Satellite alignment method and device, nonvolatile storage medium and electronic equipment

Abstract

The invention discloses a satellite alignment method and device, a nonvolatile storage medium and electronic equipment. The method comprises the following steps: acquiring first course data of an antenna module in moving satellite ground station communication equipment and second course data of an inertial measurement unit, and performing fusion processing on the first course data and the second course data to obtain target course data; calculating an initial azimuth angle, an initial pitch angle and an initial polarization angle of an antenna module relative to a tracked satellite by using the target course data; determining an azimuth angle range and a pitch angle range; determining a two-dimensional search space according to the azimuth angle range and the pitch angle range, and determining a satellite alignment angle group meeting a preset condition in the two-dimensional search space; and based on the satellite alignment angle combination and the initial polarization angle, controlling the moving satellite ground station communication equipment to carry out initial satellite alignment. According to the invention, the technical problem of low communication efficiency caused by long satellite alignment time of a related satellite alignment method is solved.

Description

Technical Field

[0001] The present application relates to the field of satellite communications, and more specifically, to a satellite alignment method and device, a non-volatile storage medium, and an electronic device. Background Art

[0002] A mobile satellite ground station communication system, or CSM, uses a GNSS receiver module and inertial navigation units (INMs) on the carrier to obtain the carrier's attitude angles (including pitch, roll, and yaw) and latitude and longitude information. The system then combines these information with the satellite's latitude and longitude to calculate the pitch, azimuth, and polarization angles required for alignment. Based on this information, the system uses a closed-loop control algorithm to drive servo motors or adjust the phase information of phased array elements to modify the beam's azimuth, pitch, and polarization orientation to achieve initial alignment. Furthermore, during the carrier's motion, the CSMs employ a beam tracking strategy that adaptively adjusts the beam's orientation based on the carrier's attitude changes, ensuring stable tracking of the satellite beam and addressing communication link interruptions caused by obstructions and other factors. The CSMs' alignment and stable tracking process involves the integrated application of diverse technologies, including servo control, signal processing, and integrated navigation. In practical applications, achieving rapid, efficient alignment and sustained, stable tracking of target satellites is crucial to the overall system design.

[0003] The relevant initial alignment method primarily utilizes a hierarchical search strategy. This involves calculating rough alignment pitch, azimuth, and polarization information based on satellite altitude information and the carrier's latitude and longitude measured by a single-antenna GNSS device, combined with three-axis attitude information measured by low-cost inertial navigation equipment. The azimuth and polarization information are then adjusted to facilitate on-the-fly beam pointing adjustments. Based on this, a large scan angle is selected and the pitch and azimuth dimensions are traversed to achieve receiver lock. Furthermore, based on the coarse alignment, a smaller scan angle is selected and a small-scale traversal scan is performed to achieve subsequent fine beam alignment.

[0004] However, in order to obtain high-precision star alignment angles, the relevant initial star alignment methods require calculations and multi-layer traversal scanning operations, which takes a long time and requires complex software and hardware operations.

[0005] Furthermore, after successfully completing the initial alignment of the mobile communication system, in order to ensure the uninterrupted and high-quality communication link, the precise pointing of the beam needs to be adjusted dynamically in real time to accurately track the satellite signal. Mobile communication tracking technology has emerged to reduce the pointing deviation between the antenna and the satellite, ensuring the continuous and stable operation of the mobile communication system. Classic satellite mobile communication tracking technologies mainly include step tracking, conical scanning tracking and single pulse tracking. Among them, the step tracking mechanism, through subtle and orderly step adjustments, causes the antenna to rotate slightly in two dimensions, azimuth and elevation, to gradually approach and lock the satellite position. This process is repeated to ensure the continuity of tracking. The conical scanning technology is an innovation in the traditional beam tracking strategy. It transforms the linear step scanning of the beam into a conical rotational motion around the antenna axis, greatly enhancing the tracking flexibility and target locking capabilities. However, both step tracking and conical scanning are fundamentally based on the operating principle of a single-beam antenna, which limits tracking accuracy and response speed to a certain extent. This makes it difficult to meet the stringent requirements of real-time beam tracking, especially in highly dynamic environments. Another type of tracking strategy based on single-pulse technology simultaneously forms several beams within a single pulse. The direction of the antenna beam's deviation from the satellite is determined by comparing the amplitude and phase of the echo signals from each beam. Mechanical or electronic scanning is then used to achieve beam pointing tracking. This method can achieve high tracking accuracy and good timeliness, but it requires complex system design and hardware layout, and is also expensive.

[0006] In summary, the initial alignment and stable tracking methods used for mobile communication equipment have the following problems:

[0007] 1. The satellite alignment method takes a long time and the hardware and software system operations are complicated, resulting in slow network access speed and poor user experience;

[0008] 2. The stable tracking method of mobile communication cannot simultaneously take into account high precision, timeliness and controllable low cost. At the same time, the recovery speed is slow when the device faces occlusion.

[0009] To address the above-mentioned problems, no effective solutions have been proposed so far. Summary of the Invention

[0010] The present application provides a satellite alignment method and apparatus, a non-volatile storage medium, and an electronic device to at least solve the technical problem of low communication efficiency caused by the long alignment time of related satellite alignment methods.

[0011] According to one aspect of the present application, a satellite alignment method is provided, comprising: obtaining first heading data of an antenna module in a moving satellite ground station communication device and second heading data of an inertial measurement unit, fusing the first heading data and the second heading data to obtain target heading data; using the target heading data, calculating the initial azimuth, initial pitch angle, and initial polarization angle of the antenna module relative to the tracked satellite; determining an azimuth range based on the initial azimuth and a first preset error, and determining a pitch angle range based on the initial pitch angle and the second preset error; determining a two-dimensional search space based on the azimuth range and the pitch angle range, and determining a satellite alignment angle combination that meets preset conditions in the two-dimensional search space, wherein the preset conditions include: maximizing the carrier-to-noise ratio of the satellite alignment received signal of the moving satellite ground station communication device, the satellite alignment angle combination including: a target azimuth and a target pitch angle; and controlling the moving satellite ground station communication device to perform initial satellite alignment based on the satellite alignment angle combination and the initial polarization angle.

[0012] Optionally, the first heading data and the second heading data are fused to obtain target heading data, including: determining an observation vector based on the first heading data, and determining a state vector based on the second heading data; determining a state equation based on the second heading data and a preset time interval, and determining a state transfer matrix based on the state equation; determining an initial state covariance matrix based on an initial estimated variance of the state vector, and updating the initial state covariance matrix through the state transfer matrix to obtain a state covariance matrix; calculating the state transfer matrix and the state covariance matrix using a constant turning rate and speed model and / or a constant turning rate and acceleration model to obtain target heading data.

[0013] Optionally, the target heading data includes at least: the longitude and latitude information of the satellite tracked by the moving satellite ground station communication equipment, the altitude of the satellite, and the altitude of the orbit in which the satellite is located; using the target heading data, calculating the initial azimuth, initial pitch angle and initial polarization angle of the antenna module relative to the tracked satellite, including: determining the initial azimuth according to the difference between the longitude information of the satellite and the longitude information of the area where the antenna module is located; determining the initial pitch angle according to the longitude information of the satellite, the longitude and latitude information of the area where the antenna module is located, the altitude of the satellite, and the altitude of the orbit in which the satellite is located; determining the initial polarization angle according to the difference between the longitude information of the area where the antenna module is located and the longitude information of the satellite.

[0014] Optionally, determining a star-pointing angle combination that meets preset conditions in a two-dimensional search space includes: randomly generating a preset number of particles in the two-dimensional search space, and determining an initial velocity and initial position of each particle, wherein each particle is used to represent a star-pointing angle combination to be selected; determining a fitness function based on a carrier-to-noise ratio of a star-pointing received signal of a moving satellite ground station communication device, and determining the fitness of each particle using the fitness function; based on the fitness of each particle, iteratively updating the velocity and position of each particle until a stopping condition is met, thereby obtaining a target particle, wherein the target particle is a star-pointing angle combination that meets the preset conditions.

[0015] Optionally, determining a star-pointing angle combination that meets a preset condition in a two-dimensional search space includes: determining a first target value based on a ratio of an initial azimuth angle to a first preset value, and determining a second target value based on a ratio of an initial pitch angle to a second preset value, wherein the first preset value and the second preset value are both positive integers greater than 1; using the first target value to equally divide the azimuth angle range in the two-dimensional search space to obtain a target azimuth angle range, and using the second target value to equally divide the pitch angle range in the two-dimensional search space to obtain a target pitch angle range; determining a first target matrix based on the target azimuth angle range and the target pitch angle range, wherein the rows of the first target matrix are the first preset values, the columns are the second preset values, and the first target matrix is the first target value. Elements in the matrix are initial star alignment angle combinations including azimuth angles and elevation angles; a first submatrix with p rows and N columns is determined in the first target matrix, and a second submatrix with M rows and q columns is determined, wherein M is a first preset value, N is a second preset value, p and q are randomly generated positive integers, and the orders of magnitude of p and q are both less than the order of magnitude of the minimum value of M and N; a carrier-to-noise ratio of a star alignment received signal of a mobile satellite ground station communication device corresponding to each element in the first submatrix and the second submatrix is determined, and a common part between the first submatrix and the second submatrix is extracted; the common part is reconstructed using a random matrix to obtain a second target matrix; a target element with the largest carrier-to-noise ratio is determined in the second target matrix, and the target element is determined as the star alignment angle combination.

[0016] Optionally, based on the alignment angle combination and the initial polarization angle, the mobile satellite ground station communication equipment is controlled to perform initial alignment, including: after the initial alignment is completed, tracking alignment is performed, and during the tracking alignment process, the following steps are executed: real-time calculation of alignment angle information, and real-time adjustment of the satellite beam pointing according to the alignment angle information; tracking the satellite beam pointing, and during the tracking of the satellite beam pointing, determining the mean of all elements in the second target matrix as the satellite loss threshold; when the number of times the carrier-to-noise ratio of the alignment received signal of the mobile satellite ground station communication equipment is less than the satellite loss threshold is greater than a preset threshold, re-determining the alignment angle combination and the initial polarization angle; based on the re-determined alignment angle combination and the initial polarization angle, re-controlling the mobile satellite ground station communication equipment to perform initial alignment.

[0017] Optionally, based on the alignment angle combination and the initial polarization angle, the moving satellite ground station communication equipment is controlled to perform initial alignment, including: when the antenna module is a mechanical scanning antenna, determining the zero point of the motor in the moving satellite ground station communication equipment, and using the zero point as the starting point, using a dual-loop proportional, integral and differential control algorithm to perform closed-loop adjustment on the motor to control the rotation of the motor; in the process of controlling the rotation of the motor, determining the proportion, integral and differential of the speed loop controller according to historical working data, wherein the speed loop controller is used to control the rotation speed of the motor; and controlling and adjusting the speed loop according to the proportion, integral and differential.

[0018] Optionally, based on the star alignment angle combination and the initial polarization angle, the mobile satellite ground station communication equipment is controlled to perform initial star alignment, including: when the antenna module is an electronic scanning antenna, obtaining a discrete code value phase table, wherein the discrete code value phase table includes: star alignment angle information and phase values in a code value table that has a mapping relationship with the star alignment angle information; determining a target phase value corresponding to the star alignment angle combination and the initial polarization angle in the discrete code value phase table; and controlling the transmitting and receiving components in the mobile satellite ground station communication equipment to perform beam position adjustment according to the target phase value.

[0019] According to another aspect of the present application, a satellite alignment device is provided, comprising: an acquisition module for acquiring first heading data of an antenna module in a mobile satellite ground station communication device and second heading data of an inertial measurement unit, and fusing the first heading data and the second heading data to obtain target heading data; a calculation module for calculating, using the target heading data, an initial azimuth, an initial pitch angle, and an initial polarization angle of the antenna module relative to a tracked satellite; a first determination module for determining an azimuth range based on the initial azimuth and a first preset error, and determining a pitch angle range based on the initial pitch angle and the second preset error; a second determination module for determining a two-dimensional search space based on the azimuth range and the pitch angle range, and determining a satellite alignment angle combination that meets preset conditions in the two-dimensional search space, wherein the preset conditions include maximizing the carrier-to-noise ratio of a satellite alignment received signal of the mobile satellite ground station communication device, and the satellite alignment angle combination includes a target azimuth and a target pitch angle; and a satellite alignment module for controlling the mobile satellite ground station communication device to perform initial satellite alignment based on the satellite alignment angle combination and the initial polarization angle.

[0020] According to another aspect of the present application, a non-volatile storage medium is provided, which includes a stored program, wherein when the program is executed, the device where the storage medium is located is controlled to execute the above-mentioned satellite alignment method.

[0021] According to another aspect of the present application, an electronic device is provided, including: a memory and a processor, wherein the processor is configured to run a program stored in the memory, wherein the above-mentioned star alignment method is executed when the program is run.

[0022] According to yet another aspect of the present application, a computer program is provided, wherein when the computer program is executed by a processor, the above-mentioned satellite alignment method is implemented.

[0023] According to another aspect of the present application, a computer program product is provided, which includes a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned satellite alignment method is implemented.

[0024] In the present application, the first heading data of the antenna module in the mobile satellite ground station communication equipment and the second heading data of the inertial measurement unit are obtained, and the first heading data and the second heading data are fused to obtain the target heading data; the target heading data is used to calculate the initial azimuth, initial pitch angle and initial polarization angle of the antenna module relative to the tracked satellite; the azimuth range is determined according to the initial azimuth and the first preset error, and the pitch angle range is determined according to the initial pitch angle and the second preset error; a two-dimensional search space is determined according to the azimuth range and the pitch angle range, and the two-dimensional search space is obtained in the two-dimensional search space. A satellite pointing angle combination that meets preset conditions is determined in a search space, wherein the preset conditions include: maximizing the carrier-to-noise ratio of a satellite ground station communication device in motion, and the satellite pointing angle combination includes: a target azimuth angle and a target elevation angle; based on the satellite pointing angle combination and the initial polarization angle, the satellite ground station communication device in motion is controlled to perform initial pointing, thereby achieving the purpose of reducing the time required for pointing while ensuring the pointing accuracy, thereby achieving the technical effect of improving communication efficiency, and further solving the technical problem of low communication efficiency caused by the long pointing time of related pointing methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0026] Figure 1 is a flow chart of a satellite alignment method according to an embodiment of the present application;

[0027] Figure 2 is a structural diagram of a mobile satellite ground station communication device according to an embodiment of the present application;

[0028] Figure 3 is a schematic diagram of a singular value arrangement of a first target matrix according to an embodiment of the present application;

[0029] Figure 4 This is a flow chart of satellite tracking according to an embodiment of the present application;

[0030] Figure 5 This is a control flow diagram according to an embodiment of the present application;

[0031] Figure 6 is another control flow diagram according to an embodiment of the present application;

[0032] Figure 7 is a structural diagram of a star alignment device according to an embodiment of the present application;

[0033] Figure 8The figure is a hardware structure block diagram of a computer terminal for a satellite alignment method according to an embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0035] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0036] According to an embodiment of the present application, a method embodiment of a star alignment method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0037] Figure 1 This is a flow chart of a satellite alignment method according to an embodiment of the present application. Figure 1 As shown, the method includes the following steps:

[0038] Step S101: acquiring first heading data of an antenna module in a moving satellite ground station communication device and second heading data of an inertial measurement unit, fusing the first heading data and the second heading data to obtain target heading data.

[0039] Figure 2 is a structural diagram of a mobile satellite ground station communication device according to an embodiment of the present application, such as Figure 2 As shown, the mobile satellite ground station communication equipment includes: a bottom hardware unit, a functional unit and a service processing unit.

[0040] The underlying hardware components include, but are not limited to, an inertial measurement unit (IMU) (a component of the inertial navigation system), a multi-antenna global satellite navigation system (GNSS), a modem (modern), a transmitter / receiver (T / R) assembly, a motor, and a proximity switch. The multi-antenna global satellite navigation system is a space-based radio navigation and positioning system that provides users with all-weather 3D coordinate, velocity, and time information anywhere on the Earth's surface or in near-Earth space. The IMU measures an object's three-axis attitude angle (or angular rate) and acceleration. The modem is responsible for converting data signals into radio frequency signals suitable for transmission via a satellite link and demodulating received radio frequency signals into the original data signals. The modem serves as the bridge between the mobile communication device and the satellite, ensuring correct signal encoding and decoding. The T / R assembly, consisting of a transmitter and a receiver, is the hardware component of the satellite communication system responsible for signal transmission and reception. The transmitter amplifies the modem's output signal and sends it to the antenna for transmission via the satellite link. The receiver receives signals from the satellite and converts the RF signal received by the antenna into an intermediate frequency signal suitable for demodulation by the modem. The motor is an actuator used to drive the antenna pointing direction in the mobile communication system. In a CSM system, motors are associated with antenna azimuth and elevation control. Based on these control signals, the antenna's pointing direction is adjusted to align with the satellite. Precise motor control is crucial for fast and accurate tracking. A proximity switch is a contactless position switch that detects the approach of an object and outputs a signal without physical contact. In CSM devices, proximity switches can be used in antenna systems, particularly those involving mechanical scanning. They help determine the position of the motor or the antenna's zero point, the reference point for the antenna's initial position. The proximity switch signal can be used to control and calibrate the motor, ensuring the antenna is within the correct range for tracking operations.

[0041] The functional unit is used to provide a variety of bus serial port protocols to connect the underlying hardware unit and the various devices in the business processing unit. Bus serial port protocols include but are not limited to: CAN, UART, SPI, I2C, GPIO, TCP / IP.

[0042] The business processing module includes but is not limited to the following functions: attitude solution, information fusion, wave position control, servo control, motor homing, and host computer communication.

[0043] In step S101, the antenna module's first heading data is the position, velocity, and heading information of the ground station calculated using a satellite positioning system, using signals received from satellites by the antenna. The inertial measurement unit's second heading data includes, but is not limited to, the device's angular velocity and acceleration, as well as attitude angles (including heading, pitch, and roll) estimated based on these measurements.

[0044] Preferably, for the fusion method in step S101, a proportional addition relationship can be adopted for the two sets of heading angle data, that is, Y = αY1 + (1-α)Y2, where Y1 is the first heading data, Y2 is the second heading data, Y is the target heading data, and α is the fusion coefficient, 0≤α≤1. The selection of the fusion coefficient depends on the performance of the antenna module and the inertial measurement unit.

[0045] Heading data can also be fused using signal processing techniques, such as extended Kalman filters or cubature Kalman filters, combined with prior models of vehicle motion (such as constant turn rate and velocity models and / or constant turn rate and acceleration models). The Constant Turn Rate and Velocity (CTRV) model is a dynamic model used to describe the motion state of a vehicle (such as a vehicle, ship, or aircraft). In this model, the vehicle's turn rate (i.e., the rate of change of the steering angle per unit time) and velocity are assumed to be constant, while the direction of the vehicle's velocity, i.e., the heading angle, varies linearly with time. This assumption applies to situations where the vehicle's motion trajectory is relatively smooth over a short time interval, without significant acceleration or deceleration, and without sudden changes in direction. The Constant Turn Rate and Acceleration (CTRA) model further extends the CTR model, not only maintaining a constant turn rate but also allowing the vehicle's velocity to vary with time, i.e., the vehicle can accelerate or decelerate. This allows the CTA model to better adapt to the motion of vehicles in dynamic environments, such as vehicles traveling on uneven terrain or aircraft experiencing changes in airflow.

[0046] It is worth noting that, compared with directly using a single output heading angle, step S101 can significantly improve the accuracy and reliability of the heading angle information.

[0047] Step S102 : Calculate the initial azimuth angle, initial pitch angle, and initial polarization angle of the antenna module relative to the tracked satellite using the target heading data.

[0048] The azimuth angle is the angle formed by rotating clockwise from true north to the intersection of the antenna's pointing direction and the horizontal plane. In mobile communications systems, the azimuth angle describes the antenna's orientation relative to north on the horizontal plane and is typically measured in degrees, ranging from 0° to 360°. During satellite alignment, the azimuth angle is used to precisely determine the angle the antenna needs to rotate to point at a specific satellite. The elevation angle describes the angle between the horizontal plane and the antenna's pointing direction when pointing toward the satellite. The elevation angle is the angle measured from the intersection of the antenna's pointing direction and the horizontal plane, perpendicular to the satellite. The elevation angle helps determine the vertical orientation of the antenna, ensuring it is aligned perpendicularly to the satellite and avoiding signal loss due to factors such as the Earth's curvature or the satellite's position. The elevation angle typically ranges from 0° to 90°, with 0° indicating the antenna is pointing toward the horizon and 90° pointing directly toward the zenith. The polarization angle is the angular difference between the polarization of the signal received by the antenna and the polarization of the signal transmitted by the satellite. In satellite communications, signals can be polarized, meaning the direction of the signal's electric field can be rotated in a specific manner. Adjusting the polarization angle ensures that the signal polarization between the antenna and the satellite matches, avoiding signal attenuation caused by polarization mismatch. Antenna polarization can be linear, circular, or elliptical, and the polarization angle is typically used to describe the angular difference between linearly polarized signals, ensuring that the antenna can correctly receive signals transmitted by the satellite.

[0049] In the satellite alignment and stable tracking method of communication in motion, the real-time and accurate calculation and adjustment of the above three angles are the key to achieving efficient satellite communication.

[0050] Step S103 : determining an azimuth angle range according to the initial azimuth angle and the first preset error, and determining an elevation angle range according to the initial elevation angle and the second preset error.

[0051] The first preset error can be expressed as Δθ, and the azimuth angle range determined according to the initial azimuth angle θ0 and the first preset error Δθ can be expressed as: L = [θ0-Δθ, θ0+Δθ]. The second preset error can be expressed as According to the initial pitch angle and the second preset error The determined pitch angle range can be expressed as:

[0052] The initial azimuth angle range is 0° to 360°, and the initial elevation angle range is 0° to 90°. Step S103 reduces these ranges. In the preparation for alignment, using the reduced azimuth and elevation angle ranges facilitates more accurate alignment of the target.

[0053] Step S104: Determine a two-dimensional search space based on the azimuth angle range and the elevation angle range, and determine a satellite alignment angle combination that meets preset conditions in the two-dimensional search space, wherein the preset conditions include maximizing the carrier-to-noise ratio of the satellite alignment received signal of the mobile satellite ground station communication equipment, and the satellite alignment angle combination includes: a target azimuth angle and a target elevation angle.

[0054] In some preferred embodiments, step S104 can be implemented as follows: first, a two-dimensional search space is constructed, where the dimensions of the two-dimensional search space are the azimuth angle range and the elevation angle range. Then, the search space matrix is reconstructed using random matrix approximation techniques combined with the low-rank property of the solution space to determine the precise alignment angle combination that maximizes the carrier-to-noise ratio (C / N) of the satellite in motion.

[0055] Specifically, the method involves the following steps: randomly sampling p rows of data at equal intervals within the azimuth range and q columns of data within the elevation range, where p and q are less than the total number of data points in their respective ranges but sufficient to represent the characteristics of the solution space. Submatrices R and C are then formed, representing the C / N ratio at the p-row and q-column sampling points, respectively. The common portion U between R and C is extracted and reconstructed using random matrix approximation techniques to obtain a new matrix F1. The maximum value in F1 is found, and its corresponding index is the precise combination of star-pointing angles (target azimuth and elevation angles).

[0056] In some other preferred embodiments, step S104 can also be implemented by the following method: the interval 2θ0 / M and The two-dimensional search space is discretized to obtain a two-dimensional space matrix of dimension M × N. A traversal search method is used to traverse the two-dimensional space matrix within the L and J ranges of the two dimensions to determine the precise satellite angle information corresponding to the maximum C / N value.

[0057] Step S105 : Based on the alignment angle combination and the initial polarization angle, the moving satellite ground station communication device is controlled to perform initial alignment.

[0058] Among them, initial alignment, also known as satellite acquisition, refers to the process of the ground station antenna pointing to the target satellite for the first time. During this process, the antenna needs to find the correct azimuth, pitch, and polarization angles in order to receive the signal sent by the satellite. Once the antenna successfully captures the satellite signal and completes the initial alignment, the next step is tracking alignment. This means that after the antenna has been aligned with the satellite, in order to cope with factors such as the movement of the ground station, changes in the satellite position (due to the rotation of the earth or the orbital motion of the satellite), atmospheric refraction effects, and terrain obstructions, the antenna pointing is continuously adjusted to maximize the signal strength and maintain the stability of the communication link.

[0059] It should be noted that Figure 1The satellite alignment method shown can be applied to typical scenarios including, but not limited to, the following: 1. Natural Disaster Emergency Response: During natural disasters such as earthquakes and floods, ground-based communication infrastructure may be damaged. The mobile communication system can quickly establish a communication link with the satellite, providing real-time communication and data transmission support for rescue teams. 2. Outdoor Tourism, Scientific Research, and Exploration: During scientific research, outdoor tourism, and exploration in extreme environments such as uninhabited areas, polar regions, and deserts, the mobile communication system ensures stable communication between researchers and base or the outside world, supporting data transmission and emergency rescue needs.

[0060] also, Figure 1 The illustrated satellite alignment method is applicable not only to mobile satellite communication systems but also to stationary satellite communication systems. This method can also be applied to any mobile communication system, such as vehicle-mounted, ship-mounted, and aircraft-mounted systems. Multi-antenna GNSS devices, which have multiple antennas for receiving satellite signals, can be single-mode GNSS or multi-frequency, multi-mode GNSS devices.

[0061] According to the above steps, first heading data of an antenna module in a moving satellite ground station communication device and second heading data of an inertial measurement unit are obtained, and the first heading data and the second heading data are fused to obtain target heading data; the target heading data is used to calculate the initial azimuth, initial pitch angle, and initial polarization angle of the antenna module relative to the tracked satellite; an azimuth range is determined based on the initial azimuth and a first preset error, and a pitch angle range is determined based on the initial pitch angle and the second preset error; a two-dimensional search space is determined based on the azimuth range and the pitch angle range, and a satellite alignment angle combination that meets preset conditions is determined in the two-dimensional search space, wherein the preset conditions include: maximizing the carrier-to-noise ratio of the satellite alignment received signal of the moving satellite ground station communication device, and the satellite alignment angle combination includes: a target azimuth angle and a target pitch angle; based on the satellite alignment angle combination and the initial polarization angle, the moving satellite ground station communication device is controlled to perform initial alignment, thereby achieving the purpose of reducing the time required for alignment while ensuring alignment accuracy, thereby achieving the technical effect of improving communication efficiency.

[0062] The following Figure 1 The steps shown are exemplified and explained.

[0063] According to some optional embodiments of the present application, the first heading data and the second heading data are fused to obtain target heading data, which can be achieved by the following method: determining an observation vector based on the first heading data, and determining a state vector based on the second heading data; determining a state equation based on the second heading data and a preset time interval, and determining a state transfer matrix based on the state equation; determining an initial state covariance matrix based on an initial estimated variance of the state vector, and updating the initial state covariance matrix through the state transfer matrix to obtain a state covariance matrix; calculating the state transfer matrix and the state covariance matrix using a constant turning rate and speed model and / or a constant turning rate and acceleration model to obtain target heading data.

[0064] In the above embodiment, the observation vector is first determined based on the first heading data, and the state vector is determined based on the second heading data, wherein the observation vector includes directly measurable quantities, such as position coordinates; and the state vector includes kinematic variables, such as speed, heading angle, and turning rate.

[0065] Next, based on the time interval of the second heading data and a pre-defined motion model (e.g., a constant rate of turn and velocity model or a constant rate of turn and acceleration model), a state equation is derived to describe how the state changes over time. A state transition matrix is then calculated to linearize the nonlinear motion relationships. Initially, a covariance matrix is set based on the initial uncertainties of each state variable to reflect the confidence level of the estimate.

[0066] The covariance matrix is then updated using the state transfer matrix, transferring the uncertainty from the previous moment to the current prediction while also superimposing process noise. Using the constant rate of turn model, the state transfer matrix and covariance matrix are substituted into the prediction step to calculate the state estimate for the next moment. If observational data exists, correction weights are calculated by comparing the predicted values with the actual observations, adjusting the state estimate and reducing the covariance, thereby fusing the model prediction with the measured information. This process is iterative, with each update using the model to predict the state and then correcting it using observational data, gradually converging to more accurate target heading data.

[0067] Finally, through repeated "prediction-correction" cycles, noise can be effectively suppressed and target heading data that is smooth and conforms to the laws of motion can be output.

[0068] According to other optional embodiments of the present application, the target heading data includes at least: the longitude and latitude information of the satellite tracked by the moving satellite ground station communication equipment, the altitude of the satellite, and the altitude of the orbit where the satellite is located.

[0069] Furthermore, the target heading data is used to calculate the initial azimuth, initial pitch angle and initial polarization angle of the antenna module relative to the tracked satellite, which can be achieved by the following method: determining the initial azimuth according to the difference between the longitude information of the satellite and the longitude information of the area where the antenna module is located; determining the initial pitch angle according to the longitude information of the satellite, the longitude information and latitude information of the area where the antenna module is located, the altitude of the satellite, and the altitude of the orbit where the satellite is located; determining the initial polarization angle according to the difference between the longitude information of the area where the antenna module is located and the longitude information of the satellite.

[0070] Specifically, the initial azimuth angle θ0 and initial pitch angle θ0 of the antenna module relative to the tracked satellite can be determined by the following formula: and the initial polarization angle γ:

[0071]

[0072] Where R is the radius of the Earth; H is the altitude of the satellite's orbit; h is the altitude of the satellite; L1 is the longitude of the satellite; L2 is the longitude of the area where the antenna module is located; and B is the latitude of the area where the antenna module is located.

[0073] It should be noted that, for the above formula, in this embodiment, it is assumed that east longitude is positive, west longitude is negative, north latitude is positive, and south latitude is negative.

[0074] In some optional embodiments of the present application, determining a star-pointing angle combination that meets preset conditions in a two-dimensional search space can be achieved by the following method: randomly generating a preset number of particles in the two-dimensional search space, and determining the initial velocity and initial position of each particle, wherein each particle is used to represent a star-pointing angle combination to be selected; determining a fitness function based on the carrier-to-noise ratio of the star-pointing received signal of a moving satellite ground station communication device, and determining the fitness of each particle using the fitness function; based on the fitness of each particle, iteratively updating the velocity and position of each particle until a stopping condition is met, thereby obtaining a target particle, wherein the target particle is a star-pointing angle combination that meets the preset conditions.

[0075] In the above embodiment, firstly, a two-dimensional search space is defined based on the initially calculated star-pointing angle range, where the azimuth angle range is [θ0-Δθ,θ0+Δθ] and the elevation angle range is A preset number of particles are randomly generated in the search space, where the number of particles should be selected taking into account both search efficiency and accuracy. The position p of each particle is i and speed v i They are all randomly generated in the corresponding dimensions.

[0076] Assign an initial position p to each particle i and speed v iThe initial positions can be randomly distributed in the search space, and the initial velocities can be set to small random values to ensure that the particles can explore the entire search space in the early stages of the search.

[0077] The fitness of each particle is determined according to a fitness function, wherein the fitness function is determined according to a carrier-to-noise ratio of a satellite-received signal of a moving satellite ground station communication device.

[0078] Furthermore, based on each particle's fitness, the velocity and position of each particle are iteratively updated until a stopping condition is met, resulting in the target particle. Specifically, each particle's current fitness is compared with its best historical fitness value (individual extremum). If the current fitness is better, the individual extremum is updated, and the particle's position at that point is recorded as the individual extremum position. Among all the individual extremums of the particle, the one with the best fitness is found as the global extremum, and its corresponding position is recorded as the global extremum position. Each particle's velocity and position are adjusted according to the particle's velocity and position update rules. Particle velocity updates comprehensively consider the particle's inertia, individual experience, and group experience. Inertia ensures the particle maintains its original velocity and direction, individual experience guides the particle toward its best historical position, and group experience guides the particle toward the best position for the entire group. Position updates adjust the particle's position based on the updated velocity. The steps of calculating fitness, updating individual and global extremums, and updating velocity and position are then repeated until a termination condition is met, such as reaching the maximum number of iterations or finding a satisfactory solution. In this process, particles continuously approach their own and the group's excellent solutions, gradually explore the solution space, and eventually find the optimal solution or approximate optimal solution to the problem.

[0079] As some optional embodiments of the present application, determining a star-pointing angle combination that meets preset conditions in a two-dimensional search space can be achieved by the following method: determining a first target value based on the ratio of an initial azimuth angle to a first preset value, and determining a second target value based on the ratio of an initial pitch angle to a second preset value, wherein the first preset value and the second preset value are both positive integers greater than 1; using the first target value to equally divide the azimuth angle range in the two-dimensional search space to obtain a target azimuth angle range, and using the second target value to equally divide the pitch angle range in the two-dimensional search space to obtain a target pitch angle range; determining a first target matrix based on the target azimuth angle range and the target pitch angle range, wherein the rows of the first target matrix are the first preset values, and the columns are the first and second preset values. Two preset values, the elements in the first target matrix are initial satellite alignment angle combinations including azimuth angles and pitch angles; a first submatrix with p rows and N columns is determined in the first target matrix, and a second submatrix with M rows and q columns is determined, wherein M is the first preset value, N is the second preset value, p and q are randomly generated positive integers, and the orders of magnitude of p and q are both less than the order of magnitude of the minimum value of M and N; the carrier-to-noise ratio of the satellite alignment received signal of the mobile satellite ground station communication equipment corresponding to each element in the first submatrix and the second submatrix is determined, and the common part between the first submatrix and the second submatrix is extracted; the common part is reconstructed using a random matrix to obtain a second target matrix; the target element with the largest carrier-to-noise ratio is determined in the second target matrix, and the target element is determined as the satellite alignment angle combination.

[0080] In the above embodiment, based on the initial estimated azimuth angle θ0 and pitch angle Determine the range of the search area, that is, [θ0-Δθ,θ0+Δθ] and

[0081] The azimuth and elevation search ranges are discretized with step sizes of 2θ0 / M and The search range is grid-divided to form a matrix F of size M×N, where the value of each element in the matrix F is a combination of the azimuth angle and the pitch angle.

[0082] Specifically, the azimuth search range [θ0-Δθ,θ0+Δθ] is divided into N grids at equal intervals with a step size of 2θ0 / M. Pitch angle search range By dividing the grid into equally spaced grids, M grids can be formed. Furthermore, an M×N empty matrix F is created, where M and N correspond to the number of grid cells in elevation and azimuth, respectively. Each grid point (m, n) in matrix F represents a specific combination of elevation and azimuth angles. By adjusting the antenna pointing to that combination, the carrier-to-noise ratio at that point is measured. The measured carrier-to-noise ratio is then entered into the corresponding position in matrix F.

[0083] Figure 3 is a schematic diagram of a singular value arrangement of a first target matrix according to an embodiment of the present application, such as Figure 3 As shown in Figure 2, the singular values behind the first target matrix F are much lower than the previous large singular values. Obviously, the first target matrix F has a strict low-rank property.

[0084] It is worth noting that in order to meet the super-resolution accuracy requirements, the search length M×N of the correlation traversal search algorithm is generally set to be large, which will lead to a high dimension of the large-scale matrix.

[0085] This embodiment obtains a sampling matrix of the large-scale matrix F and reconstructs the approximate matrix F1 using the principle of random matrix approximation. The pitch angle and azimuth angle corresponding to the maximum value in the approximate matrix F1 are the precise satellite alignment angles. Compared with the related traversal search strategy, this application can find the optimal solution of the approximate matrix F1 with fewer search points and lower computational complexity, thereby obtaining precise satellite alignment pitch and azimuth angle information. This can be achieved through the following steps:

[0086] 1. Randomly sample p rows within the equally spaced azimuth range and traverse the elements in p rows and N columns. When traversing any element, adjust the actual azimuth and elevation angles to the azimuth and elevation angles indicated by the element, read the C / N value of the mobile communication system at that time, and establish the index between the C / N value of the mobile communication system and the corresponding element, thereby forming the submatrix R.

[0087] 2. Randomly sample q columns within the equally spaced elevation angle range and traverse the elements in M rows and q columns. When traversing any element, adjust the actual elevation angle and actual pitch angle to the azimuth and elevation angle indicated by the element, read the C / N value of the mobile communication system at that time, and establish the index between the C / N value of the mobile communication system and the corresponding element, thereby forming the submatrix C.

[0088] 3. Extract the common part U in the two-dimensional matrix C and R, and reconstruct the new matrix F1 using the random matrix approximation technique. At this time, the index corresponding to the maximum value in F1 is the estimated precise pitch and azimuth angle

[0089] It should be noted that the values of p and q meet the following requirements: rank(F)~p,q< <min{M,N}。

[0090] Preferably, the common part U can be reconstructed to obtain a new matrix F1 by mapping the original high-dimensional matrix (the common part U) to a low-dimensional space through random projection, then performing a randomized singular value decomposition in the low-dimensional space, and finally mapping the result back to the original space to obtain the reconstructed second target matrix. This method can significantly reduce computing time and resource consumption while maintaining a certain level of accuracy, and is suitable for processing large-scale data sets.

[0091] In summary, for a mobile communication system, the above strategy adjusts the actual azimuth and elevation angles only a few times (p×N+q×Mp×q), which is much smaller than the number of related layer traversals (M×N). Therefore, this embodiment can significantly reduce the complexity and time required for mobile communication equipment to perform satellite alignment operations.

[0092] In some optional embodiments of the present application, controlling the mobile satellite ground station communication equipment to perform initial alignment based on the alignment angle combination and the initial polarization angle can be achieved by the following method: after the initial alignment is completed, tracking alignment is performed, and during the tracking alignment process, the following steps are performed: calculating the alignment angle information in real time, and adjusting the satellite beam pointing in real time according to the alignment angle information; tracking the satellite beam pointing, and in the process of tracking the satellite beam pointing, determining the mean of all elements in the second target matrix as the satellite loss threshold; when the number of times the carrier-to-noise ratio of the alignment received signal of the mobile satellite ground station communication equipment is less than the satellite loss threshold is greater than a preset threshold, re-determining the alignment angle combination and the initial polarization angle; based on the re-determined alignment angle combination and the initial polarization angle, re-controlling the mobile satellite ground station communication equipment to perform initial alignment.

[0093] Figure 4 This is a flow chart of tracking and aligning satellites according to an embodiment of the present application. Figure 4 The above specific implementation manner is described in detail.

[0094] First, the main control board of the mobile communication device continuously receives heading data from the antenna module and inertial measurement unit, and after fusion processing, calculates the most accurate satellite angle information, including azimuth, pitch angle and polarization angle.

[0095] Then, based on the calculated satellite alignment angle information, the antenna beam pointing is adjusted in real time to ensure that the communication link with the satellite is always optimal. The satellite beam pointing is tracked and the carrier-to-noise ratio of the satellite received signal by the current moving satellite ground station communication equipment is recorded.

[0096] When the device enters the dynamic tracking state, the satellite loss threshold is determined as the mean of all elements in the reconstruction matrix (second target matrix) F1 in the initial satellite search phase, denoted as E.

[0097] It is further determined whether the C / N value recorded by the system at the current moment is less than the threshold E. If the C / N value recorded by the system at the current moment is less than the threshold E, the satellite loss count is increased by 1.

[0098] When the satellite loss count is greater than the set threshold NUM=20, it is determined that the mobile communication device is completely blocked and the blockage lasts for a long time. At this time, the device will automatically enter the aforementioned initial satellite search mode and can quickly restore the communication link after the blockage ends.

[0099] In summary, during tracking and pointing, the above steps not only enable real-time adjustment of beam pointing to maintain optimal reception, but also rapidly detect and initiate a rapid recovery process in the event of obstruction, reacquiring pointing angle information and adjusting to the optimal state. This dynamic adjustment and rapid recovery mechanism ensures that mobile satellite ground station communication equipment maintains a stable, high-quality satellite communication link even in complex and changing environments.

[0100] As other optional embodiments of the present application, initial alignment of a moving satellite ground station communication device can be controlled based on the alignment angle combination and the initial polarization angle, which can be achieved by the following method: when the antenna module is a mechanical scanning antenna, the zero point of the motor in the moving satellite ground station communication device is determined, and the zero point is used as the starting point, and a dual-loop proportional, integral and differential control algorithm is used to perform closed-loop adjustment on the motor to control the rotation of the motor; in the process of controlling the rotation of the motor, the proportional, integral and differential of the speed loop controller are determined according to historical working data, wherein the speed loop controller is used to control the rotation speed of the motor; and the speed loop is controlled and adjusted according to the proportional, integral and differential.

[0101] Figure 5 is a control flow diagram according to an embodiment of the present application, Figure 5 The following figure shows the working process of the dual-loop PID servo control system. Figure 5 To clarify: During device startup, proximity switches and other sensor technologies determine the motor's zero position, which serves as the starting reference point for antenna control. Once the zero point is determined, antenna angle adjustments are based on this zero point, ensuring accurate and repeatable antenna pointing. The outer controller controls the antenna's final position (i.e., its azimuth and elevation angles relative to the satellite), while the inner controller (the speed loop) controls the motor's real-time speed. The proportional, integral, and differential coefficients of the speed loop controller are pre-determined using historical operating data.

[0102] When antenna pointing needs to be adjusted, the outer-loop PID controller generates an adjustment signal based on the deviation between the calculated satellite alignment angle and the current antenna angle. The inner-loop speed controller receives this adjustment signal and, combined with the current motor speed information, calculates the motor acceleration command using a PID algorithm to adjust the motor speed. A differential tracker smoothes the differential term of the speed loop PID, reducing speed fluctuations and ensuring the motor reaches the target position smoothly and accurately, avoiding overshoot and oscillation.

[0103] Another invention, in the case where the antenna module is a mechanical scanning antenna, can also control the moving satellite ground station communication equipment to perform initial satellite alignment in the following manner:

[0104] First, a dual closed-loop control system for the motor is constructed, consisting of a speed loop and a current loop (or position loop). The speed loop is the outer loop, used to control the motor's speed; the current loop (or position loop) is the inner loop, designed for rapid response and stable motor operation.

[0105] Next, we collect historical operating data on the motor. This data includes information such as input voltage, current, speed, and torque, which shows the motor's operation under different loads and speeds. By analyzing this historical data, we can understand the motor's dynamic characteristics and response patterns under various operating conditions.

[0106] Next, historical data is used to determine the PID parameters of the speed loop controller. The speed error (the difference between the set speed and the actual speed) and the error's changing trend in the historical data are analyzed. Based on this error information, the proportional, integral, and differential parameters are adjusted so that the controller can effectively reduce the speed error and improve the motor's speed control accuracy and stability. The proportional parameter (P) is used to speed up the system's response speed, generating a control effect proportional to the current speed error. The larger the error, the stronger the control effect. The integral parameter (I) is used to eliminate the system's steady-state error by integrating the speed error and gradually increasing the control effect over time until the error is eliminated. The differential parameter (D) is used to predict the error's changing trend and generate a control effect based on the rate of change of the error. This can suppress overshoot and oscillation in the system and improve system stability.

[0107] During the actual adjustment process, methods such as trial and error, empirical formulas, or model-based optimization algorithms can be used, combined with historical data, to gradually optimize the PID parameters. For example, an initial proportional parameter can be set, the motor's response can be observed, and then the integral and differential parameters can be adjusted based on the response until satisfactory control results are achieved. During motor operation, the motor's speed and load conditions can be monitored in real time. Based on a comparative analysis of real-time and historical data, the PID parameters can be dynamically adjusted to meet the motor's operating requirements under different operating conditions, achieving precise control of the motor's rotation.

[0108] In some optional embodiments, based on the star alignment angle combination and the initial polarization angle, controlling the moving satellite ground station communication equipment to perform initial star alignment can be achieved by the following method: when the antenna module is an electronic scanning antenna, obtaining a discrete code value phase table, wherein the discrete code value phase table includes: star alignment angle information and phase values in a code value table that has a mapping relationship with the star alignment angle information; determining the target phase value corresponding to the star alignment angle combination and the initial polarization angle in the discrete code value phase table; controlling the transmitting and receiving components in the moving satellite ground station communication equipment to perform beam position adjustment according to the target phase value.

[0109] Figure 6 is another control flow diagram according to an embodiment of the present application, Figure 6 The following figure shows the working process of electronically scanned wave phase control. Figure 6 To illustrate the above, software generates a discrete code phase table offline. This table maps satellite alignment angle information to phase values in the table. After obtaining accurate alignment angle information, the corresponding code phase in the table is found and the multifunction chip in the T / R module is controlled via the SPI protocol to adjust the beam position, thereby achieving beam pointing adjustment.

[0110] In summary, the embodiments of the present application use random matrix approximation technology to calculate the initial star alignment angle. Compared with the related classical hierarchical traversal search method, it can significantly reduce the time required for star alignment while ensuring the acquisition of high-precision initial star alignment angles, without introducing additional operational complexity.

[0111] Furthermore, the embodiments of the present application use evolutionary computing methods such as descending simplex or particle swarm algorithm for search, which can obtain more accurate star-pointing angles in a short search time. Compared with the related hierarchical traversal method, the star-pointing time can be shortened without greatly losing accuracy.

[0112] Furthermore, the embodiments of the present application make full use of the movement trajectory information of the moving communication carrier, and combine it with the motion prior model to accurately predict and update the output heading angle information of the carried inertial navigation and satellite navigation. Compared with directly using a single output heading angle, it significantly improves the accuracy and reliability of the heading angle information, and can improve the accuracy of satellite angle calculation.

[0113] Furthermore, embodiments of this application utilize real-time fusion of heading information, calculate the alignment angle in real time, and directly adjust the beam azimuth pointing to achieve stable tracking. Compared to traditional low-precision conical scanning or high-cost single-pulse tracking methods, this method achieves high-performance, stable tracking in motion at a lower cost, and can quickly restore pointing in the event of obstruction.

[0114] In summary, this application has the following technical effects: 1. High star-pointing accuracy, 2. Short star-searching time, 3. Fast occlusion recovery speed, and 4. Relatively simple device implementation.

[0115] Figure 7 is a structural diagram of a star alignment device according to an embodiment of the present application, such as Figure 7 As shown, the device includes:

[0116] The acquisition module 71 is used to obtain the first heading data of the antenna module in the mobile satellite ground station communication equipment and the second heading data of the inertial measurement unit, and fuse the first heading data and the second heading data to obtain the target heading data.

[0117] The calculation module 72 is used to calculate the initial azimuth angle, initial pitch angle and initial polarization angle of the antenna module relative to the tracked satellite using the target heading data.

[0118] The first determining module 73 is configured to determine an azimuth angle range according to the initial azimuth angle and a first preset error, and to determine an elevation angle range according to the initial elevation angle and a second preset error.

[0119] The second determination module 74 is used to determine a two-dimensional search space based on the azimuth angle range and the elevation angle range, and determine a satellite pointing angle combination that meets preset conditions in the two-dimensional search space, wherein the preset conditions include: maximizing the carrier-to-noise ratio of the satellite pointing received signal of the mobile satellite ground station communication equipment, and the satellite pointing angle combination includes: a target azimuth angle and a target elevation angle.

[0120] The star alignment module 75 is used to control the moving satellite ground station communication equipment to perform initial star alignment based on the star alignment angle combination and the initial polarization angle.

[0121] Optionally, the acquisition module 71 is also used to perform the following steps: determine the observation vector based on the first heading data, and determine the state vector based on the second heading data; determine the state equation based on the second heading data and a preset time interval, and determine the state transfer matrix based on the state equation; determine the initial state covariance matrix based on the initial estimated variance of the state vector, and update the initial state covariance matrix through the state transfer matrix to obtain the state covariance matrix; use the constant turning rate and speed model and / or the constant turning rate and acceleration model to calculate the state transfer matrix and the state covariance matrix to obtain the target heading data.

[0122] Optionally, the target heading data includes at least the longitude and latitude of a satellite tracked by the mobile satellite ground station communication device, the satellite's altitude, and the altitude of the satellite's orbit. Furthermore, the calculation module 72 is further configured to perform the following steps: determining an initial azimuth angle based on the difference between the satellite's longitude and the longitude of the area where the antenna module is located; determining an initial pitch angle based on the satellite's longitude, the longitude and latitude of the area where the antenna module is located, the satellite's altitude, and the altitude of the satellite's orbit; and determining an initial polarization angle based on the difference between the longitude of the area where the antenna module is located and the longitude of the satellite.

[0123] Optionally, the second determination module 74 is further configured to perform the following steps: randomly generate a preset number of particles in a two-dimensional search space, and determine an initial velocity and initial position of each particle, wherein each particle is used to represent a satellite alignment angle combination to be selected; determine a fitness function based on the carrier-to-noise ratio of the satellite alignment received signal of the mobile satellite ground station communication equipment, and determine the fitness of each particle using the fitness function; based on the fitness of each particle, iteratively update the velocity and position of each particle until a stopping condition is met, thereby obtaining a target particle, wherein the target particle is a satellite alignment angle combination that meets the preset condition.

[0124] Optionally, the second determination module 74 is further configured to perform the following steps: determining a first target value based on a ratio of an initial azimuth angle to a first preset value, and determining a second target value based on a ratio of an initial pitch angle to a second preset value, wherein the first preset value and the second preset value are both positive integers greater than 1; using the first target value to equally divide the azimuth angle range in the two-dimensional search space to obtain a target azimuth angle range, and using the second target value to equally divide the pitch angle range in the two-dimensional search space to obtain a target pitch angle range; determining a first target matrix based on the target azimuth angle range and the target pitch angle range, wherein the rows of the first target matrix are the first preset values, the columns are the second preset values, and the first target matrix is The elements are initial star alignment angle combinations including azimuth angles and elevation angles; a first submatrix with p rows and N columns is determined in the first target matrix, and a second submatrix with M rows and q columns is determined, wherein M is a first preset value, N is a second preset value, p and q are randomly generated positive integers, and the orders of magnitude of p and q are both less than the order of magnitude of the minimum value of M and N; the carrier-to-noise ratio of the star alignment received signal of the mobile satellite ground station communication equipment corresponding to each element in the first submatrix and the second submatrix is determined, and the common part between the first submatrix and the second submatrix is extracted; the common part is reconstructed using a random matrix to obtain a second target matrix; the target element with the largest carrier-to-noise ratio is determined in the second target matrix, and the target element is determined as the star alignment angle combination.

[0125] Optionally, the alignment module 75 is further configured to perform the following steps: after the initial alignment is completed, perform tracking alignment, and during the tracking alignment process, perform the following steps: calculate alignment angle information in real time, and adjust the satellite beam pointing in real time based on the alignment angle information; track the satellite beam pointing, and during the satellite beam pointing tracking process, determine the mean of all elements in the second target matrix as the satellite loss threshold; when the number of times the carrier-to-noise ratio of the alignment received signal of the mobile satellite ground station communication equipment is less than the satellite loss threshold is greater than a preset threshold, redetermine the alignment angle combination and the initial polarization angle; and based on the redetermined alignment angle combination and the initial polarization angle, re-control the mobile satellite ground station communication equipment to perform initial alignment.

[0126] Optionally, the star-pointing module 75 is also used to perform the following steps: when the antenna module is a mechanical scanning antenna, determine the zero point of the motor in the moving satellite ground station communication equipment, and use the zero point as the starting point to perform closed-loop adjustment on the motor using a dual-loop proportional, integral and differential control algorithm to control the rotation of the motor; in the process of controlling the rotation of the motor, determine the proportion, integral and differential of the speed loop controller based on historical working data, wherein the speed loop controller is used to control the rotation speed of the motor; and control and adjust the speed loop according to the proportion, integral and differential.

[0127] Optionally, the satellite alignment module 75 is further configured to perform the following steps: when the antenna module is an electronic scanning antenna, obtaining a discrete code value phase table, wherein the discrete code value phase table includes: satellite alignment angle information and phase values in a code value table that has a mapping relationship with the satellite alignment angle information; determining a target phase value corresponding to the satellite alignment angle combination and the initial polarization angle in the discrete code value phase table; and controlling the transmitting and receiving components in the mobile satellite ground station communication equipment to perform beam position adjustment according to the target phase value.

[0128] It should be noted that the above Figure 7 The modules in the embodiment can be program modules (for example, a set of program instructions that implement a specific function) or hardware modules. For the latter, they can be expressed in the following forms, but are not limited to these: the expression form of each of the above modules is a processor, or the functions of each of the above modules are implemented by a processor.

[0129] It should be noted that Figure 7 The preferred implementation of the embodiment shown can be found in Figure 1 The relevant description of the illustrated embodiment will not be repeated here.

[0130] Figure 8 The figure shows a hardware structure block diagram of a computer terminal for implementing the satellite alignment method. Figure 8As shown, the computer terminal 80 may include one or more (802a, 802b, ..., 802n are used to illustrate) processors 802 (the processor 802 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 804 for storing data, and a transmission module 806 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the BUS bus), a network interface, a power supply and / or a camera. It will be understood by those skilled in the art that Figure 8 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 8 More or fewer components than shown, or with Figure 8 Different configurations shown.

[0131] It should be noted that the one or more processors 802 and / or other data processing circuits described above may generally be referred to herein as "data processing circuitry." The data processing circuitry may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuitry may be a single, independent processing module, or may be incorporated in whole or in part into any of the other components of the computer terminal 80. As described in the embodiments of the present application, the data processing circuitry serves as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0132] Memory 804 can be used to store software programs and modules for application software, such as the program instructions / data storage device corresponding to the satellite alignment method in the embodiments of the present application. Processor 802 executes the software programs and modules stored in memory 804 to perform various functional applications and data processing, thereby implementing the aforementioned satellite alignment method. Memory 804 can include high-speed random access memory (RAM) and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, memory 804 may further include memory remotely located from processor 802, which can be connected to computer terminal 80 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0133] The transmission module 806 is configured to receive or transmit data via a network. A specific example of the aforementioned network may include a wireless network provided by the communications provider of the computer terminal 80. In one embodiment, the transmission module 806 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, the transmission module 806 may be a radio frequency (RF) module, which is configured to communicate with the Internet wirelessly.

[0134] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer terminal 80 .

[0135] It should be noted that, in some optional embodiments, the above Figure 8 The computer terminal shown may include hardware elements (including circuits), software elements (including computer code stored on a computer-readable medium), or a combination of hardware elements and software elements. Figure 8 This is merely one example of a particular embodiment and is intended to illustrate the types of components that may be present in the computer terminal described above.

[0136] It should be noted that Figure 8 The computer terminal shown is used to execute Figure 1 Therefore, the relevant explanations in the execution method of the above commands are also applicable to the electronic device and will not be repeated here.

[0137] An embodiment of the present application further provides a non-volatile storage medium, which includes a stored program, wherein when the program is executed, the device where the storage medium is located is controlled to execute the above-mentioned satellite alignment method.

[0138] A program for executing the following functions on a non-volatile storage medium: obtaining first heading data of an antenna module in a mobile satellite ground station communication device and second heading data of an inertial measurement unit, fusing the first heading data and the second heading data to obtain target heading data; calculating an initial azimuth, an initial pitch angle, and an initial polarization angle of the antenna module relative to a tracked satellite using the target heading data; determining an azimuth range based on the initial azimuth and a first preset error, and determining a pitch angle range based on the initial pitch angle and a second preset error; determining a two-dimensional search space based on the azimuth range and the pitch angle range, and determining a satellite alignment angle combination that meets preset conditions in the two-dimensional search space, wherein the preset conditions include maximizing the carrier-to-noise ratio of a satellite alignment received signal of the mobile satellite ground station communication device, the satellite alignment angle combination including a target azimuth and a target pitch angle; and controlling the mobile satellite ground station communication device to perform initial alignment based on the satellite alignment angle combination and the initial polarization angle.

[0139] An embodiment of the present application further provides an electronic device, comprising: a memory and a processor, wherein the processor is configured to run a program stored in the memory, wherein the above-mentioned star alignment method is executed when the program is run.

[0140] The processor is used to run a program that performs the following functions: obtaining first heading data of an antenna module in a mobile satellite ground station communication device and second heading data of an inertial measurement unit, fusing the first heading data and the second heading data to obtain target heading data; using the target heading data, calculating the initial azimuth, initial pitch angle, and initial polarization angle of the antenna module relative to the tracked satellite; determining an azimuth range based on the initial azimuth and a first preset error, and determining a pitch angle range based on the initial pitch angle and the second preset error; determining a two-dimensional search space based on the azimuth range and the pitch angle range, and determining a satellite alignment angle combination that meets preset conditions in the two-dimensional search space, wherein the preset conditions include: maximizing the carrier-to-noise ratio of the satellite alignment received signal of the mobile satellite ground station communication device, the satellite alignment angle combination including: a target azimuth and a target pitch angle; and controlling the mobile satellite ground station communication device to perform initial alignment based on the satellite alignment angle combination and the initial polarization angle.

[0141] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0142] In the above embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0143] In the above-mentioned embodiments of the present application, the collected information is information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data comply with relevant laws, regulations and standards, take necessary protection measures, do not violate public order and good morals, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0144] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0145] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0146] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0147] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the relevant technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling 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 method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0148] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for pointing a star, characterized in that: include: Acquire first heading data of an antenna module in a moving satellite ground station communication device and second heading data of an inertial measurement unit, and fuse the first heading data and the second heading data to obtain target heading data; Calculating an initial azimuth, an initial pitch angle, and an initial polarization angle of the antenna module relative to the tracked satellite using the target heading data; Determining an azimuth angle range according to the initial azimuth angle and a first preset error, and determining an elevation angle range according to the initial elevation angle and a second preset error; Determining a two-dimensional search space based on the azimuth angle range and the elevation angle range, and determining a satellite alignment angle combination that meets a preset condition in the two-dimensional search space, wherein the preset condition includes maximizing a carrier-to-noise ratio of a satellite alignment received signal of the moving satellite ground station communication device, and the satellite alignment angle combination includes a target azimuth angle and a target elevation angle; Based on the alignment angle combination and the initial polarization angle, the moving satellite ground station communication equipment is controlled to perform initial alignment.

2. The method according to claim 1, characterized in that Fusing the first heading data and the second heading data to obtain target heading data includes: determining an observation vector based on the first heading data, and determining a state vector based on the second heading data; determining a state equation according to the second heading data and a preset time interval, and determining a state transfer matrix according to the state equation; Determining an initial state covariance matrix according to the initial estimated variance of the state vector, and updating the initial state covariance matrix through the state transfer matrix to obtain a state covariance matrix; The state transfer matrix and the state covariance matrix are calculated using a constant turning rate and speed model and / or a constant turning rate and acceleration model to obtain the target heading data.

3. The method according to claim 1, characterized in that The target heading data includes at least: the longitude and latitude information of the satellite tracked by the mobile satellite ground station communication device, the altitude of the satellite, and the altitude of the orbit where the satellite is located; Calculating an initial azimuth angle, an initial pitch angle, and an initial polarization angle of the antenna module relative to the tracked satellite using the target heading data, including: Determining the initial azimuth according to a difference between the longitude information of the satellite and the longitude information of the area where the antenna module is located; Determining the initial pitch angle according to the longitude information of the satellite, the longitude information and latitude information of the area where the antenna module is located, the altitude of the satellite, and the altitude of the orbit where the satellite is located; The initial polarization angle is determined according to a difference between the longitude information of the area where the antenna module is located and the longitude information of the satellite.

4. The method according to claim 1, wherein Determining a star alignment angle combination that meets a preset condition in the two-dimensional search space includes: In the two-dimensional search space, a preset number of particles are randomly generated, and an initial velocity and an initial position of each particle are determined, wherein each particle is used to represent a star-aligned angle combination to be selected; Determining a fitness function according to a carrier-to-noise ratio of a satellite-received signal of the mobile satellite ground station communication device, and determining the fitness of each of the particles using the fitness function; Based on the fitness of each particle, the speed and position of each particle are iteratively updated until a stopping condition is met, thereby obtaining a target particle, wherein the target particle is a star-pointing angle combination that meets the preset condition.

5. The method according to claim 1, wherein Determining a star alignment angle combination that meets a preset condition in the two-dimensional search space includes: Determining a first target value based on a ratio of the initial azimuth angle to a first preset value, and determining a second target value based on a ratio of the initial pitch angle to a second preset value, wherein both the first preset value and the second preset value are positive integers greater than 1; Using the first target value to divide the azimuth angle range in the two-dimensional search space into equal intervals to obtain a target azimuth angle range, and using the second target value to divide the elevation angle range in the two-dimensional search space into equal intervals to obtain a target elevation angle range; Determining a first target matrix according to the target azimuth angle range and the target elevation angle range, wherein rows of the first target matrix are the first preset values, columns are the second preset values, and elements in the first target matrix are initial alignment angle combinations including azimuth angles and elevation angles; Determine a first submatrix with p rows and N columns in the first target matrix, and determine a second submatrix with M rows and q columns, where M is the first preset value, N is the second preset value, p and q are randomly generated positive integers, and the orders of magnitude of p and q are both smaller than the order of magnitude of the minimum value of M and N; Determine the carrier-to-noise ratio of the satellite-received signal of the moving satellite ground station communication device corresponding to each element in the first submatrix and the second submatrix, and extract a common portion between the first submatrix and the second submatrix; Reconstructing the common part using a random matrix to obtain a second target matrix; A target element with the largest carrier-to-noise ratio is determined in the second target matrix, and the target element is determined as the satellite angle combination.

6. The method according to claim 5, characterized in that Controlling the moving satellite ground station communication device to perform initial alignment based on the alignment angle combination and the initial polarization angle includes: After the initial alignment is completed, tracking alignment is performed, and during the tracking alignment process, the following steps are performed: real-time calculation of alignment angle information, and real-time adjustment of the satellite beam direction based on the alignment angle information; Tracking the satellite beam pointing, and in the process of tracking the satellite beam pointing, determining a mean value of all elements in the second target matrix as a satellite loss threshold; re-determining the satellite angle combination and the initial polarization angle when the carrier-to-noise ratio of the satellite receiving signal of the mobile satellite ground station communication device is less than the satellite loss threshold for a number of times greater than a preset threshold; Based on the re-determined alignment angle combination and the initial polarization angle, the moving satellite ground station communication equipment is re-controlled to perform initial alignment.

7. The method according to claim 1, characterized in that Controlling the moving satellite ground station communication device to perform initial alignment based on the alignment angle combination and the initial polarization angle includes: In the case where the antenna module is a mechanical scanning antenna, determining a zero point of a motor in the moving satellite ground station communication device, and using the zero point as a starting point, performing closed-loop regulation on the motor using a dual-loop proportional, integral, and differential control algorithm to control the rotation of the motor; In the process of controlling the rotation of the motor, determining the proportional, integral and differential of a speed loop controller according to historical working data, wherein the speed loop controller is used to control the rotation speed of the motor; The speed loop is controlled and adjusted according to the proportion, integration and differentiation.

8. The method according to claim 1, characterized in that Controlling the moving satellite ground station communication device to perform initial alignment based on the alignment angle combination and the initial polarization angle includes: In the case where the antenna module is an electronic scanning antenna, a discretized code value phase table is obtained, wherein the discretized code value phase table includes: star alignment angle information and phase values in a code value table that have a mapping relationship with the star alignment angle information; Determine the target phase value corresponding to the star alignment angle combination and the initial polarization angle in the discretized code value phase table; The transmitting and receiving components in the mobile satellite ground station communication equipment are controlled to adjust the wave position according to the target phase value.

9. A star alignment device, characterized in that: include: an acquisition module, configured to acquire first heading data of an antenna module in a mobile satellite ground station communication device and second heading data of an inertial measurement unit, and to fuse the first heading data and the second heading data to obtain target heading data; a calculation module, configured to calculate an initial azimuth angle, an initial pitch angle, and an initial polarization angle of the antenna module relative to the tracked satellite using the target heading data; A first determining module is configured to determine an azimuth angle range according to the initial azimuth angle and a first preset error, and to determine a pitch angle range according to the initial pitch angle and a second preset error; a second determining module, configured to determine a two-dimensional search space based on the azimuth angle range and the elevation angle range, and determine a satellite alignment angle combination that satisfies a preset condition in the two-dimensional search space, wherein the preset condition includes maximizing a carrier-to-noise ratio of a satellite alignment received signal of the moving satellite ground station communication device, and the satellite alignment angle combination includes a target azimuth angle and a target elevation angle; The star alignment module is used to control the moving satellite ground station communication equipment to perform initial star alignment based on the star alignment angle combination and the initial polarization angle.

10. A non-volatile storage medium, characterized in that: The non-volatile storage medium includes a stored program, wherein when the program is executed, the device where the non-volatile storage medium is located is controlled to execute the satellite alignment method according to any one of claims 1 to 8.

11. An electronic device, characterized in that: include: A memory and a processor, wherein the processor is configured to run a program stored in the memory, wherein the program, when running, executes the star alignment method according to any one of claims 1 to 8.

12. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the satellite alignment method according to any one of claims 1 to 8 is implemented.

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