Low-orbit paraboloid large-antenna gateway station self-learning tracking system and method

Abstract

The invention relates to a self-learning tracking system and method for a low-orbit paraboloid large-antenna gateway station, and the system employs a single horn antenna device as a satellite antenna device in the gateway station, does not need a related receiver of two channels, and is provided with a storage device for storing a control data set at each sampling moment. Wherein the control data set at each sampling moment comprises three data vectors, and then a tracking control module is arranged to retrieve the control data set at the sampling moment closest to the current moment from a storage device when the satellite needs to be locked at the current moment; a data vector is randomly called from the control data set, and then the pitch angle and the azimuth angle of the single horn antenna equipment are adjusted according to the representative content of the data vector so as to lock the target satellite. The whole system only needs three devices, so that the system has the characteristics of simple structure and low manufacturing price.

Description

Technical Field

[0001] The present invention relates to the technical field of antenna tracking satellites, and in particular to a low-orbit parabolic large antenna gateway station self-learning tracking system and method. Background Art

[0002] Antenna gateways play an important role in satellite communications. They are mainly responsible for the distribution and collection of satellite communication service data, completing data exchange within the satellite communication network and data routing to external networks. Low-orbit satellite technology requires that the antenna gateways of satellites meet the requirements of rapid deployment, simple operation and low cost. In the prior art, when the low-orbit satellite antenna is a parabolic satellite antenna, the corresponding antenna gateway is called a low-orbit parabolic large antenna gateway, and the satellite tracking system of the antenna gateway is a system built based on a single pulse tracking method.

[0003] The system constructed by the single-pulse tracking method realizes satellite tracking with a parabolic satellite antenna with precision structural components. The system uses four antenna feed sources to send signals. The signals pass through a duplexer and a high-frequency adder and subtractor in turn. The high-frequency adder and subtractor obtains the sum and difference. Then the antenna control end adjusts the antenna attitude according to the sum and difference to realize real-time tracking of the satellite by the antenna.

[0004] However, the system constructed by the single pulse tracking method is based on a set of high-precision microwave structural parts, which requires good RF phase stability, and thus requires at least two channels of related receivers, resulting in a large and complex feed system and expensive equipment. In addition, the need to design a high-frequency sum and difference network for the microwave structural parts greatly increases the technical complexity and processing difficulty. Summary of the invention

[0005] The technical problem to be solved by the present invention is how to overcome the technical defects of complex equipment structure and high price when the system constructed by the single pulse tracking method in the prior art is applied to the parabolic satellite antenna. In order to overcome the above defects of the prior art, the present invention provides a low-orbit parabolic large antenna gateway station self-learning tracking system and method, including a low-orbit parabolic large antenna gateway station self-learning tracking system and a low-orbit parabolic large antenna gateway station self-learning tracking method.

[0006] The present invention provides a low-orbit parabolic large antenna gateway station self-learning tracking system, the self-learning tracking system comprising: Single horn antenna equipment; A storage device, used to store a control data set at each sampling moment, and each control data set at each sampling moment includes three data vectors, wherein the first data vector describes the pitch angle and azimuth angle of the single horn antenna device actually controlled to achieve when the single horn antenna device locks the target satellite and achieves the optimal reception signal at this sampling moment, wherein the second data vector describes the pitch angle and azimuth angle of the single horn antenna device obtained by the inertial navigation when the single horn antenna device locks the target satellite and achieves the optimal reception signal at this sampling moment, wherein the third data vector describes the pitch displacement and azimuth displacement of the single horn antenna device obtained by the encoder when the single horn antenna device locks the target satellite and achieves the optimal reception signal at this sampling moment; The tracking control module is electrically connected to the storage device and is configured to retrieve a control data set of a sampling time closest to the current time from the storage device, and randomly retrieve a data vector from the control data set, and then adjust the pitch angle and azimuth angle of the single horn antenna device according to the representative content of the data vector to lock the target satellite.

[0007] The self-learning tracking system of the low-orbit parabolic large antenna gateway disclosed in the present invention adopts a single horn antenna device as the satellite antenna device in the gateway station, does not require the correlation receiver of two channels, and does not need to design the high-frequency sum-difference network for the microwave structural parts, and further provides a storage device to store the control data set of each sampling moment, wherein the control data set of each sampling moment includes three data vectors, and then by providing a tracking control module, when the satellite needs to be locked at the current moment, the control data set of the sampling moment closest to the current moment can be retrieved from the storage device, and a data vector is randomly retrieved from the control data set, and then the pitch angle and azimuth angle of the single horn antenna device are adjusted according to the representative content of the data vector to lock the target satellite. The whole system only needs three devices, so it has the characteristics of simple structure and low manufacturing price, and the algorithm used by the tracking control module is actually a statistical analysis algorithm, with simple steps and low computational complexity, so that the computational complexity can be reduced and the control computational cost can be saved.

[0008] In a possible implementation, the tracking control module includes: A central processing unit, electrically connected to the storage device, configured to retrieve a control data set of a sampling time closest to the current time from the storage device, and randomly retrieve a data vector from the control data set; A digital-to-analog converter, electrically connected to the central processing unit, configured to perform digital-to-analog conversion on the representative content of the data vector retrieved by the central processing unit to obtain a corresponding analog signal; a transmission assembly, electrically connected to the digital-to-analog converter, and configured to adjust the elevation angle and azimuth angle of the single horn antenna device according to the analog signal obtained by the digital-to-analog converter to lock the target satellite; This solution uses a digital-to-analog converter to convert the data information processed and output by the central processing unit into digital-to-analog information, forming a control voltage signal and transmitting it to the transmission component, thereby realizing the control of the pitch angle and azimuth angle of the single horn antenna device to achieve the controllable effect of locking the target satellite.

[0009] In a possible implementation, the self-learning tracking system further includes: A navigation device, used for obtaining the longitude, latitude and elliptical height of the single horn antenna device in real time; Inertial navigation, used for obtaining the elevation angle and azimuth angle of the single horn antenna device in real time; An encoder, used for acquiring the elevation displacement and azimuth displacement of the single horn antenna device in real time; A satellite signal receiver, used for receiving satellite signals and outputting satellite signal strength; a calculation unit, electrically connected to the navigation device, and configured to obtain a theoretical pitch angle and a theoretical azimuth angle of the single horn antenna device locking the target satellite by using the longitude, latitude, elliptical height of the single horn antenna device and the ephemeris parameters of the target satellite through a calculation model of the pitch angle and azimuth angle of the antenna device; This solution can realize real-time acquisition of the longitude, latitude, elliptical height, pitch angle, azimuth, pitch displacement, azimuth displacement, satellite signal strength, theoretical pitch angle and theoretical azimuth of the locked target satellite of a single horn antenna device, and provide data source support for constructing the control data set at each sampling moment, thereby realizing the updateability of the control data set at each sampling moment, and further achieving the effect of self-learning and tracking the target satellite.

[0010] Another technical solution of the present invention is to provide a low-orbit parabolic large antenna gateway station self-learning tracking method, comprising the following steps: S1: Determine the (n+1) sampling moments in a day by equidistant sampling, and obtain the optimal state vector at each sampling moment by satellite tracking; S2: The optimal state vectors at each sampling moment are used to form respective control data sets, and the control data set at each sampling moment includes three data vectors, wherein the components of the first data vector include the sampling moment, satellite signal strength, actual pitch angle and actual azimuth angle in the optimal state vector at this moment, wherein the components of the second data vector include the sampling moment, satellite signal strength, pitch angle and azimuth angle obtained by the inertial navigation in the optimal state vector at this moment, wherein the components of the third data vector include the sampling moment, satellite signal strength, pitch displacement and azimuth displacement obtained by the encoder in the optimal state vector at this moment; S3: storing all control data sets obtained in step S2 in a storage device; S4: The tracking control module retrieves the control data set of the sampling time closest to the current time from the storage device, and randomly retrieves a data vector from the control data set, and then adjusts the pitch angle and azimuth angle of the single horn antenna device according to the representative content of the data vector to lock the target satellite.

[0012] The method disclosed in the present invention adopts a single horn antenna device to replace the traditional antenna device, does not require the correlation receiver of two channels, and does not need to design a high-frequency sum difference network for the microwave structural parts. The optimal state vector at the sampling moment is obtained by executing steps S1-S2, and the optimal state vector at each sampling moment is used to form a control data set at each sampling moment. Then, these sets are stored in a storage device through step S3. Finally, step S4 is executed to realize that when the satellite needs to be locked at the current moment, the control data set at the sampling moment closest to the current moment can be retrieved from the storage device through the tracking control module, and a data vector is randomly retrieved from the control data set. Then, the pitch angle and azimuth angle of the single horn antenna device are adjusted according to the representative content of the data vector to lock the target satellite, so that the steps are simple, and the algorithm used by the tracking control module is actually a statistical analysis algorithm, the steps are simple, and the calculation complexity is small, so that the calculation complexity can be reduced and the control calculation cost can be saved.

[0013] In a possible implementation, step S1 includes the following steps: S11: Determine (n+1) sampling moments in a day in an equidistant sampling manner, and respectively control the single horn antenna device at each sampling moment to obtain a state vector at the sampling moment, and the single horn antenna device is controlled at each sampling moment in the following manner: at each sampling moment, the actual elevation angle of the single horn antenna device is controlled to be equal to the theoretical elevation angle of the single horn antenna device that enables the single horn antenna device to lock onto a target satellite at the sampling moment, and the actual azimuth angle of the single horn antenna device is controlled to be equal to the theoretical azimuth angle of the single horn antenna device that enables the single horn antenna device to lock onto the target satellite at the sampling moment; The components of the state vector include: Sampling time; The theoretical pitch angle, theoretical azimuth angle, actual pitch angle and actual azimuth angle at the sampling moment; After the single horn antenna device is controlled by the actual pitch angle and the actual azimuth angle at the sampling moment, the pitch angle and the azimuth angle of the single horn antenna device are obtained by the inertial navigation, the pitch displacement and the azimuth displacement are obtained by the encoder, and the satellite signal strength is obtained by the satellite signal receiver; S12: at each sampling moment, the actual pitch angle is set to be the theoretical pitch angle, and the actual azimuth angle is set to be the theoretical azimuth angle plus or minus 1 times the error accuracy, plus or minus 2 times the error accuracy, and plus or minus 3 times the error accuracy to control the single horn antenna device, and after each control, the pitch angle and azimuth angle of the single horn antenna device are obtained by the inertial navigation, the pitch displacement and azimuth displacement of the single horn antenna device are obtained by the encoder, and the satellite signal strength of the single horn antenna device is obtained by the satellite signal receiver to construct respective state vectors; S13: at each sampling moment, the actual azimuth angle is set to be the theoretical azimuth angle, and the actual pitch angle is set to be the theoretical pitch angle plus or minus 1 times the error accuracy, plus or minus 2 times the error accuracy, and plus or minus 3 times the error accuracy, respectively, to control the single horn antenna device, and after each control, the pitch angle and azimuth angle of the single horn antenna device are obtained by the inertial navigation, the pitch displacement and azimuth displacement of the single horn antenna device are obtained by the encoder, and the satellite signal strength of the single horn antenna device is obtained by the satellite signal receiver to construct respective state vectors; S14: Count the state vector with the best satellite signal strength at each sampling moment from all the state vectors obtained by executing the steps S11 to S13 to obtain the optimal state vector at each sampling moment.

[0014] In a possible implementation manner, the formula for determining n in step S11 is as follows: , , In the formula, An antenna-to-star angle range representing the single-horn antenna device; represents the number of times the target satellite revolves around the earth in one day; Represents the time interval between two adjacent sampling moments; This scheme is actually to determine the integer n according to the antenna satellite angle range of the single horn antenna device and the time interval between two adjacent sampling moments, that is, the antenna satellite time is Required time interval The number of is determined as n, thereby improving the calculation efficiency while adhering to the operation law of the target satellite, making the constructed sampling time distribution more reasonable.

[0015] In one possible implementation, in step S11, the time interval between two adjacent sampling moments does not exceed 20 ms, thereby improving the sampling accuracy, and when the target satellite needs to be locked later, the nearest sampling moment found is close to the moment that needs to be locked, thereby facilitating precise control of the satellite antenna equipment.

[0016] In a possible implementation manner, in step S11, the process of obtaining the state vector at a certain sampling time includes the following steps: S111: obtaining the longitude, latitude and elliptical height of the single horn antenna device at the sampling time through a navigation device, and then obtaining the theoretical pitch angle and theoretical azimuth angle of the single horn antenna device at the sampling time by using the longitude, latitude, elliptical height and ephemeris parameters of the target satellite through a calculation model of the pitch angle and azimuth of the antenna device using the longitude, latitude, elliptical height and ephemeris parameters of the target satellite; S112: setting the actual elevation angle equal to the theoretical elevation angle and the actual azimuth angle equal to the theoretical azimuth angle to control the single horn antenna device; S113: respectively obtaining the pitch angle and azimuth angle of the single horn antenna device through the inertial navigation, obtaining the pitch displacement and azimuth displacement of the single horn antenna device through the encoder, and obtaining the satellite signal strength of the single horn antenna device through the satellite signal receiver to construct a state vector at the sampling moment.

[0017] In a possible implementation, the error accuracy does not exceed 0.05 degrees, thereby achieving compensation for theoretical and actual errors and achieving the purpose of accurately controlling the satellite antenna equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of a low-orbit parabolic large antenna gateway station self-learning tracking system disclosed in an embodiment of the present invention; Figure 2 It is a schematic diagram of the structure of the control module disclosed in the embodiment of the present invention; Figure 3 It is a flow chart of the method disclosed in the embodiment of the present invention. DETAILED DESCRIPTION

[0019] First, those skilled in the art should understand that these implementations are only used to explain the technical principles of the embodiments of the present application, and are not intended to limit the protection scope of the embodiments of the present application. Those skilled in the art can make adjustments to them as needed to adapt to specific application scenarios.

[0020] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0021] In the embodiments of the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0022] The present application is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] See also Figure 1 to Figure 3 The embodiment of the present application discloses a low-orbit parabolic large antenna gateway station self-learning tracking system. Figure 1 The structure diagram of the system is shown in FIG. 1 , which includes a single horn antenna device, a storage device, a tracking control module, a navigation device, an inertial navigation system, an encoder, a satellite signal receiver, and a computing unit, wherein the tracking control module is electrically connected to the storage device, and the computing unit is electrically connected to the navigation device. The single horn antenna device is used to replace the traditional antenna device, and there is no need for a related receiver of two channels, and there is no need to design a high-frequency sum-difference network for the microwave structural parts, which can reduce costs.

[0024] In the self-learning tracking system, the storage device is used to store the control data set at each sampling moment, and the control data set at each sampling moment includes three data vectors, wherein the first data vector describes the pitch angle and azimuth angle of the single horn antenna device actually controlled to achieve when the single horn antenna device locks the target satellite and achieves the optimal reception signal at this sampling moment, wherein the second data vector describes the pitch angle and azimuth angle of the single horn antenna device obtained by the inertial navigation when the single horn antenna device locks the target satellite and achieves the optimal reception signal at this sampling moment, wherein the third data vector describes the pitch displacement and azimuth displacement of the single horn antenna device obtained by the encoder when the single horn antenna device locks the target satellite and achieves the optimal reception signal at this sampling moment; In the self-learning tracking system, the tracking control module is configured to retrieve a control data set at a sampling time closest to the current time from a storage device, and randomly retrieve a data vector from this control data set, and then adjust the pitch angle and azimuth angle of the single horn antenna device according to the representative content of this data vector to lock the target satellite.

[0025] See also Figure 2 In this embodiment, the tracking control module includes a central processing unit, a digital-to-analog converter and a transmission component. The central processing unit is electrically connected to the storage device, the digital-to-analog converter is electrically connected to the central processing unit, and the transmission component is electrically connected to the digital-to-analog converter. The central processing unit is configured to retrieve a control data set of a sampling time closest to the current time from the storage device, and randomly retrieve a data vector from the control data set; the digital-to-analog converter is configured to perform digital-to-analog conversion on the representative content of the data vector retrieved by the central processing unit to obtain a corresponding analog signal; the transmission component is configured to adjust the pitch angle and azimuth angle of the single horn antenna device according to the analog signal obtained by the digital-to-analog converter to lock the target satellite.

[0026] In the self-learning tracking system, the navigation device is used to obtain the longitude, latitude and elliptical height of the single horn antenna device in real time; the inertial navigation is used to obtain the pitch angle and azimuth angle of the single horn antenna device in real time; the encoder is used to obtain the pitch displacement and azimuth displacement of the single horn antenna device in real time; the satellite signal receiver is used to receive satellite signals and output satellite signal strength; the calculation unit is configured to obtain the theoretical pitch angle and theoretical azimuth angle of the single horn antenna device locking the target satellite through the calculation model of the pitch angle and azimuth angle of the antenna device using the longitude, latitude, elliptical height of the single horn antenna device and the ephemeris parameters of the target satellite.

[0027] See also Figure 3 The following further discloses a self-learning tracking method for a low-orbit parabolic large antenna gateway station corresponding to the self-learning tracking system, the method comprising the following steps: S1: Determine the (n+1) sampling moments in a day by equidistant sampling, and obtain the optimal state vector at each sampling moment by satellite tracking.

[0028] In this embodiment, step S1 includes the following steps: S11: Determine the (n+1) sampling moments in a day by means of equidistant sampling, and at each sampling moment, let the actual pitch angle be equal to the theoretical pitch angle at which the single horn antenna device locks the target satellite at that sampling moment, and the actual azimuth angle be equal to the theoretical azimuth angle at which the single horn antenna device locks the target satellite at that sampling moment. Operate the single horn antenna device to obtain the state vector at each sampling moment respectively.

[0029] The components of the state vector include the sampling time and the theoretical pitch angle and theoretical azimuth angle at the sampling time, the actual pitch angle and actual azimuth angle, as well as the pitch angle and azimuth angle obtained by the inertial navigation of the single horn antenna device after the single horn antenna device is controlled by the actual pitch angle and actual azimuth angle, the pitch displacement and azimuth displacement of the encoder, and the satellite signal strength obtained by the satellite signal receiver.

[0030] Specifically, the (n+1) sampling moments in a day are determined by equidistant sampling, and these sampling moments are recorded as: , , , …, , The equidistant sampling method is a sampling method in which the time intervals between two adjacent sampling moments are equal. The n is determined according to the antenna satellite angle range of the single horn antenna device and the time interval between two adjacent sampling moments. Required time interval The number is determined as n value, and the specific formula is as follows: , , In the formula, Represents the antenna star angle range of a single horn antenna device; Represents the number of times the target satellite revolves around the earth in a day; The time interval between two adjacent sampling moments shall not exceed 20 ms, and in this embodiment, the value is 10 ms.

[0031] In step S11, the process of obtaining the state vector at any sampling time includes the following steps: S111: obtaining the longitude, latitude and elliptical height of the single horn antenna device at the sampling time through the navigation device, and then obtaining the theoretical pitch angle and theoretical azimuth angle of the single horn antenna device locking the target satellite at the sampling time by using the longitude, latitude, elliptical height and ephemeris parameters of the target satellite through the calculation model of the pitch angle and azimuth of the antenna device; S112: setting the actual elevation angle equal to the theoretical elevation angle and the actual azimuth angle equal to the theoretical azimuth angle to control the single horn antenna device; S113: respectively obtaining the elevation angle and azimuth angle of the single horn antenna device through inertial navigation, obtaining the elevation displacement and azimuth displacement of the single horn antenna device through an encoder, and obtaining the satellite signal strength of the single horn antenna device through a satellite signal receiver to construct a state vector at the sampling moment.

[0032] The state vectors at all sampling moments obtained by the above method are as follows: , , , …, , , In the formula, i=0, 1, 2, …, n; Represents the sampling time The state vector of Represents the sampling time Make the single horn antenna device lock the theoretical elevation angle of the target satellite; Represents the sampling time The single horn antenna device is made to lock the theoretical azimuth angle of the target satellite; Represents the sampling time Manipulate the actual elevation angle of a single horn antenna device; Represents the sampling time Manipulate the actual azimuth of a single horn antenna device; It represents the pitch angle of the single horn antenna device obtained by inertial navigation after the single horn antenna device is controlled when the actual pitch angle is equal to the theoretical pitch angle and the actual azimuth angle is equal to the theoretical azimuth angle; It represents the azimuth angle of the single horn antenna device obtained by inertial navigation after the single horn antenna device is controlled when the actual pitch angle is equal to the theoretical pitch angle and the actual azimuth angle is equal to the theoretical azimuth angle; Represents the pitch displacement of the single horn antenna device obtained by the encoder after the single horn antenna device is controlled when the actual pitch angle is equal to the theoretical pitch angle and the actual azimuth angle is equal to the theoretical azimuth angle; Represents the azimuth displacement of the single horn antenna device obtained by the encoder after the single horn antenna device is controlled when the actual pitch angle is equal to the theoretical pitch angle and the actual azimuth angle is equal to the theoretical azimuth angle; It represents the satellite signal strength of the single horn antenna device obtained by the satellite signal receiver after the single horn antenna device is controlled when the actual pitch angle is equal to the theoretical pitch angle and the actual azimuth angle is equal to the theoretical azimuth angle.

[0033] S12: At each sampling moment, the actual pitch angle is set to be the theoretical pitch angle, and the actual azimuth angle is set to be the theoretical azimuth angle plus or minus 1 times the error accuracy, plus or minus 2 times the error accuracy, and plus or minus 3 times the error accuracy to control the single horn antenna device, and after each control, the pitch angle and azimuth angle of the single horn antenna device are obtained through inertial navigation, the pitch displacement and azimuth displacement of the single horn antenna device are obtained through the encoder, and the satellite signal strength of the single horn antenna device is obtained through the satellite signal receiver to construct the respective state vectors. Therefore, 6 controls are required at each sampling moment, and a state vector is obtained after each control. The error accuracy does not exceed 0.05 degrees. In this embodiment, the error accuracy is 0.03 degrees.

[0034] S13: At each sampling moment, the actual azimuth angle is set to be the theoretical azimuth angle, and the actual elevation angle is set to be the theoretical elevation angle plus or minus 1 times the error accuracy, plus or minus 2 times the error accuracy, and plus or minus 3 times the error accuracy to control the single horn antenna device, and after each control, the elevation angle and azimuth angle of the single horn antenna device are obtained through the inertial navigation, the elevation displacement and azimuth displacement of the single horn antenna device are obtained through the encoder, and the satellite signal strength of the single horn antenna device is obtained through the satellite signal receiver to construct the respective state vectors. Therefore, 6 controls are required at each sampling moment, and a state vector is obtained after each control.

[0035] S14: Count the state vectors with the best satellite signal strength at each sampling moment from all state vectors obtained by executing steps S11 to S13 to obtain the optimal state vector at each sampling moment.

[0036] Specifically, after executing steps S11 to S13, each sampling moment has 13 state vectors. At a certain moment, the state vector with the best satellite signal strength is counted among the 13 state vectors, and this state vector is the optimal state vector at the sampling moment.

[0037] S2: The optimal state vector at each sampling moment is used to form each control data set, and the control data set at each sampling moment contains three data vectors, wherein the components of the first data vector include the sampling moment, satellite signal strength, actual pitch angle and actual azimuth angle in the optimal state vector at this moment, wherein the components of the second data vector include the sampling moment, satellite signal strength, pitch angle and azimuth angle obtained by inertial navigation in the optimal state vector at this moment, wherein the components of the third data vector include the sampling moment, satellite signal strength, pitch displacement and azimuth displacement obtained by the encoder in the optimal state vector at this moment.

[0038] S3: Store all control data sets obtained in step S5 in a storage device.

[0039] S4: The tracking control module retrieves the control data set of the sampling time closest to the current time from the storage device, and randomly retrieves a data vector from the control data set, and then adjusts the pitch angle and azimuth angle of the single horn antenna device according to the representative content of the data vector to lock the target satellite.

[0040] The low-orbit parabolic large antenna gateway station self-learning tracking system disclosed in this embodiment uses a single horn antenna device as a satellite antenna device in the gateway station, does not require a correlation receiver for two channels, and does not require a high-frequency sum-difference network design for microwave structural parts, and further provides a storage device to store a control data set at each sampling moment, wherein each control data set at a sampling moment includes three data vectors, and then provides a tracking control module to achieve that when a satellite needs to be locked at the current moment, the control data set at the sampling moment closest to the current moment can be retrieved from the storage device, and a data vector is randomly retrieved from the control data set, and then the pitch angle and azimuth angle of the single horn antenna device are adjusted according to the representative content of the data vector to lock the target satellite. The entire system only needs three devices, so it has the characteristics of simple structure and low manufacturing price, and the algorithm used in the tracking control module is actually a statistical analysis algorithm, with simple steps and low computational complexity, thereby reducing computational complexity and saving control computational costs.

[0041] In the description of the embodiments of the present application, it should be noted that in the description of the present application, terms such as "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is only for the convenience of description, and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present application.

[0042] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "in the present embodiment", "specific example", or "some examples" etc. means that the specific features, mechanisms, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, mechanisms, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0043] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A low-orbit parabolic large antenna gateway station self-learning tracking system, characterized in that: The self-learning tracking system comprises: Single horn antenna equipment; A storage device, used to store a control data set at each sampling moment, and each control data set at each sampling moment includes three data vectors, wherein the first data vector describes the pitch angle and azimuth angle of the single horn antenna device actually controlled to achieve when the single horn antenna device locks the target satellite and achieves the optimal reception signal at this sampling moment, wherein the second data vector describes the pitch angle and azimuth angle of the single horn antenna device obtained by the inertial navigation when the single horn antenna device locks the target satellite and achieves the optimal reception signal at this sampling moment, wherein the third data vector describes the pitch displacement and azimuth displacement of the single horn antenna device obtained by the encoder when the single horn antenna device locks the target satellite and achieves the optimal reception signal at this sampling moment; The tracking control module is electrically connected to the storage device and is configured to retrieve a control data set of a sampling time closest to the current time from the storage device, and randomly retrieve a data vector from the control data set, and then adjust the pitch angle and azimuth angle of the single horn antenna device according to the representative content of the data vector to lock the target satellite.

2. The low-orbit parabolic large antenna gateway station self-learning tracking system according to claim 1 is characterized in that: The tracking control module comprises: A central processing unit, electrically connected to the storage device, configured to retrieve a control data set of a sampling time closest to the current time from the storage device, and randomly retrieve a data vector from the control data set; A digital-to-analog converter, electrically connected to the central processing unit, configured to perform digital-to-analog conversion on the representative content of the data vector retrieved by the central processing unit to obtain a corresponding analog signal; The transmission component is electrically connected to the digital-to-analog converter and is configured to adjust the elevation angle and azimuth angle of the single horn antenna device according to the analog signal obtained by the digital-to-analog converter to lock the target satellite.

3. The low-orbit parabolic large antenna gateway station self-learning tracking system according to claim 1 or 2, characterized in that: The self-learning tracking system also includes: A navigation device, used for obtaining the longitude, latitude and elliptical height of the single horn antenna device in real time; Inertial navigation, used for obtaining the elevation angle and azimuth angle of the single horn antenna device in real time; An encoder, used for acquiring the elevation displacement and azimuth displacement of the single horn antenna device in real time; A satellite signal receiver, used for receiving satellite signals and outputting satellite signal strength; The calculation unit is electrically connected to the navigation device and is configured to obtain a theoretical pitch angle and a theoretical azimuth angle of the single horn antenna device for locking the target satellite by using the longitude, latitude, elliptical height and ephemeris parameters of the single horn antenna device through a calculation model of the pitch angle and azimuth angle of the antenna device.

4. A self-learning tracking method for a low-orbit parabolic large antenna gateway station, characterized in that: The low-orbit parabolic large antenna gateway station self-learning tracking system applicable to any one of claims 1 to 3 comprises the following steps: S1: Determine the (n+1) sampling moments in a day by equidistant sampling, and obtain the optimal state vector at each sampling moment by satellite tracking; S2: The optimal state vectors at each sampling moment are used to form respective control data sets, and the control data set at each sampling moment includes three data vectors, wherein the components of the first data vector include the sampling moment, satellite signal strength, actual pitch angle and actual azimuth angle in the optimal state vector at this moment, wherein the components of the second data vector include the sampling moment, satellite signal strength, pitch angle and azimuth angle obtained by the inertial navigation in the optimal state vector at this moment, wherein the components of the third data vector include the sampling moment, satellite signal strength, pitch displacement and azimuth displacement obtained by the encoder in the optimal state vector at this moment; S3: storing all control data sets obtained in step S2 in a storage device; S4: The tracking control module retrieves the control data set of the sampling time closest to the current time from the storage device, and randomly retrieves a data vector from the control data set, and then adjusts the pitch angle and azimuth angle of the single horn antenna device according to the representative content of the data vector to lock the target satellite.

5. The self-learning tracking method for a low-orbit parabolic large antenna gateway station according to claim 4, characterized in that: The step S1 comprises the following steps: S11: Determine (n+1) sampling moments in a day in an equidistant sampling manner, and respectively control the single horn antenna device at each sampling moment to obtain a state vector at the sampling moment, and the single horn antenna device is controlled at each sampling moment in the following manner: at each sampling moment, the actual elevation angle of the single horn antenna device is controlled to be equal to the theoretical elevation angle of the single horn antenna device that enables the single horn antenna device to lock onto a target satellite at the sampling moment, and the actual azimuth angle of the single horn antenna device is controlled to be equal to the theoretical azimuth angle of the single horn antenna device that enables the single horn antenna device to lock onto the target satellite at the sampling moment; The components of the state vector include: Sampling time; The theoretical pitch angle, theoretical azimuth angle, actual pitch angle and actual azimuth angle at the sampling moment; After the single horn antenna device is controlled by the actual pitch angle and the actual azimuth angle at the sampling moment, the pitch angle and the azimuth angle of the single horn antenna device are obtained by the inertial navigation, the pitch displacement and the azimuth displacement are obtained by the encoder, and the satellite signal strength is obtained by the satellite signal receiver; S12: at each sampling moment, the actual pitch angle is set to be the theoretical pitch angle, and the actual azimuth angle is set to be the theoretical azimuth angle plus or minus 1 times the error accuracy, plus or minus 2 times the error accuracy, and plus or minus 3 times the error accuracy to control the single horn antenna device, and after each control, the pitch angle and azimuth angle of the single horn antenna device are obtained by the inertial navigation, the pitch displacement and azimuth displacement of the single horn antenna device are obtained by the encoder, and the satellite signal strength of the single horn antenna device is obtained by the satellite signal receiver to construct respective state vectors; S13: at each sampling moment, the actual azimuth angle is set to be the theoretical azimuth angle, and the actual pitch angle is set to be the theoretical pitch angle plus or minus 1 times the error accuracy, plus or minus 2 times the error accuracy, and plus or minus 3 times the error accuracy, respectively, to control the single horn antenna device, and after each control, the pitch angle and azimuth angle of the single horn antenna device are obtained by the inertial navigation, the pitch displacement and azimuth displacement of the single horn antenna device are obtained by the encoder, and the satellite signal strength of the single horn antenna device is obtained by the satellite signal receiver to construct respective state vectors; S14: Count the state vector with the best satellite signal strength at each sampling moment from all the state vectors obtained by executing the steps S11 to S13 to obtain the optimal state vector at each sampling moment.

6. The self-learning tracking method for a low-orbit parabolic large antenna gateway station according to claim 5, characterized in that: The formula for determining n in step S11 is as follows: ， , In the formula, An antenna-to-star angle range representing the single-horn antenna device; represents the number of times the target satellite revolves around the earth in one day; Represents the time interval between two adjacent sampling moments.

7. The self-learning tracking method for a low-orbit parabolic large antenna gateway station according to claim 6, characterized in that: In step S11, the time interval between two adjacent sampling moments does not exceed 20 ms.

8. The self-learning tracking method for a low-orbit parabolic large antenna gateway station according to claim 6 or 7, characterized in that: In step S11, the process of obtaining the state vector at any sampling time includes the following steps: S111: obtaining the longitude, latitude and ellipse height of the single horn antenna device at the sampling time through a navigation device, and then obtaining the theoretical pitch angle and theoretical azimuth angle at the sampling time through a pitch angle and azimuth angle calculation model of the antenna device using the obtained longitude, latitude, ellipse height and ephemeris parameters of the target satellite; S112: setting the actual elevation angle equal to the theoretical elevation angle and the actual azimuth angle equal to the theoretical azimuth angle to control the single horn antenna device; S113: respectively obtaining the pitch angle and azimuth angle of the single horn antenna device through the inertial navigation, obtaining the pitch displacement and azimuth displacement of the single horn antenna device through the encoder, and obtaining the satellite signal strength of the single horn antenna device through the satellite signal receiver to construct a state vector at the sampling moment.

9. The self-learning tracking method for a low-orbit parabolic large antenna gateway station according to claim 8, characterized in that: The amount of error precision does not exceed 0.05 degrees.

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