the inclination exceeds the threshold value. If yes, an early warning is issued to the remote control center and the process goes to step S8. If no, the current posture of the satellite antenna is maintained and step S7 is repeated.

[0019] S8. Cancel the satellite antenna posture fixation and return to step S5.

[0020] Compared with the prior art, the above technical solution can automatically and accurately align the satellite and calibrate it, because the longitude and latitude of the geographical location of the satellite antenna has a great influence on the satellite signal. For example, in some high-latitude areas, due to the influence of the earth's curvature and the atmosphere, the transmission of satellite signals may be subject to certain attenuation and interference. In addition, weather phenomena at different longitudes and latitudes will also affect satellite signals. For example, in geographical locations with heavy rainfall, raindrops will absorb the energy of uplink and downlink electromagnetic waves, forming rain attenuation, thereby affecting the performance of the satellite communication system. In addition, for example, the density of buildings at different longitudes and latitudes will not affect the satellite signal. Buildings are also one of the main factors affecting satellite signals. Therefore, GPS is required to calculate the geographical location information of the satellite antenna, that is, the longitude and latitude, and the theoretical posture will be more accurate based on the calculation. And by calculating the inclination and acceleration of the satellite antenna, it can be known whether the location of the satellite antenna has foundation cracks, ground subsidence or chronic landslides. Once this happens, the signal can be kept stable and play a warning role, which is convenient for investigation.

[0021] In a possible implementation, in step S3, the calculation of the theoretical posture includes the following steps:

[0022] S31. Calculate the elevation angle of the satellite antenna using the following formula:

[0023]

[0024] Wherein, H represents the elevation angle;

[0025] S32. Calculate the polarization angle of the satellite antenna using the following formula:

[0026]

[0027] Wherein, P represents the polarization angle.

[0028] Compared with the prior art, the above technical solution can effectively calculate the theoretical posture of the satellite antenna, so that the satellite antenna maintains signal transmission with the satellite.

[0029] In a possible implementation manner, the pointing error calculation formula in step S5 is as follows: ΔErms=(AGCpit_max-AGCpit_min) 2 +(AGCazi_max-AGCazi_min) 2 ; Among them, ΔErms represents the pointing error, AGCpit_max represents the signal value corresponding to the maximum elevation angle of the satellite antenna, AGCpit_min represents the signal value corresponding to the minimum elevation angle of the satellite antenna, AGCazi_max represents the signal value corresponding to the maximum azimuth angle of the satellite antenna, and AGCazi_min represents the signal value corresponding to the minimum azimuth angle of the satellite antenna.

[0030] Compared with the prior art, the above technical solution can effectively calculate the pointing error, so that the satellite antenna can be more accurately aligned with the satellite and calibrated.

[0031] In a possible implementation manner, the inclination calculation step in step S7 includes:

[0032] S71. Obtain the three-axis acceleration value Acc of the satellite antenna in the inertial navigation coordinate system through the inertial navigation module x 、Acc y and Acc z ;

[0033] S72, obtaining, through the encoder module, an elevation angle Mpit of the antenna surface of the satellite antenna relative to the base;

[0034] S73, the three-axis acceleration value Acc is calculated by the following formula x 、Acc y and Acc z Convert to the base coordinate system Acc X 、Acc Y and Acc Z :

[0035]

[0036] S74. Calculate the inclination according to the following formula:

[0037]

[0038] Among them, TiltAngle represents the tilt.

[0039] Compared with the prior art, the above technical solution can effectively calculate the inclination of the satellite antenna, so as to adjust the theoretical attitude and early warning processing.

[0040] In a possible implementation, the threshold of the inclination in step S7 is 0.5°, and the threshold of the angular velocity is 2°.

[0041] / s.

[0042] Compared with the existing technology, the above technical solution can effectively distinguish whether there are serious foundation cracks, ground subsidence or chronic landslides at the fixing point of the satellite antenna, so as to provide early warning and staff inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a schematic diagram of a satellite base station of the present invention;

[0044] Figure 2 It is a schematic diagram of the process of the present invention;

[0045] Description of reference numerals:

[0046] 1-base, 2-connecting seat, 3-rotating motor, 4-mounting seat, 5-main control single module, 6-GPS module, 7-encoder module, 8-inertial navigation module, 9-stepping motor, 10-satellite antenna, 11-rotating shaft. DETAILED DESCRIPTION

[0047] First, those skilled in the art should understand that these implementations are only used to explain the technical principles of the embodiments of the present application, and are not intended to limit the protection scope of the embodiments of the present application. Those skilled in the art can make adjustments to them as needed to adapt to specific application scenarios.

[0048] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" 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 directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0049] In the embodiments of the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0050] The present application is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0051] See also Figure 1 The embodiment of the present application discloses a satellite base station for automatic tilt detection and calibration, including a base 1, a connecting base 2, a rotating motor 3, a mounting base 4, a main control module 5, a GPS module 6, an encoder module 7, an inertial navigation module 8, a stepping motor 9, a satellite antenna 10, a rotating shaft 11 and a remote control center; the lower end surface of the base 1 is used to be fixed on the ground; the connecting base 2 is fixed to the upper surface of the base 1, and the mounting base 4 is rotatably connected to the upper end of the connecting base 2; the rotating motor 3 is fixed to the mounting base 4 to drive the mounting base 4 to rotate; the mounting base 4 is a U-shaped structure with an opening facing upward, The main control single module 5, GPS module 6, encoder module 7 and inertial navigation module 8 are all fixed on the mounting base 4, the two ends of the rotating shaft 11 are respectively rotatably connected to the two sides of the opening end of the mounting base 4, and the back of the satellite antenna 10 is fixed on the rotating shaft 11 to achieve pitch angle adjustment; the stepper motor 9 is horizontally arranged and fixed on the mounting base 4 to drive the rotating shaft 11 to rotate; the rotating motor 3, GPS module 6, encoder module 7, inertial navigation module 8, stepper motor 9 and satellite antenna 10 are all electrically connected to the main control single module 5, and the main control single module 5 is communicatively connected to the remote control center.

[0052] Specifically, in this embodiment, the base 1 is a basin-shaped structure, and the bottom surface is a flat structure, so that the base 1 can be placed flat and fixed on the ground; the main control module 5 and the GPS module 6 are fixed on the outer wall of the mounting seat 4, the encoder module 7 is fixed on the inner wall of the mounting seat 4, and the inertial navigation module 8 is fixed on the back of the satellite antenna 10; the remaining components can be flexibly configured according to the existing technology. The mounting seat 4 is rotatably connected to the upper end of the connecting seat 2 through a bearing structure and is provided with a gear structure. The driving end of the rotating motor 3 faces downward and meshes with the gear structure. The driving end of the stepper motor 9 can be directly fixed to the rotating shaft 11, or can be connected to the rotating shaft 11 through other existing transmission structures. When the rotating motor 3 rotates, the satellite antenna 10 can be rotated 360° around the vertical direction to adjust the orientation of the receiving surface. When the stepper motor 9 rotates, the rotating shaft 11 can be rotated to adjust the pitch angle of the satellite antenna 10. The current longitude and latitude of the satellite antenna can be obtained through the GPS module, and the theoretical attitude of the satellite antenna can be calculated according to different geographical locations. The satellite antenna can be adjusted to the theoretical attitude through the action of the rotating motor and the stepper motor, so as to accurately align with the satellite and calibrate it. The encoder module and the inertial navigation module can effectively collect the current attitude of the satellite antenna. When the foundation cracks, the ground sinks or chronic landslides, an early warning can be issued to facilitate investigation. When the foundation cracks, the ground sinks or the chronic landslides are not serious, the corresponding theoretical attitude of the satellite antenna can still be calculated, so that the satellite antenna can maintain a stable signal.

[0053] In some embodiments, the inertial navigation module 8 is a six-axis inertial measurement module. The six-axis inertial measurement module has a high-precision gyro accelerometer, which can accurately measure three-axis acceleration and three-axis angular velocity, and then solve high-precision attitude information through an algorithm, and can effectively reduce measurement noise, improve measurement accuracy, and make the attitude measurement stability reach 0.01 degrees, even better than some professional inclinometers; the six-axis inertial measurement module can maintain stable performance in a variety of environments, including accurately outputting the current attitude in a dynamic environment, and it integrates a motion engine DMP and an attitude solver, which can process measurement data in real time and provide stable attitude information; and it supports a variety of communication protocols and interfaces, such as UART, I2C, SPI, etc., which facilitates system integration and communication.

[0054] As attached Figure 2 As shown, the present invention also provides a method for automatic tilt detection and calibration, which is applied to the satellite base station for automatic tilt detection and calibration in the above embodiment, and includes the following steps:

[0055] S1, configure satellite information parameters of the main control module 5;

[0056] S2, determine whether the satellite antenna 10 detects a satellite signal, if yes, go to step S5, if no, go to step S3;

[0057] S3, obtaining geographic location information through the GPS module 6, and calculating the theoretical posture of the satellite antenna 10 according to the geographic location information and satellite information parameters through the main control module 5;

[0058] S4, adjusting the satellite antenna 10 to a theoretical posture by rotating the motor 3 and the stepping motor 9, and performing satellite search until the satellite signal is locked;

[0059] S5, tracking the maximum value of the satellite signal by the satellite antenna 10 through conical scanning, so that the pointing error of the satellite antenna 10 is continuously smaller than the threshold;

[0060] S6, fixing the current posture of the satellite antenna 10, and recording the current calibration angle of the satellite antenna 10;

[0061] S7, calculating the inclination of the base according to the acceleration of the inertial navigation module and the pitch angle of the satellite antenna, and determining whether the inclination and the angular velocity of the satellite antenna exceed the threshold value. If yes, an early warning is issued to the remote control center and the process goes to step S8. If no, the current posture of the satellite antenna is maintained and step S7 is repeated.

[0062] S8. Cancel the posture fixation of the satellite antenna 10 and return to step S5.

[0063] Among them, the main control single module 5 includes a CPU and a signal receiver. In step S1, the satellite information parameters of the main control single module 5 are configured, that is, the registers in the signal receiver are configured, and the registers can be configured through the I2C interface. Since high precision and stability are required to ensure accurate reception and transmission of signals, the registers can be configured through the I2C interface to achieve accurate adjustment of antenna parameters such as frequency, gain, direction, etc., thereby improving the performance of the system. The I2C interface has the characteristics of low power consumption and is suitable for use in satellite antenna systems. By optimizing the register configuration, the energy utilization efficiency of the system can be further improved. The judgments in steps S2 and S7 are all completed by the main control single module 5. In step S7, the initial inclination will be stored, and then the inclination will be continuously updated over time, and the difference between the new inclination and the inclination when the satellite antenna posture was maintained last time will be continuously calculated. If the difference exceeds the threshold, an early warning will be issued to the remote control center and the process will be turned to step S8. If the difference does not exceed the threshold, the current posture of the satellite antenna 10 will be maintained, and step S7 will be repeated.

[0064] In step S3, the calculation of the theoretical posture includes the following steps:

[0065] S31, calculate the elevation angle of the satellite antenna 10 by the following formula:

[0066]

[0067] Wherein, H represents the elevation angle;

[0068] S32, calculating the polarization angle of the satellite antenna 10 by the following formula:

[0069]

[0070] Wherein, P represents the polarization angle.

[0071] The pointing error calculation formula in step S5 is as follows:

[0072] ΔErms=(AGCpit_max-AGCpit_min) 2 +(AGCazi_max-AGCazi_min) 2 ; Wherein, ΔErms represents the pointing error, AGCpit_max represents the signal value corresponding to the maximum pitch angle of the satellite antenna 10, AGCpit_min represents the signal value corresponding to the minimum pitch angle of the satellite antenna 10, AGCazi_max represents the signal value corresponding to the maximum azimuth angle of the satellite antenna 10, and AGCazi_min represents the signal value corresponding to the minimum azimuth angle of the satellite antenna 10. The above-mentioned maximum pitch angle, minimum pitch angle, maximum azimuth angle and minimum azimuth angle refer to the maximum pitch angle, minimum pitch angle, maximum azimuth angle and minimum azimuth angle reached by the satellite antenna 10 each time it performs a full circle of conical scanning, and are not the maximum pitch angle, minimum pitch angle, maximum azimuth angle and minimum azimuth angle of the actual mechanical limit of the satellite antenna 10.

[0073] In this embodiment, the threshold in step S5 may be 0.5 db.

[0074] The inclination calculation step in step S7 includes:

[0075] S71, obtaining the three-axis acceleration value Acc of the satellite antenna 10 in the inertial navigation coordinate system through the inertial navigation module 8 x 、Acc y and Acc z ;

[0076] S72, obtaining the elevation angle Mpit of the antenna surface of the satellite antenna 10 relative to the base 1 through the encoder module 7;

[0077] S73, the three-axis acceleration value Acc is calculated by the following formula x 、Acc y and Acc z Convert to the coordinate system Acc of base 1 X 、Acc Y and Acc Z :

[0078]

[0079] S74. Calculate the inclination according to the following formula:

[0080]

[0081] Among them, TiltAngle represents the tilt.

[0082] In this embodiment, the threshold of the inclination in step S7 is 0.5°, and the threshold of the angular velocity is 2° / s. This can effectively distinguish whether there are serious foundation cracks, ground subsidence or chronic landslides at the satellite antenna fixing place, so as to provide early warning and staff inspection.

[0083] The method of the present invention can automatically and accurately align the satellite and calibrate it, because the longitude and latitude of the geographical location of the satellite antenna has a great influence on the satellite signal. For example, in some high-latitude areas, due to the influence of the earth's curvature and the atmosphere, the transmission of the satellite signal may be subject to certain attenuation and interference. In addition, weather phenomena at different longitudes and latitudes will also affect the satellite signal. For example, in a geographical location with heavy rainfall, raindrops will absorb the energy of the uplink and downlink electromagnetic waves, forming rain attenuation, thereby affecting the performance of the satellite communication system. In addition, for example, the density of buildings at different longitudes and latitudes is also different, and buildings are also one of the main factors affecting satellite signals. Therefore, GPS is required to calculate the geographical location information of the satellite antenna, that is, the longitude and latitude, and the theoretical posture will be more accurate according to the calculation thereof. And by calculating the inclination and acceleration of the satellite antenna, it can be known whether the location of the satellite antenna has foundation cracks, ground subsidence or chronic landslides. Once this happens, the signal can be kept stable and play a role in early warning, which is convenient for investigation.

[0084] In the description of the embodiments of the present application, it should be noted that in the description of the present application, terms such as "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is only for the convenience of description, and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present application.

[0085] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "in the present embodiment", "specific example", or "some examples" etc. means that the specific features, mechanisms, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, mechanisms, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0086] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A satellite base station with automatic tilt detection and calibration, characterized in that: It comprises a base (1), a connecting base (2), a rotating motor (3), a mounting base (4), a main control module (5), a GPS module (6), an encoder module (7), an inertial navigation module (8), a stepping motor (9), a satellite antenna (10), a rotating shaft (11) and a remote control center; The lower end surface of the base (1) is used to be fixed on the ground; the connecting seat (2) is fixed on the upper surface of the base (1), and the mounting seat (4) is rotatably connected to the upper end of the connecting seat (2); the rotating motor (3) is fixed on the mounting seat (4) and is used to drive the mounting seat (4) to rotate; the mounting seat (4) is in a U-shaped structure with an opening facing upwards, the main control module (5), the GPS module (6), the encoder module (7) and the inertial navigation module (8) are all fixed on the mounting seat (4), the two ends of the rotating shaft (11) are respectively rotatably connected to the two sides of the opening end of the mounting seat (4), and the back side of the satellite antenna (10) is fixed on the rotating shaft (11) to achieve pitch angle adjustment; the stepping motor (9) is arranged horizontally and fixed on the mounting seat (4) and is used to drive the rotating shaft (11) to rotate; The rotating motor (3), GPS module (6), encoder module (7), inertial navigation module (8), stepping motor (9) and satellite antenna (10) are all electrically connected to the main control single module (5), and the main control single module (5) is communicatively connected to a remote control center.

2. The satellite base station for automatic tilt detection and calibration according to claim 1, characterized in that: The inertial navigation module (8) is a six-axis inertial measurement module.

3. A method for automatic tilt detection and calibration, characterized in that: A satellite base station for automatic tilt detection and calibration as claimed in any one of the above claims, comprising the following steps: S1, configuring satellite information parameters of the main control module (5); S2, determining whether the satellite antenna (10) detects a satellite signal, if yes, proceeding to step S5, if no, proceeding to step S3; S3, obtaining geographical location information through the GPS module (6), and calculating the theoretical posture of the satellite antenna (10) according to the geographical location information and satellite information parameters through the main control module (5); S4, adjusting the satellite antenna (10) to the theoretical posture by means of the rotating motor (3) and the stepping motor (9), and performing satellite search until a satellite signal is locked; S5, tracking the maximum value of the satellite signal by the satellite antenna (10) through conical scanning, so that the pointing error of the satellite antenna (10) is continuously smaller than a threshold value; S6, fixing the current posture of the satellite antenna (10), and recording the current calibration angle of the satellite antenna (10); S7, calculating the inclination of the base (1) according to the acceleration of the inertial navigation module (8) and the pitch angle of the satellite antenna (10), and judging whether the inclination and the angular velocity of the satellite antenna (10) both exceed a threshold value; if so, giving an early warning to the remote control center and turning to step S8; if not, maintaining the current posture of the satellite antenna (10) and repeating step S7; S8, cancel the posture fixation of the satellite antenna (10), and return to step S5.

4. The method of automatic tilt detection and calibration according to claim 3, characterized in that: In step S3, the calculation of the theoretical posture includes the following steps: S31, calculating the elevation angle of the satellite antenna (10) by the following formula: Wherein, H represents the elevation angle; S32, calculating the polarization angle of the satellite antenna (10) by the following formula: Wherein, P represents the polarization angle.

5. The method of automatic tilt detection and calibration according to claim 4, characterized in that: The pointing error calculation formula in step S5 is as follows: ΔErms=(AGCpit_max-AGCpit_min) 2 +(AGCazi_max-AGCazi_min) 2 ; wherein ΔErms represents the pointing error, AGCpit_max represents the signal value corresponding to the maximum elevation angle of the satellite antenna (10), AGCpit_min represents the signal value corresponding to the minimum elevation angle of the satellite antenna (10), AGCazi_max represents the signal value corresponding to the maximum azimuth angle of the satellite antenna (10), and AGCazi_min represents the signal value corresponding to the minimum azimuth angle of the satellite antenna (10).

6. The method of automatic tilt detection and calibration according to claim 5, characterized in that: The inclination calculation step in step S7 includes: S71, obtaining the three-axis acceleration value Acc of the satellite antenna (10) in the inertial navigation coordinate system through the inertial navigation module (8) x 、Acc y and Acc z ; S72, obtaining, by means of the encoder module (7), an elevation angle Mpit of the antenna surface of the satellite antenna (10) relative to the base (1); S73, the three-axis acceleration value Acc is calculated by the following formula x 、Acc y and Acc z Converted to the coordinate system Acc of the base (1) X 、Acc Y and Acc Z : S74, calculating the inclination according to the following formula: Wherein, TiltAngle represents the tilt.

7. The method of automatic tilt detection and calibration according to claim 6, characterized in that: In step S7, the threshold of the inclination is 0.5°, and the threshold of the angular velocity is 2° / s.

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