A star locking method, system, storage medium and gateway station for gateway station

Abstract

The present application relates to a satellite locking method, system, storage medium, and gateway for a gateway station, and relates to the field of satellite communications. The method includes: 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; when a pitch angle rotation value greater than a preset pitch angle threshold exists 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; 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; setting an output azimuth angle according to a change in the azimuth angle correction value; and generating an output pitch angle and an output auxiliary angle according to a rotation matrix, a pitch angle correction value sequence, and an azimuth angle correction value sequence. The present application has the effect of solving the problem of satellites passing overhead.

Description

Technical Field

[0001] The present application relates to the field of satellite communications, and in particular to a satellite locking method, system, and gateway for 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 angles can be used to point the gateway station's feed toward the satellite to achieve communication. This process is called satellite locking.

[0003] For the aforementioned technologies, the azimuth angle range is [0°, 360°], and the pitch angle range is [0°, 90°]. However, when attempting to lock onto a satellite, if the satellite passes 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 is generally not able to 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:

[0006] A star locking method for a gateway station, comprising:

[0007] Obtaining a sequence of theoretical values of pitch angles and a sequence of theoretical values of azimuth angles;

[0008] 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;

[0009] In a case where a pitch angle rotation value exists in the pitch angle rotation value sequence and is greater than a preset pitch angle threshold, determining a target sequence number corresponding to the pitch angle rotation value greater than the preset pitch angle threshold;

[0010] 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;

[0011] According to the change of the azimuth correction value, the output azimuth is set;

[0012] 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;

[0013] The gateway is adjusted by the output azimuth angle, the output elevation angle, and the output auxiliary angle.

[0014] 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 above the gateway station, the gateway station can still lock the satellite and determine the satellite's position information, thus solving the problem of satellite passing overhead.

[0015] Optionally, in the pitch angle rotation value sequence, the pitch angle rotation values having sequence numbers not greater than the target sequence number are classified into a first pitch angle rotation value sequence, and the pitch angle rotation values having sequence numbers greater than the target sequence number are classified into a second pitch angle rotation value sequence;

[0016] In the azimuth rotation value sequence, classify the azimuth rotation values having sequence numbers not greater than the target sequence number into a first azimuth rotation value sequence, and classify the azimuth rotation values having sequence numbers greater than the target sequence number into a second azimuth rotation value sequence;

[0017] 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.

[0018] By adopting the above technical solution, the theoretical pitch angle value sequence and the theoretical azimuth angle value sequence are classified by target sequence number to obtain a first pitch angle rotation value sequence, a second pitch angle rotation value sequence, a first azimuth angle rotation value sequence, and a second azimuth angle rotation value sequence. These four sequences are then classified and corrected to obtain a pitch angle correction value sequence and an azimuth correction value sequence.

[0019] Optionally, when the current azimuth rotation value is less than a preset rotation value, processing the first pitch angle rotation value sequence using a first preset algorithm to obtain a first pitch angle processed value sequence; and combining the first pitch angle processed value sequence and the second pitch angle rotation value sequence to obtain the pitch angle correction value sequence;

[0020] Processing the first azimuth rotation value sequence using a second preset algorithm to obtain a first azimuth processed value sequence; combining the first azimuth processed value sequence and the second azimuth rotation value sequence to obtain the azimuth correction value sequence;

[0021] When the current azimuth rotation value is not less than a preset rotation value, processing the first pitch angle rotation value sequence using a third preset algorithm 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;

[0022] The first azimuth rotation value sequence is processed using a fourth preset algorithm to obtain a first azimuth processed value sequence; and the first azimuth processed value sequence and the second azimuth rotation value sequence are combined to obtain the azimuth correction value sequence.

[0023] By adopting the above technical solution, different preset algorithms are used to process and combine the sequences to obtain pitch angle correction value sequences and azimuth angle correction value sequences. The entire calculation process can accurately and reasonably process the sequences, ensuring that accurate auxiliary correction values for the pitch angle and azimuth angle can be obtained in the subsequent processing.

[0024] 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:

[0025] 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 processed value sequence;

[0026] The using a second preset algorithm to process the first azimuth rotation value sequence to obtain a first azimuth processed value sequence includes:

[0027] 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.

[0028] 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:

[0029] 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 processed value sequence;

[0030] The using a fourth preset algorithm to process the first azimuth rotation value sequence to obtain a first azimuth processed value sequence includes:

[0031] 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.

[0032] By adopting the above technical solution, a first pitch angle processing value sequence and a first azimuth angle processing value sequence can be obtained. An optional calculation method for these two sequences is given, and 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.

[0033] Optionally, extracting a current azimuth correction value at a current moment from the azimuth correction value sequence;

[0034] Calculating a change value corresponding to the current azimuth correction value;

[0035] The output azimuth angle is generated based on the change value, a preset lower limit of the change value, and a preset upper limit of the change value, wherein the preset lower limit of the change value is the maximum speed of the motor in the gateway station rotating in the reverse direction, and the preset upper limit of the change value is the maximum speed of the motor in the gateway station rotating in the forward direction.

[0036] By adopting the above technical solution, the output azimuth angle is set according to the actual situation of the gateway station, so that the output azimuth angle is consistent with the motor speed of the gateway station, which ensures the feasibility of this solution and allows accurate output azimuth angle to be obtained in subsequent processing.

[0037] 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 angle is calculated according to the change value;

[0038] 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 angle is calculated based on the preset angle.

[0039] By adopting the above technical solution, based on the difference between the change value and the preset lower limit and upper limit of the change value, 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.

[0040] In a second aspect, the present application provides a star-locking system for a gateway station, which adopts the following technical solution:

[0041] A star locking system for a gateway station, comprising:

[0042] An acquisition module is used to acquire a sequence of theoretical values of pitch angles and a sequence of theoretical values of azimuth angles;

[0043] A memory for storing a program for the satellite locking method for the gateway station;

[0044] The program in the memory can be loaded and executed by the processor to implement the star locking method for the gateway station.

[0045] In a third aspect, the present application provides a gateway station, which adopts the following technical solution:

[0046] 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 one of the methods described above.

[0047] In a fourth aspect, the present application provides a computer storage medium capable of storing a corresponding program, which is characterized by being convenient for solving the problem of satellite over-the-top, and adopts the following technical solution:

[0048] A computer-readable storage medium stores a computer program capable of being loaded by a processor and executing any one of the above-mentioned star-locking methods for a gateway station.

[0049] 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 above the gateway station, the gateway station can still lock the satellite and determine the satellite's position information, thus solving the problem of satellite passing overhead.

[0050] In summary, this application includes at least one of the following beneficial technical effects:

[0051] 1. By controlling the output azimuth, pitch, and auxiliary angles to adjust the locking direction of the gateway station, any satellite can be locked onto while the motor speed of the gateway station is limited. Even if a satellite flies directly over the gateway station, the gateway station can still lock onto the satellite and determine its position, thus solving the problem of satellites flying overhead.

[0052] 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, ensuring that the pitch angle and azimuth angle can obtain accurate auxiliary correction values in the subsequent processing;

[0053] 3. The first pitch angle processing value sequence and the first azimuth angle processing value sequence can be obtained. Optional calculation methods for these two sequences are given, and 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

[0054] Figure 1 This is a schematic diagram of a gateway provided in an embodiment of the present application.

[0055] Figure 2 This is a flow chart of a first star-locking method for a gateway station provided in an embodiment of the present application.

[0056] Figure 3 This 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.

[0057] Figure 4 This is a flow chart of a method for generating an output azimuth angle provided in an embodiment of the present application.

[0058] Figure 5 This is a flow chart of a second star-locking method for a gateway station provided in an embodiment of the present application.

[0059] Figure 6 This is a schematic diagram of a star-locking system for a gateway station provided in an embodiment of the present application. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1 To the attached Figure 6 It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0061] A gateway is a facility in a satellite communications system that establishes a connection between terrestrial networks (such as the internet and telephone networks) and satellite networks, enabling bidirectional data transmission and protocol conversion. Optionally, a gateway includes an antenna, which tracks satellites and transmits and receives signals. During operation, the antenna must always point toward the satellite, ensuring that the gateway's feed is pointed toward the satellite for communication.

[0062] In the prior art, 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 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 the embodiment of the present application, an auxiliary axis (also called 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 locking the satellite. In the 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 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.

[0063] The embodiment of the present application discloses a method for locking a star at a gateway station. Figure 2 , the method comprising:

[0064] Step S201: Acquire a sequence of theoretical values of pitch angles and a sequence of theoretical values of azimuth angles.

[0065] The theoretical pitch angle value sequence includes the gateway's pitch angle during the current time period. Exemplarily, the theoretical pitch angle value sequence consists of a sequence number, a theoretical pitch angle value, and a timestamp. The sequence numbers of the theoretical pitch angle value sequence are arranged in descending order based on the timestamps. That is, as the sequence number increases, the timestamp corresponding to the timestamp becomes later.

[0066] The azimuth theoretical value sequence includes the azimuth of the gateway station in the current period. Exemplarily, the azimuth theoretical value sequence consists of a sequence number, an azimuth theoretical value, and a timestamp.

[0067] For example, the gateway acquires the theoretical pitch angle value and the theoretical azimuth angle value at predetermined intervals, thereby obtaining a sequence of theoretical pitch angle values and a sequence of theoretical azimuth angle values. Alternatively, the gateway monitors the theoretical pitch angle values and the theoretical azimuth angle values in real time. Corresponding theoretical pitch angle values and theoretical azimuth angle values are selected based on the timestamps to form the sequence of theoretical pitch angle values and the sequence of theoretical azimuth angle values.

[0068] The theoretical elevation and azimuth value sequences are derived based on ephemeris information, which includes the real-time satellite positions. For example, the real-time satellite positions are extracted from the ephemeris information. The theoretical elevation and azimuth values are calculated based on the real-time satellite positions and the location of the gateway. The theoretical elevation and azimuth values are calculated at preset intervals to produce the theoretical elevation and azimuth value sequences.

[0069] Step S202: Processing the theoretical pitch angle value sequence and the theoretical azimuth angle value sequence according to the base posture to obtain a pitch angle rotation value sequence and an azimuth rotation value sequence.

[0070] Base attitude refers to the spatial orientation of the gateway's antenna base. One end of the antenna is mounted on the base, and the other end of the antenna is equipped with an auxiliary axis. This spatial orientation can be described using azimuth and elevation angles. In some embodiments, this orientation can also include polarization angles.

[0071] It should be noted that the theoretical elevation and azimuth angle value sequences obtained in step S201 are based on ephemeris information and the location of the gateway station. Furthermore, the antenna base itself has a certain spatial orientation, and the antenna is mounted on the base. Therefore, the resulting theoretical elevation and azimuth angle value sequences do not account for the influence of the base's attitude. Therefore, in this step, the theoretical elevation and azimuth angle value sequences must be corrected and converted to the gateway station's coordinate system to obtain the attitudes of the antenna's primary and secondary axes relative to the gateway station.

[0072] 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.

[0073] For example, the theoretical azimuth value sequence is rotated according to the base posture, and the resulting 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.

[0074] Step S203: when 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.

[0075] The preset pitch angle threshold is a preset empirical value, and technicians 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.

[0076] 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.

[0077] 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.

[0078] Step S204: processing the pitch angle rotation value sequence and the azimuth angle rotation value sequence respectively according to the target sequence number to obtain a pitch angle correction value sequence and an azimuth angle correction value sequence.

[0079] 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:

[0080] Step S301: In a pitch angle rotation value sequence, classify pitch angle rotation values whose sequence numbers are not greater than a target sequence number into a first pitch angle rotation value sequence, and classify pitch angle rotation values whose sequence numbers are greater than the target sequence number into a second pitch angle rotation value sequence.

[0081] Step S302: In the azimuth rotation value sequence, classify the azimuth rotation values whose sequence numbers are not greater than the target sequence number into a first azimuth rotation value sequence, and classify the azimuth rotation values whose sequence numbers are greater than the target sequence number into a second azimuth rotation value sequence.

[0082] Step S303: Classify and correct 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 a pitch angle correction value sequence and an azimuth angle correction value sequence.

[0083] 1. When the current azimuth rotation value is less than the preset rotation value;

[0084] Optionally, the first pitch angle rotation value sequence is processed using a first preset algorithm to obtain a first pitch angle processed value sequence, and 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.

[0085] The preset rotation value is a preset empirical value, and technicians can adjust the specific value of the preset rotation value according to actual conditions.

[0086] 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.

[0087] For example, let the pitch angle rotation value sequence be rotateEL, the azimuth angle rotation value sequence be rotateAZ, the pitch angle correction value sequence be procsEL, and the azimuth angle correction value sequence be 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.

[0088] The first azimuth rotation value sequence is processed using a second preset algorithm to obtain a first azimuth processed value sequence, and the first azimuth processed value sequence and the second azimuth rotation value sequence are combined to obtain an azimuth correction value sequence.

[0089] 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.

[0090] 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.

[0091] 2. When the current azimuth rotation value is not less than the preset rotation value;

[0092] The first pitch angle rotation value sequence is processed using a third preset algorithm to obtain a first pitch angle processed value sequence, and 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.

[0093] 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 processed value sequence.

[0094] For example, let the pitch angle rotation value sequence be rotateEL, the azimuth angle rotation value sequence be rotateAZ, the pitch angle correction value sequence be procsEL, and the azimuth angle correction value sequence be 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.

[0095] The first azimuth rotation value sequence is processed using a fourth preset algorithm to obtain a first azimuth processed value sequence, and the first azimuth processed value sequence and the second azimuth rotation value sequence are combined to obtain an azimuth correction value sequence.

[0096] 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.

[0097] 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.

[0098] Step S205: setting the output azimuth angle according to the change value of the azimuth angle correction value.

[0099] 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:

[0100] Step S401: extracting the current azimuth correction value at the current moment from the azimuth correction value sequence.

[0101] The current azimuth correction value refers to the azimuth correction value corresponding to the current period in the azimuth correction value sequence.

[0102] Step S402: Calculate the change value corresponding to the current azimuth correction value.

[0103] The change value in this step refers to the change in the current azimuth correction value per unit time.

[0104] Exemplarily, a plurality of candidate current azimuth correction values are selected from the azimuth correction value sequence based on the current time period. The difference between each adjacent candidate current azimuth correction value is calculated, and the calculated difference is then compared with the time difference between the adjacent candidate current azimuth correction values to obtain a candidate difference value. The average of the candidate differences is calculated to obtain a change value.

[0105] 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.

[0106] Step S403: Generate an output azimuth angle based on the change value, a preset lower limit of the change value, and a preset upper limit of the change value. The preset lower limit of the change value is the maximum speed of the motor in the gateway station rotating in the reverse direction, and the preset upper limit of the change value is the maximum speed of the motor in the gateway station rotating in the forward direction.

[0107] The preset lower limit of the change value is the maximum speed of the motor controlling the auxiliary axis when rotating in the reverse direction. The preset upper limit of the change value is the maximum speed of the motor controlling the auxiliary axis when rotating in the forward direction. Forward and reverse are preset directions. For example, forward rotation is clockwise rotation of the auxiliary axis around the main axis of the gateway station, and reverse rotation is counterclockwise rotation of the auxiliary axis around the main axis of the gateway station.

[0108] In some embodiments, the preset lower limit and the preset upper limit of the change value 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 upper limit of the change value is 8° / s and the preset lower limit of the change value is -8° / s.

[0109] If the change value is greater than the preset lower limit and less than the preset upper limit, it means that the auxiliary axis is able to rotate according to the azimuth change value. Therefore, the azimuth angular velocity is set to the change value. The output azimuth angle is calculated based on the change value.

[0110] If the change value is less than the preset lower limit, or greater than the preset upper limit, the auxiliary shaft cannot rotate according to the azimuth change value. Therefore, in this case, the azimuth difference is set to the preset lower limit, allowing the auxiliary shaft to rotate as much as possible within the preset lower limit. Therefore, the output auxiliary angle is set to the preset angle; the output azimuth angle is calculated based on the preset angle.

[0111] 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.

[0112] A rotation matrix is a mathematical tool used in linear algebra to describe spatial rotations. It rotates a vector or coordinate system by a specific angle around a specified axis while maintaining the length of the vector. In the embodiments of the present application, once the output azimuth angle, the pitch angle rotation value sequence, the azimuth angle rotation value sequence, and the pitch angle correction value sequence and azimuth angle correction value sequence have been determined, the output pitch angle and the output auxiliary angle can be obtained using this known information.

[0113] Step S207: adjusting the gateway by outputting the azimuth angle, the pitch angle, and the auxiliary angle.

[0114] For example, 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.

[0115] 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 above the gateway station, the gateway station can still lock the satellite and determine the satellite's position information, thus solving the problem of satellite flying over the top.

[0116] On the other hand, if there is no pitch angle theoretical value greater than the preset pitch angle threshold in the pitch angle theoretical value sequence, it means that the gateway station has not encountered a satellite over-the-top problem. In this case, there is no need to correct the pitch angle theoretical value sequence and the azimuth angle theoretical 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:

[0117] Step S501: Acquire a sequence of theoretical values of pitch angles and a sequence of theoretical values of azimuth angles.

[0118] 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.

[0119] Step S502: Processing the theoretical pitch angle value sequence and the theoretical azimuth angle value sequence according to the base posture to obtain a pitch angle rotation value sequence and an azimuth rotation value sequence.

[0120] Step S503: setting the output azimuth angle according to the change value of the azimuth angle rotation value.

[0121] 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.

[0122] 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.

[0123] For details on generating the output pitch angle and output auxiliary angle based on the rotation matrix, pitch angle rotation value sequence, and azimuth angle rotation value sequence, please refer to Figure 2 Step S206 of the illustrated embodiment will not be described in detail here.

[0124] Step S505: Adjust the gateway by outputting the azimuth angle, the elevation angle, and the auxiliary angle.

[0125] By outputting the azimuth angle, pitch angle and auxiliary angle, you can refer to the specific content of adjusting the signal gateway. Figure 2 Step S207 of the illustrated embodiment will not be described in detail here.

[0126] 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, and any satellite can be locked under the premise that the motor speed of the gateway station is limited.

[0127] This embodiment of the present application discloses a third method for locking satellites for a gateway station. The method includes:

[0128] Step S1: Obtain a sequence of theoretical elevation angle values theoryEL and a sequence of theoretical azimuth angle values theoryAZ.

[0129] 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.

[0130] Step S3: Determine whether there is an angle in theoryEL that is greater than a preset pitch angle threshold.

[0131] Step S4: If yes, the serial number of the angle greater than the preset pitch angle threshold is recorded as nMax_EL.

[0132] Step S5: Determine whether rotateAZ[0] is less than π.

[0133] If yes, execute steps S6 to S7;

[0134] If not, execute steps S8 to S9.

[0135] rotateAZ[0] refers to the angle value corresponding to the current moment in the azimuth rotation value sequence rotateAZ.

[0136] Step S6: Perform the first processing on rotateEL and rotateAZ whose sequence numbers are less than or equal to nMax_EL.

[0137] 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.

[0138] Step S7: Perform the second processing on rotateEL and rotateAZ whose sequence numbers are greater than nMax_EL.

[0139] The second process includes: for rotateEL and rotateAZ whose sequence numbers are greater than nMax_EL, calculating procsAZ=rotateAZ and procsEL=rotateEL.

[0140] Step S8: Perform the third processing on rotateEL and rotateAZ whose sequence numbers are less than or equal to nMax_EL.

[0141] 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.

[0142] Step S9: Perform the fourth processing on rotateEL and rotateAZ whose sequence numbers are greater than nMax_EL.

[0143] The fourth process includes: for rotateEL and rotateAZ whose sequence numbers are greater than nMax_EL, calculating procsAZ=rotateAZ and procsEL=rotateEL.

[0144] Step S10: Obtain procsEL and procsAZ based on the processed rotateEL and rotateAZ.

[0145] Step S11: Calculate deltaAZ based on the difference of procsAZ.

[0146] Step S12: Determine whether deltaAZ is less than a preset lower limit of the change value, or greater than a preset upper limit of the change value.

[0147] If yes, proceed to step S13;

[0148] If not, execute step S14.

[0149] Step S13: If yes, set the output auxiliary angle outputC of the auxiliary axis to 0.

[0150] Step S14: If not, setting deltaAZ to the preset lower limit of the change value or the preset upper limit of the change value.

[0151] Step S15: Calculate the output azimuth angle outputAZ according to the output auxiliary angle or deltaAZ.

[0152] If step S13 is executed, the output azimuth angle outputAZ is calculated according to the output auxiliary angle.

[0153] If step S14 is executed, the output azimuth angle outputAZ is calculated according to deltaAZ.

[0154] Step S16: Solve the known quantities in the above steps through the rotation matrix to obtain outputAZ, output elevation angle outputEL and outputC.

[0155] 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:

[0156] An acquisition module 601 is configured to acquire a sequence of theoretical pitch angle values and a sequence of theoretical azimuth angle values;

[0157] Memory 602, used to store the program of the satellite locking method for the gateway station;

[0158] 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.

[0159] 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 above the gateway station, the gateway station can still lock the satellite and determine the satellite's position information, thus solving the problem of satellite flying over the top.

[0160] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0161] An embodiment of the present application provides a computer-readable storage medium storing a computer program capable of being loaded and executed by a processor for a star-locking method for a gateway station.

[0162] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0163] 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.

[0164] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0165] The above are all preferred embodiments of the present application and are not intended to limit the scope of protection of this application. Unless otherwise specified, any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features. In other words, unless otherwise specified, each feature is merely 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 a case where a pitch angle rotation value exists in the pitch angle rotation value sequence and is greater than a preset pitch angle threshold, determining a target sequence number corresponding to the pitch angle rotation value greater than the preset pitch angle threshold; 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; According to the change of the azimuth correction value, the output azimuth is set; 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, wherein the output auxiliary angle is a rotation angle of an auxiliary axis in the gateway, and the auxiliary axis is provided at an end of the gateway; Adjusting the gateway station by the output azimuth angle, the output elevation angle and the output auxiliary angle; The processing, based on the target sequence number, of the pitch angle rotation value sequence and the azimuth angle rotation value sequence to obtain a pitch angle correction value sequence and an azimuth angle correction value sequence includes: classifying, in the pitch angle rotation value sequence, pitch angle rotation values having sequence numbers not greater than the target sequence number into a first pitch angle rotation value sequence, and classifying, in the azimuth angle rotation value sequence, azimuth angle rotation values having sequence numbers not greater than the target sequence number into a first azimuth angle rotation value sequence, and classifying, in the azimuth angle rotation value sequence, azimuth angle rotation values having sequence numbers greater than the target sequence number into a second azimuth angle rotation value sequence; and classifying and correcting, based on the current azimuth angle rotation value, 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 to obtain the pitch angle correction value sequence and the azimuth angle correction value sequence; The method comprises: 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, including: when the current azimuth angle 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; using a second preset algorithm to process the first azimuth angle rotation value sequence to obtain a first azimuth angle processed value sequence. a sequence of azimuth processing values; combining the first azimuth processing value sequence and the second azimuth rotation value sequence to obtain the azimuth correction value sequence; using a third preset algorithm to process the first pitch angle rotation value sequence when the current azimuth rotation value is not less than a preset rotation value 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; using a fourth preset algorithm to process the first azimuth rotation value sequence 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; The processing of the first pitch angle rotation value sequence using a first preset algorithm to obtain a first processed pitch angle 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 processed pitch angle value sequence, wherein the preset correction value is π. The processing of the first azimuth angle rotation value sequence using a second preset algorithm to obtain a first processed azimuth angle value sequence includes: sequentially calculating the sum of the preset correction value and each azimuth angle rotation value in the first azimuth angle rotation value sequence to obtain the first processed azimuth angle value sequence. The processing of the first pitch angle rotation value sequence using a third preset algorithm to obtain a first processed pitch angle 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 processed pitch angle value sequence. The processing of the first azimuth angle rotation value sequence using a fourth preset algorithm to obtain a first processed azimuth angle value sequence includes: sequentially calculating the difference between each azimuth angle rotation value in the first azimuth angle rotation value sequence and the preset correction value to obtain the first processed azimuth angle value sequence. The step of setting the output azimuth angle according to the change value of the azimuth angle correction value includes: extracting a current azimuth angle correction value at a current moment from the azimuth angle correction value sequence; calculating a change value corresponding to the current azimuth angle correction value; and generating the 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 a maximum speed of a motor in the gateway station rotating in a reverse direction, and the preset change value upper limit is a maximum speed of a motor in the gateway station rotating in a forward direction.

2. The satellite locking method for a gateway station according to claim 1, 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 angle 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 angle is calculated based on the preset angle.

3. 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 according to any one of claims 1 to 2, and the system includes: 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 for storing a program for 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.

4. 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 2.

5. 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 2.

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