A Visual Satellite Searching Method and Device for Low Earth Orbit Satellites Based on OpenGL Technology

Abstract

The present invention provides a method and device for visual satellite star tracking based on OpenGL technology, belonging to the field of satellite star tracking technology. Simulate according to the azimuth map of low-orbit beacon signals, and construct a two-dimensional paraboloid function model of the azimuth map; then use the underlying VICTS antenna star tracking algorithm to obtain the parameters of the two-dimensional paraboloid function model of the satellite beacon signal, the coordinate values of the paraboloid extreme points, and the current beam energy value; randomly generate N azimuth values and pitch values, and import the N azimuth values and N pitch values into the function model to calculate N beacon signal values; finally, use the OpenGL tool to restore the three-dimensional paraboloid shape of the current low-orbit satellite beacon signal in real time from the three-dimensional coordinate azimuth values, pitch values, and beacon signal values, and draw the current beam energy point and the paraboloid extreme point, and determine the star tracking status of the low-orbit satellite by comparing the distance between the current beam energy point and the paraboloid extreme point, so as to realize the real-time monitoring of the star tracking status of the low-orbit satellite.

Description

Technical Field

[0001] The present invention relates to the field of satellite search technology, and in particular to a low-orbit satellite visualization search method and device based on OPENGL technology. Background Art

[0002] VICTS antennas are more commonly used in the satellite search process for high-orbit satellites. The satellite search process based on low-orbit satellites is relatively rare, with almost no precedent in China. In addition, VICTS has the characteristics of low profile, high dynamics, low power consumption, and large beam scanning range, which have greater advantages than electronic phased arrays, flat arrays, and parabolic antennas. Traditional satellite search cannot monitor the capture, tracking, and non-capture of satellites in real time, and the signal tracking algorithm is not accurate enough, resulting in inaccurate or unstable satellite search. Low-orbit satellites move relative to the earth. In view of the differences between low-orbit satellites and high-orbit satellites, low-orbit search requires a method for visual interface display of entry, capture, tracking, and exit, which is convenient for real-time monitoring of the antenna's satellite search status and working status.

[0003] At present, most of the high-orbit and low-orbit satellite alignment processes at home and abroad use parabolic, flat-panel array or electronic phased array equipment. Therefore, there are problems such as high power consumption, low gain, low dynamics, narrow beam scanning range and large side lobes. In addition, the visualization interface of the satellite search process is relatively simple, and the satellite search status of low-orbit satellites cannot be monitored in real time. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a low-orbit satellite visual search method and device based on OPENGL technology, so as to solve the problem that the existing search method is difficult to monitor the low-orbit satellite search status in real time.

[0005] The technical solution adopted by the present invention is:

[0006] In a first aspect, the present invention provides a low-orbit satellite visual search method based on OPENGL technology, comprising:

[0007] The shape and direction of the low-orbit satellite beacon signal are determined by simulation according to the low-orbit beacon signal azimuth diagram, and a two-dimensional parabolic function model is constructed according to the shape and direction of the low-orbit satellite beacon signal;

[0008] The satellite search algorithm is run using the VICTS antenna to obtain the two-dimensional parabola function model parameters, parabola extreme point coordinates and current beam energy values ​​of the low-orbit satellite beacon signal through SOCKET communication;

[0009] Randomly generate N azimuth values ​​and elevation values, and import the N azimuth values ​​and elevation values ​​into the two-dimensional parabola function model to obtain N beacon signal values;

[0010] The OpenGL tool is used to restore the beacon signal parabola of the current low-orbit satellite in real time using N beacon signal values, and the current beam energy point is drawn in the beacon signal parabola. By comparing the distance between the current beam energy point and the extreme point of the parabola, the alignment status of the low-orbit satellite is determined.

[0011] Further, the simulation is performed according to the low-orbit beacon signal azimuth diagram to determine the shape and direction of the low-orbit satellite beacon signal, and a two-dimensional parabolic function model is constructed according to the shape and direction of the low-orbit satellite beacon signal, including:

[0012] Based on the low-orbit signal azimuth diagram, simulation is performed to determine that the shape of the low-orbit satellite beacon signal during the satellite search process is a parabola with an opening downward;

[0013] A spatial rectangular coordinate system is established with the antenna disk as the coordinate origin, where the X-axis represents the azimuth, the Y-axis represents the elevation, and the Z-axis represents the energy point, i.e., the beacon signal value;

[0014] A two-dimensional parabolic function model of the low-orbit satellite beacon signal is constructed based on the spatial rectangular coordinate system:

[0015]

[0016] in, is a two-dimensional parabolic function, representing an energy point; a , b , c , d , e , f , i , j , k All are two-dimensional parabolic function model parameters; x Indicates the orientation value of the parabola; y Indicates the pitch value of the parabola.

[0017] Further, the randomly generating N azimuth values ​​and pitch values, and importing the N azimuth values ​​and pitch values ​​into the two-dimensional parabola function model to obtain N beacon signal values, includes:

[0018] Randomly generate N azimuth values ​​i1~iN and N elevation values ​​j1~jN;

[0019] The real-time N azimuth values ​​i1~iN and N pitch values ​​j1~jN are introduced into the two-dimensional parabolic function model to calculate the beacon signal value, and the corresponding N beacon signal values ​​z1~zN are obtained.

[0020] Furthermore, the use of the OpenGL tool to restore the beacon signal parabola of the current low-orbit satellite in real time from the N beacon signal values, and to draw the current beam energy point in the beacon signal parabola, and to determine the alignment status of the low-orbit satellite by comparing the distance between the current beam energy point and the extreme point of the parabola, includes:

[0021] Taking N beacon signal values ​​z1~zN as the coordinate values ​​of the energy points in the parabola, the beacon signal parabola of the current low-orbit satellite is drawn in real time through the OpenGL tool, and the current beam energy point is drawn in the beacon signal parabola according to the current beam energy value;

[0022] Translate the beacon signal parabola to the origin of the spatial rectangular coordinate system;

[0023] According to the coordinate value of the parabola extreme point, the distance between the parabola extreme point and the current beam energy point is compared. If the distance between the two points is closer, the low-orbit satellite is more accurate. If the distance between the two points is farther, the low-orbit satellite is less accurate.

[0024] Furthermore, the method also includes: displaying the beacon signal parabola graphics of the low-orbit satellite in real time through the visualization interface of the OpenGL tool, and storing the energy beam and beacon signal parabola shape data drawn by the OPENGL tool in the satellite search data file of the low-orbit satellite.

[0025] In a second aspect, the present invention provides a low-orbit satellite visual search device based on OPENGL technology, comprising:

[0026] A signal simulation module is used to perform simulation according to the low-orbit beacon signal azimuth diagram, determine the shape and direction of the low-orbit satellite beacon signal, and construct a two-dimensional parabolic function model according to the shape and direction of the low-orbit satellite beacon signal;

[0027] The parameter reading module is used to run the satellite search algorithm using the VICTS antenna and obtain the two-dimensional parabola function model parameters, parabola extreme point coordinates and current beam energy values ​​of the low-orbit satellite beacon signal through SOCKET communication;

[0028] An energy point calculation module, used for randomly generating N azimuth values ​​and elevation values, and importing the N azimuth values ​​and elevation values ​​into the two-dimensional parabola function model to obtain N beacon signal values;

[0029] The satellite monitoring module uses OpenGL tools to restore the beacon signal parabola of the current low-orbit satellite in real time using N beacon signal values, and draws the current beam energy point in the beacon signal parabola. By comparing the distance between the current beam energy point and the extreme point of the parabola, the satellite status of the low-orbit satellite is determined.

[0030] In summary, the beneficial effects of the present invention are as follows:

[0031] The present invention provides a visual satellite search method for low-orbit satellites based on OPENGL technology. The method uses a VICTS antenna for satellite search, has high spectrum efficiency, high gain flatness, and an instantaneous bandwidth that is 5-8 times that of conventional phased arrays and parabolas; has good dynamic tracking performance, and can ensure that high tracking accuracy and stable and reliable signal quality can be maintained during large turbulence; has adaptive and adjustable polarization angle, high gain performance, and large instantaneous bandwidth. At the same time, the method uses the OpenGL tool to draw the beacon signal parabola during low-orbit satellite search, and draws the current beam energy point in the beacon signal parabola. By comparing the distance between the current beam energy point and the extreme point of the parabola, the low-orbit satellite's star-pointing status is determined, and real-time monitoring of the low-orbit satellite's star-pointing status is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the following is a brief introduction to the drawings required for use in the embodiment of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work, and these are all within the protection scope of the present invention.

[0033] Figure 1 This is a flow chart of a low-orbit satellite visual search method based on OPENGL technology of the present invention;

[0034] Figure 2 It is a schematic diagram of a parabolic graph of a beacon signal;

[0035] Figure 3 This is a functional module diagram of a low-orbit satellite visual search device based on OPENGL technology. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. If there is no conflict, the various features of the present invention and the embodiments can be combined with each other, all within the scope of protection of the present invention.

[0037] Example 1: Reference Figure 1 As shown, Figure 1 This is a flow chart of a low-orbit satellite visual search method based on OPENGL technology of the present invention. Figure 1 As shown, a low-orbit satellite visual search method based on OPENGL technology of the present invention comprises:

[0038] The shape and direction of the low-orbit satellite beacon signal are determined by simulation according to the low-orbit beacon signal azimuth diagram, and a two-dimensional parabolic function model is constructed according to the shape and direction of the low-orbit satellite beacon signal;

[0039] The satellite search algorithm is run using the VICTS antenna to obtain the two-dimensional parabola function model parameters, parabola extreme point coordinates and current beam energy values ​​of the low-orbit satellite beacon signal through SOCKET communication;

[0040] Randomly generate N azimuth values ​​and elevation values, and import the N azimuth values ​​and elevation values ​​into the two-dimensional parabola function model to obtain N beacon signal values;

[0041] The OpenGL tool is used to restore the beacon signal parabola of the current low-orbit satellite in real time using N beacon signal values, and the current beam energy point is drawn in the beacon signal parabola. By comparing the distance between the current beam energy point and the extreme point of the parabola, the alignment status of the low-orbit satellite is determined.

[0042] In the embodiment of the present invention, a VICTS antenna is used for satellite search, which has high spectrum efficiency, large gain flatness, and an instantaneous bandwidth that is 5-8 times that of a conventional phased array and a parabola; it has good dynamic tracking performance, and can ensure that high tracking accuracy and stable and reliable signal quality can be maintained during large turbulence; the polarization angle is adaptively adjustable, the gain performance is high, and the instantaneous bandwidth is large.

[0043] In an embodiment of the present invention, simulation is performed according to a low-orbit beacon signal azimuth diagram to determine the shape and direction of the low-orbit satellite beacon signal, and a two-dimensional parabolic function model is constructed according to the shape and direction of the low-orbit satellite beacon signal, including the following steps:

[0044] Based on the simulation in the low-orbit signal azimuth diagram, it is determined that the shape of the low-orbit satellite beacon signal during the satellite search process is a parabola with an opening downward;

[0045] A spatial rectangular coordinate system is established with the antenna disk as the coordinate origin, where the X-axis represents the azimuth, the Y-axis represents the elevation, and the Z-axis represents the energy point, i.e., the beacon signal value;

[0046] A two-dimensional parabolic function model of the low-orbit satellite beacon signal is constructed based on the spatial rectangular coordinate system:

[0047]

[0048] in, is a two-dimensional parabolic function, representing an energy point; a , b , c , d , e , f ,i , j , k All are two-dimensional parabolic function model parameters; x Indicates the orientation value of the parabola; y Indicates the pitch value of the parabola.

[0049] Specifically, according to the simulation of the low-orbit beacon signal azimuth pattern in the embodiment of the present invention, it can be known that the beacon signal direction pattern is a parabola opening downward, so we can establish a spatial rectangular coordinate system with the antenna dish as the coordinate origin, the direction close to the side of the dish and perpendicular to the Y axis is the positive direction of the X axis, and the direction parallel to the two antenna dishes and toward the outside of the dish is the positive direction of the Y axis.

[0050] Further, in an embodiment of the present invention, N azimuth values ​​and elevation values ​​are randomly generated, and the N azimuth values ​​and elevation values ​​are introduced into the two-dimensional parabola function model to obtain N beacon signal values, including:

[0051] Randomly generate N azimuth values ​​i1~iN and N elevation values ​​j1~jN;

[0052] The N azimuth values ​​i1~iN and the N pitch values ​​j1~jN are introduced into the two-dimensional parabolic function model to calculate the beacon signal value, and the corresponding N beacon signal values ​​z1~zN are obtained.

[0053] Among them, when the beacon signal value is calculated in the two-dimensional parabolic function model, the beacon signal value z1 is calculated by the coordinate value x+i1, y+j1, and so on, and the beacon signal values ​​corresponding to N azimuth values ​​and pitch values ​​are calculated in sequence.

[0054] Furthermore, in an embodiment of the present invention, the beacon signal parabola of the current low-orbit satellite is restored in real time using the OpenGL tool from the N beacon signal values, and the current beam energy point is drawn in the beacon signal parabola. By comparing the distance between the current beam energy point and the extreme point of the parabola, the alignment status of the low-orbit satellite is determined, including:

[0055] Taking N beacon signal values ​​z1~zN as the coordinate values ​​of the energy points in the parabola, the beacon signal parabola of the current low-orbit satellite is drawn in real time through the OpenGL tool, and the current beam energy point is drawn in the beacon signal parabola according to the current beam energy value.

[0056] The beacon signal parabola is translated to the origin of the spatial rectangular coordinate system. Otherwise, the parabola will move left, right, up, and down with the low-orbit satellite, and may exceed the boundary of the OpenGL main interface, resulting in incomplete display. The specific visualization graphics of the parabola are as follows: Figure 2 shown.

[0057] According to the coordinate value of the parabola extreme point, the distance between the parabola extreme point and the current beam energy point is compared. If the distance between the two points is closer, the low-orbit satellite is more accurate. If the distance between the two points is farther, the low-orbit satellite is less accurate.

[0058] Specifically, the embodiment of the present invention can more intuitively monitor the system working status and beam tracking process in real time through the visualization interface of the OpenGL tool; inaccurate beam tracking or pointing errors can be presented in real time on the visualization interface, which can provide a reference for subsequent optimization of the satellite search algorithm.

[0059] Furthermore, the method also includes: displaying the beacon signal parabola graphics of the low-orbit satellite in real time through the visualization interface of the OpenGL tool, and storing the energy beam and beacon signal parabola shape data drawn by the OPENGL tool in the satellite search data file of the low-orbit satellite.

[0060] Specifically, when the satellite search status of the low-orbit satellite needs to be replayed, the relevant energy beam and beacon signal parabola shape data are read from the local search data file to complete the replay of the satellite search process.

[0061] Example 2: Reference Figure 3 As shown, based on Example 1, the present invention further provides a low-orbit satellite visual search device based on OPENGL technology, including:

[0062] A signal simulation module is used to perform simulation according to the low-orbit beacon signal azimuth diagram, determine the shape and direction of the low-orbit satellite beacon signal, and construct a two-dimensional parabolic function model according to the shape and direction of the low-orbit satellite beacon signal;

[0063] The parameter reading module is used to run the satellite search algorithm using the VICTS antenna and obtain the two-dimensional parabola function model parameters, parabola extreme point coordinates and current beam energy values ​​of the low-orbit satellite beacon signal through SOCKET communication;

[0064] An energy point calculation module, used for randomly generating N azimuth values ​​and elevation values, and importing the N azimuth values ​​and elevation values ​​into the two-dimensional parabola function model to obtain N beacon signal values;

[0065] The satellite monitoring module uses OpenGL tools to restore the beacon signal parabola of the current low-orbit satellite in real time using N beacon signal values, and draws the current beam energy point in the beacon signal parabola. By comparing the distance between the current beam energy point and the extreme point of the parabola, the satellite status of the low-orbit satellite is determined.

[0066] Specifically, during the operation of the low-orbit satellite visualization star-finding device, the function model parameters, the coordinate values ​​of the parabola extreme points, and the current beam energy values ​​can be read from the VICTS antenna through SOCKET communication or from a locally saved file (for playback), so that N azimuth values ​​ii and pitch values ​​jj can be randomly generated. When the parabola extreme points x and y are known, the N azimuth values ​​ii and pitch values ​​jj are substituted into the parabola function, and the values ​​of x+ii, y+jj are calculated to calculate the final signal beacon value, that is, the z value. In this way, the N points of the parabola can be restored to form a parabola shape, and then the current beam energy point is drawn, and the distance between the energy point and the extreme point is compared. The graphics drawn by the OPENGL tool can show the star alignment situation. The closer the distance, the more accurate the star alignment, and the farther the distance, the less accurate the star alignment.

[0067] Specifically, the low-orbit satellite visualization search device of the embodiment of the present invention also has a playback function, which records the shape data of the beam and parabola drawn by the OPENGL tool, and can be dynamically displayed through playback, which is convenient for subsequent problem judgment, tracking and optimization.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A low-orbit satellite visual search method based on OPENGL technology, characterized in that: include: The shape and direction of the low-orbit satellite beacon signal are determined by simulation according to the low-orbit beacon signal azimuth diagram, and a two-dimensional parabolic function model is constructed according to the shape and direction of the low-orbit satellite beacon signal; The satellite search algorithm is run using the VICTS antenna to obtain the two-dimensional parabola function model parameters, parabola extreme point coordinates and current beam energy points of the low-orbit satellite beacon signal through SOCKET communication; Randomly generate N azimuth values ​​and elevation values, and import the N azimuth values ​​and elevation values ​​into the two-dimensional parabola function model to obtain N beacon signal values; The beacon signal parabola of the current low-orbit satellite is restored in real time using the N beacon signal values ​​using the OpenGL tool, and the current beam energy point is drawn in the beacon signal parabola. By comparing the distance between the current beam energy point and the extreme point of the parabola, the alignment status of the low-orbit satellite is determined, including: taking the N beacon signal values ​​z1~zN as the coordinate values ​​of the energy points in the parabola, drawing the beacon signal parabola of the current low-orbit satellite in real time using the OpenGL tool, and drawing the current beam energy point in the beacon signal parabola according to the current beam energy value; translating the beacon signal parabola to the origin of the spatial rectangular coordinate system; comparing the distance between the extreme point of the parabola and the current beam energy point according to the coordinate value of the extreme point of the parabola. If the distance between the two points is closer, the alignment of the low-orbit satellite is more accurate, and if the distance between the two points is farther, the alignment of the low-orbit satellite is more inaccurate.

2. The low-orbit satellite visual search method according to claim 1, characterized in that: The simulation is performed according to the low-orbit beacon signal azimuth diagram to determine the shape and direction of the low-orbit satellite beacon signal, and a two-dimensional parabolic function model is constructed according to the shape and direction of the low-orbit satellite beacon signal, including: Based on the low-orbit signal azimuth diagram, simulation is performed to determine that the shape of the low-orbit satellite beacon signal during the satellite search process is a parabola with an opening downward; A spatial rectangular coordinate system is established with the antenna disk as the coordinate origin, where the X-axis represents the azimuth, the Y-axis represents the elevation, and the Z-axis represents the energy point, i.e., the beacon signal value; A two-dimensional parabolic function model of the low-orbit satellite beacon signal is constructed based on the spatial rectangular coordinate system: in, is a two-dimensional parabolic function, representing an energy point; a , b , c , d , e , f , i , j , k All are two-dimensional parabolic function model parameters; x Indicates the orientation value of the parabola; y Indicates the pitch value of the parabola.

3. The low-orbit satellite visual search method according to claim 1, characterized in that: The randomly generating N azimuth values ​​and pitch values, and importing the N azimuth values ​​and pitch values ​​into the two-dimensional parabola function model to obtain N beacon signal values, includes: Randomly generate N azimuth values ​​i1~iN and N elevation values ​​j1~jN; The real-time N azimuth values ​​i1~iN and N pitch values ​​j1~jN are introduced into the two-dimensional parabolic function model to calculate the beacon signal value, and the corresponding N beacon signal values ​​z1~zN are obtained.

4. The low-orbit satellite visual search method according to claim 1, characterized in that: Also includes: The beacon signal parabola graphics of the low-orbit satellite are displayed in real time through the visual interface of the OpenGL tool, and the shape data of the energy beam and beacon signal parabola drawn by the OPENGL tool are stored in the satellite search data file of the low-orbit satellite.

5. A low-orbit satellite visual search device based on OPENGL technology, characterized in that: include: A signal simulation module is used to perform simulation according to the low-orbit beacon signal azimuth diagram, determine the shape and direction of the low-orbit satellite beacon signal, and construct a two-dimensional parabolic function model according to the shape and direction of the low-orbit satellite beacon signal; The parameter reading module is used to run the satellite search algorithm using the VICTS antenna and obtain the two-dimensional parabola function model parameters, parabola extreme point coordinates and current beam energy values ​​of the low-orbit satellite beacon signal through SOCKET communication; An energy point calculation module, used for randomly generating N azimuth values ​​and elevation values, and importing the N azimuth values ​​and elevation values ​​into the two-dimensional parabola function model to obtain N beacon signal values; The satellite monitoring module uses the OpenGL tool to restore the beacon signal parabola of the current low-orbit satellite in real time from N beacon signal values, and draws the current beam energy point in the beacon signal parabola. By comparing the distance between the current beam energy point and the extreme point of the parabola, the satellite alignment status of the low-orbit satellite is determined, including: using N beacon signal values ​​z1~zN as the coordinate values ​​of the energy points in the parabola, drawing the beacon signal parabola of the current low-orbit satellite in real time through the OpenGL tool, and drawing the current beam energy point in the beacon signal parabola according to the current beam energy value; translating the beacon signal parabola to the origin of the spatial rectangular coordinate system; comparing the distance between the extreme point of the parabola and the current beam energy point according to the coordinate value of the extreme point of the parabola. If the distance between the two points is closer, the low-orbit satellite is more accurate, and if the distance between the two points is farther, the low-orbit satellite is less accurate.

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