Antenna Attitude Compensation Method and System for Satellite Ground Station

Abstract

The present invention discloses an antenna attitude compensation method and system for a satellite ground station. The method includes obtaining and analyzing positioning signal data of the satellite ground station to obtain a signal quality index; if the signal quality index is greater than a preset signal quality index threshold, analyzing environmental data of the area where the antenna is located to obtain an environmental impact index; determining attitude reference data corresponding to the environment of the area where the antenna is located according to the environmental impact index; monitoring the attitude of the target antenna in the area where the antenna is located 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. It is possible to determine the accuracy of positioning signal parameters according to the signal quality index, and reduce the risk of satellite communication interruption or satellite communication quality degradation caused by positioning errors.

Description

Technical Field

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

[0002] The attitude compensation of a satellite antenna refers to the real-time adjustment of the position and direction of the satellite antenna through certain technical means and equipment to offset the antenna attitude changes caused by various factors (such as carrier movement, environmental interference, etc.), ensuring that the antenna can continuously, stably, and accurately point to the satellite target. In the field of satellite communication technology, the attitude compensation of a satellite antenna is a crucial link, 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 highly depends on the accuracy of satellite positioning signals. If the satellite positioning is inaccurate and incorrect satellite positioning data is obtained, it will affect the accuracy of the antenna pointing, 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, which can timely detect and correct potential antenna attitude deviations based on the real-time attitude monitoring of the antenna, ensure that the antenna always points to the correct satellite direction, reduce the risk of communication interruption or quality degradation caused by attitude errors, and improve the stability and reliability of satellite communication.

[0004] To achieve the above object, an embodiment of the present invention provides an antenna attitude compensation method for a satellite ground station, including:

[0005] Obtaining the positioning signal data of the satellite ground station, analyzing the positioning signal data, and obtaining the signal quality index of the satellite ground station;

[0006] If the signal quality index is greater than a preset signal quality index threshold, obtaining the environmental data of the area where the antenna of the satellite ground station is located; analyzing the environmental data to obtain the environmental impact index of the environmental data; and determining the attitude reference data corresponding to the environment of the area where the antenna is located according to the environmental impact index;

[0007] Performing attitude monitoring on the target antenna in the area where the antenna is located to obtain the antenna attitude data of the target antenna; and obtaining the antenna attitude deviation index of the target antenna according to the antenna attitude data and the attitude reference data;

[0008] Performing attitude compensation on the target antenna according to the antenna attitude deviation index and a preset antenna attitude deviation index threshold.

[0009] As an improvement to the above solution, obtaining the positioning signal data of the satellite ground station, analyzing the positioning signal data, and obtaining the signal quality index of the satellite ground station includes:

[0010] Obtaining the positioning signal data of the satellite ground station and the maximum electromagnetic interference intensity in the area to which the positioning signal of the satellite ground station belongs;

[0011] Analyzing the positioning signal data according to the maximum electromagnetic interference intensity to obtain the signal quality index of the satellite ground station;

[0012] Among them, the positioning signal data includes the average pseudorange, the lowest signal intensity, and the average carrier phase of the positioning signal of the satellite ground station within the detection period.

[0013] As an improvement to the above solution, the environmental data includes the total area of the area to which the antenna belongs, the total occlusion area, the maximum wind speed, the average air pressure, and the maximum electromagnetic interference intensity;

[0014] The antenna attitude data includes the average azimuth angle, the average elevation angle, the average depression angle, and the average vibration frequency of the target antenna during the operation period.

[0015] As an improvement to the above solution, analyzing the environmental data to obtain the environmental impact index of the environmental data includes:

[0016] Obtaining the occlusion rate of the area to which the antenna belongs according to the total area and the total occlusion area;

[0017] Obtaining the environmental impact index of the environmental data according to the occlusion rate, as well as the maximum wind speed, the average air pressure, and the maximum electromagnetic interference intensity in the environmental data.

[0018] As an improvement to the above solution, determining the attitude reference data corresponding to the environment of the area to which the antenna belongs according to the environmental impact index includes:

[0019] Matching the environmental impact index with the environmental impact index intervals in the preset attitude compensation database to obtain the attitude reference data corresponding to the environmental impact index; among them, several groups of attitude reference data corresponding to the environmental impact index intervals are set in the preset attitude compensation database;

[0020] Taking the corresponding attitude reference data as the attitude reference data corresponding to the environment of the area to which the antenna belongs; among them, the attitude reference data includes the reference azimuth angle, the reference elevation angle, the reference depression angle, and the reference vibration frequency.

[0021] As an improvement to the above solution, compensating the attitude of the target antenna according to the antenna attitude deviation index and a preset antenna attitude deviation index threshold includes:

[0022] If the antenna attitude deviation index is greater than the preset antenna attitude deviation index threshold, perform attitude compensation on the target antenna;

[0023] If the antenna attitude deviation index is less than or equal to the preset antenna attitude deviation index threshold, do not perform attitude compensation on the target antenna.

[0024] As an improvement to the above solution, after obtaining the signal quality index of the satellite ground station, the method further includes:

[0025] If the signal quality index is not greater than the preset signal quality index threshold, give a warning prompt for the positioning signal of the satellite ground station.

[0026] As an improvement to the above solution, the warning prompt includes:

[0027] The average pseudorange warning prompt and the signal minimum strength warning prompt of the positioning signal of the satellite ground station within the detection period.

[0028] To achieve the above object, an embodiment of the present invention provides an antenna attitude compensation system for a satellite ground station, including:

[0029] A signal data acquisition module, configured 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;

[0030] A reference attitude determination module, configured to, if the signal quality index is greater than a preset signal quality index threshold, acquire environmental data of the area where the antenna of the satellite ground station is located; 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 where the antenna is located according to the environmental impact index;

[0031] A deviation index acquisition module, configured to perform attitude monitoring on a target antenna in the area where the antenna is located to 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;

[0032] An antenna attitude compensation module, configured to perform attitude compensation on the target antenna according to the antenna attitude deviation index and a preset antenna attitude deviation index threshold.

[0033] As an improvement to the above solution, the signal data acquisition module includes:

[0034] Obtain 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;

[0035] Analyze the positioning signal data according to the maximum electromagnetic interference intensity to obtain the signal quality index of the satellite ground station;

[0036] Wherein, the positioning signal data includes the average pseudorange, the lowest signal intensity, and the average carrier phase of the positioning signal of the satellite ground station within the detection period.

[0037] Compared with the prior art, an antenna attitude compensation method and system for a satellite ground station disclosed in an embodiment of the present invention obtain the positioning signal data of the satellite ground station, analyze the positioning signal data to obtain the signal quality index of the satellite ground station; if the signal quality index is greater than a preset signal quality index threshold, obtain the environmental data of the area to which the antenna of the satellite ground station belongs; analyze the environmental data to obtain the environmental impact index of the environmental data; determine the attitude reference data corresponding to the environment of the area to which the antenna belongs according to the environmental impact index; perform attitude monitoring on the target antenna in the area to which the antenna belongs to obtain the antenna attitude data of the target antenna; obtain the antenna attitude deviation index of the target antenna according to the antenna attitude data and the attitude reference data; perform 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 the positioning signal parameters according to the signal quality index, reduce the risk of satellite communication interruption or satellite communication quality degradation caused by positioning errors; ensure that the adjustment of the antenna attitude is based on real-time and accurate environmental data through the analysis of the environment of the area to which the antenna belongs, improving the accuracy of the antenna attitude adjustment; the real-time attitude monitoring of the antenna can timely detect and correct potential antenna attitude deviations, ensure that the antenna always points to the correct satellite direction, reduce the risk of communication interruption or quality degradation caused by attitude errors, and improve the stability and reliability of satellite communication. Description of the Drawings

[0038] Figure 1 is a schematic flowchart of an antenna attitude compensation method for a satellite ground station provided by an embodiment of the present invention;

[0039] Figure 2 is an antenna attitude plan view provided by an embodiment of the present invention;

[0040] Figure 3 is a schematic structural diagram of an antenna attitude compensation system for a satellite ground station provided by an embodiment of the present invention. Detailed Embodiments

[0041] Next, in combination with the accompanying drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0042] It should be noted that the terms "include" and "specific" in the present invention and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0043] Please refer to Figure 1 , Figure 1 which is a schematic flow chart of an antenna attitude compensation method for a satellite ground station provided by an embodiment of the present invention. The antenna attitude compensation method for the satellite ground station includes:

[0044] S1. Obtain 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;

[0045] S2. If the signal quality index is greater than a preset signal quality index threshold, obtain the environmental data of the area where the antenna of the satellite ground station is located; analyze the environmental data to obtain the environmental impact index of the environmental data; determine the attitude reference data corresponding to the environment of the area where the antenna is located according to the environmental impact index;

[0046] S3. Monitor the attitude of the target antenna in the area where the antenna is located to obtain the antenna attitude data of the target antenna; obtain the antenna attitude deviation index of the target antenna according to the antenna attitude data and the attitude reference data;

[0047] S4. Perform attitude compensation on the target antenna according to the antenna attitude deviation index and a preset antenna attitude deviation index threshold.

[0048] Exemplarily, the antenna attitude compensation method of the satellite ground station according to the embodiments of the present invention can be implemented by an antenna management server, which can interact with users for information. 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 (for example, analyzes the interference or attenuation suffered by the signal during propagation) to obtain the signal quality index of the satellite ground station, and compares the signal quality index with a preset signal quality index threshold. If the signal quality index is greater than the preset signal quality index threshold, it will perform real-time monitoring on the environment of the area where the antenna of the satellite ground station is located to obtain the environmental data of the area where the antenna is located, and monitor the real-time attitude of the target antenna corresponding to the area where the antenna is located to obtain the antenna attitude data of the target antenna; analyze the environmental data to obtain the environmental impact index of the environmental data; determine the attitude reference data corresponding to the environment of the area where the antenna is located according to the environmental impact index; compare the antenna attitude data with the attitude reference data to obtain the antenna attitude deviation index of the target antenna. If the antenna attitude deviation index is greater than the preset antenna attitude deviation index threshold, it will perform attitude compensation on the target antenna, otherwise, there is no need to perform attitude compensation on the target antenna. It can determine the accuracy of the positioning signal parameters according to the signal quality index, reduce the risk of satellite communication interruption or satellite communication quality degradation caused by positioning errors; ensure that the adjustment of the antenna attitude is based on real-time and accurate environmental data through the analysis of the environment of the area where the antenna is located, improving the accuracy of the antenna attitude adjustment; the real-time attitude monitoring of the antenna can timely detect and correct potential antenna attitude deviations, ensure that the antenna always points to the correct satellite direction, reduce the risk of communication interruption or quality degradation caused by attitude errors, and improve the stability and reliability of satellite communication.

[0049] Specifically, step S1 includes:

[0050] S11, obtain the positioning signal data of the satellite ground station and the maximum electromagnetic interference intensity of the area where the positioning signal of the satellite ground station is located;

[0051] S12, analyze the positioning signal data according to the maximum electromagnetic interference intensity to obtain the signal quality index of the satellite ground station;

[0052] Among them, the positioning signal data includes the average pseudorange, the lowest signal intensity, and the average carrier phase of the positioning signal of the satellite ground station within the detection period.

[0053] Exemplarily, obtain 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; comprehensively analyze the average pseudorange, the lowest signal intensity, and the average carrier phase of the positioning signal of the satellite ground station within the detection period according to the maximum electromagnetic interference intensity to obtain the signal quality index of the satellite ground station; wherein, the expression of the signal quality index is:

[0054] ;

[0055] In the formula, is the signal quality index, is the natural constant, is the average pseudorange of the positioning signal of the satellite ground station within the detection period, which refers to the average distance that the satellite signal travels from the satellite to the ground station receiver within the detection period; is the preset reference pseudorange, and the preset reference pseudorange is a pseudorange value that is pre-calculated and stored in the preset attitude compensation database under specific conditions (such as standard atmospheric conditions, interference-free environment, etc.); is the lowest signal intensity of the positioning signal of the satellite ground station within the detection period, which refers to the minimum value of the signal intensity received by the satellite ground station from the satellite within the detection period; is the preset signal intensity boundary value, which is a signal intensity threshold pre-set in the preset attitude compensation database; is the average carrier phase of the positioning signal of the satellite ground station within 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 within the detection period; is the influence factor corresponding to the preset average carrier phase unit value, and the influence factor corresponding to the average carrier phase unit value can be directly obtained from the preset attitude compensation database. The corresponding relationship can be a pre-set 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 therein can be a one-to-one or many-to-one relationship, and its 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 severe electromagnetic interference level encountered by the positioning signal within the detection period; is the influence factor corresponding to the unit value of the maximum electromagnetic interference intensity in the area where the preset positioning signal belongs. The influence factor corresponding to the unit value of the maximum electromagnetic interference intensity in the area where 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 based on the historical maximum electromagnetic interference intensity and the influence factor corresponding to the unit value of the maximum electromagnetic interference intensity in the area where 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 unit value of the maximum electromagnetic interference intensity in the area where the positioning signal belongs. The mapping relationship therein can be a one-to-one or many-to-one relationship, and its value range is [0, 1].

[0056] It should be noted that the average pseudorange of the positioning signal of the satellite ground station within the detection period is obtained by the receiver recording the signal reception time and the satellite transmission signal time, calculating the time difference between the two to obtain the signal propagation time, multiplying the propagation time by the speed of light to obtain the geometric distance between the receiver and the satellite, that is, the pseudorange, and performing multiple measurements to find the average value to obtain the average pseudorange; the lowest signal intensity is obtained by using a signal intensity monitoring device to continuously track and record the received signal intensity within the detection period and finding the lowest value from all the recorded signal intensity values, which is the lowest signal intensity; the average carrier phase can be obtained by the receiver accurately tracking the carrier phase using a phase-locked loop (PLL) after capturing the satellite signal. By continuously measuring and recording the change value of the carrier phase, the carrier phase observation value can be obtained. Using a specific algorithm (such as the least squares method, Kalman filtering, etc.) for calculation, and by calculating and taking the average value, the average carrier phase is finally obtained; the maximum electromagnetic interference intensity in the area where the positioning signal belongs can be measured and recorded directly using professional electromagnetic radiation measuring instruments such as a spectrum analyzer and an electromagnetic field strength meter, so as to obtain the maximum electromagnetic interference intensity in the area where the positioning signal belongs; in the embodiment of the present invention, the detection period is the time period for randomly arranging and detecting the positioning signal of the satellite ground station.

[0057] In a specific embodiment, when the average pseudorange of the positioning signal of the satellite ground station is greater than the preset reference pseudorange within the detection period, it means that the signal has been subject to more interference or attenuation during propagation, which will reduce the reliability of the positioning signal. A larger pseudorange error requires a longer time for correction and calibration, which will lead to an increase in the delay of the positioning signal; when the average carrier phase is low, it means that the synchronization between the received signal and the signal transmitted by the satellite is poor, which will result in a large deviation between the calculated satellite position information and the actual position, thus directly affecting the accuracy of the subsequent antenna pointing and causing satellite communication interruption; when the signal strength is lower than the preset signal strength threshold, it means that the signal may have been subject to significant interference or attenuation during transmission, which may be caused by environmental factors (such as weather changes, building blockages, etc.) or equipment failures, resulting in a large difference between the received signal and the actually transmitted signal, thus affecting the accuracy of satellite positioning; when the maximum electromagnetic interference intensity in the area where the positioning signal is located is large, strong electromagnetic interference may cause the positioning signal to be distorted, interrupted or delayed, thus affecting the positioning accuracy and reliability of the satellite. Therefore, by analyzing the various parameters of the signal quality index, abnormal or fluctuating positioning signals can be detected in a timely manner, and corresponding measures can be taken for adjustment and optimization, so as to enhance the stability of the signal and improve the quality of satellite communication.

[0058] It can be understood that there is a close connection and influence between the maximum electromagnetic interference intensity in the area where the positioning signal is located and 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. Strong electromagnetic interference may cause the positioning signal to be distorted, interrupted or delayed, thus affecting the distance measurement between the receiver and each satellite, which will lead to a deviation in the calculated average pseudorange. Electromagnetic interference is one of the important factors affecting the 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 strength. The decrease in the minimum signal strength means that the signal quality deteriorates and the interference during transmission 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 an error in the calculated average carrier phase. This error will further affect the accuracy and reliability of the positioning signal.

[0059] For example, if the preset reference pseudorange is set to 2000 meters, the preset signal strength threshold is set to 90 dBm, the influence factor corresponding to the unit value of the preset average carrier phase is set to 0.3, and the influence factor corresponding to the unit value of the maximum electromagnetic interference intensity in the preset area where the positioning signal is located is set to 0.2, the variation relationship between the signal quality index and each parameter can be obtained, as shown in Table 1.

[0060] Table 1 Signal Quality Index Table

[0061]

[0062] By observing the data in Table 1, the signal quality index table, it is found that the data of the signal quality index changes with the changes in the maximum electromagnetic interference intensity, average pseudorange, minimum signal intensity, and average carrier phase. When the average pseudorange is greater than the preset reference pseudorange by a larger margin, the obtained signal quality index is smaller. When the minimum signal intensity is greater than the preset signal intensity threshold, the obtained signal quality index is larger.

[0063] Specifically, the environmental data includes the total area of the region where the antenna is located, the total occlusion area, the maximum wind speed, the average air pressure, and the maximum electromagnetic interference intensity;

[0064] The antenna attitude data includes the average azimuth angle, average elevation angle, average depression angle, and average vibration frequency of the target antenna during the operation cycle.

[0065] It should be noted that the region where the antenna is located refers to the surrounding environment of the antenna, including the area of this region, the occlusion situation, climatic conditions (such as wind speed and air pressure), and electromagnetic interference intensity, etc. These factors may all affect the quality of the signal received or transmitted by the antenna. The region where the positioning signal is located refers to the geographical area covered by the signals sent by satellites or other positioning systems. Within this region, positioning signals can be received and these signals can be used for position location. The region where the antenna is located includes the region where the positioning signal is located, and the quality of the signal received or transmitted by the antenna will be affected by the positioning signal; the total area of the region where the antenna is located is accurately measured through Geographic Information System (GIS) tools to obtain the total area of the region where the antenna is located; the total occlusion area is evaluated by using an unmanned aerial vehicle for aerial photography to obtain the total occlusion area; the maximum wind speed is directly measured by installing an anemometer at a specific location; the average air pressure is monitored in real time through a barometer and averaged to obtain the average air pressure; the electromagnetic interference intensity is measured by a dedicated electromagnetic field intensity meter, and the maximum value analysis of the measured electromagnetic interference intensity is performed to obtain the maximum electromagnetic interference intensity.

[0066] It is understandable that there are complex interactions and influences among the total area of the region where the antenna is located, the total occlusion 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 region where the antenna is located, and the total occlusion area refers to the total area of obstacles such as buildings and trees within this region that may impede the antenna signal. The higher the ratio of the total occlusion area to the total area, the more occlusion the antenna receives, which may lead to signal attenuation or an increase in multipath effects. Occluding objects can block or reflect electromagnetic waves, thereby reducing the impact of electromagnetic interference in some cases. However, if the occluding object itself is an electromagnetic emission source, then it may increase the electromagnetic interference intensity. The maximum wind speed is usually affected by weather systems and terrain, and these factors 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 the electromagnetic interference pattern. In addition, an increase in wind speed may carry more dust and particulate matter, which may also become sources of electromagnetic interference.

[0067] As Figure 2 shown, Figure 2 This is a planar view of the antenna attitude provided by an embodiment of the present invention. Figure 2 In it, included angle 1 is the azimuth angle, included angle 2 is the elevation angle of view, included angle 3 is the depression angle of view, X represents the horizontal direction, Y represents the vertical direction, a is the direction of the target satellite, and B is the location of the antenna. By observing Figure 2 the planar view of the azimuth angle, elevation angle of view, and depression angle of view of the antenna, it can be found that the horizontal included angle starting from the north-pointing direction line of the antenna position point and going clockwise to the target direction line is the azimuth angle, and the included angle at which the antenna tilts upward relative to the horizontal plane and the included angle at which the horizontal plane tilts downward are the elevation angle of view and the depression angle of view, respectively.

[0068] It can be understood that the average azimuth angle of the target antenna within the operating cycle can be measured multiple times within one operating cycle using a compass measurement tool. Measure in front of the antenna directly, with the north pole pointing towards the antenna direction. The horizontal angle between the north direction line at the antenna position point and the target direction line in the clockwise direction is the azimuth angle, and by calculating the average value, the average azimuth angle can be obtained. The average elevation angle and average depression angle are measured multiple times within one operating cycle using measurement tools such as a clinometer on the side or back of the antenna, ensuring that the measurement tool is closely attached to the antenna surface, and correctly reading the angle of the antenna tilting upward relative to the horizontal plane and the angle of the horizontal plane tilting downward, which are the elevation angle and depression angle respectively, and by calculating the average value, the average elevation angle and average depression angle can be obtained. The average vibration frequency is obtained by a vibration sensor installed on the antenna to continuously monitor the vibration situation of the antenna. Among them, the operating cycle is a specific time period randomly arranged according to the actual operating conditions of the antenna. During this time period, the attitude of the antenna (azimuth angle, elevation angle, depression angle, and vibration frequency) is continuously monitored and recorded.

[0069] Specifically, in the step S2, the analyzing the environmental data to obtain the environmental impact index of the environmental data includes:

[0070] S21, obtaining the occlusion rate of the area where the antenna is located according to the total area and the total occlusion area;

[0071] S22, obtaining the environmental impact index of the environmental data according to the occlusion rate, the maximum wind speed, the average air pressure, and the maximum electromagnetic interference intensity in the environmental data.

[0072] Exemplarily, the expression of the environmental impact index is:

[0073] ,

[0074] In the formula, is the environmental impact index; is the occlusion rate of the area where the antenna is located, which refers to the ratio of the total occlusion area to the total area; is the impact factor corresponding to the preset occlusion rate unit value, which can be directly obtained from the preset attitude compensation database. The corresponding relationship can be a pre-set mapping relationship. For example, a mapping set is formed based on the historical occlusion rate and the impact factor corresponding to the occlusion rate unit value, and the real-time occlusion rate is input into the mapping set to obtain the impact factor corresponding to the occlusion rate unit value. The mapping relationship therein can be a one-to-one or many-to-one relationship, and its value range is [0, 1]; is the maximum wind speed in the area where the antenna is located, which refers to the highest wind speed value that appears in the area where the antenna is located; $V_{th}$ is the preset wind speed threshold, which refers to the specific wind speed critical value for triggering or adjusting the attitude compensation mechanism; $k_{V_{max}}$ is the correction factor corresponding to the preset maximum wind speed. The correction factor corresponding to the maximum wind speed can be directly obtained from the preset attitude compensation database, and its corresponding relationship can be a pre-set mapping relationship. For example, a mapping set is formed based on 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 therein can be a one-to-one or many-to-one relationship, and its value range is [0, 1]; $P_{avg}$ is the average air pressure in the area where the antenna is located, which refers to the average value of the atmospheric pressure in the area where the antenna is located; $P_{ref}$ is the preset reference air pressure, which refers to the standard atmospheric pressure value for calibrating and adjusting the antenna attitude; $k_{P_{avg}}$ is the correction factor for the preset average air pressure. The correction factor for the average air pressure can be directly obtained from the attitude compensation database, and its corresponding relationship can be a pre-set mapping relationship. For example, a mapping set is formed based on the historical average air pressure and the correction factor corresponding to the average air pressure, and the real-time average air pressure is input into the mapping set to obtain the correction factor corresponding to the average air pressure. The mapping relationship therein can be a one-to-one or many-to-one relationship, and its value range is [0, 1]; $I_{emi_{max}}$ is the maximum electromagnetic interference intensity in the area where the antenna is located, which refers to the most severe electromagnetic interference level encountered in the area where the antenna is located; $I_{emi_{th}}$ is the preset electromagnetic interference intensity threshold, which refers to the critical value of the electromagnetic interference signal intensity for triggering the antenna attitude adjustment or protection mechanism; $k_{I_{emi_{max}}}$ is the correction factor corresponding to the preset 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 its corresponding relationship can be a pre-set mapping relationship. For example, a mapping set is formed based on 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 therein can be a one-to-one or many-to-one relationship, and its value range is [0, 1].

[0075] In the embodiments of the present invention, when the occlusion rate in the area where the antenna is located is relatively high, more occluding objects will block the signal transmission path of the antenna, resulting in increased signal attenuation. This will affect the receiving and transmitting 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 a relatively large wind pressure on the antenna structure, increasing the force on the antenna structure. Strong wind may also cause the antenna to shake and shift, resulting in a decrease in the 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 bear greater pressure, increasing the risk of structural failure. When the maximum electromagnetic interference intensity is greater than the electromagnetic interference intensity threshold, electromagnetic interference will interfere with the signal reception and transmission of the antenna, resulting in a decrease in communication quality. When the electromagnetic interference intensity exceeds the threshold, the communication link may be severely affected, even leading to communication interruption. Electromagnetic interference will also increase the error rate during communication, reducing the reliability and accuracy of data transmission. Therefore, by analyzing each parameter in the environmental impact index of the antenna in detail, targeted countermeasures can be formulated to improve the adaptability and robustness of the antenna system to different environmental conditions.

[0076] Specifically, in the step S2, the determining the attitude reference data corresponding to the environment of the area where the antenna is located according to the environmental impact index includes:

[0077] S23, matching the environmental impact index with the environmental impact index intervals in the preset attitude compensation database to obtain the attitude reference data corresponding to the environmental impact index; wherein, several groups of attitude reference data corresponding to the environmental impact index intervals are set in the preset attitude compensation database;

[0078] S24, using the corresponding attitude reference data as the attitude reference data corresponding to the environment of the area where the antenna is located; wherein, the attitude reference data includes a reference azimuth angle, a reference elevation angle, a reference depression angle, and a reference vibration frequency.

[0079] Exemplarily, the environmental impact index is matched with the attitude reference data corresponding to each environmental impact index range in the preset attitude compensation database, so as to obtain the attitude reference data corresponding to the antenna in the environment of the area to which it belongs. Matching the reference attitude data of the target antenna through the environmental impact index is 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 signal transmission quality, attitude compensation needs to be performed according to the environmental impact index. Specifically, different environmental conditions will cause the antenna to have different degrees of deviation or deformation, thus affecting its communication performance. Therefore, in order to ensure that the antenna can maintain the best performance under various environmental conditions, it is necessary to adjust the attitude of the antenna according to the environmental impact index. Taking the wind speed as an example, in the environment of the area where the antenna is located, when the wind speed is relatively high, the antenna may be affected by the lateral force and cause an azimuth deviation. Suppose in a certain area, the wind speed is 10 m / s, which may cause the antenna to have an azimuth deviation of 1 meter. Since the wind speed is instantaneous, the antenna can adaptively adjust its 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 ranges are set in the preset attitude compensation database.

[0080] It can be understood that the preset attitude compensation database sets the attitude reference data corresponding to different environmental impact indexes. By matching the real-time monitored environmental impact index with the data in the database, the best attitude reference data of the current antenna can be obtained. For example, the environmental impact index ranges of each antenna in the preset attitude compensation database are respectively: less than 20, [20, 60), and greater than or equal to 60. These ranges are defined based on the historical environmental impact indexes of the antennas and by consulting antenna attitude compensation experts for more accurate matching. The three ranges respectively correspond to three attitude reference data. Perform range matching on the obtained current environmental impact index. If the current environmental impact index is 35, then this index falls within the range of 20 - 60. Extract the attitude reference data corresponding to this range from the preset attitude compensation database. The attitude reference data is a reference azimuth angle of 10 degrees, a reference elevation angle of 5 degrees, a reference depression angle of 2 degrees, and a reference vibration frequency of 30 Hz.

[0081] 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:

[0082] Compare and analyze the average azimuth angle, average elevation angle, average depression angle, and average vibration frequency of the target antenna during the operation cycle with the reference azimuth angle, reference elevation angle, reference depression angle, and reference vibration frequency corresponding to the environment of the area where the antenna is located, to obtain the antenna attitude deviation index of the target antenna; where the expression of the antenna attitude deviation index is:

[0083] ,

[0084] In the formula, is the antenna attitude deviation index; is the natural constant; is the comparison relationship between the average azimuth angle and the reference azimuth angle, where , is the average azimuth angle of the target antenna during the operation cycle, which refers to the average value of the pointing direction of the target antenna during the entire operation period, is the reference azimuth angle corresponding to the environment of the area where the antenna is located, which refers to a reference angle used to optimize the antenna pointing under the environmental conditions of the area where the antenna is located; is the correction factor corresponding to the preset average azimuth angle. The correction factor corresponding to the average azimuth angle can be directly obtained from the preset attitude compensation database, and its corresponding relationship can be a pre-set mapping relationship. For example, a mapping set is formed based on 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 therein can be a one-to-one or many-to-one relationship, and its value range is [0, 1]; is the comparison relationship between the average elevation angle and the reference elevation angle, where , is the average elevation angle of the target antenna during the operation cycle, which refers to the average value of the vertical pointing direction (i.e., the up and down direction) of the target antenna during the entire operation period, is the reference elevation angle corresponding to the environment of the area where the antenna is located, which refers to a reference angle used to calibrate or optimize the vertical pointing of the antenna under the environmental conditions of the area where the antenna is located; is the correction factor corresponding to the preset average elevation angle. The correction factor corresponding to the average elevation angle can be directly obtained from the preset attitude compensation database, and its corresponding relationship can be a pre-set mapping relationship. For example, a mapping set is formed based on the historical average elevation angle and the correction factor corresponding to the average elevation angle, and the real-time average elevation angle is input into the mapping set to obtain the correction factor corresponding to the average elevation angle. The mapping relationship therein can be a one-to-one or many-to-one relationship, and its value range is [0, 1]; is the comparison relationship between the average depression angle and the reference depression angle, where , $\overline{\theta}$ is the average depression angle of the target antenna during the operation cycle, which refers to the average value of the downward pointing direction of the target antenna (i.e., the angle from the horizontal plane downward) during the entire operation. $\theta_{ref}$ is the reference depression angle corresponding to the environment of the antenna area, which refers to a reference angle for calibrating or optimizing the downward pointing of the antenna (i.e., the angle from the horizontal plane downward) under the environmental conditions of the antenna area. $k_{\theta}$ is the correction factor corresponding to the preset average depression angle. The correction factor corresponding to the average depression angle can be directly obtained from the preset attitude compensation database, and its corresponding relationship can be a pre-set mapping relationship. For example, a mapping set is formed based on the historical average depression angle and the correction factor corresponding to the average depression angle, and the real-time average depression angle is input into the mapping set to obtain the correction factor corresponding to the average depression angle. The mapping relationship therein can be a one-to-one or many-to-one relationship, and its value range is [0, 1]. $R_f$ is the comparison relationship between the average vibration frequency and the reference vibration frequency, where $\overline{f}$ is the average vibration frequency of the target antenna during the operation cycle, which refers to the average value or center point of the vibration frequency of the target antenna (i.e., the number of vibrations per unit time) during the entire operation. $f_{ref}$ is the reference vibration frequency corresponding to the environment of the antenna area, which refers to a reference value for calibrating or optimizing the vibration frequency of the antenna (i.e., the number of vibrations per unit time) under the environmental conditions of the antenna area. $k_f$ is the correction factor corresponding to the preset average vibration frequency. The correction factor corresponding to the average vibration frequency can be directly obtained from the preset attitude compensation database, and its corresponding relationship can be a pre-set mapping relationship. For example, a mapping set is formed based on 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 therein can be a one-to-one or many-to-one relationship, and its value range is [0, 1].

[0085] 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 receiving and transmitting directions 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 a change in the signal coverage range of the antenna, unable to cover the expected satellite orbit, further affecting the communication link stability between the antenna and the satellite or ground station, and may lead to communication interruption or quality degradation; when the average depression angle deviates greatly from the reference depression angle, the deviation of the depression angle may make the antenna more vulnerable to interference from ground objects, reducing the accuracy of the antenna pointing, thereby affecting 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 position of the antenna, thus affecting the stability of the signal. At the same time, the vibration will cause frequent fluctuations in the antenna pointing, thereby reducing the positioning accuracy and reliability. Therefore, by analyzing each parameter of the antenna attitude deviation index in detail, abnormal changes in the antenna attitude, such as deviations in the azimuth angle, elevation angle, depression angle, and increase in the vibration frequency, can be detected in a timely manner, ensuring the directivity of signal reception and transmission, thereby improving the stability and quality of the communication link.

[0086] In the embodiments 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 the expectations and whether there are any abnormalities or deviations. The attitude of the antenna directly affects the coverage range and quality of the base station. Through comprehensive analysis, the attitude of the antenna can be detected and adjusted in a timely manner, thereby optimizing the network coverage and improving the quality of medium and low Earth orbit satellite communication. The azimuth angle, elevation angle, and depression angle jointly determine the pointing and coverage range of the antenna. The deviation of the azimuth angle may cause the antenna to point incorrectly, while the deviations of the elevation angle and depression angle may affect the coverage range and signal strength. The vibration frequency reflects the stability of the antenna. Excessive vibration may cause small changes in the antenna attitude, thereby affecting the accuracy of the azimuth angle, elevation angle, and depression angle, and thus affecting the quality and stability of medium and low Earth orbit satellite communication.

[0087] Specifically, step S4 includes:

[0088] S41, if the antenna attitude deviation index is greater than the preset antenna attitude deviation index threshold, perform attitude compensation on the target antenna;

[0089] S42, if the antenna attitude deviation index is less than or equal to the preset antenna attitude deviation index threshold, do not perform attitude compensation on the target antenna.

[0090] Exemplarily, compare the antenna attitude deviation index with the 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, and the attitude deviation of the antenna may lead to a decline in its communication performance. It is necessary to immediately perform attitude compensation on the target antenna to adjust the antenna's attitude and restore its performance. Among them, attitude compensation usually uses attitude adjustment mechanisms (such as motors, hydraulic cylinders, etc.) to precisely control the pointing 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. By timely attitude compensation, the negative impacts caused by 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 the 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, the antenna attitude changes still need to be monitored regularly to ensure that the antenna attitude remains normal.

[0091] Further, after obtaining the signal quality index of the satellite ground station, the method further includes:

[0092] If the signal quality index is not greater than the preset signal quality index threshold, a warning prompt is given for the positioning signal of the satellite ground station.

[0093] Specifically, the warning prompt includes:

[0094] The average pseudorange warning prompt and the signal minimum intensity warning prompt of the positioning signal of the satellite ground station within the detection period.

[0095] Exemplarily, the specific warning prompt can be a warning prompt for the average pseudorange of the positioning signal of the satellite ground station within the detection period, or a warning prompt for the minimum signal intensity of the positioning signal of the satellite ground station within the detection period. For example, when the signal quality index is greater than the preset signal quality index threshold, it means that the quality of the positioning signal is in an acceptable or good state 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 to display a red warning icon on the monitoring screen and scroll the warning information on the screen, such as "Low positioning signal quality, please pay attention!" or "The average pseudorange exceeds the threshold, please check the antenna attitude".

[0096] An antenna attitude compensation method for a satellite ground station disclosed in an embodiment of the present invention obtains positioning signal data of the satellite ground station, analyzes the positioning signal data to obtain a signal quality index of the satellite ground station; if the signal quality index is greater than a preset signal quality index threshold, obtains environmental data of the area where the antenna of the satellite ground station is located; analyzes the environmental data to obtain an environmental impact index of the environmental data; determines attitude reference data corresponding to the environment of the area where the antenna is located according to the environmental impact index; monitors the attitude of a target antenna in the area where the antenna is located to obtain antenna attitude data of the target antenna; obtains an antenna attitude deviation index of the target antenna according to the antenna attitude data and the attitude reference data; and performs 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 according to the signal quality index, reduce the risk of satellite communication interruption or satellite communication quality degradation caused by positioning errors; ensure that the adjustment of the antenna attitude is based on real-time and accurate environmental data through the analysis of the environment of the area where the antenna is located, improving the accuracy of antenna attitude adjustment; the real-time attitude monitoring of the antenna can timely detect and correct potential antenna attitude deviations, ensure that the antenna always points to the correct satellite direction, reduce the risk of communication interruption or quality degradation caused by attitude errors, and improve the stability and reliability of satellite communication.

[0097] See Figure 3 , Figure 3 FIG. is a schematic structural diagram 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 the satellite ground station includes:

[0098] A signal data acquisition module 11 is configured to acquire positioning signal data of a satellite ground station, analyze the positioning signal data to obtain a signal quality index of the satellite ground station;

[0099] A reference attitude determination module 12 is configured to, if the signal quality index is greater than a preset signal quality index threshold, acquire environmental data of the area where the antenna of the satellite ground station is located; 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 where the antenna is located according to the environmental impact index;

[0100] A deviation index acquisition module 13 is configured to monitor the attitude of a target antenna in the area where the antenna is located to 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;

[0101] An antenna attitude compensation module 14 is configured to perform attitude compensation on the target antenna according to the antenna attitude deviation index and a preset antenna attitude deviation index threshold.

[0102] Further, the antenna attitude compensation system 10 of the satellite ground station further includes:

[0103] A signal early warning and prompt module, configured to perform early warning and prompt on the positioning signal of the satellite ground station if the signal quality index is not greater than the preset signal quality index threshold.

[0104] Specifically, the signal data acquisition module 11 includes:

[0105] Acquire the positioning signal data of the satellite ground station and the maximum electromagnetic interference intensity in the area to which the positioning signal of the satellite ground station belongs;

[0106] Analyze the positioning signal data according to the maximum electromagnetic interference intensity to obtain the signal quality index of the satellite ground station;

[0107] Wherein, the positioning signal data includes the average pseudorange, the lowest signal intensity, and the average carrier phase of the positioning signal of the satellite ground station within a detection period.

[0108] The antenna attitude compensation system 10 of a satellite ground station provided by an embodiment of the present invention can implement all processes of the antenna attitude compensation method of the satellite ground station in the above embodiment. The functions of each module in the system and the achieved technical effects respectively correspond to the functions and the achieved technical effects of the antenna attitude compensation method of the satellite ground station in the above embodiment, and will not be elaborated here.

[0109] The above is the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present invention.

Claims

1. An antenna attitude compensation method for a satellite ground station, characterized in that, Including: Obtain 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; If the signal quality index is greater than the preset signal quality index threshold, obtain the environmental data of the area where the antenna of the satellite ground station is located; Analyze the environmental data to obtain the environmental impact index of the environmental data; according to the environmental impact index, determine the attitude reference data corresponding to the environment of the area where the antenna is located; wherein, the environmental data includes the total area, the total occlusion area, the maximum wind speed, the average air pressure, and the maximum electromagnetic interference intensity of the area where the antenna is located; Monitor the attitude of the target antenna in the area where the antenna is located to obtain the antenna attitude data of the target antenna; according to the antenna attitude data and the attitude reference data, obtain the antenna attitude deviation index of the target antenna; Perform attitude compensation on the target antenna according to the antenna attitude deviation index and the preset antenna attitude deviation index threshold; The obtaining the positioning signal data of the satellite ground station, analyzing the positioning signal data, and obtaining the signal quality index of the satellite ground station includes: Obtain the positioning signal data of the satellite ground station and the maximum electromagnetic interference intensity of the area where the positioning signal of the satellite ground station is located; Analyze the positioning signal data according to the maximum electromagnetic interference intensity to obtain the signal quality index of the satellite ground station; Wherein, the positioning signal data includes the average pseudorange, the lowest signal intensity, and the average carrier phase of the positioning signal of the satellite ground station within the detection period; The analyzing the environmental data to obtain the environmental impact index of the environmental data includes: Obtain the occlusion rate of the area where the antenna is located according to the total area and the total occlusion area; Obtain the environmental impact index of the environmental data according to the occlusion rate, and the maximum wind speed, the average air pressure, and the maximum electromagnetic interference intensity in the environmental data.

2. The antenna attitude compensation method for a satellite ground station according to claim 1, wherein The antenna attitude data includes the average azimuth angle, the average elevation angle, the average depression angle, and the average vibration frequency of the target antenna during the operation period.

3. The antenna attitude compensation method of the satellite ground station according to claim 1, characterized in that The determining the attitude reference data corresponding to the environment of the area where the antenna is located according to the environmental impact index includes: Match the environmental impact index with the environmental impact index interval in the preset attitude compensation database to obtain the attitude reference data corresponding to the environmental impact index; wherein, the preset attitude compensation database sets several groups of attitude reference data corresponding to the environmental impact index intervals; Use the corresponding attitude reference data as the attitude reference data corresponding to the environment of the area where the antenna is located; wherein, the attitude reference data includes the reference azimuth angle, the reference elevation angle, the reference depression angle, and the reference vibration frequency.

4. The antenna attitude compensation method for a satellite ground station according to claim 1, characterized in that, The performing attitude compensation on the target antenna according to the antenna attitude deviation index and the preset antenna attitude deviation index threshold includes: If the antenna attitude deviation index is greater than the preset antenna attitude deviation index threshold, perform 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.

5. The antenna attitude compensation method for a satellite ground station according to 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, a warning prompt is given for the positioning signal of the satellite ground station.

6. The antenna attitude compensation method for a satellite ground station according to claim 5, characterized in that, The warning prompt includes: The average pseudorange warning prompt and the signal minimum intensity warning prompt of the positioning signal of the satellite ground station within the detection period.

7. An antenna attitude compensation system for a satellite ground station, characterized in that, It includes: A signal data acquisition module, configured 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; A reference attitude determination module, configured to, if the signal quality index is greater than the preset signal quality index threshold, acquire the environmental data of the area where the antenna of the satellite ground station is located; analyze the environmental data to obtain the environmental impact index of the environmental data; determine the attitude reference data corresponding to the environment of the area where the antenna is located according to the environmental impact index; wherein, the environmental data includes the total area, the total occlusion area, the maximum wind speed, the average air pressure, and the maximum electromagnetic interference intensity of the area where the antenna is located; A deviation index acquisition module, configured to monitor the attitude of the target antenna in the area where the antenna is located, obtain the 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; An antenna attitude compensation module, configured to perform attitude compensation on the target antenna according to the antenna attitude deviation index and the preset antenna attitude deviation index threshold; The signal data acquisition module includes: Acquire the positioning signal data of the satellite ground station and the maximum electromagnetic interference intensity of the area where the positioning signal of the satellite ground station is located; Analyze the positioning signal data according to the maximum electromagnetic interference intensity to obtain the signal quality index of the satellite ground station; Wherein, the positioning signal data includes the average pseudorange, the signal minimum intensity, and the average carrier phase of the positioning signal of the satellite ground station within the detection period; The analyzing the environmental data to obtain the environmental impact index of the environmental data includes: Obtain the occlusion rate of the area where the antenna is located according to the total area and the total occlusion area; Obtain the environmental impact index of the environmental data according to the occlusion rate and the maximum wind speed, the average air pressure, and the maximum electromagnetic interference intensity in the environmental data.

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