Antenna satellite-facing motion control method and device, antenna system and satellite system

Abstract

The embodiment of the invention provides an antenna satellite-facing motion control method and device, an antenna system and a satellite system. The antenna satellite-facing motion control method comprises the following steps: acquiring a historical motion state of a target antenna; predicting a current motion state based on the historical motion state, and determining an estimated motion state; determining a state error between the estimated motion state and a target motion state according to the estimated motion state and the target motion state, the target motion state being determined based on trajectory data of a target satellite, and the target satellite being a satellite tracked by a target antenna; the influence factor of the state error on the torque is determined, the target torque is calculated according to the state error and the influence factor, and the influence factor represents the influence degree of the state error on the torque; and on the basis of the target torque, performing satellite motion control on the target antenna. And through multi-stage feedback and dynamic adjustment of the control moment, the tracking error is effectively reduced, and the precision and stability of the antenna tracking satellite are remarkably improved.

Description

Technical Field

[0001] The embodiments of this specification relate to the field of satellite communication technology, and in particular to a method for controlling the motion of an antenna to a satellite. Background Art

[0002] With the development of science, satellite communications have become an important part of modern communications, enabling long-distance communications, high-quality transmission and wide coverage, and are almost unrestricted by ground conditions. Low-orbit satellites, with their advantages of low latency, high speed and low cost, have gradually become a powerful supplement to ground network communications. The deployment of low-orbit giant constellations represented by Starlink has further accelerated the development of mobile low-orbit satellite communications.

[0003] At present, satellite tracking mainly relies on high-precision inertial navigation systems and global navigation satellite systems. By measuring and estimating the carrier's motion state and using control algorithms to achieve stable tracking of satellites by antennas, the core is to use the servo system, which often uses gyro angular rate or inertial navigation for feedback, to estimate the carrier state, and use the control algorithm in coordination to achieve stable tracking of satellites.

[0004] However, high-precision inertial navigation systems are expensive and difficult to popularize in low-cost applications, while the traditional proportional-differential (PD) control method is easily disturbed in complex environments, resulting in reduced tracking accuracy. In addition, a single low-cost measurement system is difficult to obtain the desired accuracy, and the measurement error is large, especially in a dynamic environment. At the same time, in order to improve the integration of the tracking system, reduce the size of the carrier, and reduce the cost of the navigation system, a large, high-precision navigation system cannot be used. Only low-cost micro-electromechanical system (MEMS) measurement devices can be used, but these devices generally have the problem of low measurement accuracy. Therefore, a low-cost and high-precision satellite tracking method is urgently needed to solve the above problems. Summary of the invention

[0005] In view of this, an embodiment of this specification provides an antenna-to-satellite motion control method. One or more embodiments of this specification also relate to an antenna-to-satellite motion control device, an antenna system, a satellite system, a computing device, a computer-readable storage medium, and a computer program product to solve the technical defects existing in the prior art.

[0006] According to a first aspect of an embodiment of this specification, a method for controlling an antenna's motion toward a satellite is provided, comprising: Get the historical motion status of the target antenna; Predict the current motion state based on the historical motion state to determine the estimated motion state; Determining a state error between the estimated motion state and the target motion state according to the estimated motion state and the target motion state, wherein the target motion state is determined based on trajectory data of a target satellite, and the target satellite is a satellite tracked by the target antenna; Determine the influence factor corresponding to the state error, and calculate the target torque based on the state error and the influence factor, wherein the influence factor represents the influence degree of the state error on the torque; Based on the target torque, the target antenna is controlled for the satellite motion.

[0007] Optionally, predicting the current motion state based on the historical motion state to determine the estimated motion state includes: Obtain the motion state description information of the target antenna; According to the historical motion state, the current motion state is predicted using the motion state description information to determine the estimated motion state.

[0008] Optionally, according to the historical motion state, the motion state description information is used to predict the current motion state, and after the estimated motion state is determined, the method further includes: Determine the noise impact of random disturbances in the estimated motion state on the motion state based on the motion state description information; Acquire inertial measurement data of the target antenna measured by an inertial navigation system and spatial measurement data of the target antenna measured by a satellite navigation system; Determine the correction amount of the measured value to the estimated motion state based on the inertial measurement data, spatial measurement data and noise influence; The estimated motion state is corrected according to the correction amount to obtain a corrected estimated motion state.

[0009] Optionally, after determining the estimated motion state, the method further includes: Acquire the scanning signal of the target antenna to the target satellite; Based on the scanning signal, the estimated motion state is corrected to obtain a corrected estimated motion state.

[0010] Optionally, based on the scanning signal, the estimated state is corrected to obtain a corrected estimated motion state, including: Determining a target pointing direction of the target antenna to the target satellite based on the scanning signal, and determining an estimated pointing direction of the target antenna to the target satellite based on the estimated motion state; determining the error between the estimated heading and the target heading; When the error is greater than a preset error threshold, the estimated motion state is corrected to obtain a corrected estimated motion state.

[0011] Optionally, the estimated motion state includes an estimated attitude angle and an estimated angular velocity, and the target motion state includes a target attitude angle and a target angular velocity; and determining a state error between the estimated motion state and the target motion state according to the estimated motion state and the target motion state includes: Determine an attitude angle error based on the estimated attitude angle and the target attitude angle, and determine an angular velocity error based on the estimated angular velocity and the target angular velocity; The state error between the estimated motion state and the target motion state is determined based on the attitude angle error and the angular velocity error.

[0012] Optionally, determining an influence factor of the state error on the torque, and calculating the target torque according to the state error and the influence factor, includes: Determine a threshold value according to the state error and a preset influencing factor, and determine the influencing factor, wherein the influencing factor determination threshold value is set according to historical simulation data; Calculate the target torque based on the state error and influencing factors.

[0013] Optionally, determining a state error between an estimated motion state and a target motion state according to an attitude angle error and an angular velocity error includes: Perform weighted processing on the attitude angle error and the angular velocity error to obtain the state error between the estimated motion state and the target motion state; Determine the threshold value based on the state error and the preset influencing factor, and determine the influencing factor, including: When the state error is greater than or equal to the impact factor determination threshold, the impact factor is set to be positively correlated with the state error; When the state error is smaller than the impact factor determination threshold, the impact factor is set to a constant smaller than the preset threshold.

[0014] Optionally, based on the target torque, the target antenna is controlled, including: Get the servo motor torque threshold of the target antenna; When the target torque reaches the servo motor torque threshold, the target antenna is controlled to move toward the star based on the servo motor torque threshold; When the target torque does not reach the servo motor torque threshold, the target antenna is controlled for star-pointing motion based on the target torque.

[0015] According to a second aspect of an embodiment of this specification, there is provided an antenna-to-satellite motion control device, comprising: An acquisition module is configured to acquire a historical motion state of a target antenna; A prediction module, configured to predict a current motion state based on a historical motion state and determine an estimated motion state; an error determination module, configured to determine a state error between an estimated motion state and a target motion state according to an estimated motion state and a target motion state, wherein the target motion state is determined based on trajectory data of a target satellite, and the target satellite is a satellite tracked by the target antenna; The torque determination module is configured to determine an influence factor of the state error on the torque, and calculate a target torque according to the state error and the influence factor, wherein the influence factor represents the influence degree of the state error on the torque; The control module is configured to perform satellite motion control on the target antenna based on the target torque.

[0016] According to a third aspect of an embodiment of this specification, an antenna system is provided, including: Antenna and antenna control terminal; The antenna control terminal is used to control the antenna based on the above-mentioned antenna-to-satellite motion control method.

[0017] According to a fourth aspect of an embodiment of this specification, a satellite system is provided, including: Satellites and antenna systems as described above; The satellite is the target satellite tracked by the antenna in the antenna system.

[0018] According to a fifth aspect of an embodiment of this specification, a computing device is provided, including: Memory and processor; The memory is used to store computer programs / instructions, and the processor is used to execute the computer programs / instructions. When the computer programs / instructions are executed by the processor, the steps of the above-mentioned antenna-to-satellite motion control method are implemented.

[0019] According to a sixth aspect of the embodiments of this specification, a computer-readable storage medium is provided, which stores a computer program / instruction, and when the computer program / instruction is executed by a processor, the steps of the above-mentioned antenna-to-satellite motion control method are implemented.

[0020] According to a seventh aspect of the embodiments of this specification, a computer program product is provided, including a computer program / instruction, which implements the steps of the above-mentioned antenna-to-satellite motion control method when executed by a processor.

[0021] An embodiment of the present specification implements a method for controlling the motion of an antenna to a satellite, including: obtaining the historical motion state of the target antenna; predicting the current motion state based on the historical motion state to determine the estimated motion state; determining the state error between the estimated motion state and the target motion state based on the estimated motion state and the target motion state, wherein the target motion state is determined based on the trajectory data of the target satellite, and the target satellite is the satellite tracked by the target antenna; determining the influence factor of the state error on the torque, and calculating the target torque based on the state error and the influence factor, wherein the influence factor represents the degree of influence of the state error on the torque; and controlling the motion of the target antenna to a satellite based on the target torque. By determining the influence factor on the torque based on the state error between the estimated motion state and the target motion state, compensation for various interference torques such as measurement error and servo output deviation is achieved, effectively reducing the tracking error and improving the robustness and response speed of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a flow chart of a method for controlling antenna-to-satellite motion provided by one embodiment of this specification; Figure 2 It is a principle framework diagram of a method for controlling the motion of an antenna to a satellite provided by an embodiment of this specification; Figure 3 It is a process flow chart of a method for controlling the motion of an antenna to a satellite provided by an embodiment of this specification; Figure 4 It is a schematic diagram of the tracking of the pitch angle when tracking a target satellite by an antenna to satellite motion control method provided by an embodiment of this specification; Figure 5 It is a schematic diagram of the azimuth tracking of a target satellite by an antenna-to-satellite motion control method provided in one embodiment of the present specification; Figure 6 It is a schematic diagram of the tracking error variation of the pitch angle when tracking a target satellite using an antenna to satellite motion control method provided by an embodiment of this specification; Figure 7 It is a schematic diagram of the change of the azimuth tracking error when tracking a target satellite using an antenna to satellite motion control method provided by an embodiment of this specification; Figure 8 It is a schematic diagram of the change of attitude angular velocity when tracking a target satellite using an antenna to satellite motion control method provided by an embodiment of this specification; Fig. 9 It is a schematic diagram of the change of the output torque of the servo motor when tracking the target satellite by an antenna-to-satellite motion control method provided by an embodiment of this specification; Fig.10It is a structural schematic diagram of an antenna-to-satellite motion control device provided by an embodiment of this specification; Fig.11 It is a structural block diagram of a computing device provided by an embodiment of this specification. DETAILED DESCRIPTION

[0023] Many specific details are described in the following description to facilitate a full understanding of this specification. However, this specification can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of this specification, so this specification is not limited to the specific implementation disclosed below.

[0024] The terms used in one or more embodiments of this specification are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of this specification. The singular forms of "a", "said" and "the" used in one or more embodiments of this specification and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items.

[0025] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of this specification, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of this specification, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0026] In addition, it should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in one or more embodiments of this specification are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0027] First, the terms involved in one or more embodiments of this specification are explained.

[0028] Low Earth Orbit Satellite System: Low Earth Orbit Satellite (LEO) refers to a satellite system operating at an altitude of about 500 to 2,000 kilometers above the Earth's surface. Compared with medium and high orbit satellites, LEO satellites have lower communication latency, higher data transmission rate and lower launch cost.

[0029] Inertial Navigation System: An Inertial Navigation System (INS) is an autonomous navigation system that does not rely on external signals. It determines the position, velocity, and attitude of a vehicle by measuring its acceleration and angular velocity. An INS is mainly composed of an accelerometer and a gyroscope. The accelerometer measures linear acceleration, and the gyroscope measures angular velocity. Through integration operations, the position and attitude of the vehicle can be calculated.

[0030] Accelerometer: An accelerometer is a sensor that measures the linear acceleration of an object in a certain direction, usually in meters per second squared (m / s²). Accelerometers measure acceleration by detecting the displacement of an internal mass relative to the sensor housing. In satellite tracking systems, accelerometers are mainly used to measure the linear acceleration of the antenna carrier. These data are combined with the angular velocity data from the gyroscope to calculate the precise position, velocity and attitude of the carrier through the inertial navigation system (INS).

[0031] MEMS gyroscope: A MEMS gyroscope (Micro-Electro-Mechanical Systems Gyroscope) is a micro-electromechanical system sensor that senses rotational motion by detecting tiny displacements of its internal structure and is used to measure the angular velocity of an object. In satellite tracking systems, MEMS gyroscopes are used to measure the angular velocity changes of antenna carriers in real time, helping the system to respond quickly and adjust its attitude.

[0032] Beacon Peak Scanning Signal: Beacon Peak Scanning Signal (BPSS) refers to the strongest signal strength from a satellite received by a beacon tracking receiver. In a satellite tracking system, a beacon tracking receiver continuously scans the sky to find and lock onto the beacon signal sent by the satellite. When the received signal strength reaches the maximum value, it is the peak scanning signal of the beacon.

[0033] Mobile satellite communications have become an important means of communication in remote areas, maritime navigation, aviation, emergency rescue, etc. due to their long-distance communication capabilities, high-quality data transmission, and wide geographical coverage. In particular, with the development of low-orbit satellite (LEO) constellations, the advancement of mobile satellite communication technology has been greatly promoted by lower communication latency, faster data transmission speed, and relatively low cost.

[0034] However, the stable tracking of low-orbit satellites by terminal equipment such as antennas faces many challenges, especially the high-speed movement of low-orbit satellites and the motion characteristics of the terminal carrier itself and the interference of its operating environment, which makes accurate tracking more difficult. At present, servo systems usually rely on gyroscope angular rate or inertial navigation system for feedback, but this method has the problem of cumulative error, and high-precision inertial navigation systems are expensive and not suitable for low-cost applications.

[0035] In response to the above problems, an embodiment of this specification proposes a method for controlling the motion of an antenna to a satellite. The method determines an estimated motion state based on the historical motion state of the target antenna, and compares it with the target motion state determined based on the trajectory data of the target satellite to obtain a state error, and then determines the corresponding influencing factor based on the state error, and calculates the target torque to control the motion of the target antenna to the satellite, so that the target antenna tracks the target satellite. By determining the influencing factor on the torque based on the state error between the estimated motion state and the target motion state, compensation for various interference torques such as measurement errors and servo output deviations is achieved, effectively reducing tracking errors and improving the robustness and response speed of the system.

[0036] In this specification, a method for controlling the motion of an antenna to a satellite is provided. This specification also relates to an antenna motion control device to a satellite, an antenna system, a satellite system, a computing device, and a computer-readable storage medium, which are described in detail one by one in the following embodiments.

[0037] See also Figure 1 , Figure 1 A flow chart of a method for controlling the motion of an antenna to a satellite provided according to an embodiment of the present specification is shown, which specifically includes the following steps.

[0038] Step 102: Obtain the historical motion state of the target antenna.

[0039] The antenna-to-satellite motion control method provided in the embodiments of this specification can be applied to the scenario of tracking the target satellite through the target antenna. The target antenna refers to the antenna for tracking the target satellite, and the types of the target antenna can be phased array antennas, mechanical scanning antennas, electronic scanning antennas, etc.; the target satellites are communication satellites, navigation satellites, meteorological satellites, remote sensing satellites, etc. This specification does not make specific restrictions on this.

[0040] The historical motion state of the target antenna refers to information such as the attitude angle change, position movement, speed and acceleration of the target antenna in the past period of time, where the attitude angle includes the pitch angle, roll angle and yaw angle (ie, azimuth angle).

[0041] The historical motion state of the target antenna can be obtained by the system automatically from the data storage device, or manually input; the historical time period can be determined based on historical experience, or can be manually specified. This specification does not make specific restrictions on this.

[0042] For example, in the scenario of tracking the Starlink satellite, the historical motion state of the target antenna is obtained: the antenna mass is 20kg, the antenna is a three-axis control antenna, and the main moments of inertia of the three axes are 16kg.m 2 , 17kg.m 2 , 17kg.m 2 , the initial pitch angle of the antenna is 0°, the roll angle is 0°, and the yaw angle is 233°.

[0043] In this step of the embodiment of the present specification, by obtaining the historical motion state of the target antenna, a data basis is provided for the subsequent determination of information such as the estimated motion state.

[0044] Step 104: Predict the current motion state based on the historical motion state to determine the estimated motion state.

[0045] The current motion state prediction process refers to predicting the motion state that the antenna should reach at the next (or multiple) moments from the antenna state data at the previous (or multiple) moments in the known historical motion state. This state is called the estimated motion state.

[0046] The method of determining the estimated motion state based on the historical motion state can be to combine historical data and current measurement data through mathematical models and algorithms (for example, through the Kalman filter algorithm) to predict the current state; it can also be to use machine learning methods (for example, training neural network models) to learn the motion laws of the system from historical data and make predictions; it can also be through polynomial fitting or time series analysis (for example, through the Auto Regressive Integrated Moving Average (ARIMA) model) to extract the trends and periodic changes of historical data and predict future states.

[0047] In this step of the embodiment of the present specification, information is extracted from known historical data, and the current or future estimated motion state is predicted through different technical means, which provides a data basis for the subsequent calculation of the state error according to the target motion state.

[0048] Step 106: Determine a state error between the estimated motion state and the target motion state according to the estimated motion state and the target motion state, wherein the target motion state is determined based on trajectory data of a target satellite, and the target satellite is a satellite tracked by the target antenna.

[0049] The target motion state is determined based on the trajectory data of the target satellite. The trajectory data of the target satellite refers to the detailed information describing the motion of the satellite in orbit, including the position coordinates, velocity vector, orbital parameters and other data of the satellite at different time points. For example, it can be the satellite motion state calculated based on the preset orbital equation of the satellite and the satellite operation time, and the target motion state that the target antenna needs to achieve in order to track the satellite motion state is calculated therefrom.

[0050] After the target motion state is obtained, the state error between the estimated motion state and the target motion state can be determined based on the two.

[0051] Alternatively, the state error can be determined by a direct comparison method, that is, the parameters of the estimated motion state (such as position, velocity, attitude angle) are directly compared with the corresponding parameters of the target motion state, and the difference between them is calculated. To estimate the motion state value, is the target motion state value, then the state error It can be calculated using formula (1): (1) Optionally, the Kalman filter can be used to combine the estimated motion state and the target motion state, and the state error can be calculated through state estimation and prediction. The Kalman filter updates the state estimate value through a recursive algorithm, combining the prediction model and the measurement data. State Error It can be calculated using formula (2): (2) In this step of the embodiment of the present specification, by comparing the estimated motion state of the antenna and the target motion state determined according to the target satellite orbit data, the state error between the two is calculated, reflecting the error between the current attitude of the antenna and the actual required attitude, providing key error information for subsequent control and adjustment.

[0052] Step 108: Determine the influence factor corresponding to the state error, and calculate the target torque according to the state error and the influence factor, wherein the influence factor represents the influence degree of the state error on the torque.

[0053] The influence factor is the degree of influence of the state error on the torque, which reflects the influence of the state error on the final torque value in the process of calculating the torque. When the state error value itself is large, the final calculated torque value is also greatly affected. When the state error value itself is small, the final calculated torque value is also less affected or not affected.

[0054] There are many methods for calculating the target torque based on the state error and the influencing factor. For example, it can be determined by a proportional-integral-derivative (PID) control method, a variable gain control method, and the like.

[0055] Alternatively, the target torque may be determined according to a PID control method, which is calculated by formula (3): (3) In formula (3), is the target torque for the final calculation, is the proportional gain, is the state error, is the integral gain, is the integral of the state error, is the differential gain, is the rate of change of error.

[0056] Optionally, the target torque may be determined according to a variable gain control method, which is calculated by formula (4): (4) In formula (4), is the target torque for the final calculation, is the variable gain, is the state error.

[0057] For example, the PID control method is used to calculate the target torque, the state error is the attitude angle error , proportional gain The integral gain is 0.1, the differential gain is The error change rate is , the integral error is , then the target torque is:

[0058]

[0059] In this step of the embodiment of the present specification, the influence of the state error on the torque is analyzed to determine the influencing factors (such as gain, system parameters, etc.), and the target torque is calculated based on the state error and these influencing factors, providing control instructions for subsequent adjustment of the antenna posture.

[0060] Step 110: Based on the target torque, the target antenna is controlled to move toward the star.

[0061] After the target torque is obtained, a corresponding control instruction can be generated based on the target torque, and the control instruction can be sent to the antenna drive system for execution. The control instruction can include a motor drive signal or a servo system control signal.

[0062] The target antenna is controlled according to the target torque so that the target antenna can accurately adjust its state, thereby achieving accurate tracking of the target satellite.

[0063] In the embodiments of this specification, by determining the influencing factor on the torque based on the state error between the estimated motion state and the target motion state, compensation for various interference torques such as measurement errors and servo output deviations is achieved, thereby effectively reducing tracking errors and improving the robustness and response speed of the system.

[0064] In an optional embodiment of the present specification, predicting the current motion state based on the historical motion state to determine the estimated motion state includes: Obtain the motion state description information of the target antenna; According to the historical motion state, the current motion state is predicted using the motion state description information to determine the estimated motion state.

[0065] The target antenna's motion state description information refers to various data and parameters used to describe and characterize the target antenna's motion characteristics, including but not limited to the motion state equation, sensor measurement data, historical trajectory data, external reference signals, model parameters, and environmental parameters. This information is used to predict and control the antenna's current motion state to ensure that it is accurately aligned with the target satellite.

[0066] Optionally, take the position of the antenna ,speed , attitude angle is the state vector, , the state equation of the antenna motion is shown in formula (5): (5) in, is the state equation of the antenna system, is the noise driving matrix of the antenna, is the noise vector, is the acceleration applied to the antenna, is the coordinate rotation matrix of the antenna, is the angular velocity of the antenna.

[0067] After obtaining the state equation of the antenna motion, the estimated motion state can be calculated as shown in formula (6): (6) In the embodiments of the present specification, by obtaining the motion state description information of the target antenna (such as the motion state equation, sensor measurement data, historical trajectory data, external reference signals, model parameters and environmental parameters, etc.), and using the historical motion state and the motion state equation to predict the current motion state, the estimated motion state of the antenna can be made more consistent with the actual motion situation, thereby improving the accuracy and reliability of the antenna motion state prediction, ensuring that the antenna can be accurately aimed at the target satellite, thereby improving the tracking accuracy and stability of the system.

[0068] In an optional embodiment of the present specification, according to the historical motion state, the current motion state is predicted using the motion state description information, and after the estimated motion state is determined, the following is further included: Determine the noise impact of random disturbances in the estimated motion state on the motion state based on the motion state description information; Acquire inertial measurement data of the target antenna measured by an inertial navigation system and spatial measurement data of the target antenna measured by a satellite navigation system; Determine the correction amount of the measured value to the estimated motion state based on the inertial measurement data, spatial measurement data and noise influence; The estimated motion state is corrected according to the correction amount to obtain a corrected estimated motion state.

[0069] Random disturbance refers to the unpredictable and random interference factors in the system, which will affect the motion state of the antenna and appear as noise. Noise effects include measurement noise and process noise.

[0070] Optionally, the noise of the random perturbation to the motion state can be driven by the noise matrix of the antenna The influence can be determined by discretizing the state equation of the antenna motion, that is, discretizing the above formula (5) to obtain formula (7) and formula (8): (7) (8) Among them, in formula (7) For the influence of noise, The state vector of the attitude angle, is the identity matrix.

[0071] Then, the covariance can be calculated as shown in formula (9): (9) The inertial navigation system (INS) of the target antenna is a system that uses inertial sensors such as gyroscopes and accelerometers to measure the angular velocity and acceleration of the antenna, and then calculates the position, velocity and attitude of the target antenna. The gyroscope can be a MEMS gyroscope. Inertial measurement data is the data measured by the inertial navigation system, including angular velocity, acceleration, attitude angle and other data. Inertial measurement data can reflect high-precision short-term motion state information and is not interfered by external signals.

[0072] Satellite navigation systems (such as GPS, BeiDou, etc.) are systems that calculate the position and time information of antennas by receiving signals from satellites. Space measurement data refers to the measurement data about the position and time of antennas provided by satellite navigation systems. Space measurement data can provide high-precision absolute position and time information.

[0073] By integrating the inertial measurement data and space measurement data obtained by the inertial navigation system and the satellite navigation system, combined with the noise influence obtained by the above calculation, the estimated motion state can be corrected.

[0074] Specifically, after the covariance is calculated using formula (9), the Jacobian matrix of the satellite navigation system measurement equation can be , using the multi-source Kalman filter algorithm, the filter gain can be calculated , as shown in formula (10): (10) The measured value is , the corrected estimated motion state can be determined as shown in formula (11): (11) In formula (11) That is the correction amount.

[0075] The corrected covariance is shown in formula (12): (12) In the embodiments of the present specification, an inertial navigation system provides high-precision short-term motion state information, while a satellite navigation system provides high-precision absolute position and time information. Combined with the influence of noise in the estimated motion state, a multi-source Kalman filter algorithm is used to calculate the filter gain and correction amount, and the estimated motion state is corrected. The multi-source measurement data of the inertial navigation system and the satellite navigation system are integrated, thereby significantly improving the accuracy and reliability of the estimated motion state predicted by the antenna.

[0076] In an optional embodiment of the present specification, after determining the estimated motion state, the method further includes: Acquire the scanning signal of the target antenna to the target satellite; Based on the scanning signal, the estimated motion state is corrected to obtain a corrected estimated motion state.

[0077] The scanning signal refers to the signal strength change data received by the antenna when searching and tracking the target satellite. The scanning signal is usually used to determine whether the antenna is aimed at the target satellite and the position deviation of the antenna relative to the target satellite. The scanning signal can include signals such as the beacon peak signal (BPSS) and Doppler frequency shift.

[0078] After acquiring the scanning signal, it is possible to determine whether the antenna is aimed at the target satellite based on the change in signal strength in the scanning signal, and correct the estimated motion state based on the analysis result to obtain the corrected estimated motion state.

[0079] In the embodiments of this specification, by acquiring and analyzing the satellite scanning signal and correcting the estimated motion state, the tracking accuracy and stability of the antenna to the target satellite can be significantly improved. The scanning signal provides real-time alignment information, helping the system to promptly detect and correct the antenna's attitude deviation, ensuring that the antenna can accurately align with the target satellite and improving the overall performance of the system.

[0080] In an optional embodiment of the present specification, based on the scanning signal, the estimated state is corrected to obtain the corrected estimated motion state, including: Determining a target pointing direction of the target antenna to the target satellite based on the scanning signal, and determining an estimated pointing direction of the target antenna to the target satellite based on the estimated motion state; determining the error between the estimated heading and the target heading; When the error is greater than a preset error threshold, the estimated motion state is corrected to obtain a corrected estimated motion state.

[0081] The target pointing refers to the best pointing direction of the antenna to the target satellite calculated based on the scanning signal, and the estimated pointing refers to the estimated antenna pointing determined according to the estimated motion state in the aforementioned embodiment. The error between the estimated pointing and the target pointing represents the difference between the direction of the estimated motion state of the target antenna and the direction it should actually point to, which can usually be obtained by subtracting the estimated pointing from the target pointing.

[0082] The preset error threshold is a preset error range used to determine whether the error between the estimated pointing and the target pointing needs to be corrected. The value can be set manually or automatically determined based on historical data. This specification does not make specific restrictions on this. If the error between the estimated pointing and the target pointing exceeds the preset error threshold, the estimated motion state of the antenna is required to ensure that the antenna can accurately align with the target satellite.

[0083] Specifically, when the error between the estimated orientation and the target orientation exceeds a preset error threshold, the corrected estimated motion state is as shown in formula (13): (13) In the formula is the correction factor.

[0084] In the embodiments of this specification, real-time alignment information is provided by scanning signals to help the system promptly detect and correct the antenna's attitude deviation, ensure that the antenna can be accurately aligned with the target satellite, improve the accuracy and efficiency of the antenna system, and set a preset error threshold to ensure that correction is only made when necessary, avoiding unnecessary adjustments to the above steps and improving the antenna's tracking accuracy and stability for the target satellite.

[0085] In an optional embodiment of the present specification, the estimated motion state includes an estimated attitude angle and an estimated angular velocity, and the target motion state includes a target attitude angle and a target angular velocity; and determining a state error between the estimated motion state and the target motion state according to the estimated motion state and the target motion state includes: Determine an attitude angle error based on the estimated attitude angle and the target attitude angle, and determine an angular velocity error based on the estimated angular velocity and the target angular velocity; The state error between the estimated motion state and the target motion state is determined based on the attitude angle error and the angular velocity error.

[0086] The estimated motion state includes the estimated attitude angle and the estimated angular velocity. The estimated attitude angle is the predicted current attitude angle of the antenna; the estimated angular velocity refers to the predicted current rotation rate of the antenna around each axis.

[0087] The target motion state includes the target attitude angle and the target angular velocity. The target attitude angle refers to the exact attitude angle of the target satellite that the antenna should be aimed at, and the attitude that the antenna should have in order to aim at the target satellite; the target angular velocity refers to the rotation rate around each axis that the antenna should have in order to aim at the target satellite.

[0088] The attitude angle error refers to the difference between the estimated attitude angle and the target attitude angle. The attitude angle error reflects the deviation between the current attitude of the antenna and the target attitude. The angular velocity error refers to the difference between the estimated angular velocity and the target angular velocity. The angular velocity error reflects the deviation between the current rotation rate of the antenna and the target rotation rate.

[0089] Because the target antenna does not need to adjust its roll angle during tracking of the target satellite, the estimated attitude angle and the target attitude angle include data of azimuth and pitch angle, that is, the estimated attitude angle includes the estimated azimuth and the estimated pitch angle, and the target attitude angle includes the target azimuth and the target pitch angle. Then, the estimated position of the antenna and the target position in the local horizontal coordinate system can be determined as shown in formula (14) and formula (15), respectively: (14) (15) Then, the attitude error quaternion can be determined as shown in formula (16): (16) In formula (16), is the Euler axis, as shown in formula (17): (17) in, For vector The antisymmetric cross matrix of .

[0090] In formula (16), is the Euler angle, as shown in formula (18): (18) In formula (18), For vector The 2-norm of For vector The 2-norm of .

[0091] Then the attitude angle error can be calculated by formula (19): (19) The angular velocity error is calculated by formula (20): (20) In formula (20), the target angular velocity It can be calculated by formula (21): (twenty one) In formula (21) ( It can be estimated based on the posture information at the previous moment and the current moment.

[0092] After determining the attitude angle error and angular velocity error, the attitude angle error can be used to calculate the angular velocity error. Angular velocity error Determine the state error .

[0093] In the embodiments of this specification, the attitude angle error and angular velocity error reflect the deviation between the current attitude and rotation rate of the antenna and the target attitude and rotation rate, providing key error information for subsequent control and adjustment, making the adjustment of the antenna attitude using this error information more accurate, ensuring that the antenna can be accurately aimed at the target satellite, and improving the tracking accuracy and stability of the system.

[0094] In an optional embodiment of the present specification, determining an influence factor of the state error on the torque, and calculating the target torque according to the state error and the influence factor, includes: Determine a threshold value according to the state error and a preset influencing factor, and determine the influencing factor, wherein the influencing factor determination threshold value is set according to historical simulation data; Calculate the target torque based on the state error and influencing factors.

[0095] The threshold for determining the impact factor refers to a standard value set based on historical simulation data, which is used to determine whether the impact factor needs to be adjusted for the size of the state error. This threshold determines that different impact factors (such as different gain values) should be used within different error ranges to ensure that the control system can respond appropriately under different circumstances. Historical simulation data refers to the data on the motion state and control effect of the antenna obtained through computer simulation or actual testing. These data include the motion trajectory, control input, response time, etc. of the antenna in different states, and are used to analyze and optimize the control algorithm.

[0096] Optionally, the target torque can be calculated based on the state error and the influencing factor, which can be calculated by formula (22): (twenty two) In formula (22), , and They are the coefficient matrices of the proportional term, differential term and gain switching term respectively. The impact factor is expressed as a threshold value determined by the impact factor and state error Related functions.

[0097] In the embodiments of the present specification, by determining a threshold value based on the state error and a preset influencing factor, selecting a suitable influencing factor, and calculating the target torque using the selected influencing factor and the state error, the target torque can determine a suitable influencing factor based on the different sizes of the state error, thereby enabling the target torque to more accurately adjust the motion state of the antenna, ensuring that the target antenna can quickly and accurately align with the target satellite, thereby improving the tracking accuracy and stability of the overall system.

[0098] In an optional embodiment of the present specification, determining a state error between an estimated motion state and a target motion state according to an attitude angle error and an angular velocity error includes: Perform weighted processing on the attitude angle error and the angular velocity error to obtain the state error between the estimated motion state and the target motion state; Determine the threshold value based on the state error and the preset influencing factor, and determine the influencing factor, including: When the state error is greater than or equal to the impact factor determination threshold, the impact factor is set to be positively correlated with the state error; When the state error is smaller than the impact factor determination threshold, the impact factor is set to a constant smaller than the preset threshold.

[0099] Optionally, the attitude angle error and angular velocity error can be weighted to determine the state error, as shown in formula (23): (twenty three) In formula (23), and are the switching gain coefficients respectively.

[0100] After the state error is calculated, the threshold value can be determined based on the value of the state error and the influence factor for comparison. Different influence factors can be set according to different situations to have different influence degrees on the calculation of the target torque.

[0101] When the state error is greater than or equal to the threshold value of the influence factor, it means that the state error is large and has a greater impact on the target torque. Therefore, it is necessary to set the influence factor to be positively correlated with the state error so that when calculating the target torque, the degree of correction of the target torque can be improved and the impact of the state error can be reduced. The positive correlation means that the influence factor increases with the increase of the state error. When the state error is less than the threshold value for determining the influencing factor, it means that the state error is small and the impact on the target torque is also small. Therefore, there is no need to set the influencing factor to a larger value, but only to a constant less than the preset threshold value to avoid negative impact when calculating the target torque.

[0102] Optionally, formula (24) can be used to express the above relationship. Specifically, formula (24) is a switching function: (twenty four) Preferably, the constant smaller than the preset threshold value can be set to 0 to reduce the amount of calculation of the target torque and improve the calculation efficiency of the target torque.

[0103] In the embodiments of the present specification, the state error between the estimated motion state and the target motion state is obtained by weighted processing of the received attitude angle error and angular velocity error. When the state error is greater than or equal to a threshold, an influence factor is set to be positively correlated with the state error to increase the degree of correction of the target torque and reduce the impact of large errors. When the state error is less than the threshold, the influence factor is set to a constant less than the preset threshold to avoid unnecessary excessive correction. By dynamically adjusting the influence factor, the motion state of the antenna can be adjusted more accurately to ensure that the antenna can quickly and accurately align with the target satellite, thereby improving the tracking accuracy and stability of the system and at the same time improving the calculation efficiency of the target torque.

[0104] In an optional embodiment of the present specification, the target antenna is controlled based on the target torque, including: Get the servo motor torque threshold of the target antenna; When the target torque reaches the servo motor torque threshold, the target antenna is controlled to move toward the star based on the servo motor torque threshold; When the target torque does not reach the servo motor torque threshold, the target antenna is controlled for star-pointing motion based on the target torque.

[0105] After the target torque is calculated, the servo motor torque threshold of the target antenna needs to be considered when controlling the target antenna according to the target torque. A servo motor is an electric motor that can accurately control position, speed, and acceleration, and is usually used in applications that require high-precision motion control. In an antenna control system, a servo motor is used to drive the movement of the antenna to ensure that the antenna can accurately align with the target satellite. When the target torque reaches the servo motor torque threshold, it means that a larger torque is needed to control the target antenna. Due to the limitation of the maximum torque that the target torque servo motor can output, only the threshold can be used as the torque to control the target antenna's satellite motion, so as to make the target antenna track the target satellite as accurately as possible.

[0106] When the target torque does not reach the servo motor torque threshold, it means that a smaller torque is required to control the target antenna, and the servo motor of the target antenna can meet the output of the torque. Therefore, the target antenna can be directly controlled to track the target satellite with the target torque.

[0107] In the embodiments of the present specification, by obtaining the servo motor torque threshold of the target antenna, different satellite motion controls are performed on the target antenna according to whether the target torque reaches the threshold: when the target torque reaches the servo motor torque threshold, control is performed based on the servo motor torque threshold to ensure that the motor is not overloaded; when the target torque does not reach the servo motor torque threshold, control is performed directly based on the target torque to ensure that the antenna can be quickly and accurately aimed at the target satellite, effectively protecting the servo motor and preventing overload, while improving the tracking accuracy of the antenna and the stability of the system.

[0108] The following combination Figure 2 To Attachment Fig. 9 Taking the application of the antenna motion control method provided in this specification in the satellite tracking scenario as an example, the antenna motion control method is further described. Figure 2 FIG. 1 shows a principle framework diagram of a method for controlling the motion of an antenna to a satellite provided by an embodiment of the present specification, such as Figure 2 As shown: The inertial measurement unit obtains angular velocity and acceleration as inertial measurement data through a gyroscope and an accelerometer, and obtains position and orientation data according to a satellite navigation system; in the integrated navigation filter module, state prediction is performed according to the inertial measurement data, and measurement and update are performed according to the beacon peak scanning signal and position and access data received by the antenna surface through a beacon tracking receiver, so as to obtain an estimated attitude angle and attitude angular velocity; by respectively calculating the error with the expected attitude angle and expected attitude angular velocity, the magnitude of the gain affecting the target torque is determined in combination with a gain switching function, and the target control torque is calculated by a variable gain control law; according to the target control torque, the servo motor is used to complete the satellite motion control of the antenna surface.

[0109] Corresponding to the above principle framework diagram, Figure 3 A flowchart of a processing process of an antenna-to-satellite motion control method provided by an embodiment of this specification is shown, which specifically includes the following steps: Step 302: Obtain angular velocity and acceleration as inertial measurement data through the gyroscope and accelerometer included in the inertial measurement unit, and obtain position and orientation data according to the satellite navigation system.

[0110] Step 304: Perform state prediction based on the inertial measurement data, and perform measurement updates based on the beacon peak scan signal and position and azimuth data received by the antenna surface through the beacon tracking receiver to obtain an estimated attitude angle and attitude angular velocity.

[0111] Step 306: By calculating the error with the expected attitude angle and the expected attitude angular velocity respectively, combined with the gain switching function, the magnitude of the gain affecting the target torque is determined.

[0112] Step 308: Calculate the target control torque through the variable gain control law; and complete the satellite motion control of the antenna surface through the servo motor according to the target control torque.

[0113] By applying the above method, the target satellite can be accurately tracked by controlling the target antenna. The specific tracking results are shown in the following data: Figure 4 FIG. 1 is a schematic diagram showing a tracking situation of a pitch angle when a target satellite is tracked by an antenna to satellite motion control method provided by an embodiment of the present specification, such as Figure 4 As shown: the actual value of the pitch angle represented by the dotted line fits the expected value represented by the solid line very well.

[0114] Figure 5 FIG. 1 is a schematic diagram showing the tracking of the azimuth angle of a target satellite by an antenna-to-satellite motion control method provided in one embodiment of the present specification, such as Figure 5 As shown: the actual value of the azimuth represented by the dashed line fits well the expected value represented by the solid line.

[0115] Figure 6 FIG. 1 is a schematic diagram showing a tracking error variation of a pitch angle when tracking a target satellite using an antenna to satellite motion control method provided by an embodiment of the present specification, such as Figure 6 As shown in the figure: the pitch angle error converges to below 0.02° after 1.2s, and the tracking error is kept below 0.02° thereafter, which means that the pitch angle tracking is well completed.

[0116] Figure 7 FIG. 1 is a schematic diagram showing a tracking error variation of an azimuth angle when tracking a target satellite using an antenna to satellite motion control method provided by an embodiment of the present specification. Figure 7 As shown in the figure, the azimuth error converged to below 0.02° after 4.7s, and the tracking error remained below 0.02° thereafter, indicating that the azimuth tracking was well completed.

[0117] Figure 8 FIG. 1 shows a schematic diagram of the change of the attitude angular velocity of a target satellite when tracking a target satellite using an antenna to satellite motion control method provided by an embodiment of the present specification. Figure 8 As shown in the figure, after the angular velocity of the antenna is quickly adjusted in a short time at the beginning of tracking, it is kept within a limited range during the subsequent tracking time, that is, the tracking at the angular velocity level is well completed.

[0118] Fig. 9 FIG. 1 is a schematic diagram showing the change of the output torque of the servo motor when tracking a target satellite using an antenna-to-satellite motion control method provided by an embodiment of the present specification, such as Fig. 9As shown in the figure, after the servo motor output torque is quickly adjusted according to the target torque in a short time at the beginning of tracking, the output torque is basically 0 in the subsequent tracking time, that is, the target torque well completes the satellite motion control of the target antenna.

[0119] According to the above Figures 4 to 9 The tracking results shown indicate the effectiveness of an antenna motion control method provided in an embodiment of the present specification in a satellite tracking scenario. This method can effectively reduce the working time of the servo system when the target antenna tracks the target satellite, and the subsequent tracking error can be maintained within a range of 0.02°, which means that the target antenna can track the target satellite.

[0120] Corresponding to the above-mentioned antenna-to-satellite motion control method embodiment, this specification also provides an antenna-to-satellite motion control device embodiment, Fig.10 FIG. 1 is a schematic diagram showing the structure of an antenna-to-satellite motion control device provided by an embodiment of the present specification. Fig.10 As shown, the device comprises: An acquisition module 1002 is configured to acquire a historical motion state of a target antenna; The prediction module 1004 is configured to predict the current motion state based on the historical motion state and determine the estimated motion state; The error determination module 1006 is configured to determine a state error between the estimated motion state and the target motion state according to the estimated motion state and the target motion state, wherein the target motion state is determined based on trajectory data of a target satellite, and the target satellite is a satellite tracked by the target antenna; The torque determination module 1008 is configured to determine the influence factor of the state error on the torque, and calculate the target torque according to the state error and the influence factor, wherein the influence factor represents the influence degree of the state error on the torque; The control module 1010 is configured to perform satellite motion control on the target antenna based on the target torque.

[0121] Optionally, the prediction module 1004 is further configured to: obtain motion state description information of the target antenna; According to the historical motion state, the current motion state is predicted using the motion state description information to determine the estimated motion state.

[0122] Optionally, the prediction module 1004 further includes: The correction unit is configured to: determine the noise influence of the random disturbance in the estimated motion state on the motion state according to the motion state description information; Acquire inertial measurement data of the target antenna measured by an inertial navigation system and spatial measurement data of the target antenna measured by a satellite navigation system; Determine the correction amount of the measured value to the estimated motion state based on the inertial measurement data, spatial measurement data and noise influence; The estimated motion state is corrected according to the correction amount to obtain a corrected estimated motion state.

[0123] Optionally, the device further comprises: The correction unit is configured to: obtain a scanning signal of the target antenna to the target satellite; Based on the scanning signal, the estimated motion state is corrected to obtain a corrected estimated motion state.

[0124] Optionally, the correction unit is configured to: determine a target pointing of the target antenna to the target satellite based on the scanning signal, and determine an estimated pointing of the target antenna to the target satellite based on the estimated motion state; determining the error between the estimated heading and the target heading; When the error is greater than a preset error threshold, the estimated motion state is corrected to obtain a corrected estimated motion state.

[0125] Optionally, the estimated motion state includes an estimated attitude angle and an estimated angular velocity, and the target motion state includes a target attitude angle and a target angular velocity. Correspondingly, the error determination module 1006 is further configured as follows: Determine an attitude angle error based on the estimated attitude angle and the target attitude angle, and determine an angular velocity error based on the estimated angular velocity and the target angular velocity; The state error between the estimated motion state and the target motion state is determined based on the attitude angle error and the angular velocity error.

[0126] Optionally, the torque determination module 1008 is further configured to: Determine a threshold value according to the state error and a preset influencing factor, and determine the influencing factor, wherein the influencing factor determination threshold value is set according to historical simulation data; Calculate the target torque based on the state error and influencing factors.

[0127] Optionally, the error determination module 1006 is further configured to: Perform weighted processing on the attitude angle error and the angular velocity error to obtain the state error between the estimated motion state and the target motion state; Determine the threshold value based on the state error and the preset influencing factor, and determine the influencing factor, including: When the state error is greater than or equal to the impact factor determination threshold, the impact factor is set to be positively correlated with the state error; When the state error is smaller than the impact factor determination threshold, the impact factor is set to a constant smaller than the preset threshold.

[0128] Optionally, the control module 1010 is further configured to: Get the servo motor torque threshold of the target antenna; When the target torque reaches the servo motor torque threshold, the target antenna is controlled to move toward the star based on the servo motor torque threshold; When the target torque does not reach the servo motor torque threshold, the target antenna is controlled for star-pointing motion based on the target torque.

[0129] The above is a schematic scheme of an antenna-to-star motion control device of this embodiment. It should be noted that the technical scheme of the antenna-to-star motion control device and the technical scheme of the above-mentioned antenna-to-star motion control method belong to the same concept, and the details not described in detail in the technical scheme of the antenna-to-star motion control device can be referred to the description of the technical scheme of the above-mentioned antenna-to-star motion control method.

[0130] Fig.11 The structure block diagram of a computing device provided by an embodiment of the present specification is shown. The components of the computing device 1100 include but are not limited to a memory 1110 and a processor 1120. The processor 1120 is connected to the memory 1110 via a bus 1130, and the database 1150 is used to store data.

[0131] The computing device 1100 also includes an access device 1140, which enables the computing device 1100 to communicate via one or more networks 1160. Examples of these networks include a Public Switched Telephone Network (PSTN), a Local Area Network (LAN), a Wide Area Network (WAN), a Personal Area Network (PAN), or a combination of communication networks such as the Internet. The access device 1140 may include one or more of any type of network interface (e.g., a Network Interface Controller (NIC)) of wired or wireless, such as an IEEE 802.11 Wireless Local Area Network (WLAN) wireless interface, a Worldwide Interoperability for Microwave Access (Wi-MAX) interface, an Ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a Bluetooth interface, and a Near Field Communication (NFC).

[0132] In one embodiment of the present specification, the above components of the computing device 1100 and Fig.11 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Fig.11 The computing device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of this specification. Those skilled in the art can add or replace other components as needed.

[0133] The computing device 1100 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or a personal computer (PC). The computing device 1100 may also be a mobile or stationary server.

[0134] The processor 1120 is used to execute the following computer program / instruction, which, when executed by the processor, implements the steps of the above-mentioned antenna-to-satellite motion control method.

[0135] The above is a schematic scheme of a computing device of this embodiment. It should be noted that the technical scheme of the computing device and the technical scheme of the above-mentioned antenna-to-satellite motion control method belong to the same concept, and the details not described in detail in the technical scheme of the computing device can be referred to the description of the technical scheme of the above-mentioned antenna-to-satellite motion control method.

[0136] An embodiment of the present specification further provides a computer-readable storage medium storing a computer program / instruction, which implements the steps of the above-mentioned antenna-to-satellite motion control method when executed by a processor.

[0137] The above is a schematic scheme of a computer-readable storage medium of this embodiment. It should be noted that the technical scheme of the storage medium and the technical scheme of the above-mentioned antenna-to-satellite motion control method belong to the same concept, and the details not described in detail in the technical scheme of the storage medium can be referred to the description of the technical scheme of the above-mentioned antenna-to-satellite motion control method.

[0138] An embodiment of the present specification further provides a computer program product, including a computer program / instruction, which implements the steps of the above-mentioned antenna-to-satellite motion control method when executed by a processor.

[0139] The above is a schematic scheme of a computer program product of this embodiment. It should be noted that the technical scheme of the computer program product and the technical scheme of the above-mentioned antenna-to-satellite motion control method belong to the same concept, and the details not described in detail in the technical scheme of the computer program product can be referred to the description of the technical scheme of the above-mentioned antenna-to-satellite motion control method.

[0140] The above is a description of a specific embodiment of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0141] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the contents contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of patent practice. For example, in some regions, according to patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0142] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all described as a series of action combinations, but those skilled in the art should be aware that the embodiments of this specification are not limited by the order of the actions described, because according to the embodiments of this specification, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required for the embodiments of this specification.

[0143] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0144] The preferred embodiments of this specification disclosed above are only used to help explain this specification. The optional embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the embodiments of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the embodiments of this specification, so that technicians in the relevant technical field can understand and use this specification well. This specification is only limited by the claims and their full scope and equivalents.

Claims

1. A method for controlling the motion of an antenna to a satellite, characterized in that: include: Obtain the historical motion status of the target antenna; Predicting the current motion state based on the historical motion state to determine the estimated motion state; Determining a state error between the estimated motion state and the target motion state according to the estimated motion state and the target motion state, wherein the target motion state is determined based on trajectory data of a target satellite, and the target satellite is a satellite tracked by the target antenna; Determine an influence factor corresponding to the state error, and calculate a target torque according to the state error and the influence factor, wherein the influence factor represents the influence degree of the state error on the torque; Based on the target torque, the target antenna is controlled for star movement.

2. The method according to claim 1, characterized in that The predicting the current motion state based on the historical motion state to determine the estimated motion state includes: Obtain the motion state description information of the target antenna; According to the historical motion state, the current motion state is predicted using the motion state description information to determine the estimated motion state.

3. The method according to claim 2, characterized in that After predicting the current motion state based on the historical motion state and using the motion state description information to determine the estimated motion state, the method further includes: Determining, according to the motion state description information, the noise influence of the random disturbance in the estimated motion state on the motion state; Acquire inertial measurement data of the target antenna measured by an inertial navigation system and spatial measurement data of the target antenna measured by a satellite navigation system; Determining a correction amount of the measurement value to the estimated motion state according to the inertial measurement data, the spatial measurement data and the noise influence; The estimated motion state is corrected according to the correction amount to obtain a corrected estimated motion state.

4. The method according to any one of claims 1 to 3, characterized in that: After determining the estimated motion state, the method further includes: Acquiring a scanning signal of the target antenna to the target satellite; Based on the scanning signal, the estimated motion state is corrected to obtain a corrected estimated motion state.

5. The method according to claim 4, characterized in that The step of correcting the estimated state based on the scanning signal to obtain a corrected estimated motion state includes: Determining a target pointing of the target antenna to the target satellite based on the scanning signal, and determining an estimated pointing of the target antenna to the target satellite based on the estimated motion state; determining an error between the estimated heading and the target heading; When the error is greater than a preset error threshold, the estimated motion state is corrected to obtain a corrected estimated motion state.

6. The method according to claim 1, characterized in that The estimated motion state includes an estimated attitude angle and an estimated angular velocity, and the target motion state includes a target attitude angle and a target angular velocity; and determining a state error between the estimated motion state and the target motion state according to the estimated motion state and the target motion state includes: Determining an attitude angle error according to the estimated attitude angle and the target attitude angle, and determining an angular velocity error according to the estimated angular velocity and the target angular velocity; A state error between the estimated motion state and the target motion state is determined according to the attitude angle error and the angular velocity error.

7. The method according to claim 6, characterized in that The determining the influence factor of the state error on the torque, and calculating the target torque according to the state error and the influence factor, includes: Determine the impact factor according to the state error and a preset impact factor determination threshold, wherein the impact factor determination threshold is set according to historical simulation data; The target torque is calculated according to the state error and the influencing factor.

8. The method according to claim 7, characterized in that The step of determining a state error between the estimated motion state and the target motion state according to the attitude angle error and the angular velocity error comprises: Performing weighted processing on the attitude angle error and the angular velocity error to obtain a state error between the estimated motion state and the target motion state; The step of determining a threshold value and an influence factor according to the state error and a preset influence factor comprises: When the state error is greater than or equal to the impact factor determination threshold, setting the impact factor to be positively correlated with the state error; When the state error is smaller than the impact factor determination threshold, the impact factor is set to a constant smaller than a preset threshold.

9. The method according to claim 1, characterized in that: The controlling the target antenna based on the target torque includes: Obtaining a servo motor torque threshold of the target antenna; When the target torque reaches the servo motor torque threshold, based on the servo motor torque threshold, the target antenna is controlled to move toward the star; When the target torque does not reach the servo motor torque threshold, the target antenna is controlled for star movement based on the target torque.

10. An antenna-to-satellite motion control device, characterized in that: include: An acquisition module is configured to acquire a historical motion state of a target antenna; A prediction module, configured to predict a current motion state based on the historical motion state and determine an estimated motion state; an error determination module, configured to determine a state error between the estimated motion state and the target motion state according to the estimated motion state and the target motion state, wherein the target motion state is determined based on trajectory data of a target satellite, and the target satellite is a satellite tracked by the target antenna; a torque determination module, configured to determine an influence factor of the state error on the torque, and calculate a target torque according to the state error and the influence factor, wherein the influence factor represents the influence degree of the state error on the torque; The control module is configured to perform satellite motion control on the target antenna based on the target torque.

11. An antenna system, characterized in that: include: Antenna and antenna control terminal; The antenna control end is used to control the antenna based on the method as described in any one of claims 1-9.

12. A satellite system, characterized in that: include: A satellite and an antenna system as claimed in claim 11; The satellite is a target satellite tracked by an antenna in the antenna system.

13. A computing device, characterized in that: include: Memory and processor; The memory is used to store computer programs / instructions, and the processor is used to execute the computer programs / instructions. When the computer program / instructions are executed by the processor, the steps of the antenna-to-satellite motion control method described in any one of claims 1 to 9 are implemented.

14. A computer-readable storage medium, characterized in that: It stores a computer program / instruction, which, when executed by a processor, implements the steps of the antenna-to-satellite motion control method described in any one of claims 1 to 9.

15. A computer program product, characterized in that The invention comprises a computer program / instruction, which, when executed by a processor, implements the steps of the antenna-to-satellite motion control method as described in any one of claims 1 to 9.

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