Star-aligning methods and apparatus, non-volatile storage media, electronic devices

Abstract

This application discloses a satellite alignment method and apparatus, a non-volatile storage medium, and an electronic device. The method includes: acquiring first heading data from an antenna module and second heading data from an inertial measurement unit in a moving satellite ground station communication device; fusing the first and second heading data to obtain target heading data; using the target heading data, calculating the initial azimuth, initial elevation, and initial polarization angles of the antenna module relative to the tracked satellite; determining the azimuth and elevation angle ranges; determining a two-dimensional search space based on the azimuth and elevation angle ranges; determining a set of alignment angles that satisfy preset conditions within the two-dimensional search space; and controlling the moving satellite ground station communication device to perform initial satellite alignment based on the alignment angle combination and the initial polarization angle. This application solves the technical problem of low communication efficiency caused by the long alignment time of related satellite alignment methods.

Description

Technical Field

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

[0002] A mobile satellite ground station communication system, or "on-the-move communication system" for short, obtains the attitude angles (including pitch, roll, and yaw angles) and latitude / longitude information of the moving vehicle through a global navigation satellite system receiver module and inertial navigation elements configured on the vehicle. It then combines this information with the satellite's latitude and longitude to calculate the required pitch, azimuth, and polarization angles for satellite alignment. Based on this, the system uses a closed-loop control algorithm to drive servo motors or adjust the phase information of the phased array units to change the beam azimuth, pitch, and polarization direction to achieve initial satellite alignment. Furthermore, during vehicle movement, the on-the-move communication system employs a beam tracking strategy that adaptively adjusts the beam direction based on changes in vehicle attitude to ensure stable tracking of the satellite beam during movement and to address communication link interruptions caused by obstructions. The on-the-move satellite alignment and stable tracking process involves the integrated application of technologies from various fields, including servo control, signal processing, and integrated navigation. In practical applications, achieving rapid, efficient, and continuous stable satellite alignment and tracking is of paramount importance to the overall system design.

[0003] The initial satellite alignment method primarily employs a layered search strategy, including: calculating coarse elevation, azimuth, and polarization angle information based on satellite latitude, longitude, and altitude information, carrier latitude and longitude information measured by a single-antenna GNSS device, and combining this with three-axis attitude information measured by a low-cost inertial navigation system; then adjusting the azimuth and polarization angle information to adjust the forward beam pointing. Based on this, a large scan angle is selected and the elevation and azimuth dimensions are traversed to achieve receiver satellite lock-in. Further, based on the coarse alignment, a smaller scan angle is selected for a small-range fine scan to achieve subsequent fine beam alignment.

[0004] However, in order to obtain a high-precision alignment angle, the relevant initial alignment methods require calculation and multiple traversal scanning operations, which result in long alignment times and complex software and hardware operations.

[0005] Furthermore, after successfully completing the initial satellite alignment of the satellite communication system on the move, to ensure uninterrupted and high-quality communication, real-time dynamic adjustments to the beam's precise pointing are necessary to accurately track the satellite signal. Satellite communication tracking technology has emerged to address this need, reducing pointing deviations between the antenna and the satellite and ensuring the continuous and stable operation of the system. Classic satellite communication tracking technologies on the move mainly include step tracking, conical scanning tracking, and monopulse tracking. Step tracking, through subtle and orderly step adjustments, allows the antenna to rotate slightly in both azimuth and elevation dimensions to gradually approach and lock onto the satellite's position. This process is repeated cyclically, ensuring continuous tracking. Conical scanning technology, on the other hand, is an innovation on traditional beam tracking strategies. It transforms the linear step scanning of the beam into a conical rotational motion around the antenna axis, greatly enhancing tracking flexibility and target locking capabilities. However, both step tracking and conical scanning are fundamentally based on the working principle of a single-beam antenna. This limits the tracking accuracy and response speed to some extent, especially in high-dynamic environments, making it difficult to meet the stringent requirements of real-time beam tracking. Another type of tracking strategy, based on single-pulse technology, simultaneously forms several beams within a single pulse. By comparing the amplitude and phase of the echo signals from each beam, the direction of the antenna beam's deviation from the satellite is determined, and then beam pointing tracking is achieved through mechanical or electronic scanning. This method can achieve high tracking accuracy and relatively fast response times, but it requires complex system design and hardware layout, and is also costly.

[0006] In summary, the initial satellite alignment and stable tracking methods applied to mobile communication devices have the following problems:

[0007] 1. The satellite pairing method is time-consuming and involves complex hardware and software system operations, resulting in slow network access speeds and poor user experience;

[0008] 2. The on-the-move stable tracking method cannot simultaneously achieve high accuracy, timeliness, and controllable low cost, and its recovery speed is relatively slow when the device is blocked.

[0009] There is currently no effective solution to the above problems. Summary of the Invention

[0010] This 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 satellite alignment time of related satellite alignment methods.

[0011] According to one aspect of this application, a satellite alignment method is provided, comprising: acquiring first heading data of an antenna module and second heading data of an inertial measurement unit in a moving satellite ground station communication device; fusing the first heading data and the second heading data to obtain target heading data; using the target heading data, calculating the initial azimuth angle, initial elevation angle, and initial polarization angle of the antenna module relative to the tracked satellite; determining an azimuth angle range based on the initial azimuth angle and a first preset error, and determining an elevation angle range based on 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 satisfies 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, and the satellite alignment angle combination including: target azimuth angle and target elevation 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 the observation vector based on the first heading data and determining the state vector based on the second heading data; determining the state equation based on the second heading data and a preset time interval, and determining the state transition matrix based on the state equation; determining the initial state covariance matrix based on the initial estimated variance of the state vector, and updating the initial state covariance matrix through the state transition matrix to obtain the state covariance matrix; and calculating the state transition matrix and the state covariance matrix using a constant rate of turn and velocity model and / or a constant rate of turn and acceleration model to obtain the target heading data.

[0013] Optionally, the target heading data includes at least: the longitude and latitude information of the satellite being tracked by the moving satellite ground station communication equipment, the satellite's altitude, and the altitude of the satellite's orbit; using the target heading data, the initial azimuth angle, initial elevation angle, and initial polarization angle of the antenna module relative to the tracked satellite are calculated, including: determining the initial azimuth angle based on the difference between the satellite's longitude information and the longitude information of the area where the antenna module is located; determining the initial elevation angle based on the satellite's longitude information, the longitude and latitude information of the area where the antenna module is located, the satellite's altitude, and the altitude of the satellite's orbit; and determining the initial polarization angle based on 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 the star alignment angle combination that satisfies preset conditions in the two-dimensional search space includes: 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 represents a star alignment angle combination to be selected; determining a fitness function based on the carrier-to-noise ratio of the satellite ground station communication equipment receiving the satellite signal, and using the fitness function to determine the fitness of each particle; iteratively updating the velocity and position of each particle based on the fitness of each particle until the stopping condition is met to obtain the target particle, wherein the target particle is the star alignment angle combination that satisfies the preset conditions.

[0015] Optionally, determining the combination of star-aligning angles that satisfy preset conditions in the two-dimensional search space includes: 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 elevation angle to a second preset value, wherein both the first and second preset values ​​are positive integers greater than 1; dividing the azimuth angle range in the two-dimensional search space into equal intervals using the first target value to obtain a target azimuth angle range, and dividing the elevation angle range in the two-dimensional search space into equal intervals using the second target value to obtain a target elevation angle range; determining a first target matrix based on the target azimuth angle range and the target elevation angle range, wherein the rows of the first target matrix are the first preset values, and the columns are the second preset values. The elements in the matrix are initial satellite alignment angle combinations including azimuth and elevation angles. A first sub-matrix with p rows and N columns is determined from the first target matrix, and a second sub-matrix with M rows and q columns is determined, where M is a first preset value, N is a second preset value, and p and q are randomly generated positive integers, with the order of magnitude of p and q being smaller than the order of magnitude of the minimum value among M and N. The carrier-to-noise ratio (CNR) of the satellite-received signal from the mobile satellite ground station communication equipment corresponding to each element in the first and second sub-matrices is determined, and the common part between the first and second sub-matrices is extracted. Using a random matrix, the common part is reconstructed to obtain the second target matrix. The target element with the largest CNR is determined in the second target matrix, and this target element is identified as the satellite alignment angle combination.

[0016] Optionally, based on the alignment angle combination and initial polarization angle, the moving satellite ground station communication equipment is controlled to perform initial satellite 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 satellite beam pointing according to the alignment angle information; tracking of satellite beam pointing, and during the tracking of satellite beam pointing, determining the mean of all elements in the second target matrix as the satellite loss threshold; if the number of times the carrier-to-noise ratio of the satellite-received signal of the moving satellite ground station communication equipment is less than the satellite loss threshold is greater than a preset threshold, the alignment angle combination and initial polarization angle are re-determined; based on the re-determined alignment angle combination and initial polarization angle, the moving satellite ground station communication equipment is controlled to perform initial satellite alignment again.

[0017] Optionally, based on the combination of satellite alignment angles and the initial polarization angle, the moving satellite ground station communication equipment is controlled to perform initial satellite alignment, including: when the antenna module is a mechanically scanned 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 derivative control algorithm to perform closed-loop adjustment of the motor to control its rotation; during the control of the motor's rotation, determining the proportional, integral, and derivative of the speed loop controller based on historical operating data, wherein the speed loop controller is used to control the rotation speed of the motor; and adjusting the speed loop according to the proportional, integral, and derivative.

[0018] Optionally, based on the combination of satellite alignment angles and the initial polarization angle, the moving satellite ground station communication equipment is controlled to perform initial satellite alignment, including: when the antenna module is an electronically scanned antenna, acquiring 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 have a mapping relationship with the satellite alignment angle information; determining the target phase value that is commonly corresponding to the combination of satellite alignment angles and the initial polarization angle in the discrete code value phase table; and controlling the transmitting and receiving components in the moving satellite ground station communication equipment to perform wavelet adjustment according to the target phase value.

[0019] According to another aspect of this application, a satellite alignment device is also provided, comprising: an acquisition module for acquiring first heading data of an antenna module and second heading data of an inertial measurement unit in a moving satellite ground station communication device, and fusing the first heading data and the second heading data to obtain target heading data; a calculation module for calculating the initial azimuth angle, initial elevation angle, and initial polarization angle of the antenna module relative to the tracked satellite using the target heading data; a first determination module for determining an azimuth angle range based on the initial azimuth angle and a first preset error, and determining an elevation angle range based on the initial elevation angle and a second preset error; a second determination module for 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 satisfies 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, and the satellite alignment angle combination includes the target azimuth angle and the target elevation angle; and a satellite alignment module for 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.

[0020] According to another aspect of this application, a non-volatile storage medium is also provided, the storage medium including a stored program, wherein the program, when running, controls the device where the storage medium is located to execute the above-described star-alignment method.

[0021] According to another aspect of this application, an electronic device is also provided, comprising: a memory and a processor, the processor being configured to run a program stored in the memory, wherein the program executes the above-described star-alignment method during runtime.

[0022] According to another aspect of this application, a computer program is also provided, wherein the computer program, when executed by a processor, implements the above-described star alignment method.

[0023] According to another aspect of this application, a computer program product is also provided, comprising a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program that, when executed by a processor, implements the above-described star-alignment method.

[0024] In this application, the method involves acquiring first heading data from the antenna module of a moving satellite ground station communication device and second heading data from the inertial measurement unit. The first and second heading data are then fused to obtain target heading data. Using this target heading data, the initial azimuth, initial elevation, and initial polarization angles of the antenna module relative to the tracked satellite are calculated. Based on the initial azimuth and a first preset error, the azimuth range is determined, and based on the initial elevation and a second preset error, the elevation range is determined. Based on the azimuth and elevation ranges, a two-dimensional search space is determined. In the search space, a combination of alignment angles that meets preset conditions is determined. These preset conditions include maximizing the carrier-to-noise ratio of the satellite ground station communication equipment receiving the satellite signal. The alignment angle combination includes the target azimuth angle and the target elevation angle. Based on the alignment angle combination and the initial polarization angle, the method of controlling the moving satellite ground station communication equipment to perform initial alignment is adopted. This achieves the goal of reducing the alignment time while ensuring alignment accuracy, thereby improving communication efficiency and solving the technical problem of low communication efficiency caused by the long alignment time of related alignment methods. Attached Figure Description

[0025] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0026] Figure 1 This is a flowchart of a star alignment method according to an embodiment of this application;

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

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

[0029] Figure 4 This is a flowchart of a satellite tracking process according to an embodiment of this application;

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

[0031] Figure 6 This is a schematic diagram of another control flow according to an embodiment of this application;

[0032] Figure 7 This is a structural diagram of a satellite tracking device according to an embodiment of this application;

[0033] Figure 8This is a hardware structure block diagram of a computer terminal for a satellite alignment method according to an embodiment of this application. Detailed Implementation

[0034] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0035] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

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

[0037] Figure 1 This is a flowchart of a star alignment method according to an embodiment of this application, such as... Figure 1 As shown, the method includes the following steps:

[0038] Step S101: Obtain the first heading data of the antenna module and the second heading data of the inertial measurement unit in the moving satellite ground station communication equipment; perform fusion processing on the first heading data and the second heading data to obtain the target heading data.

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

[0040] The underlying hardware units include, but are not limited to: an inertial measurement unit (IMU) (as a component of the inertial navigation system), a multi-antenna global satellite navigation system, a modem, a transmit / receive assembly (T / R), motors, and proximity switches. The multi-antenna global satellite navigation system is a space-based radio navigation and positioning system that provides users with all-weather 3D coordinates, velocity, and time information from any location on the Earth's surface or in near-Earth space. The IMU measures an object's three-axis attitude angles (or angular rates) and acceleration. The modem converts data signals into radio frequency signals suitable for transmission via satellite links and demodulates received radio frequency signals back into raw data signals. The modem acts as a bridge between the mobile communication device and the satellite, ensuring correct signal encoding and decoding. The transmit / receive assembly includes a transmitter and a receiver, and is the hardware component of the satellite communication system used for signal transmission and reception. The transmitter amplifies the signal output from the modem and sends it to the antenna for transmission via the satellite link; the receiver receives signals from the satellite and converts the radio frequency signals received by the antenna into intermediate frequency signals suitable for modem demodulation. The motor is the actuator in the mobile communication system used to drive the antenna pointing. In a mobile communication system, the motor is linked to the control of the antenna's azimuth and elevation. Based on control signals, the antenna's pointing is adjusted to align with the satellite. Precise motor control is crucial for achieving rapid and accurate satellite alignment. A proximity switch is a contactless position switch used to detect the approach of an object and output a signal without actual contact. In mobile communication equipment, proximity switches can be used in antenna systems, especially in devices involving mechanical scanning. They help determine the motor's position or the antenna's null point, i.e., the reference point for the antenna's initial position. The signal from the proximity switch can be used for motor control and calibration, ensuring the antenna can operate within the correct range for satellite alignment.

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

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

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

[0044] Preferably, in step S101, the fusion method can be used to proportionally add the two sets of heading angle data, i.e., 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] Signal processing techniques, such as extended Kalman filters or capacitive Kalman filters, can be used to fuse heading data with prior models of carrier motion (e.g., 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 carrier (such as a vehicle, ship, or aircraft). In this model, the carrier's turn rate (i.e., the rate of change of the turn angle per unit time) and velocity are considered constant, while the carrier's velocity direction, i.e., the heading angle, changes linearly with time. This assumption applies to situations where the carrier's trajectory is relatively smooth over a short time interval, without significant acceleration or deceleration, or 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 carrier's velocity magnitude to change over time, meaning the carrier can accelerate or decelerate. This allows CTA models to better adapt to the movement of a vehicle in dynamic environments, such as vehicles traveling on uneven terrain or aircraft experiencing changes in airflow.

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

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

[0048] Azimuth angle refers to the angle formed by rotating clockwise from true north to the point where the antenna's pointing direction intersects with the horizontal plane. In satellite communication systems, azimuth angle describes the antenna's direction relative to north on the horizontal plane, usually measured in degrees, ranging from 0° to 360°. During satellite alignment, azimuth angle is used to precisely determine the angle the antenna needs to rotate to point at a specific satellite. Elevation angle describes the angle between the antenna and the horizontal plane when the antenna is pointing at a satellite. Elevation angle is the angle perpendicular to the satellite, starting from the point where the antenna's pointing direction intersects with the horizontal plane. Elevation angle helps determine the antenna's vertical direction, ensuring the antenna is vertically aligned with 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°, where 0° indicates the antenna is pointing towards the horizon, and 90° indicates the antenna is pointing directly at the zenith. Polarization angle is the angular difference between the polarization direction of the antenna receiving the signal and the polarization direction of the satellite transmitting the signal. In satellite communication, signals can be polarized, meaning the direction of the signal's electric field can be rotated in a specific way. Adjusting the polarization angle ensures signal polarization matching between the antenna and the satellite, avoiding signal attenuation due to polarization mismatch. The antenna polarization direction can be linear, circular, or elliptical, while 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 methods of satellite communication while in motion and stable tracking, the real-time and accurate calculation and adjustment of the above three angles are the key to achieving efficient satellite communication.

[0050] Step S103: Determine the azimuth range based on the initial azimuth and the first preset error, and determine the pitch range based on the initial pitch angle and the second preset error.

[0051] The first preset error can be expressed as Δθ. Therefore, the range of azimuth angles determined by 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... Then based on the initial pitch angle Second preset error The determined range of pitch angles can be expressed as:

[0052] The initial azimuth angle ranges from 0° to 360°, and the initial elevation angle ranges from 0° to 90°. Step S103 narrows down these ranges. In the preparation work for satellite aiming, using a narrowed range of azimuth and elevation angles is beneficial for achieving more accurate satellite aiming.

[0053] Step S104: Determine a two-dimensional search space based on the azimuth and elevation ranges, and determine a combination of satellite-aligning angles that meets preset conditions within the two-dimensional search space. The preset conditions include maximizing the carrier-to-noise ratio of the satellite-aligned signal received by the moving satellite ground station communication equipment. The combination of satellite-aligning angles includes the target azimuth and the target elevation.

[0054] For step S104, in some preferred embodiments, it can be implemented as follows: First, a two-dimensional search space is constructed, the dimensions of which are the azimuth range and the elevation range. Then, the search space matrix is ​​reconstructed using a random matrix approximation technique combined with the low-rank characteristic of the solution space, in order to solve for the precise combination of star-tracking angles that maximizes the on-the-go signal-to-noise ratio (C / N) of the satellite.

[0055] The specific steps include: randomly sampling p rows of data within the azimuth angle range at equal intervals, and randomly sampling q columns of data within the elevation angle range, where p and q are less than the total number of data points within their respective ranges, but sufficient to represent the characteristics of the solution space. Submatrices R and C are formed, representing the C / N values ​​at the p rows and q columns of sampling points, respectively. The common part U in 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 target angles (target azimuth and target elevation).

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

[0057] Step S105: Based on the combination of satellite alignment angles and the initial polarization angle, control the moving satellite ground station communication equipment to perform initial satellite alignment.

[0058] Initial satellite acquisition, also known as satellite focus, refers to the process of initially aligning the ground station antenna with the target satellite. During this process, the antenna needs to find the correct azimuth, elevation, and polarization angles to receive signals from the satellite. Once the antenna successfully acquires the satellite signal and completes initial satellite acquisition, the next step is tracking. This refers to continuously adjusting the antenna's direction after it has been aligned with the satellite to maintain maximum signal strength and communication link stability, in response to factors such as ground station movement, changes in satellite position (due to Earth's rotation or satellite orbital motion), atmospheric refraction, and terrain obstruction.

[0059] It should be noted that, Figure 1The satellite communication method shown can be applied to, but is not limited to, the following typical scenarios: 1. Natural disaster emergency response: During natural disasters such as earthquakes and floods, ground communication facilities may be damaged. A 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: When conducting scientific research, outdoor tourism, and exploration in uninhabited areas, polar regions, deserts, and other extreme environments, a mobile communication system can ensure that researchers maintain stable communication with the base or the outside world, supporting data transmission and emergency rescue needs.

[0060] also, Figure 1 The satellite alignment method shown is applicable not only to satellite communication systems in motion but also to those at rest. This method can also be applied to any mobile communication system, such as vehicle-mounted, ship-mounted, and airborne mobile communication systems. For multi-antenna GNSS devices, which have multiple antennas for receiving satellite signals, they can be single-mode GNSS devices or multi-frequency multi-mode GNSS devices.

[0061] Based on the above steps, the first heading data of the antenna module and the second heading data of the inertial measurement unit in the moving satellite ground station communication equipment are acquired. The first heading data and the second heading data are fused to obtain the target heading data. Using the target heading data, the initial azimuth angle, initial elevation angle, and initial polarization angle of the antenna module relative to the tracked satellite are calculated. Based on the initial azimuth angle and a first preset error, the azimuth angle range is determined, and based on the initial elevation angle and a second preset error, the elevation angle range is determined. Based on the azimuth angle range and the elevation angle range, a two-dimensional search space is determined. In the two-dimensional search space, a combination of satellite alignment angles that meets preset conditions is determined. The preset conditions include maximizing the carrier-to-noise ratio of the satellite-received signal of the moving satellite ground station communication equipment. The combination of satellite alignment angles includes the target azimuth angle and the target elevation angle. Based on the combination of satellite alignment angles and the initial polarization angle, the moving satellite ground station communication equipment is controlled to perform initial satellite alignment. This achieves the goal of reducing the time required for satellite alignment while ensuring alignment accuracy, thereby improving communication efficiency.

[0062] The following are Figure 1 The steps shown are illustrated and explained by way of example.

[0063] According to some optional embodiments of this application, the target heading data can be obtained by fusing the first heading data and the second heading data through the following method: Based on the first heading data, determine the observation vector, and based on the second heading data, determine the state vector; based on the second heading data and a preset time interval, determine the state equation, and based on the state equation, determine the state transition matrix; based on the initial estimated variance of the state vector, determine the initial state covariance matrix, and update the initial state covariance matrix using the state transition matrix to obtain the state covariance matrix; calculate the state transition matrix and the state covariance matrix using a constant rate of turn and velocity model and / or a constant rate of turn and acceleration model to obtain the 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. The observation vector includes directly measurable quantities, such as position coordinates; the state vector includes kinematic variables, such as velocity, heading angle, and rate of turn.

[0065] Next, based on the time interval of the second heading data and the preset motion models (such as constant rate of turn and velocity model, constant rate of turn and acceleration model), the state equations describing how the state changes over time are derived, and the state transition matrix is ​​calculated to linearize the nonlinear motion relationship. Initially, the covariance matrix is ​​set according to the initial uncertainty of each state variable to reflect the reliability of the estimation.

[0066] Subsequently, the covariance matrix is ​​updated using the state transition matrix, transferring the uncertainty from the previous time step to the current prediction, while also incorporating process noise. Using a constant steering rate model, the state transition matrix and covariance matrix are substituted into the prediction step to calculate the state estimate for the next time step. If observation data exists, the predicted values ​​are compared with the actual observed values, correction weights are calculated, the state estimate is adjusted, and the covariance is reduced, thus fusing model predictions with measured information. This process iterates cyclically, with each update using the model to predict the state and then correcting it with observation data, gradually converging to more accurate target heading data.

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

[0068] According to some alternative embodiments of this 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 satellite's orbit.

[0069] Furthermore, using the target heading data, the initial azimuth, initial elevation, and initial polarization angles of the antenna module relative to the tracked satellite can be calculated using the following methods: The initial azimuth angle is determined based on the difference between the satellite's longitude information and the longitude information of the area where the antenna module is located; the initial elevation angle is determined based on the satellite's longitude information, the longitude and latitude information of the area where the antenna module is located, the satellite's altitude, and the altitude of the satellite's orbit; the initial polarization angle is determined based on 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 elevation angle of the antenna module relative to the tracked satellite can be determined using the following formulas. and initial polarization angle γ:

[0071]

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

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

[0074] In some optional embodiments of this application, determining a combination of star alignment angles that meets preset conditions in a two-dimensional search space can be achieved by the following method: In the two-dimensional search space, a preset number of particles are randomly generated, and the initial velocity and initial position of each particle are determined, wherein each particle represents a combination of star alignment angles to be selected; a fitness function is determined based on the carrier-to-noise ratio of the satellite ground station communication equipment receiving the satellite signal, and the fitness of each particle is determined using the fitness function; based on the fitness of each particle, the velocity and position of each particle are iteratively updated until a stopping condition is met, resulting in a target particle, wherein the target particle is a combination of star alignment angles that meets the preset conditions.

[0075] In the above embodiment, a two-dimensional search space is first defined based on the initially calculated range of star-aligned angles, where the azimuth range is [θ0-Δθ, θ0+Δθ] and the elevation range is... A predetermined number of particles are randomly generated within the search space. The selection of the particle number requires consideration of both search efficiency and accuracy. The position p of each particle... 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 within the search space, while 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 based on the fitness function, which is determined by the carrier-to-noise ratio of the satellite signal received by the mobile satellite ground station communication equipment.

[0078] Furthermore, based on the fitness of each particle, the velocity and position of each particle are iteratively updated until a stopping condition is met, yielding the target particle. Specifically, the current fitness value of each particle is compared with its own historical best fitness value (individual extreme value). If the current fitness is better, the individual extreme value is updated, and the particle's current position is recorded as the individual extreme value position. Among all the individual extreme values ​​of all particles, the one with the best fitness is identified as the global extreme value, and its corresponding position is recorded as the global extreme value position. The velocity and position of each particle are adjusted according to the particle velocity and position update rules. The particle velocity update comprehensively considers the particle's inertia, its own experience, and the group's experience. The inertia part keeps the particle maintaining its original velocity and direction, the own experience part guides the particle to move towards its own historical best position, and the group experience part guides the particle to move towards the best position of the entire group. The position update adjusts the particle's position based on the updated velocity. Then, the steps of calculating fitness, updating individual and global extreme values, and updating velocity and position are 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 move closer to their own and the group's best solutions, gradually exploring the solution space, and eventually finding the optimal or near-optimal solution to the problem.

[0079] As some optional embodiments of this application, determining the combination of star-aligning angles that satisfy preset conditions in a two-dimensional search space can be achieved by the following method: A first target value is determined based on the ratio of an initial azimuth angle to a first preset value, and a second target value is determined based on the ratio of an initial elevation angle to a second preset value, wherein both the first and second preset values ​​are positive integers greater than 1; the azimuth angle range in the two-dimensional search space is divided into equal intervals using the first target value to obtain a target azimuth angle range, and the elevation angle range in the two-dimensional search space is divided into equal intervals using the second target value to obtain a target elevation angle range; a first target matrix is ​​determined based on the target azimuth angle range and the target elevation angle range, wherein the rows of the first target matrix are the first preset values, and the columns are the first preset values. Two preset values ​​are used. The elements in the first target matrix are initial satellite alignment angle combinations including azimuth and elevation angles. A first sub-matrix with p rows and N columns is determined in the first target matrix, and a second sub-matrix with M rows and q columns is determined, where M is the first preset value, N is the second preset value, and p and q are randomly generated positive integers, with the order of magnitude of p and q being smaller than the order of magnitude of the minimum value of M and N. The carrier-to-noise ratio (CNR) of the satellite-received signal from the mobile satellite ground station communication equipment corresponding to each element in the first and second sub-matrices is determined, and the common part between the first and second sub-matrices is extracted. The common part is reconstructed using a random matrix to obtain the second target matrix. The target element with the largest CNR is determined in the second target matrix, and the target element is identified as the satellite alignment angle combination.

[0080] In the above embodiment, based on the initially estimated azimuth angle θ0 and elevation angle Determine the range of the search region, i.e., [θ0-Δθ, θ0+Δθ] and

[0081] The search ranges for azimuth and elevation angles are discretized, with step sizes of 2θ0 / M and... The search area is divided into a grid to form a matrix F of size M×N. The value of each element in matrix F is a combination of azimuth and elevation angles.

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

[0083] Figure 3 This is a schematic diagram of the singular value arrangement of a first target matrix according to an embodiment of this application, as shown below. Figure 3 As shown, the singular values ​​following the first target matrix F are much lower than the previous large singular values, which clearly indicates that the first target matrix F has a strict low-rank property.

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

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

[0086] 1. Within an equally spaced azimuth range, randomly sample p rows and iterate through the elements in the p rows and N columns. When any element is encountered, adjust the actual azimuth and elevation angles to the azimuth and elevation angles indicated by that element, and read the C / N value of the satellite communication system at that time. Establish an index between the C / N value of the satellite communication system and the corresponding element, thereby forming a submatrix R.

[0087] 2. Within an equally spaced range of elevation angles, randomly sample q columns and iterate through the elements in M ​​rows and q columns. When any element is encountered, adjust the actual elevation angle and the actual elevation angle to the azimuth and elevation angles indicated by that element, and read the C / N value of the satellite communication system at that time. Establish an index between the C / N value of the satellite communication system and the corresponding element, thereby forming a submatrix C.

[0088] 3. Extract the common part U from the two-dimensional matrix C and R, and reconstruct it using random matrix approximation techniques to obtain a new matrix F1. The index corresponding to the maximum value in F1 is then the estimated precise elevation and azimuth angles.

[0089] It should be noted that the values ​​of p and q satisfy the following requirement: 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 (common part U) to a low-dimensional space through random projection, performing 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 computation time and resource consumption while ensuring a certain level of accuracy, and is suitable for processing large-scale datasets.

[0091] In summary, for a mobile communication system, the number of times the above strategy adjusts the actual azimuth and elevation angles is only (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 satellite operations by the mobile communication equipment.

[0092] In some optional embodiments of this application, controlling a moving satellite ground station communication device to perform initial satellite alignment based on the alignment angle combination and initial polarization angle can be achieved by the following method: After 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 satellite beam pointing according to the alignment angle information; tracking of satellite beam pointing, and during the tracking of satellite beam pointing, determining the mean of all elements in the second target matrix as the satellite loss threshold; if the number of times the carrier-to-noise ratio of the satellite signal received by the moving satellite ground station communication device is less than the satellite loss threshold is greater than a preset threshold, re-determining the alignment angle combination and initial polarization angle; and based on the re-determined alignment angle combination and initial polarization angle, re-controlling the moving satellite ground station communication device to perform initial satellite alignment.

[0093] Figure 4 This is a flowchart of a satellite tracking process according to an embodiment of this application, which is described below in conjunction with... Figure 4 The specific implementation methods described above will be explained in detail.

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

[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 remains in optimal condition. The satellite beam pointing is also tracked, and the carrier-to-noise ratio of the satellite-received signal from the currently moving satellite ground station communication equipment is recorded.

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

[0097] Further determine whether the current system record C / N value is less than the threshold E. If the current system record C / N value is less than the threshold E, increment the satellite loss count by 1.

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

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

[0100] As some alternative embodiments of this application, controlling the moving satellite ground station communication equipment to perform initial satellite alignment based on the combination of alignment angles and the initial polarization angle can be achieved by the following method: when the antenna module is a mechanically scanned antenna, the zero point of the motor in the moving satellite ground station communication equipment is determined, and the zero point is used as the starting point. A dual-loop proportional, integral, and derivative control algorithm is used to perform closed-loop adjustment of the motor to control its rotation. During the process of controlling the motor rotation, the proportional, integral, and derivative of the speed loop controller are determined based on 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 proportional, integral, and derivative.

[0101] Figure 5 This is a schematic diagram of a control flow according to an embodiment of this application. Figure 5 The workflow of the dual-loop PID servo control system is shown below. Figure 5 To explain the above: Upon equipment startup, the motor's zero-point position is determined using sensor technology such as proximity switches. This zero-point serves as the starting reference point for antenna control. Once the zero point is determined, antenna angle adjustments are based on this reference, ensuring the accuracy and repeatability of antenna pointing. The outer loop controller controls the antenna's final position (i.e., the azimuth and elevation angles relative to the satellite), while the inner loop controller (speed loop) controls the motor's real-time speed. Historical operating data is used to pre-determine the proportional, integral, and derivative coefficients of the speed loop controller.

[0102] When antenna pointing needs adjustment, the outer-loop PID controller generates an adjustment signal based on the deviation between the calculated alignment angle and the current antenna angle. The inner-loop speed controller receives the adjustment signal from the outer loop, combines it with the current motor speed information, and calculates the motor acceleration command using a PID algorithm, thereby adjusting the motor speed. A differential tracker smooths the derivative 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, when the antenna module is a mechanically scanned antenna, allows for the control of a moving satellite ground station communication device 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 speed; the current loop (or position loop) is the inner loop, used for rapid response and stable motor operation.

[0105] Next, historical operating data of the motor is collected. This data includes the motor's operation under different loads and speeds, such as input voltage, current, speed, and torque. By analyzing this historical data, the dynamic characteristics and response patterns of the motor under various operating conditions can be understood.

[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 its trend are analyzed in the historical data. Based on this error information, the proportional, integral, and derivative parameters are adjusted so that the controller can effectively reduce the speed error and improve the speed control accuracy and stability of the motor. Specifically, the proportional parameter (P) is used to accelerate the system's response speed, generating control action proportional to the current speed error; the larger the error, the stronger the control action. The integral parameter (I) is used to eliminate the system's steady-state error, integrating the speed error and gradually increasing the control action over time until the error is eliminated. The derivative parameter (D) is used to predict the error's trend, generating control action based on the rate of change of the error, which can suppress system overshoot and oscillation, improving system stability.

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

[0108] In some optional embodiments, controlling the moving satellite ground station communication equipment to perform initial satellite alignment based on the alignment angle combination and initial polarization angle can be achieved by the following method: when the antenna module is an electronically scanned antenna, a discrete code value phase table is obtained, wherein the discrete code value phase table includes: alignment angle information and phase values ​​in a code value table that have a mapping relationship with the alignment angle information; the target phase value corresponding to the alignment angle combination and initial polarization angle is determined in the discrete code value phase table; and the transmit and receive components in the moving satellite ground station communication equipment are controlled to perform wavefront adjustment according to the target phase value.

[0109] Figure 6 This is a schematic diagram of another control flow according to an embodiment of this application. Figure 6 The workflow of electronically swept beam phase control is shown. The following section combines... Figure 6 The above content is explained as follows: A discrete code value phase table is generated offline using software. This table maps star angle information to phase values ​​one-to-one. After obtaining accurate star angle information, the corresponding code value phase in the table is found, and the beam pointing is adjusted by controlling the multi-functional chip in the T / R component via the SPI protocol.

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

[0111] Furthermore, the embodiments of this application employ evolutionary computation methods such as descent simplex or particle swarm optimization for searching, which can obtain relatively accurate star alignment angles with a small amount of search time. Compared with related hierarchical traversal methods, it can shorten the star alignment time without significant loss of accuracy.

[0112] Furthermore, the embodiments of this application fully utilize the mobile trajectory information of the mobile communication carrier and combine it with a motion prior model to accurately predict and update the output heading angle information of the onboard inertial navigation and satellite navigation systems. Compared with directly using a single output heading angle, this significantly improves the accuracy and reliability of the heading angle information and enhances the accuracy of star angle calculation.

[0113] Furthermore, embodiments of this application propose utilizing real-time fused heading information to 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 approach achieves high-performance, stable tracking while moving at a lower cost and can quickly recover pointing even when encountering obstructions.

[0114] In summary, this application has the following technical advantages: 1. High satellite alignment accuracy; 2. Short satellite search time; 3. Fast obstruction recovery speed; 4. Relatively simple device implementation.

[0115] Figure 7 This is a structural diagram of a satellite tracking device according to an embodiment of this application, such as... Figure 7 As shown, the device includes:

[0116] The acquisition module 71 is used to acquire the first heading data of the antenna module and the second heading data of the inertial measurement unit in the moving satellite ground station communication equipment, and to 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 elevation 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 used to determine the azimuth range based on the initial azimuth angle and the first preset error, and to determine the pitch range based on the initial pitch angle and the second preset error.

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

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

[0121] Optionally, the acquisition module 71 is further configured 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 transition 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 using the state transition matrix to obtain the state covariance matrix; calculate the state transition matrix and the state covariance matrix using a constant rate of turn and velocity model and / or a constant rate of turn and acceleration model to obtain the target heading data.

[0122] 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 satellite's altitude, and the altitude of the satellite's orbit. Further, the calculation module 72 is also used to perform the following steps: determining the initial azimuth angle based on the difference between the satellite's longitude information and the longitude information of the area where the antenna module is located; determining the initial elevation angle based on the satellite's longitude information, the longitude and latitude information of the area where the antenna module is located, the satellite's altitude, and the altitude of the satellite's orbit; and determining the initial polarization angle based on the difference between the longitude information of the area where the antenna module is located and the satellite's longitude information.

[0123] Optionally, the second determining module 74 is further configured to perform the following steps: in a two-dimensional search space, randomly generate a preset number of particles and determine the initial velocity and initial position of each particle, wherein each particle represents a combination of star-aligning angles to be selected; determine a fitness function based on the carrier-to-noise ratio of the satellite ground station communication equipment receiving the satellite signal, and use the fitness function to determine the fitness of each particle; based on the fitness of each particle, iteratively update the velocity and position of each particle until the stopping condition is met to obtain the target particle, wherein the target particle is a combination of star-aligning angles that meets the preset condition.

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

[0125] Optionally, the satellite alignment module 75 is also configured to perform the following steps: after initial satellite alignment is completed, satellite tracking alignment is performed, and during the satellite tracking alignment process, the following steps are performed: real-time calculation of satellite alignment angle information, and real-time adjustment of satellite beam pointing based on satellite alignment angle information; tracking of satellite beam pointing, and during the tracking of satellite beam pointing, determining the mean of all elements in the second target matrix as the satellite loss threshold; if the number of times the carrier-to-noise ratio of the satellite alignment received signal by the moving satellite ground station communication equipment is less than the satellite loss threshold is greater than a preset threshold, re-determining the satellite alignment angle combination and initial polarization angle; based on the re-determined satellite alignment angle combination and initial polarization angle, re-controlling the moving satellite ground station communication equipment to perform initial satellite alignment.

[0126] Optionally, the satellite module 75 is also used to perform the following steps: when the antenna module is a mechanically scanned 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 regulation of the motor using a dual-loop proportional, integral, and derivative control algorithm to control the motor rotation; during the process of controlling the motor rotation, determine the proportional, integral, and derivative 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 perform control and regulation of the speed loop based on the proportional, integral, and derivative.

[0127] Optionally, the satellite alignment module 75 is further configured to perform the following steps: when the antenna module is an electronically scanned antenna, acquire 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 have a mapping relationship with the satellite alignment angle information; determine the target phase value that is commonly corresponding to the combination of satellite alignment angles and the initial polarization angle in the discrete code value phase table; and control the transmitting and receiving components in the moving satellite ground station communication equipment to perform wavelet adjustment according to the target phase value.

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

[0129] It should be noted that, Figure 7 Preferred embodiments of the shown examples can be found in [reference needed]. Figure 1 The relevant descriptions of the embodiments shown will not be repeated here.

[0130] Figure 8 A hardware block diagram of a computer terminal for implementing the star-tracking method is shown. Figure 8As shown, the computer terminal 80 may include one or more processors 802 (shown as 802a, 802b, ..., 802n in the figure) 802 (processor 802 may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.), 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 a BUS bus), a network interface, a power supply, and / or a camera. Those skilled in the art will understand that... Figure 8 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, the computer terminal 80 may also include... Figure 8 The more or fewer components shown, or having the same Figure 8 The different configurations shown.

[0131] It should be noted that the aforementioned one or more processors 802 and / or other data processing circuits are generally referred to herein as "data processing circuits". These data processing circuits may be embodied, in whole or in part, in software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuits may be a single, independent processing module, or may be integrated, in whole or in part, into any other element within the computer terminal 80. As involved in the embodiments of this application, the data processing circuits serve as processor control (e.g., selection of a variable resistor termination path connected to an interface).

[0132] The memory 804 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the satellite alignment method in this embodiment. The processor 802 executes various functional applications and data processing by running the software programs and modules stored in the memory 804, thereby implementing the aforementioned satellite alignment method. The memory 804 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 804 may further include memory remotely located relative to the processor 802, and these remote memories can be connected to the 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 used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the computer terminal 80. In one example, the transmission module 806 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission module 806 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0134] The display can be, for example, a touchscreen liquid crystal display (LCD), which allows the user to interact with the user interface of the computer terminal 80.

[0135] It should be noted here that, in some optional embodiments, the above... Figure 8 The computer terminal shown may include hardware elements (including circuitry), software elements (including computer code stored on a computer-readable medium), or a combination of both hardware and software elements. It should be noted that... Figure 8 This is only one instance of a specific particular instance, and is intended to illustrate the types of components that may exist in the aforementioned computer terminal.

[0136] It should be noted that, Figure 8 The computer terminal shown is used to execute Figure 1 The satellite alignment method shown above means that the relevant explanations in the above command execution method also apply to this electronic device, and will not be repeated here.

[0137] This application also provides a non-volatile storage medium, which includes a stored program, wherein the program, when running, controls the device where the storage medium is located to execute the above-described satellite alignment method.

[0138] A non-volatile storage medium performs the following functions: acquires first heading data from the antenna module and second heading data from the inertial measurement unit of a moving satellite ground station communication device; fuses the first and second heading data to obtain target heading data; uses the target heading data to calculate the initial azimuth, initial elevation, and initial polarization angles of the antenna module relative to the tracked satellite; determines the azimuth range based on the initial azimuth and a first preset error, and determines the elevation range based on the initial elevation and a second preset error; determines a two-dimensional search space based on the azimuth and elevation ranges, and determines a combination of satellite alignment angles that meets preset conditions within the two-dimensional search space, wherein the preset conditions include maximizing the carrier-to-noise ratio of the satellite-received signal from the moving satellite ground station communication device, and the combination of satellite alignment angles includes the target azimuth and target elevation angles; and controls the moving satellite ground station communication device to perform initial satellite alignment based on the combination of satellite alignment angles and the initial polarization angle.

[0139] This application also provides an electronic device, including: a memory and a processor, wherein the processor is used to run a program stored in the memory, wherein the program executes the above-described star-alignment method when it runs.

[0140] The processor is used to run a program that performs the following functions: acquiring first heading data from the antenna module of the moving satellite ground station communication equipment and second heading data from the 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 angle, initial elevation angle, and initial polarization angle of the antenna module relative to the tracked satellite; determining the azimuth angle range based on the initial azimuth angle and a first preset error, and determining the elevation angle range based on 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 combination of satellite alignment angles that meets preset conditions in the two-dimensional search space, wherein the preset conditions include: maximizing the carrier-to-noise ratio of the satellite-received signal from the moving satellite ground station communication equipment, and the combination of satellite alignment angles includes: target azimuth angle and target elevation angle; and controlling the moving satellite ground station communication equipment to perform initial satellite alignment based on the combination of satellite alignment angles and the initial polarization angle.

[0141] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0142] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0143] In the above embodiments of this application, the information collected 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 all comply with relevant laws, regulations and standards, take necessary protective measures, do not violate public order and good morals, and provide corresponding operation entry points 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. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0145] The units described as separate components may or may not be physically separate. 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 can be selected to achieve the purpose of this embodiment according to actual needs.

[0146] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0147] If the integrated unit is implemented as 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 this application, in essence, or the part that contributes to related technologies, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0148] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method of pointing a satellite, characterized by, The method comprises the following steps: 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, fusing the first heading data and the second heading data to obtain target heading data; calculating an initial azimuth angle, an initial elevation angle and an initial polarization angle of the antenna module relative to a tracked satellite by 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 according to the azimuth angle range and the elevation angle range, and determining a satellite pointing angle combination satisfying a preset condition in the two-dimensional search space, wherein the preset condition comprises maximizing a carrier-to-noise ratio of a satellite pointing receiving signal of the mobile satellite ground station communication device, and the satellite pointing angle combination comprises a target azimuth angle and a target elevation angle; controlling the mobile satellite ground station communication device to perform initial satellite pointing based on the satellite pointing angle combination and the initial polarization angle.

2. The method of claim 1, wherein, The method of fusing the first heading data and the second heading data to obtain target heading data comprises the following steps: determining an observation vector according to the first heading data, and determining a state vector according to the second heading data; determining a state equation according to the second heading data and a preset time interval, and determining a state transition matrix according to the state equation; determining an initial state covariance matrix according to an initial estimation variance of the state vector, and updating the initial state covariance matrix by using the state transition matrix to obtain a state covariance matrix; calculating the state transition matrix and the state covariance matrix by using a constant turn rate and speed model and / or a constant turn rate and acceleration model to obtain the target heading data.

3. The method of claim 1, wherein: the target heading data at least comprises longitude information and latitude information of a satellite tracked by the mobile satellite ground station communication device, an altitude of the satellite, and an altitude of an orbit where the satellite is located; calculating an initial azimuth angle, an initial elevation angle and an initial polarization angle of the antenna module relative to a tracked satellite by using the target heading data comprises: determining the initial azimuth angle according to a difference between the longitude information of the satellite and longitude information of an area where the antenna module is located; determining the initial elevation angle according to the longitude information of the satellite, 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 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 of claim 1, wherein, determining a satellite pointing angle combination satisfying a preset condition in the two-dimensional search space comprises: generating a preset number of particles in the two-dimensional search space randomly, and determining an initial velocity and an initial position of each particle, wherein each particle is used to represent a satellite pointing angle combination to be selected; determine a fitness function according to a carrier-to-noise ratio of a satellite receiving signal of the satellite ground station communication device in the movement, and determine fitness of each of the particles by using the fitness function; update the speed and position of each of the particles iteratively based on the fitness of each of the particles until a stop condition is met, and obtain a target particle, wherein the target particle is a satellite angle combination satisfying the preset condition.

5. The method of claim 1, wherein, determining the satellite angle combination satisfying the preset condition in the two-dimensional search space comprises: determine a first target value according to a ratio of the initial azimuth angle to a first preset value, and determine a second target value according to a ratio of the initial elevation angle to a second preset value, wherein the first preset value and the second preset value are positive integers greater than 1; divide the azimuth angle range in the two-dimensional search space into target azimuth angle ranges at equal intervals by using the first target value, and divide the elevation angle range in the two-dimensional search space into target elevation angle ranges at equal intervals by using the second target value; determine a first target matrix according to the target azimuth angle ranges and the target elevation angle ranges, wherein the number of rows of the first target matrix is the first preset value, the number of columns of the first target matrix is the second preset value, and the elements in the first target matrix are initial satellite angle combinations comprising azimuth angles and elevation angles; determine a first sub-matrix of p rows and N columns in the first target matrix, and determine a second sub-matrix of M rows and q columns, wherein M is the first preset value, N is the second preset value, p and q are positive integers generated randomly, and the order of magnitude of p and q is less than the order of magnitude of the minimum value of M and N; determine the carrier-to-noise ratio of the satellite receiving signal of the satellite ground station communication device corresponding to each element in the first sub-matrix and the second sub-matrix, and extract a common part between the first sub-matrix and the second sub-matrix; reconstruct the common part by using a random matrix to obtain a second target matrix; determine a target element with the maximum carrier-to-noise ratio in the second target matrix, and determine the target element as the satellite angle combination.

6. The method of claim 5, wherein, control the satellite ground station communication device in the movement to perform initial satellite pointing based on the satellite angle combination and the initial polarization angle, comprising: after the initial satellite pointing is completed, perform tracking satellite pointing, and in the process of tracking satellite pointing, perform the following steps: calculate satellite angle information in real time, and adjust satellite beam pointing in real time according to the satellite angle information; track the satellite beam pointing, and determine a mean value of all elements in the second target matrix as a satellite loss threshold value in the process of tracking the satellite beam pointing; in the case that the number of times that the carrier-to-noise ratio of the satellite receiving signal of the satellite ground station communication device in the movement is less than the satellite loss threshold value is greater than a preset threshold value, redetermine the satellite angle combination and the initial polarization angle; re-control the satellite ground station communication device in the movement to perform initial satellite pointing based on the redetermined satellite angle combination and the initial polarization angle.

7. The method of claim 1, wherein, Controlling the satellite ground station communication device in movement to perform initial pointing based on the combination of pointing angles and the initial polarization angle, including: In the case that the antenna module is a mechanically scanning antenna, determining a zero point of a motor in the satellite ground station communication device in movement, and taking the zero point as a starting point, and adopting a double-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 a speed loop controller according to historical working data, wherein the speed loop controller is used to control the rotation speed of the motor; Controlling and adjusting the speed loop according to the proportion, integral and differential.

8. The method of claim 1, wherein, Controlling the satellite ground station communication device in movement to perform initial pointing based on the combination of pointing angles and the initial polarization angle, including: In the case that the antenna module is an electronically scanning antenna, obtaining a discretized code value phase table, wherein the discretized code value phase table includes pointing angle information and phase values in a code value table that have a mapping relationship with the pointing angle information; Determining a target phase value corresponding to the combination of pointing angles and the initial polarization angle in the discretized code value phase table; Controlling a transmitting and receiving component in the satellite ground station communication device in movement to perform wave position adjustment according to the target phase value.

9. A satellite device, characterized by Including: An obtaining module, configured to obtain first heading data of an antenna module in a satellite ground station communication device in movement and second heading data of an inertial measurement unit, and perform fusion processing on the first heading data and the second heading data to obtain target heading data; A calculating module, configured to calculate an initial azimuth angle, an initial elevation angle and an initial polarization angle of the antenna module relative to a tracked satellite by using the target heading data; A first determining module, configured to determine an azimuth angle range according to the initial azimuth angle and a first preset error, and determine an elevation angle range according to the initial elevation angle and a second preset error; A second determining module, configured to determine a two-dimensional search space according to the azimuth angle range and the elevation angle range, and determine a combination of pointing angles that satisfies a preset condition in the two-dimensional search space, wherein the preset condition includes maximizing a carrier-to-noise ratio of a pointing receiving signal of the satellite ground station communication device in movement, and the combination of pointing angles includes a target azimuth angle and a target elevation angle; A pointing module, configured to control the satellite ground station communication device in movement to perform initial pointing based on the combination of pointing angles and the initial polarization angle.

10. A non-volatile storage medium, comprising: The non-volatile storage medium includes a stored program, wherein the program controls the device in which the non-volatile storage medium is located to perform the pointing method in any one of claims 1 to 8 when the program is running.

11. An electronic device, comprising: Including: A memory and a processor, and the processor is used to run a program stored in the memory, wherein the program performs the pointing method in any one of claims 1 to 8 when the program is running.

12. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the pointing method in any one of claims 1 to 8.

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