Medium orbit satellite shipborne communication-in-motion antenna alignment method based on open-closed loop combination

Abstract

The embodiment of the invention discloses a medium-orbit satellite shipborne communication-in-motion antenna alignment method based on open-closed loop combination, and relates to the technical field of satellite communication, and the method comprises the steps: obtaining the satellite position information of a target medium-orbit satellite, and obtaining the terminal position information and the terminal attitude information; executing first alignment, calculating the rotation angle of the communication-in-motion antenna, and adjusting the direction angle of the communication-in-motion antenna to enable the antenna to be aligned with the target medium orbit satellite; second alignment is executed, homocentric-square-shaped scanning is executed, and the direction angle of the antenna is adjusted according to the satellite signal intensity obtained through scanning; and executing the step of tracking alignment to enable the communication-in-moving antenna to be aligned with the target medium orbit satellite, and turning to the step of judging whether the satellite signal intensity is greater than or equal to the preset signal intensity threshold value or not. According to the invention, open-loop capture and closed-loop modes are combined, the satellite track can be rapidly captured, the antenna alignment precision can be improved, the noise interference can be effectively reduced, and the stability and reliability of satellite communication can be ensured.

Description

Technical Field

[0001] The present application relates to the field of satellite communication technology, and in particular, to a method for aligning a medium-earth orbit satellite shipborne mobile communication antenna based on the combination of open-loop and closed-loop. Background Art

[0002] A mobile communication antenna generally refers to an antenna system that can maintain communication with a satellite during movement. Such systems are widely used in vehicle-mounted, shipborne, and airborne scenarios where satellite communication is required during movement. Especially for shipborne antennas in a marine environment, due to the complex and changeable conditions, higher requirements are put forward for the scanning speed and accuracy of the antenna to ensure that the beam can quickly and accurately align with the satellite.

[0003] However, most current antenna alignment technologies mainly target geostationary satellites in high orbits. These satellites remain stationary relative to the Earth's surface, and their position information is easy to obtain, making the alignment process relatively simple and direct. In contrast, medium-earth orbit satellites have a relatively fast moving speed, and the complex and changeable marine environment, environmental factors such as weather and waves are likely to cause disturbance deviations. Existing alignment methods are difficult to effectively handle and are difficult to accurately capture medium-earth orbit satellites while excluding disturbance deviations.

[0004] Therefore, when facing medium-earth orbit satellites, existing antenna alignment technologies generally have defects such as long alignment time, insufficient accuracy, and susceptibility to environmental influence. Currently, there is a lack of a method that can accelerate the alignment speed and improve the alignment accuracy in complex environments such as the ocean. Summary of the Invention

[0005] The embodiments of the present application provide a method for aligning a medium-earth orbit satellite shipborne mobile communication antenna based on the combination of open-loop and closed-loop to solve the above-mentioned defects in the related technologies. The technical solutions are as follows:

[0006] In a first aspect, the embodiments of the present application provide a method for aligning a medium-earth orbit satellite shipborne mobile communication antenna based on the combination of open-loop and closed-loop, including:

[0007] Obtain the satellite position information of the target medium-earth orbit satellite, and obtain the terminal position information and terminal attitude information of the mobile communication terminal;

[0008] First alignment: Calculate the rotation angle of the mobile communication antenna based on the satellite position information, the terminal position information, and the terminal attitude information, and adjust the direction angle of the mobile communication antenna based on the rotation angle so that the mobile communication antenna aligns with the target area where the target medium-earth orbit satellite is located;

[0009] Second alignment: Perform a "hui" character scan on the target area, and adjust the direction angle of the mobile communication antenna according to the satellite signal strength obtained by the scan;

[0010] Tracking and alignment: Determine whether the satellite signal strength is greater than or equal to a preset signal strength threshold;

[0011] In the case of being less than the preset signal strength threshold, go to the step of the first alignment;

[0012] Otherwise, correct the direction angle of the satellite communication antenna in motion according to the real-time satellite position and real-time terminal attitude information, so that the satellite communication antenna in motion aligns with the target medium-earth orbit satellite, and go to the step of determining whether the satellite signal strength is greater than or equal to the preset signal strength threshold.

[0013] In an optional solution of the first aspect, the first alignment specifically includes:

[0014] Determine the satellite position coordinates of the medium-earth orbit satellite at the current moment according to the satellite position information;

[0015] Determine the terminal position coordinates of the satellite communication terminal in motion at the current moment according to the terminal position information, and determine the terminal attitude angle of the satellite communication terminal in motion at the current moment according to the terminal attitude information;

[0016] Calculate the initial direction angle for the satellite communication antenna in motion to face the target medium-earth orbit satellite based on the satellite position coordinates, terminal position coordinates, and terminal attitude angle at the current moment;

[0017] Calculate the rotation time for the satellite communication antenna in motion to rotate the initial direction angle;

[0018] Predict the terminal position coordinates of the satellite communication terminal in motion after the rotation time based on the terminal position information, and calculate the change angle of the direction angle of the satellite communication antenna at the predicted terminal position coordinates relative to the direction angle before the rotation time;

[0019] Calculate the rotation angle of the satellite communication antenna in motion based on the sum of the initial direction angle and the change angle, and adjust the direction angle of the satellite communication antenna in motion based on the rotation angle, so that the satellite communication antenna in motion aligns with the target area where the target medium-earth orbit satellite is located.

[0020] In an optional solution of the first aspect, the second alignment specifically includes:

[0021] Obtain a preset scanning reference point from the target area, and perform a figure-eight scan on the target area according to the preset scanning period and preset step length; wherein, the step length is the size of the direction angle adjusted each time during the figure-eight scan of the satellite communication antenna in motion;

[0022] In each scanning period, obtain the satellite signal strength of each scanning point, and calculate the difference in satellite signal strength between the two scanning points that are centrosymmetric around the figure-eight.

[0023] When the difference in satellite signal strength between the scanning points at both ends that are centrosymmetric is less than the preset difference threshold, perform the step of tracking and alignment, and adjust the step length to the minimum step length.

[0024] In an alternative solution of the first aspect, after calculating the difference in satellite signal strength between the scanning points at both ends that are centrosymmetric around the square-within-a-square, the method further includes:

[0025] When the difference in satellite signal strength between the scanning points at any two ends that are centrosymmetric is greater than or equal to the preset difference threshold, select the scanning point with the maximum satellite signal strength among the scanning points of a single square-within-a-square scan as the scanning reference point for the next square-within-a-square scan;

[0026] Perform the step of performing a square-within-a-square scan on the target area according to the preset scan period and the preset step length based on the scanning reference point.

[0027] In an alternative solution of the first aspect, after determining whether the satellite signal strength is greater than or equal to the preset signal strength threshold, when it is greater than or equal to the preset signal strength threshold, the method further includes:

[0028] Obtain the real-time satellite position and the real-time terminal attitude information;

[0029] Determine whether the mobile satellite communication antenna is aligned with the target medium-earth orbit satellite according to the real-time satellite position and the real-time terminal attitude information;

[0030] When it is aligned, go to the step of determining whether the satellite signal strength is greater than or equal to the preset signal strength threshold;

[0031] When it is not aligned, correct the direction angle of the mobile satellite communication antenna based on the real-time satellite position and the real-time terminal attitude information.

[0032] In an alternative solution of the first aspect, the determining whether the mobile satellite communication antenna is aligned with the target medium-earth orbit satellite according to the real-time satellite position and the real-time terminal attitude information includes:

[0033] Calculate the target azimuth angle of the target medium-earth orbit satellite relative to the mobile satellite communication antenna according to the real-time satellite position and the real-time terminal attitude information;

[0034] If the target azimuth angle is not the same as the real-time direction angle of the mobile satellite communication antenna, the mobile satellite communication antenna is not aligned with the target medium-earth orbit satellite;

[0035] In the case of misalignment, the correction of the azimuth angle of the mobile communication antenna based on the real-time satellite position and the real-time terminal attitude information includes:

[0036] Calculating the azimuth angle difference between the target azimuth angle and the real-time azimuth angle of the mobile communication antenna, and correcting the azimuth angle of the mobile communication antenna based on the azimuth angle difference.

[0037] In an optional solution of the first aspect, during the process of the first alignment and / or the second alignment and / or the tracking alignment, the method further includes:

[0038] Obtaining real-time terminal position information and terminal attitude information, and obtaining the processed terminal position information and terminal attitude information through filtering processing and denoising processing;

[0039] Predicting the terminal position information and terminal attitude information of the mobile communication terminal at a future moment based on the historical position information and historical attitude information of the mobile communication terminal in combination with the processed terminal position information and terminal attitude information;

[0040] Adjusting the terminal position information and terminal attitude information at the future moment through an adaptive filtering algorithm, and outputting the optimized terminal position information and terminal attitude information;

[0041] Using the predicted information and the optimized information as the input of the PID control algorithm, and calculating the compensation parameter;

[0042] Adjusting the azimuth angle of the mobile communication antenna based on the compensation parameter.

[0043] In a second aspect, an embodiment of the present application further provides a medium-orbit satellite shipborne mobile communication antenna alignment device based on open-loop and closed-loop combination, including:

[0044] An automatic satellite search and alignment module, configured to obtain the satellite position information of a target medium-orbit satellite, and obtain the terminal position information and terminal attitude information of a mobile communication terminal;

[0045] The automatic satellite search and alignment module is further configured to perform the steps of the first alignment, including:

[0046] Calculating the rotation angle of the mobile communication antenna based on the satellite position information, the terminal position information and the terminal attitude information, and adjusting the azimuth angle of the mobile communication antenna based on the rotation angle, so that the mobile communication antenna aligns with the target area where the target medium-orbit satellite is located;

[0047] The automatic satellite search and alignment module is further configured to perform the steps of the second alignment, including:

[0048] Perform a square scanning on the target area, and adjust the azimuth angle of the mobile satellite communication antenna according to the satellite signal strength obtained by the scanning;

[0049] A beam tracking module, configured to perform the steps of tracking and alignment, including:

[0050] Determine whether the satellite signal strength is greater than or equal to a preset signal strength threshold;

[0051] In the case of being less than the preset signal strength threshold, go to the step of the first alignment;

[0052] Otherwise, correct the azimuth angle of the mobile satellite communication antenna according to the real-time satellite position and real-time terminal attitude information, so that the mobile satellite communication antenna is aligned with the target medium-earth orbit satellite, and go to the step of determining whether the satellite signal strength is greater than or equal to the preset signal strength threshold.

[0053] In a third aspect, an embodiment of the present application 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 program, the method provided in the first aspect or any implementation manner of the first aspect of the embodiments of the present application is implemented.

[0054] In a fourth aspect, the present application 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, the method provided in the first aspect or any implementation manner of the first aspect of the embodiments of the present application is implemented.

[0055] The beneficial effects brought by the technical solutions provided by some embodiments of the present application at least include:

[0056] The present application is different from the alignment methods in the related art. The alignment methods in the related art are more oriented to geostationary satellites. Geostationary satellites are relatively stationary relative to the ground, satellite information is easy to obtain, and the alignment difficulty is easy. However, the present application aims at the characteristics that the medium-earth orbit satellites have a relatively fast moving speed and it is difficult to quickly capture the satellite trajectory. Through the first alignment, the antenna can be initially aligned with the medium-earth orbit satellite, and through the second alignment, the azimuth angle of the antenna is gradually adjusted, so that the position of the medium-earth orbit satellite can be captured more quickly; further, it is determined in real time according to the satellite signal strength whether the antenna is aligned with the medium-earth orbit satellite, so that the antenna can track the moving medium-earth orbit satellite. Combining the open-loop capture and closed-loop methods, the present application can improve the accuracy of antenna alignment while quickly capturing the satellite trajectory, can effectively reduce the interference of noise, and ensure the stability and reliability of satellite communication. Description of the Drawings

[0057] To more clearly illustrate the technical solutions in the present application or related technologies, the following will briefly introduce the drawings required for use in the embodiments or related technology descriptions. Obviously, the drawings in the following descriptions are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0058] Figure 1 is one of the schematic flowcharts of a method for aligning a shipborne mobile communication antenna with a medium-orbit satellite based on the combination of open and closed loops provided by an embodiment of the present application;

[0059] Figure 2 is another schematic flowchart of a method for aligning a shipborne mobile communication antenna with a medium-orbit satellite based on the combination of open and closed loops provided by an embodiment of the present application;

[0060] Figure 3 is yet another schematic flowchart of a method for aligning a shipborne mobile communication antenna with a medium-orbit satellite based on the combination of open and closed loops provided by an embodiment of the present application;

[0061] Figure 4 is still another schematic flowchart of a method for aligning a shipborne mobile communication antenna with a medium-orbit satellite based on the combination of open and closed loops provided by an embodiment of the present application;

[0062] Figure 5 is the fifth schematic flowchart of a method for aligning a shipborne mobile communication antenna with a medium-orbit satellite based on the combination of open and closed loops provided by an embodiment of the present application;

[0063] Figure 6 is the schematic structural diagram of a device for aligning a shipborne mobile communication antenna with a medium-orbit satellite based on the combination of open and closed loops provided by an embodiment of the present application;

[0064] Figure 7 is the schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0065] To make the objectives, technical solutions, and advantages of the present application clearer, the following will clearly and completely describe the technical solutions in the present application in conjunction with the drawings in the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present application fall within the scope of protection of the present application.

[0066] In the description and claims of this application and the above-mentioned drawings, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or modules is not limited to the listed steps or modules, but optionally further includes steps or modules not listed, or optionally further includes other steps or modules inherent to these processes, methods, products or devices.

[0067] It should be noted that the terms "first / second" involved in this application are only used to distinguish similar objects and do not represent a specific order for the objects. Understandably, "first / second" can be interchanged in a specific order or sequence when permitted. It should be understood that the objects distinguished by "first / second" can be interchanged under appropriate circumstances so that the embodiments of this application described here can be implemented in an order other than those described or illustrated here.

[0068] The following will describe this application in detail with specific embodiments.

[0069] Next, in combination with Figure 1 , a shipborne mobile communication antenna alignment method for medium-orbit satellites based on the combination of open and closed loops provided by the embodiments of this application will be introduced. Specifically, please refer to Figure 1 , Figure 1 shows a schematic flowchart of a shipborne mobile communication antenna alignment method for medium-orbit satellites based on the combination of open and closed loops provided by the embodiments of this application. As Figure 1 shown, the method includes the following steps:

[0070] S101, obtain the satellite position information of the target medium-orbit satellite, and obtain the terminal position information and terminal attitude information of the mobile communication terminal.

[0071] Specifically, the latest TLE file can be obtained from official channels, and then software or programming languages can be used to read and parse the satellite orbit parameters in the TLE file, including key data such as semi-major axis, eccentricity, inclination, etc. Further, a simplified perturbation orbit model, such as the SGP4 model, is applied, considering perturbation factors such as atmospheric drag and solar radiation pressure. Through numerical integration methods, the position and velocity of the satellite at future time points are gradually calculated. And the perturbation terms are continuously updated during this process to ensure the accuracy of orbit prediction. Finally, orbit forecasts can be generated through iterative calculations and compared with actual observation data, and the errors are analyzed and the model parameters are optimized to improve the prediction accuracy, and satellite orbit data can be obtained. Furthermore, the satellite position information of the target medium-orbit satellite can be obtained more accurately according to the TLE ephemeris data.

[0072] Specifically, the true values of the hull attitude angle and the true values of the hull trajectory longitude and latitude can be simulated by various mathematical functions. Then, the rotation matrix is calculated from the true value of the attitude angle, and the quaternion is converted. Next, the gyroscope output is solved according to the established model, and white noise is added according to the gyroscope accuracy to obtain the measured value of the gyroscope. Then, the true value of the trajectory longitude and latitude is used to perform numerical second-order differentiation on the hull longitude and latitude data to calculate the acceleration, and white noise is added to the acceleration according to the accelerometer accuracy to obtain the measured value of the acceleration. Then, the displacement is calculated by second-order integration to obtain the hull trajectory information. Next, atmospheric delay, multipath effect, etc. are added as GPS errors and superimposed on the true value of the longitude and latitude to obtain the hull trajectory information. According to the hull trajectory information, the position information of the hull at each moment can be obtained.

[0073] Furthermore, the acceleration integration drift error correction algorithm of GPS can be used to fuse and locate the trajectories of the two, and then the federated filter is used to fuse and process the multi-sensor data to obtain the hull attitude angle and the hull trajectory information.

[0074] It can be understood that the embodiments of the present application are applied to the shipborne environment. Therefore, the terminal position information of the on-the-move terminal with the hull as the carrier can be obtained through the hull trajectory information, and the terminal attitude information of the on-the-move terminal with the hull as the carrier can be obtained through the hull attitude angle.

[0075] S102. First alignment: Calculate the rotation angle of the on-the-move antenna based on the satellite position information, the terminal position information, and the terminal attitude information, and adjust the direction angle of the on-the-move antenna based on the rotation angle so that the on-the-move antenna aligns with the target area where the target medium-earth orbit satellite is located.

[0076] In some embodiments, as Figure 2 shown, S102 includes the following sub-steps:

[0077] S1021. Determine the satellite position coordinates of the medium-earth orbit satellite at the current moment according to the satellite position information.

[0078] Specifically, the real-time position information of the satellite in the geocentric coordinate system is obtained based on the TLE data of the satellite, that is, the satellite position coordinates of the medium-earth orbit satellite at the current moment are determined.

[0079] S1022. Determine the terminal position coordinates of the on-the-move terminal at the current moment according to the terminal position information, and determine the terminal attitude angle of the on-the-move terminal at the current moment according to the terminal attitude information.

[0080] Specifically, the terminal position coordinates of the mobile terminal at the current moment can be obtained through navigation and positioning systems such as BDS / GPS, specifically the position coordinates of the reference geocentric coordinate system. The inertial navigation module can obtain the attitude information of the mobile terminal at the current moment, including the roll angle, pitch angle and yaw angle.

[0081] S1023, calculating an initial direction angle of the moving antenna toward the target medium-orbit satellite based on the satellite position coordinates, terminal position coordinates and terminal attitude angle at the current moment.

[0082] Specifically, the satellite's TLE data can be imported using the STK simulation software to obtain the satellite's real-time position information in the geocentric coordinate system, thereby calculating the first alignment rotation angle, i.e., the initial direction angle.

[0083] S1024, calculating the rotation time of the moving communication antenna to rotate the initial direction angle.

[0084] Specifically, considering that the actual rotation of the antenna takes a certain amount of time, the terminal and the satellite are moving in real time, and the initial rotation angle of the moving antenna is calculated. The time Δt required to obtain the angle value.

[0085] S1025, predicting the terminal position coordinates of the mobile communication terminal after the rotation time based on the terminal position information, and calculating the change angle Δψ of the direction angle of the mobile communication antenna relative to the direction angle before the rotation time at the predicted terminal position coordinates, that is, the time error angle.

[0086] Specifically, the time error angle Δψ caused by the calculated motion is combined with the initial rotation angle Perform rotation angle compensation, that is, the actual rotation angle is the "initial rotation angle ” + “time error angle Δψ”;

[0087] S1026, calculating the rotation angle of the moving communication antenna based on the sum of the initial direction angle and the change angle The direction angle of the moving communication antenna is adjusted based on the rotation angle so that the moving communication antenna is aligned with the target area where the target medium-orbit satellite is located.

[0088] After executing the first alignment step of S102, preliminary compensation for the rotation of the antenna can be completed so that the antenna can be preliminarily aligned with the target area where the medium-orbit satellite is located, that is, the approximate position of the medium-orbit satellite is aligned as much as possible through the first alignment.

[0089] Further, the step of performing the second alignment of S103 includes:

[0090] S103, Second Alignment: Perform a square scan on the target area, and adjust the azimuth angle of the mobile satellite antenna according to the satellite signal strength obtained from the scan.

[0091] Specifically, as Figure 3 shown, S103 includes the following sub-steps:

[0092] S1031, Obtain a preset scan reference point from the target area, and perform a square scan on the target area based on the preset scan reference point according to a preset scan period and a preset step length.

[0093] Specifically, the step length is the size of the azimuth angle adjustment each time during the square scan of the mobile satellite antenna. The value of the step length depends on the drive motor that drives the mobile satellite antenna to rotate and adjust its orientation, and the step of each rotation of the mobile satellite antenna can be determined according to the actual situation.

[0094] Exemplarily, a square scan can be performed on the direction obtained from the first alignment, i.e., the wide-area search. The scan period is T, and it is ensured that a complete square scan is completed within each time interval of T / 4.

[0095] S1032, During each scan period, obtain the satellite signal strength of each scan point, and calculate the difference in satellite signal strength between the two scan points that are centrosymmetric around the square.

[0096] Specifically, the AGC level can be selected as the value for evaluating the satellite signal strength.

[0097] S1033, Compare the differences in satellite signal strength between all pairs of centrosymmetric scan points with a preset difference threshold respectively.

[0098] In the case where the differences in satellite signal strength between all pairs of centrosymmetric scan points are less than the preset difference threshold, perform the subsequent S104 tracking alignment step, and adjust the step length to the minimum step length.

[0099] In the case where the difference in satellite signal strength between any pair of centrosymmetric scan points is greater than or equal to the preset difference threshold, perform the steps of S1034, including:

[0100] S1034, Select the scan point with the maximum satellite signal strength among the scan points of a single square scan as the scan reference point for the next square scan; based on the scan reference point, perform the step of performing a square scan on the target area according to the preset scan period and the preset step length in S1031.

[0101] Through the steps of S1031 - S1034, a better signal reception direction can be found by continuously performing a "return" scan. If the difference in signal strength between each point in the area corresponding to the "return" scan is small, it indicates that the signal in the corresponding area is relatively uniform, and it is determined that the precise alignment work has been completed.

[0102] Further, perform the steps of S104 for tracking and alignment to enable the antenna to track the medium - orbit satellite. As Figure 4 shown, it specifically includes the following sub - steps:

[0103] S1041, determine whether the satellite signal strength is greater than or equal to a preset signal strength threshold.

[0104] When it is less than the preset signal strength threshold, go to S102 and perform the first alignment and subsequent steps in S102.

[0105] It can be understood that after performing the first alignment in S102 and the second alignment in S103, it is also necessary to further determine whether the satellite signal strength is greater than or equal to the preset signal strength threshold to ensure that the satellite signal strength in the direction where the antenna is aligned meets the requirements. If the satellite signal strength is less than the preset signal strength threshold, it indicates that after performing the first alignment in S102 and the second alignment in S103, the satellite signal strength still does not meet the requirements, meaning that the current mobile - satellite communication antenna is not aligned with the medium - orbit satellite. Therefore, it is necessary to re - execute S102 and subsequent steps to align the mobile - satellite communication antenna with the medium - orbit satellite.

[0106] It can be understood that the satellite signal strength can be evaluated using the AGC level signal. The larger the AGC level signal, the stronger the satellite signal received by the system, and the more accurate the pointing of the mobile - satellite communication antenna.

[0107] When it is greater than or equal to the preset signal strength threshold, then perform the steps of S1042, including:

[0108] S1042, correct the direction angle of the mobile - satellite communication antenna according to the real - time satellite position and real - time terminal attitude information, so that the mobile - satellite communication antenna is aligned with the target medium - orbit satellite, and then go to the step of S1041 to determine whether the satellite signal strength is greater than or equal to the preset signal strength threshold.

[0109] In some embodiments, when it is greater than or equal to the preset signal strength threshold, as Figure 5 shown, S1042 also includes the following sub - steps:

[0110] S10421, obtain the real - time satellite position and real - time terminal attitude information.

[0111] S10422. Determine whether the mobile satellite communication antenna is aligned with the target medium Earth orbit satellite according to the real-time satellite position and the real-time terminal attitude information.

[0112] In the case of alignment, proceed to the step in S1041 to determine whether the satellite signal strength is greater than or equal to the preset signal strength threshold.

[0113] In the case of non-alignment, execute the steps of S10423, including:

[0114] S10423. Correct the direction angle of the mobile satellite communication antenna based on the real-time satellite position and the real-time terminal attitude information.

[0115] In some embodiments, in S10422, the following steps can be used to determine whether the mobile satellite communication antenna is aligned with the target medium Earth orbit satellite, specifically including:

[0116] Calculate the target azimuth angle of the target medium Earth orbit satellite relative to the mobile satellite communication antenna according to the real-time satellite position and the real-time terminal attitude information. If the target azimuth angle is not the same as the real-time direction angle of the mobile satellite communication antenna, the mobile satellite communication antenna is not aligned with the target medium Earth orbit satellite.

[0117] In some embodiments, in the case of non-alignment, in S10423, correct the direction angle of the mobile satellite communication antenna based on the real-time satellite position and the real-time terminal attitude information, specifically including:

[0118] Calculate the direction angle difference between the target azimuth angle and the real-time direction angle of the mobile satellite communication antenna, and correct the direction angle of the mobile satellite communication antenna based on the direction angle difference.

[0119] In this way, the deviation between the current direction angle of the mobile satellite communication antenna (equivalent to the antenna pointing) and the target direction can be compared. In the case of deviation, the direction of the mobile satellite communication antenna can be finely adjusted according to the deviation value to ensure that the antenna is aligned with the medium Earth orbit satellite.

[0120] In some embodiments, after executing S10422 to determine whether the mobile satellite communication antenna is aligned with the target medium Earth orbit satellite according to the real-time satellite position and the real-time terminal attitude information, if it is aligned with the target medium Earth orbit satellite, jump to the steps of S1041. In the case of non-alignment, execute the steps of S10423 to correct the direction angle of the mobile satellite communication antenna, and after correction, jump to the steps of S1041. Thus, it is possible to determine in real time whether the direction angle of the mobile satellite communication antenna corresponds to the satellite signal strength being greater than or equal to the preset signal strength threshold to ensure that the antenna can track the medium Earth orbit satellite.

[0121] In some embodiments, during the first alignment S102 and / or the second alignment S103 and / or the tracking alignment S104, the antenna rotation angle can be compensated and calculated through step S105 to offset the influence of hull disturbance on the satellite communication antenna. S105 specifically includes:

[0122] S1051, obtain real-time terminal position information and terminal attitude information, and obtain the processed terminal position information and terminal attitude information through filtering and denoising processing.

[0123] Specifically, the motion state of the hull, including the roll angle, pitch angle, and yaw angle, can be monitored in real time through an on-board sensor array. For example, the minute changes of the hull can be captured by an accelerometer, gyroscope, and magnetometer, and further, the captured data can be filtered and denoised to ensure the accuracy and reliability of the data.

[0124] S1052, predict the terminal position information and terminal attitude information of the mobile communication terminal at a future moment based on the historical position information and historical attitude information of the mobile communication terminal in combination with the processed terminal position information and terminal attitude information.

[0125] Specifically, the historical data is obtained from the driving record of the ship. The position and attitude of the hull at a future moment can be predicted through a Dynamic Model Predictive Control (DMPC) based on the terminal position information and terminal attitude information processed in S1051 and the historical data.

[0126] S1053, adjust the terminal position information and terminal attitude information at the future moment through an adaptive filtering algorithm, and output the optimized terminal position information and terminal attitude information.

[0127] Specifically, adaptive filtering is a digital signal processing technology that can automatically adjust its parameters according to the input signal. Through the adaptive filtering algorithm, the terminal position information and terminal attitude information can be adjusted in advance according to the environment where the ship is located to adapt to the changing marine environment and further optimize the signal quality.

[0128] S1054, use the predicted information and the optimized information as the input of the PID control algorithm, and calculate the compensation parameters.

[0129] Specifically, the predicted information is the position and attitude of the hull predicted in S1052 at a future moment, and the optimized information is the terminal position information and terminal attitude information optimized by the adaptive filtering algorithm in S1053. First, the proportional, integral, and differential control quantities based on the error are calculated by a PID controller. Then, the disturbance and state error of the system are estimated by the extended state observer (ESO) in the ADRC. Finally, the control quantity is adjusted by the nonlinear state error feedback (NLSEF) to achieve effective compensation for the system error and optimization of the system performance. Necessary compensation parameters are calculated, and through this composite control algorithm, the position and attitude of the antenna can be accurately adjusted to respond to the movement of the hull. Finally, the actuator for controlling the rotation of the antenna, such as a motor, physically adjusts according to the compensation parameters calculated in S1054, ensuring that the antenna always remains aligned with the satellite even when the hull is disturbed.

[0130] Based on this, the present application uses a hull disturbance compensation model integrating dynamic compensation and adaptive filtering to achieve the control and calibration of the antenna. Compared with the control methods in the related art, the entire compensation process in the embodiments of the present application is continuous and closed-loop. The system continuously monitors the quality of the communication signal, and can evaluate the quality of the communication signal through indicators such as the signal-to-noise ratio SNR or the bit error rate BER, and feedback these performance indicators to the control algorithm in S105 for further adjustment and optimization. This enables the embodiments of the present application to compensate for hull disturbances in real time and dynamically, ensuring the stability and reliability of satellite communication.

[0131] The following is the device embodiment of the present application, which can be used to execute the method embodiment of the present application. For the details not disclosed in the device embodiment of the present application, please refer to the method embodiment of the present application.

[0132] Next, please refer to Figure 6 , which is a schematic structural diagram of a medium-earth orbit satellite mobile communication antenna alignment device based on the combination of open and closed loops provided in an exemplary embodiment of the present application. This device can be implemented as all or part of a terminal through software, hardware, or a combination of both, and can also be integrated as an independent module on a server. A medium-earth orbit satellite mobile communication antenna alignment device based on the combination of open and closed loops in the embodiments of the present application can be applied to a terminal or the cloud. The device 60 includes an automatic satellite search and alignment module 601 and a beam tracking module 602, where:

[0133] The automatic satellite search and alignment module 601 is used to obtain the satellite position information of the target medium-earth orbit satellite, and obtain the terminal position information and terminal attitude information of the mobile communication terminal;

[0134] The automatic satellite search and alignment module 601 is further used to execute the first alignment step, including:

[0135] Calculate the rotation angle of the mobile satellite antenna based on the satellite position information, the terminal position information, and the terminal attitude information, and adjust the azimuth angle of the mobile satellite antenna based on the rotation angle so that the mobile satellite antenna is aligned with the target area where the target medium-earth orbit satellite is located;

[0136] The automatic satellite search and alignment module 601 is further configured to perform the steps of the second alignment, including:

[0137] Perform a "hui" character scan on the target area, and adjust the azimuth angle of the mobile satellite antenna according to the satellite signal strength obtained by the scan;

[0138] The beam tracking module 602 is configured to perform the steps of tracking and alignment, including:

[0139] Determine whether the satellite signal strength is greater than or equal to a preset signal strength threshold;

[0140] In the case of being less than the preset signal strength threshold, go to the steps of the first alignment;

[0141] Otherwise, correct the azimuth angle of the mobile satellite antenna according to the real-time satellite position and the real-time terminal attitude information so that the mobile satellite antenna is aligned with the target medium-earth orbit satellite, and go to the step of determining whether the satellite signal strength is greater than or equal to the preset signal strength threshold.

[0142] It should be noted that when the device 60 provided in the above embodiment executes a method for aligning a mobile satellite antenna on a ship for medium-earth orbit satellites based on a combination of open and closed loops, only the above-mentioned division of each functional module is used for illustration. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device provided in the above embodiment and the embodiment of the method for aligning a mobile satellite antenna on a ship for medium-earth orbit satellites based on a combination of open and closed loops belong to the same concept. The implementation process is detailed in the method embodiment and will not be repeated here.

[0143] The embodiment of the present application 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 program, it implements the steps of the method in any of the above embodiments.

[0144] Please refer to Figure 7 , which is a structural block diagram of an electronic device provided by the embodiment of the present application.

[0145] As Figure 7 shown, the electronic device 700 includes a processor 701 and a memory 702.

[0146] In the embodiments of the present application, the processor 701 is the control center of the computer system, which can be the processor of a physical machine or the processor of a virtual machine. The processor 701 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. The processor 701 may be implemented in at least one of the following hardware forms: DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array).

[0147] The processor 701 may also include a main processor and a coprocessor. The main processor is a processor used to process data in the wake state, also known as the CPU (Central Processing Unit); the coprocessor is a low-power processor used to process data in the standby state.

[0148] The memory 702 may include one or more computer-readable storage media, and the computer-readable storage media may be non-transitory. The memory 702 may further include a high-speed random access memory and a non-volatile memory, such as one or more disk storage devices and flash storage devices. In some embodiments of the present application, the non-transitory computer-readable storage medium in the memory 702 is used to store at least one instruction, and the at least one instruction is used to be executed by the processor 701 to implement the method in the embodiments of the present application.

[0149] In some embodiments, the electronic device 700 further includes: a peripheral device interface 703 and at least one peripheral device 704. The processor 701, the memory 702, and the peripheral device interface 703 may be connected through a bus or signal lines. Each peripheral device 704 may be connected to the peripheral device interface 703 through a bus, signal lines, or a circuit board. Specifically, the peripheral device 704 includes: a display screen, a camera, and an audio circuit. The peripheral device interface 703 may be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 701 and the memory 702.

[0150] In some embodiments of the present application, the processor 701, the memory 702, and the peripheral device interface 703 are integrated on the same chip or circuit board; in some other embodiments of the present application, any one or two of the processor 701, the memory 702, and the peripheral device interface 703 may be implemented on a separate chip or circuit board. The embodiments of the present application do not make specific limitations on this.

[0151] The block diagram of the electronic device shown in the embodiments of the present application does not limit the electronic device 700. The electronic device 700 may include more or fewer components than those shown in the figure, combine some components, or adopt different component arrangements.

[0152] The embodiments of the present application also provide a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the steps of the method in any of the foregoing embodiments are implemented. Among them, the computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, DVDs, CD-ROMs, microdrives, and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0153] 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 such an understanding, the essence of the above technical solution, or the part that contributes to the related technology, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, 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 each embodiment or some parts of the embodiments.

[0154] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit them. Although the present application 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 application.

Claims

1. A method for aligning a shipborne mobile communication antenna on a medium-orbit satellite based on the combination of open-loop and closed-loop, characterized in that, Including: Obtain the satellite position information of the target medium Earth orbit satellite, and obtain the terminal position information and terminal attitude information of the mobile communication terminal in motion. First alignment: Calculate the rotation angle of the mobile communication antenna based on the satellite position information, the terminal position information, and the terminal attitude information, and adjust the direction angle of the mobile communication antenna based on the rotation angle so that the mobile communication antenna aligns with the target area where the target medium Earth orbit satellite is located. Second alignment: Perform a "hui" character scan on the target area, and adjust the direction angle of the mobile communication antenna according to the satellite signal strength obtained by the scan. Tracking alignment: Determine whether the satellite signal strength is greater than or equal to a preset signal strength threshold. If it is less than the preset signal strength threshold, go to the steps of the first alignment. Otherwise, correct the direction angle of the mobile communication antenna according to the real-time satellite position and real-time terminal attitude information so that the mobile communication antenna aligns with the target medium Earth orbit satellite, and go to the step of determining whether the satellite signal strength is greater than or equal to the preset signal strength threshold.

2. The on-ship mobile communication antenna alignment method for medium-orbit satellites based on the combination of open and closed loops according to claim 1, wherein, The first alignment specifically includes: Determine the satellite position coordinates of the medium Earth orbit satellite at the current moment according to the satellite position information. Determine the terminal position coordinates of the mobile communication terminal in motion at the current moment according to the terminal position information, and determine the terminal attitude angle of the mobile communication terminal in motion at the current moment according to the terminal attitude information. Calculate the initial direction angle that makes the mobile communication antenna face the target medium Earth orbit satellite based on the satellite position coordinates, terminal position coordinates, and terminal attitude angle at the current moment. Calculate the rotation time for the mobile communication antenna to rotate the initial direction angle. Predict the terminal position coordinates of the mobile communication terminal in motion after the rotation time based on the terminal position information, and calculate the change angle of the direction angle of the mobile communication antenna at the predicted terminal position coordinates relative to the direction angle before the rotation time. Calculate the rotation angle of the mobile communication antenna based on the sum of the initial direction angle and the change angle, and adjust the direction angle of the mobile communication antenna based on the rotation angle so that the mobile communication antenna aligns with the target area where the target medium Earth orbit satellite is located.

3. A method for aligning a shipborne mobile communication antenna on a medium-orbit satellite based on the combination of open-loop and closed-loop, as claimed in claim 1, characterized in that, The second alignment specifically includes: Obtain a preset scan reference point from the target area, and perform a "hui" character scan on the target area based on the preset scan reference point, the preset scan period, and the preset step length; where the step length is the size of the direction angle adjustment each time during the "hui" character scan of the mobile communication antenna. In each scan period, obtain the satellite signal strength of each scan point, and calculate the difference in satellite signal strength between the two scan points that are centrosymmetric around the "hui" character. If the differences in satellite signal strength between all pairs of centrosymmetric scan points are less than a preset difference threshold, perform the steps of the tracking alignment and adjust the step length to the minimum step length.

4. The method according to claim 3, wherein After calculating the difference in satellite signal strength between the two scan points that are centrosymmetric around the "hui" character, the method further includes: When the difference in satellite signal strength between any two scanning points at the two ends of central symmetry is greater than or equal to the preset difference threshold, select the scanning point with the maximum satellite signal strength among the scanning points of a single figure-eight scan as the scanning reference point for the next figure-eight scan; Based on the scanning reference point, perform the step of performing a figure-eight scan on the target area according to a preset scanning period and a preset step length.

5. A method for aligning a shipborne mobile communication antenna for medium-orbit satellites based on the combination of open-loop and closed-loop, characterized in that, After determining whether the satellite signal strength is greater than or equal to the preset signal strength threshold, when it is greater than or equal to the preset signal strength threshold, the method further includes: Obtain the real-time satellite position and real-time terminal attitude information; Judge whether the mobile satellite communication antenna is aligned with the target medium-earth orbit satellite according to the real-time satellite position and the real-time terminal attitude information; When it is aligned, go to the step of determining whether the satellite signal strength is greater than or equal to the preset signal strength threshold; When it is not aligned, correct the direction angle of the mobile satellite communication antenna based on the real-time satellite position and the real-time terminal attitude information.

6. The on - ship mobile communication antenna alignment method for medium - orbit satellites based on the combination of open - loop and closed - loop according to claim 5, characterized in that, The judging whether the mobile satellite communication antenna is aligned with the target medium-earth orbit satellite according to the real-time satellite position and the real-time terminal attitude information includes: Calculate the target azimuth angle of the target medium-earth orbit satellite relative to the mobile satellite communication antenna according to the real-time satellite position and the real-time terminal attitude information; If the target azimuth angle is different from the real-time direction angle of the mobile satellite communication antenna, the mobile satellite communication antenna is not aligned with the target medium-earth orbit satellite; When it is not aligned, the correcting the direction angle of the mobile satellite communication antenna based on the real-time satellite position and the real-time terminal attitude information includes: Calculate the direction angle difference between the target azimuth angle and the real-time direction angle of the mobile satellite communication antenna, and correct the direction angle of the mobile satellite communication antenna based on the direction angle difference.

7. A method for aligning a shipborne mobile communication antenna for medium-orbit satellites based on the combination of open-loop and closed-loop, according to any one of claims 1-6, characterized in that, During the first alignment and / or the second alignment and / or the tracking alignment, the method further includes: Obtain the real-time terminal position information and terminal attitude information, and obtain the processed terminal position information and terminal attitude information through filtering processing and denoising processing; Predict the terminal position information and terminal attitude information of the mobile satellite communication terminal at a future moment based on the historical position information and historical attitude information of the mobile satellite communication terminal combined with the processed terminal position information and terminal attitude information; Adjust the terminal position information and terminal attitude information at the future moment through an adaptive filtering algorithm, and output the optimized terminal position information and terminal attitude information; Use the predicted information and the optimized information as the input of the PID control algorithm, and calculate the compensation parameter; Adjust the direction angle of the mobile satellite communication antenna based on the compensation parameter.

8. A shipborne mobile communication antenna alignment device for medium-orbit satellites based on the combination of open-loop and closed-loop, characterized in that, Includes: An automatic satellite search and alignment module, configured to obtain the satellite position information of the target medium-earth orbit satellite, and obtain the terminal position information and terminal attitude information of the mobile satellite communication terminal; The automatic satellite search and alignment module is further configured to perform the steps of the first alignment, including: Calculate the rotation angle of the satellite communication antenna in motion based on the satellite position information, the terminal position information, and the terminal attitude information, and adjust the azimuth angle of the satellite communication antenna in motion based on the rotation angle so that the satellite communication antenna in motion aligns with the target area where the target medium Earth orbit satellite is located; The automatic satellite search and alignment module is further configured to perform the steps of the second alignment, including: Perform a "hui" character scan on the target area and adjust the azimuth angle of the satellite communication antenna in motion according to the satellite signal strength obtained by the scan; A beam tracking module, configured to perform the steps of tracking and alignment, including: Determine whether the satellite signal strength is greater than or equal to a preset signal strength threshold; In the case of being less than the preset signal strength threshold, go to the steps of the first alignment; Otherwise, correct the azimuth angle of the satellite communication antenna in motion according to the real-time satellite position and the real-time terminal attitude information so that the satellite communication antenna in motion aligns with the target medium Earth orbit satellite, and go to the step of determining whether the satellite signal strength is greater than or equal to the preset signal strength threshold.

9. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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