Satellite tracking method and device based on antenna pattern, and electronic equipment

Abstract

The invention discloses a satellite tracking method and device based on an antenna pattern, and electronic equipment, and relates to the field of antenna tracking, and the satellite tracking method comprises the steps: determining the initial position coordinate of an antenna under the condition that a beacon signal transmitted by a communication satellite and received by the antenna is smaller than a preset signal threshold value, controlling the antenna to track the communication satellite for a preset step length in any direction, determining the current position coordinate and the level change state of the tracked antenna, and determining the center position coordinate and the gradient maximum direction of an antenna pattern based on the initial position coordinate, the current position coordinate, the level change state and the antenna pattern of the communication satellite, and taking the center position coordinate as a target position coordinate of the antenna tracking communication satellite, and controlling the antenna to move towards the target position coordinate along a gradient maximum direction to complete tracking of the communication satellite. According to the invention, the technical problem of low efficiency of tracking a communication satellite by an antenna in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the field of antenna tracking, and in particular to a satellite tracking method based on an antenna pattern, a device thereof, and electronic equipment. Background Art

[0002] The orbital position of a synchronous orbit communication satellite is relatively fixed, and generally drifts in an "8" shape around a fixed position in a 24-hour cycle. For satellite communication earth station antennas with larger apertures, it is necessary to track the communication satellite to ensure that the satellite antenna is accurately pointed at the satellite.

[0003] In the related art, the tracking methods include program tracking, step tracking, single pulse tracking, etc. However, the above tracking methods have the problems of inaccurate tracking and low tracking efficiency.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiment of the present invention provides a satellite tracking method based on antenna radiation pattern and its device and electronic equipment, so as to at least solve the technical problem of low efficiency of antenna tracking communication satellite in related technologies.

[0006] According to one aspect of an embodiment of the present invention, a satellite tracking method based on an antenna pattern is provided, comprising: determining the initial position coordinates of the antenna when a beacon signal transmitted by a communication satellite received by the antenna is less than a preset signal threshold, wherein the initial position coordinates are coordinates obtained by mapping the initial azimuth angle and the initial pitch angle of the antenna to a plane; controlling the antenna to track the communication satellite in an arbitrary direction for a preset step length, and determining the current position coordinates and the level change state of the antenna after tracking, wherein the level change state is determined based on the strength of the beacon signal received by the antenna; determining the center position coordinates and the maximum gradient direction of the antenna pattern based on the initial position coordinates, the current position coordinates, the level change state and the antenna pattern of the communication satellite, wherein the antenna pattern is a pre-constructed two-dimensional equal-level curve diagram, and each point on the antenna pattern corresponds to an azimuth angle, a pitch angle and a level value; using the center position coordinates as the target position coordinates for the antenna to track the communication satellite, and controlling the antenna to move toward the target position coordinates along the maximum gradient direction to complete the tracking of the communication satellite.

[0007] In one embodiment of the present application, when the beacon signal transmitted by the communication satellite received by the antenna is less than a preset signal threshold, before determining the initial position coordinates of the antenna, it also includes: determining the starting azimuth angle and the starting pitch angle of the antenna; based on the starting azimuth angle and the starting pitch angle, scanning the beacon signal transmitted by the communication satellite in the pitch direction to obtain a first one-dimensional radiation pattern curve in the pitch direction, wherein the pitch direction is a direction perpendicular to the ground; based on the starting azimuth angle and the starting pitch angle, scanning the beacon signal transmitted by the communication satellite in the azimuth direction to obtain a second one-dimensional radiation pattern curve in the azimuth direction, wherein the azimuth direction is a direction parallel to the ground; constructing a three-dimensional radiation pattern based on the first one-dimensional radiation pattern curve and the second one-dimensional radiation pattern curve, and constructing the antenna radiation pattern based on the three-dimensional radiation pattern.

[0008] In one embodiment of the present application, based on the starting azimuth angle and the starting pitch angle, a beacon signal transmitted by a communication satellite is scanned in the pitch direction to obtain a first one-dimensional directional pattern curve in the pitch direction, comprising: starting from the starting azimuth angle and the starting pitch angle, controlling the antenna to rotate in the pitch direction, and recording the level value at each pitch angle during the rotation process, wherein the level value is a value obtained by analyzing the strength of the beacon signal; determining the highest pitch level value based on the level values ​​at all pitch angles, and determining the pitch scanning start point and the pitch scanning end point in the pitch direction based on the position point corresponding to the highest pitch level value; starting from the pitch scanning start point, controlling the antenna to rotate in the pitch direction toward the pitch scanning end point, and sampling the first signal data during the rotation process, wherein the first signal data comprises: the level value corresponding to each pitch position point in the rotation process from the pitch scanning start point to the pitch scanning end point, and the azimuth angle corresponding to each pitch position point is consistent; constructing a first one-dimensional directional pattern curve based on the first signal data.

[0009] In one embodiment of the present application, based on the starting azimuth angle and the starting pitch angle, a beacon signal transmitted by a communication satellite is scanned in the azimuth direction to obtain a second one-dimensional directional pattern curve in the azimuth direction, including: when the pitch direction scan is completed, the antenna is controlled to return to the position point corresponding to the highest pitch level value, and the position point corresponding to the highest pitch level value is used as the starting position point, the antenna is controlled to rotate in the azimuth direction, and the level values ​​at each azimuth angle during the rotation process are recorded; based on the level values ​​at all azimuth angles, the highest azimuth level value is determined, and based on the position point corresponding to the highest azimuth level value, the azimuth scanning start point and the azimuth scanning end point in the azimuth direction are determined; starting from the azimuth scanning start point, the antenna is controlled to rotate in the azimuth direction toward the azimuth scanning end point, and second signal data is sampled during the rotation process, wherein the second signal data includes: the level value corresponding to each azimuth position point during the rotation process from the azimuth scanning start point to the azimuth scanning end point, and the pitch angle corresponding to each azimuth position point is consistent; based on the second signal data, a second one-dimensional directional pattern curve is constructed.

[0010] In one embodiment of the present application, the step of determining the current position coordinates and level change state of the antenna after tracking includes: after the antenna tracks a preset step length of the communication satellite, determining the current azimuth angle and the current pitch angle of the antenna; mapping the current azimuth angle and the current pitch angle onto a plane to obtain the current position coordinates; determining a first strength of a beacon signal received by the antenna at the initial position coordinates and a second strength of the beacon signal received at the current position coordinates, wherein the second strength is not equal to the first strength; comparing the first strength and the second strength, and determining the level change state based on the comparison result, wherein, when the first strength is greater than the second strength, the level change state is a level weakening state; and when the first strength is less than the second strength, the level change state is a level increasing state.

[0011] In one embodiment of the present application, the step of determining the center position coordinates of the antenna pattern and the direction of the maximum gradient based on the initial position coordinates, the current position coordinates, the level change status and the antenna pattern of the communication satellite includes: determining the level difference based on the first intensity and the second intensity; determining the relative position relationship between the initial position coordinates and the current position coordinates on the antenna pattern based on the level difference and the level change status; determining the center position coordinates based on the relative position relationship, the initial position coordinates and the current position coordinates; determining the direction of the maximum gradient based on the center position coordinates and the current position coordinates.

[0012] In one embodiment of the present application, the level values ​​on the same circle of concentric circles on the antenna pattern are consistent, and the step of determining the relative position relationship between the initial position coordinates and the current position coordinates on the antenna pattern based on the level difference and the level change state includes: determining a preset level difference between the level values ​​corresponding to every two circles of concentric circles on the antenna pattern; determining two circles of target concentric circles indicated by the preset level difference equal to the level difference; when the level change state is a level weakening state, determining that the initial position coordinates are located on the target concentric circle close to the center point of the two circles of target concentric circles, and the current position coordinates are located on the target concentric circle far from the center point of the two circles of target concentric circles; or, when the level change state is a level increasing state, determining that the initial position coordinates are located on the target concentric circle far from the center point of the two circles of target concentric circles, and the current position coordinates are located on the target concentric circle close to the center point of the two circles of target concentric circles; based on the target concentric circle where the initial position coordinates are located and the target concentric circle where the current position coordinates are located, determining the relative position relationship between the initial position coordinates and the current position coordinates on the antenna pattern.

[0013] According to another aspect of an embodiment of the present invention, a satellite tracking device based on an antenna pattern is provided, comprising: a first determining unit, for determining the initial position coordinates of the antenna when the beacon signal transmitted by the communication satellite received by the antenna is less than a preset signal threshold, wherein the initial position coordinates are coordinates obtained by mapping the initial azimuth angle and the initial pitch angle of the antenna to a plane; a second determining unit, for controlling the antenna to track the communication satellite in any direction by a preset step length, and determining the current position coordinates and the level change state of the antenna after tracking, wherein the level change state is determined based on the strength of the beacon signal received by the antenna; a third determining unit, for determining the center position coordinates and the maximum gradient direction of the antenna pattern based on the initial position coordinates, the current position coordinates, the level change state and the antenna pattern of the communication satellite, wherein the antenna pattern is a pre-constructed two-dimensional equal-level curve diagram, and each point on the antenna pattern corresponds to an azimuth angle, a pitch angle and a level value; a moving unit, for using the center position coordinates as the target position coordinates for the antenna to track the communication satellite, and controlling the antenna to move toward the target position coordinates along the maximum gradient direction to complete the tracking of the communication satellite.

[0014] In one embodiment of the present application, the satellite tracking device also includes: a first determination module, which is used to determine the starting azimuth angle and the starting pitch angle of the antenna before determining the initial position coordinates of the antenna when the beacon signal transmitted by the communication satellite received by the antenna is less than a preset signal threshold; a first scanning module, which is used to scan the beacon signal transmitted by the communication satellite in the pitch direction based on the starting azimuth angle and the starting pitch angle, and obtain a first one-dimensional radiation pattern curve in the pitch direction, wherein the pitch direction is a direction perpendicular to the ground; a second scanning module, which is used to scan the beacon signal transmitted by the communication satellite in the azimuth direction based on the starting azimuth angle and the starting pitch angle, and obtain a second one-dimensional radiation pattern curve in the azimuth direction, wherein the azimuth direction is a direction parallel to the ground; a first construction module, which is used to construct a three-dimensional radiation pattern based on the first one-dimensional radiation pattern curve and the second one-dimensional radiation pattern curve, and to construct the antenna radiation pattern based on the three-dimensional radiation pattern.

[0015] In one embodiment of the present application, the first scanning module includes: a first rotation submodule, which is used to control the antenna to rotate in the pitch direction starting from the starting azimuth angle and the starting pitch angle, and record the level value at each pitch angle during the rotation process, wherein the level value is a value obtained by analyzing the strength of the beacon signal; a first determination submodule, which is used to determine the highest pitch level value based on the level values ​​at all pitch angles, and determine the pitch scanning start point and the pitch scanning end point in the pitch direction based on the position point corresponding to the highest pitch level value; a second rotation submodule, which is used to control the antenna to rotate in the pitch direction toward the pitch scanning end point starting from the pitch scanning start point, and sample the first signal data during the rotation process, wherein the first signal data includes: the level value corresponding to each pitch position point in the rotation process from the pitch scanning start point to the pitch scanning end point, and the azimuth angle corresponding to each pitch position point is consistent; a first construction submodule, which is used to construct a first one-dimensional directional pattern curve based on the first signal data.

[0016] In one embodiment of the present application, the second scanning module includes: a third rotation submodule, which is used to control the antenna to return to the position point corresponding to the highest pitch level value when the pitch direction scan is completed, and use the position point corresponding to the highest pitch level value as the starting position point, control the antenna to rotate in the azimuth direction, and record the level values ​​at each azimuth angle during the rotation process; a second determination submodule, which is used to determine the highest azimuth level value based on the level values ​​at all azimuth angles, and determine the azimuth scanning start point and azimuth scanning end point in the azimuth direction based on the position point corresponding to the highest azimuth level value; a fourth rotation submodule, which is used to control the antenna to rotate in the azimuth direction toward the azimuth scanning end point starting from the azimuth scanning start point, and sample second signal data during the rotation process, wherein the second signal data includes: the level value corresponding to each azimuth position point in the rotation process from the azimuth scanning start point to the azimuth scanning end point, and the pitch angle corresponding to each azimuth position point is consistent; a second construction submodule, which is used to construct a second one-dimensional directional pattern curve based on the second signal data.

[0017] In one embodiment of the present application, the second determination unit includes: a second determination module, used to determine the current azimuth angle and the current pitch angle of the antenna after the antenna tracks a preset step length of the communication satellite; a first mapping module, used to map the current azimuth angle and the current pitch angle to a plane to obtain the current position coordinates; a third determination module, used to determine the first strength of the beacon signal received by the antenna at the initial position coordinates and the second strength of the beacon signal received at the current position coordinates, wherein the second strength is not equal to the first strength; a first comparison module, used to compare the first strength and the second strength, and based on the comparison result, determine the level change state, wherein when the first strength is greater than the second strength, the level change state is a level weakening state; when the first strength is less than the second strength, the level change state is a level increasing state.

[0018] In one embodiment of the present application, the third determination unit includes: a fourth determination module, used to determine the level difference based on the first strength and the second strength; a fifth determination module, used to determine the relative position relationship between the initial position coordinates and the current position coordinates on the antenna radiation pattern based on the level difference and the level change state; a sixth determination module, used to determine the center position coordinates based on the relative position relationship, the initial position coordinates and the current position coordinates; a seventh determination module, used to determine the maximum gradient direction based on the center position coordinates and the current position coordinates.

[0019] In one embodiment of the present application, the level values ​​on the same circle of concentric circles on the antenna pattern are consistent, and based on the level difference and the level change state, the fifth determination module includes: a third determination submodule, which is used to determine a preset level difference between the level values ​​corresponding to every two circles of concentric circles on the antenna pattern; a fourth determination submodule, which is used to determine two circles of target concentric circles indicated by the preset level difference equal to the level difference; a fifth determination submodule, which is used to determine that the initial position coordinates are located on the target concentric circle close to the center point of the two circles of target concentric circles, and the current position coordinates are located on the target concentric circle far from the center point of the two circles of target concentric circles when the level change state is a level weakening state; or, when the level change state is a level increasing state, it is determined that the initial position coordinates are located on the target concentric circle far from the center point of the two circles of target concentric circles, and the current position coordinates are located on the target concentric circle close to the center point of the two circles of target concentric circles; a sixth determination submodule, which is used to determine the relative position relationship between the initial position coordinates and the current position coordinates on the antenna pattern based on the target concentric circle where the initial position coordinates are located and the target concentric circle where the current position coordinates are located.

[0020] According to another aspect of an embodiment of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the satellite tracking method based on the antenna pattern as described above is implemented.

[0021] According to another aspect of an embodiment of the present invention, an electronic device is also provided, including one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement any one of the above-mentioned satellite tracking methods based on antenna radiation patterns.

[0022] In the present invention, when the beacon signal transmitted by the communication satellite received by the antenna is less than a preset signal threshold, the initial position coordinates of the antenna are determined, the antenna is controlled to track the communication satellite in any direction for a preset step length, and the current position coordinates and level change state of the antenna after tracking are determined. Based on the initial position coordinates, the current position coordinates, the level change state and the antenna radiation pattern of the communication satellite, the center position coordinates and the maximum gradient direction of the antenna radiation pattern are determined, the center position coordinates are used as the target position coordinates for the antenna to track the communication satellite, and the antenna is controlled to move toward the target position coordinates along the maximum gradient direction to complete the tracking of the communication satellite, thereby solving the technical problem of low efficiency of the antenna in tracking the communication satellite in the related art.

[0023] In the present invention, when it is necessary to track a communication satellite, the antenna can be controlled to track a step in any direction first, and then the center point coordinates and the maximum gradient direction on the antenna pattern of the pre-constructed communication satellite are determined according to the level change state after tracking and the position coordinates before and after tracking, so as to control the antenna to move in the direction of the maximum gradient until the antenna reaches the center position coordinates, and then the antenna can be quickly tracked to the best direction. In this way, it is possible to effectively locate the strongest signal position of the communication satellite quickly and accurately when the beacon signal is weak, thereby improving the efficiency and accuracy of satellite tracking, and by utilizing the characteristics of the antenna pattern and analyzing the level change state and position coordinates, the tracking direction of the antenna can be intelligently adjusted, thereby avoiding blind search and improving the satellite signal capture capability in complex environments, which is of great significance to improving the stability and reliability of the satellite communication system, and achieving the technical effect of controlling the antenna to accurately and quickly track the communication satellite. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0025] Figure 1 is a flow chart of an optional satellite tracking method based on antenna pattern according to an embodiment of the present invention;

[0026] Figure 2 is a schematic diagram of an optional one-dimensional directional pattern curve according to an embodiment of the present invention;

[0027] Figure 3 is a schematic diagram of an optional three-dimensional directional diagram according to an embodiment of the present invention;

[0028] Figure 4 is a schematic diagram of an optional two-dimensional antenna pattern according to an embodiment of the present invention;

[0029] Figure 5 is a schematic diagram of an optional satellite tracking system according to an embodiment of the present invention;

[0030] Figure 6 is a schematic diagram of an optional satellite tracking device based on antenna pattern according to an embodiment of the present invention;

[0031] Figure 7 The present invention is a hardware structure block diagram of an electronic device (or mobile device) for a satellite tracking method based on an antenna pattern according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] It should be noted that the relevant information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) collected and involved in the present invention are all information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of relevant data are in compliance with the relevant laws, regulations and standards of the relevant regions, necessary confidentiality measures are taken, and public order and good customs are not violated, and corresponding operation entrances are provided for users to choose to authorize or refuse. For example, an interface is set between the system and the relevant users or organizations. Before obtaining relevant information, it is necessary to send an acquisition request to the aforementioned user or organization through the interface, and obtain relevant information after receiving the consent information fed back by the aforementioned user or organization.

[0035] The present invention proposes a communication satellite tracking method based on antenna pattern, which can perform digital three-dimensional modeling of the main lobe of the antenna pattern during initial tracking, and design a tracking algorithm according to the characteristics of the antenna pattern. After the antenna is aligned with the satellite, the antenna control unit is started to control the antenna driving unit to rotate the antenna azimuth and elevation to deviate from the satellite direction, and deviate in four directions of positive and negative azimuth and positive and negative elevation respectively, and accurately collect the level values ​​corresponding to the azimuth and elevation on the main lobe, so as to perform digital three-dimensional modeling of the main lobe of the antenna pattern according to the collected data, and map the level values ​​corresponding to the pattern to a two-dimensional plane to obtain the pattern level contour line, so that the antenna can be controlled to move in the direction of the maximum gradient of the antenna pattern level contour surface during subsequent tracking, so as to quickly complete the antenna tracking.

[0036] The present invention is described in detail below in conjunction with various embodiments.

[0037] Embodiment 1

[0038] According to an embodiment of the present invention, an embodiment of a satellite tracking method based on an antenna pattern is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0039] Figure 1 is a flow chart of an optional satellite tracking method based on antenna pattern according to an embodiment of the present invention, such as Figure 1 As shown, the method comprises the following steps:

[0040] Step S101, when the beacon signal transmitted by the communication satellite received by the antenna is less than a preset signal threshold, determine the initial position coordinates of the antenna, wherein the initial position coordinates are coordinates obtained by mapping the initial azimuth angle and initial pitch angle of the antenna to a plane.

[0041] In the embodiment of the present invention, since the synchronous orbit communication satellite is constantly rotating around the earth, the satellite communication earth station antenna (hereinafter referred to as the antenna) needs to continuously track the communication satellite. When the satellite tracking system detects that the radio frequency signal (i.e., the beacon signal transmitted by the communication satellite) received by the tracking receiver through the receiving system of the antenna is less than a preset signal threshold (which can be dynamically adjusted according to actual conditions), it indicates that the current antenna is not aligned with the communication satellite, and the communication satellite needs to be tracked in time to ensure that the antenna receives a stable and strong beacon signal.

[0042] Optionally, the received beacon signal can be frequency-converted, demodulated and amplified to convert the beacon signal into a DC voltage signal or computer-processable data, so that the antenna can automatically track the communication satellite based on these data.

[0043] In an embodiment of the present invention, when it is determined that the antenna needs to track a communication satellite, the current initial azimuth angle and initial pitch angle of the antenna can be determined first, and the initial azimuth angle and initial pitch angle can be mapped to a plane (i.e., a plane parallel to the earth) to obtain the initial position coordinates of the antenna.

[0044] In an optional embodiment, since the synchronous orbit communication satellite is in continuous periodic motion around the earth, a certain tracking time interval can be set (which can be set according to the motion period of the communication satellite), and the communication satellite is tracked at each tracking time interval.

[0045] Step S102, controlling the antenna to track a communication satellite in any direction for a preset step length, and determining the current position coordinates and level change state of the antenna after tracking, wherein the level change state is determined based on the strength of the beacon signal received by the antenna.

[0046] In an embodiment of the present invention, an antenna control unit in a satellite tracking system can transmit a control command to an antenna driving unit to control the antenna to track a communication satellite in any direction (any angle in the azimuth direction and / or the pitch direction) with a preset step length (which can be dynamically adjusted according to actual conditions), so that the level change state can be determined based on the strength of the beacon signal that can be received by the current position coordinates of the antenna after tracking and the strength of the beacon signal that can be received by the initial position coordinates of the antenna before tracking, so as to judge whether the antenna rotation direction is in the gradient direction according to the level change state, and adjust the tracking direction to the gradient direction in time, thereby achieving rapid tracking.

[0047] Step S103, based on the initial position coordinates, current position coordinates, level change status and antenna pattern of the communication satellite, determine the center position coordinates and the maximum gradient direction of the antenna pattern, wherein the antenna pattern is a pre-constructed two-dimensional equal-level curve diagram, and each point on the antenna pattern corresponds to an azimuth angle, pitch angle and level value.

[0048] In an embodiment of the present invention, the antenna radiation pattern of the communication satellite constructed during the initial tracking (i.e., a two-dimensional equal-level curve diagram, which is a two-dimensional diagram composed of multiple concentric circles, each circle represents an equal level value, and each point on the antenna radiation pattern corresponds to an azimuth angle, a pitch angle, and a level value) can be combined, and the relative position of the initial position coordinates and the current position coordinates of the antenna on the antenna radiation pattern can be determined according to the initial position coordinates of the antenna before tracking, the current position coordinates after tracking, and the level change state before and after tracking, so that the real position coordinates of the center electrode on the antenna radiation pattern (i.e., the center position coordinates) can be determined, and then the direction of the maximum gradient on the antenna radiation pattern can be determined.

[0049] Step S104, taking the center position coordinates as the target position coordinates for the antenna to track the communication satellite, and controlling the antenna to move toward the target position coordinates along the direction of maximum gradient to complete the tracking of the communication satellite.

[0050] In an embodiment of the present invention, the obtained center position coordinates are the optimal satellite position (i.e., target position coordinates) for the antenna to track the communication satellite, and the antenna can be controlled to move toward the target position coordinates along the direction of maximum gradient to complete rapid and accurate tracking of the communication satellite.

[0051] In summary, when it is necessary to track a communication satellite, the antenna can be controlled to track a step in any direction first, and then the center point coordinates and the maximum gradient direction of the antenna pattern of the pre-constructed communication satellite are determined according to the level change state after tracking and the position coordinates before and after tracking, so as to control the antenna to move in the direction of the maximum gradient until the antenna reaches the center position coordinates, and then the antenna can be quickly tracked to the best direction. In this way, it is possible to effectively locate the strongest signal position of the communication satellite quickly and accurately when the beacon signal is weak, thereby improving the efficiency and accuracy of satellite tracking, and by utilizing the characteristics of the antenna pattern, by analyzing the level change state and the position coordinates, the tracking direction of the antenna can be intelligently adjusted, avoiding blind search, and improving the satellite signal capture capability in complex environments, which is of great significance to improving the stability and reliability of the satellite communication system, and achieving the technical effect of controlling the antenna to accurately and quickly track the communication satellite, thereby solving the technical problem of low efficiency of the antenna in tracking the communication satellite in the related technology.

[0052] In order to improve the accuracy of constructing the antenna radiation pattern, in the satellite tracking method based on the antenna radiation pattern provided in Example 1 of the present application, when the beacon signal transmitted by the communication satellite received by the antenna is less than a preset signal threshold, before determining the initial position coordinates of the antenna, the starting azimuth angle and the starting pitch angle of the antenna are determined; based on the starting azimuth angle and the starting pitch angle, the beacon signal transmitted by the communication satellite is scanned in the pitch direction to obtain a first one-dimensional radiation pattern curve in the pitch direction, wherein the pitch direction is a direction perpendicular to the ground; based on the starting azimuth angle and the starting pitch angle, the beacon signal transmitted by the communication satellite is scanned in the azimuth direction to obtain a second one-dimensional radiation pattern curve in the azimuth direction, wherein the azimuth direction is a direction parallel to the ground; based on the first one-dimensional radiation pattern curve and the second one-dimensional radiation pattern curve, a three-dimensional radiation pattern is constructed, and based on the three-dimensional radiation pattern, an antenna radiation pattern is constructed.

[0053] In the embodiment of the present invention, during the initial tracking, the theoretical optimal position of the antenna (i.e., the azimuth angle and elevation angle at which the antenna can receive the strongest beacon signal) can be obtained by calculation. For example, the angle of the antenna in any direction can be manually or automatically rotated to find the theoretical optimal position of the strongest beacon signal. Then, the azimuth angle and elevation angle indicated by the theoretical optimal position can be used as the starting azimuth angle and starting elevation angle of the antenna, and the main lobe scanning and modeling of the directional pattern can be performed according to a preset program or manually. The main lobe scanning and modeling process of the directional pattern is as follows: after receiving the signal, the beacon receiver first performs the initial directional pattern scanning in the elevation direction (i.e., the direction perpendicular to the ground), and samples and records the level values ​​at each elevation angle in real time, and then scans the azimuth direction (i.e., the direction parallel to the ground), samples and stores data to obtain one-dimensional directional pattern curves in two directions (i.e., the first one-dimensional directional pattern curve and the second one-dimensional directional pattern curve in the elevation direction), and then calculates and processes the data by a computer to establish its three-dimensional directional pattern and two-dimensional equal level curve (i.e., the antenna directional pattern).

[0054] Figure 2 is a schematic diagram of an optional one-dimensional directional pattern curve according to an embodiment of the present invention, such as Figure 2 As shown, with Angle Direction (degrees) (i.e., the change angle) as the horizontal coordinate and Field Strength (relative) (i.e., the signal level strength, in dB) as the vertical coordinate, a one-dimensional directional pattern curve in the elevation direction or the azimuth direction is displayed. For example, a one-dimensional directional pattern curve in the elevation direction (azimuth direction) is obtained by fitting the collected level values ​​at each elevation angle (level values ​​at each azimuth angle).

[0055] Figure 3 is a schematic diagram of an optional three-dimensional directional diagram according to an embodiment of the present invention, such as Figure 3 As shown, a three-dimensional directional diagram obtained by fitting the collected signal data is shown. For example, the level value corresponding to each position point collected is plotted on a three-dimensional coordinate system (the coordinate system is a three-dimensional coordinate system recommended with the earth as a reference) to fit the three-dimensional directional diagram.

[0056] exist Figure 3 The shape and characteristics of the three-dimensional radiation pattern of satellite communication antennas are shown in Figure 1. Due to the limited drift range caused by factors such as the perturbation of geosynchronous orbit communication satellites, if the tracking is not performed for a period of time, the received signal will decrease to a certain extent, but the satellite is still in the main lobe of the antenna radiation pattern. Tracking can effectively ensure the best antenna pointing to ensure stable satellite communication transceiver performance. Therefore, only the main lobe is considered during tracking.

[0057] In the embodiment of the present invention, the two-dimensional equal level curve is a two-dimensional plane (i.e., the azimuth-elevation plane), and each point on the plane corresponds to a level value. Correspondingly, the level gradient corresponding to each point on the plane can be obtained according to the value on the two-dimensional plane, so that in the subsequent antenna tracking, a tracking step length is rotated in the gradient direction according to the estimated direction, and the tracking level change of one step length is compared and calculated with the antenna radiation pattern to obtain the relative position relationship between the actual pointing direction of the antenna and the optimal pointing direction, so as to control the antenna to move in the gradient direction, and quickly track to the optimal pointing direction of the antenna.

[0058] Figure 4 is a schematic diagram of an optional two-dimensional antenna pattern according to an embodiment of the present invention, such as Figure 4 As shown, a two-dimensional antenna pattern fitted on a two-dimensional coordinate system is shown. For example, based on the three-dimensional coordinate system where the three-dimensional pattern is located, a two-dimensional coordinate system is constructed, and the three-dimensional pattern is subjected to dimensionality reduction processing to obtain a two-dimensional antenna pattern fitted on the two-dimensional coordinate system.

[0059] Figure 3 The three-dimensional directional pattern in the azimuth-elevation can be mapped two-dimensionally to form an equal-level pattern of approximately concentric circles (i.e. Figure 4 Based on the modeling of the main lobe pattern, the computer can calculate the direction of the maximum gradient for fast pointing, reduce the number of tracking times, and improve tracking efficiency and pointing accuracy.

[0060] In order to improve the accuracy of constructing the first one-dimensional directional pattern curve in the pitch direction, in the satellite tracking method based on the antenna directional pattern provided in Example 1 of the present application, starting from the starting azimuth angle and the starting pitch angle, the antenna is controlled to rotate in the pitch direction, and the level value at each pitch angle during the rotation process is recorded, wherein the level value is a value obtained by analyzing the strength of the beacon signal; based on the level values ​​at all pitch angles, the highest pitch level value is determined, and based on the position point corresponding to the highest pitch level value, the pitch scanning start point and the pitch scanning end point in the pitch direction are determined; starting from the pitch scanning start point, the antenna is controlled to rotate in the pitch direction toward the pitch scanning end point, and the first signal data is sampled during the rotation process, wherein the first signal data includes: the level value corresponding to each pitch position point in the rotation process from the pitch scanning start point to the pitch scanning end point, and the azimuth angle corresponding to each pitch position point is consistent; based on the first signal data, a first one-dimensional directional pattern curve is constructed.

[0061] In an embodiment of the present invention, starting from the starting azimuth angle and the starting pitch angle, the antenna can be driven to rotate in the pitch direction by the antenna control unit, and the level values ​​at each pitch angle during the rotation process are recorded. These level values ​​can be obtained by tracking the receiver to analyze the strength of the received beacon signal. Then, according to the level values ​​at all pitch angles, the highest pitch level value is determined, and the antenna is moved to the position indicated by the level value obtained by subtracting the preset level value (for example, 6dB) from the highest pitch level value (i.e., the pitch scanning start point and the pitch scanning end point). Afterwards, starting from the pitch scanning start point, the antenna is controlled to rotate in the pitch direction toward the pitch scanning end point by the antenna control unit, and the level value corresponding to each pitch position point in the rotation process from the pitch scanning start point to the pitch scanning end point is sampled to obtain the first signal data, and then according to the first signal data, a one-dimensional directional pattern curve in the pitch direction (i.e., the first one-dimensional directional pattern curve) is constructed.

[0062] In this embodiment, during the process of controlling the antenna to scan in the elevation direction, the azimuth angle remains unchanged, and only the elevation angle is changed, that is, the azimuth angle corresponding to each elevation position point is consistent.

[0063] In order to improve the accuracy of constructing the second one-dimensional radiation pattern curve in the azimuth direction, in the satellite tracking method based on the antenna radiation pattern provided in Example 1 of the present application, when the scanning in the pitch direction is completed, the antenna is controlled to return to the position point corresponding to the highest pitch level value, and the position point corresponding to the highest pitch level value is used as the starting position point, the antenna is controlled to rotate in the azimuth direction, and the level values ​​at each azimuth angle during the rotation process are recorded; based on the level values ​​at all azimuth angles, the highest azimuth level value is determined, and based on the position point corresponding to the highest azimuth level value, the azimuth scanning start point and the azimuth scanning end point in the azimuth direction are determined; starting from the azimuth scanning start point, the antenna is controlled to rotate in the azimuth direction toward the azimuth scanning end point, and second signal data is sampled during the rotation process, wherein the second signal data includes: the level value corresponding to each azimuth position point during the rotation process from the azimuth scanning start point to the azimuth scanning end point, and the pitch angle corresponding to each azimuth position point is consistent; based on the second signal data, a second one-dimensional radiation pattern curve is constructed.

[0064] In an embodiment of the present invention, after the elevation scan is completed, the antenna is controlled to return to a relatively high level point (i.e., a position point corresponding to the highest elevation level value), and then the relatively high level point is used as the starting position point for the antenna to rotate in the azimuth direction, and the level values ​​at each azimuth angle during the rotation process are recorded, and the highest azimuth level value is determined based on the level values ​​at all azimuth angles, and then the azimuth scanning start point and azimuth scanning end point in the azimuth direction are determined based on the position point corresponding to the highest azimuth level value (i.e., the position indicated by the level value obtained by subtracting a preset level value (e.g., 6dB) from the highest azimuth level value). Thereafter, starting from the azimuth scanning start point, the antenna is controlled to rotate in the azimuth direction toward the azimuth scanning end point, and the level value corresponding to each azimuth position point in the rotation process from the azimuth scanning start point to the azimuth scanning end point is sampled to obtain second signal data, so that a one-dimensional directional pattern curve in the azimuth direction (i.e., a second one-dimensional directional pattern curve) can be constructed based on the second signal data.

[0065] In this embodiment, during the process of controlling the antenna to scan in the azimuth direction, the pitch angle remains unchanged, and only the azimuth angle is changed, that is, the pitch angle corresponding to each azimuth position point is consistent.

[0066] In order to improve the accuracy of determining the level change state, in the satellite tracking method based on the antenna radiation pattern provided in Example 1 of the present application, after the antenna tracks the communication satellite for a preset step length, the current azimuth angle and the current pitch angle of the antenna are determined; the current azimuth angle and the current pitch angle are mapped to a plane to obtain the current position coordinates; the first strength of the beacon signal received by the antenna at the initial position coordinates and the second strength of the beacon signal received at the current position coordinates are determined, wherein the second strength is not equal to the first strength; the first strength and the second strength are compared, and based on the comparison result, the level change state is determined, wherein when the first strength is greater than the second strength, the level change state is a level weakening state; when the first strength is less than the second strength, the level change state is a level increasing state.

[0067] In an embodiment of the present invention, after the antenna tracks a communication satellite for a preset step length, the current azimuth angle and the current pitch angle of the antenna can be determined, and then the current azimuth angle and the current pitch angle can be mapped to a plane to obtain the current position coordinates. After that, the first strength of the beacon signal received by the antenna at the initial position coordinates and the second strength of the beacon signal received at the current position coordinates can be calculated (the signal strengths received at the initial position coordinates and the current position coordinates are inconsistent). And by comparing the first strength and the second strength, the level change state can be determined to determine whether the antenna rotation direction is in the gradient direction according to the level change state, so that the tracking direction can be adjusted to the gradient direction according to the level change state, so as to quickly track to the best satellite position.

[0068] In an embodiment of the present invention, if the first strength is greater than the second strength, it means that the antenna has rotated to the opposite direction and the current level change state is a level weakening state; if the first strength is less than the second strength, it means that the antenna has rotated to the correct direction and the current level change state is a level increasing state.

[0069] In order to improve the accuracy of determining the center position coordinates and the maximum gradient direction, in the satellite tracking method based on the antenna pattern provided in Example 1 of the present application, the level difference is determined based on the first intensity and the second intensity; based on the level difference and the level change state, the relative position relationship between the initial position coordinates and the current position coordinates on the antenna pattern is determined; based on the relative position relationship, the initial position coordinates and the current position coordinates, the center position coordinates are determined; based on the center position coordinates and the current position coordinates, the direction of the maximum gradient is determined.

[0070] In the embodiment of the present invention, the level difference of the signal strength corresponding to the initial position coordinate and the current position coordinate can be determined first, and then the relative position relationship between the initial position coordinate and the current position coordinate on the antenna pattern (i.e., the relative position of the points corresponding to the initial position coordinate and the current position coordinate on the antenna pattern) can be determined based on the level difference and level change state between the two. Then, the real position coordinate of the center point of the antenna pattern (i.e., the center position coordinate) can be calculated based on the relative position relationship between the two, the initial position coordinate and the current position coordinate. After that, the maximum gradient vector is drawn along the direction of the equipotential line on the vertical antenna pattern (i.e., the equipotential curve of each circle on the antenna pattern) with the center point as the starting point, and the reverse direction of the maximum gradient vector of the point indicated by the center point and the current position coordinate is used as the maximum gradient direction of the antenna rotation.

[0071] Optionally, the level values ​​on the same circle of concentric circles on the antenna pattern are consistent. In order to improve the accuracy of determining the relative position relationship between the initial position coordinates and the current position coordinates on the antenna pattern, in the satellite tracking method based on the antenna pattern provided in the first embodiment of the present application, a preset level difference between the level values ​​corresponding to every two circles of concentric circles on the antenna pattern is determined; two circles of target concentric circles indicated by the preset level difference equal to the level difference are determined; when the level change state is a level weakening state, it is determined that the initial position coordinates are located on the target concentric circle close to the center point of the two circles of target concentric circles, and the current position coordinates are located on the target concentric circle far from the center point of the two circles of target concentric circles; or, when the level change state is a level enhancement state, it is determined that the initial position coordinates are located on the target concentric circle far from the center point of the two circles of target concentric circles, and the current position coordinates are located on the target concentric circle close to the center point of the two circles of target concentric circles; based on the target concentric circle where the initial position coordinates are located and the target concentric circle where the current position coordinates are located, the relative position relationship between the initial position coordinates and the current position coordinates on the antenna pattern is determined.

[0072] In the embodiment of the present invention, the level values ​​on the same circle of concentric circles on the antenna pattern are consistent, and the preset level difference between the level values ​​corresponding to every two circles of concentric circles on the antenna pattern can be determined first (that is, the difference between the level values ​​corresponding to every two circles of concentric circles on the antenna pattern is fixed), and then the two circles of target concentric circles indicated by the preset level difference equal to the level difference are determined as the concentric circles where the points indicated by the initial position coordinates and the current position coordinates are located. In addition, if the level change state is a level reduction state, it can be determined that the concentric circle where the point indicated by the initial position coordinates is located is the target concentric circle close to the center point of the two circles of target concentric circles, and the concentric circle where the point indicated by the current position coordinates is located is the target concentric circle far from the center point of the two circles of target concentric circles; if the level change state is a level enhancement state, it can be determined that the concentric circle where the point indicated by the initial position coordinates is located is the target concentric circle far from the center point of the two circles of target concentric circles, and the concentric circle where the point indicated by the current position coordinates is the target concentric circle close to the center point of the two circles of target concentric circles. Then, the relative position relationship between the initial position coordinates and the current position coordinates on the antenna radiation pattern is determined based on the target concentric circle where the initial position coordinates are located and the target concentric circle where the current position coordinates are located. That is, the distance between the initial position coordinates and the current position coordinates can be determined based on the initial position coordinates and the current position coordinates, and then the relative position relationship between the initial position coordinates and the current position coordinates on the antenna radiation pattern can be determined based on the concentric circles where the two are located and the distance between the two.

[0073] In an embodiment of the present invention, a method based on antenna direction is proposed. Figure 3Based on the satellite tracking system, the beacon signal of the tracked communication satellite is sampled to model the directional pattern, so that the position with the minimum gradient of the directional pattern model can be used as the best pointing position of the antenna to the satellite, achieving fast and accurate tracking.

[0074] In this embodiment, a three-dimensional directional diagram is established based on the sampling data of the antenna's initial scanning directional diagram. The standard antenna directional diagram has good symmetry in the azimuth axis direction and the elevation axis direction. Usually, the main lobe of the antenna E-plane directional diagram and the H-plane directional diagram has good symmetry and similar beam shapes. The three-dimensional directional diagram can be fitted and a tracking scheme can be designed based on this characteristic. The three-dimensional directional diagram includes the specific level values ​​of the azimuth, elevation and corresponding position of the satellite tracked by the antenna. In addition, equal-level lines can be established in a two-dimensional plane based on the beacon level and azimuth and elevation information, and concentric circles with the best pointing as the center and the equal-level curve on the main lobe beam as the diameter can be established.

[0075] Figure 5 is a schematic diagram of an optional satellite tracking system according to an embodiment of the present invention, such as Figure 5 As shown, the satellite tracking system includes: an antenna driving unit, a tracking receiver, and an antenna control unit.

[0076] Among them, the antenna driving unit, as a necessary driving device for automatic antenna tracking, receives instructions from the antenna control unit and drives the antenna to rotate to preset azimuth and pitch angles according to the instructions.

[0077] The tracking receiver can receive and lock onto a single-carrier signal of a preset frequency (i.e., a signal of a certain frequency generated by a communication satellite), demodulate the signal level strength, output the demodulated level value or demodulated voltage, and transmit it to the antenna control unit in a certain data format.

[0078] The antenna control unit can receive signals from the tracking receiver, store and process the signals sent by the tracking receiver, and transmit control commands to the antenna drive unit based on the data processing results, driving the antenna to rotate according to the direction and angle set by the antenna control unit. The antenna control unit scans the antenna pattern according to the preset program and stores the model, and then formulates and implements the tracking strategy based on the stored antenna pattern to perform accurate antenna tracking control.

[0079] like Figure 5As shown, the hardware connection method of the satellite tracking system is that the antenna drive unit and the tracking receiver are connected to the antenna control unit for signal and data exchange. The tracking receiver receives the RF signal through the receiving system of the satellite earth station antenna, and converts the frequency, demodulates and amplifies it, and converts the beacon signal level into a DC voltage signal or computer-processable data. The antenna drive unit mainly includes an azimuth drive motor and a shaft angle sensor, a pitch drive motor and a shaft angle sensor, and is responsible for driving the antenna pointing according to the command of the antenna control unit, and feeding back the real-time pointing of the antenna to the antenna control unit.

[0080] The antenna control unit is the main part of the satellite tracking system, which is used to receive signals and perform control. The antenna control unit can be a microcomputer system, which can store and process the signal level of the tracking receiver and the angle information of the antenna drive unit after receiving it. The recorded data is processed by the computer to generate the antenna pattern model, and the data is presented as a three-dimensional matrix in the computer.

[0081] Optionally, the satellite drift and deviation are predicted based on the information displayed by the antenna pattern and the real-time acquisition of the tracking receiver level change, and the tracking is started when the deviation reaches a certain value. In addition, when starting the tracking, the antenna azimuth pitch can be controlled to move in the opposite direction of the deviation to reduce and correct the deviation value to achieve the best satellite position. During tracking, the antenna rotates in four directions: azimuth forward, azimuth reverse, pitch up, and pitch down by a set step size, and then the maximum direction of the antenna pattern gradient is calculated based on the level change after the rotation. After that, the antenna is controlled to move directly in the direction of the maximum antenna pattern gradient until the tracking antenna enters the pattern level circle set by the main lobe, and a fast tracking is completed.

[0082] In the embodiment of the present invention, by suggesting an antenna pattern according to the collected signal data during the initial tracking, the antenna can be controlled to track a step length in any direction during each subsequent tracking, and then the center point coordinates on the antenna pattern and the direction of maximum gradient are determined according to the level change state after tracking and the position coordinates before and after tracking, so as to control the antenna to move in the direction of maximum gradient until the antenna reaches the center position coordinates, and the antenna can be quickly tracked to the optimal direction. In this way, the strongest signal position of the communication satellite can be effectively and quickly located when the beacon signal is weak, thereby improving the efficiency and accuracy of satellite tracking, and by utilizing the characteristics of the antenna pattern and analyzing the level change state and position coordinates, the tracking direction of the antenna can be intelligently adjusted, thereby avoiding blind search and improving the satellite signal capture capability in complex environments, which is of great significance to improving the stability and reliability of the satellite communication system, and achieving the technical effect of controlling the antenna to accurately and quickly track the communication satellite.

[0083] The following is a detailed description in conjunction with another embodiment.

[0084] Embodiment 2

[0085] A satellite tracking device based on antenna radiation pattern provided in this embodiment includes multiple implementation units, each implementation unit corresponds to each implementation step in the above-mentioned embodiment 1.

[0086] Figure 6 is a schematic diagram of an optional satellite tracking device based on antenna pattern according to an embodiment of the present invention, such as Figure 6 As shown, the satellite tracking device may include: a first determination unit 60 , a second determination unit 61 , a third determination unit 62 , and a moving unit 63 .

[0087] The first determining unit 60 is used to determine the initial position coordinates of the antenna when the beacon signal transmitted by the communication satellite received by the antenna is less than a preset signal threshold, wherein the initial position coordinates are coordinates obtained by mapping the initial azimuth angle and the initial elevation angle of the antenna to a plane;

[0088] A second determining unit 61 is used to control the antenna to track a communication satellite in any direction by a preset step length, and determine the current position coordinates and level change state of the antenna after tracking, wherein the level change state is determined based on the strength of the beacon signal received by the antenna;

[0089] A third determining unit 62 is used to determine the center position coordinates and the maximum gradient direction of the antenna pattern based on the initial position coordinates, the current position coordinates, the level change state, and the antenna pattern of the communication satellite, wherein the antenna pattern is a pre-constructed two-dimensional equal-level curve diagram, and each point on the antenna pattern corresponds to an azimuth angle, a pitch angle, and a level value;

[0090] The moving unit 63 is used to use the center position coordinates as the target position coordinates for the antenna to track the communication satellite, and control the antenna to move toward the target position coordinates along the maximum gradient direction to complete the tracking of the communication satellite.

[0091] The above-mentioned satellite tracking device can determine the initial position coordinates of the antenna through the first determination unit 60 when the beacon signal transmitted by the communication satellite received by the antenna is less than the preset signal threshold. The second determination unit 61 controls the antenna to track the communication satellite in any direction for a preset step length, and determines the current position coordinates and level change state of the antenna after tracking. The third determination unit 62 determines the center position coordinates and the maximum gradient direction of the antenna pattern based on the initial position coordinates, the current position coordinates, the level change state and the antenna pattern of the communication satellite. The moving unit 63 uses the center position coordinates as the target position coordinates for the antenna to track the communication satellite, and controls the antenna to move toward the target position coordinates along the maximum gradient direction to complete the tracking of the communication satellite, thereby solving the technical problem of low efficiency of the antenna in tracking the communication satellite in the related art.

[0092] Optionally, the satellite tracking device also includes: a first determination module, used to determine the starting azimuth angle and the starting pitch angle of the antenna before determining the initial position coordinates of the antenna when the beacon signal transmitted by the communication satellite received by the antenna is less than a preset signal threshold; a first scanning module, used to scan the beacon signal transmitted by the communication satellite in the pitch direction based on the starting azimuth angle and the starting pitch angle, to obtain a first one-dimensional radiation pattern curve in the pitch direction, wherein the pitch direction is a direction perpendicular to the ground; a second scanning module, used to scan the beacon signal transmitted by the communication satellite in the azimuth direction based on the starting azimuth angle and the starting pitch angle, to obtain a second one-dimensional radiation pattern curve in the azimuth direction, wherein the azimuth direction is a direction parallel to the ground; a first construction module, used to construct a three-dimensional radiation pattern based on the first one-dimensional radiation pattern curve and the second one-dimensional radiation pattern curve, and to construct the antenna radiation pattern based on the three-dimensional radiation pattern.

[0093] Optionally, the first scanning module includes: a first rotation submodule, used to control the antenna to rotate in the pitch direction starting from the starting azimuth angle and the starting pitch angle, and record the level value at each pitch angle during the rotation process, wherein the level value is a value obtained by analyzing the strength of the beacon signal; a first determination submodule, used to determine the highest pitch level value based on the level values ​​at all pitch angles, and determine the pitch scanning start point and the pitch scanning end point in the pitch direction based on the position point corresponding to the highest pitch level value; a second rotation submodule, used to control the antenna to rotate in the pitch direction toward the pitch scanning end point starting from the pitch scanning start point, and sample the first signal data during the rotation process, wherein the first signal data includes: the level value corresponding to each pitch position point in the rotation process from the pitch scanning start point to the pitch scanning end point, and the azimuth angle corresponding to each pitch position point is consistent; a first construction submodule, used to construct a first one-dimensional directional pattern curve based on the first signal data.

[0094] Optionally, the second scanning module includes: a third rotation submodule, which is used to control the antenna to return to the position point corresponding to the highest pitch level value when the pitch direction scan is completed, and use the position point corresponding to the highest pitch level value as the starting position point, control the antenna to rotate in the azimuth direction, and record the level values ​​at each azimuth angle during the rotation process; a second determination submodule, which is used to determine the highest azimuth level value based on the level values ​​at all azimuth angles, and determine the azimuth scanning start point and azimuth scanning end point in the azimuth direction based on the position point corresponding to the highest azimuth level value; a fourth rotation submodule, which is used to control the antenna to rotate in the azimuth direction toward the azimuth scanning end point starting from the azimuth scanning start point, and sample second signal data during the rotation process, wherein the second signal data includes: the level value corresponding to each azimuth position point in the rotation process from the azimuth scanning start point to the azimuth scanning end point, and the pitch angle corresponding to each azimuth position point is consistent; a second construction submodule, which is used to construct a second one-dimensional directional pattern curve based on the second signal data.

[0095] Optionally, the second determination unit includes: a second determination module, used to determine the current azimuth angle and the current pitch angle of the antenna after the antenna tracks the communication satellite for a preset step length; a first mapping module, used to map the current azimuth angle and the current pitch angle to a plane to obtain the current position coordinates; a third determination module, used to determine the first strength of the beacon signal received by the antenna at the initial position coordinates and the second strength of the beacon signal received at the current position coordinates, wherein the second strength is not equal to the first strength; a first comparison module, used to compare the first strength and the second strength, and based on the comparison result, determine the level change state, wherein when the first strength is greater than the second strength, the level change state is a level weakening state; when the first strength is less than the second strength, the level change state is a level increasing state.

[0096] Optionally, the third determination unit includes: a fourth determination module, used to determine the level difference based on the first intensity and the second intensity; a fifth determination module, used to determine the relative position relationship between the initial position coordinates and the current position coordinates on the antenna radiation pattern based on the level difference and the level change state; a sixth determination module, used to determine the center position coordinates based on the relative position relationship, the initial position coordinates and the current position coordinates; a seventh determination module, used to determine the direction of maximum gradient based on the center position coordinates and the current position coordinates.

[0097] Optionally, the level values ​​on the same circle of concentric circles on the antenna pattern are consistent, and based on the level difference and the level change state, the fifth determination module includes: a third determination submodule, used to determine a preset level difference between the level values ​​corresponding to every two circles of concentric circles on the antenna pattern; a fourth determination submodule, used to determine two circles of target concentric circles indicated by a preset level difference equal to the level difference; a fifth determination submodule, used to determine, when the level change state is a level weakening state, that the initial position coordinates are located on a target concentric circle close to the center point of the two circles of target concentric circles, and the current position coordinates are located on a target concentric circle far from the center point of the two circles of target concentric circles; or, when the level change state is a level enhancing state, determine that the initial position coordinates are located on a target concentric circle far from the center point of the two circles of target concentric circles, and the current position coordinates are located on a target concentric circle close to the center point of the two circles of target concentric circles; a sixth determination submodule, used to determine the relative position relationship between the initial position coordinates and the current position coordinates on the antenna pattern based on the target concentric circle where the initial position coordinates are located and the target concentric circle where the current position coordinates are located.

[0098] The above-mentioned satellite tracking device may also include a processor and a memory. The above-mentioned first determination unit 60, second determination unit 61, third determination unit 62, mobile unit 63, etc. are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize corresponding functions.

[0099] The processor includes a kernel, and the kernel retrieves the corresponding program unit from the memory. One or more kernels can be set, and the center position coordinates are used as the target position coordinates of the antenna tracking the communication satellite by adjusting the kernel parameters, and the antenna is controlled to move toward the target position coordinates along the maximum gradient direction to complete the tracking of the communication satellite.

[0100] The above-mentioned memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory (fl ash RAM), and the memory includes at least one storage chip.

[0101] The present invention also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having the following method steps: when the beacon signal transmitted by the communication satellite received by the antenna is less than a preset signal threshold, determining the initial position coordinates of the antenna, controlling the antenna to track the communication satellite in any direction for a preset step length, and determining the current position coordinates and level change state of the antenna after tracking, determining the center position coordinates and the direction of maximum gradient of the antenna pattern based on the initial position coordinates, the current position coordinates, the level change state and the antenna pattern of the communication satellite, using the center position coordinates as the target position coordinates for the antenna to track the communication satellite, and controlling the antenna to move toward the target position coordinates along the direction of maximum gradient to complete tracking of the communication satellite.

[0102] According to another aspect of an embodiment of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium, the non-volatile computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, implementing any of the above-mentioned satellite tracking methods based on antenna radiation patterns.

[0103] According to another aspect of an embodiment of the present invention, an electronic device is also provided, including one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by one or more processors, the one or more processors implement the above-mentioned satellite tracking method based on antenna radiation pattern.

[0104] Figure 7 1 is a hardware structure block diagram of an electronic device (or mobile device) for a satellite tracking method based on an antenna pattern according to an embodiment of the present invention. Figure 7 As shown, the electronic device may include one or more processors (e.g., Figure 7 The processor 702a, processor 702b, ..., processor 702n, etc., which may include but are not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA, etc.), a memory 704 for storing data. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a keyboard, a power supply and / or a camera. It can be understood by those skilled in the art that Figure 7 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 7 More or fewer components as shown, or with Figure 7 Different configurations are shown.

[0105] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0106] The embodiments or examples of the present disclosure are not exhaustive, but are only illustrative of some embodiments or examples, and are not intended to be specific limitations on the scope of protection of the present disclosure. In the absence of contradiction, each step in a certain embodiment or example can be implemented as an independent example, and the steps can be combined arbitrarily. For example, the scheme after removing some steps in a certain embodiment or example can also be implemented as an independent example, and the order of the steps in a certain embodiment or example can be arbitrarily exchanged. In addition, the optional methods or optional examples in a certain embodiment or example can be combined arbitrarily; in addition, the various embodiments or examples can be combined arbitrarily, for example, some or all steps of different embodiments or examples can be combined arbitrarily, and a certain embodiment or example can be combined arbitrarily with the optional methods or optional examples of other embodiments or examples.

[0107] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0108] In the several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0109] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0110] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0111] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0112] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A satellite tracking method based on antenna pattern, characterized in that: include: When the beacon signal transmitted by the communication satellite received by the antenna is less than a preset signal threshold, determining the initial position coordinates of the antenna, wherein the initial position coordinates are coordinates obtained by mapping the initial azimuth angle and the initial elevation angle of the antenna onto a plane; Controlling the antenna to track the communication satellite in any direction for a preset step length, and determining the current position coordinates and level change state of the antenna after tracking, wherein the level change state is determined based on the strength of the beacon signal received by the antenna; Based on the initial position coordinates, the current position coordinates, the level change state, and the antenna pattern of the communication satellite, determine the center position coordinates and the maximum gradient direction of the antenna pattern, wherein the antenna pattern is a pre-constructed two-dimensional equal-level curve diagram, and each point on the antenna pattern corresponds to an azimuth angle, a pitch angle, and a level value; The center position coordinates are used as the target position coordinates for the antenna to track the communication satellite, and the antenna is controlled to move toward the target position coordinates along the maximum gradient direction to complete the tracking of the communication satellite.

2. The satellite tracking method according to claim 1, characterized in that: In the case where the beacon signal transmitted by the communication satellite received by the antenna is less than a preset signal threshold, before determining the initial position coordinates of the antenna, the method further includes: Determining a starting azimuth angle and a starting elevation angle of the antenna; Based on the starting azimuth angle and the starting elevation angle, scanning the beacon signal transmitted by the communication satellite in the elevation direction to obtain a first one-dimensional directional pattern curve in the elevation direction, wherein the elevation direction is a direction perpendicular to the ground; Based on the starting azimuth angle and the starting elevation angle, scanning the beacon signal transmitted by the communication satellite in the azimuth direction to obtain a second one-dimensional directional pattern curve in the azimuth direction, wherein the azimuth direction is a direction parallel to the ground; A three-dimensional pattern is constructed based on the first one-dimensional pattern curve and the second one-dimensional pattern curve, and the antenna pattern is constructed based on the three-dimensional pattern.

3. The satellite tracking method according to claim 2, characterized in that: The step of scanning the beacon signal transmitted by the communication satellite in a pitch direction based on the starting azimuth angle and the starting pitch angle to obtain a first one-dimensional directional pattern curve in the pitch direction comprises: Starting from the starting azimuth angle and the starting elevation angle, controlling the antenna to rotate in the elevation direction, and recording the level value at each elevation angle during the rotation process, wherein the level value is a value obtained by analyzing the strength of the beacon signal; Based on the level values ​​at all the pitch angles, determining a maximum pitch level value, and based on a position point corresponding to the maximum pitch level value, determining a pitch scanning start point and a pitch scanning end point in the pitch direction; Starting from the pitch scanning starting point, controlling the antenna to rotate toward the pitch scanning end point in the pitch direction, and sampling first signal data during the rotation process, wherein the first signal data includes: the level value corresponding to each pitch position point during the rotation process from the pitch scanning starting point to the pitch scanning end point, and the azimuth angle corresponding to each pitch position point is consistent; The first one-dimensional directional pattern curve is constructed based on the first signal data.

4. The satellite tracking method according to claim 3, characterized in that: The step of scanning the beacon signal transmitted by the communication satellite in the azimuth direction based on the starting azimuth angle and the starting elevation angle to obtain a second one-dimensional directional pattern curve in the azimuth direction comprises: When the scanning in the pitch direction is completed, the antenna is controlled to return to the position point corresponding to the highest pitch level value, and the position point corresponding to the highest pitch level value is used as the starting position point, the antenna is controlled to rotate in the azimuth direction, and the level value at each azimuth angle during the rotation process is recorded; Based on the level values ​​at all the azimuth angles, determine the highest azimuth level value, and based on the position point corresponding to the highest azimuth level value, determine the azimuth scanning start point and the azimuth scanning end point in the azimuth direction; Starting from the azimuth scanning starting point, controlling the antenna to rotate in the azimuth direction toward the azimuth scanning end point, and sampling second signal data during the rotation process, wherein the second signal data includes: the level value corresponding to each azimuth position point during the rotation process from the azimuth scanning starting point to the azimuth scanning end point, and the pitch angle corresponding to each azimuth position point is consistent; Based on the second signal data, the second one-dimensional directional pattern curve is constructed.

5. The satellite tracking method according to claim 1, characterized in that: The step of determining the current position coordinates and level change state of the antenna after tracking includes: After the antenna tracks the communication satellite for a preset step length, determining a current azimuth angle and a current elevation angle of the antenna; Mapping the current azimuth angle and the current pitch angle onto a plane to obtain the current position coordinates; Determine a first strength of the beacon signal received by the antenna at the initial position coordinates and a second strength of the beacon signal received at the current position coordinates, wherein the second strength is not equal to the first strength; The first strength and the second strength are compared, and the level change state is determined based on the comparison result, wherein when the first strength is greater than the second strength, the level change state is a level reduction state; when the first strength is less than the second strength, the level change state is a level enhancement state.

6. The satellite tracking method according to claim 5, characterized in that: The step of determining the center position coordinates and the maximum gradient direction of the antenna pattern based on the initial position coordinates, the current position coordinates, the level change state, and the antenna pattern of the communication satellite comprises: determining a level difference based on the first intensity and the second intensity; Based on the level difference and the level change state, determining a relative position relationship between the initial position coordinate and the current position coordinate on the antenna pattern; Determining the center position coordinates based on the relative position relationship, the initial position coordinates and the current position coordinates; Based on the center position coordinates and the current position coordinates, a maximum gradient direction is determined.

7. The satellite tracking method according to claim 6, characterized in that: The level values ​​on the same concentric circles on the antenna pattern are consistent, and based on the level difference and the level change state, the step of determining the relative position relationship between the initial position coordinates and the current position coordinates on the antenna pattern comprises: Determine a preset level difference between the level values ​​corresponding to every two concentric circles on the antenna pattern; Determine two target concentric circles indicated by the preset level difference value equal to the level difference value; When the level change state is the level weakening state, determining that the initial position coordinate is located on a target concentric circle close to the center point of two target concentric circles, and the current position coordinate is located on a target concentric circle far from the center point of the two target concentric circles; or When the level change state is the level enhancement state, determining that the initial position coordinate is located on a target concentric circle far from the near center point among the two target concentric circles, and the current position coordinate is located on a target concentric circle close to the center point among the two target concentric circles; Based on the target concentric circle where the initial position coordinates are located and the target concentric circle where the current position coordinates are located, the relative position relationship between the initial position coordinates and the current position coordinates on the antenna radiation pattern is determined.

8. A satellite tracking device based on antenna pattern, characterized in that: include: A first determining unit is used to determine the initial position coordinates of the antenna when the beacon signal transmitted by the communication satellite received by the antenna is less than a preset signal threshold, wherein the initial position coordinates are coordinates obtained by mapping the initial azimuth angle and the initial elevation angle of the antenna to a plane; a second determining unit, configured to control the antenna to track the communication satellite in any direction by a preset step length, and determine the current position coordinates and level change state of the antenna after tracking, wherein the level change state is determined based on the strength of the beacon signal received by the antenna; a third determining unit, configured to determine the center position coordinates and the maximum gradient direction of the antenna pattern based on the initial position coordinates, the current position coordinates, the level change state, and the antenna pattern of the communication satellite, wherein the antenna pattern is a pre-constructed two-dimensional equal-level curve diagram, and each point on the antenna pattern corresponds to an azimuth angle, a pitch angle, and a level value; The mobile unit is used to use the center position coordinates as the target position coordinates of the antenna for tracking the communication satellite, and control the antenna to move toward the target position coordinates along the maximum gradient direction to complete the tracking of the communication satellite.

9. A computer program product, characterized in that It comprises a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the satellite tracking method based on the antenna pattern as described in any one of claims 1 to 7 is implemented.

10. An electronic device, characterized in that: It includes one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the satellite tracking method based on the antenna pattern as described in any one of claims 1 to 7.

Images