Satellite tracking method, system and device and electronic equipment

Abstract

The invention relates to the technical field of satellite antennas, in particular to a satellite tracking method, system and device and electronic equipment, and the method comprises the steps: determining a communication state between a carrier and a satellite, and obtaining the attitude information of the carrier in real time; starting a correction strategy corresponding to the communication state to determine a target angle of the carrier pointing to the satellite, the correction strategy comprising: when the communication state represents a disconnection state, correcting the attitude information by using the tracking network, and correcting the first theoretical pointing angle by using the tracking network to obtain the target angle; wherein the first theoretical pointing angle is obtained based on the corrected attitude information; wherein the tracking network is obtained by training based on sample data corresponding to a plurality of continuous moments, the sample data is obtained when the communication state represents the connection state, and the sample data comprises an attitude information sample and an angle information sample; the angle information sample is a theoretical pointing angle of the carrier calculated based on the attitude information sample.

Description

Satellite tracking method, system, device and electronic equipment Technical Field

[0001] The present disclosure relates to the technical field of satellite antennas, and in particular to a satellite tracking method, system, device, and electronic equipment. Background Art

[0002] The mobile satellite communication system (abbreviated as "mobile communication") refers to a system in which a satellite antenna is installed on a mobile carrier platform (such as a car, train, airplane, ship, etc.). The satellite antenna can establish a stable communication link with the satellite and can keep the communication link stable and unobstructed during the rapid movement of the carrier, so as to realize real-time communication.

[0003] With the growing demand for mobile satellite communications, in order to achieve high-bandwidth, real-time, and uninterrupted signal transmission between high-throughput satellites and mobile satellite antenna terminals, requirements such as accurate tracking, rapid response, and strong anti-interference capabilities are put forward for mobile satellite communication systems.

[0004] Summary of the Invention

[0005] This disclosure adopts the following technical solutions:

[0006] A first aspect of the present disclosure provides a satellite tracking method, the method comprising:

[0007] Determining the communication status between the carrier and the satellite, and obtaining attitude information of the carrier in real time;

[0008] activating a correction strategy corresponding to the communication state to determine a target angle for the carrier to point to the satellite, the correction strategy comprising: when the communication state indicates a lost connection state, correcting the attitude information using a tracking network, and correcting a first theoretical pointing angle using the tracking network to obtain the target angle; wherein the first theoretical pointing angle is obtained based on the corrected attitude information;

[0009] In which, the tracking network is trained based on sample data corresponding to multiple consecutive moments, and the sample data is obtained when the communication state represents the connection state. The sample data includes: posture information samples and angle information samples. The angle information sample is the theoretical pointing angle of the carrier calculated based on the posture information sample.

[0010] In an optional embodiment, the correction strategy further includes:

[0011] When the communication state is a connected state, obtaining positioning information;

[0012] Correcting the posture information based on the positioning information, and obtaining a second theoretical pointing angle based on the corrected posture information;

[0013] The second theoretical pointing angle is corrected to obtain the target angle.

[0014] In an optional implementation, the correcting the second theoretical pointing angle to obtain the target angle includes:

[0015] The second theoretical pointing angle is corrected by using a cone scanning algorithm to obtain the target angle; or the second theoretical pointing angle is corrected by using the tracking network to obtain the target angle.

[0016] In an optional implementation, after determining the target angle at which the carrier points to the satellite, the method further includes:

[0017] Adjusting the direction of the carrier according to the target angle;

[0018] When the direction of the carrier is the target angle, detecting a communication state between the carrier and the satellite;

[0019] When the communication state is a lost state, the steps of correcting the attitude information using the tracking network and correcting the first theoretical pointing angle using the tracking network are repeated until it is detected that the carrier establishes a connection with the satellite.

[0020] In an optional implementation, at the moment when the communication state changes from the disconnected state to the connected state, the method further includes:

[0021] adjusting the direction of the carrier according to a first pointing angle; the first pointing angle being a target angle obtained by the tracking network by correcting the first theoretical pointing angle when the communication state changes from the disconnected state to the connected state;

[0022] Correcting the first pointing angle based on a cone scanning algorithm to determine a second pointing angle;

[0023] The carrier is adjusted from the first pointing angle to the second pointing angle, so that the carrier completes satellite signal locking based on the second pointing angle.

[0024] In an optional embodiment, performing angle correction on the first pointing angle based on a cone scanning algorithm to determine the second pointing angle includes:

[0025] Based on the first pointing angle, controlling the carrier to perform conical scanning along an elliptical trajectory to obtain the strongest signal point;

[0026] determining signal strengths of a plurality of detection points on the elliptical trajectory, and determining a first ellipse center point based on the signal strengths of the plurality of detection points;

[0027] Calculating an angle difference between the center point of the first ellipse and the point with the strongest signal as an angle compensation value;

[0028] Angle correction is performed on the first pointing angle based on the angle compensation value to obtain the second pointing angle.

[0029] In an optional embodiment, the training process of the tracking network is as follows:

[0030] Acquire a training data set, wherein the training data set includes at least sample data corresponding to the plurality of consecutive moments;

[0031] During each training, the posture information sample and the angle information sample are input into an initial tracking model, so as to correct the posture information sample based on the initial tracking model to obtain first prediction data;

[0032] Correcting the angle information sample based on the initial tracking model to obtain second prediction data;

[0033] Based on the first predicted data and the label values ​​corresponding to the posture information samples, and the second predicted data and the label values ​​corresponding to the angle information samples, the hyperparameters of the initial tracking network are optimized to obtain the tracking network.

[0034] In an optional implementation, the posture information sample and the label value corresponding to the posture information sample are obtained according to the following process:

[0035] controlling the communication state between the carrier and the satellite to be the connected state;

[0036] Acquire initial posture information at a target time, the initial posture information including at least a carrier position and a carrier posture, the target time being any time in the connection state;

[0037] Acquire a positioning information sample, where the positioning information sample includes at least global positioning information and timing information;

[0038] Based on the positioning information sample, the initial posture information is corrected to obtain corrected posture information;

[0039] The initial posture information at a plurality of consecutive moments in the connection state is used as the posture information sample, and the corrected posture information is used as the label value corresponding to the posture information sample.

[0040] In an optional implementation, the angle information sample and the label value corresponding to the angle information sample are obtained according to the following process:

[0041] Acquiring parameter information, wherein the parameter information includes at least satellite ephemeris information and orbit parameter information;

[0042] determining the angle information sample based on the corrected posture information and the parameter information;

[0043] Correcting the angle information sample based on a cone scanning algorithm to determine a corrected pointing angle;

[0044] The corrected pointing angles at a plurality of consecutive moments in the connection state are used as label values ​​corresponding to the angle information samples.

[0045] In an optional implementation, determining the angle information sample based on the corrected posture information and the parameter information includes:

[0046] Determining the position information of the satellite at the target time based on the corrected attitude information and the parameter information;

[0047] Determining angle information in a geographic coordinate system based on the initial attitude information and the position information of the satellite at the target time;

[0048] Coordinate transformation is performed on the angle information in the geographic coordinate system to obtain angle information in the carrier coordinate system, wherein the angle information in the carrier coordinate system serves as the angle information sample.

[0049] A second aspect of the present disclosure provides a satellite tracking system, the system comprising a navigation terminal and a main control terminal; wherein the navigation terminal and the main control terminal are respectively communicatively connected to a carrier, and the carrier is used to communicate with the satellite;

[0050] The main control end is used to execute the satellite tracking method described in any one of the first aspects.

[0051] In an optional implementation, the navigation terminal is configured with a first navigation subsystem and a second navigation subsystem;

[0052] The first navigation subsystem is configured to obtain the posture information of the carrier in real time and send the posture information to the main control end;

[0053] The second navigation subsystem is configured to obtain positioning information when the communication state is a connected state, and send the positioning information to the main control end.

[0054] In an optional embodiment, the master control end includes a tracking network and a solution subsystem;

[0055] The tracking network is configured to receive the posture information sent by the navigation terminal and correct the posture information when the communication status indicates a lost connection state;

[0056] The solver subsystem is configured to receive the corrected attitude information sent by the tracking network and determine a first theoretical pointing angle;

[0057] The tracking network is further configured to receive the first theoretical pointing angle sent by the solver subsystem, and to correct the first theoretical pointing angle to obtain a target angle.

[0058] In an optional embodiment, the main control end further includes a first correction subsystem and a second correction subsystem;

[0059] The first correction subsystem is configured to receive the posture information and positioning information sent by the navigation terminal when the communication state is the connected state, and correct the posture information based on the positioning information;

[0060] The solving subsystem is further configured to receive the corrected attitude information sent by the first correcting subsystem and determine a second theoretical pointing angle;

[0061] The second correction subsystem is used to receive the second theoretical pointing angle sent by the solution subsystem when the communication state is the connection state, and correct the second theoretical pointing angle to obtain the target angle.

[0062] In an optional embodiment, the system further includes a carrier control terminal, wherein the carrier control terminal is communicatively connected to the main control terminal;

[0063] The carrier control terminal is configured to adjust the direction of the carrier according to the target angle sent by the main control terminal;

[0064] The master control end is used to detect the communication status between the carrier and the satellite when the carrier is pointing at the target angle; when the communication status indicates a lost connection state, repeat the correction strategy of using the tracking network to correct the attitude information and using the tracking network to correct the first theoretical pointing angle until it is detected that the carrier is connected to the satellite.

[0065] A third aspect of the present disclosure provides a satellite tracking device, the device comprising:

[0066] A communication status module, used to determine the communication status between the carrier and the satellite, and to obtain the attitude information of the carrier in real time;

[0067] a first correction module, configured to activate a correction strategy corresponding to the communication state to determine a target angle of the carrier pointing to the satellite, the correction strategy comprising: when the communication state indicates a lost connection state, correcting the attitude information using a tracking network, and correcting a first theoretical pointing angle using the tracking network to obtain the target angle; wherein the first theoretical pointing angle is obtained based on the corrected attitude information;

[0068] In which, the tracking network is trained based on sample data corresponding to multiple consecutive moments, and the sample data is obtained when the communication state represents the connection state. The sample data includes: posture information samples and angle information samples. The angle information sample is the theoretical pointing angle of the carrier calculated based on the posture information sample.

[0069] In an optional embodiment, the correction module further includes:

[0070] A positioning submodule, configured to obtain positioning information when the communication state is a connected state;

[0071] A second correction submodule is configured to correct the posture information based on the positioning information, and obtain a second theoretical pointing angle based on the corrected posture information;

[0072] The target angle submodule is used to correct the second theoretical pointing angle to obtain the target angle.

[0073] In an optional embodiment, the target angle submodule includes:

[0074] The target angle unit is used to correct the second theoretical pointing angle using a cone scanning algorithm to obtain the target angle; or to correct the second theoretical pointing angle using the tracking network to obtain the target angle.

[0075] In an optional embodiment, the device further includes:

[0076] A carrier pointing module, used to adjust the pointing direction of the carrier according to the target angle;

[0077] a detection module, configured to detect a communication state between the carrier and the satellite when the carrier is pointed at the target angle;

[0078] A repeated correction module is used to repeat the steps of correcting the attitude information using the tracking network and correcting the first theoretical pointing angle using the tracking network when the communication state is a lost state, until it is detected that the carrier is connected to the satellite.

[0079] In an optional embodiment, the device further includes:

[0080] a first pointing module, configured to adjust the pointing direction of the carrier according to a first pointing angle; the first pointing angle being a target angle obtained by the tracking network by correcting the first theoretical pointing angle when the communication state transitions from the disconnected state to the connected state;

[0081] a cone scanning module, configured to correct the first pointing angle based on a cone scanning algorithm to determine a second pointing angle;

[0082] The second pointing module is used to adjust the carrier from the first pointing angle to the second pointing angle, so that the carrier completes satellite signal locking based on the second pointing angle.

[0083] In an optional embodiment, the cone scanning module includes:

[0084] a conical scanning submodule, configured to control the carrier to perform conical scanning along an elliptical trajectory based on the first pointing angle to obtain a point with the strongest signal;

[0085] a first center point submodule, configured to determine signal strengths of a plurality of detection points on the elliptical trajectory, and determine a first ellipse center point based on the signal strengths of the plurality of detection points;

[0086] a compensation value submodule, configured to calculate an angle difference between the center point of the first ellipse and the point with the strongest signal as an angle compensation value;

[0087] The angle compensation submodule is configured to perform angle correction on the first pointing angle based on the angle compensation value to obtain the second pointing angle.

[0088] In an optional embodiment, the device further includes:

[0089] A training set module, configured to obtain a training data set, wherein the training data set includes at least sample data corresponding to the plurality of consecutive moments;

[0090] a first prediction module, configured to input the posture information sample and the angle information sample into an initial tracking model during each training, so as to correct the posture information sample based on the initial tracking model to obtain first prediction data;

[0091] A second prediction module, configured to correct the angle information sample based on the initial tracking model to obtain second prediction data;

[0092] An optimization module is used to optimize the hyperparameters of the initial tracking network based on the label values ​​corresponding to the first prediction data and the posture information samples, and the label values ​​corresponding to the second prediction data and the angle information samples, to obtain the tracking network.

[0093] In an optional embodiment, the device further includes:

[0094] a connection module, configured to control the communication state between the carrier and the satellite to be the connection state;

[0095] An initial posture information module is used to obtain initial posture information at a target time, wherein the initial posture information includes at least a carrier position and a carrier posture, and the target time is any time in the connection state;

[0096] A positioning sample module is used to obtain positioning information samples, where the positioning information samples include at least global positioning information and timing information;

[0097] A posture correction module, configured to correct the initial posture information based on the positioning information sample to obtain corrected posture information;

[0098] The posture information sample module is used to use the initial posture information of multiple consecutive moments in the connection state as the posture information sample, and use the corrected posture information as the label value corresponding to the posture information sample.

[0099] In an optional embodiment, the device further includes:

[0100] A parameter information module is used to obtain parameter information, wherein the parameter information includes at least satellite ephemeris information and orbit parameter information;

[0101] An angle information sample module, configured to determine the angle information sample based on the corrected posture information and the parameter information;

[0102] A cone scanning module, configured to correct the angle information sample based on a cone scanning algorithm and determine a corrected pointing angle;

[0103] The angle sample label value module is used to use the corrected pointing angles at multiple consecutive moments in the connection state as label values ​​corresponding to the angle information samples.

[0104] In an optional implementation, the angle information sample module includes:

[0105] a position information submodule, configured to determine the position information of the satellite at the target time based on the corrected attitude information and the parameter information;

[0106] A first angle information submodule is configured to determine angle information in a geographic coordinate system based on the initial attitude information and the position information of the satellite at the target time;

[0107] The angle information sample submodule is used to perform coordinate transformation on the angle information in the geographic coordinate system to obtain angle information in the carrier coordinate system, wherein the angle information in the carrier coordinate system serves as the angle information sample.

[0108] A fourth aspect of the present disclosure provides an electronic device, including:

[0109] a memory having computer readable code stored therein; and

[0110] One or more processors, when the computer readable code is executed by the one or more processors, the electronic device performs the satellite tracking method as described in any one of the first aspects.

[0111] A fifth aspect of the present disclosure provides a computer program, comprising a computer-readable code. When the computer-readable code is run on an electronic device, the program causes the electronic device to execute the satellite tracking method according to any one of the first aspects.

[0112] A sixth aspect of the present disclosure provides a computer-readable medium, in which the computer program described in the fifth aspect is stored.

[0113] The above description is only an overview of the technical solution of the present disclosure. In order to more clearly understand the technical means of the present disclosure, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present disclosure more obvious and easy to understand, the specific implementation methods of the present disclosure are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0114] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or related technologies, the following is a brief introduction to the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0115] FIG1 schematically shows a flow chart of a satellite tracking method for executing the method according to the present disclosure;

[0116] FIG2 schematically shows a schematic diagram of satellite tracking in a connected state for performing the method according to the present disclosure;

[0117] FIG3 schematically shows a schematic diagram of a correction strategy for executing the method according to the present disclosure in a disconnected state;

[0118] FIG4 schematically shows a diagram of a correction strategy in a connected state for executing the method according to the present disclosure;

[0119] FIG5 schematically shows a schematic diagram of a tracking network training process for executing the method according to the present disclosure;

[0120] FIG6 schematically shows a schematic diagram of the architecture of a satellite tracking system for executing the method according to the present disclosure;

[0121] FIG7 schematically shows a schematic structural diagram of a satellite tracking device for executing the method according to the present disclosure;

[0122] FIG8 schematically shows a block diagram of an electronic device for executing the method according to the present disclosure. Specific embodiments

[0123] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present disclosure without making any creative efforts shall fall within the scope of protection of the present disclosure.

[0124] The mobile satellite communication system (abbreviated as "mobile communication") refers to a system in which a satellite antenna is installed on a mobile carrier platform (such as a car, train, airplane, ship, etc.). The satellite antenna can establish a stable communication link with the satellite and can keep the communication link stable and unobstructed during the rapid movement of the carrier, so as to realize real-time communication.

[0125] With the growing demand for mobile satellite communications, in order to achieve high-bandwidth, real-time, and uninterrupted signal transmission between high-throughput satellites and satellite antenna terminals in motion, mobile satellite communication systems are required to have accurate tracking, rapid response, and strong anti-interference capabilities. In existing technologies, when satellite signals are blocked, inertial navigation systems operate in pure inertial navigation mode during the blockage, making it impossible to correct navigation information. As the blockage lasts longer, the error in navigation information gradually increases, making it extremely difficult to reconnect the satellite antenna carrier to the satellite based on this navigation information with large errors after the blockage disappears. Rapid connection to the satellite cannot be restored, and even large errors in navigation information may prevent reconnection, forcing the system to search for satellite signals again, increasing the cost of blockage recovery.

[0126] In view of this, the present disclosure provides a satellite tracking method. FIG1 schematically shows a flow chart of the satellite tracking method for executing the method according to the present disclosure. As shown in FIG1 , the method includes the following steps:

[0127] S101: Determine the communication status between the carrier and the satellite, and obtain the carrier's attitude information in real time.

[0128] S102. Activate a correction strategy corresponding to the communication state to determine the target angle of the carrier pointing to the satellite, the correction strategy comprising: when the communication state represents a lost state, using a tracking network to correct the attitude information, and using the tracking network to correct a first theoretical pointing angle to obtain the target angle; wherein the first theoretical pointing angle is obtained based on the corrected attitude information.

[0129] Figure 2 schematically shows a schematic diagram of satellite tracking in a connected state for executing the method according to the present disclosure. As shown in Figure 2, in an embodiment of the present disclosure, a satellite is used to send satellite signals to the ground in the orbit where the satellite is located. For example, the satellite can be a traditional communication satellite or a high-throughput satellite (HTS), etc.; the carrier is a satellite antenna terminal, which is arranged in a ground area that can be covered by the satellite signal sent by the satellite, and is used to receive and track the satellite signal sent by the satellite to realize communication with the satellite. For example, the carrier can be a moving satellite antenna terminal or a stationary satellite antenna terminal, etc.

[0130] The communication status between the satellite and the carrier includes at least a connected state and a disconnected state. The connected state refers to the state in which the carrier has achieved alignment with the satellite and stable tracking, at which time the satellite and the carrier can communicate; the disconnected state refers to the state in which the carrier cannot receive satellite signals. Since the satellite antenna terminal may be in various environments during use, satellite signal obstruction often occurs during the use of the satellite antenna terminal. For example, satellite signals can be blocked by obstacles such as buildings and mountains; satellite signals can also be blocked by water droplets, fog, etc. under weather conditions such as rain and fog. When the satellite signal is blocked, it is difficult for the satellite antenna terminal to receive the satellite signal, and it is impossible to track the satellite in real time through the satellite signal, resulting in problems such as loss of satellite lock, causing the communication status between the satellite and the carrier to be disconnected.

[0131] In the disclosed embodiment, the attitude information of the carrier is used to characterize the position and attitude of the carrier. For example, the attitude information of the carrier may include the angle and speed of the carrier in different directions, the acceleration and angular velocity of the carrier in different directions, etc. at the current moment. Since the carrier needs to track the satellite in the connected state to achieve communication and lock with the satellite, and needs to continue to try to track the satellite in the disconnected state so that the lock with the satellite can be quickly restored when the connection state is converted, the carrier needs to adjust the beam pointing angle at each moment, obtain the attitude information of the current carrier in real time, and determine the pointing angle of the carrier at the current moment based on the attitude information. The theoretical pointing angle refers to the pointing angle of the carrier at the current moment calculated based on the attitude information at the current moment and the parameter information of the satellite.

[0132] In the process of acquiring attitude information, attitude information is usually obtained using an autonomous navigation system (such as the INS system shown in Figure 1). Due to the zero drift of the sensor in the autonomous navigation system, the attitude information obtained has certain errors. When acquiring attitude information at multiple consecutive moments, the accumulated errors will gradually cause the attitude information to become inaccurate. As a result, the carrier cannot successfully receive satellite signals at the theoretical pointing angle of the carrier based on the attitude information, resulting in loss of connection between the satellite and the carrier. Therefore, after acquiring the attitude information, it is necessary to obtain satellite positioning information through the global positioning system (such as the GPS system shown in Figure 1) in a connected state to correct the attitude information and eliminate the errors caused by zero drift.

[0133] On the other hand, after the theoretical pointing angle is determined based on the corrected attitude information, due to the carrier's own movement (such as carrier shaking, satellite position drift, etc.), the pointing angle of the carrier antenna beam adjusted according to the theoretical pointing angle will deviate from the actual orbital position of the satellite, and it will not be able to be fully aligned with the strongest point of the satellite signal, causing the satellite signal to weaken. In order to ensure that the carrier's satellite antenna beam is always strictly aligned with the satellite, after determining the theoretical pointing angle, the theoretical pointing angle needs to be corrected so that the carrier's satellite antenna beam points to the strongest point of the satellite signal.

[0134] In an embodiment of the present disclosure, when the communication state is a lost state, a tracking network is used to realize the error correction caused by the above-mentioned zero-point drift and the error correction caused by the carrier following, wherein the tracking network is trained based on sample data corresponding to multiple consecutive moments, and the sample data is obtained when the communication state represents the connection state, and the sample data includes: posture information samples and angle information samples, and the angle information samples are the theoretical pointing angles of the carrier calculated based on the posture information samples.

[0135] Because the satellite signal is blocked in the lost state, the carrier cannot receive satellite signals and the autonomous navigation system cannot obtain satellite positioning information. Therefore, it is impossible to correct the attitude information through positioning information as in the connected state; on the other hand, the carrier cannot receive satellite signals in the lost state, so the theoretical pointing angle cannot be corrected through the conical scanning algorithm.

[0136] Therefore, in the embodiment of the present disclosure, in the connection state before entering the disconnected state, based on each moment in the connection state, the positioning information obtainable in the connection state and the cone scanning algorithm that can be performed in the connection state are used to perform corrections, and the posture information and angle information corresponding to the posture information before and after the correction are used as sample data and label values ​​to complete the training optimization of the tracking network. At each moment in the disconnected state, after obtaining the posture information of each moment in real time, the posture information is input into the trained tracking network, and the posture information is corrected based on the tracking network to achieve the error correction originally performed by the positioning information in the connection state, eliminate the error of the posture information, and obtain the posture information corrected based on the tracking network; then, the theoretical pointing angle is determined based on the corrected posture information, and the theoretical pointing angle is input into the trained tracking network, and the theoretical pointing angle is corrected using the tracking network to achieve the error correction originally performed by the cone scanning algorithm in the connection state, and obtain the target angle.

[0137] In the embodiment of the present disclosure, when the satellite signal is blocked and in a lost connection state, the attitude information and the theoretical pointing angle are corrected respectively through a trained tracking network, thereby eliminating the errors in the attitude information and the theoretical pointing angle in the lost connection state, so that the carrier can accurately point to the position of the satellite in the lost connection state at every moment, so that when the blockage disappears, the carrier can quickly receive the satellite signal according to the target angle and establish a connection with the satellite, thereby improving the efficiency of the carrier and the satellite when switching from a lost connection state to a connected state.

[0138] In order to enable those skilled in the art to better understand the solution of the present disclosure, the solution of the present disclosure is described in detail below:

[0139] When step S101 is specifically implemented, the carrier is first initialized and started, and the direction of the carrier is adjusted so that the carrier and the satellite are initially aligned. After the initial alignment is completed, the carrier locks the satellite signal, and the communication state between the carrier and the satellite enters a connected state.

[0140] The disclosed embodiments employ different correction strategies depending on the communication state. Based on the carrier's attitude information, the target angle at which the carrier points toward the satellite in the current communication state is determined. First, the communication state between the carrier and the satellite is determined, which includes at least a disconnected state and a connected state. At each moment, based on the current carrier's pointing angle, a satellite signal is received from the satellite. If a satellite signal is received, the current communication state between the carrier and the satellite is determined to be connected. If no satellite signal is received, the current communication state between the carrier and the satellite is determined to be disconnected.

[0141] FIG4 schematically illustrates a correction strategy for executing the method according to the present disclosure in a connected state. As shown in FIG4 , when the communication state is a connected state, a target angle in the connected state is obtained according to a first correction strategy, so that the carrier maintains a connection with the satellite according to the target angle. First, at each moment in the connected state, the carrier's attitude information needs to be obtained. Based on the carrier's attitude information, the carrier's pointing angle at each moment in the connected state is calculated. The carrier's pointing angle at that moment is obtained according to the attitude information, so that the carrier in the connected state is aligned with the satellite according to the pointing angle at each moment, so that the communication state between the carrier and the satellite is maintained in a connected state.

[0142] Specifically, at each moment, based on the sensors of the autonomous navigation system itself, the attitude information of the carrier is obtained in real time. The attitude information includes at least the carrier position and the carrier attitude. The carrier attitude includes the angle and velocity of the carrier in different directions, the acceleration of the carrier in different directions, and the angular velocity of the sensor in the autonomous navigation system measured by the autonomous navigation system at the current moment; the carrier position includes the latitude and longitude of the carrier at the current moment. Exemplarily, the attitude information of the carrier obtained at each moment can be the angle and velocity of the carrier in the east, north, and sky directions, respectively, measured by the autonomous navigation system, the acceleration of the carrier in the x, y, and z directions, respectively, and the angular velocity of the gyroscope sensor of the autonomous navigation system. It should be noted that the above example is only an optional case provided to enable those skilled in the art to better understand the solution of the present disclosure. The specific data type contained in the attitude information can be determined according to actual conditions, and the present disclosure does not limit it here.

[0143] In the connected state, the attitude information obtained by the autonomous navigation system has a first error, and the first error is caused by the zero drift of the sensor in the autonomous navigation system. In the embodiment of the present disclosure, since the positioning information of the satellite can be obtained in the connected state, the correction strategy in the connected state is to correct the attitude information in the connected state through the positioning information. Specifically, first, at each moment in the connected state, positioning information is obtained through the global positioning system (GPS), and the positioning information includes at least global positioning information and timing information. Based on the Kalman filter algorithm, the attitude information is corrected according to the positioning information to obtain the corrected attitude information, and the corrected attitude information eliminates the first error based on the positioning information; then, parameter information for characterizing the operation of the satellite is obtained, and the parameter information includes at least satellite ephemeris information and orbital parameter information (such as TLE orbital parameter information). Based on the parameter information and the corrected attitude information, the orbital parameters of the satellite are solved to obtain the angle information of the satellite at the current moment, and the second theoretical pointing angle of the carrier at the current moment is calculated based on the angle information, wherein the angle information is used to characterize the speed of the satellite in different directions and the longitude and latitude of the satellite.

[0144] After obtaining the second theoretical pointing angle, the carrier's own movement will cause the pointing angle of the carrier antenna beam adjusted according to the second theoretical pointing angle to deviate from the actual orbital position of the satellite, resulting in a second error. In order to eliminate the second error, the second theoretical pointing angle needs to be corrected. In the embodiment of the present disclosure, the second theoretical pointing angle can be corrected using a conical scanning algorithm, or the second theoretical pointing angle can be corrected using a tracking network to obtain the target angle.

[0145] The correction of the second theoretical pointing angle based on the conical scanning algorithm is carried out according to the following steps: first, the control carrier performs conical scanning along an elliptical trajectory within a small angle range near the second theoretical pointing angle to obtain the point with the strongest signal; then, the signal strength of multiple detection points on the elliptical trajectory is determined, for example, the satellite receiving level strength of four points at the top, bottom, left and right of the elliptical trajectory is determined as the signal strength of multiple detection points; the center point of the second ellipse is determined based on the signal strength of multiple detection points; the angle difference between the center point of the second ellipse and the point with the strongest signal is calculated as the angle compensation value, and the second theoretical pointing angle is corrected based on the angle compensation value to obtain the target angle.

[0146] When the satellite signal is blocked and the communication state is about to change from the connected state to the disconnected state, step S102 is executed to correct the attitude information according to the second correction strategy to determine the target angle in the disconnected state.

[0147] When step S102 is specifically implemented, FIG3 schematically shows a schematic diagram of a correction strategy for executing the method according to the present disclosure in a lost connection state. As shown in FIG3 , when the communication state is a lost connection state, the satellite signal is blocked, so that the carrier in the lost connection state cannot determine the position of the satellite. Once the blockage disappears, the carrier needs to quickly re-establish connection with the satellite to convert the communication state from the lost connection state to the connected state. Therefore, at every moment in the lost connection state, it is still necessary to obtain the attitude information of the carrier at each moment in real time, so that the theoretical pointing angle can be calculated based on the attitude information at each moment in the lost connection state, and the carrier in the lost connection state can still adjust its pointing according to the theoretical pointing angle. Although the satellite signal cannot be received by adjusting the pointing of the carrier according to the theoretical pointing angle during the satellite signal blocking process, since the pointing of the carrier is based on the pointing angle change at continuous moments, the attitude information can be obtained in real time in the lost connection state, and the theoretical pointing angle can be generated by the attitude information to adjust the pointing of the carrier. In the process of not being able to receive the satellite signal, the carrier can point to the satellite position to the maximum extent according to the theoretical pointing angle, thereby ensuring that when the blocking disappears, it can quickly re-establish connection with the satellite according to the theoretical pointing angle obtained from the real-time attitude information in the lost connection state, and restore the communication state to the connected state.

[0148] The process for acquiring attitude information in a disconnected state is as follows: At each moment, the autonomous navigation system's own sensors acquire the carrier's attitude information in real time. This attitude information includes at least the carrier's position and attitude. The carrier attitude includes the angle and velocity of the carrier in different directions, the acceleration of the carrier in different directions, and the angular velocity of the autonomous navigation system's sensors at the current moment, as measured by the autonomous navigation system. The carrier position includes the carrier's latitude and longitude at the current moment. The process for acquiring attitude information in a disconnected state is the same as in a connected state. For details, refer to the above-mentioned step S101 and will not be repeated here.

[0149] Since the satellite signal is blocked in the disconnected state, the carrier cannot receive the satellite signal and the autonomous navigation system cannot obtain the satellite positioning information. Therefore, it is impossible to correct the attitude information through the positioning information as in the connected state. In the embodiment of the present disclosure, at each moment in the disconnected state, after obtaining the attitude information of each moment in real time, the attitude information is input into the trained tracking network, and the attitude information is corrected based on the tracking network to eliminate the first error caused by the zero drift of the sensor in the autonomous navigation system, and obtain the attitude information corrected based on the tracking network. Exemplarily, the tracking network can be a simplified faster-RCNN, a CNN neural network model, an RNN neural network model, or a neural network (digital twin) abstracted based on the physical model corresponding to the satellite tracking system. It should be noted that the above examples are only optional situations given to enable those skilled in the art to better understand the scheme of the present disclosure. The specific type of tracking network can be determined according to actual conditions, and the present disclosure does not limit this.

[0150] Since the posture information is corrected based on the positioning information through the Kalman filtering method in the connected state, and the first error of the posture information caused by zero-point drift is a nonlinear error, the Kalman filtering method is limited by the constraints of linearization error and Gaussian noise, and is not good at correcting nonlinear / non-Gaussian random cumulative errors. The embodiment of the present disclosure can accurately fit the nonlinear error through the tracking network, so that the correction of the posture information based on the tracking network can more accurately improve the problem of decreased accuracy caused by nonlinear errors, and improve the estimation accuracy of the corrected posture information.

[0151] After obtaining corrected attitude information based on the tracking network, a first theoretical pointing angle is determined based on the corrected attitude information. Specifically, parameter information representing the satellite's operation is first obtained. The satellite's orbital parameters are then calculated based on the parameter information and the corrected attitude information to obtain the satellite's angle information at the current moment. Based on this angle information, the first theoretical pointing angle of the carrier at the current moment is calculated.

[0152] After obtaining the first theoretical pointing angle, in order to eliminate the second error caused by the carrier movement, the first theoretical pointing angle needs to be corrected. However, in the lost connection state, the satellite signal cannot be received, so the theoretical pointing angle cannot be corrected through the conical scanning algorithm. In the embodiment of the present disclosure, the first theoretical pointing angle is input into the tracking network, and the tracking network is used to correct the second theoretical pointing angle to obtain the target angle.

[0153] In an optional embodiment, after determining the target angle in the lost connection state, the target angle is now a pointing angle corrected based on the tracking network. The first error and second error that would cause pointing misalignment in the angle correction are corrected based on the tracking network. The target angle can enable the carrier to accurately point to the satellite position at each moment in the lost connection state. Therefore, the pointing of the carrier is adjusted according to the target angle corresponding to each moment in the lost connection state; when the pointing of the carrier is the target angle, the communication state between the carrier and the satellite is detected. If the obstruction has not disappeared, the communication state is still lost at this moment. At this moment, the tracking network is repeatedly used to correct the attitude information, and the tracking network is used to correct the first theoretical pointing angle (i.e., the second correction strategy) to improve the accuracy of the pointing adjustment at the next moment until it is detected that the carrier has established a connection with the satellite; if the obstruction disappears, the carrier pointing based on the target angle adjustment at this moment is more accurately aligned with the satellite position, so it can quickly receive the satellite signal when the obstruction disappears, effectively improving the efficiency of transitioning from the lost connection state to the connected state when the obstruction disappears.

[0154] Since the correction strategy adopted in the connection state (correcting the attitude information based on the positioning information, and correcting the theoretical pointing angle based on the conical scanning algorithm) cannot be implemented in the lost state where the satellite signal is blocked, the embodiment of the present disclosure corrects the attitude information and the first theoretical pointing angle respectively through a trained tracking network in the lost state where the satellite signal is blocked, eliminates the first error and the second error in the lost state, so that the carrier can accurately point to the position of the satellite in the lost state at every moment, so that when the obstruction disappears, the carrier quickly receives the satellite signal according to the target angle and establishes a connection with the satellite, thereby improving the efficiency of the carrier and the satellite when converting from the lost state to the connected state.

[0155] In an optional embodiment, because the target angle corresponds to more accurate satellite and carrier position information than the previous moment, the target angle at the current moment can be used to assist in correcting the attitude information acquired at the next moment. Specifically, after correcting the first theoretical angle based on the tracking network at each moment to obtain the target angle, the target angle is sent to the autonomous navigation system. The autonomous navigation system then updates its internal parameters based on the current target angle to improve the accuracy of the attitude information acquired at the next moment.

[0156] In an optional embodiment, when the communication state transitions from the disconnected state to the connected state, the target angle at this time is the pointing angle corrected by the tracking network in the disconnected state. According to this target angle, satellite signals can be quickly received when the obstruction disappears. However, because the correction error cannot be completely eliminated, the satellite signal can be received according to the target angle, but the strongest point of the satellite signal corresponding to the satellite's location may not coincide with the target angle. Therefore, when the communication state transitions from the disconnected state to the connected state (i.e., when the obstruction disappears and the satellite signal is received again), the target angle is further adjusted.

[0157] Specifically, first, at the moment when the communication state is converted from the lost state to the connected state, the tracking network corrects the first theoretical pointing angle to obtain a target angle as the first pointing angle, and adjusts the pointing direction of the carrier according to the first pointing angle. At the first pointing angle, the carrier receives the satellite signal again, so that the communication state is converted to the connected state; then, based on the first pointing angle, the carrier is controlled to perform conical scanning along an elliptical trajectory to obtain the strongest point of the satellite signal at the moment when the communication state is converted from the lost state to the connected state; the signal strength of multiple detection points on the elliptical trajectory is determined, and the center point of the first ellipse is determined based on the signal strength of the multiple detection points; the angle difference between the center point of the first ellipse and the strongest signal point is calculated as an angle compensation value; the first pointing angle is corrected based on the angle compensation value to obtain a second pointing angle, and the second pointing angle corresponds to the strongest point of the satellite signal at the moment when the communication state is converted from the lost state to the connected state; finally, the carrier is adjusted from the first pointing angle to the second pointing angle, so that the carrier completes satellite signal locking based on the second pointing angle.

[0158] In an optional embodiment, FIG5 schematically illustrates a tracking network training process for executing the method according to the present disclosure. As shown in FIG5 , the sample data used to train and optimize the tracking network is data collected at multiple consecutive moments in the connected state when the communication state is connected. Since positioning information and satellite signal strength can be obtained in the connected state, the attitude information in the connected state can be corrected using the positioning information and a cone scanning algorithm, with the pre-correction data serving as the sample data and the corrected data serving as the label for the sample data. Specifically, the sample data includes attitude information samples and angle information samples. The attitude information samples are multiple attitude information samples collected at multiple consecutive moments in the connected state when the communication state is connected; the angle information samples are theoretical pointing angles calculated based on the attitude information samples collected at multiple consecutive moments in the connected state. In this embodiment, sample data is first collected based on the correction process of the connected state after initialization to train the initial tracking network. After the initial tracking network is trained based on the sample data to obtain the tracking network, the trained tracking network is used to execute the corresponding correction strategy when the connected state transitions to the disconnected state.

[0159] In an optional embodiment, a posture information sample is obtained during the connection state correction process as follows: after initializing and starting the carrier, the carrier first detects whether it can receive a satellite signal at the current moment. If a satellite signal is received, the carrier controls the communication state between the carrier and the satellite to be a connected state. The connected state includes multiple consecutive moments, and any moment in the connected state is used as a target moment. The posture information at the target moment is obtained through the autonomous navigation system as initial posture information. The initial posture information includes at least the carrier position and the carrier posture. The initial posture information corresponding to the target moment is used as a posture information sample. Subsequently, based on the initial posture information, a label value corresponding to the posture information sample at the target moment is obtained. Specifically, in the connected state, a positioning information sample is obtained through the global positioning system. The positioning information sample includes at least global positioning information and timing information. Based on the positioning information sample, the initial posture information is corrected to correct a first error in the initial posture information based on the positioning information sample in the connected state, thereby obtaining corrected posture information. The corrected posture information is used as the label value corresponding to the posture information sample at the target moment. Finally, the initial posture information at the multiple consecutive moments in the connected state is used as the posture information sample, and the corrected posture information is used as the label value corresponding to the posture information sample.

[0160] In an optional embodiment, the angle information sample is obtained as follows: after obtaining the corrected attitude information at the target time, the parameter information corresponding to the satellite is obtained, the parameter information including at least satellite ephemeris information and orbital parameter information; based on the corrected attitude information and the parameter information, the position information of the satellite at the target time (e.g., the longitude and latitude of the satellite) is determined; based on the carrier position represented by the initial attitude information and the position information of the satellite at the target time, the theoretical pointing angle of the carrier in the geographic coordinate system at the target time is determined as the angle information; the angle information in the geographic coordinate system is transformed to obtain the angle information in the carrier coordinate system, and the angle information in the carrier coordinate system is used as the theoretical pointing angle at the target time, which is an angle information sample corresponding to the target time; then, the angle information sample is corrected based on the conical scanning algorithm to eliminate the second error caused by the carrier movement, and the corrected pointing angle is determined, and the corrected pointing angle is used as the label value corresponding to the angle information sample at the target time. Finally, the theoretical pointing angles at multiple consecutive moments in the connected state are used as the angle information sample, and the corrected pointing angle is used as the label value corresponding to the angle information sample.

[0161] In an optional embodiment, after obtaining the posture information samples, to further enhance the structural information of the data, the angles of the carriers in the posture information samples in different directions are converted into real and imaginary angle values ​​in different directions, and the posture information samples are updated. Training and optimizing the tracking network based on the updated posture information samples can improve the performance of the optimized tracking network and enhance the accuracy and efficiency of corrections.

[0162] After acquiring sample data at multiple consecutive moments in a connected state (including posture information samples and their corresponding label values, and angle information samples and their corresponding label values), the sample data at multiple consecutive moments are combined into a training dataset to train the initial tracking model, wherein the initial tracking network includes a first branch and a second branch, the first branch being used to correct the posture information to eliminate a first error, and the second branch being used to correct the angle information (theoretical pointing angle) to eliminate a second error. Specifically, during each training session, the posture information sample is input into the first branch of the initial tracking model to correct the posture information sample based on the initial tracking model to obtain first predicted data; the angle information sample is input into the second branch of the initial tracking model to correct the angle information sample based on the initial tracking model to obtain second predicted data. Subsequently, the loss between the first predicted data and the label value corresponding to the posture information sample is calculated as the first loss; the loss between the second predicted data and the label value corresponding to the angle information sample is calculated as the second loss; and the hyperparameters of the initial tracking network are optimized based on the first and second losses until training is completed to obtain the tracking network.

[0163] After the tracking network is trained based on sample data in the connected state, the tracking network can correct the attitude information in the disconnected state according to the process in S102 above to determine the target angle. When the disconnected state transitions back to the connected state, the tracking network can quickly reconnect and lock onto the satellite based on the target angle corrected by the tracking network at the time of the transition. In an optional embodiment, after the tracking network is trained, in addition to being used in the disconnected state, the tracking network can also continue to perform corrections in the connected state after the transition from the disconnected state to the connected state.

[0164] In order to enable those skilled in the art to more clearly understand the solution of the present disclosure, the satellite tracking method of the present disclosure is now described in detail through the following embodiments.

[0165] First, the carrier is initialized and started, and the direction of the carrier is adjusted so that the carrier and the satellite complete the initial alignment. After the initial alignment is completed, the carrier locks the satellite signal, and the communication state between the carrier and the satellite enters the connected state.

[0166] At each moment in the connected state after initialization, the Inertial Navigation System (INS) serves as the autonomous navigation system. Based on the INS's own sensors, the system obtains in real time the carrier's angles and velocities in the east, north, and celestial directions, the carrier's accelerations in the x, y, and z directions, the angular velocities of the gyroscope sensors in these directions, and the carrier's longitude and latitude. These measurements at each moment are combined to form a set of carrier attitude information. Satellite positioning information (including global positioning information and GPS timing information) is obtained based on the Global Positioning System (GPS). Using the Kalman filter algorithm, the system corrects the first error in the attitude information based on this positioning information to obtain the corrected attitude information.

[0167] Subsequently, parameter information for characterizing the operation of the satellite is obtained, where the parameter information includes at least satellite ephemeris information and TLE orbit parameter information. Based on the parameter information and the corrected attitude information, the longitude and latitude of the satellite and the speed of the satellite are determined as the position information of the satellite. Based on the carrier position in the attitude information and the position information of the satellite, the theoretical pointing angle of the carrier in the geographic coordinate system is determined as the angle information. The angle information in the geographic coordinate system is transformed to obtain the angle information in the carrier coordinate system, and the second theoretical pointing angle of the carrier at the current moment is calculated based on the angle information.

[0168] The control carrier performs conical scanning along an elliptical trajectory within a small angle range near the second theoretical pointing angle to obtain the point with the strongest signal; then determines the satellite reception level strength of four points on the upper, lower, left and right of the elliptical trajectory as the signal strength of multiple detection points; determines the center point of the second ellipse based on the signal strength of multiple detection points; calculates the angle difference between the center point of the second ellipse and the point with the strongest signal as the angle compensation value, and performs angle correction on the second theoretical pointing angle based on the angle compensation value to obtain the target angle corresponding to each moment in the connected state. The control carrier adjusts its pointing direction according to the target angle in the connected state to maintain communication with the satellite.

[0169] At each moment of the connection state, the posture information at each moment is used as a posture information sample, and the corrected posture information is used as the label value corresponding to the posture information sample; the angle information at each moment (the second theoretical pointing angle) is used as an angle information sample, and the corrected pointing angle corresponding to the angle information (the target angle in the connection state) is used as the label value corresponding to the angle information sample to obtain sample data. The sample data is expressed according to the following formula (1):

[0170] Where X is the sample data, are the angles of the carrier in the east, north and sky directions respectively; V E ,V N ,V D are the speeds of the carrier in the east, north and sky directions respectively; f x ,f y ,f z are the accelerations of the carrier in the x, y, and z directions respectively; w x ,w y ,w z are the angular velocities of the gyroscope sensor in the x, y, and z directions respectively; L s ,λ s is the latitude and longitude of the satellite; V SE ,V SN ,V SD are the satellite's speeds in the east, north, and sky directions respectively; θ, is the theoretical pointing angle of the carrier, where θ is the angle between the beam pointing and the normal direction when the carrier's antenna is placed horizontally, is the angle between the projection of the beam pointing on the xoy plane of the antenna and the x-axis.

[0171] The label value corresponding to the sample data is expressed according to the following formula (2):

[0172] Among them, Y is the label value corresponding to the sample data, are the angle correction values ​​of the carrier in the east, north and sky directions respectively; δVE ,δV N ,δV D are the velocity correction values ​​of the carrier in the east, north and sky directions respectively; δf x ,δf y ,δf z are the acceleration bias errors of the carrier in the x, y, and z directions respectively; δw x ,δw y ,δw z are the gyroscope sensor drift errors in the x, y, and z directions respectively; δV SE ,δV SN ,δV SD are the satellite’s velocity deviations in the east, north, and sky directions, respectively; It is the correction value of the theoretical pointing angle of the carrier (target angle).

[0173] In the connected state, the sample data obtained at multiple consecutive moments are input into the initial tracking network, wherein the initial tracking network and the tracking network are recurrent neural networks (RNN) or long short-term memory networks (LSTM), and the optimization algorithm is Adam. During each training, the posture information sample and the angle information sample are input into the initial tracking model, and the posture information sample is corrected based on the initial tracking model to obtain the first prediction data; the angle information sample is corrected based on the initial tracking model to obtain the second prediction data; the hyperparameters of the initial tracking network are optimized based on the label values ​​corresponding to the first prediction data and the posture information sample, and the label values ​​corresponding to the second prediction data and the angle information sample, respectively. Based on the mean square error between the continuously observed prediction data and the label value within the preset time period T, it is judged whether the tracking network training is completed. After the training is completed, the tracking network is obtained. The mean square error is expressed according to the following formula (3):

[0174] Wherein, NMSE represents the standard mean square error function; T is the preset time period; are the angle correction values ​​of the carrier in the east, north and sky directions respectively; δV E ,δV N ,δV D are the velocity correction values ​​of the carrier in the east, north and sky directions respectively; δf x ,δf y ,δf z are the acceleration bias errors of the carrier in the x, y, and z directions respectively; δw x ,δw y ,δw z are the gyroscope sensor drift errors in the x, y, and z directions respectively; δVSE ,δV SN ,δV SD are the satellite’s velocity deviations in the east, north, and sky directions, respectively; It is the correction value of the theoretical pointing angle of the carrier (target angle).

[0175] After the communication state between the satellite and the carrier transitions from connected to disconnected, the autonomous navigation system's sensors acquire the carrier's attitude information in real time at every moment of the disconnected state. This attitude information is then fed into a trained tracking network, where it is corrected to eliminate the primary error caused by zero-point drift in the autonomous navigation system's sensors, resulting in corrected attitude information based on the tracking network. Subsequently, parameters characterizing the satellite's operation are acquired. Based on these parameters and the corrected attitude information, the satellite's orbital parameters are calculated to obtain the satellite's current angle. Based on this angle information, the carrier's first theoretical pointing angle is calculated. Finally, this first theoretical pointing angle is fed into the tracking network, which uses the tracking network to correct the second theoretical pointing angle to obtain the target angle.

[0176] Adjust the pointing direction of the carrier according to the target angle corresponding to each moment in the lost connection state; when the pointing direction of the carrier is the target angle, detect the communication status between the carrier and the satellite. If the occlusion has not disappeared and the communication state is still lost, then at this moment, repeatedly use the tracking network to correct the attitude information, and use the tracking network to correct the first theoretical pointing angle (i.e., the second correction strategy) to improve the accuracy of the pointing adjustment at the next moment, until it is detected that the carrier has established a connection with the satellite, and the communication state is converted to the connected state. When the occlusion is restored, the target angle corrected by the tracking network in the lost connection state is used to quickly achieve re-locking with the satellite.

[0177] The present disclosure provides a satellite tracking method, which includes: determining the communication status between a carrier and a satellite, and acquiring the carrier's attitude information in real time; enabling a correction strategy corresponding to the communication status to determine a target angle of the carrier pointing to the satellite, the correction strategy including: when the communication status represents a lost connection state, using a tracking network to correct the attitude information, and using the tracking network to correct a first theoretical pointing angle to obtain a target angle; wherein the first theoretical pointing angle is obtained based on the corrected attitude information; wherein the tracking network is obtained by training based on sample data corresponding to multiple consecutive moments, the sample data is obtained when the communication status represents a connected state, and the sample data includes: attitude information samples and angle information samples, and the angle information samples are the theoretical pointing angles of the carrier calculated based on the attitude information samples.

[0178] In the embodiment of the present disclosure, when the satellite signal is blocked and in a lost connection state, the attitude information and the first theoretical pointing angle are corrected respectively through a trained tracking network, thereby eliminating the first error and the second error in the lost connection state, so that the carrier can accurately point to the position of the satellite in the lost connection state at every moment, so that when the blockage disappears, the carrier can quickly receive the satellite signal according to the target angle and establish a connection with the satellite, thereby improving the efficiency of the carrier and the satellite when switching from a lost connection state to a connected state.

[0179] Based on the same inventive concept, an embodiment of the present disclosure provides a satellite tracking system. Figure 6 schematically shows a schematic diagram of the satellite tracking system architecture for executing the method according to the present disclosure. As shown in Figure 6, the system includes a navigation end and a main control end. The navigation end is composed of multiple sensors for collecting attitude information and positioning information; wherein, the navigation end and the main control end are respectively connected to the carrier for communication, and the carrier is used to communicate with the satellite; the main control end is used to execute the satellite tracking method mentioned in the above-mentioned embodiment of the present disclosure.

[0180] In the disclosed embodiment, the navigation terminal is configured with a first navigation subsystem and a second navigation subsystem. When the communication status is disconnected or connected, the first navigation subsystem is used to obtain the carrier's posture information in real time and send the posture information to the main control terminal; when the communication status is connected, the second navigation subsystem is used to obtain positioning information and send the positioning information to the main control terminal.

[0181] In the disclosed embodiment, the master control end includes a tracking network and a solver subsystem, wherein the tracking network can be a digital twin model (twin) corresponding to the physical model of the satellite tracking system. When the communication state represents a lost connection state, the tracking network receives the attitude information sent by the navigation end, corrects the attitude information, generates the corrected attitude information and sends it to the solver subsystem; the solver subsystem is used to receive the corrected attitude information sent by the tracking network, determine the first theoretical pointing angle based on the corrected attitude information, and return the first theoretical pointing angle to the tracking network; the tracking network receives the first theoretical pointing angle sent by the solver subsystem, and corrects the first theoretical pointing angle to obtain the target angle in the lost connection state.

[0182] The system also includes a carrier control terminal, which is in communication with the main control terminal and is used to control the deflection of liquid crystal molecules by applying a driving voltage, causing the phase of the electromagnetic waves passing through the liquid crystal molecules to deflect, thereby achieving antenna beam direction control. The carrier control terminal receives the target angle sent by the main control terminal and adjusts the carrier's pointing direction according to the target angle. When the carrier is pointing at the target angle, the main control terminal detects the communication status between the carrier and the satellite. If the communication status indicates a loss of connection, the main control terminal repeatedly uses the tracking network to correct the attitude information and the first theoretical pointing angle until it detects that the carrier has established a connection with the satellite.

[0183] In an optional embodiment, the main control end further includes a first correction subsystem and a second correction subsystem. When the communication state is a connected state, the first correction subsystem is used to receive the attitude information sent by the first navigation subsystem of the navigation end and the positioning information sent by the second navigation subsystem, and correct the attitude information based on the positioning information, and obtain the corrected attitude information and send it to the solver subsystem; the solver subsystem receives the corrected attitude information sent by the first correction subsystem, determines the second theoretical pointing angle and sends it to the second correction subsystem; the second correction subsystem is used to receive the second theoretical pointing angle sent by the solver subsystem, and correct the second theoretical pointing angle based on the cone scanning algorithm to obtain the target angle in the connected state.

[0184] In an optional embodiment, when the communication state changes from a lost state to a connected state, the carrier control end receives the target angle obtained by correcting the first theoretical pointing angle by the tracking network as the first pointing angle, and adjusts the pointing direction of the carrier according to the first pointing angle; the second correction subsystem corrects the first pointing angle based on the cone scanning algorithm, determines the second pointing angle and sends it to the carrier control end; the carrier control end receives the second pointing angle, and adjusts the carrier from the first pointing angle to the second pointing angle, so that the carrier completes satellite signal locking based on the second pointing angle.

[0185] In an optional embodiment, the system also includes a modem, a beacon machine and a frequency conversion subsystem. The modem is used for system monitoring and resource allocation of the satellite tracking system; the beacon machine is used to convert satellite signals into beacon signals and send them to the main control end and the modem for processing; the frequency conversion subsystem is used to up-convert the satellite signals received by the carrier. Exemplarily, the frequency conversion subsystem can be an up-conversion power amplifier (Block Up-Converter, BUC) and a low noise down-converter (Low Noise Block, LNB).

[0186] Based on the same inventive concept, an embodiment of the present disclosure provides a satellite tracking device. FIG7 schematically shows a schematic structural diagram of a satellite tracking device for executing the method according to the present disclosure. As shown in FIG7 , the device includes:

[0187] A communication status module, used to determine the communication status between the carrier and the satellite, and to obtain the attitude information of the carrier in real time;

[0188] a first correction module, configured to activate a correction strategy corresponding to the communication state to determine a target angle of the carrier pointing to the satellite, the correction strategy comprising: when the communication state indicates a lost connection state, correcting the attitude information using a tracking network, and correcting a first theoretical pointing angle using the tracking network to obtain the target angle; wherein the first theoretical pointing angle is obtained based on the corrected attitude information;

[0189] In which, the tracking network is trained based on sample data corresponding to multiple consecutive moments, and the sample data is obtained when the communication state represents the connection state. The sample data includes: posture information samples and angle information samples. The angle information sample is the theoretical pointing angle of the carrier calculated based on the posture information sample.

[0190] In an optional embodiment, the correction module further includes:

[0191] A positioning submodule, configured to obtain positioning information when the communication state is a connected state;

[0192] A second correction submodule is configured to correct the posture information based on the positioning information, and obtain a second theoretical pointing angle based on the corrected posture information;

[0193] The target angle submodule is used to correct the second theoretical pointing angle to obtain the target angle.

[0194] In an optional embodiment, the target angle submodule includes:

[0195] The target angle unit is used to correct the second theoretical pointing angle using a cone scanning algorithm to obtain the target angle; or to correct the second theoretical pointing angle using the tracking network to obtain the target angle.

[0196] In an optional embodiment, the device further includes:

[0197] A carrier pointing module, used to adjust the pointing direction of the carrier according to the target angle;

[0198] a detection module, configured to detect a communication state between the carrier and the satellite when the carrier is pointed at the target angle;

[0199] A repeated correction module is used to repeat the steps of correcting the attitude information using the tracking network and correcting the first theoretical pointing angle using the tracking network when the communication state is a lost state, until it is detected that the carrier is connected to the satellite.

[0200] In an optional embodiment, the device further includes:

[0201] a first pointing module, configured to adjust the pointing direction of the carrier according to a first pointing angle; the first pointing angle being a target angle obtained by the tracking network by correcting the first theoretical pointing angle when the communication state transitions from the disconnected state to the connected state;

[0202] a cone scanning module, configured to correct the first pointing angle based on a cone scanning algorithm to determine a second pointing angle;

[0203] The second pointing module is used to adjust the carrier from the first pointing angle to the second pointing angle, so that the carrier completes satellite signal locking based on the second pointing angle.

[0204] In an optional embodiment, the cone scanning module includes:

[0205] a conical scanning submodule, configured to control the carrier to perform conical scanning along an elliptical trajectory based on the first pointing angle to obtain a point with the strongest signal;

[0206] a first center point submodule, configured to determine signal strengths of a plurality of detection points on the elliptical trajectory, and determine a first ellipse center point based on the signal strengths of the plurality of detection points;

[0207] a compensation value submodule, configured to calculate an angle difference between the center point of the first ellipse and the point with the strongest signal as an angle compensation value;

[0208] The angle compensation submodule is configured to perform angle correction on the first pointing angle based on the angle compensation value to obtain the second pointing angle.

[0209] In an optional embodiment, the device further includes:

[0210] A training set module, configured to obtain a training data set, wherein the training data set includes at least sample data corresponding to the plurality of consecutive moments;

[0211] a first prediction module, configured to input the posture information sample and the angle information sample into an initial tracking model during each training, so as to correct the posture information sample based on the initial tracking model to obtain first prediction data;

[0212] A second prediction module, configured to correct the angle information sample based on the initial tracking model to obtain second prediction data;

[0213] An optimization module is used to optimize the hyperparameters of the initial tracking network based on the label values ​​corresponding to the first prediction data and the posture information samples, and the label values ​​corresponding to the second prediction data and the angle information samples, to obtain the tracking network.

[0214] In an optional embodiment, the device further includes:

[0215] a connection module, configured to control the communication state between the carrier and the satellite to be the connection state;

[0216] An initial posture information module is used to obtain initial posture information at a target time, wherein the initial posture information includes at least a carrier position and a carrier posture, and the target time is any time in the connection state;

[0217] A positioning sample module is used to obtain positioning information samples, where the positioning information samples include at least global positioning information and timing information;

[0218] A posture correction module, configured to correct the initial posture information based on the positioning information sample to obtain corrected posture information;

[0219] The posture information sample module is used to use the initial posture information of multiple consecutive moments in the connection state as the posture information sample, and use the corrected posture information as the label value corresponding to the posture information sample.

[0220] In an optional embodiment, the device further includes:

[0221] A parameter information module is used to obtain parameter information, wherein the parameter information includes at least satellite ephemeris information and orbit parameter information;

[0222] An angle information sample module, configured to determine the angle information sample based on the corrected posture information and the parameter information;

[0223] A cone scanning module, configured to correct the angle information sample based on a cone scanning algorithm to determine a corrected pointing angle;

[0224] The angle sample label value module is used to use the corrected pointing angles at multiple consecutive moments in the connection state as label values ​​corresponding to the angle information samples.

[0225] In an optional implementation, the angle information sample module includes:

[0226] a position information submodule, configured to determine the position information of the satellite at the target time based on the corrected attitude information and the parameter information;

[0227] A first angle information submodule is configured to determine angle information in a geographic coordinate system based on the initial attitude information and the position information of the satellite at the target time;

[0228] The angle information sample submodule is used to perform coordinate transformation on the angle information in the geographic coordinate system to obtain angle information in the carrier coordinate system, wherein the angle information in the carrier coordinate system serves as the angle information sample.

[0229] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0230] The various component embodiments of the present disclosure can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all of the functions of some or all of the components in the electronic device according to the embodiments of the present disclosure. The present disclosure can also be implemented as a device or apparatus program (e.g., computer program and computer program product) for executing a part or all of the methods described herein. Such a program implementing the present disclosure can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0231] For example, FIG8 schematically illustrates a block diagram of an electronic device for executing a method according to the present disclosure. The electronic device 100 conventionally includes a processor 120 and a computer program product or computer-readable medium in the form of a memory 110. The memory 110 can be an electronic memory such as a flash memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), an EPROM, a hard disk, or a ROM. The memory 110 has storage space for program code for executing any of the method steps described above. For example, the storage space for program code can include individual program codes for implementing various steps in the above method. These program codes can be read from or written to one or more computer program products. These computer program products include program code carriers such as a hard disk, a compact disc (CD), a memory card, or a floppy disk. Such computer program products are typically portable or fixed storage units. The storage unit can have storage segments, storage space, etc. arranged similarly to the memory 110 in the electronic device of FIG8 . The program code can, for example, be compressed in a suitable form. Typically, the storage unit includes computer-readable codes, ie, codes that can be read by a processor such as 120 , which, when executed by an electronic device, cause the electronic device to perform the steps of the method described above.

[0232] References herein to "one embodiment," "an embodiment," or "one or more embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present disclosure. Furthermore, please note that instances of the phrase "in one embodiment" do not necessarily all refer to the same embodiment.

[0233] In the description provided herein, numerous specific details are described. However, it is understood that embodiments of the present disclosure may be practiced without these specific details. In some instances, well-known methods, structures, and techniques are not shown in detail so as not to obscure the understanding of this description.

[0234] In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present disclosure may be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

[0235] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present disclosure.

Claims

1. A satellite tracking method, characterized in that: The method comprises: Determine the communication status between the carrier and the satellite, and obtain the attitude information of the carrier in real time; activating a correction strategy corresponding to the communication state to determine a target angle of the carrier pointing to the satellite, the correction strategy comprising: when the communication state represents a lost connection state, using a tracking network to correct the attitude information, and using the tracking network to correct a first theoretical pointing angle to obtain the target angle; wherein the first theoretical pointing angle is obtained based on the corrected attitude information; Among them, the tracking network is trained based on sample data corresponding to multiple consecutive moments, and the sample data is obtained when the communication state represents the connection state. The sample data includes: posture information samples and angle information samples. The angle information sample is the theoretical pointing angle of the carrier calculated based on the posture information sample.

2. The satellite tracking method according to claim 1, characterized in that: The correction strategy also includes: When the communication state is a connected state, obtaining positioning information; Correcting the posture information based on the positioning information, and acquiring a second theoretical pointing angle based on the corrected posture information; The second theoretical pointing angle is corrected to obtain the target angle.

3. The satellite tracking method according to claim 2, characterized in that: The correcting the second theoretical pointing angle to obtain the target angle includes: The second theoretical pointing angle is corrected by using a cone scanning algorithm to obtain the target angle; or the second theoretical pointing angle is corrected by using the tracking network to obtain the target angle.

4. The satellite tracking method according to claim 1, characterized in that: After determining the target angle at which the carrier points to the satellite, the method further includes: According to the target angle, adjusting the direction of the carrier; When the direction of the carrier is the target angle, the carrier and the satellite are detected. The communication status between When the communication state is a lost connection state, the steps of correcting the attitude information using the tracking network and correcting the first theoretical pointing angle using the tracking network are repeated until it is detected that the carrier is connected to the satellite.

5. The satellite tracking method according to claim 1, characterized in that: At the moment when the communication state is converted from the disconnected state to the connected state, the method further includes: adjusting the direction of the carrier according to a first pointing angle; the first pointing angle being a target angle obtained by the tracking network correcting the first theoretical pointing angle at the moment when the communication state is switched from the disconnected state to the connected state; Correcting the first pointing angle based on a cone scanning algorithm to determine a second pointing angle; The carrier is adjusted from the first pointing angle to the second pointing angle, so that the carrier completes satellite signal locking based on the second pointing angle.

6. The satellite tracking method according to claim 5, characterized in that: The step of performing angle correction on the first pointing angle based on a cone scanning algorithm to determine a second pointing angle includes: Based on the first pointing angle, controlling the carrier to perform conical scanning along an elliptical trajectory to obtain the strongest signal point; Determining signal strengths of a plurality of detection points on the elliptical trajectory, and determining a first ellipse center point based on the signal strengths of the plurality of detection points; Calculate the angle difference between the center point of the first ellipse and the point with the strongest signal as an angle compensation value; The first pointing angle is corrected based on the angle compensation value to obtain the second pointing angle.

7. The satellite tracking method according to claim 1, characterized in that: The training process of the tracking network is as follows: Acquire a training data set, wherein the training data set at least includes sample data corresponding to the plurality of consecutive moments respectively; In each training, the posture information sample and the angle information sample are input into the initial tracking tracking model, so as to correct the posture information sample based on the initial tracking model to obtain first prediction data; Correcting the angle information sample based on the initial tracking model to obtain second prediction data; Based on the label values ​​corresponding to the first predicted data and the posture information samples, and the label values ​​corresponding to the second predicted data and the angle information samples, respectively, the hyperparameters of the initial tracking network are optimized to obtain the tracking network.

8. The satellite tracking method according to claim 7, characterized in that: The posture information sample and the label value corresponding to the posture information sample are obtained according to the following process: controlling the communication state between the carrier and the satellite to be the connection state; Acquire initial posture information at a target time, the initial posture information at least including a carrier position and a carrier posture, the target time being any time in the connection state; Acquire a positioning information sample, wherein the positioning information sample includes at least global positioning information and timing information; Based on the positioning information sample, the initial posture information is corrected to obtain corrected posture information; The initial posture information at a plurality of consecutive moments in the connection state is used as the posture information sample, and the corrected posture information is used as the label value corresponding to the posture information sample.

9. The satellite tracking method according to claim 8, characterized in that: The angle information sample and the label value corresponding to the angle information sample are obtained according to the following process: Acquiring parameter information, wherein the parameter information includes at least satellite ephemeris information and orbital parameter information; Determining the angle information sample based on the corrected posture information and the parameter information; Correcting the angle information sample based on a cone scanning algorithm to determine a corrected pointing angle; The corrected pointing angles at a plurality of consecutive moments in the connection state are used as label values ​​corresponding to the angle information samples.

10. The satellite tracking method according to claim 9, characterized in that: The determining the angle information sample based on the corrected posture information and the parameter information includes: Determining the position information of the satellite at the target time based on the corrected attitude information and the parameter information; Determine angle information in a geographic coordinate system based on the initial attitude information and the position information of the satellite at the target time; Coordinate transformation is performed on the angle information in the geographic coordinate system to obtain angle information in the carrier coordinate system, wherein the angle information in the carrier coordinate system serves as the angle information sample.

11. A satellite tracking system, characterized in that: The system includes a navigation terminal and a main control terminal; wherein the navigation terminal and the main control terminal are respectively connected to a carrier for communication, and the carrier is used to communicate with a satellite; The master control end is used to execute the satellite tracking method described in any one of claims 1 to 10.

12. The satellite tracking system according to claim 11, characterized in that: The navigation terminal is configured with a first navigation subsystem and a second navigation subsystem; The first navigation subsystem is used to obtain the posture information of the carrier in real time and send the posture information to the main control end; The second navigation subsystem is used to obtain positioning information when the communication state is a connected state, and send the positioning information to the main control end.

13. The satellite tracking system according to claim 11, characterized in that: The main control end includes a tracking network and a solution subsystem; The tracking network is used to receive the posture information sent by the navigation terminal when the communication state indicates a lost connection state, and to correct the posture information; The solver subsystem is used to receive the corrected attitude information sent by the tracking network and determine a first theoretical pointing angle; The tracking network is also used to receive the first theoretical pointing angle sent by the solver subsystem, and to correct the first theoretical pointing angle to obtain the target angle.

14. The satellite tracking system according to claim 13, characterized in that: The main control end also includes a first correction subsystem and a second correction subsystem; The first correction subsystem is used to receive the attitude information and positioning information sent by the navigation end when the communication state is a connected state, and correct the attitude information based on the positioning information; The solving subsystem is further used to receive the corrected attitude information sent by the first correcting subsystem and determine a second theoretical pointing angle; The second correction subsystem is used to receive the second theoretical pointing angle sent by the solution subsystem when the communication state is the connection state, and to correct the second theoretical pointing angle to obtain the target angle.

15. The satellite tracking system according to claim 13, characterized in that: The system further comprises a carrier control end, wherein the carrier control end is communicatively connected with the main control end; The carrier control end is used to adjust the direction of the carrier according to the target angle sent by the main control end; The main control end is used to detect the communication state between the carrier and the satellite when the carrier is pointed at the target angle; When the communication state represents a lost connection state, a correction strategy is adopted in which the attitude information is corrected by repeatedly using the tracking network, and the first theoretical pointing angle is corrected by using the tracking network until it is detected that the carrier establishes a connection with the satellite.

16. A satellite tracking device, characterized in that: The device comprises: A communication status module, used to determine the communication status between the carrier and the satellite, and to obtain the attitude information of the carrier in real time; A first correction module is used to enable a correction strategy corresponding to the communication state to determine a target angle of the carrier pointing to the satellite, wherein the correction strategy includes: when the communication state represents a lost connection state, using a tracking network to correct the attitude information, and using the tracking network to correct a first theoretical pointing angle to obtain the target angle; wherein the first theoretical pointing angle is obtained based on the corrected attitude information; The tracking network is trained based on sample data corresponding to a plurality of consecutive moments, wherein the sample data is obtained when the communication state represents the connection state, and the sample data is obtained when the communication state represents the connection state. The data includes: a posture information sample and an angle information sample, wherein the angle information sample is a theoretical pointing angle of the carrier calculated based on the posture information sample.

17. An electronic device, characterized in that: include: a memory having computer readable code stored therein; as well as One or more processors, when the computer readable code is executed by the one or more processors, the electronic device performs the satellite tracking method according to any one of claims 1-10.

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