Portable satellite TT&C antenna automatic debugging device and debugging method

Abstract

The application discloses a portable satellite measurement and control antenna automatic debugging device and a 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 calibration gyroscope, an RTK antenna, an RTK antenna receiver and a power adapter. The horizontal and the north angle are measured through the calibration gyroscope, the RTK antenna and the RTK antenna receiver, the deviation angle is compensated into the calculation of tracking data, and the direction adjusting mechanism is utilized for adjustment, so that the work of manually debugging the antenna is effectively avoided, and the debugging efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of satellite communication technology, and in particular to a portable automatic debugging device and debugging method for satellite telemetry and control antennas. Background Technology

[0002] Before receiving satellite signals, the satellite tracking antenna needs to be leveled with the reference direction pointing due north. Otherwise, it will be unable to track satellite signals. This is typically done manually. A level is installed on the antenna reference plane, and the equipment is adjusted while observing the test data until the horizontal angle meets the requirements. Then, a compass is installed on the antenna reference line, and the antenna is adjusted while observing the test values ​​until the north angle meets the requirements. After the antenna is installed and adjusted, it is fixed in place. Testing is then performed, and the test results are input into the software for compensation. Afterwards, multiple tracking confirmations are conducted using a calibration tower or satellite, and the compensation parameters are fine-tuned. Finally, the position is completely locked.

[0003] As a portable satellite telemetry and control antenna, it frequently needs to be disassembled and reassembled, and the antenna needs to be recalibrated in terms of level and north direction after each installation. In addition, existing debugging methods require a lot of equipment and place high demands on the antenna's structural design and the installation personnel, which seriously affects the debugging efficiency of portable satellite telemetry and control antennas.

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

[0005] To address the aforementioned technical issues, this application provides a portable satellite telemetry and control antenna automatic debugging device and method. By calibrating the gyroscope, RTK antenna, and RTK antenna receiver to measure the horizontal and north angles, the deviation angle is compensated into the calculation of tracking data. Adjustment is then performed using a direction adjustment mechanism, effectively avoiding manual antenna debugging and improving debugging efficiency.

[0006] A portable satellite telemetry and control antenna automatic debugging device, comprising:

[0007] Support frame;

[0008] Servo control module; the servo control module is configured to generate a tracking file from the ballistic file and convert the tracking file into angle drive data;

[0009] Direction adjustment mechanism; the mounting part of the direction adjustment mechanism is fixedly disposed relative to the support frame; the direction adjustment mechanism is configured to drive the portable satellite telemetry and control antenna to move along the X-axis and Y-axis according to the angle drive data output by the servo control module, so that the portable satellite telemetry and control antenna is always pointing at the satellite in order to track and acquire signals;

[0010] Calibrate the gyroscope; the gyroscope is fixedly mounted relative to the support frame;

[0011] 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 orientation of the X-axis and Y-axis relative to true north;

[0012] RTK antenna receiver; the RTK antenna receiver is used to receive signals from the RTK antenna and process and calculate the received signals;

[0013] Power adapter; the power adapter is used to supply power to all electrical equipment in the portable satellite telemetry and control antenna automatic debugging device.

[0014] Preferably, the direction adjustment mechanism includes an X-axis adjustment mechanism, a Y-axis adjustment mechanism, and an antenna surface mounting interface adapter for rigidly connecting the antenna surface; the direction adjustment mechanism drives the X-axis adjustment mechanism and the Y-axis adjustment mechanism to move according to the guidance data calculated by the servo control module, so that the normal of the portable satellite telemetry and control antenna always points to the satellite.

[0015] 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.

[0016] Preferably, it also includes channel equipment, baseband equipment, and satellite telemetry and control antenna surface and feed source for jointly completing the reception, frequency conversion and data parsing of satellite signals; the satellite telemetry 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 equipment through the channel equipment.

[0017] Preferably, it also includes a switch and a mobile control computer; the baseband device, the servo control module and the mobile control computer are connected via the switch.

[0018] According to another aspect of this application, an automatic debugging method for a portable satellite telemetry and control antenna is also provided, which utilizes the aforementioned automatic debugging device for the portable satellite telemetry and control antenna to perform debugging, including:

[0019] The portable satellite telemetry and control antenna automatic debugging device can meet the usage requirements by improving manufacturing precision or by using a standard correction gyroscope for calibration.

[0020] The various components of the portable satellite telemetry and control antenna automatic debugging device that meet the usage requirements are assembled into a whole.

[0021] After installation, power on and initialize the portable satellite telemetry and control antenna automatic debugging device so that both the X-axis and Y-axis are set to 0.

[0022] The directional adjustment mechanism is calibrated and compensated using an RTK antenna and a calibration gyroscope, so that the coordinate system of the portable satellite telemetry and control antenna automatic debugging device coincides with the calculated coordinate system of the theoretical trajectory.

[0023] Preferably, the method of calibration using a standard corrected gyroscope to ensure the portable satellite telemetry and control antenna automatic debugging device meets the usage requirements includes:

[0024] The pitch and roll angles are output using a standard corrected gyroscope.

[0025] Use the gyroscope to output pitch and roll angles;

[0026] Calculate the pitch and roll angle differences between the standard corrected gyroscope and the calibrated gyroscope;

[0027] The pitch and roll angle differences are used as basic parameters in the calculation process of the guidance data for calibration.

[0028] Preferably, the method of improving manufacturing precision to ensure the portable satellite telemetry and control antenna automatic debugging device meets usage requirements includes:

[0029] During manufacturing, the mounting surface of the gyroscope, the plane formed by the X-axis and Y-axis, and the antenna connection surface are made parallel to each other, with the angular error controlled within 0.1°, so that the portable satellite telemetry and control antenna automatic debugging device meets the usage requirements.

[0030] Preferably, the step of using an RTK antenna and a calibration gyroscope to calibrate and compensate the orientation adjustment mechanism, so that the coordinate system of the portable satellite telemetry and control antenna automatic adjustment device coincides with the calculated coordinate system of the theoretical trajectory, includes:

[0031] The elevation and roll angles of a portable satellite telemetry and control antenna were measured using a calibration gyroscope.

[0032] The corresponding pitch and roll adjustments are calculated based on the pitch and roll angles of the portable satellite telemetry and control antenna.

[0033] The heading angle is output using an RTK antenna;

[0034] Calculate the heading angle adjustment amount of the portable satellite telemetry and control antenna based on the heading angle output by the RTK antenna;

[0035] Based on the pitch angle adjustment, roll angle adjustment, and heading angle adjustment of the portable satellite telemetry and control antenna, the corresponding pitch angle compensation, roll angle compensation, and heading angle compensation are obtained and verified.

[0036] The guidance data is corrected using the verified pitch angle compensation, roll angle compensation, and yaw angle compensation as compensation data, so that the coordinate system of the portable satellite telemetry and control antenna automatic debugging device coincides with the calculated coordinate system of the theoretical trajectory.

[0037] Compared with the prior art, this application has at least the following beneficial effects:

[0038] 1. Compared with level instruments and north finders, the automatic debugging device implemented in this invention measures the horizontal and north angles by calibrating the gyroscope and RTK antenna receiver, and transmits the measurement results to the servo device through software. The device compensates for the deviation angle in the calculation of the tracking data, which effectively avoids the work of manually debugging the antenna and greatly simplifies the debugging process.

[0039] 2. The debugging time of this invention is consistent with the power-on positioning time of the RTK antenna receiver. The initial positioning during cold start takes about 3 to 5 minutes, and the warm start only takes tens of seconds. Compared with the method of manually debugging and repeatedly observing the measurement values, it greatly saves time and improves debugging efficiency. Attached Figure Description

[0040] The following sections will describe some specific embodiments of the invention in a detailed manner by way of example and not limitation, with reference to the accompanying drawings. The same reference numerals in the drawings denote the same or similar parts or portions. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. In the drawings:

[0041] Figure 1 This is a schematic diagram of the portable satellite telemetry and control antenna automatic debugging device of the present invention;

[0042] Figure 2 This is a schematic diagram of the portable satellite telemetry and control antenna automatic debugging device of the present invention.

[0043] The above figures include the following reference numerals:

[0044] 1. Antenna surface and feed source; 2. Channel equipment; 3. Baseband equipment; 4. Switch; 5. Portable 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. Mounting box. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Example

[0046] like Figure 1 and Figure 2 As shown, a portable satellite telemetry 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.

[0047] Servo control module 6 is configured to generate a tracking file from the ballistic file and convert the tracking file into angle drive data.

[0048] The mounting part of the direction adjustment mechanism is fixedly set relative to the support frame 8. The direction adjustment mechanism is configured to drive the portable satellite telemetry and control antenna to move along the X and Y axes according to the angle drive data output by the servo control module 6, so that the portable satellite telemetry and control antenna is always pointing at the satellite in order to track and acquire signals.

[0049] The calibration gyroscope 11 is fixed relative to the support frame 8 and is used to measure the horizontal level of the portable satellite telemetry and control antenna.

[0050] 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 orientation of the X-axis and Y-axis relative to true north.

[0051] The RTK antenna receiver 13 is used to receive signals from the RTK antenna 12 and to process and calculate the received signals.

[0052] Power adapter 7 is used to supply power to all electrical equipment in the portable satellite telemetry and control antenna automatic debugging device.

[0053] Furthermore, the directional adjustment mechanism includes an X-axis adjustment mechanism, a Y-axis adjustment mechanism, and an antenna surface mounting interface adapter for rigidly connecting the antenna surface and the feed 1. The directional adjustment mechanism drives the X-axis and Y-axis adjustment mechanisms to move according to the guidance data calculated by the servo control module 6, ensuring that the normal of the portable satellite telemetry and control antenna always points towards the satellite. Specifically, the X-axis adjustment mechanism is composed of an X-axis motor assembly 10, and the Y-axis adjustment mechanism is composed of a Y-axis motor assembly 9.

[0054] 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.

[0055] In another embodiment of the present invention, a portable satellite telemetry and control antenna automatic debugging device further includes a channel device 2, a baseband device 3, and an antenna surface and feed 1 of the satellite telemetry and control antenna, which are used to jointly complete the reception, frequency conversion, and data parsing of satellite signals. The antenna surface and feed 1 are rigidly fixedly connected to an antenna surface mounting interface adapter, and the antenna surface mounting interface adapter is rigidly fixedly connected to the moving end of the directional adjustment mechanism. The antenna surface and feed 1 are communicatively connected to the baseband device 3 through the channel device 2. Specifically, the antenna surface and feed 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 the satellite signals.

[0056] Furthermore, a portable satellite telemetry 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 connected to each other via the switch 4, and the switch 4 is used to exchange control commands, device status and satellite data between the servo control module 6, the baseband device 3 and the mobile control computer 5.

[0057] In this embodiment, the low-noise amplifiers of the feed and channel equipment are installed within the satellite telemetry and control antenna surface. The baseband equipment 3, switch 4, servo control module 6, calibration gyroscope 11, and the frequency converter and filter of the channel equipment 2 are all fixedly mounted within the mounting box 14, with the calibration gyroscopes 11 rigidly connected to each other. The mounting box 14 is fixedly connected to the support frame 8. The RTK antenna 12 is fixedly connected to the mounting box 14 via the RTK antenna bracket y and is symmetrically arranged on both sides of the calibration gyroscope 11. The mounting part of the directional adjustment mechanism is a mounting base, which is rigidly connected to the mounting box 14. The antenna surface and feed 1 are rigidly connected to the moving end of the directional adjustment mechanism via an antenna surface mounting interface adapter. It should be noted that since both the directional adjustment mechanism and the calibration gyroscope 11 are rigidly connected to the mounting box 14, the angle of the mounting surface of the directional adjustment mechanism can be measured using the calibration gyroscope 11, thereby determining the required adjustment amount.

[0058] Furthermore, when the mounting surface of the direction adjustment mechanism mounting part is not fixedly connected to the mounting box 14, the angle of the corresponding mounting surface of the direction adjustment mechanism mounting part can be measured using the calibration gyroscope 11 to determine the required adjustment amount. For example, when the direction adjustment mechanism mounting part is fixedly connected to the support frame 8, the angle of the surface of the support frame 8 used to fix the direction adjustment mechanism mounting part can be measured using the calibration gyroscope 11 to determine the required adjustment amount. Example

[0059] This embodiment is an automatic debugging method for a portable satellite telemetry and control antenna. The debugging is performed using the automatic debugging device for the portable satellite telemetry and control antenna described in Embodiment 1, and includes the following steps:

[0060] S1. The portable satellite telemetry and control antenna automatic debugging device can meet the usage requirements by improving manufacturing precision or by using a standard correction gyroscope for calibration.

[0061] S2. Assemble the various components of the portable satellite telemetry and control antenna automatic debugging device that meet the usage requirements to form a whole.

[0062] S3. Power on and initialize the portable satellite telemetry and control antenna automatic debugging device after installation, so that both the X-axis and Y-axis are set to 0.

[0063] S4. Use the RTK antenna and calibration gyroscope to calibrate and compensate the direction adjustment mechanism so that the coordinate system of the portable satellite telemetry and control antenna automatic debugging device coincides with the calculated coordinate system of the theoretical trajectory.

[0064] In this embodiment, a specific scheme for an automatic debugging method for a portable satellite telemetry and control antenna is as follows:

[0065] 1) Key points of design and manufacturing

[0066] After the portable satellite telemetry and control antenna automatic debugging device is manufactured, it is calibrated by installing a high-precision standard correction gyroscope on the antenna connection surface. The specific calibration method is as follows:

[0067] a) Fix a standard correction gyroscope for measuring the mounting surface of the orientation adjustment mechanism;

[0068] b) Use the gyroscope to output pitch and roll angles:

[0069] Pitch angle: ;

[0070] Roll angle: ;

[0071] c) Output pitch and roll angles using a standard corrected gyroscope:

[0072] Pitch angle: ;

[0073] Roll angle: ;

[0074] d) Calculate the pitch and roll angle differences between the portable satellite telemetry and control antenna calibration gyroscope and the standard correction gyroscope:

[0075] Pitch angle difference: ;

[0076] Roll angle difference: ;

[0077] angle difference , The azimuth and pitch angles of the initial guidance are corrected as basic parameters, and the correction angles include pitch correction value and yaw correction value.

[0078] The expression for the pitch correction value is:

[0079] ;

[0080] The expression for the yaw correction value is:

[0081] ;

[0082] Where 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.

[0083] It should be noted that the standard correction gyroscope is only used during factory or equipment calibration. After calibration, the standard correction gyroscope can be removed.

[0084] As another embodiment of the present invention, during manufacturing, the mounting surface of the calibration gyroscope, the plane formed by the X-axis and Y-axis, and the antenna connection surface are made parallel to each other, and the angular error is controlled within 0.1°. This ensures that the portable satellite telemetry and control antenna automatic debugging device meets the usage requirements. This solution also meets the requirements, and with this manufacturing precision, it is not necessary to use a standard correction gyroscope for calibration.

[0085] 2) Equipment installation

[0086] The antenna surface, antenna surface mounting interface adapter, X-axis adjustment mechanism, Y-axis adjustment mechanism, gyroscope calibration mounting surface, support frame, etc. are all independent devices before use and need to be spliced ​​and installed to form a whole.

[0087] 3) Initialization

[0088] After the equipment is installed, power it on to initialize it, and set the X and Y axes to 0.

[0089] 4) After installation, the equipment should be calibrated as follows:

[0090] a) Horizontal calibration calculation

[0091] Calibrling a gyroscope can test the tilt angle of a portable satellite telemetry and control antenna. Let's assume the test output is:

[0092] Pitch: ;

[0093] Roll angle: ;

[0094] Horizontal calibration calculation:

[0095] Pitch and roll angles represent the tilt of a portable satellite telemetry and control antenna relative to the horizontal plane. To level the portable satellite telemetry and control antenna, compensation for pitch and roll angles is required.

[0096] Assuming the initial attitude of the portable satellite telemetry and control antenna is horizontal, the pitch and roll angles need to be compensated to 0°. This compensation includes both pitch and roll angle adjustments.

[0097] Pitch angle adjustment amount: ;

[0098] Roll angle adjustment amount: ;

[0099] b) North calibration calculation

[0100] RTK Output: RTK can provide high-precision heading angles. Assume the RTK output heading test result is as follows:

[0101] Heading angle: ;

[0102] North calibration calculation:

[0103] The heading angle represents the angle of a portable satellite tracking and control antenna relative to true north. To align the portable satellite tracking and control antenna to true north, the heading angle needs to be compensated.

[0104] Assuming true north is 0°, then the heading angle needs to be adjusted to 0°. The adjustment amount is the heading angle adjustment amount.

[0105] Heading angle adjustment amount: ;

[0106] 5) Final calibration compensation data

[0107] Pitch angle compensation amount: ;

[0108] Roll angle compensation amount: ;

[0109] Heading angle compensation: ;

[0110] By following the steps above, the horizontal and north orientation of the portable satellite telemetry and control antenna can be compensated to the required state.

[0111] 6) Guidance and tracking of work status

[0112] During operation, compensation data is used to correct the guidance data, generating final data to guide the portable satellite telemetry and control antenna to point at the satellite, thereby acquiring satellite signals and performing data analysis.

[0113] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0114] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0115] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0116] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A portable automatic debugging device for satellite telemetry and control antennas, used for debugging satellite telemetry and control antennas before receiving satellite signals, characterized in that, include: Support frame; Servo control module; The servo control module is configured to generate a tracking file from the ballistic file and convert the tracking file into angle drive data; Direction adjustment mechanism; the mounting part of the direction adjustment mechanism is fixedly disposed relative to the support frame; the direction adjustment mechanism is configured to drive the portable satellite telemetry and control antenna to move along the X-axis and Y-axis according to the angle drive data output by the servo control module, so that the portable satellite telemetry and control antenna is always pointing at the satellite in order to track and acquire signals; Calibrate the gyroscope; The calibration gyroscope is fixedly mounted 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 orientation of the X-axis and Y-axis relative to true north; RTK antenna receiver; the RTK antenna receiver is used to receive signals from the RTK antenna and process and calculate the received signals; Power adapter; the power adapter is used to supply power to all electrical equipment in the portable satellite telemetry and control antenna automatic debugging device; The calibration gyroscope is fixed inside the mounting box, which is fixedly connected to the support frame. The direction adjustment mechanism and the calibration gyroscope are both rigidly fixedly connected to the mounting box. The directional adjustment mechanism includes an X-axis adjustment mechanism, a Y-axis adjustment mechanism, and an antenna surface mounting interface adapter for rigidly connecting the antenna surface; the directional adjustment mechanism drives the X-axis adjustment mechanism and the Y-axis adjustment mechanism to move according to the guidance data calculated by the servo control module, so that the normal of the portable satellite telemetry and control antenna always points to the satellite; 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; The debugging process using the aforementioned portable satellite telemetry and control antenna automatic debugging device includes: The portable satellite telemetry and control antenna automatic debugging device can meet the usage requirements by improving manufacturing precision or by using a standard correction gyroscope for calibration. The various components of the portable satellite telemetry and control antenna automatic debugging device that meet the usage requirements are assembled into a whole. After installation, power on and initialize the portable satellite telemetry and control antenna automatic debugging device so that both the X-axis and Y-axis are set to 0. The directional adjustment mechanism is calibrated and compensated using an RTK antenna and a calibration gyroscope, so that the coordinate system of the portable satellite telemetry and control antenna automatic debugging device coincides with the calculated coordinate system of the theoretical trajectory.

2. The portable satellite telemetry and control antenna automatic debugging device as described in claim 1, characterized in that, It also includes channel equipment, baseband equipment, and satellite telemetry and control antenna surface and feed source for jointly completing the reception, frequency conversion and data parsing of satellite signals; the satellite telemetry 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 equipment through the channel equipment.

3. The portable satellite telemetry and control antenna automatic debugging device as described in claim 2, characterized in that, It also includes a switch and a portable control computer; the baseband device, the servo control module and the portable control computer are connected to each other through the switch.

4. An automatic debugging method for a portable satellite telemetry and control antenna, characterized in that, Debugging using the portable satellite telemetry and control antenna automatic debugging device according to any one of claims 1-3 includes: The portable satellite telemetry and control antenna automatic debugging device can meet the usage requirements by improving manufacturing precision or by using a standard correction gyroscope for calibration. The various components of the portable satellite telemetry and control antenna automatic debugging device that meet the usage requirements are assembled into a whole. After installation, power on and initialize the portable satellite telemetry and control antenna automatic debugging device so that both the X-axis and Y-axis are set to 0. The directional adjustment mechanism is calibrated and compensated using an RTK antenna and a calibration gyroscope to make the coordinate system of the portable satellite telemetry and control antenna automatic debugging device coincide with the calculated coordinate system of the theoretical trajectory. The method of calibration using a standard corrected gyroscope to ensure the portable satellite telemetry and control antenna automatic debugging device meets usage requirements includes: The pitch and roll angles are output using a standard corrected gyroscope. Use the gyroscope to output pitch and roll angles; Calculate the pitch and roll angle differences between the standard corrected gyroscope and the calibrated gyroscope; The pitch angle difference and roll angle difference are used as basic parameters and calibrated by incorporating them into the calculation process of the guidance data. The process of using an RTK antenna and a calibration gyroscope to calibrate and compensate the orientation adjustment mechanism, ensuring that the coordinate system of the portable satellite telemetry and control antenna automatic adjustment device coincides with the calculated coordinate system of the theoretical trajectory, includes: The elevation and roll angles of a portable satellite telemetry and control antenna were measured using a calibration gyroscope. The corresponding pitch and roll adjustments are calculated based on the pitch and roll angles of the portable satellite telemetry and control antenna. The heading angle is output using an RTK antenna; Calculate the heading angle adjustment amount of the portable satellite telemetry and control antenna based on the heading angle output by the RTK antenna; Based on the pitch angle adjustment, roll angle adjustment, and heading angle adjustment of the portable satellite telemetry and control antenna, the corresponding pitch angle compensation, roll angle compensation, and heading angle compensation are obtained and verified. The guidance data is corrected using the verified pitch angle compensation, roll angle compensation, and yaw angle compensation as compensation data, so that the coordinate system of the portable satellite telemetry and control antenna automatic debugging device coincides with the calculated coordinate system of the theoretical trajectory.

5. The automatic debugging method for portable satellite telemetry and control antennas as described in claim 4, characterized in that, The method of improving manufacturing precision to enable the portable satellite telemetry and control antenna automatic debugging device to meet usage requirements includes: During manufacturing, the mounting surface of the gyroscope, the plane formed by the X-axis and Y-axis, and the antenna connection surface are made parallel to each other, with the angular error controlled within 0.1°, so that the portable satellite telemetry and control antenna automatic debugging device meets the usage requirements.

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