Ground terminal device for adaptively tracking medium and low earth orbit satellites

Abstract

The present application relates to low-orbit satellite measurement and control technical field, specifically to ground terminal equipment for adaptive tracking of medium and low-orbit satellite, including tripod and servo holder installed on top of tripod, the servo holder is sleeved with a ring seat above, the ring seat is fixedly connected with a parabolic antenna base plate above, a feed module is suspended on the center axis of the parabolic antenna base plate, a parabolic antenna assembly is arranged on the outer side of the parabolic antenna base plate, the parabolic antenna assembly is composed of a plurality of positioning antennas and a plurality of position adjusting antennas hinged with the side edges of the parabolic antenna base plate. The present application divides the parabolic antenna into a plurality of positioning antennas and a plurality of position adjusting antennas, and the positioning antennas are hinged and the position adjusting antennas are clamped, and the elastic strip is driven by elastic force to complete automatic unfolding of the antenna assembly, the elastic strip forces the positioning antennas to reset outward to form an accurate parabolic surface during unfolding, and the position adjusting antennas rotate and fold upward during folding, so that the storage volume is reduced, and the portability is significantly improved.

Description

Technical Field

[0001] This invention relates to the field of low-Earth orbit satellite telemetry and control technology, specifically to ground terminal equipment for adaptive tracking of medium and low-Earth orbit satellites. Background Technology

[0002] With the rapid development of low-Earth orbit satellite constellations, the demand for ground terminal equipment in emergency telemetry and control, mobile communications, and other scenarios is increasing. Although large-aperture fixed ground stations possess powerful capabilities, their long construction cycles and high investment costs make them difficult to meet the needs of mission scenarios requiring low speed, multiple targets, and high mobility. Therefore, small-aperture portable ground stations, as a cost-effective option, have gradually become an indispensable supplementary means in the industry.

[0003] Application number CN202023299311.2 discloses a portable terminal for low-Earth orbit (LEO) satellite telemetry and control support, comprising a support leg module, a turntable module, an antenna module, and a feed module. The support leg module and antenna module are detachably connected to the upper and lower ends of the turntable module, respectively. The turntable module includes an X-axis rotation structure and a Y-axis rotation structure. The feed module is detachably located at the center of the antenna module, and the control box is detachably located at the lower part of the turntable module, housing a control system. It features flexibility and mobility, enabling rapid deployment in harsh environments, providing emergency telemetry and control support for LEO satellites, including remote control command uploading and telemetry data reception.

[0004] Existing technologies have enabled the rapid deployment of portable terminals through modular design, but their antenna structures still have limitations: traditional parabolic antennas are mostly fixed as a whole or assembled, requiring disassembly piece by piece for storage, which is cumbersome and easily damages the accuracy of the reflector; after unfolding, they lack a self-stabilizing mechanism and are prone to swaying and shifting in windy conditions; to address the above problems, there is an urgent need for a portable ground terminal device that combines efficient folding and storage, rapid and accurate unfolding, and the ability to adaptively maintain parabolic accuracy, in order to meet reliable applications in complex outdoor environments. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, the present invention aims to provide a ground terminal device for adaptive tracking of low and medium orbit satellites. By combining a parabolic antenna with several positioning hinges and several adjustment antennas with interlocking snaps, and by using a linkage mechanism of adjustment frame-drive screw-guide component, the parabolic antenna assembly can be switched between multiple states. Through a modular quick-release structure and coaxial nesting design, the terminal device can be quickly assembled, thereby solving the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides a ground terminal device for adaptive tracking of low and medium orbit satellites, including a tripod and a servo gimbal mounted on its top. A support ring is fitted on the top of the servo gimbal, and a parabolic antenna substrate is fixedly connected on the top of the support ring. A feed module is suspended above the central axis of the parabolic antenna substrate, and a parabolic antenna assembly is provided on the outer side of the parabolic antenna substrate for reflecting satellite electromagnetic wave signals to the feed module for transmission.

[0007] The parabolic antenna assembly consists of several positioning antennas and several adjusting antennas hinged to the side of the parabolic antenna substrate. The positioning antennas are distributed in a ring at equal intervals around the parabolic antenna substrate, and the adjusting antennas are correspondingly snapped into the gaps between the positioning antennas. The parabolic antenna substrate, the positioning antennas, and the adjusting antennas form a rotating parabolic structure for converging electromagnetic wave signals.

[0008] An adjustment frame is slidably connected between the lower ends of several of the aforementioned adjustment antennas. A transmission screw is threaded onto the central shaft of the adjustment frame. Several guide members are sleeved on the outer side of the adjustment frame to support and guide the adjustment antennas to flip up. Limiting posts are inserted through the side walls at both ends of the guide members. A coupling protrudes from the top of the servo gimbal and is coaxially connected to the transmission screw. A pair of support columns and a pair of guide columns are symmetrically provided on the bottom surface of the support ring seat. The adjustment frame is in the shape of a cross triangle, and a pair of triangles are correspondingly engaged between adjacent support columns and guide columns, wherein the guide columns are at the same height as the center of the adjustment frame.

[0009] The above design aims to save space when carrying ground terminal equipment and to allow for rapid assembly during use, adapting to emergency needs in extreme environments. This transforms the original single-piece or modular parabolic antenna into a design where one part is a positioning antenna that hinges and folds upwards, while the other part is a supplementary antenna that can be staggered and lowered below the positioning antenna, simultaneously folding upwards and stacking. This allows for rapid deployment and storage. Specifically, by combining the parabolic antenna with several positioning antennas with hinged connections and several adjustment antennas with interlocking snap-fit ​​connections, and using the elastic rebound force of the spring bar, the antenna assembly automatically unfolds. During unfolding, the spring bar forces the positioning antennas to return to their precise parabolic shape, and during folding, the adjustment antennas rotate and fold upwards, reducing the storage volume and significantly improving portability.

[0010] As a further improvement to this technical solution, a number of pairs of positioning sleeves are fixedly provided in a ring at equal intervals on the top side of the parabolic antenna substrate, and each pair of positioning sleeves is coaxially arranged. A pair of rotating sleeves is fixedly provided at the top of the lower corner of the positioning antenna, and the pair of rotating sleeves and the pair of positioning sleeves are rotatably connected by pins.

[0011] This setting is to ensure that when the positioning antenna flips upwards, its bottom end separates from the side of the parabolic antenna substrate, and when the positioning antenna flips down into place, they can fit together to form a precise parabolic surface. Therefore, the rotation axis of the positioning pin antenna is set above the corner of the positioning antenna.

[0012] As a further improvement to this technical solution, a limiting block is fixedly provided on the bottom surface of the lower end of the positioning antenna, and the limiting block extends outward and is fitted and snapped into the bottom surface of the parabolic antenna substrate.

[0013] As a further improvement to this technical solution, an arc groove is provided on the top surface of the extension section of the limiting block and at the connection with the positioning antenna, which is used to avoid the side of the parabolic antenna substrate when the positioning antenna is flipped up.

[0014] These two settings are prevented from flipping down after the positioning antenna is deployed by the limiting block, and instead align with the arc surface of the parabolic antenna substrate, ensuring automatic alignment of the parabolic surface.

[0015] As a further improvement to this technical solution, a pair of limiting sleeves are fixedly provided at the corner of the upper end face of the positioning antenna. The limiting sleeves are set with the same curvature as the upper end of the positioning antenna. An elastic strip with the same curvature is provided between two adjacent positioning antennas. The elastic strip is made of spring steel and its two ends are sleeved with the two limiting sleeves and limited.

[0016] This setting allows several positioning antennas to automatically unfold into a parabolic state, and the rebound force of several elastic strips drives several positioning antennas to return from a folded and closed state to an unfolded parabolic state.

[0017] As a further improvement to this technical solution, a linkage frame is fixedly provided on the center line facing downwards of the adjustment antenna. The linkage frame has a triangular frame structure and one of its bottom corners extends out of the lower end of the adjustment antenna and slides and engages with the guide. The guide is in the shape of an arc block and is arranged with the same central axis as a pair of positioning sleeves above it.

[0018] As a further improvement to this technical solution, the concave top surface of the guide is provided with a sliding groove, the sliding groove passes through the outward end of the guide, and the longitudinal section of the sliding groove has a cavity structure that is narrow at the top and wide at the bottom. The extended end of the linkage frame is fixedly provided with a slider that slides and engages with the wide cavity of the sliding groove, and the outer port of the sliding groove is tightly engaged with a stop block.

[0019] As a further improvement to this technical solution, the inner end of the guide is provided with a connecting sleeve, which is adapted to be connected to the outer end of the adjusting frame and is connected by a pin.

[0020] These three settings guide and support the tilting antenna to flip up, which in turn drives the positioning antenna to flip up along the same rotation axis, thus maintaining equidistant space between them and avoiding contact and wear; the guide restricts the linkage frame from flipping down, that is, it maintains a parabolic state after the tilting antenna is unfolded, while the support rod abuts against the limiting block to prevent the positioning antenna from flipping up and swaying due to strong winds.

[0021] As a further improvement to this technical solution, a limiting post is inserted through the side wall of the guide near the outer end. A spring is sleeved on one end of the limiting post, and the two ends of the spring are fixed to the side wall of the guide and the end of the limiting post respectively.

[0022] As a further improvement to this technical solution, support rods are fixedly provided on both sides of the extended end of the linkage frame, which are used to abut the bottom surface of the extended end of the limiting block when several positioning antennas and several adjustment antennas are correspondingly snapped and aligned.

[0023] These two settings use limiting posts to keep the adjustable antenna in its unfolded and flipped-up positions. To ensure that the limiting posts can be accessed at any time and to prevent loss, springs restrict the limiting posts to the outer wall of the guide. After the limiting posts are pulled out and released, the spring's rebound force causes the limiting posts to automatically insert into the guide and reset, thereby quickly adjusting the restriction on the linkage frame.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0025] 1. The ground terminal equipment for adaptive tracking of low and medium orbit satellites uses a combination design of several positioning antennas with hinged joints and several adjustment antennas with interlocking joints to automatically unfold the antenna components, driven by the rebound force of the elastic bar. When unfolded, the elastic bar forces the positioning antennas to reset outward to form a precise parabolic surface. When folded, the adjustment antennas rotate outward and flip up to stack, thereby reducing the storage volume and significantly improving portability.

[0026] 2. The ground terminal equipment for adaptive tracking of low-Earth orbit satellites uses a linkage mechanism of adjustment frame, transmission screw, and guide to switch between the deployment and storage states of the parabolic antenna assembly: the motor drives the transmission screw to axially lower the adjustment frame, causing several positioning antennas to be misaligned to avoid several positioning antennas. After the positioning antennas are horizontally rotated to align with the positioning antennas, the guide's sliding groove limits the upward movement of the positioning antennas, which in turn causes the positioning antennas to fold upwards. The entire process is modularly designed and operated as a whole, avoiding mechanical wear on the antennas and improving storage efficiency.

[0027] 3. The ground terminal equipment for this adaptive tracking low-Earth orbit satellite achieves wind resistance reinforcement in the deployed state through the synergistic action of the limiting block and the supporting rod: the supporting rod abuts against the bottom surface of the limiting block to form a two-way constraint, which, combined with the guide groove and the limiting post, effectively suppresses antenna flutter caused by strong winds, ensures parabolic accuracy, and guarantees the stability of signal reception.

[0028] 4. The ground terminal equipment for this adaptive tracking of medium and low orbit satellites can be quickly assembled through a modular quick-release structure and coaxial nesting design: the ring support and servo gimbal are positioned by support pins, and the feed module is suspended on the central axis of the parabolic surface. The disassembly and assembly process does not require tool calibration and can be deployed in a short time, adapting to emergency needs in extreme environments. Attached Figure Description

[0029] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of the invention in any way. Furthermore, the shapes and proportions of the components in the drawings are merely illustrative to aid in understanding the invention and do not specifically limit the shapes and proportions of the components. Those skilled in the art, guided by the teachings of this invention, will select various possible shapes and proportions to implement the invention according to specific circumstances.

[0030] Figure 1 This is a structural diagram of the overall unfolded state of the present invention;

[0031] Figure 2 This is a schematic diagram of the overall retracted state of the present invention;

[0032] Figure 3 This is a schematic diagram of the overall folded state of the present invention;

[0033] Figure 4 For the present invention Figure 1 The main view;

[0034] Figure 5 For the present invention Figure 2 The main view;

[0035] Figure 6 For the present invention Figure 3 The main view;

[0036] Figure 7 For the present invention Figure 6 Top view;

[0037] Figure 8 This is a schematic diagram of the folded structure of the parabolic antenna assembly of the present invention;

[0038] Figure 9 This is a schematic diagram of the tripod and servo gimbal assembly structure of the present invention;

[0039] Figure 10 This is a schematic diagram of the assembly structure of several positioning antennas and parabolic antenna substrates of the present invention;

[0040] Figure 11 This is an exploded view of the positioning antenna and the parabolic antenna substrate assembly of the present invention;

[0041] Figure 12 This is an assembly disassembly diagram of the modulation antenna and guide element of the present invention;

[0042] Figure 13 This is a schematic diagram of the guide assembly structure of the present invention;

[0043] The meanings of the labels in the diagram are as follows:

[0044] 100. Tripod; 110. Servo gimbal; 120. Support ring seat; 121. Support column; 122. Guide column; 130. Coupling;

[0045] 200. Parabolic antenna substrate; 201. Positioning sleeve; 210. Feed module; 220. Support bracket;

[0046] 300. Parabolic antenna assembly; 310. Positioning antenna; 311. Limiting sleeve; 312. Rotating sleeve; 313. Limiting block; 320. Adjustment antenna; 321. Linkage frame; 322. Support rod; 323. Slider; 330. Adjusting frame; 331. Drive screw; 340. Guide; 341. Slide groove; 342. Connecting sleeve; 343. Limiting post; 344. Spring; 345. Stop block; 350. Elastic strip. Detailed Implementation

[0047] The details of the present invention can be more clearly understood by referring to the accompanying drawings and the description of specific embodiments. However, the specific embodiments of the present invention described herein are for illustrative purposes only and should not be construed as limiting the invention in any way. Under the teachings of this invention, those skilled in the art will conceive of any possible variations of the invention, all of which should be considered within the scope of the invention. The terms "installation" and "connection" should be interpreted broadly, referring to direct connection as well as indirect connection through an intermediate medium.

[0048] The terms "central axis," "vertical," "horizontal," "front," "rear," "upper," "lower," "left," "right," "top," "bottom," "inner," and "outer" used herein to indicate orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, in the description of the invention, "a number" means two or more, unless otherwise explicitly specified.

[0049] Please see Figures 1-8 As shown, the present invention provides a ground terminal device for adaptively tracking low and medium Earth orbit satellites, including a tripod 100 and a servo gimbal 110 mounted on its top. A support ring 120 is fitted directly above the servo gimbal 110. A parabolic antenna substrate 200 is fixedly connected directly above the support ring 120. A feed module 210 is suspended above the central axis of the parabolic antenna substrate 200. A support bracket 220 is fixedly provided at the center of the top surface of the parabolic antenna substrate 200. The outer wall of the feed module 210 and the top outer wall of the support bracket 220 are suspended and positioned by a pair of brackets. A parabolic antenna assembly 300 is provided on the outer side of the parabolic antenna substrate 200 to form a parabolic antenna for reflecting satellite electromagnetic wave signals to the feed module 210 for transmission.

[0050] The servo gimbal 110 is the core electromechanical system for controlling the pointing of the parabolic antenna. It mainly consists of a rotation mechanism composed of azimuth and elevation axes, a servo motor drive system, a high-precision encoder and sensor feedback module, and an embedded control system. Its working principle is based on closed-loop control: the target angle is calculated in real time using a satellite orbit prediction algorithm; the encoder monitors the current position and feeds it back to the PID controller, driving the servo motor to adjust the antenna's azimuth and elevation angles. Combined with dynamic compensation, precise tracking is achieved, supporting multiple modes such as automatic, step-by-step, and program tracking, ensuring the antenna remains continuously aligned with high-speed moving low-orbit satellites. The above is existing technology and will not be elaborated further. The fixed connections and fixtures of this invention are achieved using conventional fixing methods such as bolt connections or welding.

[0051] Specifically, to make this ground terminal equipment portable and easy to store, the parabolic antenna assembly 300 consists of several positioning antennas 310 and several adjustment antennas 320 hinged to the sides of the parabolic antenna substrate 200. The positioning antennas 310 are distributed in a ring at equal intervals around the parabolic antenna substrate 200, and the adjustment antennas 320 are correspondingly engaged in the gaps between the positioning antennas 310. The parabolic antenna substrate 200, the positioning antennas 310, and the adjustment antennas 320 form a parabolic rotation structure. It gathers electromagnetic wave signals; when it needs to be stored and carried, it first lowers several adjustment antennas 320 and several positioning antennas 310 to be misaligned, then drives several adjustment antennas 320 to rotate horizontally to be directly below several positioning antennas 310 so that they overlap vertically, then flips several adjustment antennas 320 upwards to drive several positioning antennas 310 to flip upwards synchronously, and then folds and closes them together, and removes the entire parabolic antenna assembly 300 from the top of the servo gimbal 110 for carrying and storage. Its design is ingenious, allowing for quick assembly, use and storage, and is convenient for outdoor carrying and transfer.

[0052] Specifically, such as Figures 9-11As shown, an adjustment frame 330 is slidably connected between the lower ends of several adjustment antennas 320. A transmission screw 331 is threadedly connected to the central shaft of the adjustment frame 330. This can be achieved by fixing a threaded sleeve on the central shaft of the adjustment frame 330. Several guides 340 are sleeved on the outer side of the adjustment frame 330 to support and guide the adjustment antennas 320 to flip up. Limiting posts 343 are inserted through the side walls at both ends of the guides 340. The limiting posts 343 at the high and low ends of the guides 340 are used to limit the adjustment antennas 320 to maintain the unfolded positioning state and the flipped positioning state, respectively. A motor is installed inside the top of the servo gimbal 110, and the output end of the motor is coaxially connected to a coupling 130. The coupling 130 is coaxially connected to the transmission screw 331. A block is sleeved on the bottom end of the transmission screw 331. A groove adapted to fit the block is opened on the top surface of the coupling 130, so that the transmission screw 331 can be smoothly and stably driven to rotate.

[0053] To first reduce the misalignment between several adjustment antennas 320 and several positioning antennas 310, and then horizontally rotate several adjustment antennas 320 to align several positioning antennas 310 vertically, a pair of support columns 121 and a pair of guide columns 122 are symmetrically provided on the bottom surface of the support ring seat 120. The pair of support columns 121 are sleeved with the protruding columns provided on the top housing of the servo gimbal 110, and are limited by a pin passing through laterally, which facilitates the disassembly and assembly of the support ring seat 120. The adjustment frame 330 is in the shape of a cross triangle, and a pair of triangles are correspondingly snapped between adjacent support columns 121 and guide columns 122, wherein the guide columns 122 and the center height of the adjustment frame 330 are equal. A limiting block 313 is fixedly provided on the bottom surface of the lower end of the positioning antenna 310. The limiting block 313 extends outward and is adapted to and snapped onto the bottom surface of the parabolic antenna substrate 200, so that...

[0054] Specifically, the height of the guide post 122 is greater than the total thickness of the limiting block 313 and the positioning antenna 310. The limiting adjustment frame 330 first descends a certain distance along the transmission screw 331 through the support post 121 and the guide post 122, so that the several adjusting antennas 320 and several positioning antennas 310 are staggered vertically, avoiding the adjusting antennas 320 from touching the positioning antennas 310 when rotating horizontally, thus paving the way for the horizontal rotation of the adjusting antennas 320 in the next step. After the side wall of the adjustment frame 330 is separated from the guide post 122, the adjustment frame 330 is no longer horizontally limited and rotates horizontally under the friction of the rotating transmission screw 331 until the several adjusting antennas 320 and several positioning antennas 310 overlap vertically, at which point the motor stops. In order to ensure that the adjusting antennas 320 flip up and drive the positioning antennas 310 up without being worn on the parabolic surface, a rubber pad or silicone pad is attached to the back of the positioning antennas 310 for protection.

[0055] Furthermore, a number of pairs of positioning sleeves 201 are fixedly arranged in a ring at equal intervals on the top side of the parabolic antenna substrate 200, and each pair of positioning sleeves 201 is coaxially arranged. A pair of rotating sleeves 312 are fixedly arranged at the top of the lower corner of the positioning antenna 310. The pair of rotating sleeves 312 and the pair of positioning sleeves 201 are rotatably connected by pins. Since the rotating shaft is located above the corner of the positioning antenna 310, the positioning antenna 310 is flipped upward and its bottom end is separated from the side of the parabolic antenna substrate 200. After the positioning antenna 310 is flipped down into place, it can fit together.

[0056] Furthermore, an arc groove is provided on the top surface of the extension section of the limiting block 313 and at the connection point with the positioning antenna 310, so as to avoid the side of the parabolic antenna substrate 200 when the positioning antenna 310 is flipped up.

[0057] In addition, in order for the positioning antennas 310 to automatically unfold into a parabolic state, a pair of limiting sleeves 311 are fixed at the corner of the upper end face of the positioning antennas 310. The limiting sleeves 311 are set with the same curvature as the upper end of the positioning antennas 310. A spring strip 350 with the same curvature is set between two adjacent positioning antennas 310. The spring strip 350 is made of spring steel and its two ends are sleeved and limited by the two limiting sleeves 311. The spring strip 350 is limited by the threaded nuts at both ends of the spring strip 350. When the folded positioning antennas 310 are unrestricted, the rebound force of the spring strips 350 drives the positioning antennas 310 to unfold into a parabolic state.

[0058] like Figure 12 As shown, a linkage frame 321 is fixedly provided on the center line of the lower side of the adjustment antenna 320. The linkage frame 321 has a triangular frame structure and one of its bottom corners extends out of the lower end of the adjustment antenna 320 and slides and engages with the guide 340. The guide 340 is an arc block and is set with the same central axis as the pair of positioning sleeves 201 above it. In this way, the guide 340 guides and supports the adjustment antenna 320 to flip up and drives the positioning antenna 310 to flip up with the same rotation axis, thereby maintaining equidistant space between them and avoiding contact and wear. Support rods 322 are fixed on both sides of the extended end of the linkage frame 321. When several positioning antennas 310 and several adjusting antennas 320 are correspondingly snapped and aligned, they are used to abut against the bottom surface of the extended end of the limiting block 313. The guide 340 restricts the linkage frame 321 from flipping down, that is, after the adjusting antenna 320 is unfolded, it remains in a parabolic state. At the same time, the support rods 322 abut against the limiting block 313 to prevent the positioning antenna 310 from flipping up and swaying due to strong winds.

[0059] like Figure 13As shown, the guide 340 has a groove 341 on its concave top surface. The groove 341 passes through the outer end of the guide 340, and the longitudinal section of the groove 341 has a cavity structure that is narrow at the top and wide at the bottom, thus forming a limiting structure, such as a T-shaped, teardrop-shaped, dovetail-shaped, or triangular cavity. The extended end of the linkage frame 321 is fixed with a slider 323 that slides and engages with the wide cavity of the groove 341. The structure of the slider 323 and the front end of the linkage frame 321 is adapted to slide and engage with the groove 341. The outer port of the groove 341 is tightly engaged with a stop block 345 to limit the slider 323 and the linkage frame 321 from slipping.

[0060] Furthermore, the inward end of the guide 340 is connected to a connecting sleeve 342, which is adapted to engage with the outer end of the adjusting frame 330 and is connected by a pin, so that the guide 340 and the adjusting frame 330 are connected as a whole and move synchronously. One end of the limiting post 343 is externally fitted with a spring 344, and the two ends of the spring 344 are fixed to the side wall of the guide 340 and the end of the limiting post 343 respectively. By pulling out the limiting post 343, the restriction on the linkage frame 321 can be removed, so that the adjustment antenna 320 switches states. After releasing, under the action of the spring 344, the limiting post 343 is automatically inserted into the guide 340 and reset, thereby quickly adjusting the restriction on the linkage frame 321.

[0061] When in use, the ground terminal equipment for adaptive tracking of low-Earth orbit satellites of the present invention uses a servo gimbal 110 to generate azimuth and elevation angle commands based on a satellite orbit prediction algorithm. This is followed by closed-loop PID control via feedback from a high-precision encoder, driving a parabolic antenna to track the low-Earth orbit satellite in real time. In the deployed state, several elastic bars 350 spring together several positioning antennas 310 to form a reference parabolic surface, while several adjustment antennas 320 are precisely positioned and complete the reflector surface by moving upwards via an adjustment bracket 330. During storage, a motor drives a transmission wire. The rod 331 drives the adjustment frame 330 to descend first. After the adjustment frame 330 separates from the guide column 122, the adjustment frame 330 is rotated by the friction of the transmission screw 331, which drives several position adjustment antennas 320 to rotate in a staggered manner to directly below several positioning antennas 310. Then, the sliding groove 341 of the guide 340 limits and guides the several position adjustment antennas 320 and several positioning antennas 310 to flip up and stack synchronously. Finally, the whole assembly is disassembled and carried from the servo gimbal 110. The entire process is electromechanical coordinated control, which takes into account both tracking accuracy and ease of operation.

[0062] It should be noted that the fixed connections and fixing methods of the present invention are achieved using conventional fixing means such as bolt connections or welding. The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and should not be used to limit the scope of protection of the present invention. All equivalent changes or modifications made according to the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A ground terminal device for adaptively tracking low and medium Earth orbit satellites, comprising a tripod and a servo gimbal mounted on its top, characterized in that: A support ring is fitted on the top of the servo gimbal, and a parabolic antenna substrate is fixedly connected on the top of the support ring. A feed module is suspended above the central axis of the parabolic antenna substrate, and a parabolic antenna assembly is provided on the outside of the parabolic antenna substrate for reflecting satellite electromagnetic wave signals to the feed module for transmission. The parabolic antenna assembly consists of several positioning antennas and several adjusting antennas hinged to the side of the parabolic antenna substrate. The positioning antennas are distributed in a ring at equal intervals around the parabolic antenna substrate, and the adjusting antennas are correspondingly snapped into the gaps between the positioning antennas. The parabolic antenna substrate, the positioning antennas, and the adjusting antennas form a rotating parabolic structure for converging electromagnetic wave signals. An adjustment frame is slidably connected between the lower ends of several of the aforementioned adjustment antennas. A transmission screw is threaded onto the central shaft of the adjustment frame. Several guide members are sleeved on the outer side of the adjustment frame to support and guide the adjustment antennas to flip up. Limiting posts are inserted through the side walls at both ends of the guide members. A coupling protrudes from the top of the servo gimbal and is coaxially connected to the transmission screw. A pair of support columns and a pair of guide columns are symmetrically provided on the bottom surface of the support ring seat. The adjustment frame is in the shape of a cross triangle, and a pair of triangles are correspondingly engaged between adjacent support columns and guide columns. The guide columns are at the same height as the center of the adjustment frame. The adjustment frame is first lowered along the transmission screw axis by the support column and guide column to make several position adjustment antennas and several positioning antennas staggered vertically. After the side wall of the adjustment frame is separated from the guide column, the adjustment frame is no longer limited horizontally and rotates horizontally under the friction force of the rotation of the transmission screw until several position adjustment antennas and several positioning antennas overlap vertically. The position adjustment antenna flips up, which drives the positioning antenna to flip up. The top side of the parabolic antenna substrate is provided with several pairs of positioning sleeves at equal intervals in a ring, and each pair of positioning sleeves is coaxially arranged. A pair of rotating sleeves is fixed at the top of the lower corner of the positioning antenna, and the pair of rotating sleeves and the pair of positioning sleeves are rotatably connected by pins. A limiting block is fixedly provided on the bottom surface of the lower end of the positioning antenna, and the limiting block extends outward and is adapted to and snapped into the bottom surface of the parabolic antenna substrate; An arc groove is provided on the top surface of the extension section of the limiting block and at the connection with the positioning antenna, which is used to avoid the side of the parabolic antenna substrate when the positioning antenna is flipped up. A pair of limiting sleeves are fixedly provided at the corner of the upper end face of the positioning antenna. The limiting sleeves are set with the same curvature as the upper end of the positioning antenna. An elastic strip with the same curvature is provided between two adjacent positioning antennas. The elastic strip is made of spring steel and its two ends are sleeved with the two limiting sleeves and limited. The adjustment antenna is fixedly provided with a linkage frame on the center line facing downward. The linkage frame has a triangular frame structure and one of its bottom corners extends out of the lower end of the adjustment antenna and is slidably engaged with the guide. The guide is in the shape of an arc block and is set with the same central axis as a pair of positioning sleeves above it.

2. The ground terminal equipment for adaptive tracking of low and medium Earth orbit satellites according to claim 1, characterized in that: The guide has a groove on its concave top surface. The groove passes through the outer end of the guide and has a hollow structure with a narrow top and wide bottom in its longitudinal section. The extended end of the linkage frame is fixed with a slider that slides and engages with the wide cavity of the groove. The outer port of the groove is tightly engaged with a stop block.

3. The ground terminal equipment for adaptive tracking of low and medium Earth orbit satellites according to claim 2, characterized in that: The guide has an inwardly facing connecting sleeve, which is adapted to be connected to the outer end of the adjusting frame and is connected by a pin.

4. The ground terminal equipment for adaptive tracking of low and medium Earth orbit satellites according to claim 3, characterized in that: A spring is sleeved on one end of the limiting post, and the two ends of the spring are fixed to the side wall of the guide and the end of the limiting post respectively.

5. The ground terminal equipment for adaptive tracking of low and medium Earth orbit satellites according to claim 4, characterized in that: The extension end of the linkage frame is fixed with support rods on both sides, which are used to abut the bottom surface of the extension end of the limiting block when several positioning antennas and several adjustment antennas are correspondingly snapped and aligned.

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