Satellite tracking method, tracking processing device and satellite tracking system

Abstract

The invention provides a satellite tracking method, and belongs to the technical field of communication. The satellite tracking method disclosed by the invention comprises the following steps: acquiring track information and antenna attitude information of communication-in-moving equipment in real time; for the target satellite, calculating a theoretical directional angle of an antenna beam according to the orbit parameters of the target satellite and the track information of the communication-in-moving equipment; correcting the theoretical directional angle of the antenna beam according to the antenna attitude information of the communication-in-moving equipment to obtain an actual directional angle of the antenna beam; based on the actual directional angle of the antenna beam, controlling a receiving phased-array antenna in the communication-in-moving equipment to form the antenna beam; in response to the situation that the signal strength of the satellite signal is larger than or equal to a preset value, data information of the received satellite signal is obtained, and the actual directional angle of the current antenna beam is corrected; according to the corrected actual directional angle of the antenna beam, controlling the transmitting phased-array antenna to form the antenna beam; and establishing a communication link, and updating ephemeris data of the target satellite.

Description

Satellite tracking method, tracking processing device and satellite tracking system Technical Field

[0001] The present disclosure belongs to the field of communication technology, and particularly relates to a satellite tracking method, a tracking processing device, a satellite tracking system, an electronic device, and a storage medium. Background Art

[0002] Communication on the Move (COTM) is a satellite communication earth station in motion, enabling broadband mobile satellite communications based on satellite resources. COTM can be integrated into mobile platforms such as vehicles, ships, and aircraft. Because satellites are located at great distances from the ground, link loss is significant. Therefore, high-gain directional antennas are essential for broadband communication between mobile platforms and satellites. However, high gain results in a very narrow antenna beam (typically only about 2° or less). Furthermore, the carrier is in high-speed motion, and its position, especially its attitude angle, fluctuates rapidly, causing rapid changes in the antenna's attitude. If these changes exceed the antenna beamwidth, antenna gain decreases, increasing the bit error rate (BER). This is particularly true when the carrier is traveling over rough roads, on sharp turns, or when a small vessel is at sea, experiencing complex motions such as roll, pitch, and turning. These drastic changes in the carrier's attitude can cause communication interruption due to the complex rolling, pitching, and turning motions. If the antenna's tracking response speed or accuracy is insufficient, the antenna's attitude will deviate from the satellite, leading to communication interruption. Therefore, the beam radiated by the antenna must always be aimed at the satellite with a certain accuracy and keep tracking to ensure the stability of the communication link.

[0003] Traditional mobile communication antenna systems usually use mechanical tracking systems. During the movement of the carrier, the reflector antenna or flat antenna array is adjusted by a mechanical adjustment controller based on the antenna posture feedback from the inertial navigation system to align it with the satellite. However, the beam radiated by the mechanically driven antenna results in low tracking speed and large pointing error, which in turn leads to low tracking accuracy.

[0004] Attitude feedback solutions based on high-precision inertial navigation systems directly utilize attitude and azimuth feedback control, resulting in relatively accurate antenna pointing angles. However, since attitude and azimuth outputs lag one frame behind angular rate, system timeliness is compromised. Furthermore, obtaining highly accurate attitude measurement information generally requires the use of high-precision fiber-optic or laser inertial navigation systems, making the systems extremely expensive. Currently, traditional mobile communication manufacturers commonly employ a solution that combines gyroscopic angular rate feedback with satellite signal scanning, known as a strapdown inertial navigation / GNSS / beacon scanning approach. This solution is relatively simple to implement, offers high bandwidth, and provides real-time performance. It is primarily used in systems with mechanical beam steering. However, for dual-motion applications such as low-orbit satellites or multi-orbit satellite switching scenarios, beacon scanning requires continuous oscillation around the pointing direction, with the antenna repeatedly rotating in pitch and azimuth to gradually align the antenna beam with the satellite. The tracking angular velocity is typically around 20° / s to 50° / s, limiting its application in high-speed mobile mobile communication applications.

[0005] Summary of the Invention

[0006] The present invention aims to solve at least one of the technical problems existing in the prior art and provides a satellite tracking method, a tracking processing device, a satellite tracking system, an electronic device and a storage medium.

[0007] The present disclosure provides a satellite tracking method, which includes:

[0008] Obtain the track information and antenna attitude information of the mobile communication equipment in real time;

[0009] For a target satellite, a theoretical pointing angle of the antenna beam is calculated based on the orbital parameters of the target satellite and the track information of the mobile communication device;

[0010] Correcting the theoretical pointing angle of the antenna beam according to the antenna attitude information of the mobile communication device to obtain the actual pointing angle of the antenna beam;

[0011] Based on the actual pointing angle of the antenna beam, controlling the receiving phased array antenna in the mobile communication device to form an antenna beam, so that the receiver can analyze the satellite signal received by the receiving antenna and detect the signal strength;

[0012] In response to the signal strength of the satellite signal being greater than or equal to a preset value, changing a current antenna beam of the receiving antenna, obtaining data information of the received satellite signal, correcting an actual pointing angle of the current antenna beam, and controlling the transmitting phased array antenna and the receiving phased array antenna to form an antenna beam according to the corrected actual pointing angle;

[0013] Controlling the transmitting phased array antenna to form an antenna beam according to the corrected actual pointing angle of the antenna beam;

[0014] The communication link is established and the ephemeris data of the target satellite is updated.

[0015] Wherein, the satellite tracking method further includes:

[0016] In response to the signal strength of the satellite signal being less than a preset value, the actual pointing angle of the antenna beam at the current moment is calculated based on the orbital parameters of the target satellite, the track information of the mobile communication device at the current moment, and the antenna attitude information, and the process returns to execute the step of controlling the receiving phased array antenna in the mobile communication device to form an antenna beam based on the actual pointing angle of the antenna beam so that the receiver can parse the satellite signal received by the receiving antenna and detect the signal strength.

[0017] The antenna attitude information includes the pitch angle, roll angle and azimuth angle of the antenna beam; the step of obtaining the position information and antenna attitude information of the mobile communication device in real time includes:

[0018] Obtaining the pitch angle, roll angle, and initialization azimuth determined by the strapdown inertial navigation system in the mobile communication device, and obtaining the reference azimuth determined by the GNSS in the strapdown inertial navigation system;

[0019] The initial azimuth angle is corrected using the reference azimuth angle to obtain the azimuth angle.

[0020] Wherein, when the target satellite is a geostationary satellite, the orbital parameters include orbital position information; and the step of calculating the theoretical pointing angle of the antenna beam for the target satellite based on the orbital parameters of the target satellite and the track information of the communication-in-motion device comprises:

[0021] For a target satellite, the theoretical pointing angle of the antenna beam is calculated based on the orbital position information of the target satellite and the track information of the mobile communication device.

[0022] 5. The satellite tracking method according to claim 1 , wherein, when the target satellite is a geostationary satellite, the orbital parameters include ephemeris data; and the step of calculating the theoretical pointing angle of the antenna beam for the target satellite based on the orbital parameters of the target satellite and the track information of the communication-in-motion device comprises:

[0023] For the target satellite, the time information output by the GNSS of the strapdown inertial navigation in the mobile communication device is used to establish time synchronization with the ephemeris data of the target satellite, and the theoretical pointing angle of the antenna beam is calculated through the ephemeris data and the track information of the mobile communication.

[0024] The step of controlling the receiving phased array antenna in the mobile communication device to form an antenna beam based on the actual pointing angle of the antenna beam so that the receiver can analyze the satellite signal received by the receiving antenna and detect the signal strength includes:

[0025] Based on the actual pointing angle of the antenna beam, a beamforming instruction is sent to the beam control board of a receiving phased array antenna subarray module in the mobile communication device, so that the beam control boards of other receiving phased array antenna subarray modules and the beam control boards of each transmitting phased array antenna are synchronized in time and frequency, and the code table is solved to drive the corresponding receiving subarray module of the receiving antenna and the transmitting subarray module of the transmitting antenna to form an antenna beam according to the actual pointing angle, so that the receiver can parse and measure the signal strength of the satellite signal received by the receiving antenna.

[0026] The step of changing the current antenna beam of the receiving antenna in response to the signal strength of the satellite signal being greater than or equal to a preset value, obtaining data information of the received satellite signal, correcting the actual pointing angle of the current antenna beam, and controlling the transmitting phased array antenna and the receiving phased array antenna to form an antenna beam according to the corrected actual pointing angle includes:

[0027] In response to the satellite signal strength being greater than or equal to a preset value, the current beam of the receiving antenna is controlled to perform adaptive scanning within a certain angle range, and amplitude comparison detection is performed on the signal strength of the target satellite received at different beam positions of the receiving antenna according to the trajectory within at least one scanning cycle, and the angle of the target satellite is measured. Based on the results of the amplitude comparison detection and the angle measurement, the actual pointing angle of the current antenna beam is corrected, and the transmitting phased array antenna and the receiving phased array antenna are controlled to form antenna beams according to the corrected actual pointing angles.

[0028] The step of changing the current antenna beam of the receiving antenna in response to the signal strength of the satellite signal being greater than or equal to a preset value, obtaining data information of the received satellite signal, correcting the actual pointing angle of the current antenna beam, and controlling the transmitting phased array antenna and the receiving phased array antenna to form an antenna beam according to the corrected actual pointing angle includes:

[0029] In response to the satellite signal strength being greater than or equal to a preset value, the current beam of the receiving phased array antenna is controlled to periodically form a beam in a "sum beam-difference beam-difference beam-sum beam" manner, and amplitude ratio detection is performed on the signal strength of the target satellite received in at least one period, as well as angle measurement of the target satellite. Based on the results of the amplitude ratio detection and the angle measurement, the actual pointing angle of the current antenna beam is corrected, and the transmitting phased array antenna and the receiving phased array antenna are controlled to form antenna beams according to the corrected actual pointing angle.

[0030] The satellite tracking method further includes the step of initializing and calibrating the antenna attitude information and the track information of the mobile communication device, including:

[0031] Obtaining the moment when the mobile communication device is powered on, and the antenna attitude information obtained by the strapdown inertial navigation system; the antenna attitude information includes the pitch angle, roll angle and azimuth angle;

[0032] Initialized track information prediction is performed based on the azimuth and historical track.

[0033] The present disclosure provides a tracking processing device, which includes:

[0034] An acquisition module is configured to acquire track information and antenna attitude information of the mobile communication device;

[0035] a calculation module configured to calculate a theoretical pointing angle of an antenna beam for a target satellite based on orbital parameters of the target satellite and track information of the communication-in-motion device;

[0036] A first correction module is configured to correct the theoretical pointing angle of the antenna beam according to the antenna attitude information of the mobile communication device to obtain an actual pointing angle of the antenna beam;

[0037] a tracking processing module configured to control the receiving phased array antenna in the communication-in-motion device to form an antenna beam based on the actual pointing angle of the antenna beam, so that the receiver can analyze the satellite signal received by the receiving antenna and detect the signal strength;

[0038] a second correction module configured to control the receiving phased array antenna in the communication-in-motion device to form an antenna beam based on the actual pointing angle of the antenna beam, so that the receiver can analyze the satellite signal received by the receiving antenna and detect the signal strength;

[0039] The tracking processing module is further configured to control the transmitting antenna to form an antenna beam according to the corrected actual pointing angle of the antenna beam;

[0040] The updating module is configured to update the ephemeris data of the target satellite after the communication link is established.

[0041] An embodiment of the present disclosure provides a satellite tracking system, which includes the above-mentioned tracking processing device.

[0042] The satellite tracking system further comprises: a mobile communication device, wherein the mobile communication device comprises: a receiving antenna, a transmitting antenna, a receiver, and a strapdown inertial navigation system;

[0043] The strapdown inertial navigation system is configured to obtain antenna attitude information and track information in real time, so as to send the antenna attitude information and the track information to the tracking processing device;

[0044] The receiving phased array antenna and the transmitting phased array antenna are both configured to form corresponding antenna beams under the control of the tracking processing device;

[0045] The receiver is configured to detect and analyze the signal strength of the satellite signal received by the receiving antenna.

[0046] The strapdown inertial navigation system includes IMU and GNSS.

[0047] The GNSS is a differential baseline GNSS.

[0048] Among them, the receiving antenna is a liquid crystal phased array receiving antenna; the transmitting antenna is a liquid crystal phased array receiving antenna.

[0049] An embodiment of the present disclosure provides an electronic device, comprising:

[0050] A memory, a processor, and a computer program stored in the memory and operable on the processor, wherein the computer program implements the steps of the satellite tracking method when executed by the processor.

[0051] An embodiment of the present disclosure provides a computer-readable storage medium, wherein the storage medium stores a program of a satellite tracking method, and when the program of the satellite tracking method is executed by a processor, the steps of the above-mentioned satellite tracking method are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 is a schematic diagram of the reference coordinate system of the phased array antenna.

[0053] FIG2 is a schematic diagram of the reference coordinate system of a traditional mechanically controlled antenna.

[0054] FIG3 is a schematic diagram of a satellite tracking system according to an embodiment of the present disclosure.

[0055] FIG4 is a flow chart of a satellite tracking method according to an embodiment of the present disclosure.

[0056] FIG5 is a schematic diagram of a trajectory of the antenna beam of the receiving phased array antenna according to an embodiment of the present disclosure scanning within the offset angle range of the beam pointing angle.

[0057] FIG6 is a schematic diagram of another trajectory of the antenna beam of the receiving phased array antenna according to an embodiment of the present disclosure scanning within the offset angle range of the beam pointing angle.

[0058] FIG7 is a signal flow diagram of time synchronization and frequency synchronization performed by each wave control board in an embodiment of the present disclosure.

[0059] FIG8 is a flow chart of another satellite tracking method according to an embodiment of the present disclosure.

[0060] FIG9 is a schematic diagram of a periodic sum and difference beam according to an embodiment of the present disclosure.

[0061] FIG10 is a schematic diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0062] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0063] Unless otherwise defined, the technical or scientific terms used in this disclosure should have the usual meanings understood by people with ordinary skills in the field to which this disclosure belongs. The words "first", "second" and similar words used in this disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one", "an" or "the" do not indicate a quantity limitation, but rather indicate the existence of at least one. Words such as "include" or "comprise" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0064] With the recent development of low-orbit satellite internet, phased array antennas, with their multi-beamforming, agile beam pointing, non-mechanical beam control, and geometrically conformal design, have emerged as applications for mobile communications. Phased array antennas employ electronically controlled scanning to adjust their pointing. Because they don't require mechanical rotation or structural inertia, they can achieve re-pointing in microseconds to milliseconds, enhancing mobile communications tracking capabilities. However, without a mechanically adjustable turntable, the reference coordinate system of the phased array antenna 11 is identical to that of the platform 12 (as shown in Figure 1), unlike the traditional mobile communications antenna 13, where the reference coordinate system is decoupled from the coordinate system of the platform 14 (as shown in Figure 2). Furthermore, the beam pointing of phased array antennas is unmeasurable, unlike traditional mechanically controlled antennas, which can be directly measured and corrected using attitude sensors. Therefore, to ensure tracking accuracy, additional closed-loop detection methods are required to correct for open-loop tracking errors.

[0065] Furthermore, the liquid crystal phased array antenna adopts a transmit-receive antenna architecture, and is assembled from multiple panel modules to form a complete receiving or transmitting antenna array. Every two or several panel modules form a sub-array module and correspond to an independent wave control board. During the tracking and control process of the mobile communication, synchronization and coordination are required between different sub-array modules and between the receiving and transmitting antenna arrays.

[0066] The mobile communication antenna based on liquid crystal phased array antenna has the following obvious differences from the traditional mobile communication antenna:

[0067] 1. The phased array antenna beam pointing cannot be directly corrected by the attitude sensor, and there is no direct feedback of the pointing correction angle. The tracking method is needed to calculate and correct the angle deviation.

[0068] 2. Compared with the mechanical beam scanning of traditional mobile communication, the liquid crystal phased array antenna adopts the electronic control scanning method, which has a faster scanning speed. In addition, the beam width of the phased array antenna will increase with the increase of the off-axis angle during the scanning process, while the beam width of the traditional mobile communication flat antenna or reflector antenna is fixed.

[0069] 3. The beam response time of the liquid crystal phased array is between the traditional mechanical beam control method (~s level) and the active phased array electronic scanning method (~μs level), with a typical time of 10ms to 50ms. At the same time, the refresh rate of the inertial navigation data is 200Hz, so the tracking method must also match this beam response period.

[0070] 4. During a tracking cycle, the liquid crystal phased array not only needs to complete closed-loop detection and beam correction, but also needs to complete synchronization and coordination between different sub-array modules and even between the receiving antenna and the transmitting antenna array.

[0071] In view of the above differences, the embodiments of the present disclosure provide a practical application of a mobile communication device for a liquid crystal phased array antenna.

[0072] FIG3 is a block diagram of a satellite tracking system according to an embodiment of the present disclosure; as shown in FIG3 , the satellite tracking system includes a mobile communication device and a tracking processing device 25. The mobile communication device includes a transmitting phased array antenna, a receiving phased array antenna, a strapdown inertial navigation system, and a receiver 28. The transmitting phased array antenna and the receiving phased array antenna are configured to form corresponding antenna beams under the control of the tracking processing device. The strapdown inertial navigation system is configured to obtain antenna attitude information and track information and send them to the tracking processing device. The receiver is configured to detect and analyze the signal strength of the satellite signal received by the receiving antenna, and send the detection and analysis results to the tracking processing device. The tracking processing device corrects the antenna beam according to the signal it receives to control the transmitting phased array antenna and the receiving phased array antenna to form corresponding beams to achieve satellite tracking.

[0073] In some examples, the transmitting phased array antenna includes a wave control plate of the transmitting antenna and a transmitting antenna subarray module, and the wave control plate of the transmitting antenna is configured to control the transmitting phased array antenna to form a corresponding antenna beam according to the beamforming instruction sent by the tracking processing device. Similarly, the receiving phased array antenna includes a wave control plate of the receiving antenna and a receiving phased array antenna subarray module. It should be noted that in Figure 3, taking the number of receiving phased array antennas and transmitting phased array antennas as two as an example, the receiving phased array antenna subarray modules of the two receiving antennas are 21-1 and 21-2, and the wave control plates of the two receiving antennas are 22-1 and 22-2; the transmitting phased array antenna subarray modules of the two transmitting antennas are 23-1 and 23-2, and the wave control plates of the two transmitting antennas are 24-1 and 24-2.

[0074] Furthermore, the receiving antenna module in the embodiment of the present disclosure is a liquid crystal phased array receiving antenna module, and the transmitting antenna module is a liquid crystal phased array transmitting antenna module. Both the liquid crystal phased array receiving antenna module and the liquid crystal phased array transmitting antenna module may include a first substrate and a second substrate arranged opposite to each other, and a liquid crystal layer located between the first substrate and the second substrate. The first substrate includes a first dielectric substrate and a first electrode layer arranged on the side of the first dielectric substrate close to the liquid crystal layer; the second substrate includes a second dielectric substrate and a second electrode layer arranged on the side of the second dielectric substrate close to the liquid crystal layer. In this case, the bias voltage on the first electrode layer and the second electrode layer can be adjusted to adjust the dielectric constant of the liquid crystal layer, thereby achieving modulation of the antenna beam, that is, changing the directional angle of the antenna beam.

[0075] In some examples, the strapdown inertial navigation system in the embodiments of the present disclosure preferably adopts a structure consisting of two parts: an inertial measurement unit 26 (IMU) and a global navigation satellite system (GNSS). Both the IMU and the GNSS can detect the pitch, azimuth, and roll angles of the mobile communication device. The GNSS can be used to correct the azimuth output by the strapdown inertial navigation system itself, thereby making the tracking of the satellite tracking system in the embodiments of the present disclosure more accurate.

[0076] Furthermore, the GNSS in the embodiment of the present disclosure adopts a differential baseline GNSS formed by two GPS 27 - 1 and 27 - 2 through different installation baselines.

[0077] The specific functions of the various components of the satellite tracking system of the present disclosure are described in conjunction with the following satellite tracking method.

[0078] The present disclosure provides a satellite tracking method, which is performed by the tracking processing device in the satellite tracking system. FIG4 is a flowchart of a satellite tracking method according to an embodiment of the present disclosure; as shown in FIG4 , the satellite tracking method may specifically include the following steps.

[0079] S11. Acquire the track information and antenna attitude information of the mobile communication device.

[0080] Wherein, antenna attitude information comprises pitch angle, azimuth and roll angle.Wherein, pitch angle and azimuth are also the pointing angle of antenna. The strapdown inertial navigation in the mobile communication device can obtain the pitch angle, initial azimuth and roll angle of antenna (receiving antenna / transmitting antenna) in real time, and output it to the tracking processing device. The GNSS in the strapdown inertial navigation also obtains the pitch angle, initial azimuth and roll angle of antenna. Because the solution method of strapdown inertial navigation is different from the solution algorithm of GNSS, so the results obtained by the two are also different.So the azimuth that can specifically be obtained by GNSS in step S11 is corrected to the initial test azimuth that strapdown inertial navigation obtains, thereby obtains the azimuth in the antenna attitude information.And for pitch angle and roll angle in the antenna attitude information, the output result of strapdown inertial navigation is directly adopted.

[0081] The track information obtained in step S11 may be predicted based on the historical track and the pitch angle, roll angle, and azimuth angle of the antenna obtained by GNSS.

[0082] Furthermore, using the information obtained by GNSS to predict the track, rather than relying on the IMU for track prediction, can reduce the computing load of the IMU, thereby improving the response rate of the measurement and control system and reducing the accuracy requirements of the IMU. The prediction of track information can be based on historical tracks, such as the position vector and velocity vector at the previous moment. Predictions made And update the track prediction information through actual values At the same time, the corresponding prediction parameters are accumulated.

[0083] S12. For the target satellite, the theoretical pointing angle of the antenna beam is calculated based on the orbital parameters of the target satellite and the track information of the mobile communication equipment.

[0084] Without loss of generality, the theoretical pointing angle of the antenna beam is:

[0085] Azimuth:

[0086] Pitch angle:

[0087] in, =Δθ is the difference between the target satellite's orbital longitude and the device's latitude. Δθ is the difference between the satellite's orbital latitude and the device's latitude. R is the Earth's radius, and h is the satellite's orbital altitude. Azimuth is 0° due south and positive values ​​are south-west. The elevation angle is the angle between the antenna's pointing direction and the horizontal plane, with 0° defined as parallel to the horizontal plane. It should be noted that the longitude and latitude of the device can be obtained from the track information.

[0088] In some examples, for a geostationary satellite, i.e., a target satellite in a GEO orbit, the orbital parameter in step S12 is the orbital position information of the target satellite. In this case, step S12 may specifically calculate the theoretical pointing angle of the antenna beam for the target satellite based on the orbital position information of the target satellite and the track information of the mobile communication device. The specific calculation method can be calculated using the method described above.

[0089] In some examples, for non-geostationary orbit satellites (NGSO), especially for medium and low-orbit satellites, ephemeris data based on TLE orbit or instantaneous root method orbit prediction is usually used. This ephemeris data is pre-stored in the tracking and processing device, or after establishing a communication connection with the satellite, the ephemeris data is updated in real time through the satellite communication network; preferably, the reference priority of the satellite ephemeris data updated in real time is higher. The orbital parameter in step S12 is the ephemeris data. In this case, step S12 can specifically be to calculate the theoretical pointing angle of the antenna beam for the target satellite based on the ephemeris data of the target satellite and the track information of the mobile communication equipment. The specific calculation method can be calculated using the above method.

[0090] S13. According to the antenna attitude information of the mobile communication device, the theoretical pointing angle of the antenna beam is corrected to obtain the actual pointing angle of the antenna beam.

[0091] It is understandable that the antenna attitude information obtained in step S11 includes the pitch angle, roll angle and azimuth angle. In this way, the actual beam pointing angle of the antenna beam can be obtained by correcting the theoretical pointing angle of the antenna beam calculated in step S12.

[0092] S14. Based on the actual pointing angle of the antenna beam, control the receiving phased array antenna in the mobile communication device to form an antenna beam, so that the receiver can analyze the satellite signal received by the receiving antenna and detect the signal strength.

[0093] In some examples, step S14 may specifically include: the tracking processing device sends antenna beamforming instructions to the transmitting antenna, controls the wave control boards 22-2 and 22-1 of the receiving phased array antenna and the wave control boards 24-1 and 24-2 of the transmitting phased array antenna to perform time synchronization and frequency synchronization, and the wave control boards 22-1, 22-2, 24-1, and 24-2 solve the code table and drive the corresponding receiving phased array antenna subarray module and the transmitting phased array antenna subarray module to form a beam with the required pointing angle.

[0094] It should be noted that the receiver in the disclosed embodiments supports at least DVB-S2 carrier demodulation, and preferably supports both DVB-S2 / S2X carrier demodulation and beacon detection. Due to the instantaneous bandwidth limitations of the liquid crystal phased array antenna, the beams of the receiving and transmitting phased array antennas must be formed according to the code table corresponding to the actual operating frequency band. Therefore, the receiver preferably analyzes the carrier signal and detects signal strength against the actual operating carrier.

[0095] S15: Determine whether the signal strength of the satellite signal is greater than or equal to a preset value. If the signal strength is greater than or equal to the preset value, execute step S16; if the signal strength is less than the preset value, execute step S19.

[0096] S16. In response to the signal strength of the satellite signal being greater than or equal to a preset value, the current antenna beam of the receiving antenna is changed, and data information of the received satellite signal is obtained, the actual pointing angle of the current antenna beam is corrected, and the transmitting phased array antenna and the receiving phased array antenna are controlled to form antenna beams according to the corrected actual pointing angle, so that the received satellite signal is optimized at the current moment and the target satellite is determined to be locked.

[0097] In some examples, as shown in Figures 5 and 6, step S16 can specifically include controlling the current beam 41 of the receiving phased array antenna to adaptively scan within a certain angle range in response to the satellite signal strength detected by the receiver being greater than or equal to a preset value, and performing amplitude ratio detection on the signal strength of the target satellite received by the position trajectory 42 of different beams of the receiving antenna beam 41 within at least one scanning cycle, and performing target satellite angle measurement, and correcting the actual pointing angle of the current antenna beam based on the results of the amplitude ratio detection and the angle measurement, and controlling the transmitting phased array antenna and the receiving phased array antenna to form an antenna beam according to the corrected actual pointing angle, so that the received signal is optimized at the current moment and is judged to be locked to the target satellite.

[0098] In step S16, only after the receiver detects an appropriate signal strength does the antenna beam of the receiving phased array antenna scan along a specific beam position trajectory 42 within the deviation angle range of the pointing angle 41, as shown in Figures 5 and 6, to receive satellite signals through the receiver. Furthermore, because the beams of the receiving antenna and the transmitting antenna are frequency division duplexed (FDD), only the antenna beam of the receiving phased array antenna scans along the specific trajectory 42.

[0099] The tracking processing device continuously detects the amplitude ratio of the received signal and corrects the beamforming instruction, which is then sent to the beam control board 22-2 of the receiving phased array antenna. At the same time, the beam control board 22-2 of the receiving phased array antenna is synchronized with the beam control board 22-1, as well as the beam control boards 24-1 and 24-2 of the transmitting phased array antenna for time and frequency synchronization (the signal flow diagram of this time synchronization and frequency synchronization is shown in Figure 7). The beam control board 22-2 sends a broadcast signal to the other beam control boards at time T1, and the beam control board 22-1 does not need to provide feedback. The beam control boards 24-1 and 24-2 provide feedback at times T2 and T3, respectively, and it is considered that this time synchronization and frequency synchronization are completed at time T3. Then, only the beam control boards 22-1 and 22-2 solve the code table and drive the corresponding receiving phased array antenna subarray module to form the antenna beam with the required pointing angle.

[0100] Among them, the deviation angle range of the adaptive scanning of the receiving phased array antenna can be adaptively adjusted according to the pitch angle of the antenna beam pointing. For example, when the pitch angle is 90° to 60°, the deviation angle range of the scan is 0.5° to 1°; when the pitch angle is 60° to 45°, the deviation angle range of the scan is 1° to 1.5°; when the pitch angle is less than 45°, the deviation angle range of the scan is 1.5° to 2°; the scanning period of the trajectory 42 is typically 60ms to 100ms. Further, the adaptive adjustment of the deviation angle range can be based on where N is the number of receiving phased array antennas and θ0 is the elevation angle of the antenna beam.

[0101] The scanning position trajectory 42 includes at least two different angles in the vertical direction and two different angles in the horizontal direction; or the scanning position trajectory 42 includes at least four different angles in four coordinate quadrants.

[0102] S17. Control the transmitting phased array antenna to form an antenna beam according to the corrected actual pointing angle of the antenna beam.

[0103] In some examples, step S17 includes: controlling the time and frequency synchronization of the receiving phased array antenna's beam control board 22-2 and its control board 22-1, as well as the transmitting phased array antenna's beam control boards 24-1 and 24-2, based on the corrected actual antenna beam pointing angle. Then, beam control boards 24-1 and 24-2 calculate the code table and drive the corresponding transmitting phased array antenna subarray modules to form a transmit beam with the desired pointing angle. Simultaneously, the tracking processing device controls the enabling of the power amplifier modules (or BUCs) of the transmitting and receiving antennas to achieve signal power transmission.

[0104] S18: The communication link is established, the ephemeris data of the target satellite is updated in real time, and stored in the tracking processing device, and the process returns to step 16 and is executed in a loop to maintain communication.

[0105] In some examples, the satellite tracking method of an embodiment of the present disclosure also includes S19, in response to the signal strength of the satellite signal being less than a preset value, recalculating the actual beam pointing angle of the antenna based on the orbital parameters of the target satellite and the track information and antenna attitude information at the current moment, and returning to execute step S14.

[0106] That is to say, if the target satellite signal is weak, the actual beam pointing angle of the antenna is recalculated based on the target satellite ephemeris update or orbital position information, the current track information of the mobile communication equipment, and the real-time corrected antenna attitude information of the platform, that is, starting again from step S14.

[0107] It should be noted that when the receiver cannot detect the signal strength, that is, cannot lock the target satellite, the power amplifier module (or BUC) always remains in a disabled state.

[0108] In some examples, the satellite tracking method in the embodiments of the present disclosure not only includes the above steps, but also includes the steps of initializing and calibrating the antenna attitude information and track information of the mobile communication device, including: obtaining the antenna attitude information obtained by the strapdown inertial navigation when the mobile communication device is powered on; the antenna attitude information includes pitch angle, roll angle and azimuth angle; and performing initialized track information prediction based on the azimuth angle and historical track.

[0109] Figure 8 is a flowchart of another satellite tracking method according to an embodiment of the present disclosure. As shown in Figure 8 , a satellite tracking method is also provided in an embodiment of the present disclosure, which includes steps S21-S28, wherein only step S25 is different from the above-mentioned step S15 in steps S21-S28, and the remaining steps are the same as the above-mentioned steps, so step S25 is explained below.

[0110] In this embodiment, step S25 includes: in response to the satellite signal strength being greater than or equal to a preset value, controlling the current beam of the receiving antenna to periodically (T1 to T4) form different waveforms in the manner of sum beam 71 (T1), difference beam 72 (T2), difference beam 73 (T3), and sum beam 74 (T4), as shown in FIG9 , and performing amplitude ratio detection on the signal strength of the target satellite received within at least one period, and performing angle measurement of the target satellite, and correcting the actual pointing angle of the current antenna beam based on the results of the amplitude ratio detection and the angle measurement, and controlling the transmitting phased array antenna and the receiving phased array antenna to form antenna beams according to the corrected actual pointing angles, so that the received signal is optimized at the current moment and is judged to be locked to the target satellite.

[0111] In this step, the tracking and processing device continuously detects the amplitude ratio of the received signal, modifies the beamforming instructions, and issues them to the receiving phased array antenna's beam control board 22-2. Simultaneously, the receiving phased array antenna's beam control board 22-2 and beam control board 22-1, as well as the transmitting phased array antenna's beam control boards 24-1 and 24-2, are synchronized in time and frequency. However, only the beam control boards 22-1 and 22-2 calculate the code table and drive the corresponding receiving phased array antenna subarray modules to periodically generate sum and difference beams. The transmitting phased array antenna's beam control boards 24-1 and 24-2 calculate the code table and drive the corresponding transmitting phased array antenna subarray modules to continuously generate sum beams.

[0112] In this example, the remaining steps are the same as those in the above example, so they will not be repeated here.

[0113] The present disclosure also provides a tracking process, wherein the tracking process device can be used to execute the above satellite tracking method. Specifically, the tracking process device can include an acquisition module, a calculation module, a first correction module, a second correction module, a tracking process module, and an update module.

[0114] The acquisition module is configured to acquire the track information and antenna attitude information of the mobile communication device. The calculation module is configured to calculate the theoretical pointing angle of the antenna beam for the target satellite based on the orbital parameters of the target satellite and the track information of the mobile communication device. The first correction module is configured to correct the theoretical pointing angle of the antenna beam based on the antenna attitude information of the mobile communication device to obtain the actual pointing angle of the antenna beam. The tracking processing module is configured to control the receiving phased array antenna in the mobile communication device to form an antenna beam based on the actual pointing angle of the antenna beam, so that the receiver can analyze and detect the signal strength of the satellite signals received by the receiving antenna, and to control the transmitting phased array antenna to form an antenna beam based on the corrected actual pointing angle of the antenna beam. The second correction module is configured to control the receiving phased array antenna in the mobile communication device to form an antenna beam based on the actual pointing angle of the antenna beam, so that the receiver can analyze and detect the signal strength of the satellite signals received by the receiving antenna. The update module is configured to update the ephemeris data of the target satellite after the communication link is established.

[0115] An embodiment of the present disclosure provides an electronic device, as shown in Figure 10, which includes a memory 402, a processor 401, and a computer program stored in the memory 402 and executable on the processor 401. When the computer program is executed by the processor, the steps of the above-mentioned satellite tracking method are implemented.

[0116] Specifically, the processor 401 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiment of the present invention.

[0117] Memory 402 may include a large capacity memory for data or instructions. By way of example and not limitation, memory 402 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 402 may include removable or non-removable (or fixed) media. Where appropriate, memory 402 may be inside or outside the data processing device. In a specific embodiment, memory 402 is a non-volatile solid-state memory. In a specific embodiment, memory 402 includes a read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0118] The processor 401 implements any one of the satellite tracking methods in the above embodiments by reading and executing computer program instructions stored in the memory 402 .

[0119] In one example, the electronic device may further include a communication interface 403 and a bus 410. As shown in FIG4, the processor 401, the memory 402, and the communication interface 403 are connected via the bus 410 and communicate with each other.

[0120] The communication interface 403 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiment of the present invention.

[0121] Bus 410 comprises hardware, software or both, and the parts of ANR measuring device are coupled to each other.For example, and not limitation, bus can comprise accelerated graphics port (AGP) or other graphic buses, enhanced industry standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industry standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations.In suitable cases, bus 410 can comprise one or more buses.Although the embodiment of the present invention describes and shows specific bus, the present invention considers any suitable bus or interconnection.

[0122] It should be noted that the processor in the embodiment of the present disclosure can be used to execute the above steps S01 and S02. Of course, the ANR measurement device in the embodiment of the present disclosure can also include a receiving module and a sending module; wherein the receiving module is used to receive the ANR measurement configuration sent by the original base station; and the sending module is used to feed back the ANR measurement results to the original base station.

[0123] An embodiment of the present disclosure provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned satellite tracking method is implemented.

[0124] The above description is merely an exemplary embodiment of the present disclosure and is not intended to limit the scope of protection of the present disclosure.

[0125] It will be appreciated by those skilled in the art that the term user terminal covers any suitable type of wireless user equipment, such as a mobile phone, a portable data processing device, a portable web browser or a vehicle-mounted mobile station.

[0126] In general, various embodiments of the present disclosure may be implemented in hardware or dedicated circuits, software, logic, or any combination thereof. For example, some aspects may be implemented in hardware, while other aspects may be implemented in firmware or software that can be executed by a controller, microprocessor, or other computing device, although the present disclosure is not limited thereto.

[0127] Embodiments of the present disclosure may be implemented by executing computer program instructions on a data processor of a mobile device, for example, in a processor entity, or through hardware, or through a combination of software and hardware. The computer program instructions may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages.

[0128] The block diagrams of any logic flow in the drawings of the present disclosure may represent program steps, or may represent interconnected logic circuits, modules and functions, or may represent a combination of program steps and logic circuits, modules and functions. The computer program may be stored on a memory. Computer-readable media may include non-transient storage media. The data processor may be any type suitable for the local technical environment, such as, but not limited to, a general-purpose computer, a special-purpose computer, a microprocessor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a programmable logic device (FPGA) and a processor based on a multi-core processor architecture.

[0129] It will be understood that the above embodiments are merely exemplary embodiments for illustrating the principles of the present invention, and the present invention is not limited thereto. Those skilled in the art will appreciate that various modifications and improvements can be made without departing from the spirit and substance of the present invention, and such modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A satellite tracking method, comprising: Obtain the track information and antenna attitude information of the mobile communication equipment in real time; For a target satellite, a theoretical pointing angle of an antenna beam is calculated based on the orbital parameters of the target satellite and the track information of the communication-in-motion device; According to the antenna attitude information of the mobile communication device, the theoretical pointing angle of the antenna beam is corrected to obtain the actual pointing angle of the antenna beam; Based on the actual pointing angle of the antenna beam, controlling the receiving phased array antenna in the mobile communication device to form an antenna beam, so that the receiver can analyze the satellite signal received by the receiving antenna and detect the signal strength; In response to the signal strength of the satellite signal being greater than or equal to a preset value, changing the current antenna beam of the receiving phased array antenna, acquiring data information of the received satellite signal, correcting the actual pointing angle of the current antenna beam, and controlling the transmitting phased array antenna and the receiving phased array antenna to form an antenna beam according to the corrected actual pointing angle; Controlling the transmitting phased array antenna to form an antenna beam according to the corrected actual pointing angle of the antenna beam; The communication link is established and the ephemeris data of the target satellite is updated.

2. The satellite tracking method according to claim 1, wherein: Also includes: In response to the signal strength of the satellite signal being less than a preset value, the actual pointing angle of the antenna beam at the current moment is calculated according to the orbital parameters of the target satellite, the track information of the mobile communication device at the current moment, and the antenna attitude information, and the step of returning to execute the step of controlling the receiving phased array antenna in the mobile communication device to form an antenna beam based on the actual pointing angle of the antenna beam so that the receiver can parse the satellite signal received by the receiving antenna and detect the signal strength is performed.

3. The satellite tracking method according to claim 1, wherein: The antenna attitude information includes the pitch angle, roll angle and azimuth angle of the antenna beam; The step of obtaining the location information and antenna attitude information of the mobile communication device in real time includes: Obtaining the pitch angle, roll angle and initialization azimuth determined by the strapdown inertial navigation in the mobile communication device, and obtaining the reference azimuth determined by the GNSS in the strapdown inertial navigation; The initial azimuth is corrected by using the reference azimuth to obtain the azimuth.

4. The satellite tracking method according to claim 1, wherein: When the target satellite is a geostationary satellite, the orbital parameters include orbital position information; The step of calculating the theoretical pointing angle of the antenna beam for the target satellite according to the orbital parameters of the target satellite and the track information of the communication-in-motion device comprises: For a target satellite, the theoretical pointing angle of the antenna beam is calculated based on the orbital position information of the target satellite and the track information of the communication-in-motion device.

5. The satellite tracking method according to claim 1, wherein: When the target satellite is a geostationary satellite, the orbital parameters include ephemeris data; the step of calculating the theoretical pointing angle of the antenna beam according to the orbital parameters of the target satellite and the track information of the communication-in-motion device for the target satellite comprises: For the target satellite, the time information of the GNSS output of the strapdown inertial navigation in the mobile communication device is used to establish time synchronization with the ephemeris data of the target satellite, and the theoretical pointing angle of the antenna beam is calculated through the ephemeris data and the track information of the mobile communication.

6. The satellite tracking method according to claim 1, wherein: The step of controlling the receiving phased array antenna in the mobile communication device to form an antenna beam based on the actual pointing angle of the antenna beam so that the receiver can analyze the satellite signal received by the receiving antenna and detect the signal strength includes: Based on the actual pointing angle of the antenna beam, a beamforming instruction is sent to the beam control board of a receiving phased array antenna subarray module in the mobile communication device, so that the beam control boards of other receiving phased array antenna subarray modules and the beam control boards of each transmitting phased array antenna are synchronized in time and frequency, and the code table is solved to drive the corresponding receiving subarray module of the receiving phased array antenna and the transmitting subarray module of the transmitting phased array antenna to form an antenna beam according to the actual pointing angle, so that the receiver can analyze and measure the signal strength of the satellite signal received by the receiving phased array antenna.

7. The satellite tracking method according to claim 1, wherein: The step of changing the current antenna beam of the receiving phased array antenna in response to the signal strength of the satellite signal being greater than or equal to a preset value, acquiring data information of the received satellite signal, correcting the actual pointing angle of the current antenna beam, and controlling the transmitting phased array antenna and the receiving phased array antenna to form an antenna beam according to the corrected actual pointing angle includes: In response to the satellite signal strength being greater than or equal to a preset value, the current beam of the receiving phased array antenna is controlled to perform adaptive scanning within a certain angle range, and amplitude ratio detection is performed on the signal strength of the target satellite received at different beam positions of the beam of the receiving phased array antenna according to the trajectory within at least one scanning cycle, and the angle of the target satellite is measured, and according to the results of the amplitude ratio detection and the angle measurement, the actual pointing angle of the current antenna beam is corrected, and the transmitting phased array antenna and the receiving phased array antenna are controlled to form an antenna beam according to the corrected actual pointing angle.

8. The satellite tracking method according to claim 1, wherein: The step of changing the current antenna beam of the receiving phased array antenna in response to the signal strength of the satellite signal being greater than or equal to a preset value, acquiring data information of the received satellite signal, correcting the actual pointing angle of the current antenna beam, and controlling the transmitting phased array antenna and the receiving phased array antenna to form an antenna beam according to the corrected actual pointing angle includes: In response to the satellite signal strength being greater than or equal to a preset value, the current beam of the receiving phased array antenna is controlled to periodically form a beam in a "sum beam-difference beam-difference beam-sum beam" manner, and amplitude ratio detection is performed on the signal strength of the target satellite received in at least one period, and the angle of the target satellite is measured, and according to the results of the amplitude ratio detection and the angle measurement, the actual pointing angle of the current antenna beam is corrected, and the transmitting phased array antenna and the receiving phased array antenna are controlled to form antenna beams according to the corrected actual pointing angles.

9. The satellite tracking method according to claim 1, wherein: Also includes: The step of initializing and calibrating the antenna attitude information and the track information of the mobile communication device comprises: Obtaining the power-on moment of the mobile communication device, wherein the antenna attitude information obtained by the strapdown inertial navigation system includes a pitch angle, a roll angle and an azimuth angle; Initialized track information prediction is performed based on the azimuth and historical track.

10. A tracking processing device, comprising: An acquisition module is configured to acquire the track information and antenna attitude information of the mobile communication device; A calculation module is configured to calculate a theoretical pointing angle of the antenna beam for a target satellite according to orbital parameters of the target satellite and track information of the communication-in-motion device; A first correction module is configured to correct the theoretical pointing angle of the antenna beam according to the antenna attitude information of the mobile communication device to obtain the actual pointing angle of the antenna beam; A tracking processing module is configured to control the receiving phased array antenna in the mobile communication device to form an antenna beam based on the actual pointing angle of the antenna beam, so that the receiver can analyze the satellite signal received by the receiving antenna and detect the signal strength; The second correction module is configured to control the receiving phased array antenna in the mobile communication device to form an antenna beam based on the actual pointing angle of the antenna beam, so that the receiver can analyze the satellite signal received by the receiving antenna and detect the signal strength; The tracking processing module is further configured to control the transmitting phased array antenna to form an antenna beam according to the actual pointing angle of the corrected antenna beam; The updating module is configured to update the ephemeris data of the target satellite after the communication link is established.

11. A satellite tracking system, comprising the tracking processing device according to claim 9.

12. The satellite tracking system according to claim 11, wherein: Also included: a mobile communication device, the mobile communication device including: a receiving antenna, a transmitting antenna, a receiver, and a strapdown inertial navigation system; The strapdown inertial navigation system is configured to obtain antenna attitude information and track information in real time, so as to send the antenna attitude information and the track information to the tracking processing device; The receiving phased array antenna and the transmitting phased array antenna are both configured to form corresponding antenna beams under the control of the tracking processing device; The receiver is configured to perform signal strength detection and analysis on the satellite signal received by the receiving antenna.

13. The satellite tracking system according to claim 12, wherein: The strapdown inertial navigation system includes IMU and GNSS.

14. The satellite tracking system according to claim 13, wherein: The GNSS is a differential baseline GNSS.

15. The satellite tracking system according to claim 12, wherein: The receiving antenna is a liquid crystal phased array receiving antenna; the transmitting antenna is a liquid crystal phased array receiving antenna.

16. An electronic device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the steps of the satellite tracking method according to any one of claims 1 to 9 are implemented.

17. A computer-readable storage medium, wherein: The storage medium stores a program of a satellite tracking method, and when the program of the satellite tracking method is executed by a processor, the steps of a satellite tracking method described in any one of claims 1 to 9 are implemented.

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