Satellite ground high-speed receiver turntable calibration method and device

Abstract

The invention relates to the field of satellite communication, and provides a satellite ground high-speed receiver turntable calibration method and device, and the method comprises the steps: enabling a receiver antenna surface to rotate to a horizontal calibration surface in a pitch angle return-to-zero direction through the control of a turntable; calculating the distance difference between the antennas and the satellite according to the phase difference of the first antenna and the second antenna through receiving the satellite signals; calculating a first included angle through the distance difference value; calculating a to-be-compensated calibration angle of the turntable according to the transit azimuth angle of the satellite at the current moment, the first included angle and the included angle between the turntable reference return-to-zero straight line and the connecting line of the first antenna and the second antenna; a ground high-speed receiver antenna and a rotary table return-to-zero point can be calibrated only through one satellite, the phase difference of signals received by two standard antennas and the combination of azimuth angle and pitch angle information at the transit moment of the satellite. When the azimuth angle is calibrated, the magnetic north direction does not need to be found through a compass and then the local magnetic declination is inquired for compensation, the test result is more accurate, and the method is simpler.

Description

Technical Field

[0001] The present invention relates to the field of satellite communication, and in particular to a method, device, equipment and storage medium for calibrating a turntable of a satellite ground high-speed receiver. Background Art

[0002] When a ground high-speed device communicates with a satellite, except for a geostationary satellite, when other orbit satellites pass by relative to the ground device, the azimuth angle and the elevation angle are changing in real time. If the ground device antenna is fixed and its maximum radiation gain direction is at a fixed angle, then only when the satellite passes through the maximum gain direction of the ground device antenna, the communication gain value between the satellite and the ground device is the largest and the performance is the best. In the non-maximum gain direction, the gain of the ground device decreases, affecting the communication performance. Therefore, generally, a turntable (also called a turntable) is connected under the antenna of a satellite ground high-speed receiver, which can drive the antenna to rotate simultaneously in the horizontal azimuth angle and the vertical elevation angle. The ground high-speed receiver can obtain in advance the azimuth angle and the elevation angle corresponding to the satellite's predicted transit time from the background system. When the satellite transits, the ground high-speed receiver can control the turntable to rotate according to the real-time azimuth angle and elevation angle of the satellite's transit received in advance, driving the antenna to point the maximum gain radiation direction of the antenna at the satellite, improving the communication performance. However, the original zeroing azimuth angle and elevation angle of the turntable connected to the antenna of the ground high-speed receiver need to be consistent with the original zero azimuth angle and elevation angle of the satellite prediction system. Because the turntable can only control the rotated angle, if the zeroing angles of the turntable and the satellite transit are different, it will cause the angle pointed by the turntable driven by the control to be incorrect and the best effect cannot be achieved. Therefore, the turntable needs to be calibrated in advance to be the same as the satellite transit zeroing angle.

[0003] Since the elevation angle of the original zero angle of the satellite transit is based on the sea level as the basic zero point, and the azimuth angle is based on the true north as the basic zero point, the traditional method for calibrating the zeroing angle of the turntable is to calibrate the elevation angle through a spirit level. For azimuth angle calibration, it is necessary to first find the magnetic north direction through a compass, and then query the local magnetic declination (the angle between the magnetic north pole and the true north of the geographical north pole) for compensation to find the true north direction. Because the compass needs to be close to the satellite ground high-speed receiver, the turntable and the antenna for calibration, and the satellite ground high-speed receiver, the turntable and the antenna generally have iron metal shells or there may be large iron metals or other magnetic materials arranged around the ground, which will affect the test accuracy of the compass and bring calibration errors to the turntable. And because the magnetic declination is different in each place and the magnetic declination is also changing with time, it brings a lot of calibration troubles and errors. Summary of the Invention

[0004] The present invention provides a method, device, equipment and storage medium for calibrating a turntable of a satellite ground high-speed receiver, aiming to solve the defects of troublesome calibration and large errors in the prior art, and realizing simple calibration and high accuracy.

[0005] The present invention provides a method for calibrating a turntable of a satellite ground high-speed receiver, including the following steps.

[0006] Rotate the receiver antenna surface to the horizontal calibration surface in the direction where the pitch angle is zero through turntable control. Calculate the distance difference between the antenna and the satellite according to the phase difference of the satellite signals received by the first antenna and the second antenna; wherein, the first antenna and the second antenna are fixed on the same plane of the receiver antenna surface; the distance difference is the difference between the distance from the first antenna to the satellite and the distance from the second antenna to the satellite. Calculate the first included angle according to the distance difference; wherein, the first included angle is the included angle between the line connecting the first antenna and the satellite and the line connecting the second antenna and the satellite. Calculate the calibration angle to be compensated for the turntable according to the transit azimuth angle of the satellite at the current moment, the first included angle, and the included angle between the turntable reference zeroing straight line and the line connecting the first antenna and the second antenna.

[0007] According to the method for calibrating a turntable of a satellite ground high-speed receiver provided by the present invention, before calculating the distance difference between the antenna and the satellite according to the phase difference of the satellite signals received by the first antenna and the second antenna, it includes: Connect a one-to-two switch to the receiver, and the output ports of the one-to-two switch are respectively connected to the first antenna and the second antenna. When the output port of the one-to-two switch is connected to the first antenna at the first moment, determine that the phase of the detection signal of the RF chip inside the receiver is the first phase. When the output port of the one-to-two switch is connected to the second antenna at the second moment, determine that the phase of the detection signal of the RF chip inside the receiver is the second phase. When the output port of the one-to-two switch is connected to the first antenna at the third moment, determine that the phase of the detection signal of the RF chip inside the receiver is the third phase; wherein, the third moment is later than the first moment. Calculate the phase difference of the satellite signals received by the first antenna and the second antenna according to the first phase, the second phase, and the third phase.

[0008] According to the method for calibrating a turntable of a satellite ground high-speed receiver provided by the present invention, calculating the distance difference between the antenna and the satellite according to the phase difference of the satellite signals received by the first antenna and the second antenna is realized through the following formula: ; Wherein, OB is the distance difference between the antenna and the satellite; is the phase difference of the satellite signals received by the first antenna and the second antenna; is the wavelength of the satellite signal.

[0009] A satellite ground high-speed receiver turntable calibration method provided by the present invention calculates a first included angle through distance difference, including: Calculating the value of the first included angle at the current moment through the arccosine function according to the distance difference, the distance between the first antenna and the second antenna, the length of the connection line between the first antenna and the second antenna, the length of the connection line between the satellite radiation signal and the first antenna, and the length of the connection line between the satellite radiation signal and the second antenna; Determining the rotation direction of the first included angle according to the value of the first included angle and the included angle between the connection line of the first antenna and the satellite and the connection line of the second antenna and the satellite calculated from the distance difference at the next moment; Determining the first included angle according to the value of the first included angle and the rotation direction of the first included angle.

[0010] A satellite ground high-speed receiver turntable calibration method provided by the present invention calculates the turntable compensation calibration angle to be compensated according to the transit azimuth angle of the satellite at the current moment, the first included angle, and the included angle between the turntable reference zeroing straight line and the connection line of the first antenna and the second antenna, and is calculated through the following formula: ; Wherein, Is the turntable compensation calibration angle to be compensated; Is the included angle between the connection line of the first antenna and the second antenna and the direction of the satellite transit azimuth angle; Is the transit azimuth angle of the satellite at the current moment; Is the included angle between the turntable reference zeroing straight line and the connection line of the first antenna and the second antenna; Is the phase difference between the satellite signals received by the first antenna and the second antenna; OO’ is the length of the connection line between the first antenna and the second antenna; Is the transit elevation angle of the satellite at the current moment.

[0011] The present invention also provides a satellite ground high-speed receiver turntable calibration device, including the following modules: A rotation module for rotating the receiver antenna surface to the horizontal calibration surface in the elevation angle zeroing direction through turntable control; A distance difference calculation module for calculating the distance difference between the antenna and the satellite according to the phase difference of the satellite signals received by the first antenna and the second antenna; wherein, the first antenna and the second antenna are fixed on the same plane of the receiver antenna surface; the distance difference is the difference between the distance from the first antenna to the satellite and the distance from the second antenna to the satellite; A first included angle calculation module for calculating a first included angle through the distance difference; wherein, the first included angle is the included angle between the connection line of the first antenna and the satellite and the connection line of the second antenna and the satellite; A turntable to-be-compensated calibration angle calculation module, configured to calculate the turntable to-be-compensated calibration angle according to the transit azimuth angle of the satellite at the current moment, the first included angle, and the included angle between the turntable reference zeroing straight line and the connection line between the first antenna and the second antenna.

[0012] According to the satellite ground high-speed receiver turntable calibration device provided by the present invention, it further includes: A one-to-two switch connection module, configured to connect a one-to-two switch to the receiver, and the output ports of the one-to-two switch are respectively connected to the first antenna and the second antenna; A phase determination module, configured to determine that the phase of the detection signal of the radio frequency chip inside the receiver is the first phase when the output port of the one-to-two switch is connected to the first antenna at the first moment; determine that the phase of the detection signal of the radio frequency chip inside the receiver is the second phase when the output port of the one-to-two switch is connected to the second antenna at the second moment; determine that the phase of the detection signal of the radio frequency chip inside the receiver is the third phase when the output port of the one-to-two switch is connected to the first antenna at the third moment; wherein, the third moment is later than the first moment; A phase difference calculation module, configured to calculate the phase difference between the first antenna and the second antenna for receiving satellite signals according to the first phase, the second phase, and the third phase.

[0013] The present invention further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements the satellite ground high-speed receiver turntable calibration method as described in any one of the above.

[0014] The present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the satellite ground high-speed receiver turntable calibration method as described in any one of the above.

[0015] The present invention further provides a computer program product, including a computer program. When the computer program is executed by a processor, it implements the satellite ground high-speed receiver turntable calibration method as described in any one of the above.

[0016] The satellite ground high-speed receiver turntable calibration method, device, equipment and storage medium provided by the present invention rotate the receiver antenna surface to the horizontal calibration surface in the direction of zero pitch angle through turntable control; calculate the distance difference between the antenna and the satellite according to the phase difference of the satellite signals received by the first antenna and the second antenna; calculate the first included angle through the distance difference; calculate the turntable compensation calibration angle according to the transit azimuth angle of the satellite at the current moment, the first included angle, and the included angle between the turntable reference zeroing line and the connection line between the first antenna and the second antenna; only by using one satellite and the phase difference of the signals received by two standard antennas, combined with the azimuth angle and pitch angle information at the satellite transit moment, the ground high-speed receiver antenna and the turntable zero point can be calibrated. When calibrating the azimuth angle, it is not necessary to first find the magnetic north direction through a compass and then query the local magnetic declination for compensation. The test results are more accurate and the method is simpler. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings.

[0018] Figure 1 It is a schematic flow chart of the satellite ground high-speed receiver turntable calibration method provided by the present invention.

[0019] Figure 2 It is a standard antenna test calibration turntable model provided by the present invention.

[0020] Figure 3 It is an auxiliary line graph provided by the present invention.

[0021] Figure 4 It is a three-dimensional modeling verification model diagram provided by the present invention.

[0022] Figure 5 It is a schematic structural diagram of the satellite ground high-speed receiver turntable calibration device provided by the present invention.

[0023] Figure 6 It is a schematic structural diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0025] The following will be combined with Figures 1 - 6 to describe the present invention.

[0026] Figure 1 is one of the schematic flowcharts of the satellite ground high-speed receiver turntable calibration method provided by the present invention. As Figure 1 shown, the method includes the following: Step 101: Rotate the receiver antenna surface to the horizontal calibration surface in the direction where the pitch angle is zero through turntable control.

[0027] In the above step 101, as Figure 2 shown, first, temporarily fix two standard antennas on the antenna surface fixed above the satellite ground high-speed receiver turntable. The first antenna is the standard antenna 1 and the second antenna is the standard antenna 2. The maximum gain radiation direction of the receiver antenna is perpendicular to the antenna surface, that is, the normal direction of the antenna surface. Therefore, the goal is that when the satellite passes by, the ground high-speed receiver controls the turntable to drive the normal direction of the receiver antenna surface to point to the satellite passing direction in real time. It is known that the background system calculates the real-time azimuth angle and pitch angle of the satellite passing in advance and sends them to the ground high-speed receiver. The receiver controls the turntable to rotate to track the satellite according to the sent angles. However, only the angle information is received by the turntable. Therefore, the turntable needs to calibrate the azimuth angle and pitch angle in advance to the same reference zero point as the sent satellite passing azimuth angle and pitch angle. The reference zero point of the satellite passing azimuth angle points to true north, and the pitch angle is horizontal with the sea level. Therefore, the pitch angle of the turntable can be directly calibrated by a level, and the azimuth angle can be calibrated by the solution provided in the embodiments of the present invention.

[0028] First, rotate the receiver antenna surface to the horizontal calibration surface in the direction where the pitch angle is zero through turntable control. The standard antenna 1 and the standard antenna 2 are fixed on the same plane of the receiver antenna surface. As Figure 3 shown, establish an auxiliary line graph for calculation. Take the receiver antenna surface as the X and Y axes, the normal direction of the antenna surface as the Z axis, and the connection line from the standard antenna 1 to the standard antenna 2 as the positive direction of the X axis to establish a three-dimensional rectangular coordinate system.

[0029] It is known that the satellite passing azimuth angle at the test moment is and the pitch angle is , the coordinate point of the standard antenna 1 is O, the coordinate point of the standard antenna 2 is O', the coordinate point of the satellite is A, the projected coordinate point of the satellite on the XY plane is A', and the coordinate point on the X-axis is C, that is, OA is perpendicular to OC, and A'C is also perpendicular to OC. The line OA is the connection line of the satellite radiation signal to the standard antenna 1, the line O'A is the connection line of the satellite radiation signal to the standard antenna 2, and the line OO' is the distance between the standard antenna 1 and the standard antenna 2 (less than half of the satellite signal wavelength). Since the distances OA and O'A between the satellite and the standard antennas 1 and 2 are very far relative to the distance OO' between the standard antennas 1 and 2, that is, the angle between OA and O'A is very small, so OA can be approximately equivalent to be parallel to O'A. Draw a perpendicular line from O' to the line OA, and the foot of the perpendicular is point B. OB can be approximately equivalent to OA - O'A, which is the distance difference between the satellite signal radiated to the standard antenna 1 and the standard antenna 2, and the angle between OO' and OA is , the angle between OO' and OA' is That is, the angle between the connection line of the standard antenna 1 and the standard antenna 2 and the satellite transit azimuth direction.

[0030] Optionally, before calculating the distance difference between the antenna and the satellite according to the phase difference of the satellite signals received by the first antenna and the second antenna, it includes: Connect a one-to-two switch to the receiver, and the output ports of the one-to-two switch are respectively connected to the first antenna and the second antenna; When the output port of the one-to-two switch is connected to the first antenna at the first moment, determine that the phase of the signal detected by the RF chip inside the receiver is the first phase; When the output port of the one-to-two switch is connected to the second antenna at the second moment, determine that the phase of the signal detected by the RF chip inside the receiver is the second phase; When the output port of the one-to-two switch is connected to the first antenna at the third moment, determine that the phase of the signal detected by the RF chip inside the receiver is the third phase; where the third moment is later than the first moment; Calculate the phase difference of the satellite signals received by the first antenna and the second antenna according to the first phase, the second phase and the third phase.

[0031] In the above steps, the distance difference OB between the satellite signal radiated to the standard antenna 1 and the standard antenna 2 can be deduced according to the phase difference of the space satellite signal reaching the standard antenna 1 and the standard antenna 2 , the specific method is that a one-to-two switch is connected to the satellite ground high-speed receiver, and the output ports of the switch are respectively connected to the standard antenna 1 and the standard antenna 2. First, the switch is connected to the standard antenna 1, and the phase of the signal detected by the RF chip inside the receiver is , then the switch is switched to connect to the standard antenna 2, and the phase of the signal detected by the RF chip inside the receiver is , so:

[0032] Then the switch switches back to connect to the standard antenna 1 again, and the internal RF chip of the receiver detects that the signal phase is , so;

[0033] Subtracting the above two equations gives the following result: .

[0034] Step 102: Calculate the distance difference between the antenna and the satellite according to the phase difference of the satellite signals received by the first antenna and the second antenna; wherein, the first antenna and the second antenna are fixed on the same plane of the receiver antenna surface; the distance difference is the difference between the distance from the first antenna to the satellite and the distance from the second antenna to the satellite.

[0035] Optionally, calculating the distance difference between the antenna and the satellite according to the phase difference of the satellite signals received by the first antenna and the second antenna is achieved through the following formula: ; wherein, OB is the distance difference between the antenna and the satellite; is the phase difference of the satellite signals received by the first antenna and the second antenna; is the wavelength of the satellite signal.

[0036] Step 103: Calculate the first included angle through the distance difference; wherein, the first included angle is the included angle between the connection line of the first antenna and the satellite and the connection line of the second antenna and the satellite.

[0037] Optionally, calculating the first included angle through the distance difference includes: Step A1: Calculate the value of the first included angle at the current moment through the arccosine function according to the distance difference, the distance between the first antenna and the second antenna, the length of the connection line of the first antenna and the second antenna, the length of the connection line of the satellite radiation signal and the first antenna, and the length of the connection line of the satellite radiation signal and the second antenna; Step A2: Determine the rotation direction of the first included angle according to the value of the first included angle and the included angle between the connection line of the first antenna and the satellite and the connection line of the second antenna and the satellite calculated from the distance difference at the next moment; Step A3: Determine the first included angle according to the value of the first included angle and the rotation direction of the first included angle.

[0038] In the above steps A1 to A3, the connection line of the first antenna and the second antenna and the connection line of the satellite transit azimuth direction are OA', and the connection line of the satellite radiation signal and the standard antenna 1 is OA.

[0039] According to the following formula:

[0040] Combined with various calculations, we get:

[0041] Among them, That is, the first included angle.

[0042] Since the distance between the standard antenna 1 and the standard antenna 2 is much smaller than the distance relative to the satellite, the included angle between the line connecting the standard antenna 1 and the standard antenna 2 and the satellite azimuth direction can be approximately equivalent to the included angle between the satellite communication ground high-speed receiver antenna plane and the horizontal rotation center point of the turntable. For more accurate and rigorous calculation, if the coordinate O point of the standard antenna 1 is placed at the center position of the receiver antenna plane and the horizontal rotation of the turntable, the calculation result will be more accurate.

[0043] Since the calculated may be the included angle in the clockwise direction between the line connecting the standard antenna 1 and the standard antenna 2 and the satellite azimuth direction, or it may be the included angle in the counterclockwise direction. Therefore, the ground high-speed receiver controls the turntable to rotate in the clockwise direction according to the calculated by degrees, and then calculates the included angle between the satellite azimuth direction and the line connecting the standard antenna 1 and the standard antenna 2 at the next moment. If is less than , then is the included angle in the counterclockwise direction between the satellite azimuth direction and the line connecting the standard antenna 1 and the standard antenna 2. According to the principle of increasing the satellite horizontal azimuth clockwise from 0 to 360, takes a negative value. Conversely, if is greater than , is in the clockwise direction and

[0044]

[0045] Step 104: Calculate the calibration angle to be compensated for the turntable according to the transit azimuth angle of the satellite at the current moment, the first included angle, and the included angle between the turntable reference zeroing line and the line connecting the first antenna and the second antenna. In the above step 104, given that the satellite transit azimuth angle is (the included angle between the satellite azimuth reference zeroing direction and the true north direction), it can be known that the included angle between the line OO' connecting the standard antenna 1 and the standard antenna 2 and the true north direction is . Then, according to the included angle γ (taking a positive value in the clockwise direction and a negative value in the counterclockwise direction) between the turntable reference zeroing line and the line OO' connecting the standard antenna 1 and the standard antenna 2, the calibration angle that the turntable needs to compensate can be calculated.

[0046] Optionally, the angle to be compensated and calibrated for the turntable is calculated based on the transit azimuth angle of the satellite at the current moment, the first included angle, and the included angle between the turntable reference zeroing line and the line connecting the first antenna and the second antenna, and is calculated through the following formula: ; wherein, is the angle to be compensated and calibrated for the turntable; is the included angle between the line connecting the standard antenna 1 and the standard antenna 2 and the direction of the satellite transit azimuth angle; is the satellite transit azimuth angle at the current moment; is the included angle between the turntable reference zeroing line and the line connecting the standard antenna 1 and the standard antenna 2; is the phase difference of the satellite signals received by the standard antenna 1 and the standard antenna 2; OO’ is the length of the line connecting the standard antenna 1 and the standard antenna 2; is the satellite transit elevation angle at the current moment.

[0047] The angle that the turntable needs to be calibrated is calculated through the above method , and this value is sent back to the background system. When the background system calculates the satellite transit azimuth angle and elevation angle in advance each time, this turntable calibration angle is directly added and compensated to the satellite calculated azimuth angle. When the background system sends the compensated angle to the satellite ground high-speed receiver along with the satellite transit azimuth angle and elevation angle information, when the receiver controls the turntable to rotate and track the satellite, it can accurately track each satellite transit in real time, that is, the maximum radiation direction of the antenna surface is pointed at the satellite direction in real time.

[0048] After the turntable calibration is completed, the standard antenna 1 and the standard antenna 2 are removed, and the satellite ground high-speed receiver connects the communication antenna on its original antenna surface to any antenna port of the standard antenna 1 or the standard antenna 2. The internal software of the receiver locks the control switch to the corresponding connected antenna port, and the system can start to run normally.

[0049] Next time when recalibrating, the background system needs to clear the turntable calibration compensation angle sent back in the previous calibration, and use the original satellite calculated transit azimuth angle and elevation angle to recalculate and calibrate.

[0050] The present invention uses three-dimensional modeling software to establish a model as shown in Figure 2 according to the auxiliary line graph shown in Figure 4 , simulates the application scenario, and substitutes the relevant parameters into the calculation formula to calculate whether the included angle between the line connecting the standard antenna 1 and the standard antenna 2 and the satellite azimuth angle direction is the same as the test angle in the established model.

[0051] Exemplarily, the operating frequency of the satellite signal is f = 500 MHz, and the wavelength λ = c / f = 600 mm (where c is the speed of light 3 10 8 m / s). The distance OB from the satellite signal radiated to the standard antenna 1 and the standard antenna 2 is 481.07 mm (which can be obtained according to the phase difference calculation described in Section V above in practical applications, and is simplified here to be directly measured in the 3D modeling model). The spacing OO' between the standard antenna 1 and the standard antenna 2 is 900 mm, and the satellite transit elevation angle , and the measured angle between the line connecting the standard antenna 1 and the standard antenna 2 and the satellite azimuth direction in the 3D modeling model is 56.25°.

[0052]

[0053] According to the comparison difference between the above 3D modeling and the calculation results of the formula in the embodiment of the present invention, it is 56.31° - 56.25° = 0.06°, indicating that the calculation result of the formula in the embodiment of the present invention is very close to the measured value of the 3D modeling actual model, and the error is less than 0.1°, meeting the target requirements, which proves that the calibration method in the embodiment of the present invention is reasonable and effective.

[0054] The satellite ground high-speed receiver turntable calibration method provided by the present invention rotates the receiver antenna surface to the horizontal calibration surface in the elevation angle zeroing direction through the turntable control; calculates the distance difference between the antenna and the satellite according to the phase difference of the satellite signals received by the first antenna and the second antenna; calculates the first angle through the distance difference; calculates the turntable compensation calibration angle according to the transit azimuth angle of the satellite at the current moment, the first angle, and the angle between the turntable reference zeroing line and the line connecting the first antenna and the second antenna; only by using one satellite and the phase difference of the signals received by two standard antennas, combined with the azimuth angle and elevation angle information at the satellite transit moment, the antenna of the ground high-speed receiver and the turntable zeroing point can be calibrated. When calibrating the azimuth angle, it is not necessary to first find the magnetic north direction through a compass and then query the local magnetic declination for compensation. The test results are more accurate and the method is simpler.

[0055] Next, the satellite ground high-speed receiver turntable calibration device provided by the present invention will be described. The satellite ground high-speed receiver turntable calibration device described below can be correspondingly referred to the satellite ground high-speed receiver turntable calibration method described above.

[0056] Figure 5 is one of the flow schematic diagrams of the satellite ground high-speed receiver turntable calibration device provided by the present invention. As Figure 5 shown, the device includes the following: The rotation module 501 is used to rotate the receiver antenna surface to the horizontal calibration surface in the elevation angle zeroing direction through the turntable control.

[0057] Optionally, the satellite ground high-speed receiver turntable calibration device provided by the present invention further includes: A one-to-two switch connection module, which is used to connect a one-to-two switch to the receiver, and the output ports of the one-to-two switch are respectively connected to the first antenna and the second antenna; A phase determination module, which is used to determine that the phase of the detection signal of the internal radio frequency chip of the receiver is the first phase when the output port of the one-to-two switch is connected to the first antenna at the first moment; determine that the phase of the detection signal of the internal radio frequency chip of the receiver is the second phase when the output port of the one-to-two switch is connected to the second antenna at the second moment; determine that the phase of the detection signal of the internal radio frequency chip of the receiver is the third phase when the output port of the one-to-two switch is connected to the first antenna at the third moment; wherein, the third moment is later than the first moment; A phase difference calculation module, which is used to calculate the phase difference between the first antenna and the second antenna through receiving satellite signals according to the first phase, the second phase and the third phase.

[0058] A distance difference calculation module 502, which is used to calculate the distance difference between the antenna and the satellite according to the phase difference between the first antenna and the second antenna through receiving satellite signals; wherein, the first antenna and the second antenna are fixed on the same plane of the receiver antenna surface; the distance difference is the difference between the distance from the first antenna to the satellite and the distance from the second antenna to the satellite.

[0059] A first included angle calculation module 503, which is used to calculate the first included angle through the distance difference; wherein, the first included angle is the included angle between the connection line of the first antenna and the satellite and the connection line of the second antenna and the satellite.

[0060] A turntable to-be-compensated calibration angle calculation module 504, which is used to calculate the turntable to-be-compensated calibration angle according to the transit azimuth angle of the satellite at the current moment, the first included angle and the included angle between the turntable reference zeroing straight line and the connection line of the first antenna and the second antenna.

[0061] The satellite ground high-speed receiver turntable calibration device provided by the present invention rotates the receiver antenna surface to the horizontal calibration surface in the direction of zero pitch angle through turntable control; calculates the distance difference between the antenna and the satellite according to the phase difference between the first antenna and the second antenna through receiving satellite signals; calculates the first included angle through the distance difference; calculates the turntable to-be-compensated calibration angle according to the transit azimuth angle of the satellite at the current moment, the first included angle and the included angle between the turntable reference zeroing straight line and the connection line of the first antenna and the second antenna; only through one satellite and the phase difference of the received signals of two standard antennas, combined with the azimuth angle and pitch angle information at the satellite transit moment, the antenna of the ground high-speed receiver and the zero point of the turntable can be calibrated. The test results are more accurate and the method is simpler.

[0062] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the satellite ground high-speed receiver turntable calibration method as described in any one of the above is implemented.

[0063] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the satellite ground high-speed receiver turntable calibration method as described in any one of the above is implemented.

[0064] The present invention also provides a computer program product, including a computer program. When the computer program is executed by a processor, the satellite ground high-speed receiver turntable calibration method as described in any one of the above is implemented.

[0065] The satellite ground high-speed receiver turntable calibration method, device, equipment, and storage medium provided by the present invention rotate the receiver antenna surface to the horizontal calibration surface in the direction of zero pitch angle through turntable control; calculate the distance difference between the antenna and the satellite according to the phase difference of the satellite signals received by the first antenna and the second antenna; calculate the first included angle through the distance difference; calculate the turntable compensation calibration angle according to the transit azimuth angle of the satellite at the current moment, the first included angle, and the included angle between the turntable reference zeroing line and the connection line between the first antenna and the second antenna. Only by using one satellite and the phase difference of the signals received by two standard antennas, combined with the azimuth angle and pitch angle information at the satellite transit moment, the ground high-speed receiver antenna and the turntable zero point can be calibrated. When calibrating the azimuth angle, it is not necessary to first find the magnetic north direction through a compass and then query the local magnetic declination for compensation. The test results are more accurate and the method is simpler.

[0066] Figure 6 An example of the physical structure diagram of an electronic device is shown as Figure 6 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840. Among them, the processor 810, the communication interface 820, and the memory 830 complete mutual communication through the communication bus 840. The processor 810 can call the logical instructions in the memory 830 to execute the satellite ground high-speed receiver turntable calibration method.

[0067] In addition, when the logical instructions in the above-mentioned memory 830 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0068] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the satellite ground high-speed receiver turntable calibration method provided by the above-mentioned various methods.

[0069] On another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is implemented to execute the satellite ground high-speed receiver turntable calibration method provided by the above-mentioned various methods.

[0070] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative labor.

[0071] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the technical solution, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disks, optical discs, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for calibrating a satellite ground high-speed receiver turntable, characterized in that: include: Rotate the receiver antenna surface to the horizontal calibration surface in the direction of zeroing the pitch angle through the turntable control; The distance difference between the antenna and the satellite is calculated based on the phase difference between the first antenna and the second antenna in receiving the satellite signal; wherein the first antenna and the second antenna are fixed on the same plane of the receiver antenna surface; the distance difference is the difference between the distance from the first antenna to the satellite and the distance from the second antenna to the satellite; A first angle is obtained by calculating the distance difference; wherein the first angle is the angle between the first antenna and the satellite connection and the second antenna and the satellite connection; The turntable calibration angle to be compensated is calculated based on the satellite's transit azimuth at the current moment, the first angle, and the angle between the turntable reference zeroing straight line and the line connecting the first antenna and the second antenna.

2. The method for calibrating a satellite ground high-speed receiver turntable according to claim 1, characterized in that: Before calculating the distance difference between the antenna and the satellite according to the phase difference between the first antenna and the second antenna in receiving the satellite signal, the method includes: A one-to-two switch is connected to the receiver, and output ports of the one-to-two switch are connected to the first antenna and the second antenna respectively; When the output port of the one-to-two switch is connected to the first antenna at the first moment, determining that the phase of the detection signal of the radio frequency chip inside the receiver is a first phase; When the output port of the one-to-two switch is connected to the second antenna at the second moment, determining that the phase of the radio frequency chip detection signal inside the receiver is a second phase; When the output port of the one-to-two switch is connected to the first antenna at a third moment, determining that the phase of the radio frequency chip detection signal inside the receiver is a third phase; wherein the third moment is later than the first moment; The phase difference between the first antenna and the second antenna in receiving the satellite signal is calculated according to the first phase, the second phase and the third phase.

3. The satellite ground high-speed receiver turntable calibration method according to claim 1, characterized in that: The distance difference between the antenna and the satellite is calculated based on the phase difference between the first antenna and the second antenna in receiving the satellite signal, which is achieved by the following formula: ； Where OB is the distance difference between the antenna and the satellite; The phase difference between the first antenna and the second antenna in receiving the satellite signal; is the wavelength of satellite signal.

4. The satellite ground high-speed receiver turntable calibration method according to claim 1, characterized in that: The step of calculating the first angle by using the distance difference comprises: The first angle value at the current moment is calculated by an inverse cosine function according to the distance difference, the distance between the first antenna and the second antenna, the length of the line connecting the first antenna and the second antenna, the length of the line connecting the satellite radiation signal and the first antenna, and the length of the line connecting the satellite radiation signal and the second antenna; Determine the rotation direction of the first angle by calculating the angle between the first antenna and the satellite connection and the second antenna and the satellite connection according to the first angle value and the distance difference at the next moment; The first angle is determined according to the first angle value and the rotation direction of the first angle.

5. The method for calibrating a satellite ground high-speed receiver turntable according to claim 1, characterized in that: The turntable calibration angle to be compensated is calculated based on the current satellite transit azimuth, the first angle, and the angle between the turntable reference zeroing line and the line connecting the first antenna and the second antenna, and is calculated by the following formula: ； in, The angle of the turntable to be compensated and calibrated; is the angle between the line connecting the first antenna and the second antenna and the azimuth direction of the satellite transit; is the satellite transit azimuth at the current moment; is the angle between the turntable reference zeroing straight line and the line connecting the first antenna and the second antenna; is the phase difference between the first antenna and the second antenna in receiving satellite signals; OO' is the length of the line connecting the first antenna and the second antenna; is the satellite transit pitch angle at the current moment.

6. A satellite ground high-speed receiver turntable calibration device, characterized in that: include: A rotation module, used to rotate the receiver antenna surface to a horizontal calibration surface in the direction of zeroing the pitch angle through a turntable control; A distance difference calculation module, used to calculate the distance difference between the antenna and the satellite according to the phase difference of the first antenna and the second antenna through receiving the satellite signal; wherein the first antenna and the second antenna are fixed on the same plane of the receiver antenna surface; the distance difference is the difference between the distance from the first antenna to the satellite and the distance from the second antenna to the satellite; A first angle calculation module, configured to obtain a first angle by calculating the distance difference; wherein the first angle is an angle between a line connecting the first antenna and the satellite and a line connecting the second antenna and the satellite; The turntable compensation calibration angle calculation module is used to calculate the turntable compensation calibration angle according to the satellite's transit azimuth at the current moment, the first angle, and the angle between the turntable reference zeroing line and the line connecting the first antenna and the second antenna.

7. The satellite ground high-speed receiver turntable calibration device according to claim 6, characterized in that: The device further comprises: A one-to-two switch connection module, used to connect a one-to-two switch to the receiver, wherein output ports of the one-to-two switch are respectively connected to the first antenna and the second antenna; a phase determination module, configured to determine that the phase of the RF chip detection signal inside the receiver is a first phase when the output port of the one-to-two switch is connected to the first antenna at a first moment; determine that the phase of the RF chip detection signal inside the receiver is a second phase when the output port of the one-to-two switch is connected to the second antenna at a second moment; and determine that the phase of the RF chip detection signal inside the receiver is a third phase when the output port of the one-to-two switch is connected to the first antenna at a third moment; wherein the third moment is later than the first moment; The phase difference calculation module is used to calculate the phase difference between the first antenna and the second antenna through receiving the satellite signal according to the first phase, the second phase and the third phase.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the satellite ground high-speed receiver turntable calibration method as described in any one of claims 1 to 5 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the satellite ground high-speed receiver turntable calibration method as described in any one of claims 1 to 4 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the satellite ground high-speed receiver turntable calibration method as described in any one of claims 1 to 5 is implemented.

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