Satellite tracking method and device of phased-array antenna and storage medium

Abstract

The invention relates to a satellite tracking method and device for a phased-array antenna and a storage medium, and the method comprises the steps: adjusting a target angle of the phased-array antenna based on obtained satellite tracking parameters and antenna attitude parameters; if the carrier is in the static state, performing angle error demodulation on the obtained first satellite signal to obtain a first angle error, and obtaining first signal power based on the first angle error; if the first angle error is greater than a set threshold value, controlling a target angle of the phased-array antenna to be adjusted along a positive stepping direction, performing angle error demodulation on an obtained second satellite signal to obtain a second angle error, and obtaining second signal power based on the second angle error; and determining a stepping direction of a target angle of the phased-array antenna at the current position based on the first signal power and the second signal power, and controlling the target angle of the phased-array antenna to be adjusted along the stepping direction. According to the invention, the tracking precision can be improved under the condition that the hardware structure of the phased array terminal is not changed.

Description

Technical Field

[0001] The present application relates to the field of satellite communication technologies, and particularly to a satellite tracking method, device, and storage medium for a phased array antenna. Background Art

[0002] During the process of establishing and maintaining a communication link between a phased array terminal and a target satellite, it is necessary for the antenna beam of the phased array terminal to align with the target with a certain accuracy. Among them, the phased array terminal is a terminal with a phased array antenna and a carrier. In the actual working process, the main factors affecting the alignment of the antenna beam with the target satellite are the attitude change of the carrier and the tracking ability of the phased array terminal. In order to ensure normal satellite communication, it is necessary to implement precise tracking control on the terminal antenna beam.

[0003] Traditional satellite tracking technologies generally have problems such as dynamic lag, low tracking accuracy, and slow tracking speed. Currently, in order to improve the tracking accuracy, additional devices are usually introduced into the hardware structure of the existing phased array terminal. However, this kind of satellite tracking technology increases the system complexity and cost, and is not conducive to the popularization and application of the phased array terminal.

[0004] Therefore, how to improve the tracking accuracy of satellites without changing the hardware structure of the phased array terminal is an urgent problem to be solved at present. Summary of the Invention

[0005] The present application provides a satellite tracking method, device, and storage medium for a phased array antenna, so as to improve the tracking accuracy of satellites without changing the hardware structure of the phased array terminal.

[0006] According to the first aspect of the embodiments of the present application, a satellite tracking method for a phased array antenna is provided. The method includes:

[0007] Obtain satellite tracking parameters and antenna attitude parameters, and adjust the target angle of the phased array antenna based on the satellite tracking parameters and antenna attitude parameters;

[0008] If the carrier where the phased array antenna is located is in a stationary state, obtain the first satellite signal received by the phased array antenna at the current position, demodulate the angular error of the first satellite signal to obtain the first angular error, and obtain the first signal power based on the first angular error;

[0009] If the first angular error is greater than a set threshold, control the target angle of the phased array antenna at the current position to be adjusted along the positive step direction, obtain the second satellite signal, demodulate the angular error of the second satellite signal to obtain the second angular error, and obtain the second signal power based on the second angular error;

[0010] Based on the first signal power and the second signal power, determine the step direction of the target angle of the phased array antenna at the current position, and control the target angle of the phased array antenna at the current position to be adjusted along the step direction.

[0011] In the embodiments of the present application, the target angle of the phased array antenna is initially adjusted based on satellite tracking parameters and antenna attitude parameters, so that the phased array antenna is initially pointed to the target satellite. When the carrier is in a stationary state, the first satellite signal received by the phased array antenna at the current position is acquired, and the first angular error is obtained by demodulating the angular error of the first satellite signal. Based on the first angular error, the first signal power is obtained. If it is determined that the first angular error is greater than the set threshold, it indicates that the phased array antenna is not at the position with the maximum signal strength, that is, the phased array antenna is not aligned with the target satellite, and further adjustment is required. Therefore, the present application controls the target angle of the phased array antenna at the current position to be adjusted along the positive step direction, acquires the second satellite signal, demodulates the angular error of the second satellite signal to obtain the second angular error, and obtains the second signal power based on the second angular error. By comparing the first signal power and the second signal power, the step direction of the phased array antenna is determined, and the target angle of the phased array antenna is controlled to be adjusted based on this step direction, so as to gradually make the phased array antenna approach the position with the maximum signal strength, that is, to gradually align the phased array antenna with the target satellite, thereby improving the tracking accuracy. Therefore, the present application improves the tracking accuracy of the satellite without changing the hardware structure of the phased array terminal.

[0012] In a possible implementation manner, the demodulating the angular error of the first satellite signal to obtain the first angular error includes:

[0013] Using the demodulation angular error method corresponding to the signal system of the first satellite signal, demodulate the angular error of the first satellite signal to obtain the first angular error.

[0014] In a possible implementation manner, the using the demodulation angular error method corresponding to the signal system of the first satellite signal to demodulate the angular error of the first satellite signal to obtain the first angular error includes:

[0015] If the signal system of the first satellite signal is broadband 1 system, the first satellite signal is subjected to mixing processing, low-pass filtering processing and downsampling processing to obtain a first low sampling rate signal;

[0016] Perform power calculation in the frequency domain on the first low sampling rate signal to obtain the signal average power and noise power in each step direction;

[0017] Based on the signal average power and noise power in each step direction, obtain the angular error.

[0018] In a possible implementation, the method for demodulating the angular error corresponding to the signal system of the first satellite signal is used to demodulate the angular error of the first satellite signal, and the first angular error is obtained, including:

[0019] If the signal system of the first satellite signal is the broadband 2 system, the primary synchronization signal PSS in the first satellite signal is detected;

[0020] The PSS is subjected to mixing processing, low-pass filtering processing, and downsampling processing to obtain a second low-sampling rate signal;

[0021] An autocorrelation operation is performed on the second low-sampling rate signal to obtain the correlation peak power of the second low-sampling rate signal;

[0022] The correlation peak power of the second low-sampling rate signal is smoothed to obtain the smoothed correlation peak power, and the angular error is demodulated using the smoothed correlation peak power to obtain the angular error.

[0023] In a possible implementation, after adjusting the target angle of the phased array antenna, it further includes:

[0024] If the carrier is in a moving state, a third satellite signal received by the phased array antenna at the current position is acquired, the angular error of the third signal is demodulated to obtain a third angular error, and a third signal power is obtained based on the third angular error;

[0025] If the third angular error is greater than the set threshold, a fourth signal power after adjusting the target angle of the phased array antenna at the current position along the positive step direction, and a fifth signal power after adjusting the target angle of the phased array antenna at the current position along the negative step direction are acquired;

[0026] Based on the third signal power, the fourth signal power, and the fifth signal power, the step direction of the target angle of the phased array antenna at the current position is determined, and the target angle of the phased array antenna at the current position is controlled to be adjusted along the step direction.

[0027] In a possible implementation, the acquiring of the fourth signal power after adjusting the target angle of the phased array antenna at the current position along the positive step direction, and the fifth signal power after adjusting the target angle of the phased array antenna at the current position along the negative step direction includes:

[0028] The target angle of the phased array antenna at the current position is controlled to be adjusted along the positive step direction, a fourth satellite signal is acquired, the angular error of the fourth satellite signal is demodulated to obtain a fourth angular error, and the fourth signal power is obtained based on the fourth angular error;

[0029] Control the target angle of the phased array antenna at the current position to be adjusted along the reverse stepping direction, obtain the fifth satellite signal, perform angle error demodulation on the fifth satellite signal to obtain the fifth angle error, and obtain the fifth signal power based on the fifth angle error.

[0030] In a possible implementation manner, the target angle is an azimuth angle or an elevation angle. The control of the phased array antenna to adjust the target angle at the current position along the forward stepping direction includes:

[0031] If the control flag is the first identifier, control the azimuth angle of the phased array antenna at the current position to be adjusted along the forward stepping direction;

[0032] If the control flag is the second identifier, control the elevation angle of the phased array antenna at the current position to be adjusted along the forward stepping direction.

[0033] In a possible implementation manner, the determination of the stepping direction of the target angle of the phased array antenna at the current position based on the first signal power and the second signal power includes:

[0034] If the first signal power is less than the second signal power, determine that the stepping direction of the target angle of the phased array antenna at the current position is the forward stepping direction;

[0035] If the first signal power is greater than the second signal power, determine that the stepping direction of the target angle of the phased array antenna at the current position is the reverse stepping direction.

[0036] In a possible implementation manner, the determination of the stepping direction of the target angle of the phased array antenna at the current position based on the third signal power, the fourth signal power, and the fifth signal power includes:

[0037] Determine the first difference between the fourth signal power and the third signal power;

[0038] Determine the second difference between the fifth signal power and the third signal power;

[0039] If the first difference is greater than the second difference, determine that the stepping direction of the target angle of the phased array antenna at the current position is the forward stepping direction;

[0040] If the first difference is less than the second difference, determine that the stepping direction of the target angle of the phased array antenna at the current position is the reverse stepping direction.

[0041] In a possible implementation manner, after controlling the phased array antenna to adjust the target angle at the current position along the stepping direction, it further includes:

[0042] If the target angle is the azimuth angle, set the control flag to the second identifier; or,

[0043] If the target angle is the elevation angle, set the control flag to the first identifier.

[0044] In a possible implementation, the target angle includes the direction angle and the elevation angle. Adjusting the target angle of the phased array antenna based on the satellite tracking parameters and the antenna attitude parameters includes:

[0045] Determine the theoretical direction angle and the theoretical elevation angle according to the satellite tracking parameters and the antenna attitude parameters;

[0046] Control the direction angle of the phased array antenna to be adjusted to the theoretical direction angle, and control the elevation angle of the phased array antenna to be adjusted to the theoretical elevation angle.

[0047] According to the second aspect of the embodiments of the present application, there is provided a satellite tracking device for a phased array antenna, and the device includes:

[0048] An adjustment module, configured to obtain satellite tracking parameters and antenna attitude parameters, and adjust the target angle of the phased array antenna based on the satellite tracking parameters and the antenna attitude parameters;

[0049] A first demodulation module, configured to, if the carrier where the phased array antenna is located is in a stationary state, obtain a first satellite signal received by the phased array antenna at the current position, perform angle error demodulation on the first satellite signal to obtain a first angle error, and obtain a first signal power based on the first angle error;

[0050] A second demodulation module, if the first angle error is greater than a set threshold, controls the target angle of the phased array antenna at the current position to be adjusted along the positive step direction, obtains a second satellite signal, performs angle error demodulation on the second satellite signal to obtain a second angle error, and obtains a second signal power based on the second angle error;

[0051] A control module, configured to determine the step direction of the target angle of the phased array antenna at the current position based on the first signal power and the second signal power, and control the target angle of the phased array antenna at the current position to be adjusted along the step direction.

[0052] According to the third aspect of the embodiments of the present application, there is provided an electronic device, and the electronic device includes a processor and a memory communicatively connected to the processor. Wherein, the memory stores computer-executable instructions, and the instructions are executed by the processor so that the processor can execute the method described in any one of the first aspects above.

[0053] According to a fourth aspect of the embodiments of the present application, there is provided a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, cause the processor to execute the method described in any one of the above first aspects.

[0054] According to a fifth aspect of the embodiments of the present application, there is provided a computer program product including a computer program stored in a computer-readable storage medium. The processor can read the computer program from the computer-readable storage medium, and when the processor executes the computer program, the method described in any one of the above first aspects can be implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0056] Figure 1 is a schematic diagram of an application scenario shown according to an exemplary embodiment;

[0057] Figure 2 is a flowchart of a satellite tracking method for a phased array antenna provided by an embodiment of the present application;

[0058] Figure 3 is a detailed flowchart of a satellite tracking method for a phased array antenna provided by an embodiment of the present application;

[0059] Figure 4 is a flowchart for adjusting the target angle of a phased array antenna provided by an embodiment of the present application;

[0060] Figure 5 is a schematic diagram of the module structure of an existing step tracking system provided by an embodiment of the present application;

[0061] Figure 6 is a flowchart of a method for demodulating the angle error of a first satellite signal to obtain a first angle error provided by an embodiment of the present application;

[0062] Figure 7 is a block diagram of a method for demodulating the angle error of a satellite signal to obtain the signal power provided by an embodiment of the present application;

[0063] Figure 8 is a flowchart of another method for demodulating the angle error of a first satellite signal to obtain a first angle error provided by an embodiment of the present application;

[0064] Figure 9Another block diagram for demodulating angular error of satellite signals to obtain signal power provided by an embodiment of the present application;

[0065] Figure 10 Flowchart of a method for adjusting the target angle of a phased array antenna when the carrier is in a stationary state provided by an embodiment of the present application;

[0066] Figure 11 Flowchart of a method for adjusting the target angle of a phased array antenna when the carrier is in a moving state provided by an embodiment of the present application;

[0067] Figure 12 Structural schematic diagram of a satellite tracking communication device for a phased array antenna provided by an embodiment of the present application;

[0068] Figure 13 Structural schematic diagram of an electronic device for a satellite tracking communication method of a phased array antenna provided by an embodiment of the present application. Detailed implementation manners

[0069] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

[0070] Some terms appearing in the text are explained below:

[0071] 1. In the embodiments of the present application, the term "and / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0072] 2. Terms such as "first", "second", etc. in the specification, claims and the above-mentioned drawings of the present application are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here.

[0073] The application scenarios described in the embodiments of this application are for more clearly explaining the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. Those of ordinary skill in the art know that with the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are equally applicable to similar technical problems. Among them, in the description of this application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0074] During the process of establishing and maintaining a communication link between the phased array terminal and the target satellite, it is necessary for the antenna beam of the phased array terminal to align with the target with a certain accuracy. Among them, the phased array terminal is a terminal with a phased array antenna and a carrier. During the actual working process, the main factors affecting the alignment of the antenna beam with the target satellite are the attitude change of the carrier and the tracking ability of the phased array terminal. In order to ensure normal satellite communication, it is necessary to implement precise tracking control on the terminal antenna beam.

[0075] At present, the tracking technology of satellite communication fixed stations has been relatively mature, mainly including program-guided tracking, step tracking, conical scan tracking, monopulse tracking and other tracking technologies. Among them, program-guided tracking is an open-loop pointing tracking. The antenna beam is pointed at the target satellite through program guidance, and there is no direct tracking information feedback. Step tracking, conical scan tracking and monopulse tracking belong to closed-loop demodulation tracking. After capturing the satellite signal, they can automatically demodulate and track the satellite signal.

[0076] Program-guided tracking mainly obtains the geographical angle of the target satellite according to the position of the target satellite relative to the phased array terminal on the ground, and then combines the attitude information of the phased array terminal to obtain the antenna beam pointing angle, and finally keeps the antenna beam always pointing at the target satellite. The main factors affecting the tracking accuracy of the system are: time, position and attitude errors brought by the Global Positioning System (GPS), Beidou navigation receiver and gyro inertial navigation itself, as well as installation errors; beam pointing errors of the phased array antenna, etc. will all lead to a decrease in pointing accuracy.

[0077] Step tracking, also known as extreme value tracking, controls the antenna beam to make a step-like rotation at a small angle in the azimuth plane and elevation plane through step adjustment, so that the phased array antenna gradually aligns with the target satellite. Until the satellite signal received by the phased array antenna reaches the maximum value, the tracking system enters the equilibrium state. After a short period of time, it starts to enter the tracking state again, and so on to achieve the self-tracking function. When step tracking is implemented, it is divided into two stages: search and adjustment. The search stage determines the beam deflection direction, and the adjustment stage updates the beam pointing.

[0078] Monopulse tracking can determine the direction in which the antenna beam deviates from the target satellite within one pulse time interval and enables the phased array antenna to quickly align with the target satellite. Monopulse tracking requires additional devices. First, the phased array antenna is divided into four sub-arrays and arranged in four quadrants to generate four beams. The four beams are superimposed to obtain the "sum beam". The sum of the upper two beams minus the sum of the lower two beams gives the "elevation difference" beam, and the sum of the left two beams minus the sum of the right two beams gives the "azimuth difference" beam. When the antenna beam is aligned with the satellite, the phased array antenna only receives the "sum beam" signal, and the outputs of the two "difference beams" are zero. When the antenna beam deviates from the target satellite, in addition to receiving the "sum signal", it also receives two error signals, namely the "azimuth difference" and "elevation difference". The error signals are converted into error angles, and based on this error angle, the beam pointing is updated until the antenna beam is aligned with the target satellite. Usually, the "sum signal" is also used as a reference signal to identify the phase of the error signal and determine the deflection direction of the beam in the azimuth plane and elevation plane.

[0079] The principle of conical scan tracking is to use the amplitude value of the signal received by the phased array antenna for angle measurement. The variation law of this amplitude value depends on the antenna beam pattern and the beam scanning method. When the antenna beam performs conical scan, it rotates around the equal signal axis of the phased array antenna. When the target satellite is at the equal signal axis position, the receiver outputs an equal-amplitude signal. When the target satellite deviates from the equal signal axis, the target satellite is sometimes closer to and sometimes farther from the maximum radiation direction of the phased array antenna, causing the amplitude of the signal received by the phased array antenna to also change in strength. This is equivalent to amplitude modulation of the signal level. The amplitude of the modulation signal reflects the deviation distance, and the phase of the modulation signal reflects the deviation direction. Thus, the pointing deviation angle of the antenna beam can be determined.

[0080] However, the tracking accuracy of program-guided tracking is relatively low. Although the accuracy and speed of monopulse tracking are relatively high, the system is relatively complex and the cost is relatively high, and it is generally applicable to scenarios with higher accuracy requirements. Although the accuracy of conical scan tracking can meet the requirements of general systems, its structure is complex, the loss of useful signals is large, and the tracking speed is also relatively slow. The speed and accuracy of step tracking are between the two, and the entire system is relatively simple and easy to implement.

[0081] Although these three tracking technologies, namely step tracking, conical scan tracking, and monopulse tracking, can be applied to the design of tracking systems, they restrict the popularization and application of phased array terminals to varying degrees. Conical scan tracking and monopulse tracking require the introduction of additional devices, increasing the system complexity and cost; step tracking has deficiencies such as dynamic lag, relatively low tracking accuracy, and relatively slow tracking speed, affecting the tracking speed and system performance.

[0082] Therefore, how to improve the tracking accuracy of satellites without changing the hardware structure of the phased array terminal is an urgent problem to be solved at present.

[0083] To solve the above problems, the present application provides a satellite tracking method, device and storage medium for a phased array antenna to improve the tracking accuracy of satellites without changing the hardware structure of the phased array terminal.

[0084] First, refer to Figure 1 , which is a schematic diagram of the application scenario of the embodiment of the present application, including a phased array terminal 10 and a target satellite 11. Among them, the phased array terminal 10 is a device for communicating with satellites, and the phased array terminal 10 includes a phased array antenna 101, a carrier 102 and a controller 103. Among them, the controller 103 is used to adjust the target angle of the phased array antenna 101 according to the acquired tracking parameters and antenna attitude parameters, and control the adjustment of the target angle of the phased array antenna 101 according to the acquired satellite signal, so that the phased array antenna 101 points to the target satellite 11. Among them, the controller 103 can also be an independent device.

[0085] In some embodiments, the controller 103 acquires satellite tracking parameters and antenna attitude parameters, and adjusts the target angle of the phased array antenna 101 based on the satellite tracking parameters and antenna attitude parameters; if the carrier 102 where the phased array antenna is located is in a stationary state, the first satellite signal received by the phased array antenna 101 at the current position is acquired, the first angular error is demodulated from the first satellite signal to obtain the first angular error, and the first signal power is obtained based on the first angular error; if the first angular error is greater than the set threshold, the target angle of the phased array antenna 101 at the current position is controlled to be adjusted along the positive step direction, the second satellite signal is acquired, the second angular error is demodulated from the second satellite signal to obtain the second angular error, and the second signal power is obtained based on the second angular error; based on the first signal power and the second signal power, the step direction of the target angle of the phased array antenna 101 at the current position is determined, and the target angle of the phased array antenna 101 at the current position is controlled to be adjusted along the step direction.

[0086] In some embodiments, the following uses specific embodiments to illustrate a satellite tracking method for a phased array antenna provided by the present application, as Figure 2 shown, including:

[0087] Step 201, acquire satellite tracking parameters and antenna attitude parameters, and adjust the target angle of the phased array antenna based on the satellite tracking parameters and antenna attitude parameters;

[0088] Among them, the above satellite tracking parameters include ephemeris data, where the ephemeris data is used to characterize the position of the target satellite. The above antenna attitude parameters include the attitude data and position data of the phased array antenna. The above target angle includes azimuth and elevation angles.

[0089] The above pitch angle refers to the rotation angle of an object relative to a reference plane (horizontal plane), that is, the pitch angle is the angle by which the object rotates around the transverse axis, and can also be understood as the magnitude of the up and down elevation angle of the object. In this application, the upward tilt of the object is defined as positive, and the downward tilt of the object is defined as negative.

[0090] The above azimuth angle refers to the rotation angle of an object relative to a reference direction, that is, the azimuth angle is the angle by which the object rotates around an axis perpendicular to the reference plane, and can also be understood as the deflection angle of the object in the horizontal direction. The azimuth angle is usually used to describe the direction of an object relative to the ground. In this application, the right deviation of the object is defined as positive, and the left deviation of the object is defined as negative.

[0091] Step 202: If the carrier where the phased array antenna is located is in a stationary state, obtain the first satellite signal received by the phased array antenna at the current position, perform angular error demodulation on the first satellite signal to obtain a first angular error, and obtain a first signal power based on the first angular error.

[0092] In this application, the following method can be used to determine whether the carrier is in a stationary state:

[0093] Obtain a first carrier attitude parameter of the carrier at the current moment and a second carrier attitude parameter at the previous moment.

[0094] If the difference between the first carrier attitude parameter and the second carrier attitude parameter is greater than a set attitude threshold, it is determined that the carrier is in a moving state.

[0095] If the difference between the first carrier attitude parameter and the second carrier attitude parameter is not greater than the set attitude threshold, it is determined that the carrier is in a moving state.

[0096] Among them, the above set attitude threshold can be set according to the actual situation. For example, the set attitude threshold is 0. The above first carrier attitude parameter includes the attitude data and position data of the carrier.

[0097] Step 203: If the first angular error is greater than a set threshold, control the target angle of the phased array antenna at the current position to be adjusted along the positive step direction, obtain a second satellite signal, perform angular error demodulation on the second satellite signal to obtain a second angular error, and obtain a second signal power based on the second angular error.

[0098] The above set threshold can be set according to the actual situation. For example, the set threshold can be one-fifth of the antenna beam width.

[0099] Step 204: Based on the first signal power and the second signal power, determine the step direction of the target angle of the phased array antenna at the current position, and control the target angle of the phased array antenna at the current position to be adjusted along the step direction.

[0100] The above-mentioned stepping directions include a positive stepping direction and a reverse stepping direction.

[0101] In the embodiments of the present application, the target angle of the phased array antenna is initially adjusted based on satellite tracking parameters and antenna attitude parameters, so that the phased array antenna initially points to the target satellite. When the carrier is in a stationary state, the first satellite signal received by the phased array antenna at the current position is acquired, the angle error is demodulated to obtain the first angle error, and the first signal power is obtained based on the first angle error. If it is determined that the first angle error is greater than the set threshold, it indicates that the phased array antenna is not at the position with the maximum signal strength, that is, the phased array antenna is not aligned with the target satellite, and further adjustment is required. Therefore, the present application controls the target angle of the phased array antenna at the current position to be adjusted along the positive stepping direction, the second satellite signal is acquired, the angle error is demodulated to obtain the second angle error, and the second signal power is obtained based on the second angle error. By comparing the first signal power and the second signal power, the stepping direction of the phased array antenna is determined, and the target angle of the phased array antenna is controlled to be adjusted based on this stepping direction, so as to gradually make the phased array antenna approach the position with the maximum signal strength, that is, to gradually align the phased array antenna with the target satellite, thereby improving the tracking accuracy. Therefore, the present application improves the tracking accuracy of the satellite without changing the hardware structure of the phased array terminal.

[0102] The satellite tracking method of the phased array antenna provided above will be described in detail below. As Figure 3 shown, it includes:

[0103] Step 301, acquire satellite tracking parameters and antenna attitude parameters, and adjust the target angle of the phased array antenna based on the satellite tracking parameters and antenna attitude parameters.

[0104] Figure 4 For the flowchart of adjusting the target angle of the phased array antenna provided by the embodiments of the present application, as Figure 4 shown, the above step 301 includes at least the following steps:

[0105] Step 401, acquire satellite tracking parameters and antenna attitude parameters;

[0106] After the satellite tracking parameters and antenna attitude parameters are acquired, the satellite tracking parameters and antenna attitude parameters can be verified by using a preset verification rule, and a legality verification is performed. The satellite tracking parameters and antenna attitude parameters that pass the verification and are legal are further processed.

[0107] Step 402, determine the theoretical direction angle and the theoretical pitch angle according to the satellite tracking parameters and antenna attitude parameters;

[0108] Specifically, according to the satellite tracking parameters and the antenna attitude parameters, the theoretical direction angle and the theoretical pitch angle in the horizon coordinate system are determined; the theoretical direction angle and the theoretical pitch angle in the horizon coordinate system are subjected to coordinate transformation to obtain the theoretical direction angle and the theoretical pitch angle in the phased array terminal coordinate system; the theoretical direction angle and the theoretical pitch angle in the phased array terminal coordinate system are subjected to coordinate transformation to obtain the theoretical direction angle and the theoretical pitch angle in the antenna coordinate system. Among them, the horizon coordinate system takes the earth's center as the origin.

[0109] Step 403: Control the direction angle of the phased array antenna to be adjusted to the theoretical direction angle, and control the pitch angle of the phased array antenna to be adjusted to the theoretical pitch angle.

[0110] In the embodiment of the present application, the satellite tracking parameters and the antenna attitude parameters are obtained in real time to ensure the timeliness of the angle calculation result. And based on the satellite tracking parameters and the antenna attitude parameters, the target angle of the phased array antenna is adjusted, that is, by comparing the theoretical angles of each axis with the actual angles at the current moment, the target angle of the phased array antenna is adjusted to ensure the accuracy of the target angle of the phased array antenna.

[0111] After step 301, the present application uses a step tracking system to control the phased array antenna to move in a set step size step by step, so that the phased array antenna gradually aligns with the target satellite. When the phased array antenna moves near the satellite, a balanced state of back-and-forth oscillation is reached. At this time, it can be considered that the phased array antenna has aligned with the target satellite.

[0112] Figure 5 This is a schematic diagram of the module structure of the existing step tracking system provided by the embodiment of the present application, as Figure 5 shown, the existing step tracking system includes a phased array antenna, a field strength signal detection module, a sampling and demodulation processing module, a timer, a decision module, and a beam pointing adjustment module. Its working process is as follows: The satellite signal received by the phased array antenna passes through the field strength signal detection module and the sampling and demodulation processing module to obtain the field strength signal. According to the beam pointing adjustment module, the field strength signal magnitudes before and after step adjustment are determined, that is, signal strength A and signal strength B. The decision module makes a decision based on signal strength A and signal strength B to obtain the next beam adjustment direction, and the beam pointing adjustment module adjusts the phased array antenna according to the next beam adjustment direction. Repeat the above process until the phased array antenna aligns with the target satellite.

[0113] Step 302: Determine whether the carrier is in a stationary state. If so, execute step 303; otherwise, execute step 308.

[0114] For a stationary carrier, step tracking can complete the adjustment of the antenna beam pointing by making the phased array antenna step by an angle of one step each time, so that the phased array antenna moves towards the target satellite. However, for a moving carrier, the change in the carrier attitude may cause the step of the phased array antenna to be greater than one step. At this time, if the change rate of the carrier attitude is greater than the step adjustment speed, the phased array antenna may move in a direction deviating from the target satellite, resulting in the failure of the step tracking algorithm. Therefore, this application needs to determine whether the carrier is in a stationary state and use the corresponding step tracking method to achieve the tracking of the target satellite.

[0115] Step 303: Obtain the first satellite signal received by the phased array antenna at the current position, perform angle error demodulation on the first satellite signal to obtain a first angle error, and obtain a first signal power based on the first angle error.

[0116] The above step 303 is executed by the step tracking demodulation module (abbreviated as the tracking demodulation module) in this application. The tracking demodulation module is loaded and run in software form on the baseband module of the host baseband processing unit, sharing the A / D (Analog to Digital Converter) and intermediate frequency unit with the downlink reception demodulation, without the need to additionally increase dedicated tracking demodulation hardware.

[0117] The tracking demodulation module in this application shares the hardware and part of the software on the receiving side of the host unit of the broadband phased array terminal in software form, outputs a step control signal, and synchronously demodulates the signal power after the antenna beam step adjustment. According to the different satellite signal systems, the tracking demodulation module can be divided into two types: one is the signal tracking demodulation module of the broadband 1 system, and the other is the signal tracking demodulation module of the broadband 2 system.

[0118] Optionally, performing angle error demodulation on the first satellite signal to obtain a first angle error includes:

[0119] Using the demodulation angle error method corresponding to the signal system of the first satellite signal, perform angle error demodulation on the first satellite signal to obtain the first angle error.

[0120] The signal systems of the above first satellite signals include the broadband 1 system and the broadband 2 system. Therefore, according to the signal system of the first satellite signal, determine the corresponding demodulation angle error method, and perform angle error demodulation on the first satellite signal to obtain the first angle error.

[0121] Optionally, the signal system of the first satellite signal is the broadband 1 system. Figure 6 For an embodiment of this application, it is a flowchart of a method for performing angle error demodulation on the first satellite signal to obtain a first angle error. As Figure 6 shown, it includes:

[0122] Step 601, if the signal format of the first satellite signal is broadband 1 format, then perform mixing processing, low-pass filtering processing, and downsampling processing on the first satellite signal to obtain a first low-sampling-rate signal;

[0123] Step 602, perform power calculation in the frequency domain on the first low-sampling-rate signal to obtain the signal average power and noise power in each stepping direction;

[0124] Step 603, obtain the angular error based on the signal average power and noise power in each stepping direction.

[0125] Figure 7 The block diagram for demodulating the angular error of a satellite signal to obtain the signal power provided by an embodiment of the present application is as Figure 7 shown. If the signal format of the satellite signal is broadband 1 format, then input the satellite signal into a Digital Down Converter (DDC) module. The DDC module performs mixing processing, low-pass filtering processing, and downsampling processing on the satellite signal, converting the high-sampling-rate satellite signal into a low-sampling-rate signal, thereby greatly reducing the data volume of the subsequent processing.

[0126] The DDC module outputs a low-sampling-rate signal and a sampling clock, and this sampling clock drives the entire subsequent processing. First, use this sampling clock to drive the generation of a stepping control switch signal and a counter. When the counter value in each stepping direction is lower than the set threshold value, the switch does not output. Here, the counter value in each stepping direction is used to represent the duration of the received signal in this stepping direction, and the set threshold value can be set according to the actual situation. For example, the set threshold value is 300 us (microseconds). When the counter value in each stepping direction is higher than the threshold value, it indicates that the signal has been received for a long enough time, that is, the signal has stabilized. At this time, the switch outputs the low-sampling-rate signal. This setting is to determine the validity of the received signal in each stepping direction.

[0127] The frequency-domain signal power detection module receives the low-sampling-rate signal output by the switch and performs power calculation in the frequency domain, automatically detecting the signal bandwidth and calculating the signal average power and noise power in each stepping direction. The angular error demodulation module obtains the angular error based on the signal average power and noise power in each stepping direction, thereby completing the demodulation of the angular error. Since the obtained angular error is the angular error in each stepping direction, the discrimination module performs an average calculation on the angular errors in each stepping direction to obtain the signal power, and the discrimination module is also used for operations such as lock discrimination.

[0128] Optionally, the signal format of the first satellite signal is broadband 2 format, Figure 8The flowchart of another method for demodulating the angular error of the first satellite signal to obtain the first angular error provided by the embodiment of the present application is as follows Figure 8 shown, including:

[0129] Step 801, if the signal format of the first satellite signal is broadband 2 format, then detect the primary synchronization signal PSS in the first satellite signal;

[0130] The above PSS (Primary Synchronization Signal) is the downlink PSS, that is, the downlink synchronization signal in the broadband 2 format.

[0131] Step 802, perform mixing processing, low-pass filtering processing and downsampling processing on the PSS to obtain a second low-sampling rate signal;

[0132] Step 803, perform autocorrelation operation on the second low-sampling rate signal to obtain the correlation peak power of the second low-sampling rate signal;

[0133] Step 804, perform smoothing processing on the correlation peak power of the second low-sampling rate signal to obtain the smoothed correlation peak power, and use the smoothed correlation peak power for angular error demodulation to obtain the angular error.

[0134] Figure 9 The block diagram of another method for demodulating the angular error of the satellite signal to obtain the signal power provided by the embodiment of the present application is as follows Figure 9 shown, if the signal format of the satellite signal is broadband 2 format, then input the satellite signal into the DDC module. The DDC module performs mixing processing, low-pass filtering processing and downsampling processing on the satellite signal, so that the high-sampling rate satellite signal becomes a low-sampling rate signal, thereby greatly reducing the data volume of the subsequent processing.

[0135] The DDC module outputs a low-sampling rate signal and a sampling clock, and this sampling clock drives the entire subsequent processing. First, use this sampling clock to drive the generation of a step control switch signal and a counter. When the counter value in each step direction is lower than the set threshold, the switch does not output. When the counter value in each step direction is higher than the threshold, it indicates that the signal has been received for a long enough time, that is, the signal has stabilized. At this time, the switch outputs the low-sampling rate signal. This setting is to determine the validity of the received signal in each step direction.

[0136] The PSS signal power detection module receives the low sampling rate signal output by the switch, performs autocorrelation operation on the low sampling rate signal to obtain the correlation peak power of the second low sampling rate signal, and smooths the correlation peak power of the low sampling rate signal to obtain the smoothed correlation peak power. The angular error demodulation module uses the smoothed correlation peak power to perform angular error demodulation to obtain the angular error, thereby completing the demodulation of the angular error. The discrimination module obtains the signal power based on the angular error and performs operations such as lock discrimination.

[0137] The PSS sequence of the broadband 2 system is the same as the PSS sequence in 5G NR (New Radio). It uses an m-sequence modulated by BPSK (Binary Phase Shift Keying) with a length of 127. This sequence is related to the ID number within the cell group, and the m-sequence has excellent autocorrelation characteristics and good cross-correlation characteristics. Compared with the ZC (Zadoff-Chu) sequence used in LTE (Long-Term Evolution), the increased length of the m-sequence can be used to eliminate the correlation ambiguity caused by large frequency offsets in the high frequency band, meeting the detection performance requirements, especially in the case of large frequency offsets during initial access. Among them, the m-sequence is the abbreviation of the maximum length linear feedback shift register sequence, which is the sequence with the longest period generated by a shift register with linear feedback. The ZC sequence is a discrete sequence with good properties and is a special linear frequency modulation pulse compression sequence.

[0138] The main difference between the tracking demodulation module of the broadband 2 system signal and the tracking demodulation module of the broadband 1 system signal in this application lies in the detection of the signal power. Specifically, it detects the synchronization signals of different systems. The tracking demodulation module of the broadband 2 system signal will perform synchronization detection on the PSS signal. This application will not elaborate on this too much. The detection of the PSS in the tracking demodulation part that this application focuses on can directly use the result calculated by the baseband signal processing, that is, the angular error, and select the PSS correlation values of the beam stable part in each step direction for averaging to obtain the signal power.

[0139] Step 304, determine whether the first angular error is greater than the set threshold. If so, execute step 305; otherwise, execute step 307.

[0140] Step 305, control the target angle of the phased array antenna at the current position to be adjusted along the positive step direction, obtain the second satellite signal, perform angular error demodulation on the second satellite signal to obtain the second angular error, and obtain the second signal power based on the second angular error.

[0141] This application controls the target angle of the phased array antenna at the current position to be adjusted in the positive step direction according to a set step size. Among them, the above set step size can be set according to the actual situation. For example, the set step size can be one-tenth of the antenna beam width.

[0142] Optionally, the target angle is the azimuth angle or the elevation angle. Controlling the target angle of the phased array antenna at the current position to be adjusted in the positive step direction includes:

[0143] If the control flag is the first identifier, control the azimuth angle of the phased array antenna at the current position to be adjusted in the positive step direction;

[0144] If the control flag is the second identifier, control the elevation angle of the phased array antenna at the current position to be adjusted in the positive step direction.

[0145] The above first identifier and second identifier can be set according to the actual situation. For example, the first identifier is 1 and the second identifier is 0.

[0146] The method for determining the second signal power in step 305 is the same as the method for determining the first signal power in step 303, and will not be elaborated here in detail.

[0147] Step 306: Based on the first signal power and the second signal power, determine the step direction of the target angle of the phased array antenna at the current position, and control the target angle of the phased array antenna at the current position to be adjusted along the step direction.

[0148] Optionally, the above determining the step direction of the target angle of the phased array antenna at the current position based on the first signal power and the second signal power includes:

[0149] If the first signal power is less than the second signal power, determine that the step direction of the target angle of the phased array antenna at the current position is the positive step direction;

[0150] If the first signal power is greater than the second signal power, determine that the step direction of the target angle of the phased array antenna at the current position is the reverse step direction.

[0151] Optionally, after controlling the target angle of the phased array antenna at the current position to be adjusted along the step direction, it further includes:

[0152] If the target angle is the azimuth angle, set the control flag to the second identifier; or,

[0153] If the target angle is the elevation angle, set the control flag to the first identifier.

[0154] Step 307, end the adjustment of the target angle of the phased array antenna.

[0155] Specifically, if the first signal power is greater than the set threshold, it indicates that the target angle of the phased array antenna has reached the maximum position of the signal strength, that is, the antenna beam has pointed to the target satellite.

[0156] For example, Figure 10 is a flowchart of a method for adjusting the target angle of a phased array antenna when the carrier is in a stationary state provided by an embodiment of the present application. As Figure 10 shown, it includes:

[0157] Step 1001, obtain satellite signal 1, determine angle error 1 based on satellite signal 1, and determine signal power P1 based on angle error 1;

[0158] Step 1002, determine whether angle error 1 is greater than the set threshold. If so, execute step 1003; otherwise, execute step 1016;

[0159] Step 1003, determine whether the control flag FLAG is 1. If so, execute step 1004; otherwise, execute step 1010;

[0160] Step 1004, control the azimuth angle of the phased array antenna at the current position to be adjusted along the positive step direction;

[0161] Step 1005, obtain satellite signal 2, determine angle error 2 based on satellite signal 2, and determine signal power P2 based on angle error 2;

[0162] Step 1006, determine whether signal power P1 is less than signal power P2. If so, execute step 1007; otherwise, execute step 1008;

[0163] Step 1007, determine that the step direction of the azimuth angle of the phased array antenna at the current position is the positive step direction, and control the azimuth angle of the phased array antenna at the current position to be adjusted along the step direction;

[0164] Step 1008, determine that the step direction of the azimuth angle of the phased array antenna at the current position is the reverse step direction, and control the azimuth angle of the phased array antenna at the current position to be adjusted along the step direction;

[0165] Step 1009, set the control flag FLAG to 0;

[0166] Step 1010, control the elevation angle of the phased array antenna at the current position to be adjusted along the positive step direction;

[0167] Step 1011, obtain satellite signal 2, determine angle error 2 based on satellite signal 2, and determine signal power P2 based on angle error 2;

[0168] Step 1012: Determine whether the signal power P1 is less than the signal power P2. If so, execute Step 1013; otherwise, execute Step 1014.

[0169] Step 1013: Determine that the stepping direction of the elevation angle of the phased array antenna at the current position is the positive stepping direction, and control the elevation angle of the phased array antenna at the current position to be adjusted along the stepping direction.

[0170] Step 1014: Determine that the stepping direction of the elevation angle of the phased array antenna at the current position is the reverse stepping direction, and control the elevation angle of the phased array antenna at the current position to be adjusted along the stepping direction.

[0171] Step 1015: Set the control flag FLAG to 1.

[0172] Step 1016: End the adjustment of the target angle of the phased array antenna.

[0173] Step 308: Obtain the third satellite signal received by the phased array antenna at the current position, perform angle error demodulation on the third signal to obtain the third angle error, and obtain the third signal power based on the third angle error.

[0174] The specific method for obtaining the third signal power in Step 308 above is the same as the specific method for obtaining the first signal power in Step 303, and will not be elaborated here in detail.

[0175] Step 309: Determine whether the third angle error is greater than the set threshold. If so, execute Step 310; otherwise, execute Step 312.

[0176] Step 310: Obtain the fourth signal power after adjusting the target angle of the phased array antenna at the current position along the positive stepping direction, and the fifth signal power after adjusting the target angle of the phased array antenna at the current position along the reverse stepping direction.

[0177] Optionally, obtaining the fourth signal power after adjusting the target angle of the phased array antenna at the current position along the positive stepping direction, and the fifth signal power after adjusting the target angle of the phased array antenna at the current position along the reverse stepping direction includes:

[0178] Control the target angle of the phased array antenna at the current position to be adjusted along the positive stepping direction, obtain the fourth satellite signal, perform angle error demodulation on the fourth satellite signal to obtain the fourth angle error, and obtain the fourth signal power based on the fourth angle error.

[0179] Control the target angle of the phased array antenna at the current position to adjust along the reverse stepping direction, obtain the fifth satellite signal, perform angle error demodulation on the fifth satellite signal to obtain the fifth angle error, and obtain the fifth signal power based on the fifth angle error.

[0180] The specific method for obtaining the fourth signal power and the specific method for obtaining the fifth signal power are the same as the specific method for obtaining the second signal power in step 305, and will not be elaborated here. The execution order of the steps for obtaining the fourth signal power and the steps for obtaining the fifth signal power can be adjusted according to the actual situation. For example, the step for obtaining the fifth signal power can be executed first, and then the step for obtaining the fourth signal power can be executed.

[0181] Optionally, the target angle is the azimuth angle or the elevation angle. The control to adjust the target angle of the phased array antenna at the current position along the forward stepping direction includes:

[0182] If the control flag is the first identifier, control the azimuth angle of the phased array antenna at the current position to adjust along the forward stepping direction;

[0183] If the control flag is the second identifier, control the elevation angle of the phased array antenna at the current position to adjust along the forward stepping direction.

[0184] Step 311, based on the third signal power, the fourth signal power, and the fifth signal power, determine the stepping direction of the target angle of the phased array antenna at the current position, and control the target angle of the phased array antenna at the current position to adjust along the stepping direction.

[0185] Optionally, the determining the stepping direction of the target angle of the phased array antenna at the current position based on the third signal power, the fourth signal power, and the fifth signal power includes:

[0186] Determine the first difference between the fourth signal power and the third signal power;

[0187] Determine the second difference between the fifth signal power and the third signal power;

[0188] If the first difference is greater than the second difference, determine that the stepping direction of the target angle of the phased array antenna at the current position is the forward stepping direction;

[0189] If the first difference is less than the second difference, determine that the stepping direction of the target angle of the phased array antenna at the current position is the reverse stepping direction.

[0190] Optionally, after controlling the target angle of the phased array antenna at the current position to adjust along the stepping direction, it further includes:

[0191] If the target angle is an azimuth angle, set the control flag to a second identifier; or,

[0192] If the target angle is an elevation angle, set the control flag to a first identifier.

[0193] Step 312, end the adjustment of the target angle of the phased array antenna.

[0194] For example, Figure 11 is a flowchart of a method for adjusting the target angle of a phased array antenna when the carrier is in a moving state provided by an embodiment of the present application. As Figure 11 shown, it includes:

[0195] Step 1101, obtain satellite signal A, determine angle error A based on satellite signal A, and determine signal power Q1 based on angle error A;

[0196] Step 1102, determine whether angle error A is greater than a set threshold. If so, execute step 1103; otherwise, execute step 1122;

[0197] Step 1103, determine whether the control flag FLAG is 1. If so, execute step 1104; otherwise, execute step 1113;

[0198] Step 1104, control the azimuth angle of the phased array antenna at the current position to be adjusted along the positive stepping direction;

[0199] Step 1105, obtain satellite signal B, determine angle error B based on satellite signal B, and determine signal power Q2 based on angle error B;

[0200] Step 1106, control the azimuth angle of the phased array antenna at the current position to be adjusted along the reverse stepping direction;

[0201] Step 1107, obtain satellite signal C, determine angle error C based on satellite signal C, and determine signal power Q3 based on angle error C;

[0202] Step 1108, determine the difference 1 between signal power Q2 and signal power Q1, and the difference 2 between signal power Q3 and signal power Q1;

[0203] Step 1109, determine whether difference 1 is greater than difference 2. If so, execute step 1110; otherwise, execute step 1111;

[0204] Step 1110, determine that the stepping direction of the azimuth angle of the phased array antenna at the current position is the positive stepping direction, and control the azimuth angle of the phased array antenna at the current position to be adjusted along the stepping direction;

[0205] Step 1111, determine that the stepping direction of the azimuth angle of the phased array antenna at the current position is the reverse stepping direction, and control the azimuth angle of the phased array antenna at the current position to be adjusted along the stepping direction;

[0206] Step 1112, set the control flag FLAG to 0;

[0207] Step 1113, control the elevation angle of the phased array antenna at the current position to be adjusted along the positive stepping direction;

[0208] Step 1114, obtain satellite signal B, determine angle error B based on satellite signal B, and determine signal power Q2 based on angle error B;

[0209] Step 1115, control the elevation angle of the phased array antenna at the current position to be adjusted along the reverse stepping direction;

[0210] Step 1116, obtain satellite signal C, determine angle error C based on satellite signal C, and determine signal power Q3 based on angle error C;

[0211] Step 1117, determine the difference 1 between signal power Q2 and signal power Q1, and the difference 2 between signal power Q3 and signal power Q1;

[0212] Step 1118, determine whether the difference 1 is greater than the difference 2. If so, execute Step 1119; otherwise, execute Step 1120;

[0213] Step 1119, determine that the stepping direction of the elevation angle of the phased array antenna at the current position is the positive stepping direction, and control the elevation angle of the phased array antenna at the current position to be adjusted along the stepping direction;

[0214] Step 1120, determine that the stepping direction of the elevation angle of the phased array antenna at the current position is the reverse stepping direction, and control the elevation angle of the phased array antenna at the current position to be adjusted along the stepping direction;

[0215] Step 1121, set the control flag FLAG to 1;

[0216] Step 1122, end the adjustment of the target angle of the phased array antenna.

[0217] In the embodiment of the present application, based on the satellite signal, the stepping tracking technology is used to adjust the target angle of the phased array antenna, so as to gradually make the phased array antenna approach the position with the maximum signal strength, that is, to gradually align the phased array antenna with the target satellite, thereby improving the tracking accuracy. The present application can ensure the stability and reliability of the satellite tracking system of the phased array antenna when the accuracy of the satellite tracking parameters and the antenna attitude parameters decreases.

[0218] In this application, the satellite tracking parameters and antenna attitude parameters are provided by the high-precision combined inertial navigation system of the antenna. The interruption of the satellite communication link will not affect the combined inertial navigation system. At this time, the satellite tracking system of the phased array antenna can obtain the satellite tracking parameters and antenna attitude parameters, and based on the satellite tracking parameters and antenna attitude parameters, adjust the target angle of the phased array antenna to achieve tracking of the target satellite. Once the satellite communication link is restored, the phased array antenna can complete the re-capture of the satellite signal in a very short time. At this time, the satellite tracking system of the phased array antenna can obtain the satellite tracking parameters and antenna attitude parameters, and based on the satellite tracking parameters and antenna attitude parameters, adjust the target angle of the phased array antenna, and based on the satellite signal, adjust the target angle of the phased array antenna, so as to ensure that the phased array antenna always points to the target satellite and achieve stable tracking of the target satellite.

[0219] In some embodiments, based on the same inventive concept, the embodiment of this application also provides a satellite tracking device for a phased array antenna. Since this device is the device in the method of the embodiment of this application, and the principle of solving problems by this device is similar to that of this method, the implementation of this device can refer to the implementation of the method, and the repeated parts will not be described again.

[0220] As Figure 12 shown, the above satellite tracking device for a phased array antenna includes the following modules:

[0221] Adjustment module 121, configured to obtain satellite tracking parameters and antenna attitude parameters, and based on the satellite tracking parameters and antenna attitude parameters, adjust the target angle of the phased array antenna;

[0222] First demodulation module 122, configured to, if the carrier where the phased array antenna is located is in a stationary state, obtain the first satellite signal received by the phased array antenna at the current position, perform angle error demodulation on the first satellite signal to obtain a first angle error, and obtain a first signal power based on the first angle error;

[0223] Second demodulation module 123, if the first angle error is greater than a set threshold, control the target angle of the phased array antenna at the current position to be adjusted along the positive step direction, obtain a second satellite signal, perform angle error demodulation on the second satellite signal to obtain a second angle error, and obtain a second signal power based on the second angle error;

[0224] Control module 124, configured to determine the step direction of the target angle of the phased array antenna at the current position based on the first signal power and the second signal power, and control the target angle of the phased array antenna at the current position to be adjusted along the step direction.

[0225] As an optional implementation manner, the first demodulation module 122 is configured to:

[0226] Using the demodulation angle error method corresponding to the signal system of the first satellite signal, demodulate the angle error of the first satellite signal to obtain the first angle error.

[0227] As an alternative implementation, the first demodulation module 122 is configured to:

[0228] If the signal system of the first satellite signal is broadband 1 system, then subject the first satellite signal to mixing processing, low-pass filtering processing and downsampling processing to obtain a first low sampling rate signal;

[0229] Perform power calculation in the frequency domain on the first low sampling rate signal to obtain the signal average power and noise power in each step direction;

[0230] Based on the signal average power and noise power in each step direction, obtain the angle error.

[0231] As an alternative implementation, the first demodulation module 122 is configured to:

[0232] If the signal system of the first satellite signal is broadband 2 system, then detect the primary synchronization signal PSS in the first satellite signal;

[0233] Subject the PSS to mixing processing, low-pass filtering processing and downsampling processing to obtain a second low sampling rate signal;

[0234] Perform autocorrelation operation on the second low sampling rate signal to obtain the correlation peak power of the second low sampling rate signal;

[0235] Perform smoothing processing on the correlation peak power of the second low sampling rate signal to obtain the smoothed correlation peak power, and use the smoothed correlation peak power for angle error demodulation to obtain the angle error.

[0236] As an alternative implementation, after adjusting the target angle of the phased array antenna, the adjustment module 121 is further configured to:

[0237] If the carrier is in a moving state, then acquire a third satellite signal received by the phased array antenna at the current position, demodulate the angle error of the third signal to obtain a third angle error, and obtain a third signal power based on the third angle error;

[0238] If the third angle error is greater than the set threshold, then acquire a fourth signal power after adjusting the target angle of the phased array antenna at the current position along the positive step direction, and a fifth signal power after adjusting the target angle of the phased array antenna at the current position along the negative step direction;

[0239] Based on the third signal power, the fourth signal power, and the fifth signal power, determine the stepping direction of the target angle of the phased array antenna at the current position, and control the phased array antenna to adjust the target angle at the current position along the stepping direction.

[0240] As an alternative implementation, the adjustment module 121 is configured to:

[0241] Control the phased array antenna to adjust the target angle at the current position along the positive stepping direction, obtain a fourth satellite signal, perform angle error demodulation on the fourth satellite signal to obtain a fourth angle error, and obtain the fourth signal power based on the fourth angle error;

[0242] Control the phased array antenna to adjust the target angle at the current position along the reverse stepping direction, obtain a fifth satellite signal, perform angle error demodulation on the fifth satellite signal to obtain a fifth angle error, and obtain the fifth signal power based on the fifth angle error.

[0243] As an alternative implementation, the target angle is an azimuth angle or an elevation angle, and the second demodulation module 123 is configured to:

[0244] If the control flag is the first identifier, control the phased array antenna to adjust the azimuth angle at the current position along the positive stepping direction;

[0245] If the control flag is the second identifier, control the phased array antenna to adjust the elevation angle at the current position along the positive stepping direction.

[0246] As an alternative implementation, the control module 124 is configured to:

[0247] If the first signal power is less than the second signal power, determine that the stepping direction of the target angle of the phased array antenna at the current position is the positive stepping direction;

[0248] If the first signal power is greater than the second signal power, determine that the stepping direction of the target angle of the phased array antenna at the current position is the reverse stepping direction.

[0249] As an alternative implementation, the adjustment module 121 is configured to:

[0250] Determine a first difference between the fourth signal power and the third signal power;

[0251] Determine a second difference between the fifth signal power and the third signal power;

[0252] If the first difference is greater than the second difference, determine that the stepping direction of the target angle of the phased array antenna at the current position is the positive stepping direction;

[0253] If the first difference is less than the second difference, it is determined that the stepping direction of the target angle of the phased array antenna at the current position is the reverse stepping direction.

[0254] As an alternative implementation, after controlling the target angle of the phased array antenna at the current position to be adjusted along the stepping direction, the control module 124 is further configured to:

[0255] If the target angle is the azimuth angle, set the control flag to the second identifier; or,

[0256] If the target angle is the elevation angle, set the control flag to the first identifier.

[0257] As an alternative implementation, the target angle includes the direction angle and the elevation angle, and the adjustment module 121 is configured to:

[0258] Determine the theoretical direction angle and the theoretical elevation angle according to the satellite tracking parameters and the antenna attitude parameters;

[0259] Control the direction angle of the phased array antenna to be adjusted to the theoretical direction angle, and control the elevation angle of the phased array antenna to be adjusted to the theoretical elevation angle.

[0260] In some embodiments, based on the same inventive concept, an embodiment of the present application further provides a satellite tracking device for a phased array antenna, which can implement the satellite tracking function of the phased array antenna described above. Please refer to Figure 13 , the device includes a processor 1301 and a memory 1302, wherein the memory 1302 is used to store program instructions;

[0261] The processor 1301 calls the program instructions stored in the memory and runs the program instructions to implement:

[0262] Obtain satellite tracking parameters and antenna attitude parameters, and adjust the target angle of the phased array antenna based on the satellite tracking parameters and the antenna attitude parameters;

[0263] If the carrier where the phased array antenna is located is in a stationary state, obtain the first satellite signal received by the phased array antenna at the current position, perform angle error demodulation on the first satellite signal to obtain the first angle error, and obtain the first signal power based on the first angle error;

[0264] If the first angle error is greater than the set threshold, control the target angle of the phased array antenna at the current position to be adjusted along the positive stepping direction, obtain the second satellite signal, perform angle error demodulation on the second satellite signal to obtain the second angle error, and obtain the second signal power based on the second angle error;

[0265] Based on the first signal power and the second signal power, determine the step direction of the target angle of the phased array antenna at the current position, and control the target angle of the phased array antenna at the current position to be adjusted along the step direction.

[0266] The processor 1301 implements the steps of the satellite tracking method of the phased array antenna by running the executable instructions, and the repeated parts will not be described again.

[0267] In some possible implementation manners, each aspect of the present application can also be implemented in the form of a program product. The computer program product includes computer program code. When the computer program code runs on a computer, the computer is enabled to execute the satellite tracking method of the phased array antenna as described in any of the foregoing. Since the principle of solving problems by the above computer program product is similar to the satellite tracking method of the phased array antenna, the implementation of the above computer program product can refer to the implementation of the method, and the repeated parts will not be described again.

[0268] Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium. The computer-readable storage medium stores computer instructions. When the computer instructions run on a computer, the computer is enabled to execute the satellite tracking method of the phased array antenna as described above.

[0269] In a specific implementation process, the computer-readable storage medium includes: various storage media that can store program code, such as a Universal Serial Bus flash drive (USB), a mobile hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disc.

[0270] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0271] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing device generate an apparatus for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0272] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction apparatus that implements the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0273] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0274] Those skilled in the art will readily conceive of other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include known common knowledge or conventional technical means in the technical field not disclosed in the present application. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present application are pointed out by the following claims.

[0275] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited by the appended claims.

Claims

1. A satellite tracking method for a phased array antenna, characterized in that, the method includes: obtaining satellite tracking parameters and antenna attitude parameters, and adjusting the target angle of the phased array antenna based on the satellite tracking parameters and antenna attitude parameters; if the carrier where the phased array antenna is located is in a stationary state, obtaining a first satellite signal received by the phased array antenna at the current position, demodulating the angle error of the first satellite signal to obtain a first angle error, and obtaining a first signal power based on the first angle error; if the first angle error is greater than a set threshold, controlling the target angle of the phased array antenna at the current position to be adjusted along the positive step direction, obtaining a second satellite signal, demodulating the angle error of the second satellite signal to obtain a second angle error, and obtaining a second signal power based on the second angle error; determining the step direction of the target angle of the phased array antenna at the current position based on the first signal power and the second signal power, and controlling the target angle of the phased array antenna at the current position to be adjusted along the step direction.

2. The method according to claim 1, characterized in that, the demodulating the angle error of the first satellite signal to obtain a first angle error includes: using a demodulation angle error method corresponding to the signal system of the first satellite signal to demodulate the angle error of the first satellite signal to obtain the first angle error.

3. The method according to claim 2, characterized in that, the using a demodulation angle error method corresponding to the signal system of the first satellite signal to demodulate the angle error of the first satellite signal to obtain the first angle error includes: if the signal system of the first satellite signal is broadband 1 system, passing the first satellite signal through mixing processing, low-pass filtering processing and downsampling processing to obtain a first low sampling rate signal; performing power calculation in the frequency domain on the first low sampling rate signal to obtain the signal average power and noise power in each step direction; obtaining the angle error based on the signal average power and noise power in each step direction.

4. The method according to claim 2, characterized in that, the using a demodulation angle error method corresponding to the signal system of the first satellite signal to demodulate the angle error of the first satellite signal to obtain the first angle error includes: if the signal system of the first satellite signal is broadband 2 system, detecting the primary synchronization signal PSS in the first satellite signal; passing the PSS through mixing processing, low-pass filtering processing and downsampling processing to obtain a second low sampling rate signal; performing autocorrelation operation on the second low sampling rate signal to obtain the correlation peak power of the second low sampling rate signal; performing smoothing processing on the correlation peak power of the second low sampling rate signal to obtain the smoothed correlation peak power, and using the smoothed correlation peak power for angle error demodulation to obtain the angle error.

5. The method according to claim 1, characterized in that, after adjusting the target angle of the phased array antenna, it further includes: If the carrier is in a moving state, obtain the third satellite signal received by the phased array antenna at the current position, perform angular error demodulation on the third signal to obtain a third angular error, and obtain a third signal power based on the third angular error. If the third angular error is greater than the set threshold, obtain a fourth signal power after adjusting the target angle of the phased array antenna at the current position along the positive stepping direction, and a fifth signal power after adjusting the target angle of the phased array antenna at the current position along the reverse stepping direction. Based on the third signal power, the fourth signal power, and the fifth signal power, determine the stepping direction of the target angle of the phased array antenna at the current position, and control the target angle of the phased array antenna at the current position to be adjusted along the stepping direction.

6. The method according to claim 5, wherein, the obtaining the fourth signal power after adjusting the target angle of the phased array antenna at the current position along the positive stepping direction, and the fifth signal power after adjusting the target angle of the phased array antenna at the current position along the reverse stepping direction, includes: control the target angle of the phased array antenna at the current position to be adjusted along the positive stepping direction, obtain a fourth satellite signal, perform angular error demodulation on the fourth satellite signal to obtain a fourth angular error, and obtain the fourth signal power based on the fourth angular error; control the target angle of the phased array antenna at the current position to be adjusted along the reverse stepping direction, obtain a fifth satellite signal, perform angular error demodulation on the fifth satellite signal to obtain a fifth angular error, and obtain the fifth signal power based on the fifth angular error.

7. The method according to claim 1 or 6, wherein, the target angle is an azimuth angle or an elevation angle, and the controlling the target angle of the phased array antenna at the current position to be adjusted along the positive stepping direction includes: if the control flag is the first identifier, control the azimuth angle of the phased array antenna at the current position to be adjusted along the positive stepping direction; if the control flag is the second identifier, control the elevation angle of the phased array antenna at the current position to be adjusted along the positive stepping direction.

8. The method according to claim 1, wherein, the determining the stepping direction of the target angle of the phased array antenna at the current position based on the first signal power and the second signal power includes: if the first signal power is less than the second signal power, determine that the stepping direction of the target angle of the phased array antenna at the current position is the positive stepping direction; if the first signal power is greater than the second signal power, determine that the stepping direction of the target angle of the phased array antenna at the current position is the reverse stepping direction.

9. The method according to claim 5, wherein, the determining the stepping direction of the target angle of the phased array antenna at the current position based on the third signal power, the fourth signal power, and the fifth signal power includes: determine a first difference between the fourth signal power and the third signal power; determine a second difference between the fifth signal power and the third signal power; If the first difference is greater than the second difference, determine that the step direction of the target angle of the phased array antenna at the current position is the positive step direction; If the first difference is less than the second difference, determine that the step direction of the target angle of the phased array antenna at the current position is the reverse step direction.

10. The method according to claim 7, wherein, after controlling the target angle of the phased array antenna at the current position to be adjusted along the step direction, further comprising: if the target angle is the azimuth angle, set the control flag to the second identifier; or, if the target angle is the elevation angle, set the control flag to the first identifier.

11. The method according to claim 1, wherein, the target angle includes the direction angle and the elevation angle, and adjusting the target angle of the phased array antenna based on the satellite tracking parameters and the antenna attitude parameters includes: determining the theoretical direction angle and the theoretical elevation angle according to the satellite tracking parameters and the antenna attitude parameters; controlling the direction angle of the phased array antenna to be adjusted to the theoretical direction angle, and controlling the elevation angle of the phased array antenna to be adjusted to the theoretical elevation angle.

12. A satellite tracking device for a phased array antenna, wherein, comprising: an adjustment module, configured to obtain satellite tracking parameters and antenna attitude parameters, and adjust the target angle of the phased array antenna based on the satellite tracking parameters and the antenna attitude parameters; a first demodulation module, configured to, if the carrier where the phased array antenna is located is in a stationary state, obtain a first satellite signal received by the phased array antenna at the current position, perform angle error demodulation on the first satellite signal to obtain a first angle error, and obtain a first signal power based on the first angle error; a second demodulation module, if the first angle error is greater than a set threshold, control the target angle of the phased array antenna at the current position to be adjusted along the positive step direction, obtain a second satellite signal, perform angle error demodulation on the second satellite signal to obtain a second angle error, and obtain a second signal power based on the second angle error; a control module, configured to determine the step direction of the target angle of the phased array antenna at the current position based on the first signal power and the second signal power, and control the target angle of the phased array antenna at the current position to be adjusted along the step direction.

13. An electronic device, wherein, comprising: a processor, and a memory communicatively connected to the processor; the memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory to implement the method according to any one of claims 1-11.

14. A computer-readable storage medium, wherein, the computer-readable storage medium stores computer execution instructions, and the computer execution instructions, when executed by a processor, are used to implement the method according to any one of claims 1-11.

15. A computer program product, wherein, comprising a computer program, and the computer program, when executed by a processor, implements the method according to any one of claims 1-11.

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