Portable satellite measurement and control antenna automatic debugging device and debugging method

Abstract

The invention discloses a portable satellite measurement and control antenna automatic debugging device and debugging method, and belongs to the technical field of satellite communication, the portable satellite measurement and control antenna automatic debugging device comprises a support frame, a servo control module, a direction adjusting mechanism, a proofreading gyroscope, an RTK antenna, an RTK antenna receiver and a power adapter; horizontal and north-pointing angle measurement is carried out through the proofreading gyroscope, the RTK antenna and the RTK antenna receiver, a deviation angle is compensated to calculation of tracking data, adjustment is carried out through the direction adjusting mechanism, the work of manual antenna debugging is effectively avoided, and the debugging efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of satellite communication technology, and in particular to an automatic debugging device and a debugging method for a portable satellite measurement and control antenna. Background Art

[0002] Before receiving satellite signals, the satellite measurement and control antenna needs to be adjusted to a horizontal level with the reference direction pointing to due north, and then it can be used normally. Otherwise, the satellite signal cannot be tracked normally. Usually, manual debugging is performed. The level is installed on the antenna reference surface, and the equipment is adjusted while observing the test data until the horizontal angle test value meets the requirements. Then the compass is installed on the antenna reference line, and the antenna is adjusted while observing the test value until the north angle test value meets the requirements. After the antenna is installed and debugged in place, it is fixed, and then tested again. The test results are entered into the software for compensation. After that, multiple tracking confirmations are performed using the calibration tower or satellite, and the compensation parameters are fine-tuned. After that, the position is completely locked.

[0003] As a portable satellite tracking and control antenna, it often needs to be disassembled and assembled, and the antenna needs to be recalibrated for horizontal and north orientation after each installation. In addition, the existing debugging method requires a lot of equipment assistance and has high requirements for the antenna's structural design and installation personnel, which seriously affects the debugging efficiency of the portable satellite tracking and control antenna.

[0004] In view of this, it is necessary to provide a new technical solution to solve the above problems. Summary of the invention

[0005] In order to solve the above technical problems, the present application provides a portable satellite measurement and control antenna automatic debugging device and debugging method, which performs horizontal and north angle measurements by calibrating the gyroscope, RTK antenna and RTK antenna receiver, compensates the deviation angle into the calculation of tracking data, and uses the direction adjustment mechanism for adjustment, effectively avoiding the work of manual antenna debugging and improving debugging efficiency.

[0006] A portable satellite measurement and control antenna automatic debugging device, comprising: Support frame; A servo control module; the servo control module is configured to generate a tracking file from a trajectory file and convert the tracking file into angle drive data; A direction adjustment mechanism; the mounting portion of the direction adjustment mechanism is fixedly arranged relative to the support frame; the direction adjustment mechanism is configured to drive the portable satellite measurement and control antenna to move along the X-axis and the Y-axis according to the angle driving data output by the servo control module, so that the portable satellite measurement and control antenna is always pointed to the satellite to track and acquire signals; A calibration gyroscope; the calibration gyroscope is fixedly arranged relative to the support frame; RTK antenna; the RTK antenna is fixed relative to the calibration gyroscope and can move synchronously with the calibration gyroscope; the RTK antenna is used to reflect the direction of the X-axis and the Y-axis relative to the true north; RTK antenna receiver; the RTK antenna receiver is used to receive the signal of the RTK antenna, and process and solve the received signal; Power adapter; the power adapter is used to supply power to all electrical devices in the portable satellite measurement and control antenna automatic debugging device.

[0007] Preferably, the direction adjustment mechanism includes an X-direction adjustment mechanism, a Y-direction adjustment mechanism and an antenna surface mounting interface adapter for rigidly connecting the antenna surface; the direction adjustment mechanism drives the X-direction adjustment mechanism and the Y-direction adjustment mechanism to move according to the guidance data calculated by the servo control module, so that the normal direction of the portable satellite measurement and control antenna always points to the satellite.

[0008] Preferably, the RTK antenna is a dual-antenna real-time dynamic differential positioning antenna; the two antennas of the RTK antenna are symmetrically fixed on both sides of the calibration gyroscope.

[0009] Preferably, it also includes a channel device, a baseband device, a satellite measurement and control antenna surface and a feed source for jointly completing the reception, frequency conversion and data analysis of satellite signals; the satellite measurement and control antenna surface is rigidly fixedly connected to the antenna surface mounting interface adapter; the antenna surface and the feed source are communicatively connected to the baseband device through the channel device.

[0010] Preferably, it also includes a switch and a mobile control computer; the baseband device, the servo control module and the mobile control computer are communicatively connected via the switch.

[0011] According to another aspect of the present application, a portable satellite measurement and control antenna automatic debugging method is also provided, and the portable satellite measurement and control antenna automatic debugging device is used for debugging, comprising: The portable satellite measurement and control antenna automatic debugging device can meet the use requirements by improving the manufacturing accuracy or using the standard correction gyroscope for calibration. Assemble the various components of the portable satellite measurement and control antenna automatic debugging device that meet the use requirements to form a whole; After the installation is completed, the portable satellite measurement and control antenna automatic debugging device is powered on and initialized, so that both the X-axis and the Y-axis are set to 0; The RTK antenna and the calibration gyroscope are used to calibrate and compensate the direction adjustment mechanism, so that the coordinate system of the portable satellite measurement and control antenna automatic debugging device coincides with the calculation coordinate system of the theoretical trajectory.

[0012] Preferably, the method of using the standard correction gyroscope for calibration to make the portable satellite measurement and control antenna automatic debugging device meet the use requirements includes: Use standard correction gyro to output pitch and roll angles; Use the calibration gyroscope to output the pitch and roll angles; Calculate the pitch angle difference and roll angle difference between the standard correction gyro and the calibration gyro; The pitch angle difference and roll angle difference are taken as basic parameters and brought into the calculation process of the guidance data for calibration.

[0013] Preferably, the method of improving the manufacturing accuracy so that the portable satellite measurement and control antenna automatic debugging device meets the use requirements includes: During manufacturing, the installation surface of the calibration gyroscope, the plane formed by the X-axis and the Y-axis, and the antenna connection surface are made parallel to each other, and the angle error is controlled within 0.1°, so that the portable satellite measurement and control antenna automatic debugging device meets the use requirements.

[0014] Preferably, the RTK antenna and the calibration gyroscope are used to calibrate and compensate the direction adjustment mechanism so that the coordinate system of the portable satellite measurement and control antenna automatic debugging device coincides with the calculation coordinate system of the theoretical trajectory, including: Use the calibration gyroscope to measure the pitch and roll angles of the portable satellite tracking and control antenna; Calculating the corresponding pitch angle adjustment amount and roll angle adjustment amount according to the pitch angle and roll angle of the portable satellite tracking and control antenna; Use RTK antenna to output heading angle; Calculate the heading angle adjustment of the portable satellite measurement and control antenna according to the heading angle output by the RTK antenna; Obtain corresponding pitch angle compensation, roll angle compensation and heading angle compensation according to the pitch angle adjustment, roll angle adjustment and heading angle adjustment of the portable satellite tracking and control antenna, and check them; The guidance data is corrected using the calibrated pitch angle compensation, roll angle compensation and heading angle compensation as compensation data, so that the coordinate system of the portable satellite measurement and control antenna automatic debugging device coincides with the calculation coordinate system of the theoretical trajectory.

[0015] Compared with the prior art, this application has at least the following beneficial effects: 1. Compared with the level and the north-finder, the automatic debugging device implemented by the present invention measures the horizontal and north-pointing angles by calibrating the gyroscope and the RTK antenna receiver, and transmits the measurement results to the servo device through software, which compensates the deviation angle into the calculation of the tracking data, effectively avoiding the work of manual antenna debugging and greatly simplifying the debugging process.

[0016] 2. The debugging time of the present invention is consistent with the working time of the electric positioning on the RTK antenna receiver. The first positioning of the cold start takes about 3 to 5 minutes, and the warm start only takes tens of seconds. Compared with the manual debugging method of repeatedly observing the measurement values, it greatly saves time and improves the debugging efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Hereinafter, some specific embodiments of the present invention will be described in detail in an exemplary and non-limiting manner with reference to the accompanying drawings. The same reference numerals in the accompanying drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. In the accompanying drawings: Figure 1 It is a schematic diagram of the portable satellite measurement and control antenna automatic debugging device of the present invention; Figure 2 The present invention is a schematic diagram of the structure of the portable satellite measurement and control antenna automatic debugging device.

[0018] The above drawings include the following reference numerals: 1. Antenna surface and feed source; 2. Channel equipment; 3. Baseband equipment; 4. Switch; 5. Mobile control computer; 6. Servo control module; 7. Power adapter; 8. Support frame; 9. Y-axis motor assembly; 10. X-axis motor assembly; 11. Calibration gyroscope; 12. RTK antenna; 13. RTK antenna receiver; 14. Installation box. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application. Example

[0020] like Figure 1 and Figure 2 As shown, a portable satellite measurement and control antenna automatic debugging device includes: a support frame 8, a servo control module 6, a direction adjustment mechanism, a calibration gyroscope 11, an RTK antenna 12, an RTK antenna receiver 13 and a power adapter 7.

[0021] The servo control module 6 is configured to generate a tracking file from the trajectory file and convert the tracking file into angular driving data.

[0022] The mounting portion of the direction adjustment mechanism is fixedly arranged relative to the support frame 8. The direction adjustment mechanism is configured to drive the portable satellite tracking and control antenna to move along the X-axis and the Y-axis according to the angle driving data output by the servo control module 6, so that the portable satellite tracking and control antenna always points to the satellite to track and acquire signals.

[0023] The calibration gyroscope 11 is fixedly arranged relative to the support frame 8 and is used to measure the horizontality of the portable satellite tracking and control antenna.

[0024] The RTK antenna 12 is fixed relative to the calibration gyroscope 11 and can move synchronously with the calibration gyroscope 11 ; the RTK antenna 12 is used to reflect the directions of the X-axis and the Y-axis relative to the true north.

[0025] The RTK antenna receiver 13 is used to receive the signal from the RTK antenna 12 and process and resolve the received signal.

[0026] The power adapter 7 is used to supply power to all electrical devices in the portable satellite measurement and control antenna automatic debugging device.

[0027] Furthermore, the direction adjustment mechanism includes an X-direction adjustment mechanism, a Y-direction adjustment mechanism, and an antenna surface mounting interface adapter for rigidly connecting the antenna surface and the feed source 1; the direction adjustment mechanism drives the X-direction adjustment mechanism and the Y-direction adjustment mechanism to move according to the guidance data calculated by the servo control module 6, so that the normal direction of the portable satellite tracking and control antenna always points to the satellite. Among them, the X-direction adjustment mechanism is composed of an X-axis motor assembly 10, and the Y-direction adjustment mechanism is composed of a Y-axis motor assembly 9.

[0028] Preferably, the RTK antenna 12 is a dual-antenna real-time dynamic differential positioning antenna; the two antennas of the RTK antenna 12 are symmetrically arranged on both sides of the calibration gyroscope 11.

[0029] As another embodiment of the present invention, a portable satellite measurement and control antenna automatic debugging device also includes a channel device 2, a baseband device 3, and an antenna surface and feed source 1 of a satellite measurement and control antenna for jointly completing the reception, frequency conversion and data analysis of satellite signals; the antenna surface and feed source 1 are rigidly fixedly connected to the antenna surface mounting interface adapter, and the antenna surface mounting interface adapter is rigidly fixedly connected to the mobile end of the direction adjustment mechanism; the antenna surface and feed source 1 are communicatively connected to the baseband device 3 through the channel device 2. Specifically, the antenna surface and feed source 1 are used to receive satellite signals; the channel device 2 is used to amplify, filter and frequency convert the received satellite signals; and the baseband device 3 is used to demodulate and process satellite signals.

[0030] Furthermore, a portable satellite measurement and control antenna automatic debugging device also includes: a switch 4 and a mobile control computer 5; the baseband device 3, the servo control module 6 and the mobile control computer 5 are communicatively connected via the switch 4, and the switch 4 is used for interacting control instructions, device status and satellite data between the servo control module 6, the baseband device 3 and the mobile control computer 5.

[0031] In this embodiment, the low noise amplifier of the feed source and the channel device is installed in the satellite measurement and control antenna surface, the baseband device 3, the switch 4, the servo control module 6, the calibration gyroscope 11, and the frequency converter and filter of the channel device 2 are all fixedly arranged in the installation box 14, and the calibration gyroscope 11 is rigidly fixedly connected to the calibration gyroscope 11. The installation box 14 is fixedly connected to the support frame 8. The RTK antenna 12 is fixedly connected to the installation box 14 through the RTK antenna bracket y, and is symmetrically arranged on both sides of the calibration gyroscope 11. The mounting portion of the direction adjustment mechanism is a mounting base, and the mounting base of the direction adjustment mechanism is rigidly fixedly connected to the mounting box 14. The antenna surface and the feed source 1 are rigidly fixedly connected to the mobile end of the direction adjustment mechanism through the antenna surface mounting interface adapter. It should be noted that since the direction adjustment mechanism and the calibration gyroscope 11 are rigidly fixedly connected to the installation box 14, the calibration gyroscope 11 can measure the angle of the mounting surface of the mounting portion of the direction adjustment mechanism, and then the required adjustment amount can be determined.

[0032] Further, when the mounting surface of the direction adjustment mechanism mounting portion is not fixedly connected to the mounting box 14, the calibration gyroscope 11 can be used to measure the angle of the corresponding mounting surface of the direction adjustment mechanism mounting portion, thereby determining the required adjustment amount. For example, when the direction adjustment mechanism mounting portion is fixedly connected to the support frame 8, the calibration gyroscope 11 can be used to measure the angle of the surface of the support frame 8 used to fix the direction adjustment mechanism mounting portion, thereby determining the required adjustment amount. Example

[0033] This embodiment is a portable satellite measurement and control antenna automatic debugging method, which uses the portable satellite measurement and control antenna automatic debugging device in Example 1 to perform debugging, and includes the following steps: S1. The portable satellite measurement and control antenna automatic debugging device can meet the use requirements by improving the manufacturing accuracy or using the standard correction gyroscope for calibration.

[0034] S2. Assemble the various components of the portable satellite measurement and control antenna automatic debugging device that meet the use requirements to form a whole.

[0035] S3. After the installation is completed, the portable satellite measurement and control antenna automatic debugging device is powered on and initialized, so that both the X-axis and the Y-axis are set to 0.

[0036] S4. Use the RTK antenna and the calibration gyroscope to calibrate and compensate the direction adjustment mechanism so that the coordinate system of the portable satellite measurement and control antenna automatic debugging device coincides with the calculation coordinate system of the theoretical trajectory.

[0037] In this embodiment, a specific scheme of a portable satellite measurement and control antenna automatic debugging method is as follows: 1) Key points of design and manufacturing After the portable satellite measurement and control antenna automatic debugging device is manufactured, a high-precision standard correction gyroscope is installed on the antenna connection surface for calibration. The calibration method is as follows: a) Fix the standard correction gyroscope to measure the fixed surface of the direction adjustment mechanism installation part; b) Use the calibration gyro to output the pitch and roll angles: Pitch angle: ; Roll angle: ; c) Use standard correction gyro outputs for pitch and roll angles: Pitch angle: ; Roll angle: ; d) Calculate the pitch angle difference and roll angle difference between the portable satellite tracking and control antenna calibration gyro and the standard correction gyro: Pitch angle difference: ; Roll angle difference: ; The angle difference , The azimuth and pitch angles of the initial guidance are corrected as basic parameters, and the correction angles include a pitch correction value and a yaw correction value.

[0038] The pitch correction value is expressed as: ; The expression of yaw correction value is: ; Wherein, c is the yaw angle measured by the RTK antenna in actual application. The yaw angle is also called the azimuth angle, and the yaw correction value is also called the azimuth correction value.

[0039] It should be noted that the standard correction gyroscope is only used during factory or equipment calibration. After the calibration is completed, the standard correction gyroscope can be removed.

[0040] As another embodiment of the present invention, during manufacturing, the installation surface of the calibration gyroscope, the plane formed by the X-axis and the Y-axis, and the antenna connection surface are parallel to each other, and the angle error is controlled within 0.1°, so that the portable satellite measurement and control antenna automatic debugging device meets the use requirements. This solution can also meet the requirements, and under this manufacturing accuracy, there is no need to use a standard correction gyroscope for calibration.

[0041] 2) Equipment installation The antenna surface, antenna surface mounting interface adapter, X-axis adjustment mechanism, Y-axis adjustment mechanism, calibration gyroscope mounting surface, support frame, etc. are all independent devices before use and need to be spliced ​​and installed to form a whole.

[0042] 3) Initialization After the equipment is installed, power on for initialization and set the X-axis and Y-axis to 0.

[0043] 4) After installation, the equipment is calibrated as follows: a) Horizontal calibration calculation The calibrated gyroscope can test the tilt angle of the portable satellite tracking and control antenna. Assume that the test output result is: Pitch: ; Roll angle: ; Horizontal calibration calculation: The pitch angle and roll angle represent the inclination of the portable satellite tracking and control antenna relative to the horizontal plane. In order to adjust the portable satellite tracking and control antenna to a horizontal state, the pitch angle and roll angle need to be compensated.

[0044] Assuming that the initial attitude of the portable satellite tracking and control antenna is horizontal, the pitch angle and the roll angle need to be compensated to 0°, wherein the compensation amount includes the pitch angle adjustment amount and the roll angle adjustment amount.

[0045] Pitch angle adjustment: ; Roll angle adjustment: ; b) North calibration calculation RTK output: RTK can provide high-precision heading angle (Heading). Assume that the heading test result output by RTK is: Heading: ; North calibration calculation: The heading angle indicates the angle of the portable satellite tracking and control antenna relative to the true north direction. In order to compensate the portable satellite tracking and control antenna to point to the true north direction, the heading angle needs to be compensated.

[0046] Assuming that the true north direction is 0°, the heading angle needs to be adjusted to 0°. The adjustment amount is the heading angle adjustment amount.

[0047] Heading angle adjustment: ; 5) Final calibration compensation data Pitch angle compensation: ; Roll angle compensation: ; Heading angle compensation: ; Through the above steps, the horizontal and north pointing directions of the portable satellite tracking and control antenna can be compensated to the required states.

[0048] 6) Guidance and tracking of working status During the operation, compensation data is used to correct the guidance data, and final data is generated to guide the portable satellite measurement and control antenna to point to the satellite, so as to obtain satellite signals and implement data analysis.

[0049] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0050] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0051] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application 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 numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0052] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A portable satellite measurement and control antenna automatic debugging device, characterized in that: include: Support frame; Servo control module; The servo control module is configured to generate a tracking file from the trajectory file and convert the tracking file into angular drive data; A direction adjustment mechanism; the mounting portion of the direction adjustment mechanism is fixedly arranged relative to the support frame; the direction adjustment mechanism is configured to drive the portable satellite measurement and control antenna to move along the X-axis and the Y-axis according to the angle driving data output by the servo control module, so that the portable satellite measurement and control antenna is always pointed to the satellite to track and acquire signals; Calibrate the gyroscope; The calibration gyroscope is fixedly arranged relative to the support frame; RTK antenna; the RTK antenna is fixed relative to the calibration gyroscope and can move synchronously with the calibration gyroscope; the RTK antenna is used to reflect the direction of the X-axis and the Y-axis relative to the true north; RTK antenna receiver; the RTK antenna receiver is used to receive the signal of the RTK antenna, and process and solve the received signal; Power adapter; the power adapter is used to supply power to all electrical devices in the portable satellite measurement and control antenna automatic debugging device.

2. The portable satellite measurement and control antenna automatic debugging device according to claim 1, characterized in that: The direction adjustment mechanism comprises an X-direction adjustment mechanism, a Y-direction adjustment mechanism and an antenna surface mounting interface adapter for rigidly connecting the antenna surface; the direction adjustment mechanism drives the X-direction adjustment mechanism and the Y-direction adjustment mechanism to move according to the guidance data calculated by the servo control module, so that the normal direction of the portable satellite measurement and control antenna always points to the satellite.

3. The portable satellite measurement and control antenna automatic debugging device as claimed in claim 2, characterized in that: The RTK antenna is a dual-antenna real-time dynamic differential positioning antenna; the two antennas of the RTK antenna are symmetrically fixed on both sides of the calibration gyroscope.

4. The portable satellite measurement and control antenna automatic debugging device according to claim 2 or 3, characterized in that: It also includes a channel device, a baseband device, a satellite measurement and control antenna surface and a feed source, which are used to jointly complete the reception, frequency conversion and data analysis of satellite signals; the satellite measurement and control antenna surface is rigidly fixedly connected to the antenna surface mounting interface adapter; the antenna surface and the feed source are communicatively connected to the baseband device through the channel device.

5. The portable satellite measurement and control antenna automatic debugging device as claimed in claim 4, characterized in that: It also includes a switch and a movable control computer; the baseband device, the servo control module and the movable control computer are communicatively connected via the switch.

6. A portable satellite measurement and control antenna automatic debugging method, characterized in that: Debugging using the portable satellite measurement and control antenna automatic debugging device according to any one of claims 1 to 5 comprises: The portable satellite measurement and control antenna automatic debugging device can meet the use requirements by improving the manufacturing accuracy or using the standard correction gyroscope for calibration. Assemble the various components of the portable satellite measurement and control antenna automatic debugging device that meet the use requirements to form a whole; After the installation is completed, the portable satellite measurement and control antenna automatic debugging device is powered on and initialized, so that both the X-axis and the Y-axis are set to 0; The RTK antenna and the calibration gyroscope are used to calibrate and compensate the direction adjustment mechanism, so that the coordinate system of the portable satellite measurement and control antenna automatic debugging device coincides with the calculation coordinate system of the theoretical trajectory.

7. The portable satellite measurement and control antenna automatic debugging method as claimed in claim 6, characterized in that: The method of using the standard correction gyroscope for calibration enables the portable satellite measurement and control antenna automatic debugging device to meet the use requirements, including: Use standard correction gyro to output pitch and roll angles; Use the calibration gyroscope to output the pitch and roll angles; Calculate the pitch angle difference and roll angle difference between the standard correction gyro and the calibration gyro; The pitch angle difference and roll angle difference are taken as basic parameters and brought into the calculation process of the guidance data for calibration.

8. The portable satellite measurement and control antenna automatic debugging method as claimed in claim 6, characterized in that: The method of improving manufacturing accuracy so that the portable satellite measurement and control antenna automatic debugging device meets the use requirements includes: During manufacturing, the installation surface of the calibration gyroscope, the plane formed by the X-axis and the Y-axis, and the antenna connection surface are made parallel to each other, and the angle error is controlled within 0.1°, so that the portable satellite measurement and control antenna automatic debugging device meets the use requirements.

9. The portable satellite measurement and control antenna automatic debugging method as claimed in claim 7, characterized in that: The method of using the RTK antenna and the calibration gyroscope to calibrate and compensate the direction adjustment mechanism so that the coordinate system of the portable satellite measurement and control antenna automatic debugging device coincides with the calculation coordinate system of the theoretical trajectory includes: Use the calibration gyroscope to measure the pitch and roll angles of the portable satellite tracking and control antenna; Calculating the corresponding pitch angle adjustment amount and roll angle adjustment amount according to the pitch angle and roll angle of the portable satellite tracking and control antenna; Use RTK antenna to output heading angle; Calculate the heading angle adjustment of the portable satellite measurement and control antenna according to the heading angle output by the RTK antenna; Obtain corresponding pitch angle compensation, roll angle compensation and heading angle compensation according to the pitch angle adjustment, roll angle adjustment and heading angle adjustment of the portable satellite tracking and control antenna, and check them; The guidance data is corrected using the calibrated pitch angle compensation, roll angle compensation and heading angle compensation as compensation data, so that the coordinate system of the portable satellite measurement and control antenna automatic debugging device coincides with the calculation coordinate system of the theoretical trajectory.

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