Antenna attitude compensation method and system of satellite ground station

Abstract

The invention discloses an antenna attitude compensation method and system for a satellite ground station, and the method comprises the steps: obtaining and analyzing the positioning signal data of the satellite ground station, and obtaining a signal quality index; if the signal quality index is greater than a preset signal quality index threshold, analyzing environmental data of an area to which the antenna belongs to obtain an environmental influence index; determining attitude reference data corresponding to an area environment to which the antenna belongs according to the environment influence index; performing attitude monitoring on a target antenna in an area to which the antenna belongs to obtain antenna attitude data; obtaining an antenna attitude deviation index of the target antenna according to the antenna attitude data and the attitude reference data; and performing attitude compensation on the target antenna according to the antenna attitude deviation index and a preset antenna attitude deviation index threshold. The accuracy of the positioning signal parameter can be determined according to the signal quality index, and the risk of satellite communication interruption or satellite communication quality reduction caused by positioning errors is reduced.

Description

Technical Field

[0001] The present invention relates to the field of satellite positioning technology, and in particular to an antenna attitude compensation method and system for a satellite ground station. Background Art

[0002] Satellite antenna attitude compensation refers to the real-time adjustment of the position and direction of the satellite antenna through certain technical means and equipment to offset the changes in the antenna attitude caused by various factors (such as carrier movement, environmental interference, etc.) to ensure that the antenna can continuously, stably and accurately aim at the satellite target. In the field of satellite communication technology, satellite antenna attitude compensation is a crucial link, which is directly related to the stability and reliability of satellite communication. With the continuous development of satellite communication technology, the accuracy requirements for antenna attitude are also getting higher and higher. However, the existing satellite antenna attitude automatic compensation system is highly dependent on the accuracy of satellite positioning signals. If the satellite positioning is inaccurate and incorrect satellite positioning data is obtained, the accuracy of the antenna pointing will be affected, thereby affecting the stability and reliability of satellite communication. Summary of the invention

[0003] The present invention provides an antenna attitude compensation method and system for a satellite ground station. Based on real-time attitude monitoring of the antenna, potential antenna attitude deviations can be discovered and corrected in a timely manner, ensuring that the antenna always points to the correct satellite direction, reducing the risk of communication interruption or quality degradation due to attitude errors, and improving the stability and reliability of satellite communications.

[0004] In order to achieve the above object, an embodiment of the present invention provides an antenna attitude compensation method for a satellite ground station, comprising: Acquire positioning signal data of a satellite ground station, analyze the positioning signal data, and obtain a signal quality index of the satellite ground station; If the signal quality index is greater than a preset signal quality index threshold, then obtaining environmental data of the area to which the antenna of the satellite ground station belongs; analyzing the environmental data to obtain an environmental impact index of the environmental data; and determining attitude reference data corresponding to the environment of the area to which the antenna belongs according to the environmental impact index; Performing attitude monitoring on a target antenna in the area to which the antenna belongs to obtain antenna attitude data of the target antenna; obtaining an antenna attitude deviation index of the target antenna according to the antenna attitude data and the attitude reference data; Performing attitude compensation on the target antenna according to the antenna attitude deviation index and a preset antenna attitude deviation index threshold.

[0005] As an improvement of the above solution, the acquiring of positioning signal data of a satellite ground station, analyzing the positioning signal data, and obtaining a signal quality index of the satellite ground station includes: Acquire positioning signal data of a satellite ground station and the maximum electromagnetic interference intensity of an area to which the positioning signal of the satellite ground station belongs; Analyze the positioning signal data according to the maximum electromagnetic interference intensity to obtain a signal quality index of the satellite ground station; The positioning signal data includes the average pseudorange, minimum signal strength and average carrier phase of the positioning signal of the satellite ground station within a detection period.

[0006] As an improvement of the above solution, the environmental data includes the total area of ​​the area to which the antenna belongs, the total shielding area, the maximum wind speed, the average air pressure and the maximum electromagnetic interference intensity; The antenna attitude data includes an average azimuth angle, an average upward angle, an average downward angle, and an average vibration frequency of the target antenna during an operation cycle.

[0007] As an improvement of the above solution, the environmental data is analyzed to obtain an environmental impact index of the environmental data, including: Obtaining a shielding rate of the area to which the antenna belongs according to the total area and the total shielding area; An environmental impact index of the environmental data is obtained according to the shielding rate, and the maximum wind speed, the average air pressure and the maximum electromagnetic interference intensity in the environmental data.

[0008] As an improvement of the above solution, the step of determining the attitude reference data corresponding to the environment of the area to which the antenna belongs according to the environmental impact index includes: Matching the environmental impact index with the environmental impact index interval in a preset posture compensation database to obtain posture reference data corresponding to the environmental impact index; wherein the preset posture compensation database is provided with several groups of posture reference data corresponding to the environmental impact index intervals; The corresponding attitude reference data is used as attitude reference data corresponding to the regional environment to which the antenna belongs; wherein the attitude reference data includes a reference azimuth, a reference upward angle, a reference downward angle and a reference vibration frequency.

[0009] As an improvement of the above solution, the performing attitude compensation on the target antenna according to the antenna attitude deviation index and a preset antenna attitude deviation index threshold includes: If the antenna attitude deviation index is greater than a preset antenna attitude deviation index threshold, performing attitude compensation on the target antenna; If the antenna attitude deviation index is less than or equal to the preset antenna attitude deviation index threshold, no attitude compensation is performed on the target antenna.

[0010] As an improvement of the above solution, after obtaining the signal quality index of the satellite ground station, the method further includes: If the signal quality index is not greater than the preset signal quality index threshold, an early warning prompt is issued for the positioning signal of the satellite ground station.

[0011] As an improvement of the above solution, the early warning prompt includes: The satellite ground station's positioning signal's average pseudorange warning prompt and signal minimum strength warning prompt within the detection period.

[0012] In order to achieve the above object, an embodiment of the present invention provides an antenna attitude compensation system for a satellite ground station, comprising: A signal data acquisition module is used to acquire positioning signal data of a satellite ground station, analyze the positioning signal data, and obtain a signal quality index of the satellite ground station; A reference attitude determination module is used to obtain environmental data of the area to which the antenna of the satellite ground station belongs if the signal quality index is greater than a preset signal quality index threshold; analyze the environmental data to obtain an environmental impact index of the environmental data; and determine attitude reference data corresponding to the environment of the area to which the antenna belongs according to the environmental impact index; A deviation index obtaining module is used to perform attitude monitoring on a target antenna in the area to which the antenna belongs, and obtain antenna attitude data of the target antenna; and obtain an antenna attitude deviation index of the target antenna according to the antenna attitude data and the attitude reference data; The antenna attitude compensation module is used to perform attitude compensation on the target antenna according to the antenna attitude deviation index and a preset antenna attitude deviation index threshold.

[0013] As an improvement of the above solution, the signal data acquisition module includes: Acquire positioning signal data of a satellite ground station and the maximum electromagnetic interference intensity of an area to which the positioning signal of the satellite ground station belongs; Analyze the positioning signal data according to the maximum electromagnetic interference intensity to obtain a signal quality index of the satellite ground station; The positioning signal data includes the average pseudorange, minimum signal strength and average carrier phase of the positioning signal of the satellite ground station within a detection period.

[0014] Compared with the prior art, an embodiment of the present invention discloses a method and system for compensating the antenna attitude of a satellite ground station. The method and system obtain positioning signal data of the satellite ground station, analyze the positioning signal data, and obtain a signal quality index of the satellite ground station. If the signal quality index is greater than a preset signal quality index threshold, environmental data of the area to which the antenna of the satellite ground station belongs is obtained. The environmental data is analyzed to obtain an environmental impact index of the environmental data. According to the environmental impact index, attitude reference data corresponding to the environment of the area to which the antenna belongs is determined. Attitude monitoring is performed on a target antenna in the area to which the antenna belongs to obtain antenna attitude data of the target antenna. According to the antenna attitude data and the attitude reference data, an antenna attitude deviation index of the target antenna is obtained. According to the antenna attitude deviation index and a preset antenna attitude deviation index threshold, attitude compensation is performed on the target antenna. It can determine the accuracy of positioning signal parameters based on the signal quality index, reducing the risk of satellite communication interruption or degradation of satellite communication quality due to positioning errors; by analyzing the environment of the area to which the antenna belongs, it ensures that the adjustment of the antenna attitude is based on real-time and accurate environmental data, thereby improving the accuracy of antenna attitude adjustment; real-time attitude monitoring of the antenna can promptly detect and correct potential antenna attitude deviations, ensuring that the antenna always points in the correct satellite direction, reducing the risk of communication interruption or degradation due to attitude errors, and improving the stability and reliability of satellite communications. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a flow chart of a method for antenna attitude compensation of a satellite ground station provided by an embodiment of the present invention; Figure 2 An antenna posture plane diagram provided by an embodiment of the present invention; Figure 3 It is a structural schematic diagram of an antenna attitude compensation system for a satellite ground station provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] It should be noted that the terms "comprises" and "specifically" and any variations of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0018] See also Figure 1 , Figure 1 1 is a flow chart of a method for compensating an antenna attitude of a satellite ground station provided by an embodiment of the present invention. The method for compensating an antenna attitude of a satellite ground station includes: S1, acquiring positioning signal data of a satellite ground station, analyzing the positioning signal data, and obtaining a signal quality index of the satellite ground station; S2, if the signal quality index is greater than a preset signal quality index threshold, obtaining environmental data of the area to which the antenna of the satellite ground station belongs; analyzing the environmental data to obtain an environmental impact index of the environmental data; and determining attitude reference data corresponding to the environment of the area to which the antenna belongs according to the environmental impact index; S3, performing attitude monitoring on a target antenna in the area to which the antenna belongs to obtain antenna attitude data of the target antenna; and obtaining an antenna attitude deviation index of the target antenna according to the antenna attitude data and the attitude reference data; S4, performing attitude compensation on the target antenna according to the antenna attitude deviation index and a preset antenna attitude deviation index threshold.

[0019] Exemplarily, the antenna attitude compensation method of the satellite ground station described in the embodiment of the present invention can be implemented by an antenna management server, and the antenna management server can interact with the user. The antenna management server detects the positioning signal of the satellite ground station to obtain the positioning signal data of the satellite ground station; analyzes the positioning signal data (e.g., analyzes the interference or attenuation of the signal during the propagation process) to obtain the signal quality index of the satellite ground station, compares the signal quality index with the preset signal quality index threshold, and if the signal quality index is greater than the preset signal quality index threshold, then the environment of the area to which the antenna of the satellite ground station belongs is monitored in real time to obtain the environmental data of the area to which the antenna belongs, and the real-time attitude of the target antenna corresponding to the area to which the antenna belongs is monitored to obtain the antenna attitude data of the target antenna; analyzes the environmental data to obtain the environmental impact index of the environmental data; determines the attitude reference data corresponding to the environment of the area to which the antenna belongs according to the environmental impact index; compares the antenna attitude data with the attitude reference data to obtain the antenna attitude deviation index of the target antenna, and if the antenna attitude deviation index is greater than the preset antenna attitude deviation index threshold, the target antenna is attitude compensated, otherwise, the target antenna does not need to be attitude compensated. It can determine the accuracy of positioning signal parameters based on the signal quality index, reducing the risk of satellite communication interruption or degradation of satellite communication quality due to positioning errors; by analyzing the environment of the area to which the antenna belongs, it ensures that the adjustment of the antenna attitude is based on real-time and accurate environmental data, thereby improving the accuracy of antenna attitude adjustment; real-time attitude monitoring of the antenna can promptly detect and correct potential antenna attitude deviations, ensuring that the antenna always points in the correct satellite direction, reducing the risk of communication interruption or degradation due to attitude errors, and improving the stability and reliability of satellite communications.

[0020] Specifically, the step S1 includes: S11, obtaining positioning signal data of a satellite ground station and a maximum electromagnetic interference intensity of an area to which the positioning signal of the satellite ground station belongs; S12, analyzing the positioning signal data according to the maximum electromagnetic interference intensity to obtain a signal quality index of the satellite ground station; The positioning signal data includes the average pseudorange, minimum signal strength and average carrier phase of the positioning signal of the satellite ground station within a detection period.

[0021] Exemplarily, the positioning signal data of the satellite ground station and the maximum electromagnetic interference intensity of the area to which the positioning signal of the satellite ground station belongs are obtained; according to the maximum electromagnetic interference intensity, the average pseudorange, the minimum signal strength and the average carrier phase of the positioning signal of the satellite ground station within the detection period are comprehensively analyzed to obtain the signal quality index of the satellite ground station; wherein the expression of the signal quality index is: ; In the formula, is the signal quality index, is a natural constant, is the average pseudorange of the positioning signal of the satellite ground station during the detection period, which refers to the average distance that the satellite signal travels from being transmitted by the satellite to being received by the ground station receiver during the detection period; A preset reference pseudorange, which refers to a pseudorange value pre-calculated under specific conditions (such as standard atmospheric conditions, interference-free environment, etc.) and stored in a preset attitude compensation database; is the minimum signal strength of the positioning signal of the satellite ground station during the detection period, which refers to the minimum value of the signal strength from the satellite received by the satellite ground station during the detection period; The preset signal strength limit value refers to a signal strength threshold value preset in a preset attitude compensation database; is the average carrier phase of the positioning signal of the satellite ground station during the detection period, which refers to the average value of the relative phase change value of the carrier signal measured and recorded by the receiver during the detection period; The influence factor corresponding to the preset average carrier phase unit value can be directly obtained from the preset attitude compensation database. The corresponding relationship can be a preset mapping relationship. For example, a mapping set is formed according to the historical average carrier phase and the influence factor corresponding to the average carrier phase unit value, and the real-time average carrier phase is input into the mapping set to obtain the influence factor corresponding to the average carrier phase unit value. The mapping relationship can be one-to-one or many-to-one, and the value range can be [0, 1]; is the maximum electromagnetic interference intensity of the area to which the positioning signal belongs, which refers to the most serious electromagnetic interference level encountered by the positioning signal during the detection period; The influence factor corresponding to the maximum electromagnetic interference intensity unit value of the area to which the positioning signal belongs can be preset. The influence factor corresponding to the maximum electromagnetic interference intensity unit value of the area to which the positioning signal belongs can be directly obtained from the preset attitude compensation database, and the corresponding relationship can be a preset mapping relationship. For example, a mapping set is formed according to the historical maximum electromagnetic interference intensity and the influence factor corresponding to the maximum electromagnetic interference intensity unit value of the area to which the positioning signal belongs, and the real-time maximum electromagnetic interference intensity is input into the mapping set to obtain the influence factor corresponding to the maximum electromagnetic interference intensity unit value of the area to which the positioning signal belongs. The mapping relationship can be one-to-one or many-to-one, and its value range is [0, 1].

[0022] It is worth noting that the average pseudorange of the satellite ground station's positioning signal during the detection period is obtained by recording the time when the receiver receives the signal and the time when the satellite transmits the signal, calculating the time difference between the two, and obtaining the signal propagation time. The propagation time is multiplied by the speed of light to obtain the geometric distance between the receiver and the satellite, that is, the pseudorange, and multiple measurements are performed to find the average value to obtain the average pseudorange; the minimum signal strength is obtained by using a signal strength monitoring device to continuously track and record the received signal strength during the detection period, and find the lowest value from all recorded signal strength values, which is the minimum signal strength; the average carrier phase can be obtained by the receiver using a phase-locked loop (PLL) to monitor the carrier after capturing the satellite signal. The carrier phase is accurately tracked, and the carrier phase observation can be obtained by continuously measuring and recording the change value of the carrier phase. The carrier phase observation value is solved by using a specific algorithm (such as the least squares method, Kalman filtering, etc.), and the average carrier phase is finally obtained by solving and taking the average value; the maximum electromagnetic interference intensity of the area to which the positioning signal belongs can be measured by using professional electromagnetic radiation measuring instruments, such as a spectrum analyzer, an electromagnetic field strength meter, etc., which can directly measure and record the electromagnetic interference intensity of the area to which the positioning signal belongs, thereby obtaining the maximum electromagnetic interference intensity of the area to which the positioning signal belongs; in an embodiment of the present invention, the detection period is a time period for randomly arranging and detecting the positioning signal of the satellite ground station.

[0023] In a specific embodiment, when the average pseudorange of the positioning signal of the satellite ground station within the detection period is greater than the preset reference pseudorange, it means that the signal has been subjected to more interference or attenuation during the propagation process, which will reduce the reliability of the positioning signal. Larger pseudorange errors require longer time to correct and calibrate, which will lead to increased positioning signal delay; when the average carrier phase is lower, it means that the synchronization between the received signal and the signal transmitted by the satellite is poor, which will cause a large deviation between the calculated satellite position information and the actual position, thereby directly affecting the accuracy of the antenna pointing and causing satellite communication interruption; when the signal strength is lower than the preset signal strength limit value, it means that the signal The signal may be subject to significant interference or attenuation during transmission, which may be caused by environmental factors (such as weather changes, building obstructions, etc.) or equipment failure, resulting in a large difference between the received signal and the actual transmitted signal, thereby affecting the accuracy of satellite positioning; when the maximum electromagnetic interference intensity in the area where the positioning signal belongs is large, strong electromagnetic interference may cause positioning signal distortion, interruption or delay, thereby affecting the satellite positioning accuracy and reliability. Therefore, by analyzing the various parameters of the signal quality index, the positioning signal anomalies or fluctuations can be discovered in time, and corresponding measures can be taken to adjust and optimize it, thereby enhancing the stability of the signal and improving the quality of satellite communications.

[0024] It is understandable that there is a close connection and influence between the maximum electromagnetic interference intensity of the area to which the positioning signal belongs and the average pseudorange, minimum signal intensity and average carrier phase of the positioning signal of the satellite ground station during the detection period. Strong electromagnetic interference may cause distortion, interruption or delay of the positioning signal, thereby affecting the distance measurement between the receiver and each satellite, which will cause deviations in the calculated average pseudorange. Electromagnetic interference is one of the important factors affecting signal strength. When the electromagnetic interference intensity is large, the positioning signal may be severely attenuated and interfered, resulting in a decrease in the minimum signal intensity. The decrease in the minimum signal intensity means that the signal quality deteriorates and the interference received during the transmission process increases, which will directly affect the stability and reliability of the positioning signal. Due to the presence of electromagnetic interference, the carrier signal may experience phase shift or jitter, resulting in errors in the calculated average carrier phase. This error will further affect the accuracy and reliability of the positioning signal.

[0025] For example, the preset reference pseudorange is set to 2000 meters, the preset signal strength limit value is set to 90 decibel milliwatts, the impact factor corresponding to the preset average carrier phase unit value is 0.3, and the impact factor corresponding to the maximum electromagnetic interference intensity unit value of the area to which the positioning signal belongs is preset to 0.2. From this, the relationship between the signal quality index and each parameter can be obtained, as shown in Table 1.

[0026] Table 1 Signal quality index table By observing the data in the signal quality index table in Table 1, it is found that the signal quality index data will change with the changes in the maximum electromagnetic interference intensity, the average pseudorange, the minimum signal strength and the average carrier phase. When the average pseudorange is greater than the preset reference pseudorange, the smaller the signal quality index is, and when the minimum signal strength is greater than the preset signal strength limit value, the larger the signal quality index is.

[0027] Specifically, the environmental data includes the total area of ​​the area to which the antenna belongs, the total shielding area, the maximum wind speed, the average air pressure, and the maximum electromagnetic interference intensity; The antenna attitude data includes an average azimuth angle, an average upward angle, an average downward angle, and an average vibration frequency of the target antenna during an operation cycle.

[0028] It is worth noting that the area to which the antenna belongs refers to the surrounding environment where the antenna is located, including the area, shielding conditions, climatic conditions (such as wind speed and air pressure) and electromagnetic interference intensity of the area, all of which may affect the quality of the antenna's reception or transmission of signals, while the area to which the positioning signal belongs refers to the geographical area covered by signals sent by satellites or other positioning systems. In this area, positioning signals can be received and used to locate the position. The area to which the antenna belongs includes the area to which the positioning signal belongs, and the quality of the antenna's reception or transmission of signals will be affected by the positioning signal; the total area of ​​the area to which the antenna belongs is obtained by accurately measuring the total area of ​​the area where the antenna is located through geographic information system (GIS) tools; the total shielding area is evaluated by using drones for aerial photography to obtain the total shielding area; the maximum wind speed is obtained by directly measuring at a specific location by installing an anemometer; the average air pressure is obtained by real-time monitoring by a barometer and averaging; the electromagnetic interference intensity is measured by a special electromagnetic field intensity meter, and the measured electromagnetic interference intensity is analyzed for the maximum value, thereby obtaining the maximum electromagnetic interference intensity.

[0029] It is understandable that there are complex interactions and influences between the total area of ​​the area to which the antenna belongs, the total shielding area, the maximum wind speed, the average air pressure and the maximum electromagnetic interference intensity. The total area refers to the total geographical area of ​​the area where the antenna is located, and the total shielding area refers to the total area of ​​obstacles such as buildings and trees in the area that may hinder the antenna signal. The higher the ratio of the total shielding area to the total area, the more shielding the antenna is subject to, which may lead to signal attenuation or increased multipath effects; shielding objects will block or reflect electromagnetic waves, thereby reducing the impact of electromagnetic interference in some cases. However, if the shielding object itself is an electromagnetic emission source, then it may increase the intensity of electromagnetic interference; the maximum wind speed is usually affected by weather systems and terrain, which also affect air pressure. For example, strong winds are often accompanied by low pressure systems, especially during storms or typhoons; strong winds may affect the propagation path of electromagnetic waves, resulting in changes in electromagnetic interference patterns. In addition, increased wind speed may bring more dust and particulate matter, which may also become a source of electromagnetic interference.

[0030] like Figure 2 As shown, Figure 2 An antenna posture plane diagram provided by an embodiment of the present invention, Figure 2 In the figure, angle 1 is the azimuth, angle 2 is the elevation angle, angle 3 is the downward angle, X represents the horizontal direction, Y represents the vertical direction, a represents the direction of the target satellite, and B represents the location of the antenna. Figure 2 The plan view of the antenna's azimuth, elevation angle and depression angle shows that the horizontal angle from the north direction line of the antenna position point to the target direction line in a clockwise direction is the azimuth, and the angle at which the antenna is tilted upward relative to the horizontal plane and the angle at which the antenna is tilted downward relative to the horizontal plane are the elevation angle and depression angle.

[0031] It can be understood that the average azimuth of the target antenna during the operation cycle can be measured multiple times in one operation cycle using a compass measuring tool, and the measurement is carried out in front of the antenna, with the North Pole pointing in the direction of the antenna. The horizontal angle between the north direction line of the antenna position point and the target direction line in a clockwise direction is the azimuth, and the average value is calculated to obtain the average azimuth; the average elevation angle and the average depression angle are measured multiple times in one operation cycle using measuring tools such as a slope meter, and the measurement is carried out on the side or back of the antenna to ensure that the measuring tool is close to the antenna surface, and the angle of the antenna's upward tilt relative to the horizontal plane and the angle of the horizontal plane's downward tilt are correctly read, that is, the elevation angle and the depression angle, and the average elevation angle and the depression angle are calculated to obtain the average elevation angle and the depression angle; the average vibration frequency is obtained by monitoring the vibration of the antenna in real time through a vibration sensor installed on the antenna; wherein the operation cycle is a specific time period randomly arranged according to the actual operation of the antenna, and during this time period, the posture of the antenna (azimuth, elevation angle, depression angle and vibration frequency) is continuously monitored and recorded.

[0032] Specifically, in step S2, analyzing the environmental data to obtain the environmental impact index of the environmental data includes: S21, obtaining a shielding rate of the area to which the antenna belongs according to the total area and the total shielding area; S22, obtaining an environmental impact index of the environmental data according to the shielding rate, and the maximum wind speed, average air pressure and maximum electromagnetic interference intensity in the environmental data.

[0033] Exemplarily, the expression of the environmental impact index is: , In the formula, is the environmental impact index; is the shielding rate of the area to which the antenna belongs, which refers to the ratio of the total shielding area to the total area; The influence factor corresponding to the preset occlusion rate unit value can be directly obtained from the preset posture compensation database. The corresponding relationship can be a preset mapping relationship. For example, a mapping set is formed according to the historical occlusion rate and the influence factor corresponding to the occlusion rate unit value, and the real-time occlusion rate is input into the mapping set to obtain the influence factor corresponding to the occlusion rate unit value. The mapping relationship can be one-to-one or many-to-one, and its value range is [0, 1]; is the maximum wind speed in the area to which the antenna belongs, which refers to the highest wind speed value occurring in the area to which the antenna belongs; The preset wind speed threshold refers to the specific wind speed critical value used to trigger or adjust the attitude compensation mechanism; The correction factor corresponding to the preset maximum wind speed can be directly obtained from the preset attitude compensation database. The corresponding relationship can be a preset mapping relationship. For example, a mapping set is formed according to the historical maximum wind speed and the correction factor corresponding to the maximum wind speed, and the real-time maximum wind speed is input into the mapping set to obtain the correction factor corresponding to the maximum wind speed. The mapping relationship can be one-to-one or many-to-one, and its value range is [0, 1]; is the average air pressure in the area to which the antenna belongs, which refers to the average value of the atmospheric pressure in the area to which the antenna belongs; The preset reference air pressure refers to the standard atmospheric pressure value used to calibrate and adjust the antenna attitude; The correction factor of the average air pressure is preset, and the correction factor of the average air pressure can be directly obtained from the attitude compensation database, and the corresponding relationship can be a preset mapping relationship. For example, a mapping set is formed according to the historical average air pressure and the correction factor of the average air pressure, and the real-time average air pressure is input into the mapping set to obtain the correction factor of the average air pressure. The mapping relationship can be a one-to-one correspondence or a many-to-one relationship, and its value range is [0, 1]; The maximum electromagnetic interference intensity of the area to which the antenna belongs refers to the most serious electromagnetic interference level encountered in the area to which the antenna belongs; The preset electromagnetic interference intensity threshold refers to the critical value of the electromagnetic interference signal intensity used to trigger the antenna attitude adjustment or protection mechanism; To preset the correction factor corresponding to the maximum electromagnetic interference intensity, the correction factor corresponding to the maximum electromagnetic interference intensity can be directly obtained from the preset attitude compensation database, and the corresponding relationship can be a preset mapping relationship. For example, a mapping set is formed according to the historical maximum electromagnetic interference intensity and the correction factor corresponding to the maximum electromagnetic interference intensity, and the real-time maximum electromagnetic interference intensity is input into the mapping set to obtain the correction factor corresponding to the maximum electromagnetic interference intensity. The mapping relationship can be one-to-one or many-to-one, and its value range is [0, 1].

[0034] In the embodiment of the present invention, when the shielding rate of the area to which the antenna belongs is high, more shielding objects will block the signal transmission path of the antenna, resulting in increased signal attenuation, which will affect the reception and transmission efficiency of the antenna and reduce the communication quality; when the maximum wind speed is greater than the preset wind speed threshold, strong wind will generate greater wind pressure on the antenna structure, increase the force on the antenna structure, and the strong wind may also cause the antenna to shake and deviate, resulting in reduced stability of the antenna pointing, which will affect the positioning accuracy and communication stability of the antenna; when the average air pressure is greater than the reference air pressure, the antenna structure may be subjected to greater pressure, increasing the risk of structural failure, and when the maximum electromagnetic interference intensity is greater than the electromagnetic interference intensity threshold, the electromagnetic interference will interfere with the signal reception and transmission of the antenna, resulting in reduced communication quality; when the electromagnetic interference intensity exceeds the threshold, the communication link may be seriously affected, and even cause communication interruption, and the electromagnetic interference will also increase the bit error rate in the communication process and reduce the reliability and accuracy of data transmission; therefore, by conducting a detailed analysis of each parameter in the environmental impact index to which the antenna belongs, targeted countermeasures can be formulated to improve the adaptability and robustness of the antenna system to different environmental conditions.

[0035] Specifically, in step S2, determining the attitude reference data corresponding to the regional environment to which the antenna belongs according to the environmental impact index includes: S23, matching the environmental impact index with the environmental impact index interval in a preset posture compensation database to obtain posture reference data corresponding to the environmental impact index; wherein the preset posture compensation database is provided with several groups of posture reference data corresponding to the environmental impact index intervals; S24, using the corresponding attitude reference data as attitude reference data corresponding to the regional environment to which the antenna belongs; wherein the attitude reference data includes a reference azimuth, a reference upward angle, a reference downward angle and a reference vibration frequency.

[0036] Exemplarily, the environmental impact index is matched with the attitude reference data corresponding to each environmental impact index interval in the preset attitude compensation database, thereby obtaining the attitude reference data corresponding to the antenna in the environment of the region to which it belongs. The reference attitude data of the target antenna is matched by the environmental impact index, mainly because environmental factors will have a significant impact on the performance and attitude of the antenna. These factors will cause the antenna to deviate during operation, thereby affecting the signal quality. In order to ensure the normal operation of the antenna and the quality of signal transmission, it is necessary to perform attitude compensation according to the environmental impact index. Specifically, different environmental conditions will cause the antenna to deviate or deform to different degrees, thereby affecting its communication performance. Therefore, in order to ensure that the antenna can maintain optimal performance under various environmental conditions, it is necessary to adjust the attitude of the antenna according to the environmental impact index; taking wind speed as an example, in the environment of the region to which the antenna belongs, when the wind speed is large, the antenna may be affected by the lateral force and the azimuth may deviate. Assuming that in a certain area, the wind speed is 10m / s, which may cause the antenna to deviate by 1 meter in azimuth. Since the wind speed is instantaneous, the antenna can adaptively adjust the attitude at this time, that is, adjust the azimuth to the correct angle to offset the influence of the wind speed and ensure the accuracy of the antenna pointing. It is worth noting that various thresholds, correction factors and attitude reference data corresponding to environmental impact index intervals are set in the preset attitude compensation database.

[0037] It is understandable that the preset attitude compensation database sets attitude reference data corresponding to different environmental impact indexes. By matching the environmental impact index monitored in real time with the data in the database, the optimal attitude reference data of the current antenna can be obtained. For example, the environmental impact index intervals of each antenna in the preset attitude compensation database are: less than 20, [20, 60) and greater than or equal to 60. These intervals are defined based on the environmental impact index of the historical antenna and consulting antenna attitude compensation experts to facilitate more accurate matching. The three intervals correspond to three attitude reference data respectively. The current environmental impact index obtained is interval matched. If the current environmental impact index is 35, the index falls within the interval of 20-60. The attitude reference data corresponding to the interval is extracted from the preset attitude compensation database. The attitude reference data is a reference azimuth of 10 degrees, a reference elevation angle of 5 degrees, a reference downward angle of 2 degrees, and a reference vibration frequency of 30 Hz.

[0038] In step S3, obtaining the antenna attitude deviation index of the target antenna according to the antenna attitude data and the attitude reference data includes: The average azimuth, average elevation angle, average downward angle, and average vibration frequency of the target antenna during the operation cycle are compared and analyzed with the reference azimuth, reference elevation angle, reference downward angle, and reference vibration frequency corresponding to the regional environment to which the antenna belongs, to obtain the antenna attitude deviation index of the target antenna; wherein the expression of the antenna attitude deviation index is: , In the formula, is the antenna attitude deviation index; is a natural constant; is the comparison relationship between the average azimuth and the reference azimuth, where , is the average azimuth of the target antenna during the operation period, which refers to the average value of the direction of the target antenna during the entire operation period. The reference azimuth angle corresponding to the environment of the area to which the antenna belongs is a reference angle used to optimize the antenna pointing under the environmental conditions of the area to which the antenna belongs. The correction factor corresponding to the preset average azimuth angle can be directly obtained from the preset attitude compensation database. The corresponding relationship can be a preset mapping relationship. For example, a mapping set is formed according to the historical average azimuth angle and the correction factor corresponding to the average azimuth angle, and the real-time average azimuth angle is input into the mapping set to obtain the correction factor corresponding to the average azimuth angle. The mapping relationship can be one-to-one or many-to-one, and its value range is [0, 1]; is the comparison between the average upward viewing angle and the reference upward viewing angle, where: , is the average elevation angle of the target antenna during the operation period, which refers to the average value of the vertical pointing direction (i.e., up and down direction) of the target antenna during the entire operation period. The reference elevation angle corresponding to the environment of the area where the antenna belongs is a reference angle used to calibrate or optimize the vertical pointing of the antenna under the environmental conditions of the area where the antenna belongs. The correction factor corresponding to the preset average upward viewing angle can be directly obtained from the preset attitude compensation database. The corresponding relationship can be a preset mapping relationship. For example, a mapping set is formed according to the historical average upward viewing angle and the correction factor corresponding to the average upward viewing angle, and the real-time average upward viewing angle is input into the mapping set to obtain the correction factor corresponding to the average upward viewing angle. The mapping relationship can be one-to-one or many-to-one, and the value range is [0, 1]; is the comparison between the average top-down angle and the reference top-down angle, where: , is the average downward angle of the target antenna during the operation period, which refers to the average value of the downward pointing direction of the target antenna (i.e. the angle downward from the horizontal plane) during the entire operation period. The reference angle of view corresponding to the environment of the area to which the antenna belongs is a reference angle used to calibrate or optimize the downward pointing direction of the antenna (i.e., the angle downward from the horizontal plane) under the environmental conditions of the area to which the antenna belongs; The correction factor corresponding to the preset average downward angle can be directly obtained from the preset attitude compensation database. The corresponding relationship can be a preset mapping relationship. For example, a mapping set is formed according to the historical average downward angle and the correction factor corresponding to the average downward angle, and the real-time average downward angle is input into the mapping set to obtain the correction factor corresponding to the average downward angle. The mapping relationship can be one-to-one or many-to-one, and the value range is [0, 1]; is the comparison relationship between the average vibration frequency and the reference vibration frequency, where , The average vibration frequency of the target antenna during the operation cycle refers to the average value or center point of the target antenna vibration frequency (i.e. the number of vibrations per unit time) during the entire operation period. The reference vibration frequency corresponding to the environment of the area where the antenna belongs is a reference value used to calibrate or optimize the frequency of antenna vibration (i.e., the number of vibrations per unit time) under the environmental conditions of the area where the antenna belongs; The correction factor corresponding to the preset average vibration frequency can be directly obtained from the preset posture compensation database, and the corresponding relationship can be a preset mapping relationship. For example, a mapping set is formed according to the historical average vibration frequency and the correction factor corresponding to the average vibration frequency, and the real-time average vibration frequency is input into the mapping set to obtain the correction factor corresponding to the average vibration frequency. The mapping relationship can be one-to-one or many-to-one, and its value range is [0, 1].

[0039] It can be understood that when the average azimuth angle deviates greatly from the reference azimuth angle of the antenna, the deviation of the azimuth angle will affect the signal reception and transmission direction of the antenna, resulting in a decrease in the quality of the communication link; when the average elevation angle deviates greatly from the reference elevation angle, the deviation of the elevation angle may cause the signal coverage range of the antenna to change, and it may not cover the expected satellite orbit, further affecting the stability of the communication link between the antenna and the satellite or ground station, which may cause communication interruption or quality degradation; when the average downward angle deviates greatly from the reference downward angle, the deviation of the downward angle may make the antenna more susceptible to interference from ground objects, reduce the accuracy of the antenna pointing, and thus affect the accuracy of communication; when the average vibration frequency is greater than the reference vibration frequency, the increase in the vibration frequency will cause frequent changes in the antenna position, thereby affecting the stability of the signal, and the vibration will cause frequent fluctuations in the antenna pointing, thereby reducing the positioning accuracy and reliability; therefore, by performing a detailed analysis of the various parameters of the antenna attitude deviation index, it is possible to timely discover abnormal changes in the antenna attitude, such as deviations in azimuth, elevation angle, downward angle, and increase in vibration frequency, etc., which can ensure the directionality of signal reception and transmission, thereby improving the stability and quality of the communication link.

[0040] In an embodiment of the present invention, by comparing the actual measurement value with the reference value, it is possible to intuitively evaluate whether the performance of the antenna meets expectations and whether there are any abnormalities or deviations. The attitude of the antenna directly affects the coverage and quality of the base station. Through comprehensive analysis, the attitude of the antenna can be discovered and adjusted in time, thereby optimizing network coverage and improving the quality of medium and low orbit satellite communications; the azimuth, elevation angle and downward angle jointly determine the direction and coverage of the antenna. The deviation of the azimuth may cause the antenna to point incorrectly, while the deviation of the elevation angle and downward angle may affect the coverage and signal strength. The vibration frequency reflects the stability of the antenna. Excessive vibration may cause slight changes in the antenna attitude, thereby affecting the accuracy of the azimuth, elevation angle and downward angle, thereby affecting the quality and stability of medium and low orbit satellite communications.

[0041] Specifically, the step S4 includes: S41, if the antenna attitude deviation index is greater than a preset antenna attitude deviation index threshold, performing attitude compensation on the target antenna; S42: If the antenna attitude deviation index is less than or equal to the preset antenna attitude deviation index threshold, no attitude compensation is performed on the target antenna.

[0042] Exemplarily, the antenna attitude deviation index is compared with a preset antenna attitude deviation index threshold. If the antenna attitude deviation index is greater than the preset antenna attitude deviation index threshold, it means that there is a significant difference or deviation between the actual attitude of the target antenna and its ideal or expected attitude. This deviation has exceeded the acceptable range. The attitude deviation of the antenna may cause its communication performance to deteriorate. The target antenna needs to be immediately compensated for its attitude to adjust the antenna attitude and restore its performance. The attitude compensation usually uses an attitude adjustment mechanism (such as a motor, a hydraulic cylinder, etc.) to accurately control the direction and angle of the antenna, so as to ensure that it can accurately align with the target satellite or base station and maintain stable communication performance. Through timely attitude compensation, the negative impact caused by the antenna attitude deviation can be effectively reduced, and the reliability and stability of the communication system can be improved. If the antenna attitude deviation index is less than or equal to the preset antenna attitude deviation index threshold, it means that the attitude deviation of the target antenna is within an acceptable range and will not affect the communication result. Therefore, in this case, there is no need to perform additional attitude compensation operations on the antenna. It should be noted that although attitude compensation is not required at this time, it is still necessary to regularly monitor the antenna attitude changes to ensure that the antenna attitude is continuously in a normal state.

[0043] Further, after obtaining the signal quality index of the satellite ground station, the method further includes: If the signal quality index is not greater than the preset signal quality index threshold, an early warning prompt is issued for the positioning signal of the satellite ground station.

[0044] Specifically, the early warning prompt includes: The satellite ground station's positioning signal's average pseudorange warning prompt and signal minimum strength warning prompt within the detection period.

[0045] Exemplarily, the specific warning prompt may be a warning prompt for the average pseudorange of the satellite ground station's positioning signal within the detection period, or a warning prompt for the minimum signal strength of the satellite ground station's positioning signal within the detection period. For example, when the signal quality index is greater than a preset signal quality index threshold, it means that the quality of the positioning signal is acceptable or good and can meet the current positioning requirements, and no warning prompt is required; when the signal quality index is less than or equal to the preset signal quality index threshold, it means that the quality of the positioning signal has dropped to an unacceptable level, which will affect the positioning accuracy and reliability of the satellite ground station. The specific warning prompt can be achieved by displaying a red warning icon on the monitoring screen and scrolling a warning message on the screen, such as "Positioning signal quality is low, please pay attention!" or "The average pseudorange value exceeds the threshold, please check the antenna attitude."

[0046] An embodiment of the present invention discloses an antenna attitude compensation method for a satellite ground station. The method comprises the following steps: acquiring positioning signal data of the satellite ground station, analyzing the positioning signal data, and obtaining a signal quality index of the satellite ground station; if the signal quality index is greater than a preset signal quality index threshold, obtaining environmental data of the area to which the antenna of the satellite ground station belongs; analyzing the environmental data, and obtaining an environmental impact index of the environmental data; determining attitude reference data corresponding to the environment of the area to which the antenna belongs according to the environmental impact index; performing attitude monitoring on a target antenna in the area to which the antenna belongs, and obtaining antenna attitude data of the target antenna; obtaining an antenna attitude deviation index of the target antenna according to the antenna attitude data and the attitude reference data; and performing attitude compensation on the target antenna according to the antenna attitude deviation index and a preset antenna attitude deviation index threshold. It can determine the accuracy of positioning signal parameters based on the signal quality index, reducing the risk of satellite communication interruption or degradation of satellite communication quality due to positioning errors; by analyzing the environment of the area to which the antenna belongs, it ensures that the adjustment of the antenna attitude is based on real-time and accurate environmental data, thereby improving the accuracy of antenna attitude adjustment; real-time attitude monitoring of the antenna can promptly detect and correct potential antenna attitude deviations, ensuring that the antenna always points in the correct satellite direction, reducing the risk of communication interruption or degradation due to attitude errors, and improving the stability and reliability of satellite communications.

[0047] See also Figure 3 , Figure 3 1 is a schematic diagram of the structure of an antenna attitude compensation system 10 for a satellite ground station provided by an embodiment of the present invention. The antenna attitude compensation system 10 for a satellite ground station includes: The signal data acquisition module 11 is used to acquire the positioning signal data of the satellite ground station, analyze the positioning signal data, and obtain the signal quality index of the satellite ground station; The reference attitude determination module 12 is used to obtain environmental data of the area to which the antenna of the satellite ground station belongs if the signal quality index is greater than a preset signal quality index threshold; analyze the environmental data to obtain an environmental impact index of the environmental data; and determine attitude reference data corresponding to the environment of the area to which the antenna belongs according to the environmental impact index; The deviation index obtaining module 13 is used to perform attitude monitoring on the target antenna in the area to which the antenna belongs, and obtain antenna attitude data of the target antenna; and obtain the antenna attitude deviation index of the target antenna according to the antenna attitude data and the attitude reference data; The antenna attitude compensation module 14 is used to perform attitude compensation on the target antenna according to the antenna attitude deviation index and a preset antenna attitude deviation index threshold.

[0048] Furthermore, the antenna attitude compensation system 10 of the satellite ground station also includes: The signal early warning prompt module is used to issue an early warning prompt for the positioning signal of the satellite ground station if the signal quality index is not greater than the preset signal quality index threshold.

[0049] Specifically, the signal data acquisition module 11 includes: Acquire positioning signal data of a satellite ground station and the maximum electromagnetic interference intensity of an area to which the positioning signal of the satellite ground station belongs; Analyze the positioning signal data according to the maximum electromagnetic interference intensity to obtain a signal quality index of the satellite ground station; The positioning signal data includes the average pseudorange, minimum signal strength and average carrier phase of the positioning signal of the satellite ground station within a detection period.

[0050] An antenna attitude compensation system 10 for a satellite ground station provided in an embodiment of the present invention can implement all processes of the antenna attitude compensation method for a satellite ground station in the above-mentioned embodiment. The functions of each module in the system and the technical effects achieved are respectively the same as the functions and technical effects achieved by the antenna attitude compensation method for a satellite ground station in the above-mentioned embodiment, and will not be repeated here.

[0051] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for compensating antenna attitude of a satellite ground station, characterized in that: include: Acquire positioning signal data of a satellite ground station, analyze the positioning signal data, and obtain a signal quality index of the satellite ground station; If the signal quality index is greater than a preset signal quality index threshold, obtaining environmental data of the area to which the antenna of the satellite ground station belongs; Analyze the environmental data to obtain an environmental impact index of the environmental data; determine attitude reference data corresponding to the environment of the area to which the antenna belongs according to the environmental impact index; Performing attitude monitoring on a target antenna in the area to which the antenna belongs to obtain antenna attitude data of the target antenna; Obtaining an antenna attitude deviation index of the target antenna according to the antenna attitude data and the attitude reference data; Performing attitude compensation on the target antenna according to the antenna attitude deviation index and a preset antenna attitude deviation index threshold.

2. The antenna attitude compensation method of a satellite ground station as claimed in claim 1, characterized in that: The acquiring positioning signal data of the satellite ground station and analyzing the positioning signal data to obtain the signal quality index of the satellite ground station includes: Acquire positioning signal data of a satellite ground station and the maximum electromagnetic interference intensity of an area to which the positioning signal of the satellite ground station belongs; Analyze the positioning signal data according to the maximum electromagnetic interference intensity to obtain a signal quality index of the satellite ground station; The positioning signal data includes the average pseudorange, minimum signal strength and average carrier phase of the positioning signal of the satellite ground station within a detection period.

3. The antenna attitude compensation method of a satellite ground station as claimed in claim 1, characterized in that: The environmental data includes the total area of ​​the area to which the antenna belongs, the total shielding area, the maximum wind speed, the average air pressure and the maximum electromagnetic interference intensity; The antenna attitude data includes an average azimuth angle, an average upward angle, an average downward angle, and an average vibration frequency of the target antenna during an operation cycle.

4. The antenna attitude compensation method of a satellite ground station as claimed in claim 3, characterized in that: The step of analyzing the environmental data to obtain an environmental impact index of the environmental data includes: Obtaining a shielding rate of the area to which the antenna belongs according to the total area and the total shielding area; An environmental impact index of the environmental data is obtained according to the shielding rate, and the maximum wind speed, the average air pressure and the maximum electromagnetic interference intensity in the environmental data.

5. The antenna attitude compensation method of a satellite ground station as claimed in claim 1, characterized in that: The step of determining, according to the environmental impact index, attitude reference data corresponding to the environment of the area to which the antenna belongs includes: Matching the environmental impact index with the environmental impact index interval in a preset posture compensation database to obtain posture reference data corresponding to the environmental impact index; wherein the preset posture compensation database is provided with several groups of posture reference data corresponding to the environmental impact index intervals; The corresponding attitude reference data is used as attitude reference data corresponding to the regional environment to which the antenna belongs; wherein the attitude reference data includes a reference azimuth, a reference upward angle, a reference downward angle and a reference vibration frequency.

6. The antenna attitude compensation method of a satellite ground station as claimed in claim 1, characterized in that: The performing attitude compensation on the target antenna according to the antenna attitude deviation index and a preset antenna attitude deviation index threshold comprises: If the antenna attitude deviation index is greater than a preset antenna attitude deviation index threshold, performing attitude compensation on the target antenna; If the antenna attitude deviation index is less than or equal to the preset antenna attitude deviation index threshold, no attitude compensation is performed on the target antenna.

7. The antenna attitude compensation method of a satellite ground station as claimed in claim 1, characterized in that: After obtaining the signal quality index of the satellite ground station, the method further includes: If the signal quality index is not greater than the preset signal quality index threshold, an early warning prompt is issued for the positioning signal of the satellite ground station.

8. The antenna attitude compensation method of a satellite ground station as claimed in claim 7, characterized in that: The early warning prompts include: The satellite ground station's positioning signal's average pseudorange warning prompt and signal minimum strength warning prompt within the detection period.

9. An antenna attitude compensation system for a satellite ground station, characterized in that: include: A signal data acquisition module is used to acquire positioning signal data of a satellite ground station, analyze the positioning signal data, and obtain a signal quality index of the satellite ground station; A reference attitude determination module is used to obtain environmental data of the area to which the antenna of the satellite ground station belongs if the signal quality index is greater than a preset signal quality index threshold; analyze the environmental data to obtain an environmental impact index of the environmental data; and determine attitude reference data corresponding to the environment of the area to which the antenna belongs according to the environmental impact index; A deviation index obtaining module, used for performing attitude monitoring on a target antenna in the area to which the antenna belongs, and obtaining antenna attitude data of the target antenna; Obtaining an antenna attitude deviation index of the target antenna according to the antenna attitude data and the attitude reference data; The antenna attitude compensation module is used to perform attitude compensation on the target antenna according to the antenna attitude deviation index and a preset antenna attitude deviation index threshold.

10. The antenna attitude compensation system of a satellite ground station as claimed in claim 9, characterized in that: The signal data acquisition module comprises: Acquire positioning signal data of a satellite ground station and the maximum electromagnetic interference intensity of an area to which the positioning signal of the satellite ground station belongs; Analyze the positioning signal data according to the maximum electromagnetic interference intensity to obtain a signal quality index of the satellite ground station; The positioning signal data includes the average pseudorange, minimum signal strength and average carrier phase of the positioning signal of the satellite ground station within a detection period.

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