Satellite locking method and system for gateway station, storage medium and gateway station

Abstract

The invention relates to a satellite locking method and system for a gateway station, a storage medium and the gateway station, and relates to the field of satellite communication, and the method comprises the steps: obtaining a pitch angle theoretical value sequence and an azimuth angle theoretical value sequence; processing the pitch angle theoretical value sequence and the azimuth angle theoretical value sequence to obtain a pitch angle rotation value sequence and an azimuth angle rotation value sequence; determining a target serial number corresponding to the pitch angle rotation value greater than a preset pitch angle threshold value under the condition that the pitch angle rotation value greater than the preset pitch angle threshold value exists in the pitch angle rotation value sequence; respectively processing the pitch angle rotation value sequence and the azimuth angle rotation value sequence according to the target serial number to obtain a pitch angle correction value sequence and an azimuth angle correction value sequence; setting an output azimuth angle according to the change value of the azimuth angle correction value; and generating an output pitch angle and an output auxiliary angle according to the rotation matrix, the pitch angle correction value sequence and the azimuth angle correction value sequence. The method has the effect of solving the problem of satellite overhead.

Description

Technical Field

[0001] The present application relates to the field of satellite communications, and in particular to a satellite locking method and system for a gateway station, and a gateway station. Background Art

[0002] For satellites in the sky, their operating ephemeris information, including real-time position, speed and other information, can be obtained through simulation. Then, combined with the satellite's position coordinates on the earth, the two degrees of freedom of the gateway station's azimuth and pitch angle can be used to point the gateway station's feed to the satellite to achieve communication. This process is called satellite locking.

[0003] For the above-mentioned related technologies, the azimuth angle range is [0°, 360°], and the pitch angle range is [0°, 90°]. However, when trying to lock the satellite, if the satellite flies directly above the gateway, that is, when the pitch angle is 90°, the azimuth angle needs to change 180° in a very short time (less than 1 second), and the motor performance basically cannot meet this requirement. Summary of the invention

[0004] In order to solve the problem of satellite passing overhead, the present application provides a satellite locking method, system and gateway station for a gateway station.

[0005] In a first aspect, the present application provides a satellite locking method for a gateway station, which adopts the following technical solution: A star locking method for a gateway station, comprising: Obtaining a sequence of theoretical values ​​of pitch angles and a sequence of theoretical values ​​of azimuth angles; Processing the pitch angle theoretical value sequence and the azimuth angle theoretical value sequence according to the base posture to obtain a pitch angle rotation value sequence and an azimuth angle rotation value sequence; In the case that there is a pitch angle rotation value greater than a preset pitch angle threshold in the pitch angle rotation value sequence, determining a target sequence number corresponding to the pitch angle rotation value greater than the preset pitch angle threshold; According to the target sequence number, the pitch angle rotation value sequence and the azimuth angle rotation value sequence are processed respectively to obtain a pitch angle correction value sequence and an azimuth angle correction value sequence; According to the change value of the azimuth correction value, the output azimuth is set; Generate an output pitch angle and an output auxiliary angle according to the rotation matrix, the pitch angle correction value sequence and the azimuth angle correction value sequence; The gateway is adjusted by the output azimuth angle, the output elevation angle and the output auxiliary angle.

[0006] By adopting the above technical solution, the locking direction of the gateway station is adjusted by controlling the output azimuth angle, output pitch angle and output auxiliary angle. Under the premise that the motor speed of the gateway station is limited, any satellite can be locked. Even if the satellite flies directly over the gateway station, the gateway station can still lock the satellite and determine the satellite's position information, thus solving the problem of the satellite passing over the top.

[0007] Optionally, in the pitch angle rotation value sequence, the pitch angle rotation values ​​whose sequence numbers are not greater than the target sequence number are classified into a first pitch angle rotation value sequence, and the pitch angle rotation values ​​whose sequence numbers are greater than the target sequence number are classified into a second pitch angle rotation value sequence; In the azimuth rotation value sequence, categorize the azimuth rotation values ​​whose sequence numbers are not greater than the target sequence number into a first azimuth rotation value sequence, and categorize the azimuth rotation values ​​whose sequence numbers are greater than the target sequence number into a second azimuth rotation value sequence; According to the current azimuth rotation value, the first pitch angle rotation value sequence, the second pitch angle rotation value sequence, the first azimuth rotation value sequence and the second azimuth rotation value sequence are classified and corrected to obtain the pitch angle correction value sequence and the azimuth correction value sequence.

[0008] By adopting the above technical solution, the pitch angle theoretical value sequence and the azimuth angle theoretical value sequence are classified by the target sequence number to obtain the first pitch angle rotation value sequence, the second pitch angle rotation value sequence, the first azimuth angle rotation value sequence and the second azimuth angle rotation value sequence. The above four sequences are classified and corrected to obtain the pitch angle correction value sequence and the azimuth correction value sequence.

[0009] Optionally, when the current azimuth rotation value is less than a preset rotation value, using a first preset algorithm to process the first pitch angle rotation value sequence to obtain a first pitch angle processed value sequence; combining the first pitch angle processed value sequence and the second pitch angle rotation value sequence to obtain the pitch angle correction value sequence; Processing the first azimuth rotation value sequence using a second preset algorithm to obtain a first azimuth processing value sequence; combining the first azimuth processing value sequence and the second azimuth rotation value sequence to obtain the azimuth correction value sequence; When the current azimuth rotation value is not less than a preset rotation value, the first pitch angle rotation value sequence is processed using a third preset algorithm to obtain a first pitch angle processed value sequence; the first pitch angle processed value sequence and the second pitch angle rotation value sequence are combined to obtain the pitch angle correction value sequence; The first azimuth rotation value sequence is processed using a fourth preset algorithm to obtain a first azimuth processing value sequence; the first azimuth processing value sequence and the second azimuth rotation value sequence are combined to obtain the azimuth correction value sequence.

[0010] By adopting the above technical solution, different preset algorithms are used to process and combine the sequences to obtain the pitch angle correction value sequence and the azimuth angle correction value sequence. The entire calculation process can accurately and reasonably process the sequence to ensure that the pitch angle and azimuth angle can obtain accurate auxiliary correction values ​​in the subsequent processing process.

[0011] Optionally, the using a first preset algorithm to process the first pitch angle rotation value sequence to obtain a first pitch angle processed value sequence includes: sequentially calculating the difference between a preset correction value and each pitch angle rotation value in the first pitch angle rotation value sequence to obtain the first pitch angle processing value sequence; The using a second preset algorithm to process the first azimuth rotation value sequence to obtain a first azimuth processed value sequence includes: The sum of the preset correction value and each azimuth rotation value in the first azimuth rotation value sequence is calculated in sequence to obtain the first azimuth processing value sequence.

[0012] Optionally, the using a third preset algorithm to process the first pitch angle rotation value sequence to obtain a first pitch angle processed value sequence includes: sequentially calculating the difference between a preset correction value and each pitch angle rotation value in the first pitch angle rotation value sequence to obtain the first pitch angle processing value sequence; The using a fourth preset algorithm to process the first azimuth rotation value sequence to obtain a first azimuth processed value sequence includes: The difference between each azimuth rotation value in the first azimuth rotation value sequence and the preset correction value is calculated in sequence to obtain the first azimuth processing value sequence.

[0013] By adopting the above technical scheme, a first pitch angle processing value sequence and a first azimuth angle processing value sequence can be obtained, and an optional calculation method for these two sequences is provided, so that the sequences are accurately and reasonably processed to ensure that the pitch angle and the azimuth angle can obtain accurate auxiliary correction values ​​in the subsequent processing process.

[0014] Optionally, extracting a current azimuth correction value at a current moment from the azimuth correction value sequence; Calculating a change value corresponding to the current azimuth correction value; The output azimuth angle is generated based on the change value, a preset change value lower limit and a preset change value upper limit, wherein the preset change value lower limit is the maximum speed of the motor in the gateway rotating in the reverse direction, and the preset change value upper limit is the maximum speed of the motor in the gateway rotating in the forward direction.

[0015] By adopting the above technical solution, the output azimuth is set according to the actual situation of the gateway station, so that the output azimuth is consistent with the motor speed of the gateway station, the feasibility of the solution is guaranteed, and the accurate output azimuth can be obtained in the subsequent processing process.

[0016] Optionally, when the change value is greater than the preset change value lower limit and less than the preset change value upper limit, the azimuth angular velocity is set to the change value; and the output azimuth is calculated according to the change value; When the change value is less than the preset change value lower limit, or the change value is greater than the preset change value upper limit, the output auxiliary angle is set to a preset angle; and the output azimuth is calculated based on the preset angle.

[0017] By adopting the above technical solution, based on the difference between the change value and the preset change value lower limit and the preset change value upper limit, the azimuth angular velocity or the output auxiliary angle is used to calculate the output azimuth, so that the output azimuth is more accurate and in line with the actual scenario.

[0018] In a second aspect, the present application provides a star locking system for a gateway station, which adopts the following technical solution: A star locking system for a gateway station, comprising: An acquisition module, used for acquiring a sequence of theoretical values ​​of pitch angles and a sequence of theoretical values ​​of azimuth angles; A memory, used for storing a program of the satellite locking method for the gateway station; The program in the memory can be loaded and executed by the processor to implement the star locking method for the gateway station.

[0019] In a third aspect, the present application provides a gateway station, which adopts the following technical solution: A gateway station includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute any of the above-mentioned methods.

[0020] In a fourth aspect, the present application provides a computer storage medium capable of storing corresponding programs, which is convenient for solving the problem of satellite passing overhead, and adopts the following technical solution: A computer-readable storage medium stores a computer program that can be loaded by a processor and execute any of the above-mentioned star locking methods for a gateway station.

[0021] By adopting the above technical solution, the locking direction of the gateway station is adjusted by controlling the output azimuth angle, output pitch angle and output auxiliary angle. Under the premise that the motor speed of the gateway station is limited, any satellite can be locked. Even if the satellite flies directly over the gateway station, the gateway station can still lock the satellite and determine the satellite's position information, thus solving the problem of the satellite passing over the top.

[0022] In summary, the present application includes at least one of the following beneficial technical effects: 1. By controlling the output azimuth angle, output pitch angle and output auxiliary angle to adjust the locking direction of the gateway station, any satellite can be locked under the premise that the motor speed of the gateway station is limited. Even if the satellite flies directly above the gateway station, the gateway station can still lock the satellite and determine the location information of the satellite, thus solving the problem of satellite passing over the top; 2. Use different preset algorithms to process and combine the sequences to obtain the pitch angle correction value sequence and the azimuth angle correction value sequence. The entire calculation process can accurately and reasonably process the sequence to ensure that the pitch angle and azimuth angle can obtain accurate auxiliary correction values ​​in the subsequent processing process; 3. The first pitch angle processing value sequence and the first azimuth angle processing value sequence can be obtained, and optional calculation methods for the two sequences are given. The sequences are accurately and reasonably processed to ensure that the pitch angle and azimuth angle can obtain accurate auxiliary correction values ​​in the subsequent processing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of a gateway provided in an embodiment of the present application.

[0024] Figure 2 It is a flowchart of a first star locking method for a signal gateway station provided in an embodiment of the present application.

[0025] Figure 3 It is a flowchart of a method for calculating a pitch angle correction value sequence and an azimuth angle correction value sequence provided in an embodiment of the present application.

[0026] Figure 4 It is a flow chart of a method for generating an output azimuth angle provided in an embodiment of the present application.

[0027] Figure 5 It is a flow chart of a second star locking method for a signal gateway station provided in an embodiment of the present application.

[0028] Figure 6 It is a schematic diagram of a star locking system for a signal gateway provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1 To Attachment Figure 6 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0030] A gateway is a facility in a satellite communication system that is responsible for establishing a connection between the ground network (such as the Internet, telephone network, etc.) and the satellite network to achieve two-way data transmission and protocol conversion. Optionally, the gateway includes an antenna, which is used to track satellites and send and receive signals. During the operation of the antenna, the antenna needs to always point to the satellite so that the feed of the gateway points to the satellite to achieve communication.

[0031] In the prior art, the azimuth angle ranges from [0°, 360°], and the pitch angle ranges from [0°, 90°]. However, when trying to lock a satellite, if the satellite flies directly above the gateway station, that is, when the pitch angle is 90°, the azimuth angle needs to change 180° in a very short time (less than 1 second), which places extremely high demands on the motor performance. With a limited budget, it is almost impossible to buy such a motor. In an embodiment of the present application, an auxiliary axis (also referred to as the C-axis) is provided at the end of the gateway station. In addition to the two degrees of freedom of azimuth and pitch angle, the auxiliary axis can also be rotated to assist in satellite locking. In an embodiment of the present application, please refer to Figure 1 An auxiliary axis 11 (also called C-axis) is provided at the end of the signal gateway station 10. In addition to the two degrees of freedom of azimuth and pitch angle, the auxiliary axis 11 can also be rotated to assist in satellite locking.

[0032] The present application embodiment discloses a method for locking a satellite for a gateway station. Figure 2 , the method comprising: Step S201: Acquire a sequence of theoretical values ​​of pitch angles and a sequence of theoretical values ​​of azimuth angles.

[0033] The pitch angle theoretical value sequence includes the pitch angle of the gateway station in the current period. Exemplarily, the pitch angle theoretical value sequence consists of a sequence number, a pitch angle theoretical value and a timestamp. The sequence number of the pitch angle theoretical value sequence is arranged in order from early to late according to the timestamp, that is, as the sequence number increases, the time corresponding to the timestamp gradually becomes later.

[0034] The azimuth theoretical value sequence includes the azimuth of the gateway in the current period. Exemplarily, the azimuth theoretical value sequence consists of a sequence number, an azimuth theoretical value and a timestamp.

[0035] Exemplarily, the gateway obtains the theoretical value of the pitch angle and the theoretical value of the azimuth angle once every preset time, thereby obtaining a sequence of theoretical values ​​of the pitch angle and a sequence of theoretical values ​​of the azimuth angle. Alternatively, the gateway monitors the theoretical value of the pitch angle and the theoretical value of the azimuth angle in real time. The corresponding theoretical value of the pitch angle and the theoretical value of the azimuth angle are selected by the timestamp to form a sequence of theoretical values ​​of the pitch angle and a sequence of theoretical values ​​of the azimuth angle.

[0036] The pitch angle theoretical value sequence and the azimuth angle theoretical value sequence are obtained based on the ephemeris information, and the ephemeris information includes the real-time position of the satellite. Exemplarily, the real-time position of the satellite is extracted from the ephemeris information. The pitch angle theoretical value and the azimuth angle theoretical value are calculated according to the real-time position of the satellite and the position of the gateway. The pitch angle theoretical value and the azimuth angle theoretical value are calculated once every preset time to obtain the pitch angle theoretical value sequence and the azimuth angle theoretical value sequence.

[0037] Step S202: Processing the pitch angle theoretical value sequence and the azimuth angle theoretical value sequence according to the base posture to obtain a pitch angle rotation value sequence and an azimuth angle rotation value sequence.

[0038] The base attitude refers to the spatial pointing state of the antenna base of the gateway. One end of the antenna is set on the antenna base, and the other end of the antenna is set with an auxiliary axis. The spatial pointing state can be described by azimuth and elevation. In some embodiments, the spatial pointing state can also include a polarization angle.

[0039] It should be noted that the pitch angle theoretical value sequence and azimuth angle theoretical value sequence obtained in step S201 are obtained based on the ephemeris information and the position of the gateway station. In addition, the antenna base itself has a certain spatial pointing state, and the antenna is installed on the antenna base. Therefore, the obtained pitch angle theoretical value sequence and azimuth angle theoretical value sequence do not take into account the influence of the base attitude. Therefore, in this step, the pitch angle theoretical value sequence and azimuth angle theoretical value sequence need to be corrected and converted to the coordinate system of the gateway station, so as to obtain the attitude of the antenna main axis and auxiliary axis relative to the gateway station.

[0040] For example, the pitch angle theoretical value sequence is rotated according to the base posture, and the rotated sequence is the pitch angle rotation value sequence. The rotation direction and rotation angle can be obtained through the rotation matrix, and the technician can set the calculation method according to the actual situation.

[0041] For example, the azimuth theoretical value sequence is rotated according to the base posture, and the rotated sequence is the azimuth rotation value sequence. The rotation direction and rotation angle can be obtained through the rotation matrix, and the technician can set the calculation method according to the actual situation.

[0042] Step S203: when there is a pitch angle rotation value greater than a preset pitch angle threshold in the pitch angle rotation value sequence, determine a target sequence number corresponding to the pitch angle rotation value greater than the preset pitch angle threshold.

[0043] The preset pitch angle threshold is a preset empirical value, and the technician can adjust the value of the preset pitch angle threshold according to actual needs. In this embodiment, the preset pitch angle threshold is close to 90 degrees, for example, the preset pitch angle threshold is 85 degrees, 86 degrees or 87 degrees.

[0044] When a pitch angle rotation value in the pitch angle rotation value sequence is greater than a preset pitch angle threshold, it indicates that a satellite over-the-top phenomenon has occurred, and the pitch angle rotation value sequence and the azimuth angle rotation value sequence need to be processed.

[0045] In another aspect of this embodiment, when there is no pitch angle rotation value greater than a preset pitch angle threshold in the pitch angle rotation value sequence, that is, there is no satellite over-the-top phenomenon, there is no need to process the pitch angle rotation value sequence and the azimuth angle rotation value sequence.

[0046] Step S204: According to the target sequence number, the pitch angle rotation value sequence and the azimuth angle rotation value sequence are processed respectively to obtain a pitch angle correction value sequence and an azimuth angle correction value sequence.

[0047] In the embodiment of the present application, the method for obtaining the pitch angle correction value sequence and the azimuth angle correction value sequence may include: Figure 3 The specific contents of steps S301 to S303 are as follows: Step S301: In a pitch angle rotation value sequence, the pitch angle rotation values ​​whose sequence numbers are not greater than a target sequence number are classified into a first pitch angle rotation value sequence, and the pitch angle rotation values ​​whose sequence numbers are greater than the target sequence number are classified into a second pitch angle rotation value sequence.

[0048] Step S302: In the azimuth rotation value sequence, azimuth rotation values ​​whose sequence numbers are not greater than the target sequence number are classified into a first azimuth rotation value sequence, and azimuth rotation values ​​whose sequence numbers are greater than the target sequence number are classified into a second azimuth rotation value sequence.

[0049] Step S303: According to the current azimuth rotation value, classify and correct the first pitch angle rotation value sequence, the second pitch angle rotation value sequence, the first azimuth rotation value sequence and the second azimuth rotation value sequence to obtain a pitch angle correction value sequence and an azimuth correction value sequence.

[0050] 1. When the current azimuth rotation value is less than the preset rotation value; Optionally, the first pitch angle rotation value sequence is processed using a first preset algorithm to obtain a first pitch angle processed value sequence. The first pitch angle processed value sequence and the second pitch angle rotation value sequence are combined to obtain a pitch angle correction value sequence.

[0051] The preset rotation value is a preset empirical value, and the technicians can adjust the specific value of the preset rotation value according to the actual situation.

[0052] Optionally, the difference between the preset correction value and each pitch angle rotation value in the first pitch angle rotation value sequence is calculated in sequence to obtain the first pitch angle processing value sequence. Optionally, the preset correction value is π.

[0053] For example, suppose the pitch angle rotation value sequence is rotateEL, the azimuth angle rotation value sequence is rotateAZ, the pitch angle correction value sequence is procsEL, and the azimuth angle correction value sequence is procsAZ. Then, for the pitch angle correction value sequence whose sequence number is not greater than the target sequence number, procsEL=π-rotateEL; for the pitch angle correction value sequence whose sequence number is greater than the target sequence number, procsEL=rotateEL.

[0054] The first azimuth rotation value sequence is processed using a second preset algorithm to obtain a first azimuth processing value sequence. The first azimuth processing value sequence and the second azimuth rotation value sequence are combined to obtain an azimuth correction value sequence.

[0055] Optionally, the sum of the preset correction value and each azimuth rotation value in the first azimuth rotation value sequence is calculated in sequence to obtain the first azimuth processing value sequence.

[0056] For example, for an azimuth correction value sequence whose sequence number is not greater than the target sequence number, procsAZ=rotateAZ+π is true; for an azimuth correction value sequence whose sequence number is greater than the target sequence number, procsAZ=rotateAZ is true.

[0057] 2. When the current azimuth rotation value is not less than the preset rotation value; The first pitch angle rotation value sequence is processed using a third preset algorithm to obtain a first pitch angle processing value sequence. The first pitch angle processing value sequence and the second pitch angle rotation value sequence are combined to obtain a pitch angle correction value sequence.

[0058] Optionally, the differences between the preset correction value and each pitch angle rotation value in the first pitch angle rotation value sequence are calculated in sequence to obtain the first pitch angle processing value sequence.

[0059] For example, suppose the pitch angle rotation value sequence is rotateEL, the azimuth angle rotation value sequence is rotateAZ, the pitch angle correction value sequence is procsEL, and the azimuth angle correction value sequence is procsAZ. Then, for the pitch angle correction value sequence whose sequence number is not greater than the target sequence number, procsEL=π-rotateEL; for the pitch angle correction value sequence whose sequence number is greater than the target sequence number, procsEL=rotateEL.

[0060] The first azimuth rotation value sequence is processed using a fourth preset algorithm to obtain a first azimuth processing value sequence. The first azimuth processing value sequence and the second azimuth rotation value sequence are combined to obtain an azimuth correction value sequence.

[0061] Optionally, the difference between each azimuth rotation value in the first azimuth rotation value sequence and the preset correction value is calculated in sequence to obtain the first azimuth processing value sequence.

[0062] For example, for an azimuth correction value sequence whose sequence number is not greater than the target sequence number, procsAZ=rotateAZ-π, and for an azimuth correction value sequence whose sequence number is greater than the target sequence number, procsAZ=rotateAZ.

[0063] Step S205: setting the output azimuth angle according to the change value of the azimuth angle correction value.

[0064] In the embodiment of the present application, the method for generating the output azimuth angle may include: Figure 4 The specific contents of steps S401 to S403 are as follows: Step S401: extracting the current azimuth correction value at the current moment from the azimuth correction value sequence.

[0065] The current azimuth correction value refers to the azimuth correction value in the azimuth correction value sequence that corresponds to the current period.

[0066] Step S402: Calculate the change value corresponding to the current azimuth correction value.

[0067] The change value in this step refers to the change in the current azimuth correction value per unit time.

[0068] Exemplarily, several candidate current azimuth correction values ​​are selected from the azimuth correction value sequence according to the current time period. The difference between each adjacent candidate current azimuth correction value is calculated, and the ratio of the calculated difference to the time difference between the adjacent candidate current azimuth correction values ​​is calculated to obtain the candidate difference. The average of the candidate difference is calculated to obtain the change value.

[0069] Exemplarily, after taking out the current azimuth correction value from the azimuth correction value sequence, the azimuth correction value adjacent to the current azimuth correction value is determined, and the change value is calculated based on the difference between the current azimuth correction value and the adjacent azimuth correction value.

[0070] Step S403: Generate an output azimuth angle based on the change value, a preset change value lower limit and a preset change value upper limit, wherein the preset change value lower limit is the maximum speed of the motor in the gateway rotating in the reverse direction, and the preset change value upper limit is the maximum speed of the motor in the gateway rotating in the forward direction.

[0071] The preset change value lower limit refers to the maximum speed of the motor controlling the auxiliary axis when rotating in the reverse direction. The preset change value upper limit refers to the maximum speed of the motor controlling the auxiliary axis when rotating in the forward direction. Among them, forward rotation and reverse rotation are preset directions. For example, forward rotation is the clockwise rotation of the auxiliary axis around the main axis of the signal gateway station, and reverse rotation is the counterclockwise rotation of the auxiliary axis around the main axis of the signal gateway station.

[0072] In some embodiments, the preset change value lower limit and the preset change value upper limit are determined based on the speed limit of the motor itself. For example, if the speed limit of the motor is 8° / s, the preset change value upper limit is 8° / s, and the preset change value lower limit is -8° / s.

[0073] When the change value is greater than the preset change value lower limit and less than the preset change value upper limit, it means that the auxiliary axis is capable of rotating according to the azimuth change value. Therefore, the azimuth angular velocity is set to the change value. The output azimuth is calculated based on the change value.

[0074] When the change value is less than the preset change value lower limit, or the change value is greater than the preset change value upper limit, the auxiliary axis cannot rotate according to the azimuth change value. Therefore, in this case, the azimuth difference is set to the preset change lower limit, so that the auxiliary axis rotates as much as possible at the preset change lower limit. Therefore, the output auxiliary angle is set to the preset angle; the output azimuth is calculated based on the preset angle.

[0075] Step S206: Generate an output pitch angle and an output auxiliary angle according to the rotation matrix, the pitch angle correction value sequence and the azimuth angle correction value sequence.

[0076] A rotation matrix is ​​a mathematical tool used in linear algebra to describe spatial rotations. It rotates a vector or a coordinate system around a specified axis by a specific angle while keeping the length of the vector unchanged. In the embodiment of the present application, when the output azimuth angle, the pitch angle rotation value sequence and the azimuth angle rotation value sequence, the pitch angle correction value sequence and the azimuth angle correction value sequence have been determined, the aforementioned known information can be used to obtain the output pitch angle and the output auxiliary angle.

[0077] Step S207: adjusting the gateway by outputting the azimuth angle, the elevation angle and the auxiliary angle.

[0078] Exemplarily, the output azimuth angle, the output elevation angle, and the output auxiliary angle are used to adjust the antenna orientation on the gateway station so that the feed source of the gateway station points to the satellite, thereby completing satellite lock.

[0079] By adopting the above technical solution, by controlling the auxiliary shaft of the gateway station to rotate, any satellite can be locked under the premise that the motor speed of the gateway station is limited. Even if the satellite flies directly over the gateway station, the gateway station can still lock the satellite and determine the satellite's position information, thus solving the problem of the satellite passing over the top.

[0080] On the other hand, if there is no theoretical pitch angle value greater than the preset pitch angle threshold in the theoretical pitch angle value sequence, it means that the gateway station does not have a satellite over-the-top problem. In this case, there is no need to correct the theoretical pitch angle value sequence and the theoretical azimuth angle value sequence. Therefore, the embodiment of the present application also provides a second satellite locking method for the gateway station, please refer to Figure 5 , the method comprising: Step S501: Acquire a sequence of theoretical values ​​of pitch angles and a sequence of theoretical values ​​of azimuth angles.

[0081] To obtain the specific contents of the theoretical value sequence of the pitch angle and the theoretical value sequence of the azimuth angle, please refer to Figure 2 Step S201 of the illustrated embodiment will not be described in detail here.

[0082] Step S502: Processing the pitch angle theoretical value sequence and the azimuth angle theoretical value sequence according to the base posture to obtain a pitch angle rotation value sequence and an azimuth angle rotation value sequence.

[0083] Step S503: setting the output azimuth angle according to the change value of the azimuth angle rotation value.

[0084] According to the base attitude, the pitch angle theoretical value sequence and the azimuth angle theoretical value sequence are processed to obtain the pitch angle rotation value sequence and the azimuth angle rotation value sequence. For details, please refer to Figure 2 Step S202 of the illustrated embodiment will not be described in detail here.

[0085] Step S504: Generate an output pitch angle and an output auxiliary angle according to the rotation matrix, the pitch angle rotation value sequence and the azimuth angle rotation value sequence.

[0086] For details on generating the output pitch angle and output auxiliary angle based on the rotation matrix, the pitch angle rotation value sequence and the azimuth angle rotation value sequence, please refer to Figure 2 Step S206 of the illustrated embodiment will not be described in detail here.

[0087] Step S505: adjusting the gateway by outputting the azimuth angle, the elevation angle and the auxiliary angle.

[0088] By outputting the azimuth angle, the pitch angle and the auxiliary angle, you can refer to the specific contents of adjusting the signal gateway. Figure 2 Step S207 of the illustrated embodiment will not be described in detail here.

[0089] By adopting the above technical solution, the locking direction of the gateway station is adjusted by controlling the output azimuth angle, the output pitch angle and the output auxiliary angle, and any satellite can be locked under the premise that the motor speed of the gateway station is limited.

[0090] The present application embodiment discloses a third method for locking satellites for a gateway station. The method includes: Step S1: Obtain a sequence of theoretical elevation angle values ​​theoryEL and a sequence of theoretical azimuth angle values ​​theoryAZ.

[0091] Step S2: Rotate theoryEL and theoryAZ according to the base posture to obtain a pitch angle rotation value sequence rotateEL and an azimuth angle rotation value sequence rotateAZ.

[0092] Step S3: Determine whether there is an angle in theoryEL that is greater than a preset pitch angle threshold.

[0093] Step S4: If it exists, the serial number of the angle greater than the preset pitch angle threshold is recorded as nMax_EL.

[0094] Step S5: Determine whether rotateAZ[0] is less than π.

[0095] If yes, execute step S6 to step S7; If not, execute steps S8 to S9.

[0096] rotateAZ[0] refers to the angle value in the azimuth rotation value sequence rotateAZ corresponding to the current moment.

[0097] Step S6: Perform the first processing on rotateEL and rotateAZ whose sequence numbers are less than or equal to nMax_EL.

[0098] The first process includes: for rotateEL and rotateAZ whose sequence numbers are less than or equal to nMax_EL, calculating procsAZ=rotateAZ+π and procsEL=π-rotateEL.

[0099] Step S7: Perform the second processing on rotateEL and rotateAZ whose sequence numbers are greater than nMax_EL.

[0100] The second process includes: for rotateEL and rotateAZ whose sequence numbers are greater than nMax_EL, calculating procsAZ=rotateAZ and procsEL=rotateEL.

[0101] Step S8: Perform the third processing on rotateEL and rotateAZ whose sequence numbers are less than or equal to nMax_EL.

[0102] The third process includes: for rotateEL and rotateAZ whose sequence numbers are less than or equal to nMax_EL, calculating procsAZ=rotateAZ-π and procsEL=π-rotateEL.

[0103] Step S9: Perform the fourth processing on rotateEL and rotateAZ whose sequence numbers are greater than nMax_EL.

[0104] The fourth process includes: for rotateEL and rotateAZ whose sequence numbers are greater than nMax_EL, calculating procsAZ=rotateAZ and procsEL=rotateEL.

[0105] Step S10: Obtain procsEL and procsAZ based on the processed rotateEL and rotateAZ.

[0106] Step S11: Calculate deltaAZ according to the difference of procsAZ.

[0107] Step S12: Determine whether deltaAZ is less than a preset lower limit of change value, or greater than a preset upper limit of change value.

[0108] If yes, execute step S13; If not, execute step S14.

[0109] Step S13: If yes, the output auxiliary angle outputC of the auxiliary shaft is set to 0.

[0110] Step S14: If not, setting deltaAZ to a preset lower limit of change value or a preset upper limit of change value.

[0111] Step S15: Calculate the output azimuth angle outputAZ according to the output auxiliary angle or deltaAZ.

[0112] If step S13 is executed, the output azimuth angle outputAZ is calculated according to the output auxiliary angle.

[0113] If step S14 is executed, the output azimuth angle outputAZ is calculated according to deltaAZ.

[0114] Step S16: Solve the known quantities in the above steps through the rotation matrix to obtain outputAZ, output elevation angle outputEL and outputC.

[0115] Based on the same inventive concept, the present application embodiment provides a star locking system for a gateway station, please refer to Figure 6 The system comprises: An acquisition module 601 is used to acquire a sequence of theoretical values ​​of pitch angles and a sequence of theoretical values ​​of azimuth angles; Memory 602, used to store the program of the satellite locking method for the gateway station; Processor 603, the program in the memory can be loaded and executed by the processor to implement the star locking method for the gateway station.

[0116] By adopting the above technical solution, by controlling the auxiliary shaft of the gateway station to rotate, any satellite can be locked under the premise that the motor speed of the gateway station is limited. Even if the satellite flies directly over the gateway station, the gateway station can still lock the satellite and determine the satellite's position information, thus solving the problem of the satellite passing over the top.

[0117] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0118] An embodiment of the present application provides a computer-readable storage medium storing a computer program that can be loaded and executed by a processor and is used for a star locking method of a gateway station.

[0119] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0120] Based on the same inventive concept, an embodiment of the present application provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded and executed by the processor for a star locking method for a gateway station.

[0121] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0122] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A satellite locking method for a gateway station, characterized in that: The method comprises: Obtaining a sequence of theoretical values ​​of pitch angles and a sequence of theoretical values ​​of azimuth angles; Processing the pitch angle theoretical value sequence and the azimuth angle theoretical value sequence according to the base posture to obtain a pitch angle rotation value sequence and an azimuth angle rotation value sequence; In the case that there is a pitch angle rotation value greater than a preset pitch angle threshold in the pitch angle rotation value sequence, determining a target sequence number corresponding to the pitch angle rotation value greater than the preset pitch angle threshold; According to the target sequence number, the pitch angle rotation value sequence and the azimuth angle rotation value sequence are processed respectively to obtain a pitch angle correction value sequence and an azimuth angle correction value sequence; According to the change value of the azimuth correction value, the output azimuth is set; Generate an output pitch angle and an output auxiliary angle according to the rotation matrix, the pitch angle correction value sequence and the azimuth angle correction value sequence; The gateway is adjusted by the output azimuth angle, the output elevation angle and the output auxiliary angle.

2. The satellite locking method for a gateway station according to claim 1, characterized in that: The step of processing the pitch angle rotation value sequence and the azimuth angle rotation value sequence according to the target sequence number to obtain a pitch angle correction value sequence and an azimuth angle correction value sequence comprises: In the pitch angle rotation value sequence, the pitch angle rotation values ​​whose sequence numbers are not greater than the target sequence number are classified into a first pitch angle rotation value sequence, and the pitch angle rotation values ​​whose sequence numbers are greater than the target sequence number are classified into a second pitch angle rotation value sequence; In the azimuth rotation value sequence, categorize the azimuth rotation values ​​whose sequence numbers are not greater than the target sequence number into a first azimuth rotation value sequence, and categorize the azimuth rotation values ​​whose sequence numbers are greater than the target sequence number into a second azimuth rotation value sequence; According to the current azimuth rotation value, the first pitch angle rotation value sequence, the second pitch angle rotation value sequence, the first azimuth rotation value sequence and the second azimuth rotation value sequence are classified and corrected to obtain the pitch angle correction value sequence and the azimuth correction value sequence.

3. The satellite locking method for a gateway station according to claim 2, characterized in that: The method of classifying and correcting the first pitch angle rotation value sequence, the second pitch angle rotation value sequence, the first azimuth angle rotation value sequence, and the second azimuth angle rotation value sequence according to the current azimuth angle rotation value to obtain the pitch angle correction value sequence and the azimuth angle correction value sequence includes: When the current azimuth rotation value is less than a preset rotation value, using a first preset algorithm to process the first pitch angle rotation value sequence to obtain a first pitch angle processing value sequence; combining the first pitch angle processing value sequence and the second pitch angle rotation value sequence to obtain the pitch angle correction value sequence; Processing the first azimuth rotation value sequence using a second preset algorithm to obtain a first azimuth processing value sequence; combining the first azimuth processing value sequence and the second azimuth rotation value sequence to obtain the azimuth correction value sequence; When the current azimuth rotation value is not less than a preset rotation value, the first pitch angle rotation value sequence is processed using a third preset algorithm to obtain a first pitch angle processed value sequence; the first pitch angle processed value sequence and the second pitch angle rotation value sequence are combined to obtain the pitch angle correction value sequence; The first azimuth rotation value sequence is processed using a fourth preset algorithm to obtain a first azimuth processing value sequence; the first azimuth processing value sequence and the second azimuth rotation value sequence are combined to obtain the azimuth correction value sequence.

4. The satellite locking method for a gateway station according to claim 3, characterized in that: The step of using a first preset algorithm to process the first pitch angle rotation value sequence to obtain a first pitch angle processed value sequence includes: sequentially calculating the difference between a preset correction value and each pitch angle rotation value in the first pitch angle rotation value sequence to obtain the first pitch angle processing value sequence; The using a second preset algorithm to process the first azimuth rotation value sequence to obtain a first azimuth processed value sequence includes: The sum of the preset correction value and each azimuth rotation value in the first azimuth rotation value sequence is calculated in sequence to obtain the first azimuth processing value sequence.

5. The satellite locking method for a gateway station according to claim 3, characterized in that: The step of using a third preset algorithm to process the first pitch angle rotation value sequence to obtain a first pitch angle processed value sequence includes: sequentially calculating the difference between a preset correction value and each pitch angle rotation value in the first pitch angle rotation value sequence to obtain the first pitch angle processing value sequence; The using a fourth preset algorithm to process the first azimuth rotation value sequence to obtain a first azimuth processed value sequence includes: The difference between each azimuth rotation value in the first azimuth rotation value sequence and the preset correction value is calculated in sequence to obtain the first azimuth processing value sequence.

6. The satellite locking method for a gateway station according to claim 1, characterized in that: The step of setting the output azimuth angle according to the change value of the azimuth angle correction value comprises: Extracting the current azimuth correction value at the current moment from the azimuth correction value sequence; Calculating a change value corresponding to the current azimuth correction value; The output azimuth angle is generated based on the change value, a preset change value lower limit and a preset change value upper limit, wherein the preset change value lower limit is the maximum speed of the motor in the gateway rotating in the reverse direction, and the preset change value upper limit is the maximum speed of the motor in the gateway rotating in the forward direction.

7. The satellite locking method for a gateway station according to claim 6, characterized in that: The step of generating the output azimuth angle based on the change value, a preset change value lower limit, and a preset change value upper limit includes: When the change value is greater than the preset change value lower limit and less than the preset change value upper limit, setting the azimuth angular velocity to the change value; and calculating the output azimuth according to the change value; When the change value is less than the preset change value lower limit, or the change value is greater than the preset change value upper limit, the output auxiliary angle is set to a preset angle; and the output azimuth is calculated based on the preset angle.

8. A star-locking system for a gateway station, characterized in that: The system is used to execute the star locking method for a gateway station as claimed in any one of claims 1 to 7, and the system comprises: An acquisition module is used to acquire a sequence of theoretical values ​​of pitch angles and a sequence of theoretical values ​​of azimuth angles; A memory, used for storing a program of the satellite locking method for the gateway station; The program in the memory can be loaded and executed by the processor to implement the star locking method for the gateway station.

9. A gateway station, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute the method according to any one of claims 1 to 7.

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