A Self-Learning Tracking System and Method for a Low-Earth-Orbit Parabolic Large Antenna Gateway Station

Abstract

The present invention relates to a self-learning tracking system and method for a low-earth orbit parabolic large antenna gateway station. A single horn antenna device is used as the satellite antenna device in the gateway station, eliminating the need for correlation receivers in two channels. A storage device is provided to store the control data sets at each sampling moment, and each control data set at each sampling moment contains three data vectors. Then, a tracking control module is set up to enable the retrieval of the control data set at the sampling moment closest to the current moment from the storage device when it is necessary to lock the satellite at the current moment, randomly retrieve a data vector from this control data set, and then adjust the elevation angle and azimuth angle of the single horn antenna device according to the content represented by this data vector to lock the target satellite. The entire system only requires three devices, thus featuring a simple structure and a relatively low manufacturing cost.

Description

Technical Field

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

[0002] Antenna gateway stations play an important role in satellite communication. They are mainly responsible for the distribution and collection of satellite communication service data, and complete data exchange within the satellite communication network and data routing for external networks. The low-earth orbit satellite technology requires that the antenna gateway station of the satellite meet the requirements of rapid deployment, simple operation, and low cost. In the prior art, when the low-earth orbit satellite antenna is a parabolic satellite antenna, the corresponding antenna gateway station is called a low-earth orbit parabolic large antenna gateway station, and the satellite tracking system of this antenna gateway station is a system constructed by adopting a monopulse tracking method.

[0003] The system constructed by the monopulse tracking method is a parabolic satellite antenna system assembled with precise structures. This system uses four antenna feeds to send signals. The signals pass through a duplexer and a high-frequency adder-subtractor in sequence, and the sum and difference values are obtained by the high-frequency adder-subtractor. Then, the antenna control end adjusts the antenna attitude according to the sum and difference values to achieve real-time tracking of the satellite by the antenna.

[0004] However, the system constructed by the monopulse tracking method is based on a set of high-precision microwave structural components, which requires good radio frequency phase stability. Therefore, at least two-channel correlation receivers are required, resulting in a large and complex feed system and expensive equipment. Moreover, due to the need to design a high-frequency sum-difference network for the microwave structural components, the technical complexity and processing difficulty are greatly increased. 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 existing in the system constructed by the monopulse tracking method when applied to parabolic satellite antennas. To overcome the above defects of the prior art, the present invention provides a self-learning tracking system and method for a low-earth orbit parabolic large antenna gateway station, including a self-learning tracking system for a low-earth orbit parabolic large antenna gateway station and a self-learning tracking method for a low-earth orbit parabolic large antenna gateway station.

[0006] A self-learning tracking system for a low-earth orbit parabolic large antenna gateway station provided by the present invention includes:

[0007] A single horn antenna device;

[0008] A storage device for storing the control data sets at each sampling moment, and each control data set at a sampling moment contains three data vectors. The first data vector describes the elevation angle and azimuth angle actually controlled for the single-horn antenna device to lock on to the target satellite to achieve the optimal received signal at this sampling moment. The second data vector describes the elevation angle and azimuth angle of the single-horn antenna device obtained by inertial navigation when the single-horn antenna device locks on to the target satellite to achieve the optimal received signal at this sampling moment. The third data vector describes the elevation displacement and azimuth displacement of the single-horn antenna device obtained by an encoder when the single-horn antenna device locks on to the target satellite to achieve the optimal received signal at this sampling moment;

[0009] A tracking control module, electrically connected to the storage device, is configured to retrieve the control data set at the sampling moment closest to the current moment from the storage device, randomly retrieve a data vector from this control data set, and then adjust the elevation angle and azimuth angle of the single-horn antenna device according to the content represented by this data vector to lock on to the target satellite.

[0010] The self-learning tracking system for a low-earth orbit parabolic large antenna gateway station disclosed in the present invention uses a single-horn antenna device as the satellite antenna device in the gateway station, without the need for correlation receivers in two channels, nor the need for high-frequency sum-difference network design for microwave structural components. Furthermore, a storage device is provided to store the control data sets at each sampling moment, and each control data set at a sampling moment contains three data vectors. Then, by setting up a tracking control module, it can be realized that when it is necessary to lock on to a satellite at the current moment, the control data set at the sampling moment closest to the current moment can be retrieved from the storage device, a data vector can be randomly retrieved from this control data set, and then the elevation angle and azimuth angle of the single-horn antenna device can be adjusted according to the content represented by this data vector to lock on to the target satellite. The entire system only requires three devices, thus having the characteristics of a simple structure and a relatively low manufacturing cost. Moreover, the algorithm used by the tracking control module is actually a statistical analysis algorithm, with simple steps and low computational complexity, thereby being able to reduce the computational complexity and save the control operation cost.

[0011] In a possible implementation manner, the tracking control module includes:

[0012] A central processing unit, electrically connected to the storage device, is configured to retrieve the control data set at the sampling moment closest to the current moment from the storage device, and randomly retrieve a data vector from this control data set;

[0013] A digital-to-analog converter, electrically connected to the central processing unit, is configured to perform digital-to-analog conversion on the content represented by the data vector retrieved by the central processing unit to obtain a corresponding analog signal;

[0014] A transmission component, electrically connected to the digital-to-analog converter, 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;

[0015] This solution uses a digital-to-analog converter to perform digital-to-analog conversion on the data information processed and output by the central processing unit, forming a control voltage signal and transmitting it to the transmission component, thereby realizing the control of the elevation angle and azimuth angle of the single horn antenna device to achieve the effect of locking the target satellite controllably.

[0016] In a possible implementation, the self-learning tracking system further includes:

[0017] A navigation device for real-time acquisition of the longitude, latitude, and ellipsoidal height of the single horn antenna device;

[0018] An inertial navigation for real-time acquisition of the elevation angle and azimuth angle of the single horn antenna device;

[0019] An encoder for real-time acquisition of the elevation displacement and azimuth displacement of the single horn antenna device;

[0020] A satellite signal receiver for receiving satellite signals and outputting satellite signal strength;

[0021] A calculation unit, electrically connected to the navigation device, is configured to use the longitude, latitude, ellipsoidal height of the single horn antenna device and the ephemeris parameters of the target satellite through a calculation model of the elevation angle and azimuth angle of the antenna device to obtain the theoretical elevation angle and theoretical azimuth angle for the single horn antenna device to lock the target satellite;

[0022] This solution can realize the real-time acquisition of the longitude, latitude, ellipsoidal height, elevation angle, azimuth angle, elevation displacement, azimuth displacement, satellite signal strength, theoretical elevation angle and theoretical azimuth angle for locking the target satellite of the single horn antenna device, providing data source support for constructing the control data set at each sampling moment, thereby realizing the update of the control data set at each sampling moment, and further achieving the effect of self-learning and tracking the target satellite.

[0023] Another technical solution of the present invention is to provide a self-learning tracking method for a low-earth orbit parabolic large antenna gateway station, including the following steps:

[0024] S1: Determine (n + 1) sampling moments in a day in an equidistant sampling manner, and obtain the optimal state vector at each sampling moment in a satellite tracking manner;

[0025] S2: Use the optimal state vectors at each sampling moment to form their respective control data sets. Each control data set at each sampling moment contains three data vectors. 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. The components of the second data vector include the sampling moment, satellite signal strength, pitch angle and azimuth angle obtained from the inertial navigation at this moment. The components of the third data vector include the sampling moment, satellite signal strength, pitch displacement and azimuth displacement obtained from the encoder at this moment;

[0026] S3: Store all the control data sets obtained in step S2 in a storage device;

[0027] S4: The tracking control module retrieves the control data set at the sampling moment closest to the current moment from the storage device, randomly retrieves a data vector from this control data set, and then adjusts the pitch angle and azimuth angle of the single horn antenna device according to the content represented by this data vector to lock the target satellite.

[0028] The method disclosed by the present invention uses a single horn antenna device to replace the traditional antenna device, without the need for correlation receivers in two channels, nor the need to design a high-frequency sum-difference network for microwave structural components. And by executing steps S1 - S2, the optimal state vector at the sampling moment is obtained, and the optimal state vectors at each sampling moment are used to form the control data sets at each sampling moment. Then, these sets are stored in the storage device through step S3. Finally, step S4 is executed through the tracking control module to achieve that when it is necessary to lock the satellite at the current moment, the control data set at the sampling moment closest to the current moment can be retrieved from the storage device, 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 content represented by this data vector to lock the target satellite. Thus, it has simple steps, and the algorithm used by the tracking control module is actually a statistical analysis algorithm, with simple steps and small operation complexity, so as to reduce the operation complexity and save the control operation cost.

[0029] In a possible implementation manner, step S1 includes the following steps:

[0030] S11: Determine (n + 1) sampling moments in a day in an equidistant sampling manner, and control the single horn antenna device at each sampling moment to obtain the state vector at that sampling moment. The way to control the single horn antenna device at each sampling moment is: at each sampling moment, the actual elevation angle of controlling the single horn antenna device is equal to the theoretical elevation angle that makes the single horn antenna device lock the target satellite at that sampling moment, and the actual azimuth angle of controlling the single horn antenna device is equal to the theoretical azimuth angle that makes the single horn antenna device lock the target satellite at that sampling moment;

[0031] The components of the state vector include:

[0032] Sampling moment;

[0033] The theoretical elevation angle, theoretical azimuth angle, actual elevation angle and actual azimuth angle at this sampling moment;

[0034] After controlling the single horn antenna device through the actual elevation angle and actual azimuth angle at this sampling moment, the elevation angle and azimuth angle of the single horn antenna device obtained by the inertial navigation, the elevation displacement and azimuth displacement obtained by the encoder, and the satellite signal strength obtained by the satellite signal receiver;

[0035] S12: Keep the actual elevation angle constantly equal to the theoretical elevation angle at each sampling moment, and make the actual azimuth angle be the theoretical azimuth angle plus or minus 1 times the error precision, plus or minus 2 times the error precision and plus or minus 3 times the error precision respectively to control the single horn antenna device, and after each control, respectively execute obtaining the elevation angle and azimuth angle of the single horn antenna device through the inertial navigation, obtaining the elevation 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 their respective state vectors;

[0036] S13: Keep the actual azimuth angle constantly equal to the theoretical azimuth angle at each sampling moment, and make the actual elevation angle be the theoretical elevation angle plus or minus 1 times the error precision, plus or minus 2 times the error precision and plus or minus 3 times the error precision respectively to control the single horn antenna device, and after each control, respectively execute obtaining the elevation angle and azimuth angle of the single horn antenna device through the inertial navigation, obtaining the elevation 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 their respective state vectors;

[0037] S14: Statistically find out the state vectors with the optimal satellite signal strength at each sampling moment from all the state vectors obtained by executing step S11 - step S13 to obtain the optimal state vectors at each sampling moment.

[0038] In a possible implementation, the formula for determining n in step S11 is as follows:

[0039]

[0040] In the formula,

[0041] α represents the antenna pointing angle range of the single horn antenna device;

[0042] m represents the number of times the target satellite orbits the earth in one day;

[0043] ΔT represents the time interval between two adjacent sampling times;

[0044] This solution actually determines the integer n according to the antenna pointing angle range of the single horn antenna device and the time interval between two adjacent sampling times, that is, determines the number of ΔT required to travel α during antenna pointing as the n value, so as to improve the calculation efficiency while adhering to the operation law of the target satellite, making the constructed sampling time distribution more reasonable.

[0045] In a possible implementation, in step S11, the time interval between two adjacent sampling times does not exceed 20 ms, so as to improve the sampling accuracy, and when the target satellite needs to be locked later, the distance between the nearest sampling time found and the time to be locked is small, which helps to achieve precise control of the satellite antenna device.

[0046] In a possible implementation, in step S11, the process of obtaining the state vector of any sampling time includes the following steps:

[0047] S111: Obtain the longitude, latitude and ellipsoidal height of the single horn antenna device at this sampling time through the navigation device, and then use the obtained longitude, latitude, ellipsoidal height and the ephemeris parameters of the target satellite through the pitch angle and azimuth angle calculation model of the antenna device to obtain the theoretical pitch angle and theoretical azimuth angle at this sampling time;

[0048] S112: Let the actual pitch angle be equal to the theoretical pitch angle and the actual azimuth angle be equal to the theoretical azimuth angle to control the single horn antenna device;

[0049] S113: Respectively execute 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 the state vector at this sampling time.

[0050] In a possible implementation, the amount of the error precision does not exceed 0.05 degrees, so as to compensate for the theoretical and actual errors and achieve the purpose of accurately controlling the satellite antenna device. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 FIG. is a schematic structural diagram of a self-learning tracking system for a low-earth orbit parabolic large antenna gateway station disclosed in an embodiment of the present invention;

[0052] Figure 2 FIG. is a schematic structural diagram of a control module disclosed in an embodiment of the present invention;

[0053] Figure 3 FIG. is a flowchart of a method disclosed in an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0054] First of all, those skilled in the art should understand that these embodiments 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 according to needs to adapt to specific application scenarios.

[0055] In the description of the embodiments of the present application, it should be noted that unless otherwise clearly defined and limited, the terms "connected" and "connected" 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 those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific situations.

[0056] In the embodiments of the present application, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the first feature is at a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the first feature is at a lower horizontal height than the second feature.

[0057] The present application will be further described in detail below with reference to the drawings and specific embodiments.

[0058] See Figures 1 to 3 , the embodiments of the present application disclose a self-learning tracking system for a low-earth orbit parabolic large antenna gateway station, Figure 1It is a schematic structural diagram of the system. The self-learning tracking system 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 calculation unit. Among them, the tracking control module is electrically connected to the storage device, and the calculation unit is electrically connected to the navigation device. The single-horn antenna device is used to replace the traditional antenna device, eliminating the need for correlation receivers in two channels and the high-frequency sum-difference network design for microwave structural components.

[0059] In this self-learning tracking system, the storage device is used to store the control data sets at each sampling moment. Each control data set at a sampling moment contains three data vectors. The first data vector describes the elevation angle and azimuth angle actually controlled for the single-horn antenna device to lock on to the target satellite and achieve the optimal received signal at this sampling moment. The second data vector describes the elevation angle and azimuth angle of the single-horn antenna device obtained from the inertial navigation system when the single-horn antenna device locks on to the target satellite and achieves the optimal received signal at this sampling moment. The third data vector describes the elevation displacement and azimuth displacement of the single-horn antenna device obtained from the encoder when the single-horn antenna device locks on to the target satellite and achieves the optimal received signal at this sampling moment.

[0060] In this self-learning tracking system, the tracking control module is configured to retrieve the control data set at the sampling moment closest to the current moment from the storage device, randomly retrieve a data vector from this control data set, and then adjust the elevation angle and azimuth angle of the single-horn antenna device according to the content represented by this data vector to lock on to the target satellite.

[0061] See 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 the control data set at the sampling moment closest to the current moment from the storage device and randomly retrieve a data vector from this control data set. The digital-to-analog converter is configured to perform digital-to-analog conversion on the content represented by the data vector retrieved by the central processing unit to obtain a corresponding analog signal. The transmission component 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 on to the target satellite.

[0062] In this self-learning tracking system, the navigation device is used to obtain the longitude, latitude, and ellipsoidal 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 the satellite signal strength; the calculation unit is configured to obtain the theoretical pitch angle and theoretical azimuth angle for the single-horn antenna device to lock onto the target satellite by using the longitude, latitude, ellipsoidal height of the single-horn antenna device and the ephemeris parameters of the target satellite through the calculation models of the pitch angle and azimuth angle of the antenna device.

[0063] See Figure 3 , and the self-learning tracking method for the low-earth orbit parabolic large antenna gateway station corresponding to this self-learning tracking system is further disclosed below. This method includes the following steps:

[0064] S1: Determine (n + 1) sampling times in a day in an equidistant sampling manner, and obtain the optimal state vectors at each sampling time in a satellite tracking manner.

[0065] In this embodiment, step S1 includes the following steps:

[0066] S11: Determine (n + 1) sampling times in a day in an equidistant sampling manner, and control the single-horn antenna device at each sampling time to obtain the state vector at this sampling time. The way to control the single-horn antenna device at each sampling time is: at each sampling time, the actual pitch angle of controlling the single-horn antenna device is equal to the theoretical pitch angle that makes the single-horn antenna device lock onto the target satellite at this sampling time, and the actual azimuth angle of controlling the single-horn antenna device is equal to the theoretical azimuth angle that makes the single-horn antenna device lock onto the target satellite at this sampling time.

[0067] The components of the state vector include: the sampling time; the theoretical pitch angle, theoretical azimuth angle, actual pitch angle, and actual azimuth angle at this sampling time; the pitch angle and azimuth angle of the single-horn antenna device obtained by the inertial navigation after controlling the single-horn antenna device through the actual pitch angle and actual azimuth angle at this sampling time, the pitch displacement and azimuth displacement obtained by the encoder, and the satellite signal strength obtained by the satellite signal receiver.

[0068] Specifically, (n + 1) sampling times in a day are determined in an equidistant sampling manner, and these sampling times are denoted as:

[0069] t0, t1, t2, …, t n ,

[0070] The equidistant sampling method is a sampling method in which the time intervals between two adjacent sampling moments are equal. Here, n is determined according to the antenna pointing angle range of the single horn antenna device and the time interval between two adjacent sampling moments, that is, the number of time intervals ΔT required to travel α during antenna pointing is determined as the value of n. The specific formula is as follows:

[0071]

[0072] In the formula,

[0073] α represents the antenna pointing angle range of the single horn antenna device;

[0074] m represents the number of times the target satellite rotates around the earth in one day;

[0075] ΔT represents the time interval between two adjacent sampling moments, which does not exceed 20 ms and takes a value of 10 ms in this embodiment.

[0076] In step S11, the process of obtaining the state vector at any sampling moment includes the following steps:

[0077] S111: Retrieve the ephemeris parameters of the target satellite, and obtain the longitude, latitude, and ellipsoidal height of the single horn antenna device at this sampling moment through the navigation device. Then, use the obtained longitude, latitude, ellipsoidal height, and the ephemeris parameters of the target satellite through the pitch angle and azimuth angle calculation model of the antenna device to obtain the theoretical pitch angle and theoretical azimuth angle for locking the target satellite at this sampling moment;

[0078] S112: Set the actual pitch angle equal to the theoretical pitch angle and the actual azimuth angle equal to the theoretical azimuth angle to control the single horn antenna device;

[0079] S113: Respectively execute obtaining the pitch angle and azimuth angle of the single horn antenna device through 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 the state vector at this sampling moment.

[0080] The state vectors at all sampling moments are obtained in the above manner as follows:

[0081] x 01 、x 11 、x 21 、…、x n1 ,

[0082]

[0083] In the formula,

[0084] i = 0, 1, 2, …, n;

[0085] x i1 represents the state vector at sampling time t i ;

[0086] EL i represents the theoretical elevation angle for the single horn antenna device to lock onto the target satellite at sampling time t i Let

[0087] AZ i represents the theoretical azimuth angle for the single horn antenna device to lock onto the target satellite at sampling time t i Let

[0088] ELM i1 represents the actual elevation angle for controlling the single horn antenna device at sampling time t i ;

[0089] AZM i1 represents the actual azimuth angle for controlling the single horn antenna device at sampling time t i ;

[0090] ELE i1 represents the elevation angle of the single horn antenna device obtained through inertial navigation after controlling the single horn antenna device when the actual elevation angle is equal to the theoretical elevation angle and the actual azimuth angle is equal to the theoretical azimuth angle

[0091] AZE i1 represents the azimuth angle of the single horn antenna device obtained through inertial navigation after controlling the single horn antenna device when the actual elevation angle is equal to the theoretical elevation angle and the actual azimuth angle is equal to the theoretical azimuth angle

[0092] ELI i1 represents the elevation displacement of the single horn antenna device obtained through the encoder after controlling the single horn antenna device when the actual elevation angle is equal to the theoretical elevation angle and the actual azimuth angle is equal to the theoretical azimuth angle

[0093] AZI i1 represents the azimuth displacement of the single horn antenna device obtained through the encoder after controlling the single horn antenna device when the actual elevation angle is equal to the theoretical elevation angle and the actual azimuth angle is equal to the theoretical azimuth angle

[0094] I i1 represents the satellite signal strength of the single horn antenna device obtained through the satellite signal receiver after controlling the single horn antenna device when the actual elevation angle is equal to the theoretical elevation angle and the actual azimuth angle is equal to the theoretical azimuth angle

[0095] S12: At each sampling moment, keep the actual pitch angle constantly equal to the theoretical pitch angle, and let the actual azimuth angle be the theoretical azimuth angle plus or minus 1 times the error precision, plus or minus 2 times the error precision, and plus or minus 3 times the error precision respectively to control the single horn antenna device. And after each control, respectively perform obtaining the pitch angle and azimuth angle of the single horn antenna device through 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 their respective state vectors. Therefore, 6 controls are required at each sampling moment, and a state vector is obtained after each control.

[0096] The amount of the error precision does not exceed 0.05 degrees. In this embodiment, the error precision is 0.03 degrees.

[0097] S13: At each sampling moment, keep the actual azimuth angle constantly equal to the theoretical azimuth angle, and let the actual pitch angle be the theoretical pitch angle plus or minus 1 times the error precision, plus or minus 2 times the error precision, and plus or minus 3 times the error precision respectively to control the single horn antenna device. And after each control, respectively perform obtaining the pitch angle and azimuth angle of the single horn antenna device through 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 their respective state vectors. Therefore, 6 controls are required at each sampling moment, and a state vector is obtained after each control.

[0098] S14: Among all the state vectors obtained by executing steps S11 - S13, count the state vectors with the optimal satellite signal strength at each sampling moment to obtain the optimal state vectors at each sampling moment.

[0099] Specifically, after executing steps S11 - S13, there are 13 state vectors at each sampling moment. For any moment, count the state vector with the optimal satellite signal strength among its 13 state vectors, and this state vector is the optimal state vector at this sampling moment.

[0100] S2: Respectively use the optimal state vectors at each sampling moment to form their respective control data sets, and each control data set at each sampling moment contains three data vectors. 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. 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. 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.

[0101] S3: Store all the control data sets obtained in step S2 into the storage device.

[0102] S4: The tracking control module retrieves the control data set at the sampling moment closest to the current moment from the storage device, randomly retrieves a data vector from this control data set, and then adjusts the elevation angle and azimuth angle of the single horn antenna device according to the representative content of this data vector to lock the target satellite.

[0103] The low-earth orbit parabolic large antenna gateway station self-learning tracking system disclosed in this embodiment uses a single horn antenna device as the satellite antenna device in the gateway station, without the need for correlation receivers of two channels, nor the need for high-frequency sum-difference network design for microwave structural components. Furthermore, a storage device is set to store the control data sets at each sampling moment, and each control data set at each sampling moment contains three data vectors. Then, by setting the tracking control module, it can be realized 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, a data vector is randomly retrieved from this control data set, and then the elevation angle and azimuth angle of the single horn antenna device are adjusted according to the representative content of this data vector to lock the target satellite. The entire system only requires three devices, thus having the characteristics of simple structure and low manufacturing cost. Moreover, the algorithm used by the tracking control module is actually a statistical analysis algorithm, with simple steps and small computational complexity, thereby being able to reduce the computational complexity and save the control operation cost.

[0104] 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 "inner" and "outer" 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, and therefore should not be construed as a limitation to the present application.

[0105] In the description of the present application, the description referring to terms such as "one embodiment", "some embodiments", "in this embodiment", "specific examples", or "some examples" means that the specific features, mechanisms, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, mechanisms, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0106] As described above, it is only the specific implementation manner 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 those skilled in the art within the technical scope disclosed in the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A self-learning tracking system for a low-earth orbit parabolic large antenna gateway station, characterized in that, The self-learning tracking system includes: A single horn antenna device; A storage device for storing a set of control data at each sampling moment, and each set of control data at a sampling moment contains three data vectors. The first data vector describes the elevation angle and azimuth angle actually controlled for the single horn antenna device to lock on to the target satellite to achieve the optimal received signal at this sampling moment. The second data vector describes the elevation angle and azimuth angle of the single horn antenna device obtained by inertial navigation when the single horn antenna device locks on to the target satellite to achieve the optimal received signal at this sampling moment. The third data vector describes the elevation displacement and azimuth displacement of the single horn antenna device obtained by an encoder when the single horn antenna device locks on to the target satellite to achieve the optimal received signal at this sampling moment; A tracking control module electrically connected to the storage device, configured to retrieve the set of control data at the sampling moment closest to the current moment from the storage device, randomly retrieve a data vector from this set of control data, and then adjust the elevation angle and azimuth angle of the single horn antenna device according to the representative content of this data vector to lock on to the target satellite; A navigation device for real-time acquisition of the longitude, latitude, and ellipsoidal height of the single horn antenna device; An inertial navigation for real-time acquisition of the elevation angle and azimuth angle of the single horn antenna device; An encoder for real-time acquisition of the elevation displacement and azimuth displacement of the single horn antenna device; A satellite signal receiver for receiving satellite signals and outputting satellite signal strength; A calculation unit electrically connected to the navigation device, configured to obtain the theoretical elevation angle and theoretical azimuth angle for the single horn antenna device to lock on to the target satellite by using the longitude, latitude, ellipsoidal height of the single horn antenna device and the ephemeris parameters of the target satellite through a calculation model of the elevation angle and azimuth angle of the antenna device.

2. The low-earth orbit parabolic large antenna gateway station self-learning tracking system according to claim 1, characterized in that The tracking control module includes: A central processing unit electrically connected to the storage device, configured to retrieve the set of control data at the sampling moment closest to the current moment from the storage device, and randomly retrieve a data vector from this set of control data; 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 component electrically connected to the digital-to-analog converter, 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 on to the target satellite.

3. A self-learning tracking method for a low-earth orbit parabolic large antenna gateway station, characterized in that The low-earth orbit parabolic large antenna gateway station self-learning tracking system applicable to any one of claims 1-2 includes the following steps: S1: Determine (n + 1) sampling moments in a day in an equidistant sampling manner, and obtain the optimal state vector at each sampling moment in a satellite tracking manner; S2: Use the optimal state vectors at each sampling moment to form their respective control data sets. Each control data set at each sampling moment contains three data vectors. 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. The components of the second data vector include the sampling moment, satellite signal strength, pitch angle and azimuth angle obtained by the inertial navigation at this moment. The components of the third data vector include the sampling moment, satellite signal strength, pitch displacement and azimuth displacement obtained by the encoder at this moment; S3: Store all the control data sets obtained in step S2 in a storage device; S4: The tracking control module retrieves the control data set of the sampling moment closest to the current moment from the storage device, randomly retrieves a data vector from this control data set, and then adjusts the pitch angle and azimuth angle of the single horn antenna device according to the content represented by this data vector to lock the target satellite.

4. The self-learning tracking method for a low-earth orbit parabolic large antenna gateway station according to claim 3, wherein Step S1 includes the following steps: S11: Determine (n + 1) sampling moments in a day in an equidistant sampling manner, and control the single horn antenna device at each sampling moment to obtain the state vector at this sampling moment. The way to control the single horn antenna device at each sampling moment is: at each sampling moment, the actual pitch angle of controlling the single horn antenna device is equal to the theoretical pitch angle that makes the single horn antenna device lock the target satellite at this sampling moment, and the actual azimuth angle of controlling the single horn antenna device is equal to the theoretical azimuth angle that makes the single horn antenna device lock the target satellite at this sampling moment; The components of the state vector include: Sampling moment; The theoretical pitch angle, theoretical azimuth angle, actual pitch angle, and actual azimuth angle at this sampling moment; After controlling the single horn antenna device through the actual pitch angle and actual azimuth angle at this sampling moment, the pitch angle and azimuth angle of the single horn antenna device obtained by the inertial navigation, the pitch displacement and azimuth displacement obtained by the encoder, and the satellite signal strength obtained by the satellite signal receiver; S12: At each sampling moment, keep the actual pitch angle constantly equal to the theoretical pitch angle, and make the actual azimuth angle be the theoretical azimuth angle plus or minus 1 times the error precision, plus or minus 2 times the error precision, and plus or minus 3 times the error precision respectively to control the single horn antenna device. After each control, obtain the pitch angle and azimuth angle of the single horn antenna device through the inertial navigation, obtain the pitch displacement and azimuth displacement of the single horn antenna device through the encoder, and obtain the satellite signal strength of the single horn antenna device through the satellite signal receiver respectively to construct their respective state vectors; S13: At each sampling moment, keep the actual azimuth angle constantly equal to the theoretical azimuth angle, and let the actual elevation angles be respectively the theoretical elevation angle plus and minus 1 times the error precision, plus and minus 2 times the error precision, and plus and minus 3 times the error precision to control the single horn antenna device. After each control, respectively execute obtaining the elevation angle and azimuth angle of the single horn antenna device through the inertial navigation, obtaining the elevation 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 their respective state vectors; S14: Among all the state vectors obtained by executing the steps S11 - S13, statistically find the state vectors with the optimal satellite signal strength at each sampling moment to obtain the optimal state vectors at each sampling moment.

5. The self-learning tracking method for the low-orbit parabolic large antenna gateway station according to claim 4, wherein The formula for determining n in the step S11 is as follows: In the formula, α represents the antenna satellite alignment angle range of the single horn antenna device; m represents the number of times the target satellite rotates around the earth in one day; ΔT represents the time interval between two adjacent sampling moments.

6. The self-learning tracking method for the low-earth orbit parabolic large antenna gateway station according to claim 5, characterized in that, In the step S11, the time interval between two adjacent sampling moments does not exceed 20 ms.

7. The self-learning tracking method for the low-earth orbit parabolic large antenna gateway station according to claim 5 or 6, characterized in that In the step S11, the process of obtaining the state vector at any sampling moment includes the following steps: S111: Obtain the longitude, latitude, and ellipsoidal height of the single horn antenna device at this sampling moment through the navigation device, and then use the longitude, latitude, ellipsoidal height, and the ephemeris parameters of the target satellite through the elevation angle and azimuth angle calculation model of the antenna device to obtain the theoretical elevation angle and theoretical azimuth angle at this sampling moment; S112: Let the actual elevation angle be equal to the theoretical elevation angle and the actual azimuth angle be equal to the theoretical azimuth angle to control the single horn antenna device; S113: Respectively execute obtaining the elevation angle and azimuth angle of the single horn antenna device through the inertial navigation, obtaining the elevation 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 the state vector at this sampling moment.

8. The self-learning tracking method for a low-orbit parabolic large antenna gateway station according to claim 7, characterized in that, The amount of the error precision does not exceed 0.05 degrees.

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